Electric rotation control system and method

Abstract

The invention relates to an electric rotation control system and method, and belongs to the field of new energy engineering machinery. The system comprises a tilt angle sensor which is arranged on a rotary table of the excavator and used for detecting the real-time tilt angle of the rotary table; the rotation angle sensor is arranged on a rotary table of the excavator and used for detecting the rotation angle and the rotation direction of the rotary table; the rotary drive comprises a rotary motor assembly, and the rotary motor assembly drives the rotary table to rotate through an engaged rotary fluted disc; and the controller is used for calculating the rotation torque of the rotation motor assembly by adopting a segmented PID algorithm and sending a control instruction to the rotation motor assembly, and parameters of the PID algorithm are determined according to the real-time inclination angle, the rotation direction and the rotation angle. The rotation area of the rotary table is judged through the tilt angle sensor and the rotary table angle sensor, the control parameters are determined according to the rotation area and the real-time tilt angle, and therefore the purpose of improving the response performance of the rotary table at different rotation positions is achieved.

Description

Technical Field

[0001] The invention relates to an electric rotation control system and method, belonging to the field of new energy engineering machinery. Background Art

[0002] Excavators are one of the most important construction machinery in engineering construction, and they maintain a growth trend. The electrification of excavators continues to accelerate. At present, the configuration commonly used by electric excavators is oil-to-electric mode, that is, the electric motor replaces the engine, the traditional hydraulic system remains unchanged, and the overall efficiency of the machine has been improved on the basis of the fuel model. The electrification of excavators has promoted the application of electric swing technology in excavators. Compared with the traditional hydraulic motor-driven swing system, the electric swing transmission efficiency is high and the braking energy recovery can be realized, which will further improve the operating energy efficiency of the excavator.

[0003] Slope operation is a common working condition for excavators. During the rotation process, the tilt resistance torque will switch between rotation assistance and rotation resistance as the rotation position changes, and the torque size will also change with the position, which will directly affect the response performance of the rotation action during slope operation. Summary of the invention

[0004] The object of the present invention is to provide an electric rotation control system and method, which can judge the rotation area of ​​the turntable in real time by the real-time inclination angle detected by the inclination sensor and the rotation angle and rotation direction detected by the rotation angle sensor, and correct and adjust the parameters of the PID algorithm in real time, so as to achieve the purpose of maintaining better rotation response performance of the turntable in different rotation positions.

[0005] To achieve the above object, the present invention is implemented by adopting the following technical solutions.

[0006] In a first aspect, the present invention provides an excavator electric rotation control system, comprising: An inclination sensor is provided on the turntable of the excavator and is used to detect the real-time inclination of the turntable; A rotation angle sensor, disposed on the turntable and used to detect the rotation angle and rotation direction of the turntable; A rotary drive, comprising a rotary motor assembly, wherein the rotary motor assembly is used to drive the turntable to rotate; A speed handle is in communication with the rotary motor assembly, and the speed handle is used to determine a target rotary speed of the rotary motor assembly; A controller is used to receive the actual rotation speed fed back by the rotary motor assembly and the target rotation speed determined by the speed handle; and according to the actual rotation speed and the target rotation speed, a PID algorithm is used to calculate the rotation torque of the rotary motor assembly; wherein the parameters of the PID algorithm are determined according to the real-time inclination angle, the rotation direction and the rotation angle.

[0007] Optionally, the inclination sensor is arranged in a projection area of ​​the boom of the excavator on the turntable.

[0008] Optionally, the calculation formula for calculating the rotary torque of the rotary motor assembly using the PID algorithm is:

[0009] Where, T d (k) is the rotation torque of the kth control cycle; ∆Spd(i) is the speed difference between the target rotation speed and the actual rotation speed in the ith control cycle, ∆Spd(k) and ∆Spd(k-1) are the speed differences between the target rotation speed and the actual rotation speed in the kth and k-1th control cycles, respectively. P, I, and D are the proportional parameter, integral parameter, and differential parameter of the PID algorithm, respectively.

[0010] Optionally, the parameters of the PID algorithm are determined according to the real-time inclination angle, the rotation direction and the rotation angle, including: During the rotation of the turntable, whenever the real-time inclination angle changes its sign, the rotation angle is reset to zero and remeasured; If the absolute value of the real-time inclination angle is less than or equal to a preset threshold, the parameters of the PID algorithm are preset default values; If the absolute value of the real-time inclination angle is greater than a preset threshold, the rotation area is determined according to the transformation type of the sign transformation of the real-time inclination angle, the rotation direction and the rotation angle, and the parameters of the PID algorithm are determined by looking up a table according to the rotation area and the absolute value of the real-time inclination angle.

[0011] Optionally, the inclination sensor is a two-axis inclination sensor, the detection axes of the inclination sensor include an X-axis and a Y-axis that are orthogonal to each other, and the real-time inclination includes an X-axis inclination and a Y-axis inclination.

[0012] Optionally, when the turntable rotates, when the positive direction of the X-axis crosses a preset reference direction, the X-axis inclination angle changes sign; when the positive direction of the Y-axis crosses a preset reference direction, the Y-axis inclination angle changes sign; the absolute value of the real-time inclination angle is the larger one between the absolute value of the X-axis inclination angle and the absolute value of the Y-axis inclination angle.

[0013] Optionally, it is characterized in that if the absolute value of the real-time inclination angle is greater than a preset threshold, the turntable operates within a preset zero-speed range for more than a preset time or the slewing motor assembly fails, the turntable executes a parking lock command and stops rotating.

[0014] Optionally, in the plane of the ramp, the direction upward along the ramp with the rotation center of the turntable as the starting point is direction one; with the rotation center as the rotation center, the direction one is rotated counterclockwise by 90°, 180° and 270° to obtain direction two, direction three and direction four respectively; the pre-set reference direction includes direction two and direction four.

[0015] Optionally, the rotation area includes area one, area two, area three and area four distributed in sequence around the rotation center in a circumferential direction; area one includes a fan-shaped area within a first preset angle on both sides of direction one, area two includes a fan-shaped area within a second preset angle on both sides of direction two, area three includes a fan-shaped area within the first preset angle on both sides of direction three, and area four includes a fan-shaped area within the second preset angle on both sides of direction four; the sum of the first preset angle and the second preset angle is equal to 90°.

[0016] Optionally, determining the rotation area according to the transformation type of the sign transformation of the real-time tilt angle, the rotation direction, and the rotation angle includes: When the rotation direction is counterclockwise: If the Y-axis inclination angle changes from positive to negative, the rotation area is determined to be area 1 when the rotation angle is less than the first preset angle, and the rotation area is determined to be area 2 when the rotation angle is greater than the first preset angle; If the X-axis inclination angle changes from positive to negative, the rotation area is determined to be area 2 when the rotation angle is less than the second preset angle, and the rotation area is determined to be area 3 when the rotation angle is greater than the second preset angle; If the Y-axis inclination angle changes from negative to positive, when the rotation angle is less than the first preset angle, the rotation area is determined to be area three, and when the rotation angle is greater than the first preset angle, the rotation area is determined to be area four. If the X-axis inclination angle changes from negative to positive, when the rotation angle is less than the second preset angle, the rotation area is determined to be area 4, and when the rotation angle is greater than the second preset angle, the rotation area is determined to be area 1; When the rotation direction is clockwise: If the Y-axis inclination angle changes from negative to positive, the rotation area is determined to be area 1 when the rotation angle is less than the first preset angle, and the rotation area is determined to be area 4 when the rotation angle is greater than the first preset angle; If the X-axis inclination angle changes from positive to negative, the rotation area is determined to be area 4 when the rotation angle is less than the second preset angle, and the rotation area is determined to be area 3 when the rotation angle is greater than the second preset angle; If the Y-axis inclination angle changes from positive to negative, when the rotation angle is less than the first preset angle, the rotation area is determined to be area three, and when the rotation angle is greater than the first preset angle, the rotation area is determined to be area two. If the X-axis inclination angle changes from negative to positive, the rotation area is determined to be area two when the rotation angle is less than the second preset angle, and the rotation area is determined to be area one when the rotation angle is greater than the second preset angle.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention proposes an electric swing control system and method based on position estimation for the working condition of an electric excavator on a slope. The present invention calculates the swing torque based on a segmented PID algorithm. During the swing operation, the real-time inclination angle, swing direction and swing angle can be used to estimate the swing area of ​​the turntable relative to the ramp in real time, and then determine the corresponding PID algorithm parameters, so that the turntable maintains good response performance in different swing areas.

[0018] 2. The present invention clears the torque integral term when it is estimated that the boom direction of the excavator is consistent with the ramp direction (the positive direction of the Y axis of the inclination sensor crosses the second direction or the fourth direction), thereby quickly responding to the change in the required rotation torque caused by the switching of the tilt resistance torque direction, so that the rotation system can maintain good responsiveness in different rotation areas, and solves the problem of inconsistent rotation responsiveness caused by the change of the rotation tilt resistance torque corresponding to different rotation areas and different slope inclination angles during slope operation.

[0019] 3. The present invention aims at the problem that the slewing motor may be blocked during operation on a slope and may cause other motor faults. By setting the blocking time (the running time of the actual slewing speed in the zero speed range) and the motor fault triggering condition (fault in the slewing motor assembly), the parking brake is activated to avoid the problem of uncontrolled slewing speed caused by the fault. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic diagram of the control system in Example 1; Figure 2 This is a schematic diagram of the division of the rotation area in Example 1; Figure 3 Schematic diagram of the control method in Example 1. DETAILED DESCRIPTION

[0021] The technical solution of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations on the technical solution of the present invention. The embodiments of the present invention and the technical features in the embodiments may be combined with each other unless there is a conflict.

[0022] The term "and / or" is only a description of the association relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " generally indicates that the related objects are in an "or" relationship. Example

[0023] This embodiment introduces an electric rotation control system for an excavator. The control system is configured as shown in the attached figure. Figure 1 As shown, it includes an inclination sensor, a rotation angle sensor, a rotation drive and a controller. The inclination sensor is arranged on the turntable of the excavator and is used to detect the real-time inclination of the turntable; the inclination sensor is located in the projection area of ​​the boom of the excavator on the turntable. The rotation angle sensor is arranged on the turntable of the excavator and is used to detect the rotation angle and rotation direction of the turntable. The rotation drive includes a rotary motor assembly, and the rotary motor assembly drives the turntable to rotate through an engaged rotary gear plate; the controller is used to calculate the rotation torque of the rotary motor assembly using a segmented PID algorithm, and send a control instruction to the rotary motor assembly, and the PID algorithm parameters are determined according to the real-time inclination, the rotation direction and the rotation angle.

[0024] The slewing drive also includes a battery and a speed handle, and the battery is the power source of the system. The slewing motor assembly is a component assembly that integrates a motor, a motor controller, a reducer, and an electromagnetic brake. The slewing motor assembly can receive and execute the slewing torque and parking command sent by the controller, and feedback the actual slewing speed and fault information to the controller.

[0025] The speed handle is used to determine the target rotation speed of the rotary motor assembly. The speed handle is divided into three opening ranges: neutral position, left rotation, and right rotation. There is a preset corresponding relationship between the handle opening and the target rotation speed. The corresponding target rotation speed is 0 when the handle is in the neutral position. The larger the opening in the left rotation or right rotation range, the larger the corresponding target rotation speed. The controller receives the target rotation speed of the handle and the rotation state information fed back by the inclination sensor, the rotation angle sensor, and the rotary motor assembly, and sends the rotation torque and electromagnetic braking instructions to the rotary motor assembly after calculating using the segmented PID algorithm.

[0026] In the calculation of the rotary torque of the rotary motor assembly using the PID algorithm, the calculation formula of the rotary torque is:

[0027] Where, T d (k) is the rotation torque of the kth control cycle; ∆Spd(k) and ∆Spd(k-1) are the speed differences between the target rotation speed and the actual rotation speed in the kth and k-1th control cycles, respectively; P, I, and D are the parameters of the PID algorithm.

[0028] The control method of the electric swing control system comprises: Step S1, when the turntable of the excavator rotates on the ramp, the real-time inclination of the turntable is determined according to the inclination sensor; in a specific embodiment, the inclination sensor is a two-axis inclination sensor, and the detection axes of the inclination sensor include mutually orthogonal X-axis and Y-axis. During the rotation of the turntable, the positive direction of the X-axis is consistent with the direction of the boom, and the positive direction of the X-axis is rotated 90° counterclockwise to obtain the positive direction of the Y-axis; the real-time inclination includes the X-axis inclination and the Y-axis inclination. The X-axis inclination and the Y-axis inclination are the inclination of the turntable relative to the X-axis and the inclination relative to the Y-axis respectively; when the turntable rotates, when the positive direction of the X-axis or the Y-axis crosses the preset reference direction, the real-time inclination changes its sign. The sign change of the real-time inclination is determined by performing zero-crossing detection on the corresponding inclination signal. The inclination sensor can also use a single-axis slope sensor to achieve zero-crossing detection in the range of 180°.

[0029] Step S2, during the rotation of the turntable, whenever the real-time inclination angle changes sign, the rotation angle is reset to zero and remeasured; in this embodiment, the rotation direction is determined by the rotation angle sensor and the rotation angle of the turntable is measured from zero. The sign change of the real-time inclination angle (X-axis inclination angle and Y-axis inclination angle) can preliminarily determine the rotation direction, and then the rotation position can be accurately determined in combination with the rotation direction and the rotation angle measured from zero.

[0030] Step S3: If the absolute value of the real-time inclination angle is less than or equal to a preset threshold value, the PID algorithm parameters are preset default values; the absolute value of the real-time inclination angle is the larger of the absolute value of the X-axis inclination angle and the absolute value of the Y-axis inclination angle, and the default values ​​of the P, I, and D parameters are 8 / 1 / 0.5.

[0031] Step S4: if the absolute value of the real-time inclination angle is greater than a preset threshold, determining a rotation area according to the transformation type of the sign transformation of the real-time inclination angle, the rotation direction, and the rotation angle; The following is an explanation in conjunction with a specific embodiment: in the ramp plane, the direction upward along the ramp with the rotation center of the turntable as the starting point is direction one; with the rotation center as the rotation center, the direction one is rotated counterclockwise by 90°, 180° and 270° to obtain direction two, direction three and direction four respectively; the pre-set reference direction includes direction two and direction four.

[0032] Combined with Figure 2 , when the projection area of ​​the boom rotation position on the ramp coincides with direction one, the positive direction of the X-axis of the inclination sensor coincides with direction one, that is, the positive direction of the X-axis of the inclination sensor is consistent with the saved direction of the projection area of ​​the boom rotation position on the ramp. The positive direction of the X-axis of the inclination sensor rotates 90° counterclockwise to the positive direction of the Y-axis. When the positive direction of the X-axis or the positive direction of the Y-axis crosses direction two or direction four counterclockwise, the positive direction of the axis faces the bottom of the ramp, and the sign of the inclination is negative, and the same applies clockwise. The specific transformation types where the sign of the X-axis inclination and the Y-axis inclination changes are listed in the following Table 1: Table 1 Correspondence between rotation position and zero-crossing detection Furthermore, the rotation area includes area one, area two, area three and area four which are sequentially distributed in the circumferential direction around the rotation center; area one includes the fan-shaped area within the first preset angle on both sides of direction one, area two includes the fan-shaped area within the second preset angle on both sides of direction two, area three includes the fan-shaped area within the first preset angle on both sides of direction three, and area four includes the fan-shaped area within the second preset angle on both sides of direction four; the sum of the first preset angle and the second preset angle is equal to 90°. Figure 2 The first preset angle and the second preset angle are both 45°.

[0033] Combining Table 1 and Figure 2 The determining of the rotation area according to the transformation type of the sign transformation of the real-time inclination angle, the rotation direction and the rotation angle comprises: When the rotation direction is counterclockwise: If the Y-axis inclination angle changes from positive to negative, the rotation area is determined to be area 1 when the rotation angle is less than the first preset angle, and the rotation area is determined to be area 2 when the rotation angle is greater than the first preset angle; If the X-axis inclination angle changes from positive to negative, the rotation area is determined to be area 2 when the rotation angle is less than the second preset angle, and the rotation area is determined to be area 3 when the rotation angle is greater than the second preset angle; If the Y-axis inclination angle changes from negative to positive, when the rotation angle is less than the first preset angle, the rotation area is determined to be area three, and when the rotation angle is greater than the first preset angle, the rotation area is determined to be area four. If the X-axis inclination angle changes from negative to positive, when the rotation angle is less than the second preset angle, the rotation area is determined to be area 4, and when the rotation angle is greater than the second preset angle, the rotation area is determined to be area 1; When the rotation direction is clockwise: If the Y-axis inclination angle changes from negative to positive, the rotation area is determined to be area 1 when the rotation angle is less than the first preset angle, and the rotation area is determined to be area 4 when the rotation angle is greater than the first preset angle; If the X-axis inclination angle changes from positive to negative, the rotation area is determined to be area 4 when the rotation angle is less than the second preset angle, and the rotation area is determined to be area 3 when the rotation angle is greater than the second preset angle; If the Y-axis inclination angle changes from positive to negative, the rotation area is determined to be area three when the rotation angle is less than the first preset angle, and the rotation area is determined to be area two when the rotation angle is greater than the first preset angle; If the X-axis inclination angle changes from negative to positive, the rotation area is determined to be area two when the rotation angle is less than the second preset angle, and the rotation area is determined to be area one when the rotation angle is greater than the second preset angle.

[0034] Step S5: According to the absolute value of the rotation area and the real-time inclination angle, the PID algorithm parameters are determined by looking up a table. In a specific embodiment, the following Table 2 is used: Table 2 Correspondence between the rotation area, the absolute value of the real-time inclination angle and the PID algorithm parameters The absolute value of the real-time inclination angle in Table 2 is the larger one of the X-axis inclination angle and the Y-axis inclination angle. A plurality of intervals which increase in sequence are pre-set for the absolute value of the real-time inclination angle, and the corresponding PID algorithm parameters can be directly obtained by looking up the table to determine which interval the absolute value of the real-time inclination angle belongs to by referring to the rotation area.

[0035] Take Table 2 as an example for reference Figure 3 , for explanation, when the absolute value of the real-time inclination angle is ≤5° (preset threshold), the P, I, and D parameters of the PID algorithm all take default values, which are 8 / 1 / 0.5.

[0036] If 5°<absolute value of real-time inclination angle≤15° and the rotation area is area 1 or area 3, the parameters of the PID algorithm are 9 / 1.5 / 0.5.

[0037] If 5°<the absolute value of the real-time inclination angle ≤15° and the rotation area is area 2 or area 4, or 15°<the absolute value of the real-time inclination angle ≤30° and the rotation area is area 1 or area 3, the parameters of the PID algorithm are 10 / 2 / 0.5.

[0038] If 15°<absolute value of real-time inclination angle≤30° and the rotation area is area 2 or area 4, or the absolute value of real-time inclination angle>30° and the rotation area is area 1 or area 3, the parameters of the PID algorithm are 11 / 2.5 / 0.5.

[0039] If the absolute value of the real-time inclination angle is greater than 30° and the rotation area is area 2 or area 4, the parameters of the PID algorithm are 12 / 3 / 0.5. Example

[0040] Similar to embodiment 1, the control method further comprises: when the sign of the Y-axis inclination angle changes (i.e., when the Y-axis signal passes through zero), determining the rotary torque required to eliminate the speed difference according to the actual rotary speed fed back by the rotary motor assembly and the target rotary speed determined by the speed handle; Specifically, when the sign of the Y-axis inclination angle changes (that is, when the Y-axis signal passes through zero), it indicates that the current rotation position is upward or downward along the ramp. At the next moment, the tilt resistance torque will switch between resistance and assistance relative to the current rotation direction. In order to reduce the influence of the integral term accumulated torque on the response, the torque closed-loop integral term is first cleared. The current first rotation speed is calculated based on the target rotation speed corresponding to the rotation handle and the current actual rotation speed fed back by the rotation motor assembly. k Speed ​​difference of control cycles ∆Spd ( k ).

[0041] The rotation torque of the motor required to eliminate the speed difference is calculated according to the PID algorithm. The calculation formula of the rotation torque of the motor is as follows: ; Where, T d (k) is the rotation torque of the kth control cycle; ∆Spd(k) and ∆Spd(k-1) are the speed differences between the target rotation speed and the actual rotation speed of the rotary motor assembly in the kth and k-1th control cycles, respectively; P, I, and D are parameters of the PID algorithm, and the values ​​of P, I, and D are determined by looking up the absolute value of the rotation area and the real-time inclination angle. Example

[0042] Similar to Example 1, the control method further includes: if the absolute value of the real-time inclination angle is greater than a preset threshold, the turntable operates within a preset zero-speed range for more than a preset time, or the slewing motor assembly fails, the turntable executes a parking lock command and stops rotating.

[0043] Specifically, when operating on a slope, in order to avoid the motor being blocked for a long time at 0 speed, causing a fault that leads to a loss of control of the rotation speed, or other motor faults that lead to a loss of control of the rotation speed, the parking lock brake is activated when a long-term motor blockage or motor fault is detected. The specific control strategy is as follows: Condition 1: At least one of the absolute value of the X-axis inclination angle and the absolute value of the Y-axis inclination angle is greater than 5°; Condition 2: The target rotation speed corresponding to the speed handle is 0, and the current actual rotation speed is within the zero speed range for more than 10 seconds. The zero speed range can usually be set to [-10,10]; Condition 3: The turntable has a rotation failure, and the rotary motor assembly or controller has a failure; On the basis of satisfying condition 1, if one of condition 2 or condition 3 is satisfied, the control command of the motor torque (swing torque, swing torque) is cleared, and the turntable executes the parking lock command and stops rotating.

[0044] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0045] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0046] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0047] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0048] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. An electric swing control system for an excavator, characterized in that: include: An inclination sensor is provided on the turntable of the excavator and is used to detect the real-time inclination of the turntable; A rotation angle sensor, disposed on the turntable and used to detect the rotation angle and rotation direction of the turntable; A rotary drive, comprising a rotary motor assembly, wherein the rotary motor assembly is used to drive the turntable to rotate; A speed handle is in communication with the rotary motor assembly, and the speed handle is used to determine a target rotary speed of the rotary motor assembly; A controller is used to receive the actual rotation speed fed back by the rotary motor assembly and the target rotation speed determined by the speed handle; and according to the actual rotation speed and the target rotation speed, a PID algorithm is used to calculate the rotation torque of the rotary motor assembly; wherein the parameters of the PID algorithm are determined according to the real-time inclination angle, the rotation direction and the rotation angle.

2. The excavator electric swing control system according to claim 1, characterized in that: The inclination sensor is arranged in a projection area of ​​the boom of the excavator on the turntable.

3. The excavator electric swing control system according to claim 1, characterized in that: The calculation formula for calculating the rotary torque of the rotary motor assembly using the PID algorithm is: ； Where, T d (k) is the rotation torque of the kth control cycle; ∆Spd(i) is the speed difference between the target rotation speed and the actual rotation speed in the ith control cycle, ∆Spd(k) and ∆Spd(k-1) are the speed differences between the target rotation speed and the actual rotation speed in the kth and k-1th control cycles, respectively. P, I, and D are the proportional parameter, integral parameter, and differential parameter of the PID algorithm, respectively.

4. The control method of the electric swing control system of an excavator according to claims 1 to 3, characterized in that: The parameters of the PID algorithm are determined according to the real-time inclination angle, the rotation direction and the rotation angle, including: During the rotation of the turntable, whenever the real-time inclination angle changes its sign, the rotation angle is reset to zero and remeasured; If the absolute value of the real-time inclination angle is less than or equal to a preset threshold, the parameters of the PID algorithm are preset default values; If the absolute value of the real-time inclination angle is greater than a preset threshold, the rotation area is determined according to the transformation type of the sign transformation of the real-time inclination angle, the rotation direction and the rotation angle, and the parameters of the PID algorithm are determined by looking up a table according to the rotation area and the absolute value of the real-time inclination angle.

5. The control method according to claim 4, characterized in that: The inclination sensor is a two-axis inclination sensor, the detection axes of the inclination sensor include an X-axis and a Y-axis that are orthogonal to each other, and the real-time inclination includes an X-axis inclination and a Y-axis inclination.

6. The control method according to claim 5, characterized in that: When the turntable rotates, when the positive direction of the X-axis crosses a preset reference direction, the X-axis inclination angle changes sign; when the positive direction of the Y-axis crosses a preset reference direction, the Y-axis inclination angle changes sign; the absolute value of the real-time inclination angle is the larger one between the absolute value of the X-axis inclination angle and the absolute value of the Y-axis inclination angle.

7. The control method according to claim 6, characterized in that: If the absolute value of the real-time inclination angle is greater than a preset threshold, the turntable operates within a preset zero-speed range for more than a preset time, or the slewing motor assembly fails, the turntable executes a parking lock command and stops slewing.

8. The control method according to claim 6, characterized in that: In the ramp plane, the direction upward along the ramp with the rotation center of the turntable as the starting point is direction one; with the rotation center as the rotation center, the direction one is rotated counterclockwise by 90°, 180° and 270° to obtain direction two, direction three and direction four respectively; the pre-set reference direction includes direction two and direction four.

9. The control method according to claim 8, characterized in that: The rotation area includes area one, area two, area three and area four distributed in sequence around the rotation center in a circumferential direction; area one includes a fan-shaped area within a first preset angle on both sides of direction one, area two includes a fan-shaped area within a second preset angle on both sides of direction two, area three includes a fan-shaped area within a first preset angle on both sides of direction three, and area four includes a fan-shaped area within a second preset angle on both sides of direction four; the sum of the first preset angle and the second preset angle is equal to 90°.

10. The control method according to claim 9, characterized in that: Determining the rotation area according to the transformation type of the sign transformation of the real-time inclination angle, the rotation direction, and the rotation angle includes: When the rotation direction is counterclockwise: If the Y-axis inclination angle changes from positive to negative, the rotation area is determined to be area 1 when the rotation angle is less than the first preset angle, and the rotation area is determined to be area 2 when the rotation angle is greater than the first preset angle; If the X-axis inclination angle changes from positive to negative, the rotation area is determined to be area 2 when the rotation angle is less than the second preset angle, and the rotation area is determined to be area 3 when the rotation angle is greater than the second preset angle; If the Y-axis inclination angle changes from negative to positive, when the rotation angle is less than the first preset angle, the rotation area is determined to be area three, and when the rotation angle is greater than the first preset angle, the rotation area is determined to be area four. If the X-axis inclination angle changes from negative to positive, when the rotation angle is less than the second preset angle, the rotation area is determined to be area 4, and when the rotation angle is greater than the second preset angle, the rotation area is determined to be area 1; When the rotation direction is clockwise: If the Y-axis inclination angle changes from negative to positive, the rotation area is determined to be area 1 when the rotation angle is less than the first preset angle, and the rotation area is determined to be area 4 when the rotation angle is greater than the first preset angle; If the X-axis inclination angle changes from positive to negative, the rotation area is determined to be area 4 when the rotation angle is less than the second preset angle, and the rotation area is determined to be area 3 when the rotation angle is greater than the second preset angle; If the Y-axis inclination angle changes from positive to negative, when the rotation angle is less than the first preset angle, the rotation area is determined to be area three, and when the rotation angle is greater than the first preset angle, the rotation area is determined to be area two. If the X-axis inclination angle changes from negative to positive, the rotation area is determined to be area two when the rotation angle is less than the second preset angle, and the rotation area is determined to be area one when the rotation angle is greater than the second preset angle.

Images