Excavator rotation speed control method and device, excavator and storage medium

Abstract

The invention belongs to the technical field of excavators, and discloses an excavator rotation speed control method and device, an excavator and a storage medium, in the excavator rotation speed control method, it is confirmed that the target rotation speed of the excavator performing rotation action is changed, and the target rotation speed is a first rotation speed; the rotating speed of the motor is adjusted so that the rotating speed of the excavator can be continuously close to the first rotating speed, and the change rate of the rotating speed of the motor is always smaller than a first change rate threshold value; when it is confirmed that the rotation speed of the excavator does not reach the first rotation speed, the target rotation speed is changed into the second rotation speed, and the current rotation speed of the excavator is between the first rotation speed and the second rotation speed; and controlling the rotation speed of the motor to stop changing, and adjusting the rotation speed of the motor to enable the rotation speed of the excavator to continuously approach the second rotation speed, and the change rate of the rotation speed of the motor is always smaller than a second change rate threshold value, so that the response time of the motor is shortened when the rotation speed of the excavator does not reach the previous target rotation speed and the target rotation speed is changed.

Description

Technical Field

[0001] The present invention relates to the technical field of excavators, and in particular to an excavator rotation speed control method and device, an excavator and a storage medium. Background Art

[0002] The rotation of the excavator is generally driven by a motor, and the rotation speed can be controlled by controlling the motor speed. The target speed of the rotation is generally obtained through the driver's control device and sent to the controller, which directly controls the motor operation based on the target speed. However, the problem is that if the gap between the current actual rotation speed and the target speed is too large, it will cause a greater impact on the motor.

[0003] In view of the situation that the difference between the current speed of the motor and the target speed is too large, the prior art provides a speed regulation method for the motor, which can control the change of the speed according to the demand when the speed of the motor needs to be changed, rather than a fixed step response curve, so that the speed value of the motor changes in a ramp, reaches the target speed value smoothly, and can reduce the impact. However, the problem that still exists is that the speed change of the motor is smooth, which can reduce the impact, but also increase the time required for the motor to change from the initial speed to the target speed. In this process, if the target speed needs to be adjusted again, the motor will generally wait for the previous instruction to be executed before adjusting the target speed. For example, when the target speed is greater than the initial speed of the motor, when the speed of the motor needs emergency braking during the gradual increase, the motor still needs to increase to the original target speed first, and then reduce the speed, resulting in an increase in the braking distance; or, when the target speed is less than the initial speed of the motor, when the speed of the motor needs to increase the rotation speed quickly during the gradual decrease, the motor still needs to reduce to the original target speed first, and then increase the speed. The above situations will cause the response of the motor to be delayed. Summary of the invention

[0004] According to one aspect of the present invention, the present invention provides an excavator rotation speed control method to solve the problem in the prior art that when the motor speed changes from an initial speed to a target speed, if the target speed needs to be adjusted again, it will cause a delay in the response of the motor.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] The excavator rotation speed control method comprises:

[0007] S100: confirming that a target speed of the excavator for performing a swing action has changed, and the target speed is a first speed;

[0008] S110: adjusting the rotation speed of the motor so that the rotation speed of the excavator continuously approaches the first rotation speed, and the change rate of the rotation speed of the motor is always less than a first change rate threshold;

[0009] S120: confirming that when the rotation speed of the excavator does not reach the first rotation speed, the target rotation speed is changed to a second rotation speed, and the current rotation speed of the excavator is between the first rotation speed and the second rotation speed;

[0010] S130: Control the rotation speed of the motor to stop changing;

[0011] S140: Adjust the rotation speed of the motor so that the rotation speed of the excavator continuously approaches the second rotation speed, and the change rate of the rotation speed of the motor is always less than a second change rate threshold.

[0012] As a preferred solution of the excavator rotation speed control method, the second change rate threshold is greater than the first change rate threshold.

[0013] As a preferred embodiment of the excavator rotation speed control method, in step S110 and step S140, the rotation speed of the motor changes linearly, and in step S110, the rate of change of the rotation speed of the motor is a first rate of change, and in step S140, the rate of change of the rotation speed of the motor is a second rate of change, and the second rate of change is greater than the first rate of change.

[0014] As a preferred solution of the excavator rotation speed control method, in step S100 and step S120, if it is detected that the position of the control handle of the excavator has changed, it is determined that the target rotation speed of the excavator has changed.

[0015] As a preferred solution of the excavator rotation speed control method, in step S100 and step S120, the value of the target rotation speed is obtained according to the position of the control handle.

[0016] As a preferred solution of the excavator rotation speed control method, in step S130, the rotation speed of the motor is controlled to stop changing and continue for a preset time.

[0017] According to another aspect of the present invention, there is provided an excavator rotation speed control device, comprising:

[0018] A first confirmation module, used to confirm that a target speed of the excavator performing a swing action has changed, and the target speed is a first speed;

[0019] a first regulating module, configured to regulate the rotation speed of the motor so that the rotation speed of the excavator continuously approaches the first rotation speed, and the change rate of the rotation speed is always less than a first change rate threshold;

[0020] A second confirmation module is used to confirm that when the rotation speed of the excavator does not reach the first rotation speed, the target rotation speed is changed to a second rotation speed; and the current rotation speed of the excavator is between the first rotation speed and the second rotation speed;

[0021] A control module, used for controlling the rotation speed of the motor to stop changing;

[0022] The second regulating module is used to regulate the rotation speed of the motor so that the rotation speed of the excavator continuously approaches the second rotation speed, and the change rate of the rotation speed is always less than a second change rate threshold.

[0023] According to another aspect of the present invention, an excavator is provided, comprising a chassis, a body and a motor, wherein the body can rotate relative to the chassis, the motor is used to drive the body to rotate relative to the chassis, and the excavator further comprises:

[0024] A controller, connected to the motor for adjusting the speed of the motor;

[0025] A memory for storing one or more programs;

[0026] When the one or more programs are executed by the controller, the controller controls the excavator to implement the above excavator rotation speed control method.

[0027] As a preferred solution of the excavator, it also includes a control handle arranged in the cab of the vehicle body, and the controller is communicatively connected with the control handle.

[0028] According to another aspect of the present invention, a storage medium is provided, on which a computer program is stored. When the program is executed by a controller, the excavator implements the above-mentioned excavator rotation speed control method.

[0029] The beneficial effects of the present invention are:

[0030] The present invention provides an excavator rotation speed control method, device, excavator and storage medium. In the excavator rotation speed control method, it is confirmed that the target rotation speed of the excavator for the rotation action has changed, and the target rotation speed is a first rotation speed; the rotation speed of the motor is adjusted so that the rotation speed of the excavator continuously approaches the first rotation speed, and the change rate of the rotation speed of the motor is always less than the first change rate threshold, so that the size of the first change rate threshold can be set as needed to minimize the change rate of the motor speed, make it transition smoothly, and avoid causing a large impact on the motor. It is confirmed that when the rotation speed of the excavator does not reach the first rotation speed, the target rotation speed is changed to the second rotation speed, and the current rotation speed of the excavator is between the first rotation speed and the second rotation speed, that is, when it is confirmed that the rotation speed of the excavator does not reach the previous target rotation speed at this time, the target rotation speed has changed, and the subsequent change trend of the rotation speed of the excavator is opposite to the previous change trend. At this time, the rotation speed of the motor is controlled to stop changing, and the rotation speed of the excavator is no longer controlled to be close to the first rotation speed, but the rotation speed is immediately stopped from changing, and the rotation speed of the motor is adjusted to make the rotation speed of the excavator continue to approach the second rotation speed, and the change rate of the rotation speed is always less than the second change rate threshold, so that the rotation speed of the excavator changes again and continues to approach the second rotation speed, so that when emergency braking is required in the process of gradually increasing the speed of the motor, or when the rotation speed needs to be quickly increased in the process of gradually decreasing the speed of the motor, the response time of the motor is shortened. In addition, the size of the second change rate threshold can be set as needed to minimize the change rate of the motor speed, make it transition smoothly, and avoid causing a large impact on the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a flow chart of a method for controlling the rotation speed of an excavator in an embodiment of the present invention;

[0032] Figure 2 is a schematic structural diagram of a rotation speed control device for an excavator in an embodiment of the present invention;

[0033] Figure 3 It is a schematic diagram of the structure of an excavator in an embodiment of the present invention.

[0034] In the figure:

[0035] 200, first confirmation module; 210, first adjustment module; 220, second confirmation module; 230, control module; 240, second adjustment module;

[0036] 300, controller; 310, memory;

[0037] 400, chassis; 410, body; 420, motor; 430, control handle. DETAILED DESCRIPTION

[0038] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0039] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0041] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0042] Embodiment 1

[0043] During the rotation of the excavator, if the gap between the current actual rotation speed and the target speed is too large, it will cause a greater impact on the motor. In this regard, the prior art provides a motor speed regulation method, which can control the change of the speed according to demand when the motor speed needs to be changed, rather than a fixed step response curve, so that the motor speed value changes in a ramp and reaches the target speed value smoothly, which can reduce the impact. However, there is still a problem that the motor speed changes smoothly, which can reduce the impact while also increasing the time required for the motor to change from the initial speed to the target speed. During this process, if the target speed needs to be adjusted again, the motor will generally wait for the previous instruction to be executed before adjusting the target speed, which will cause the motor response to be delayed.

[0044] In this regard, this embodiment provides an excavator rotation speed control method to solve the problem in the prior art that when the motor speed changes from an initial speed to a target speed, if the target speed needs to be adjusted again, it will cause a delay in the motor's response. This method can be used in the field of excavator technology.

[0045] In this embodiment, the excavator specifically includes a chassis and a body that can rotate relative to the chassis. The motor can drive the body to rotate relative to the chassis, so that the excavator performs a rotational motion.

[0046] The excavator rotation speed control method provided in this embodiment can be executed by an excavator rotation speed control device, and the excavator rotation speed control device can be implemented by software and / or hardware and integrated in the excavator. Figure 1 , the excavator rotation speed control method includes the following steps.

[0047] S100: Confirming that the target rotation speed of the excavator for the swing operation has changed and that the target rotation speed is the first rotation speed.

[0048] Specifically, the rotation may be started from a stationary state, or the rotation speed may be increased or decreased during stable rotation at a certain rotation speed.

[0049] In this step, specifically, if it is detected that the position of the excavator's control handle has changed, it is determined that the target speed of the excavator has changed, and the value of the target speed is obtained according to the position of the control handle. Optionally, the target speed can be obtained based on the mapping relationship between the displacement of the control handle relative to the initial position and the target speed. If the displacement of the control handle relative to the initial position is large, the target speed is also large. The above mapping relationship can be obtained through a large number of preliminary experiments and pre-stored in the controller.

[0050] S110: Adjust the rotation speed of the motor so that the rotation speed of the excavator continuously approaches the first rotation speed, and the change rate of the rotation speed of the motor is always less than the first change rate threshold.

[0051] The size of the first change rate threshold can be determined according to actual needs and pre-set in the controller. The size of the first change rate threshold can be set to minimize the change rate of the motor speed, make it transition smoothly, and avoid causing a large impact on the motor.

[0052] In this embodiment, the first change rate threshold is the maximum change rate allowed for a smooth change in the motor's speed. When the motor's speed is less than the first change rate threshold, the motor's speed can transition smoothly to avoid a large impact on the motor. When the motor's speed is not less than the first change rate threshold, the motor's speed changes too fast, which may cause a certain impact on the motor.

[0053] S120: Confirming that when the rotation speed of the excavator does not reach the first rotation speed, the target rotation speed is changed to the second rotation speed, and the current rotation speed of the excavator is between the first rotation speed and the second rotation speed.

[0054] In step S120, when it is confirmed that the rotation speed of the excavator has not reached the previous target speed, the target speed has changed, and the subsequent change trend of the rotation speed of the excavator is opposite to the previous change trend. For example, in the previous step S100, the rotation speed is less than the first speed, and in step S110, the rotation speed is still increasing, and a braking operation is required at this time, that is, the target speed is changed to 0; or, in the previous step S100, the rotation speed is greater than the first speed, and in step S110, the rotation speed is still decreasing, and the rotation speed needs to be increased.

[0055] In this step, specifically, if it is detected that the position of the excavator's control handle has changed, it is determined that the target speed of the excavator has changed, and the value of the target speed is obtained according to the position of the control handle. Optionally, the target speed can be obtained based on the mapping relationship between the displacement of the control handle relative to the initial position and the target speed. If the displacement of the control handle relative to the initial position is large, the target speed is also large. The above mapping relationship can be obtained through a large number of preliminary experiments and pre-stored in the controller.

[0056] S130: Control the motor's rotation speed to stop changing.

[0057] In this step, the rotation speed of the excavator is no longer controlled to be close to the first rotation speed, but the rotation speed is immediately stopped from changing.

[0058] Optionally, in step S130, the speed of the motor is controlled to stop changing and continue for a preset time to further make the speed of the motor change smoothly and reduce the impact on the motor. It is understandable that in order to minimize the response time of the motor, the preset time should be short, such as 0.5s.

[0059] S140: Adjust the rotation speed of the motor so that the rotation speed of the excavator continuously approaches the second rotation speed, and the change rate of the rotation speed of the motor is always less than the second change rate threshold.

[0060] In this step, the rotation speed of the excavator is changed again and continuously approaches the second rotation speed, thereby shortening the response time of the motor when emergency braking is required during the gradual increase in the motor speed, or when the rotation speed needs to be quickly increased during the gradual decrease in the motor speed. In addition, the size of the second change rate threshold can be set as needed to minimize the change rate of the motor speed, make it a smooth transition, and avoid causing a large impact on the motor.

[0061] When the rotation speed has not reached the first rotation speed, the target rotation speed changes, indicating that the change in the target rotation speed occurs shortly after the target rotation speed changes in step S100. This is usually caused by an emergency situation, such as when the rotation speed continues to increase, emergency braking is required, or when the rotation speed continues to decrease, the rotation speed needs to be increased rapidly.

[0062] In view of the above situation, the second change rate threshold is greater than the first change rate threshold, so that in step S110, the change rate of the motor speed is required to be lower and the requirement for its smooth control is higher. In step S140, the motor speed can be controlled to change at a relatively large change rate to adapt to possible emergency situations.

[0063] In addition, in this embodiment, in step S110 and step S140, the rotational speed of the motor changes linearly, and in step S110, the rate of change of the rotational speed of the motor is a first rate of change, and in step S140, the rate of change of the rotational speed of the motor is a second rate of change, and the second rate of change is greater than the first rate of change, so as to increase the change amplitude of the rotational speed in step S140, so that the rotational speed can quickly approach the second rotational speed.

[0064] As an alternative solution, the first change rate and the second change rate may also be determined according to actual conditions. For example, the absolute values ​​of both increase first and then gradually decrease when the rotation speed approaches the target rotation speed.

[0065] Embodiment 2

[0066] This embodiment provides an excavator rotation speed control device, which can execute the excavator rotation speed control method described in the above embodiment.

[0067] Reference Figure 2 The excavator rotation speed control device includes a first confirmation module 200, a first adjustment module 210, a second confirmation module 220, a control module 230 and a second adjustment module 240.

[0068] Among them, the first confirmation module 200 is used to confirm that the target speed of the excavator's rotation action has changed, and the target speed is the first speed; the first adjustment module 210 is used to adjust the speed of the motor so that the rotation speed of the excavator continues to approach the first speed, and the rate of change of the rotation speed is always less than the first change rate threshold; the second confirmation module 220 is used to confirm that when the rotation speed of the excavator has not reached the first speed, the target speed is changed to the second speed; and the current rotation speed of the excavator is between the first speed and the second speed; the control module 230 is used to control the speed of the motor to stop changing; the second adjustment module 240 is used to adjust the speed of the motor so that the rotation speed of the excavator continues to approach the second speed, and the rate of change of the rotation speed is always less than the second change rate threshold.

[0069] The excavator rotation speed control device provided in this embodiment confirms through the first confirmation module 200 that the target rotation speed of the excavator for the rotation action has changed, and the target rotation speed is the first rotation speed; adjusts the rotation speed of the motor through the first adjustment module 210 so that the rotation speed of the excavator is constantly close to the first rotation speed, and the rate of change of the rotation speed is always less than the first change rate threshold; confirms through the second confirmation module 220 that when the rotation speed of the excavator does not reach the first rotation speed, the target rotation speed is changed to the second rotation speed; and the current rotation speed of the excavator is between the first speed and the second speed; controls the motor speed to stop changing through the control module 230; adjusts the motor speed through the second adjustment module 240 so that the rotation speed of the excavator is constantly close to the second rotation speed, and the rate of change of the rotation speed is always less than the second change rate threshold, which can shorten the response time of the motor when the rotation speed of the excavator has not reached the previous target speed and the target speed has changed.

[0070] Embodiment 3

[0071] This embodiment provides an excavator, referring to Figure 3 The excavator includes a chassis 400, a body 410 and a motor 420. The body 410 can rotate relative to the chassis 400. The motor 420 is used to drive the body 410 to rotate relative to the chassis 400, so that the excavator completes the rotation action. In addition, the excavator also includes a controller 300 and a memory 310. The controller 300 is connected to the motor 420 for communication and is used to adjust the speed of the motor 420.

[0072] The memory 310 is a computer-readable storage medium that can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the excavator rotation speed control method in the embodiment of the present invention. The controller 300 executes various functional applications and data processing of the excavator by running the software programs, instructions and modules stored in the memory 310, that is, the excavator rotation speed control method in the above embodiment is implemented.

[0073] The memory 310 mainly includes a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function; the data storage area can store data created according to the use of the terminal, etc. In addition, the memory 310 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some examples, the memory 310 may further include a memory 310 remotely arranged relative to the controller 300, and these remote memories can be connected to the excavator via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0074] Continue to refer to Figure 3 The excavator further includes a control handle 430 disposed in the cab of the vehicle body 410, and the controller 300 is in communication connection with the control handle 430. By detecting the change in the position of the control handle 430, it can be determined that the target speed of the excavator has changed. In addition, the numerical value of the target speed can also be obtained according to the position of the control handle 430.

[0075] The excavator provided in the third embodiment of the present invention and the excavator rotation speed control method provided in the above embodiment belong to the same inventive concept. The technical details not described in detail in this embodiment can be referred to the above embodiment, and this embodiment has the same beneficial effect as executing the excavator rotation speed control method.

[0076] Embodiment 4

[0077] Embodiment 4 of the present invention further provides a storage medium on which a computer program is stored. When the program is executed by a controller, the excavator implements the excavator rotation speed control method as described in the above embodiment of the present invention.

[0078] Of course, the storage medium containing computer executable instructions provided by the embodiment of the present invention, whose computer executable instructions are not limited to the operations in the excavator rotation speed control method as described above, can also execute related operations in the excavator rotation speed control device provided by the embodiment of the present invention, and have corresponding functions and beneficial effects.

[0079] Through the above description of the implementation method, the technicians in the relevant field can clearly understand that the present invention can be implemented by means of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for a computer device (which can be a robot, a personal computer, a server, or a network device, etc.) to execute the excavator rotation speed control method described in each embodiment of the present invention.

[0080] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A method for controlling the rotation speed of an excavator, characterized in that: include: S100: confirming that a target speed of the excavator for performing a swing action has changed, and the target speed is a first speed; S110: adjusting the rotation speed of the motor so that the rotation speed of the excavator continuously approaches the first rotation speed, and the change rate of the rotation speed of the motor is always less than a first change rate threshold; S120: confirming that when the rotation speed of the excavator does not reach the first rotation speed, the target rotation speed is changed to a second rotation speed, and the current rotation speed of the excavator is between the first rotation speed and the second rotation speed; S130: Control the rotation speed of the motor to stop changing; S140: Adjust the rotation speed of the motor so that the rotation speed of the excavator continuously approaches the second rotation speed, and the change rate of the rotation speed of the motor is always less than a second change rate threshold.

2. The excavator rotation speed control method according to claim 1, characterized in that: The second change rate threshold is greater than the first change rate threshold.

3. The excavator rotation speed control method according to claim 1, characterized in that: In step S110 and step S140, the rotation speed of the motor changes linearly, and in step S110, the change rate of the rotation speed of the motor is a first change rate, and in step S140, the change rate of the rotation speed of the motor is a second change rate, and the second change rate is greater than the first change rate.

4. The excavator rotation speed control method according to any one of claims 1 to 3, characterized in that: In step S100 and step S120 , if it is detected that the position of the control handle of the excavator has changed, it is determined that the target rotation speed of the excavator has changed.

5. The excavator rotation speed control method according to claim 4, characterized in that: In step S100 and step S120, the value of the target rotation speed is obtained according to the position of the control handle.

6. The excavator rotation speed control method according to any one of claims 1 to 3, characterized in that: In step S130, the rotation speed of the motor is controlled to stop changing and continue for a preset time.

7. The excavator rotation speed control device is characterized in that: include: A first confirmation module, used to confirm that a target speed of the excavator performing a swing action has changed, and the target speed is a first speed; a first regulating module, configured to regulate the rotation speed of the motor so that the rotation speed of the excavator continuously approaches the first rotation speed, and the change rate of the rotation speed is always less than a first change rate threshold; A second confirmation module is used to confirm that when the rotation speed of the excavator does not reach the first rotation speed, the target rotation speed is changed to a second rotation speed; and the current rotation speed of the excavator is between the first rotation speed and the second rotation speed; A control module, used for controlling the rotation speed of the motor to stop changing; The second regulating module is used to regulate the rotation speed of the motor so that the rotation speed of the excavator continuously approaches the second rotation speed, and the change rate of the rotation speed is always less than a second change rate threshold.

8. An excavator, comprising a chassis, a body and a motor, wherein the body can rotate relative to the chassis, and the motor is used to drive the body to rotate relative to the chassis, characterized in that: The excavator also includes: A controller, connected to the motor for adjusting the speed of the motor; A memory for storing one or more programs; When the one or more programs are executed by the controller, the controller controls the excavator to implement the excavator rotation speed control method according to any one of claims 1 to 6.

9. The excavator according to claim 8, characterized in that: It also includes a control handle arranged in the cab of the vehicle body, and the controller is communicatively connected with the control handle.

10. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by the controller, the excavator implements the excavator rotation speed control method according to any one of claims 1 to 6.

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