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

Abstract

The present invention belongs to the technical field of excavators, and discloses an excavator slewing speed control method, device, excavator and storage medium. In the excavator slewing speed control method, it is confirmed that the target speed of the excavator for slewing operation changes, and the target speed is the first speed; the speed of the motor is adjusted so that the slewing speed of the excavator continuously approaches the first speed, and the change rate of the speed of the motor is always less than the first change rate threshold; it is confirmed that when the slewing speed of the excavator has not reached the first speed, the target speed changes to the second speed, and the current slewing speed of the excavator is between the first speed and the second speed; the change of the speed of the motor is controlled to stop, and the speed of the motor is adjusted so that the slewing speed of the excavator continuously approaches the second speed, and the change rate of the speed of the motor is always less than the second change rate threshold, thereby shortening the response time of the motor when the target speed has changed before the slewing speed of the excavator reaches the previous target speed.

Description

Technical Field

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

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

[0003] For the situation where the difference between the current speed of the motor and the target speed is too large, the prior art provides a speed control 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 manner and reaches the target speed value smoothly, and the impact can be reduced. However, the problem still exists that the speed change of the motor is smooth, which can reduce the impact while 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 generally waits 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 and the motor needs to be emergently braked during the process of gradually increasing the speed, the motor still needs to first increase to the original target speed and then decelerate, resulting in an increase in the braking distance; or when the target speed is less than the initial speed of the motor and the motor needs to quickly increase the swing speed during the process of gradually decreasing the speed, the motor still needs to first decrease to the original target speed and then increase the speed. The above situations will all cause a delay in the response of the motor. Summary of the Invention

[0004] According to one aspect of the present invention, the present invention provides an excavator swing speed control method to solve the problem that in the prior art, if the target speed needs to be adjusted again during the process of the speed of the motor changing from the initial speed to the target speed, 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] An excavator swing speed control method, comprising:

[0007] S100: Confirm that the target speed of the excavator for swing motion changes, and the target speed is the first speed;

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

[0009] S120: Confirm that when the slewing speed of the excavator does not reach the first speed, the target speed changes to the second speed, and the current slewing speed of the excavator is between the first speed and the second speed;

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

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

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

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

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

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

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

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

[0018] A first confirmation module, configured to confirm that the target speed for the excavator to perform a slewing action changes, and the target speed is the first speed;

[0019] A first adjustment module, configured to adjust the speed of the motor so that the slewing speed of the excavator continuously approaches the first speed, and the change rate of the slewing speed is always less than the first change rate threshold;

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

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

[0022] A second adjustment module, configured to adjust the rotation speed of the motor so that the slewing speed of the excavator continuously approaches the second speed, and the change rate of the slewing speed is always less than a second change rate threshold.

[0023] According to another aspect of the present invention, there is provided an excavator, including a chassis, a body, and a motor, wherein the body is capable of rotating relative to the chassis, and the motor is used to drive the body to rotate relative to the chassis. The excavator further includes:

[0024] A controller, communicatively connected to the motor and configured to adjust the rotation speed of the motor;

[0025] A memory, configured to store 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-mentioned excavator slewing speed control method.

[0027] As a preferred solution of the excavator, it further includes a control handle disposed in the cab of the body, and the controller is communicatively connected to the control handle.

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

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

[0030] The present invention provides an excavator swing speed control method, device, excavator and storage medium. In the excavator swing speed control method, it is confirmed that the target speed of the excavator during the swing operation changes, and the target speed is the first speed; the speed of the motor is adjusted so that the swing speed of the excavator continuously approaches the first speed, and the change rate of the speed of the motor is always less than the first change rate threshold. Thus, the magnitude of the first change rate threshold can be set as needed to minimize the change rate of the motor speed, enabling a smooth transition and avoiding a large impact on the motor. It is confirmed that when the swing speed of the excavator has not reached the first speed, the target speed changes to the second speed, and the current swing speed of the excavator is between the first speed and the second speed. That is, it is confirmed that when the swing speed of the excavator has not reached the previous target speed, the target speed has already changed, and the subsequent change trend of the swing speed of the excavator is opposite to the previous change trend. At this time, the control of the speed of the motor stops changing, and the control of the swing speed of the excavator to approach the first speed is no longer carried out. Instead, its speed immediately stops changing, and the speed of the motor is adjusted so that the swing speed of the excavator continuously approaches the second speed, and the change rate of the swing speed is always less than the second change rate threshold. Thus, the swing speed of the excavator changes again and continuously approaches the second speed. Therefore, when it is necessary to perform an emergency brake during the process of the motor speed gradually increasing, or when it is necessary to quickly increase the swing speed during the process of the motor speed gradually decreasing, the response time of the motor can be shortened. In addition, the magnitude of the second change rate threshold can be set as needed to minimize the change rate of the motor speed, enabling a smooth transition and avoiding a large impact on the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a flowchart of the excavator swing speed control method in an embodiment of the present invention;

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

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

[0034] In the figure:

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

[0036] 300, the controller; 310, the memory;

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

[0038] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only for explaining the present invention, rather than limiting the present invention. In addition, it should be noted that for the sake of description, only the parts related to the present invention are shown in the drawings, rather than all the structures.

[0039] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0040] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "over", and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath", and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely means that the horizontal height of the first feature is lower than that of the second feature.

[0041] In the description of this embodiment, the orientation or positional relationships such as "above", "below", "left", and "right" are based on the orientation or positional relationships shown in the drawings. It is only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for distinction in description and have no special meanings.

[0042] Embodiment 1

[0043] During the slewing process of an excavator, if the gap between the current actual slewing speed and the target speed is too large, it will cause a large impact on the motor. In response, the prior art provides a speed control 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 manner and smoothly reaches the target speed value, which can reduce the impact. However, the problem still exists that the speed change of the motor is stable, which can reduce the impact while 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 generally waits for the previous instruction to be executed before adjusting the target speed, resulting in a delay in the response of the motor.

[0044] In response, this embodiment provides an excavator slewing speed control method to solve the problem that in the prior art, if the target speed needs to be adjusted again during the process of the motor speed changing from the initial speed to the target speed, it will cause a delay in the response of the motor, and it 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, and the motor can drive the body to rotate relative to the chassis so that the excavator performs a slewing action.

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

[0047] S100: Confirm that the target speed of the excavator for slewing action changes, and the target speed is the first speed.

[0048] Specifically, it can start slewing from a stationary state, or increase or decrease the speed during the process of slewing stably at a certain speed.

[0049] In this step, specifically, if it is detected that the position of the control handle of the excavator changes, it is determined that the target speed of the excavator changes, and the value of the target speed is obtained according to the position of the control handle. Optionally, the target speed can be obtained according to 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 previous tests and stored in the controller in advance.

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

[0051] The magnitude of the first change rate threshold can be determined according to actual needs and preset in the controller in advance. By setting the magnitude of the first change rate threshold, the change rate of the motor speed can be minimized to achieve a smooth transition and avoid a large impact on the motor.

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

[0053] S120: Confirm that when the slewing speed of the excavator has not reached the first speed, the target speed changes to the second speed, and the current slewing speed of the excavator is between the first speed and the second speed.

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

[0055] In this step, specifically, if it is detected that the position of the control handle of the excavator 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 according to 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 previous tests and stored in the controller in advance.

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

[0057] In this step, instead of controlling the slewing speed of the excavator to approach the first speed, the speed is immediately stopped from changing.

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

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

[0060] In this step, the slewing speed of the excavator is changed again and continuously approaches the second rotational speed. Thus, when an emergency brake is required during the process of gradually increasing the rotational speed of the motor, or when a rapid increase in the slewing speed is required during the process of gradually decreasing the rotational speed of the motor, the response time of the motor can be shortened. In addition, the magnitude of the second change rate threshold can be set as needed to minimize the change rate of the rotational speed of the motor, enabling a smooth transition and avoiding a large impact on the motor.

[0061] When the target rotational speed changes before the slewing speed reaches the first rotational speed, it indicates that the change in the target rotational speed occurs shortly after the change in the target rotational speed in step S100. Generally, relatively urgent situations are encountered. For example, when the slewing speed is continuously increasing, an emergency brake is required, or when the slewing speed is continuously decreasing, a rapid increase in the slewing speed is required.

[0062] For the above situations, the second change rate threshold is greater than the first change rate threshold. Thus, in step S110, a lower requirement is imposed on the change rate of the rotational speed of the motor, and a higher requirement is imposed on its smooth control. In step S140, the rotational speed of the motor can be controlled to change at a relatively large change rate to adapt to possible emergency situations.

[0063] In addition, in this embodiment, in steps S110 and S140, the rotational speed of the motor changes linearly. In step S110, the change rate of the rotational speed of the motor is the first change rate, and in step S140, the change rate of the rotational speed of the motor is the second change rate. The second change rate is greater than the first change rate to increase the change amplitude of the slewing speed in step S140, enabling the slewing speed to quickly approach the second rotational speed.

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

[0065] Embodiment 2

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

[0067] Refer to Figure 2 , this excavator slewing 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 configured to confirm that the target rotation speed of the excavator for the slewing operation changes, and the target rotation speed is the first speed; the first adjustment module 210 is configured to adjust the rotation speed of the motor so that the slewing speed of the excavator continuously approaches the first speed, and the change rate of the slewing speed is always less than the first change rate threshold; the second confirmation module 220 is configured to confirm that when the slewing speed of the excavator does not reach the first speed, the target speed changes to the second speed; and the current slewing speed of the excavator is between the first speed and the second speed; the control module 230 is configured to control the rotation speed of the motor to stop changing; the second adjustment module 240 is configured to adjust the rotation speed of the motor so that the slewing speed of the excavator continuously approaches the second speed, and the change rate of the slewing speed is always less than the second change rate threshold.

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

[0070] Embodiment III

[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, and the motor 420 is used to drive the body 410 to rotate relative to the chassis 400, so that the excavator completes the slewing operation. In addition, the excavator further includes a controller 300 and a memory 310. The controller 300 is communicatively connected to the motor 420 and is configured to adjust the rotation speed of the motor 420.

[0072] The memory 310, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as program instructions / modules corresponding to the excavator slewing speed control method in the embodiments 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, implements the excavator slewing speed control method in the above embodiments.

[0073] The memory 310 mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one 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 magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some instances, the memory 310 may further include a memory 310 remotely set relative to the controller 300, and these remote memories can be connected to the excavator through a network. Examples of the above 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 communicatively connected to the control handle 430. By detecting a change in the position of the control handle 430, it can be determined that the target rotation speed of the excavator has changed. In addition, the numerical value of the target rotation speed can also be obtained according to the position of the control handle 430.

[0075] The excavator provided in Embodiment 3 of the present invention and the excavator swing speed control method provided in the above embodiment belong to the same inventive concept. Technical details not described in detail in this embodiment can be referred to the above embodiment, and this embodiment has the same beneficial effects as the excavator swing 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 the controller, the excavator implements the excavator swing speed control method as described in the above embodiments of the present invention.

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

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

[0080] Obviously, the above embodiments of the present invention are only examples for clearly explaining the present invention, and are not intended to limit the implementation of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments, and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included within 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: adjusting 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; 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.

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 or 2, 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.

4. The excavator rotation speed control method according to claim 3, 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.

5. The excavator rotation speed control method according to claim 1 or 2, characterized in that: In step S130, the rotation speed of the motor is controlled to stop changing and continue for a preset time.

6. 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, wherein the rotation speed of the motor changes linearly, and the change rate of the rotation speed of the motor is the first change rate; 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 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 is always less than a second change rate threshold, wherein the rotation speed of the motor changes linearly, and 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.

7. 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 5.

8. The excavator according to claim 7, 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.

9. 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 5.

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