Rotary system control method, rotary system and engineering vehicle

Abstract

The invention relates to the technical field of engineering machinery, and particularly discloses a rotation system control method, a rotation system and an engineering vehicle, the rotation system control method comprises the following steps: S10, recording the real-time state of the rotation system, the real-time state comprising an acceleration state and a deceleration state; s20, whether the rotation system is in the state switching moment between the acceleration state and the deceleration state or not is judged, if yes, S30 is executed, and if not, S10 is executed; s30, the real-time actual torque and the real-time target torque of the rotation system are recorded; s40, according to the real-time actual torque and the real-time target torque, whether the rotation system is at the torque switching moment or not is judged, if yes, S50 is executed, and if not, S30 is executed; and S50, the change of the torque T of the rotary system along with time t tends to 0, T = f (t), and t is greater than or equal to 0 and less than or equal to a. According to the control method of the rotary system, when the rotary clearance is eliminated, the change of the torque can be continuously adjusted, so that the rotary system is effectively prevented from generating large impact, and the shaking of the rotary system is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a slewing system control method, a slewing system and an engineering vehicle. Background Art

[0002] The slewing drive system is widely used in engineering machinery, mainly in the following aspects:

[0003] Heavy-duty flatbed trucks, container cranes, truck cranes, etc.: The slewing drive can provide high torque and high power transmission, allowing these equipment to operate smoothly without bumps or slippage during operation.

[0004] Aerial work vehicle: In an aerial work vehicle, the slewing drive is mainly used to realize the rotation function of the platform, so that the operator can perform all-round operations at high altitude.

[0005] Solar power generation system: The slewing drive device is mainly used to realize the automatic tracking function of solar panels in the solar power generation system.

[0006] Industrial robots: Due to the compact structure of the rotary drive and the short transmission chain, it is easier to achieve higher precision and easier to perform digital control, so it is also widely used in the field of industrial robots.

[0007] In addition, the slewing drive system also plays an important role in many other construction machinery, such as excavators, loaders, road rollers, etc. In these equipment, the slewing drive system is mainly used to realize the rotation, steering or transmission function of the equipment, and improve the operating efficiency and quality of the equipment.

[0008] In general, the slewing drive system has been widely used in the field of construction machinery due to its high efficiency, stability and safety.

[0009] At present, there are common assembly gaps such as gear clearance and bearing clearance in the existing rotary systems, which leads to obvious rotary clearance in the transmission process of the rotary system. When the rotary force is reversed, if the torque is not controlled, a large impact will be generated, causing the system to shake.

[0010] Therefore, a slewing system control method is urgently needed to solve the above problems. Summary of the invention

[0011] The purpose of the present invention is to provide a slewing system control method, a slewing system and an engineering vehicle to solve the problem in the related art that the slewing system has obvious slewing clearance during the transmission process, and when the slewing force is reversed, if the torque is not controlled, a large impact will be generated, causing the system to shake.

[0012] In one aspect, the present invention provides a slewing system control method, the slewing system control method comprising:

[0013] S10: Recording the real-time state of the slewing system, wherein the real-time state includes an acceleration state and a deceleration state;

[0014] S20: Determine whether the rotary system is in a state switching moment between the acceleration state and the deceleration state, if so, execute S30, if not, execute S10;

[0015] S30: Recording the real-time actual torque and the real-time target torque of the rotary system;

[0016] S40: judging whether the rotary system is at a torque switching moment between the positive torque and the negative torque according to the real-time actual torque and the real-time target torque, if so, executing S50, if not, executing S30;

[0017] S50: The torque T of the rotary system tends to 0 as time t changes, T=f(t), 0≤t≤a.

[0018] As a preferred technical solution of the slewing system control method, S10 specifically includes:

[0019] S101: collecting the real-time actual speed and the real-time target speed of the rotary system;

[0020] S102: The actual rotation speed collected at the same time is less than the real-time target rotation speed, and the rotary system is in an accelerating state; the actual rotation speed collected at the same time is greater than the real-time target rotation speed, and the rotary system is in a decelerating state.

[0021] As a preferred technical solution of the slewing system control method, in S40:

[0022] When the actual torque and the target torque collected at the same time are in opposite directions, it is determined that the rotary system is at the torque switching moment.

[0023] As a preferred technical solution of the rotary system control method, in S50, the torque T of the rotary system changes with time t as a linear function, that is, T=kt.

[0024] As a preferred technical solution of the rotary system control method, in S50, the torque T of the rotary system changes with time t in a quadratic function, that is, T=k +bt.

[0025] As a preferred technical solution of the rotary system control method, in S50, the torque T of the rotary system changes exponentially with time t, that is, T= -1.

[0026] As a preferred technical solution of the slewing system control method, in S50, the determination of T=f(t) includes the following steps:

[0027] Setting the torque T=f(a) after the rotary clearance of the rotary system is eliminated and / or setting the torque T=f(i) during the rotary clearance elimination process of the rotary system;

[0028] T=f(t) is determined by T=f(a) and / or T=f(i).

[0029] As a preferred technical solution of the slewing system control method, in S50, the value of a is positively correlated with the difference between T=f(0) and T=f(a).

[0030] On the other hand, the present invention provides a slewing system, which is controlled by the slewing system control method in any of the above-mentioned schemes, and is characterized in that it includes a slewing support, a slewing motor and a speed sensor, the inner ring of the slewing support is used to be fixed on the chassis of the engineering vehicle, the slewing motor drives the outer ring of the slewing support to rotate, and the speed sensor is used to monitor the real-time speed of the outer ring.

[0031] On the other hand, the present invention provides an engineering vehicle, comprising the slewing system in any of the above schemes.

[0032] The beneficial effects of the present invention are:

[0033] The present invention provides a slewing system control method, a slewing system and an engineering vehicle, wherein the slewing system control method comprises S10: recording the real-time state of the slewing system, the real-time state comprising an acceleration state and a deceleration state; S20: judging whether the slewing system is at a state switching moment between an acceleration state and a deceleration state, if so, executing S30, otherwise, executing S10; S30: recording the real-time actual torque and the real-time target torque of the slewing system; S40: judging whether the slewing system is at a torque switching moment between a positive torque and a reverse torque according to the real-time actual torque and the real-time target torque, if so, executing S50, otherwise, executing S30; S50: the torque T of the slewing system tends to 0 with time t, T=f(t), 0≤t≤a. When the operator controls the slewing system, the slewing system control method first determines whether the slewing system is in the moment of switching between the acceleration state and the deceleration state. If it is in this moment, the torque will gradually approach 0; then the torque is monitored, and the torque is determined based on the real-time actual torque and the real-time target torque. If so, the slewing clearance of the slewing system will change. At this time, the torque T of the slewing system gradually decreases with the change of time t, T=f(t). In the process of time t from 0 to a, the torque T of the slewing system changes orderly with t. Compared with directly changing the torque T to the target torque, this setting can achieve smooth control of the torque T, effectively alleviating the impact and vibration generated during the elimination of the slewing clearance. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Flow chart of the slewing system control method in an embodiment of the present invention. DETAILED DESCRIPTION

[0035] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, 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, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0039] The rotary system generally has gear clearance, bearing clearance and other rotary clearances. When the rotary system has speed fluctuations, torque reversal will occur. At this time, the rotary system will eliminate the rotary clearance when switching to the reverse direction. If the difference between the actual torque and the target torque is too large at this time, it will cause impact and cause the whole rotary system to shake. To avoid the above problems, such as Figure 1 As shown, this embodiment provides a slewing system control method, and the slewing system control method includes:

[0040] S10: Record the real-time status of the slewing system, which includes the acceleration status and the deceleration status.

[0041] This step specifically includes:

[0042] S101: Collecting the real-time actual speed and the real-time target speed of the rotary system.

[0043] In this step, the actual rotation speed of the slewing system is measured by monitoring the rotation speed of the outer ring of the slewing support through an angle sensor, and the real-time target rotation speed is the real-time target rotation speed instruction issued by the operator.

[0044] S102: The actual rotation speed collected at the same time is less than the real-time target rotation speed, and the rotary system is in an accelerating state; the actual rotation speed collected at the same time is greater than the real-time target rotation speed, and the rotary system is in a decelerating state.

[0045] In this step, when the actual speed collected at the same time is less than the real-time target speed received at the same time, it means that the operator wants to increase the actual speed to the real-time target speed, so the rotary system is in an accelerating state. When the actual speed collected at the same time is greater than the real-time target speed received at the same time, it means that the operator wants to reduce the actual speed to the real-time target speed, so the rotary system is in a decelerating state.

[0046] S20: Determine whether the rotary system is in a state switching moment between an acceleration state and a deceleration state. If so, execute S30; otherwise, execute S10.

[0047] In this step, when the rotary system switches from the acceleration state to the deceleration state, the torque is in the same direction as the rotation speed and approaches 0; when the rotary system switches from the deceleration state to the acceleration state, the torque is in the opposite direction as the rotation speed and approaches 0.

[0048] S30: Recording the real-time actual torque and the real-time target torque of the rotary system.

[0049] In this step, the target torque is the torque that the operator wants to achieve. By comparing the target torque and the actual torque at the same moment, it can be determined whether the torque of the rotary system will be reversed at the next moment.

[0050] S40: Determine whether the rotary system is at a torque switching moment between positive torque and reverse torque. If so, execute S50; if not, execute S30.

[0051] In this step, when the actual torque and the target torque collected at the same time are in opposite directions, it is determined that the rotary system is in the torque switching moment. At this time, the rotary clearance in the rotary system will gradually decrease until the rotary clearance is eliminated. During this process, if the torque is not controlled and increases rapidly, it is very easy to cause impact inside the rotary system, or even shaking of the entire rotary system.

[0052] S50: The torque T of the rotary system tends to 0 with time t, T=f(t), 0≤t≤a.

[0053] In this step, when the torque is detected to be at the torque switching moment, the rotary clearance of the rotary system will change. At this time, the torque T of the rotary system gradually decreases with the change of time t, T=f(t). During the time t from 0 to a, the torque T of the rotary system changes orderly with t. Compared with directly changing the torque T to the target torque, this setting can achieve smooth control of the torque T and effectively alleviate the impact and vibration generated during the elimination of the rotary clearance.

[0054] Optionally, in S50, the torque T of the rotary system changes with time t as a linear function, that is, T=kt, k is a constant. In this step, this setting is more suitable for use when the rotary clearance of the rotary system is large.

[0055] Optionally, in S50, the torque T of the rotary system changes with time t in a quadratic function, that is, T=k +bt, k and b are constants. In this step, this setting is more suitable for use when the slewing clearance of the slewing system is small.

[0056] Optionally, in S50, the torque T of the rotary system changes exponentially with time t = -1, k is a constant. In this step, this setting is more suitable for use when the rotary clearance of the rotary system is small. In other embodiments, the torque T of the rotary system can also change with time t in a power function or an inverse proportional function.

[0057] Optionally, in S50, determining T=f(t) includes the following steps:

[0058] The torque T=f(a) after the rotary clearance of the rotary system is eliminated is set and / or the torque T=f(i) during the rotary clearance elimination process of the rotary system is set.

[0059] In this embodiment, when t is equal to 0, T=0; T=f(a) is an empirical value set through multiple tests. When the torque at the end of eliminating the rotary clearance of the rotary system is T=f(a), the impact and vibration can be effectively eliminated, 0≤i≤a.

[0060] T = f (t) is determined by T = f (a) and / or T = f (i).

[0061] In this step, by substituting T=f(a) and / or T=f(i) into the selected functional expression, T=f(t) can be obtained.

[0062] Optionally, in S50, the value of a is positively correlated with the difference between T=f(0) and T=f(a).

[0063] In this step, the value of a is positively correlated with the difference between T=f(0) and T=f(a). When the difference between T=f(0) and T=f(a) is large, a larger value of a is required to make the torque change rate of the rotary system tend to be gentle. Therefore, the value of a is positively correlated with the difference between T=f(0) and T=f(a).

[0064] Optionally, S50 further includes: adjusting the output power of the rotary motor to adjust the torque T of the rotary system. In this step, after receiving the control signal, the rotary motor controller controls the output power of the rotary motor according to the control signal to adjust the output torque of the rotary system.

[0065] This embodiment also provides a slewing system, which is controlled by the slewing system control method in the above scheme. The slewing system includes a slewing support, a slewing motor and a speed sensor. The inner ring of the slewing support is used to be fixed on the chassis of the engineering vehicle. The slewing motor drives the outer ring of the slewing support to rotate, and the speed sensor is used to monitor the real-time speed of the outer ring. In this embodiment, the slewing motor can directly drive the outer ring of the slewing support. In other embodiments, the slewing motor can also drive the outer ring of the slewing support through a reducer.

[0066] This embodiment also provides an engineering vehicle, including the slewing system in the above solution.

[0067] 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 methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods 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 slewing system control method, characterized in that: include: S10: Recording the real-time state of the slewing system, wherein the real-time state includes an acceleration state and a deceleration state; S20: Determine whether the rotary system is in a state switching moment between the acceleration state and the deceleration state, if so, execute S30, if not, execute S10; S30: Recording the real-time actual torque and the real-time target torque of the rotary system; S40: judging whether the rotary system is at a torque switching moment according to the real-time actual torque and the real-time target torque, if so, executing S50, otherwise, executing S30; S50: The torque T of the rotary system tends to 0 as time t changes, T=f(t), 0≤t≤a.

2. The slewing system control method according to claim 1, characterized in that: S10 specifically includes: S101: collecting the real-time actual speed and the real-time target speed of the rotary system; S102: The actual rotation speed collected at the same time is less than the real-time target rotation speed, and the rotary system is in an accelerating state; the actual rotation speed collected at the same time is greater than the real-time target rotation speed, and the rotary system is in a decelerating state.

3. The slewing system control method according to claim 1, characterized in that: In S40: When the actual torque and the target torque collected at the same time are in opposite directions, it is determined that the rotary system is at the torque switching moment.

4. The slewing system control method according to claim 1, characterized in that: In S50, the torque T of the rotary system changes with time t as a linear function, that is, T=kt.

5. The slewing system control method according to claim 1, characterized in that: In S50, the torque T of the rotary system changes with time t in a quadratic function, that is, T=k+bt.

6. The slewing system control method according to claim 1, characterized in that: In S50, the torque T of the rotary system changes exponentially with time t, that is, T=-1.

7. The slewing system control method according to claim 1, characterized in that: In S50, the determination of T=f(t) includes the following steps: Setting the torque T=f(a) after the rotary clearance of the rotary system is eliminated and / or setting the torque T=f(i) during the rotary clearance elimination process of the rotary system; T=f(t) is determined by T=f(a) and / or T=f(i).

8. The slewing system control method according to claim 1, characterized in that: In S50, the value of a is positively correlated with the difference between T = f (0) and T = f (a).

9. A rotary system, using the rotary system control method according to any one of claims 1 to 8, characterized in that: It includes a slewing support, a slewing motor and a speed sensor. The inner ring of the slewing support is used to be fixed on the chassis of the engineering vehicle. The slewing motor drives the outer ring of the slewing support to rotate. The speed sensor is used to monitor the real-time speed of the outer ring.

10. An engineering vehicle, characterized in that: Includes the slewing system as described in claim 9.

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