Control method of electrically-driven rotary system, electrically-driven rotary system and hybrid excavator

Abstract

The invention discloses a control method of an electrically-driven rotary system, the electrically-driven rotary system and a hybrid excavator. The control method of the electric drive rotation system comprises the steps that the target rotation speed and the actual rotation speed of a rotation motor are obtained; determining the current working mode of the rotary motor according to the size relation between the actual rotating speed and the target rotating speed and whether the target rotating speed is equal to zero; the target torque of the rotary motor is determined based on the target rotating speed and the torque calculation parameters corresponding to the current working mode, and the torque calculation parameters corresponding to different working modes are different; and sending the target torque to a rotary motor controller to control the rotary motor to operate. The control precision, the working efficiency and the reliability of the rotary system can be improved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of excavators, and in particular to a control method for an electric drive rotary system, an electric drive rotary system, and a hybrid excavator. Background Art

[0002] With the increasing demand for energy conservation and emission reduction, traditional fuel-driven excavators are facing more and more challenges.

[0003] As a heavy-duty engineering machine, the slewing system of an excavator is one of its core components, responsible for driving the slewing motion of the upper part of the excavator. Usually, the slewing system is driven by a hydraulic motor. The slewing system driven by a hydraulic motor has problems such as large overflow, low efficiency, and low operating performance. In order to solve these problems, electric-driven slewing systems have gradually become a new development trend. Driven by motors, they can not only improve work efficiency but also reduce fuel consumption. However, existing electric-driven slewing systems usually have a single mode and fixed parameters. Although the system is energy-saving and efficient, it has problems such as large operational impact, long braking distance, weak holding ability, and a working mode that is quite different from the traditional hydraulic-driven slewing system and poor coordination. These problems have led to poor control accuracy of the existing slewing system, and low working efficiency and reliability of the slewing system. Summary of the Invention

[0004] The present invention provides a control method of an electric drive slewing system, an electric drive slewing system and a hybrid excavator, so as to improve the control accuracy, working efficiency and reliability of the slewing system.

[0005] In a first aspect, an embodiment of the present invention provides a control method for an electric drive rotary system, the control method comprising:

[0006] Obtaining a target rotation speed of the rotary motor and an actual rotation speed of the rotary motor;

[0007] determining a current operating mode of the rotary motor according to a magnitude relationship between the actual speed and the target speed, and whether the target speed is equal to zero;

[0008] determining a target torque of the rotary motor based on the target speed and a torque calculation parameter corresponding to the current operating mode, wherein different operating modes correspond to different torque calculation parameters;

[0009] The target torque is sent to the rotary motor controller to control the operation of the rotary motor.

[0010] In a second aspect, an embodiment of the present invention further provides an electric drive rotary system, the electric drive rotary system comprising at least one rotary motor, a rotary motor controller, and a control module;

[0011] The control module is in communication with the rotary motor controller, and the rotary motor controller is electrically connected to the rotary motor;

[0012] a control module, configured to determine a current operating mode of the rotary motor according to a relationship between the actual speed and the target speed, and whether the target speed is equal to zero;

[0013] The control module is also used to obtain the target speed of the rotary motor and the actual speed of the rotary motor, determine the target torque of the rotary motor based on the target speed and the corresponding torque calculation parameters under the current working mode, and send the target torque to the rotary motor controller to control the operation of the rotary motor; wherein the torque calculation parameters corresponding to different working modes are different.

[0014] In a third aspect, an embodiment of the present invention further provides a hybrid excavator, which includes the slewing motor system according to any embodiment of the present invention.

[0015] The present invention provides a control method for an electrically driven rotary system, which obtains the target speed and actual speed of a rotary motor; determines the current working mode of the rotary motor based on the relationship between the actual speed and the target speed, and whether the target speed is equal to zero, by setting different working modes; determines the target torque of the rotary motor based on the target speed and the torque calculation parameters corresponding to the current working mode, by setting different torque calculation parameters corresponding to different working modes, so as to improve the control accuracy of the rotary system, reduce energy consumption, improve energy utilization, and improve the working efficiency and reliability of the rotary system; and controls the operation of the rotary motor by sending the target torque to a rotary motor controller. The present invention can improve the control accuracy, working efficiency, and reliability of the rotary system, and is applicable to various heavy machinery and equipment that require an efficient and environmentally friendly rotary system drive, and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A flow chart of a control method for an electric drive rotary system provided by an embodiment of the present invention;

[0017] Figure 2 A flow chart of another control method for an electric drive rotary system provided by an embodiment of the present invention;

[0018] Figure 3 A flow chart of a control method for obtaining a target speed and an actual speed of a rotary motor provided by an embodiment of the present invention;

[0019] Figure 4 A flow chart of another method for controlling an electric drive rotary system provided by an embodiment of the present invention;

[0020] Figure 5 Schematic diagram of the structure of an electric drive rotary system in an embodiment of the present invention;

[0021] Figure 6 Schematic diagram of the structure of another electric drive rotary system in an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0023] An embodiment of the present invention provides a control method for an electric-drive slewing system. This method is applicable to electric-drive slewing systems in hybrid excavators. By setting different operating modes and defining mode switching conditions, the method aims to improve the control accuracy, operating efficiency, and system reliability of the slewing system, reduce energy consumption, increase system response speed, and optimize energy utilization. The control method for the electric-drive slewing system can be executed by a control device for the electric-drive slewing system. The control device can be implemented in hardware and / or software and can be configured within the electric-drive slewing system. Figure 1 A flow chart of a control method for an electric drive rotary system provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, a control method for an electric drive rotary system includes:

[0024] S110 : Acquire the target rotation speed of the rotary motor and the actual rotation speed of the rotary motor.

[0025] Among them, the electric drive rotary system includes structures such as a control handle, a rotary motor, a rotary motor controller and a battery. The control handle can send a control signal to the rotary motor controller, and the rotary motor controller can parse the received control signal to control the operation of the rotary motor. The actual speed of the rotary motor can be obtained from the rotary motor controller, and the target speed of the rotary motor can be obtained from the control signal of the control handle. Different openings of the control handle correspond to different pump flows and different target speeds through different curve settings.

[0026] Specifically, by acquiring the target speed and the actual speed of the rotary motor in real time, the current working mode of the rotary motor is determined in real time according to the target speed and the actual speed of the rotary motor, thereby improving the control accuracy of the rotary system.

[0027] S120: Determine the current working mode of the rotary motor according to the relationship between the actual rotation speed and the target rotation speed, and whether the target rotation speed is equal to zero.

[0028] Specifically, different operating modes can be pre-set based on the relationship between the actual speed and the target speed, as well as whether the target speed is equal to zero. For example, when the target speed is greater than or equal to the actual speed and not equal to 0, the drive mode is selected. After obtaining the target speed and the actual speed of the rotary motor, the current operating mode of the rotary motor is determined based on the relationship between the actual speed and the target speed, as well as whether the target speed is equal to zero, thereby controlling the rotary motor in different operating modes.

[0029] S130 : Determine the target torque of the rotary motor based on the target speed and the torque calculation parameters corresponding to the current working mode, wherein different working modes correspond to different torque calculation parameters.

[0030] Specifically, different working modes correspond to different torque calculation parameters, so that the rotary motor can generate a torque suitable for the current working mode when it is in different working modes. Exemplarily, the working modes include braking mode and driving mode. When the target speeds of the rotary motor in the braking mode and the driving mode are the same, if the rotary motor is driven directly according to the target speed of the rotary motor without considering the working mode of the rotary motor, the energy consumed by the rotary motor in the braking mode and the driving mode will be the same. If the working mode of the rotary motor is changed, the rotary motor is controlled according to the working mode of the rotary motor, the energy consumed by the rotary motor in the braking mode can be less than the energy consumed by the rotary motor in the driving mode, thereby reducing the energy consumption of the system. The target torque of the rotary motor can be calculated based on the target speed and the torque calculation parameters corresponding to the current working mode. For example, the power corresponding to the rotary motor can be obtained, and the torque corresponding to the rotary motor can be calculated according to the power and target speed corresponding to the rotary motor. The torque corresponding to the rotary motor is adjusted by the torque calculation parameters to obtain the target torque; in addition, when the electric drive rotary system is applied to a hybrid excavator system, the torque calculation parameters are power distribution strategy parameters. The hybrid excavator system has an electric motor and an engine. After obtaining the total required power, the power of the electric motor and the power of the engine can be distributed according to the power distribution strategy parameters set in advance. Then, the target torque corresponding to the rotary motor can be calculated according to the power and target speed corresponding to the rotary motor, thereby reducing the fuel consumption of the engine, optimizing the energy utilization of the excavator, and improving the reliability and work efficiency of the system.

[0031] S140: Send the target torque to the rotary motor controller to control the operation of the rotary motor.

[0032] Specifically, after obtaining the target torque corresponding to the rotary motor, the target torque is sent to the rotary motor controller so that the rotary motor can output torque according to the required torque in the current working mode, thereby achieving the purpose of outputting the actual speed of the rotary motor, and improving the control accuracy, working efficiency and reliability of the electric drive rotary system.

[0033] It should be noted that the control method of the electric drive rotary system of the embodiment of the present invention can be applied to various heavy machinery equipment that require efficient and environmentally friendly rotary system drive, and has a wide range of applications. For example, it can be used in hybrid excavators to reduce the fuel consumption of hybrid excavators.

[0034] An embodiment of the present invention provides a control method for an electrically driven rotary system, which obtains the target speed of a rotary motor and the actual speed of the rotary motor; determines the current working mode of the rotary motor according to the relationship between the actual speed and the target speed, and whether the target speed is equal to zero by setting different working modes; determines the target torque of the rotary motor based on the target speed and the torque calculation parameters corresponding to the current working mode by setting different torque calculation parameters corresponding to different working modes, thereby improving the control accuracy of the rotary system, reducing energy consumption, and improving energy utilization, thereby improving the working efficiency and reliability of the rotary system; and controls the operation of the rotary motor by sending the target torque to the rotary motor controller. The embodiment of the present invention can improve the control accuracy, working efficiency and reliability of the rotary system, and can be applied to various heavy machinery and equipment that require efficient and environmentally friendly rotary system drive, and has a wide range of applications.

[0035] In order to further improve the control accuracy of the rotary system, the embodiment of the present invention provides another control method of the electric drive rotary system. Figure 2 A flow chart of another control method of an electric drive rotary system provided by an embodiment of the present invention, such as Figure 2 Shown, including:

[0036] S210 , obtaining a handle operation signal for controlling the rotary motor and obtaining an actual rotation speed of the rotary motor; and determining a target rotation speed according to the handle operation signal.

[0037] Specifically, the electric drive rotary system includes a control handle, and the handle opening is obtained by obtaining the handle operation signal of the control rotary motor. In the hydraulic drive system, different openings correspond to different pump flow rates and different movement speeds through different curve settings. When the embodiment of the present invention is applied to the electric drive rotary system, different handle openings correspond to different target speeds of the rotary motor. The target speed can be obtained by interpolating the set curve according to the opening of the handle that controls the rotation. By obtaining the handle operation signal that controls the rotary motor in real time and obtaining the actual speed of the rotary motor, the target speed is determined according to the handle operation signal, and thus the current working mode of the rotary motor is determined in real time according to the target speed of the rotary motor and the actual speed of the rotary motor, so as to improve the control accuracy of the rotary system.

[0038] S220. When the target speed is greater than or equal to the actual speed and the target speed is not equal to 0, the current working mode of the rotary motor is the driving mode; when the target speed is less than the actual speed and the target speed is not equal to 0, the current working mode of the rotary motor is the braking mode; when the target speed is less than the actual speed and the target speed is equal to 0, the current working mode of the rotary motor is the stopping mode; when the target speed is equal to the actual speed and the target speed is equal to 0, the current working mode of the rotary motor is the parking mode.

[0039] Specifically, based on the relationship between the target speed and the actual speed, and considering whether the target speed is equal to 0, the operating mode of the rotary motor can be set to a drive mode, a brake mode, a stop mode, and a parking mode. When the target speed is greater than or equal to the actual speed and the target speed is not equal to 0, the operating mode is the drive mode; when the target speed is less than the actual speed and the target speed is not equal to 0, the braking mode is the stop mode; when the target speed is less than the actual speed and the target speed is equal to 0, the parking mode is the stop mode; and when the target speed is equal to the actual speed and the target speed is equal to 0, the parking mode is the parking mode. According to the pre-set conditions corresponding to the operating mode of the rotary motor, when the target speed is greater than or equal to the actual speed and the target speed is not equal to 0, the current operating mode of the rotary motor is determined to be the drive mode; when the target speed is less than the actual speed and the target speed is not equal to 0, the current operating mode of the rotary motor is determined to be the brake mode; when the target speed is less than the actual speed and the target speed is equal to 0, the current operating mode of the rotary motor is determined to be the stop mode; and when the target speed is equal to the actual speed and the target speed is equal to 0, the current operating mode of the rotary motor is determined to be the parking mode. Through the above setting and determination process of the working mode of the rotary motor, different control requirements can be performed for different working modes of the rotary motor, thereby improving the control accuracy, working efficiency and system reliability of the rotary system.

[0040] S230 : Determine the target torque of the rotary motor based on the target speed and the torque calculation parameters corresponding to the current working mode, wherein different working modes correspond to different torque calculation parameters.

[0041] Optionally, before determining the target torque of the swing motor based on the target speed and the torque calculation parameters corresponding to the current operating mode, the output pressure of the excavator's hydraulic pump can be collected in real time to calculate the total power requirement of the electric-driven swing system in real time. The total power requirement of the electric-driven swing system is calculated by calculating the hydraulic pump power requirement using the pump flow rate and pressure. The swing motor power is calculated using the motor's real-time speed and torque. The power requirement of the energy storage battery in the electric-driven swing system can also be calculated. The power requirement of the energy storage battery is interpolated from a power requirement curve set based on the capacity of the energy storage battery. The power requirements of the hydraulic pump, the swing motor, and the energy storage battery together constitute the total power requirement of the electric-driven swing system. When the electric-driven swing system is applied to a hybrid excavator system, the torque calculation parameters are power allocation strategy parameters. The hybrid excavator system has an electric motor and an engine. After obtaining the total power requirement, the power of the electric motor and the engine can be allocated using pre-set power allocation strategy parameters. Then, the target torque corresponding to the swing motor can be calculated based on the swing motor power and the target speed. This can reduce engine fuel consumption, optimize excavator energy utilization, and improve system reliability and operating efficiency.

[0042] Furthermore, hybrid excavators experience periodic load fluctuations between light and heavy loads. In light-load mode, the generator motor interpolates the required power of the energy storage battery based on the power demand curve corresponding to the set capacity of the energy storage battery. Simultaneously, the target torque of the swing motor is calculated based on the current power demand of the hydraulic pump. In heavy-load mode, the torque distribution between the engine and swing motor is calculated based on the current total power demand and pre-set power distribution strategy parameters.

[0043] S240: Send the target torque to the rotary motor controller to control the operation of the rotary motor.

[0044] Specifically, after obtaining the target torque corresponding to the rotary motor, the target torque is sent to the rotary motor controller so that the rotary motor can output torque according to the required torque in the current working mode, thereby achieving the purpose of outputting the actual speed of the rotary motor, and improving the control accuracy, working efficiency and reliability of the electric drive rotary system.

[0045] The present invention also provides a control method for obtaining the target speed and actual speed of a rotary motor. Figure 3 A flow chart of a control method for obtaining a target speed and an actual speed of a rotary motor provided by an embodiment of the present invention is shown as follows: Figure 3 Shown, including:

[0046] S310: Acquire a handle operation signal for controlling the rotary motor, and acquire an actual rotation speed of the rotary motor.

[0047] Optionally, obtaining a handle operation signal for controlling the rotary motor includes: obtaining a handle opening of the rotary motor; different handles correspond to different rotary motors, and a mapping relationship is formed between the handle opening and the target speed of the corresponding rotary motor.

[0048] The electric-driven slewing system includes a control handle. The handle's opening degree is determined by acquiring a handle operation signal from the excavator's slewing motor. The handle operation signal refers to the signal generated by a user operating the excavator's control handle, where the user is the operator of the excavator's control handle. The electric-driven slewing system can have one or more slewing motors. The slewing motors can be installed in any position on the excavator's power distribution device, even on both sides of the device.

[0049] Optionally, obtain the actual speed of the rotary motor, including:

[0050] Obtain the target torque output by the rotary motor; and calculate the actual speed corresponding to the rotary motor according to the target torque.

[0051] Specifically, the rotary motor controller will feed back the target torque output by the rotary motor. Based on the target torque, the actual speed of the rotary motor can be calculated, realizing the information feedback of the actual speed of the rotary motor, and then optimizing the power distribution and control strategy based on the feedback information to improve the system energy efficiency and response speed.

[0052] S320: Determine the target speed according to the handle operation signal.

[0053] Optionally, determining the target speed according to the handle operation signal includes:

[0054] The target speed of the corresponding rotary motor is determined according to the handle opening and the mapping relationship.

[0055] Specifically, by obtaining the handle operation signal of the rotary motor, the current handle opening is obtained, and the current target speed of the rotary motor is obtained according to the mapping relationship between the handle opening and the corresponding target speed of the rotary motor. Different handle openings correspond to different target speeds of the rotary motor. The target speed can be obtained by interpolating the set curve according to the opening of the handle controlling the rotation.

[0056] Specifically, by obtaining the handle operation signal that controls the rotary motor in real time and obtaining the actual speed of the rotary motor, the target speed is determined according to the handle operation signal, and the current working mode of the rotary motor is determined in real time according to the target speed of the rotary motor and the actual speed of the rotary motor to improve the control accuracy of the rotary system.

[0057] To further illustrate the control flow of the control method of the electric drive rotary system in the embodiment of the present invention, Figure 4 A flow chart of another control method of an electric drive rotary system provided by an embodiment of the present invention is as follows: Figure 4 As shown, after the electric drive rotary system starts to start, the opening of the rotary handle is first obtained, and the target speed of the rotary motor is converted according to the opening; then the actual speed of the rotary motor output fed back by the rotary motor controller is obtained; then the working mode and mode switching condition of the rotary motor can be set; according to the relationship between the actual speed and the target speed, and whether the target speed is equal to zero, the current working mode of the rotary motor is determined, specifically, whether the target speed ≥ the actual speed is satisfied, and the target speed is not equal to 0, if so, it is determined that the current working mode of the rotary motor is the driving mode, and the target torque is calculated according to the set driving mode parameters; if not, it is determined whether the target speed < the actual speed is satisfied and the target speed is not equal to 0, if so, it is determined that the current working mode of the rotary motor is the braking mode, and the braking torque is calculated according to the set braking torque. The target torque is calculated based on the mode parameters; if not, it is determined whether the target speed < actual speed and the target speed is equal to 0. If so, it is determined that the current working mode of the rotary motor is the stop mode, and the target torque is calculated according to the set stop mode parameters; if not, it is determined whether the target speed = actual speed and the target speed is equal to 0. If so, it is determined that the current working mode of the rotary motor is the parking mode, and the target torque is calculated according to the set parking mode parameters, wherein the driving mode parameters, braking mode parameters, stop mode parameters and parking mode parameters are all torque calculation parameters; after the target torque is calculated, the target torque is sent to the rotary motor controller to control the rotary motor to output the actual torque according to the required torque, and the rotary motor outputs the actual speed, which is the actual speed output by the rotary motor fed back by the rotary motor controller. The actual speed and the target speed are not necessarily the same, and the actual torque is not necessarily the same as the target torque. For example, if the total power required by the electric drive rotary system exceeds the set value, the power of the rotary motor will be limited, thereby achieving multi-power source, multi-demand load, and constant power control.

[0058] An embodiment of the present invention provides a control method for an electrically driven rotary system. By setting different operating modes, the current operating mode of the rotary motor is determined based on the relationship between the actual speed and the target speed, as well as whether the target speed is equal to zero. The rotary motor is controlled in different operating modes, thereby improving the control accuracy, operating efficiency, and system reliability of the rotary system. In addition, the operating mode of the rotary motor can be dynamically adjusted based on the target speed and actual speed of the rotary motor. The power distribution and control strategy are optimized based on feedback information to improve system energy efficiency and response speed. The present invention can achieve high-precision rotary control while improving system energy efficiency, reducing fuel consumption and emissions. It is suitable for various heavy machinery and equipment that require efficient and environmentally friendly rotary drive and has a wide range of applications.

[0059] The embodiment of the present invention further provides an electric drive rotary system, Figure 5 FIG. 1 is a schematic structural diagram of an electric drive rotary system according to an embodiment of the present invention. Figure 5 As shown, the electric drive rotary system includes at least one rotary motor 110, a rotary motor controller 120 and a control module 130; the control module 130 is in communication connection with the rotary motor controller 120, and the rotary motor controller 120 is electrically connected to the rotary motor 110.

[0060] The control module 130 is used to obtain the target speed of the rotary motor 110 and the actual speed of the rotary motor 110; determine the current working mode of the rotary motor 110 based on the relationship between the actual speed and the target speed, and whether the target speed is equal to zero; the control module 130 is also used to determine the target torque of the rotary motor 110 based on the target speed and the corresponding torque calculation parameters under the current working mode, and send the target torque to the rotary motor controller 120 to control the operation of the rotary motor 110; wherein, different working modes correspond to different torque calculation parameters.

[0061] Among them, the electric drive rotation system is independent of the hydraulic system of the excavator and is controlled by the control module 130. The control module 130 can execute any control method in the above embodiments. The electric drive rotation system includes at least one rotary motor 110. Optionally, the electric drive rotation system may include two rotary motors 110 to perform rotation control in different directions respectively. The control module 130 can perform redundant processing on the signal from the main controller of the excavator and the signal from the control handle of the rotary motor 110 to improve signal security. The control module 130 can also obtain the target speed based on the opening of the control handle, and the target speed can be transmitted to the rotary motor controller 120 to start and stop the rotary motor 110. The control module 130 can be a virtual controller (Virtual Electronic Control Unit, abbreviated as vECU), which is an electronic control unit model that can run in a virtual environment (such as simulation software).

[0062] Specifically, the rotary motor controller 120 can feed back the actual speed of the rotary motor 110 to the control module 130, so that the control module 130 can determine the current working mode of the rotary motor 110 based on the relationship between the actual speed and the target speed, and whether the target speed is equal to zero. Different working modes correspond to different torque calculation parameters, so that the rotary motor 110 can generate a torque suitable for the current working mode when it is in different working modes, thereby reducing the energy consumption of the system. The control module 130 is also used to determine the target torque of the rotary motor 110 based on the target speed and the torque calculation parameters corresponding to the current working mode. For example, the power corresponding to the rotary motor 110 can be obtained, and the torque corresponding to the rotary motor 110 can be calculated according to the power corresponding to the rotary motor 110 and the target speed. The torque corresponding to the rotary motor 110 is adjusted by the torque calculation parameters to obtain the target torque; in addition, when the electric drive rotary system is applied to a hybrid excavator system, the torque calculation parameter is a power distribution strategy parameter. The hybrid excavator system has an electric motor and an engine, and the electric motor includes a rotary motor 110. After obtaining the total required power of the electric drive rotary system, the power of the electric motor and the power of the engine can be distributed according to the power distribution strategy parameters set in advance, and then the target torque corresponding to the rotary motor can be calculated according to the power corresponding to the rotary motor 110 and the target speed, thereby reducing the fuel consumption of the engine, optimizing the energy utilization of the excavator, and improving the reliability and working efficiency of the system. The control module 130 may also send the target torque to the swing motor controller 120 to control the operation of the swing motor 110 , thereby improving the control accuracy, working efficiency, and reliability of the swing system.

[0063] The electric drive rotary system of the embodiment of the present invention can be applied to various heavy machinery equipment that require an efficient and environmentally friendly rotary system drive, and has a wide range of applications. For example, it can be used in hybrid excavators to reduce the fuel consumption of the hybrid excavators.

[0064] An embodiment of the present invention provides an electric drive rotary system, which obtains the target speed of the rotary motor and the actual speed of the rotary motor; determines the current working mode of the rotary motor according to the relationship between the actual speed and the target speed, and whether the target speed is equal to zero by setting different working modes; determines the target torque of the rotary motor based on the target speed and the torque calculation parameters corresponding to the current working mode by setting different torque calculation parameters corresponding to different working modes, so as to improve the control accuracy of the rotary system, reduce energy consumption, improve energy utilization, and improve the working efficiency and reliability of the rotary system; and controls the operation of the rotary motor by sending the target torque to the rotary motor controller. The embodiment of the present invention can improve the control accuracy, working efficiency and reliability of the rotary system, and can be applied to various heavy machinery and equipment that require efficient and environmentally friendly rotary system drive, and has a wide range of applications.

[0065] Figure 6 FIG. 1 is a schematic structural diagram of another electric drive rotary system in an embodiment of the present invention, as shown in FIG. Figure 6 As shown, the electric drive rotary system further includes a rotary reducer 140 and a rotary component 150 ; the rotary motor 110 is mechanically connected to the rotary reducer 140 , and the rotary reducer 140 is mechanically connected to the rotary component 150 ; the rotary motor 110 is used to output torque to the rotary reducer 140 .

[0066] The number of the rotary reducers 140 corresponds to the number of the rotary motors 110 , each rotary motor 110 is connected to a corresponding rotary reducer 140 , and all the rotary reducers 140 are connected to the rotary member 150 .

[0067] Specifically, the slewing motor 110 can output actual torque to the slewing reducer 140. The slewing reducer 140 is a speed reducer that converts the high-speed input of the slewing motor 110 into a low-speed output through a reduction ratio, thereby increasing torque. The slewing reducer 140 then outputs power to the slewing member 150, enabling the slewing member 150 to maintain high torque and low speed operation. The slewing member 150 is the excavator's slewing support and associated structure. The slewing bearing consists of inner and outer rings, rolling elements, and other components. It is a large bearing capable of withstanding combined loads, including large axial and radial loads and overturning moments. Power is transmitted through the slewing member 150, enabling efficient operation of the excavator.

[0068] refer to Figure 6The electric drive rotary system also includes a battery module 160; the battery module 160 is electrically connected to the rotary motor controller 120; the battery module 160 is used to output current to the rotary motor controller 120, and the rotary motor controller 120 is used to control the current output to the rotary motor 110 according to the target torque to control the rotary motor 110 to operate at the target torque.

[0069] Among them, the battery module 160 can be an independent set or multiple separate sets. The battery module 160 can include a supercapacitor and a battery management system. The battery management system can monitor the status of the battery module 160, prevent the battery module 160 from being overcharged and over-discharged, and thus extend the service life of the battery module 160. In addition, the battery module 160 is also communicatively connected with the control module 130, and the operating information of the battery module 160 can be fed back to the control module 130. The control module 130 is communicatively connected with the battery module 160 and the rotary motor controller 120, and the battery module 160 is electrically connected with the rotary motor controller 120 and the rotary motor 110. The rotary motor 110 is mechanically connected with the rotary reducer 140 and the rotary member 150.

[0070] Specifically, when there are two rotary motors 110, the rotary motor controller 120 can control the current output to the corresponding rotary motor 110 according to the target torque corresponding to the different rotary motors 110, so as to control the rotary motor 110 to operate at the corresponding target torque, thereby improving the control accuracy, working efficiency and system reliability of the rotary system and preventing waste of electric energy.

[0071] Optional, reference Figure 6 The electric drive rotary system also includes a power distribution unit 170 (PDU for short). The power distribution unit 170 is connected between the battery module 160 and the rotary motor controller 120. The power distribution unit 170 is a power distribution device between the power supply and the electrical equipment. Its core function is to distribute the input electrical energy to multiple output ports, while providing monitoring, protection and management functions. The power distribution unit 170 can achieve safe and efficient distribution and management of the electrical energy delivered from the battery module 160 to the rotary motor controller 120, so that the rotary motor controller 120 can control the current output to the corresponding rotary motor 110 according to the target torque corresponding to different rotary motors 110, so as to control the rotary motor 110 to operate at the corresponding target torque, thereby improving the control accuracy, working efficiency and system reliability of the rotary system and preventing waste of electrical energy.

[0072] An embodiment of the present invention provides an electric drive rotary system, which determines the current working mode of the rotary motor according to the relationship between the actual speed and the target speed, and whether the target speed is equal to zero by setting different working modes; and determines the target torque of the rotary motor based on the target speed and the torque calculation parameters corresponding to the current working mode by setting different torque calculation parameters corresponding to different working modes, so as to improve the control accuracy of the rotary system, reduce energy consumption, and improve energy utilization, thereby improving the working efficiency and reliability of the rotary system, thereby improving the control accuracy, working efficiency and reliability of the rotary system. The electric drive rotary system can be applied to various heavy machinery and equipment that require an efficient and environmentally friendly rotary system drive, and has a wide range of applications.

[0073] An embodiment of the present invention further provides a hybrid excavator, comprising the rotary motor system in the above embodiment, thereby achieving the functions and technical effects of the rotary motor system in the above embodiment.

[0074] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions are possible for those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the scope of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A control method for an electric drive rotary system, characterized in that: The control method includes: Obtaining a target rotation speed of the rotary motor and an actual rotation speed of the rotary motor; determining a current operating mode of the rotary motor according to a magnitude relationship between the actual speed and the target speed, and whether the target speed is equal to zero; determining a target torque of the rotary motor based on the target speed and a torque calculation parameter corresponding to the current operating mode, wherein different operating modes correspond to different torque calculation parameters; The target torque is sent to the rotary motor controller to control the operation of the rotary motor.

2. The control method of the electric drive rotary system according to claim 1, characterized in that: Determining the current operating mode of the rotary motor according to the magnitude relationship between the actual speed and the target speed, and whether the target speed is equal to zero, includes: When the target speed is greater than or equal to the actual speed and the target speed is not equal to 0, the current working mode of the rotary motor is the driving mode; when the target speed is less than the actual speed and the target speed is not equal to 0, the current working mode of the rotary motor is the braking mode; when the target speed is less than the actual speed and the target speed is equal to 0, the current working mode of the rotary motor is the stopping mode; when the target speed is equal to the actual speed and the target speed is equal to 0, the current working mode of the rotary motor is the parking mode.

3. The control method of the electric drive rotary system according to claim 1, characterized in that: Obtaining a target speed of a rotary motor and an actual speed of the rotary motor includes: Obtaining a handle operation signal for controlling a rotary motor and obtaining an actual rotation speed of the rotary motor; The target rotation speed is determined according to the handle operation signal.

4. The control method of the electric drive rotary system according to claim 3, characterized in that: Obtain the handle operation signal for controlling the rotary motor, including: The handle opening of the rotary motor is obtained; different handles correspond to different rotary motors, and a mapping relationship is formed between the handle opening and the target speed of the corresponding rotary motor.

5. The control method of the electric drive rotary system according to claim 4, characterized in that: Determining the target speed according to the handle operation signal includes: The target rotational speed corresponding to the rotary motor is determined according to the handle opening and the mapping relationship.

6. The control method of the electric drive rotary system according to claim 1, characterized in that: Obtaining the actual speed of the rotary motor includes: obtaining the target torque output by the rotary motor; The actual rotational speed corresponding to the rotary electric motor is calculated according to the target torque.

7. An electric drive rotary system, characterized in that: The electric drive rotary system includes at least one rotary motor, a rotary motor controller and a control module; The control module is in communication with the rotary motor controller, and the rotary motor controller is electrically connected to the rotary motor; a control module configured to obtain a target speed of the rotary motor and an actual speed of the rotary motor, and determine a current operating mode of the rotary motor based on a relationship between the actual speed and the target speed and whether the target speed is equal to zero; The control module is also used to determine the target torque of the rotary motor based on the target speed and the torque calculation parameters corresponding to the current working mode, and send the target torque to the rotary motor controller to control the operation of the rotary motor; wherein the torque calculation parameters corresponding to different working modes are different.

8. The electric drive rotary system according to claim 7, characterized in that: It also includes a rotary reducer and a rotary component; The rotary motor is mechanically connected to the rotary reducer, and the rotary reducer is mechanically connected to the rotary component; the rotary motor is used to output torque to the rotary reducer.

9. The electric drive rotary system according to claim 8, characterized in that: Also includes battery modules; The battery module is electrically connected to the rotary motor controller; the battery module is used to output current to the rotary motor controller, and the rotary motor controller is used to control the current output to the rotary motor according to the target torque to control the rotary motor to operate at the target torque.

10. A hybrid excavator comprising the slewing motor system according to any one of claims 7 to 9.

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