An electric swing control method, device, and excavator for an excavator

Abstract

This invention discloses an electric slewing control method, device, and excavator for an excavator, applicable to excavators including at least one slewing action. The excavator includes at least: a slewing motor, a speed sensor, and a motor controller. The speed sensor monitors the real-time rotational speed of the slewing motor. The electric slewing control method includes: acquiring the opening degree of the slewing handle and the real-time rotational speed of the slewing motor; determining the required speed for the slewing action based on the opening degree; determining the acceleration of the slewing action based on the required speed and the real-time rotational speed; determining the required torque of the slewing motor based on the acceleration; and outputting the required torque to the motor controller to control the slewing of the excavator. The electric slewing control method for excavators provided by this invention controls the slewing action of the excavator through motor drive, which not only enables independent control of the slewing action from other actions but also further improves the efficiency of the system.

Description

Technical Field

[0001] This invention relates to the field of excavator control technology, and in particular to an electric slewing control method, device, and excavator for an excavator. Background Technology

[0002] In existing technologies, it is necessary to detect the displacement of each hydraulic cylinder and the load inside the bucket. This requires installing at least an angle sensor for displacement detection and a pressure sensor for hydraulic cylinder pressure detection on the excavator, significantly increasing the system cost. Furthermore, torque calculations based on different modes, attitudes, and loads are overly complex, and the torque obtained varies under different working conditions. A higher load does not necessarily mean a slower performance, leading to a final performance that may differ from that of traditional excavators, making it less acceptable to a wide range of users. Summary of the Invention

[0003] This invention provides an electric slewing control method, device, and excavator for an excavator. It considers not only the working conditions of single slewing operation but also the working conditions of combined operation. The excavator's slewing operation is driven by an electric motor. On the one hand, it realizes independent control of slewing and other actions. When slewing and other actions are combined, it can eliminate the pressure compensation loss between slewing and other actions in the hydraulic solution, effectively reducing the energy loss of the system. On the other hand, during the slewing braking process, the rotational energy of the system can be used to generate electricity, thereby realizing energy recovery and further improving the efficiency of the system.

[0004] According to a first aspect of the present invention, an electric slewing control method for an excavator is provided, applied to an excavator including at least one slewing motion condition, the excavator including at least: a slewing motor, a speed sensor, and a motor controller, the speed sensor being used to monitor the real-time rotational speed of the slewing motor; the electric slewing control method includes:

[0005] The opening degree of the rotary handle and the real-time speed of the rotary motor are obtained;

[0006] The required speed for the rotational motion is determined based on the opening degree.

[0007] The acceleration of the rotational motion is determined based on the required speed and the real-time rotational speed.

[0008] The required torque of the rotary motor is determined based on the acceleration.

[0009] The required torque is output to the motor controller to control the slewing of the excavator.

[0010] Optionally, before determining the required speed of the rotational motion based on the opening, the method further includes:

[0011] Obtain the operating conditions of the excavator;

[0012] When the working condition is a single-turn working condition, the final required speed of the turning action is determined according to the opening of the turning handle;

[0013] When the working condition is a compound working condition, the required speed of the slewing motion is determined according to the opening degree; the final required speed of the slewing motion is determined according to the required speed and the limiting coefficient.

[0014] The composite operating condition includes at least two operating conditions that operate simultaneously, one of which is a single-turn operating condition.

[0015] Optionally, when the working condition is a single-turn working condition, determining the final required speed of the slewing motion based on the opening degree includes:

[0016] Obtain the gear signal of the excavator;

[0017] The final required speed for the rotational motion is determined based on the gear position signal and the opening degree.

[0018] Optionally, when the working condition is a composite working condition, determining the required speed of the slewing motion based on the opening degree; and determining the final required speed of the slewing motion based on the required speed and the limiting coefficient, further includes:

[0019] When the combined working condition is the loading condition; obtain the boom opening degree of the boom handle;

[0020] The first limiting coefficient is determined based on the boom opening degree;

[0021] The final required speed of the rotational motion = the required speed × the first limiting coefficient;

[0022] The second limiting coefficient for boom lifting is determined based on the opening degree of the slewing handle;

[0023] The final required speed for boom lifting = the initial speed for boom lifting × the second limiting coefficient for boom lifting;

[0024] Wherein, both the first restriction coefficient and the second restriction coefficient are greater than 0 and less than or equal to 1.

[0025] Optionally, when the working condition is a composite working condition, determining the required speed of the slewing motion based on the opening degree; and determining the final required speed of the slewing motion based on the required speed and the limiting coefficient, further includes:

[0026] When the combined working condition is a leveling working condition; obtain the boom opening degree of the boom handle and the stick opening degree of the stick handle;

[0027] The third limiting coefficient is determined based on the boom opening degree;

[0028] The fourth limiting coefficient is determined based on the boom opening degree;

[0029] The fifth restriction coefficient is determined based on the third restriction coefficient and the fourth restriction coefficient;

[0030] The final required speed of the rotational motion = the required speed × the fifth limiting coefficient;

[0031] The sixth limiting factor for boom lifting is determined based on the opening degree of the slewing handle;

[0032] The final required speed for boom lifting = the initial speed for boom lifting × the sixth limiting coefficient for boom lifting;

[0033] The seventh limiting coefficient of the boom is determined based on the opening degree of the slewing handle;

[0034] The final required speed of the stick = the initial speed of the stick × the seventh limiting coefficient of the stick;

[0035] Wherein, the fifth limiting coefficient is the minimum value of the third and fourth limiting coefficients, and the sixth and seventh limiting coefficients are both greater than 0 and less than or equal to 1. Optionally, when the working condition is a composite working condition, determining the required speed of the slewing motion based on the opening degree; and determining the final required speed of the slewing motion based on the required speed and the limiting coefficients, further includes:

[0036] When the combined working condition is a walking and turning working condition; obtain the first opening degree of the first walking pedal and the second opening degree of the second walking pedal;

[0037] A third opening is determined based on the first opening and the second opening, wherein the third opening is the maximum value between the first opening and the second opening;

[0038] The eighth limiting coefficient is determined based on the third opening degree;

[0039] The final required speed of the rotational motion = the required speed × the eighth limiting coefficient;

[0040] The ninth limiting coefficient for the first side travel speed of the excavator is determined based on the opening degree of the rotary handle;

[0041] The final required speed for the first side walking speed = the initial speed for the first side walking speed × the ninth limiting coefficient;

[0042] The tenth limiting factor for the second side travel speed of the excavator is determined based on the opening degree of the rotary handle;

[0043] The final required speed of the second-side traveling speed = the initial speed of the second-side traveling speed × the tenth limiting coefficient;

[0044] Among them, the eighth limiting coefficient, the ninth limiting coefficient, and the tenth limiting coefficient are all greater than 0 and less than or equal to 1.

[0045] Optionally, after determining the required torque of the slewing action according to the acceleration; further including:

[0046] Obtain the actual power of the excavator and the flow demand of the hydraulic pump of the excavator;

[0047] Determine the required speed and the final power limiting coefficient of the slewing motor according to the actual power and the set power of the slewing motor;

[0048] Determine the final required power of the excavator according to the flow demand of the hydraulic pump, the required speed, and the final power limiting coefficient;

[0049] Among them, the final required power of the excavator = the flow demand of the hydraulic pump × the final power limiting coefficient + the required speed × the final power limiting coefficient.

[0050] Optionally, determining the required torque of the slewing action according to the acceleration includes:

[0051] The required torque is calculated by formula (1):

[0052] T = T Fric + M·α (1)

[0053] Among them, T is the required torque, T Fric [[ID=۳4]]is the frictional torque of the slewing system of the excavator, M is the moment of inertia of the upper body slewing of the excavator; α is the acceleration.

[0054] According to the second aspect of the present invention, there is provided an electric slewing control device for an excavator, which is applied to an excavator including at least one slewing action working condition. The excavator at least includes: a slewing motor, a speed sensor, and a motor controller. The speed sensor is used to monitor the real-time speed of the slewing motor; the electric slewing control device includes:

[0055] An opening degree acquisition module for acquiring the opening degree of the slewing handle and the real-time speed of the slewing motor;

[0056] A required speed calculation module for determining the required speed of the slewing action according to the opening degree;

[0057] An acceleration calculation module for determining the acceleration of the slewing action according to the required speed and the real-time speed;

[0058] A torque demand calculation module is used to determine the torque demand of the rotary motor based on the acceleration.

[0059] An execution module is used to output the required torque to the motor controller to control the slewing of the excavator.

[0060] According to a third aspect of the invention, an excavator is provided, including the electric slewing control device described in the second aspect of the invention.

[0061] This invention discloses an electric slewing control method, device, and excavator for an excavator, applicable to excavators including at least one slewing action. The excavator includes at least: a slewing motor, a speed sensor, and a motor controller. The speed sensor monitors the real-time rotational speed of the slewing motor. The electric slewing control method includes: acquiring the opening degree of the slewing handle and the real-time rotational speed of the slewing motor; determining the required speed for the slewing action based on the opening degree; determining the acceleration of the slewing action based on the required speed and the real-time rotational speed; determining the required torque of the slewing motor based on the acceleration; and outputting the required torque to the motor controller to control the slewing of the excavator. The electric slewing control method for excavators provided by this invention not only considers the working condition of single slewing operation but also the working condition of combined operation. The excavator's slewing operation is driven by a motor, which on the one hand achieves independent control of slewing and other actions. When slewing and other actions are combined, it can eliminate the pressure compensation loss between slewing and other actions in the hydraulic solution, effectively reducing the system's energy loss. On the other hand, during slewing braking, the rotational energy of the system can be used to generate electricity, thereby achieving energy recovery and further improving the system's efficiency.

[0062] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0063] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0064] Figure 1 This is a schematic diagram of excavator control provided in an embodiment of the present invention;

[0065] Figure 2 This is a flowchart of the electric swing control method for an excavator provided in an embodiment of the present invention;

[0066] Figure 3 This is a flowchart of another electric slewing control method for an excavator provided in an embodiment of the present invention;

[0067] Figure 4 This is a flowchart of another electric slewing control method for an excavator provided in an embodiment of the present invention;

[0068] Figure 5 This is a schematic diagram of the first calculation principle in the electric slewing control method for excavators provided in this embodiment of the invention;

[0069] Figure 6 This is a schematic diagram of the second calculation principle in the electric slewing control method for excavators provided in this embodiment of the invention;

[0070] Figure 7 This is a flowchart of another electric slewing control method for an excavator provided in an embodiment of the present invention;

[0071] Figure 8 This is a flowchart of another electric slewing control method for an excavator provided in an embodiment of the present invention;

[0072] Figure 9 This is a flowchart of another electric slewing control method for an excavator provided in an embodiment of the present invention;

[0073] Figure 10 This is a flowchart of another electric slewing control method for an excavator provided in an embodiment of the present invention;

[0074] Figure 11 This is a schematic diagram of an electric slewing control device for an excavator provided in an embodiment of the present invention. Detailed Implementation

[0075] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0076] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0077] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0078] Figure 1 This is a schematic diagram of excavator control provided in an embodiment of the present invention, for reference. Figure 1 The excavator system provided in this embodiment of the invention includes: a rotary motor 1, a speed sensor ( Figure 1 (Not shown in the image) and motor controller 2. The basic operating conditions of the excavator are: left travel, right travel, boom raising or lowering, stick, bucket movement, and swing. In the prior art, all of the above actions are completed by hydraulic control. Unifying the various operating conditions through hydraulic control is not only complex but also results in significant energy loss. Therefore, this embodiment of the invention provides a control method for swing action controlled by a motor, such as... Figure 1 As shown, the slewing motion is accomplished by controller 3, battery module 7, motor controller 2, and slewing motor 1, while other actions (e.g.) Figure 1 The controller 3 is connected to the engine 4, which controls the first hydraulic pump 5 and the second hydraulic pump 6 to execute various actions of the excavator. The principle is the same as that of traditional hydraulic control, so it will not be elaborated here. The speed sensor is used to monitor the real-time speed of the rotary motor 1.

[0079] Figure 2 This is a flowchart of the electric swing control method for an excavator provided in an embodiment of the present invention, for reference. Figure 2 The electric slewing control method provided in this embodiment of the invention is applied to an excavator that includes at least one slewing action condition. It is understood that the at least one slewing action condition includes: a single slewing action condition or a combined condition of a single slewing action and other operations.

[0080] The electric rotary control method provided in this embodiment of the invention includes:

[0081] S101. Obtain the opening degree of the rotary handle and the real-time speed of the rotary motor.

[0082] Specifically, the opening degree of the excavator's swing handle determines the operator's intention, and the controller 3 detects the opening degree of the swing handle in real time; the motor controller 2 monitors the real-time speed of the swing motor 1.

[0083] S102. Determine the required speed for the slewing motion based on the opening degree.

[0084] Specifically, based on the opening of the slewing handle obtained in step S101, the required speed for the excavator to perform the slewing action is determined. This required speed is also related to the gear selected by the driver; the higher the gear, the greater the required speed may be.

[0085] S103. Determine the acceleration of the slewing motion based on the required speed and real-time rotation speed.

[0086] Specifically, the acceleration required for the excavator to perform the slewing action is determined based on the required speed obtained in step S102 and the real-time rotational speed of the slewing motor 1 obtained in step S101. This calculation process simulates the operating performance of a traditional hydraulic excavator and aims to improve operating comfort as much as possible.

[0087] First, the acceleration is related to the difference between the required speed and the actual speed; the larger the difference, the greater the acceleration; if the difference is 0, the acceleration is 0. Second, to reflect the driver's need for greater acceleration when counter-steering, when the actual rotational speed is opposite to the direction of the steering lever opening, it is judged as a reverse deceleration condition, and a greater deceleration is applied. Furthermore, during the acceleration change process, the final output of the acceleration is processed through a ramp to ensure the continuity of the acceleration change, thereby eliminating shock and improving operating comfort.

[0088] S104. Determine the required torque of the rotary motor based on the acceleration.

[0089] Specifically, based on the acceleration calculated in step S103 and the output torque of the excavator body, the required torque of the slewing motor is finally calculated. The calculation formula will be explained in detail below and will not be repeated here. The calculated required torque is transmitted to the motor controller 2 through the Controller Area Network (CAN) to realize the control of the excavator's slewing action.

[0090] Based on the above embodiments of the invention, the embodiments of the present invention further refine the process of determining the required speed of the slewing motion according to the opening degree. Figure 3This is a flowchart of another electric swing control method for an excavator provided in an embodiment of the present invention, for reference. Figure 3 The electric swing control method for excavators provided in this embodiment of the invention includes:

[0091] S201. Obtain the opening degree of the rotary handle and the real-time speed of the rotary motor.

[0092] S202. Obtain the operating conditions of the excavator.

[0093] Specifically, the controller acquires the operator's control lever movements and obtains the excavator's operating conditions based on these movements. The operating conditions are the specific operational actions that the operator needs to perform to control the excavator.

[0094] S2021. When the working condition is a single-turn working condition, the final required speed of the slewing action is determined according to the opening of the slewing handle.

[0095] Specifically, when the controller detects that the operator's control handle only shows the swing handle, it determines that the excavator is only performing a single swing action. In other words, the excavator is only performing a swing action at this moment, and the final required speed of the swing action is determined directly based on the opening of the swing handle.

[0096] S2022. When the operating condition is a compound operating condition, the required speed of the slewing motion is determined based on the opening degree; the final required speed of the slewing motion is determined based on the required speed and the limiting factor. The compound operating condition includes at least two operating conditions operating simultaneously, one of which is a single-slewing operating condition.

[0097] Specifically, when the controller detects that the driver's operating handle has other actions besides the rotation handle, it determines the required speed of the rotation action based on the opening of the rotation handle, and determines the final required speed of the rotation action based on the required speed and the limit coefficient.

[0098] S203. Determine the required speed for the slewing motion based on the opening degree.

[0099] S204. Determine the acceleration of the slewing motion based on the required speed and real-time rotation speed.

[0100] S205. Determine the required torque of the rotary motor based on the acceleration.

[0101] S206: Output the required torque to the motor controller to control the slewing of the excavator.

[0102] Based on the above embodiments, the present invention further refines the determination of the final required speed of the slewing motion according to the opening degree when the working condition is a single-turn working condition. Figure 4 This is a flowchart of another electric swing control method for an excavator provided in an embodiment of the present invention, for reference. Figure 4 The electric swing control method for excavators provided in this embodiment of the invention includes:

[0103] S301. Obtain the opening degree of the rotary handle and the real-time speed of the rotary motor.

[0104] S302. Obtain the operating conditions of the excavator.

[0105] S303. When the working condition is a single rotation condition, the final required speed of the rotation action is determined according to the opening of the rotation handle.

[0106] S304. Obtain the gear signal of the excavator.

[0107] Specifically, the gear signal information sent by the driver is obtained through the controller inside the excavator. Generally speaking, the higher the gear, the greater the speed.

[0108] S305. Determine the final required speed for the rotational motion based on the gear position signal and the opening degree.

[0109] Specifically, Figure 5 This is a schematic diagram of the first calculation principle in the electric swing control method for excavators provided in this embodiment of the invention. Figure 6 This is a schematic diagram of the second calculation principle in the electric swing control method for excavators provided in this embodiment of the invention, for reference. Figure 5 and Figure 6 There are two ways to determine the required speed for the rotation action based on the gear position information and the opening of the rotation handle:

[0110] 1. It is determined by using a curve showing the correspondence between the handle opening and the real-time speed of the rotary motor.

[0111] like Figure 5 As shown, the required speed for the slewing motion is determined by referring to a table based on different handle openings and different gear signals.

[0112] 2. Based on a corresponding curve, the required speed of the slewing motion is determined by multiplying the opening of the slewing handle by the gear signal. For example... Figure 6 As shown.

[0113] Based on the above embodiments, this invention further refines the determination of the required speed of the slewing motion according to the opening degree when the working condition is a complex working condition, and the determination of the final required speed of the slewing motion according to the required speed and the limiting coefficient. Figure 7 This is a flowchart of another electric swing control method for an excavator provided in an embodiment of the present invention, for reference. Figure 7 The electric swing control method for excavators provided in this embodiment of the invention includes:

[0114] S401. Obtain the opening degree of the rotary handle and the real-time speed of the rotary motor.

[0115] S402, Obtain the operating conditions of the excavator.

[0116] S403. When the composite working condition is the loading condition, obtain the boom opening degree of the boom handle.

[0117] Specifically, when other actions besides slewing are involved, in order to fully simulate the operating performance of a traditional hydraulic excavator and avoid the risk of low market acceptance due to differences in operating performance, it is necessary to further match the slewing speed with the speeds of other actions. Since different combinations of actions have different direct speed matching relationships, they need to be differentiated according to the specific actions.

[0118] When the composite working condition is loading condition, the main actions in loading condition are the lifting and slewing of the boom, and the boom opening degree of the driver's boom handle is obtained through the controller inside the excavator.

[0119] S404. Determine the first limiting coefficient based on the boom opening.

[0120] Specifically, when the excavator is in loading mode, according to the system principle of traditional excavators, whether a slewing motion is added during boom lifting or a boom lifting motion is added during slewing, the speed of both actions will decrease due to the redistribution of hydraulic flow. Therefore, a first limiting coefficient is determined based on the boom opening. Since the speed of both actions decreases, the first limiting coefficient is greater than 0 and less than or equal to 1. The first limiting coefficient depends on the boom opening; the larger the opening of the boom lifting handle, the smaller the coefficient.

[0121] S405, The final required speed for the slewing motion = required speed × first limit coefficient.

[0122] Specifically, in order to achieve speed matching between boom lifting speed and slewing motion and provide a better user experience, this embodiment of the invention takes into account the impact of other work on the required speed of slewing motion. Therefore, the final required speed of slewing motion = required speed (i.e., the required speed determined by the opening of the slewing handle of the operator) × first limiting coefficient.

[0123] S406. Determine the second limiting coefficient for boom lifting based on the opening degree of the slewing handle.

[0124] Specifically, step S405 takes into account the impact of adding other work on the slewing action. This step S406 is about the impact of adding the slewing action on the boom lifting. Based on the opening of the operator's slewing handle, a second limiting coefficient for boom lifting is determined. The determination of the second limiting coefficient can be based on the curve of slewing action on boom lifting drawn from a large amount of experimental data.

[0125] S407, The final required speed for boom lifting = the initial speed for boom lifting × the second limiting coefficient for boom lifting.

[0126] Specifically, after the second limiting coefficient is determined in step S406, the final required speed of boom lifting = the initial speed of boom lifting (which can be obtained through the controller inside the excavator) × the second limiting coefficient of boom lifting, wherein the second limiting coefficient is greater than 0 and less than or equal to 1.

[0127] Based on the above embodiments, this invention further refines the determination of the required speed of the slewing motion according to the opening degree when the working condition is a complex working condition, and the determination of the final required speed of the slewing motion according to the required speed and the limiting coefficient. Figure 8 This is a flowchart of another electric swing control method for an excavator provided in an embodiment of the present invention, for reference. Figure 8 The electric swing control method for excavators provided in this embodiment of the invention includes:

[0128] S501, Obtain the opening degree of the rotary handle and the real-time speed of the rotary motor.

[0129] S502, Obtain the operating conditions of the excavator.

[0130] S503. When the compound working condition is the leveling working condition, obtain the boom opening degree of the boom handle and the stick opening degree of the stick handle.

[0131] Specifically, when the composite working condition is the leveling working condition, which is a combination of boom lifting, stick and swing actions, the boom opening degree of the boom handle and the stick opening degree of the stick handle are obtained through the controller inside the excavator.

[0132] S504. Determine the third limiting factor based on the boom opening; determine the fourth limiting factor based on the stick opening.

[0133] Specifically, in this embodiment of the invention, the influence of boom lifting and stick operation on the slewing motion is taken into account. Therefore, a third limiting coefficient is determined based on the boom opening and a fourth limiting coefficient is determined based on the stick opening. The third limiting coefficient can be determined based on the curve of slewing motion versus boom lifting plotted from a large amount of experimental data, and the fourth limiting coefficient can be determined based on the curve of slewing motion versus stick plotted from a large amount of experimental data.

[0134] S505. Determine the fifth restriction coefficient based on the third and fourth restriction coefficients.

[0135] Specifically, since the sweeping condition is a combination of multiple work conditions, the fifth limiting factor is determined based on the third and fourth limiting factors. The method for determining the fifth limiting factor is the minimum value between the third and fourth limiting factors, in order to avoid the problem of mismatch in the overall movement of the excavator due to excessive speed of a certain action.

[0136] S506, The final required speed for the slewing motion = required speed × fifth limit coefficient.

[0137] Specifically, in this embodiment of the invention, the impact of boom lifting and stick addition on the slewing motion is taken into account. Therefore, the final required speed of the slewing motion is equal to the required speed multiplied by the fifth limiting coefficient, so as to make the continuity between each motion stronger and the matching better.

[0138] S507. Determine the sixth limiting factor for boom lifting based on the opening degree of the slewing handle.

[0139] Specifically, in step S506, the influence of the addition of boom lifting and stick movement on the slewing action is considered. In this step S507, the influence of the slewing action on the boom lifting is considered. The sixth limiting coefficient of boom lifting is determined according to the opening of the operator's slewing handle. The determination of the sixth limiting coefficient can be based on the curve of slewing action on boom lifting drawn from a large amount of experimental data.

[0140] S508, The final required speed for boom lifting = the initial speed for boom lifting × the sixth limiting coefficient for boom lifting.

[0141] Specifically, after determining the sixth limiting coefficient in step S507 above, the final required speed of boom lifting = the initial speed of boom lifting (obtained through the controller inside the excavator) × the sixth limiting coefficient of boom lifting.

[0142] S509. Determine the seventh limiting coefficient of the boom based on the opening degree of the slewing handle.

[0143] Specifically, in step S509, the influence of the slewing action on the stick is considered, and the seventh limiting coefficient of the stick is determined based on the opening of the slewing handle by the driver. The seventh limiting coefficient can be determined based on the curve of the slewing action on the stick drawn from a large amount of experimental data.

[0144] S510, The final required speed of the stick = the initial speed of the stick × the seventh limiting coefficient of the stick.

[0145] Specifically, after determining the seventh limiting coefficient in step S509 above, the final required speed of the stick = the initial speed of the stick (obtained through the controller inside the excavator) × the seventh limiting coefficient of the stick. Here, the fifth limiting coefficient is the minimum value between the third and fourth limiting coefficients, and both the sixth and seventh limiting coefficients are greater than 0 and less than or equal to 1.

[0146] Based on the above embodiments, this invention further refines the determination of the required speed of the slewing motion according to the opening degree when the working condition is a complex working condition, and the determination of the final required speed of the slewing motion according to the required speed and the limiting coefficient. Figure 9 This is a flowchart of another electric swing control method for an excavator provided in an embodiment of the present invention, for reference. Figure 9 The electric swing control method for excavators provided in this embodiment of the invention includes:

[0147] S601, Obtain the opening degree of the rotary handle and the real-time speed of the rotary motor.

[0148] S602, Obtain the operating conditions of the excavator.

[0149] S603. When the composite working condition is a walking and turning working condition, obtain the first opening degree of the first walking pedal and the second opening degree of the second walking pedal.

[0150] Specifically, the travel and slewing mode refers to the travel of the first track and the second track of the excavator. The first travel pedal controls the travel of the first track, and the second travel pedal controls the travel of the second track. The first opening of the first travel pedal and the second opening of the second travel pedal are obtained through the controller inside the excavator.

[0151] S604. Determine the third opening based on the first opening and the second opening.

[0152] Specifically, the third opening is determined based on the first and second openings, where the third opening is the maximum value between the first and second openings.

[0153] S605. Determine the eighth restriction coefficient based on the third opening degree.

[0154] Specifically, in this step S605, the influence of the addition of the walking motion of the two side tracks on the turning motion is considered, that is, the eighth limit coefficient is determined according to the third opening.

[0155] S606, The final required speed for rotary work = required speed × eighth limit coefficient.

[0156] Specifically, in this embodiment of the invention, the influence of the excavator's two side track walking motion on the slewing motion is taken into account. Therefore, the final required speed of the slewing motion is equal to the required speed multiplied by the eighth limiting coefficient, so as to make the continuity between each motion stronger and the matching better.

[0157] S607. Determine the ninth limiting factor for the first side travel speed of the excavator based on the opening degree of the slewing handle.

[0158] Specifically, in step S607, the influence of the turning action on the first side walking speed is considered, and the ninth limiting coefficient of the first side walking speed is determined according to the opening of the driver's turning handle. The ninth limiting coefficient can be determined based on the curve of the turning action on the first side walking speed drawn from a large amount of experimental data.

[0159] S608, The final required speed for the first side walking speed = the initial speed for the first side walking speed × the ninth restriction coefficient.

[0160] Specifically, after determining the ninth restriction coefficient in step S607 above, the final required speed of the first side walking speed = the initial speed of the first side walking speed × the ninth restriction coefficient, where the ninth restriction coefficient is greater than 0 and less than or equal to 1.

[0161] S609. Determine the tenth limiting factor for the second-side travel speed of the excavator based on the opening degree of the slewing handle.

[0162] Specifically, in step S609, the influence of the turning action on the second side walking speed is considered. The tenth limiting factor of the second side walking speed is determined according to the opening of the driver's turning handle. The tenth limiting factor can be determined based on the curve of the turning action on the second side walking speed drawn from a large amount of experimental data.

[0163] S610, The final required speed for the second side walking speed = the initial speed of the second side walking speed × the tenth limit coefficient.

[0164] Specifically, after determining the tenth restriction coefficient in step S609 above, the final required speed of the second side walking speed = the initial speed of the second side walking speed × the tenth restriction coefficient, where the tenth restriction coefficient is greater than 0 and less than or equal to 1.

[0165] Among them, when the excavator is moving and rotating on only one side of the track, no adjustment is made. Of course, this working condition is almost impossible in actual operation.

[0166] Considering that sudden changes in coefficients due to shifts in operational states may cause inconsistencies in operation, the final coefficients need to undergo a ramp process to ensure a smooth transition. Of course, the ramp needs to be calibrated and determined during the debugging process.

[0167] Because the system load often fluctuates greatly during operation, a sudden increase in load can easily cause the system's power absorption to rise rapidly and exceed the power limits of the engine and motor. In this case, it is necessary to limit the system's power absorption to ensure that the engine does not experience a significant drop in speed or even stall, and also to ensure that the power of the rotary motor is not excessive. On the other hand, limiting the power absorption also helps to achieve a reasonable match between the overall machine's operating speed and energy efficiency.

[0168] The principle of power absorption control is to reduce overall power while keeping the relative speed of all actions constant. Therefore, when power absorption control is in effect, it reduces the speed of all actions proportionally.

[0169] Therefore, this invention also provides a control method for electric rotation. Based on the above embodiments, this invention further refines the process of determining the required torque for rotational motion based on acceleration. Figure 10 This is a flowchart of another electric swing control method for an excavator provided in an embodiment of the present invention, for reference. Figure 10 The electric swing control method for excavators provided in this embodiment of the invention includes:

[0170] S701: Obtain the opening degree of the rotary handle and the real-time speed of the rotary motor.

[0171] S702. Determine the required speed for the slewing motion based on the opening degree.

[0172] S703. Determine the acceleration of the rotary motion based on the required speed and real-time rotation speed.

[0173] S704. Determine the required torque of the rotary motor based on the acceleration.

[0174] S705: Obtain the actual power of the excavator and the flow requirements of the excavator's hydraulic pump.

[0175] Specifically, the power limitation of the two hydraulic pumps is achieved by limiting their respective flow requirements; therefore, the flow requirements of the hydraulic pumps on the excavator are obtained through the controller inside the excavator.

[0176] The actual power of the excavator during operation is calculated using formula (A):

[0177] P Act =p1·Q1 / 60 + p2·Q2 / 60 + n swg ·T swg / 9549(A)

[0178] Wherein, P1 and P2 are the working pressures of the first and second hydraulic pumps, respectively; Q1 and Q2 are the actual output flow rates of the first and second hydraulic pumps, respectively; nswg T is the rotational speed of the rotary motor. swg This is the output torque of the rotary motor.

[0179] S706. Determine the required speed and final power limit factor of the rotary motor based on the actual power and the set power of the rotary motor.

[0180] Specifically, the required speed and final power limit coefficient of the slewing motor are determined based on the actual power of the excavator and the set power of the slewing motor as determined in step S705 above.

[0181] The power limitation of the rotary motor is achieved by limiting the required speed of the rotary motor. Therefore, it is necessary to obtain the required speed of the rotary motor. The required speed of the rotary motor is determined by the opening of the rotary handle. The detailed steps have been described above and will not be repeated here.

[0182] The final power limitation factor is determined by adding a first power limitation factor to a second power limitation factor. The first power limitation factor is the set power of the rotary motor divided by the actual power of the excavator. The second power limitation factor is calculated by subtracting the set power of the rotary motor from the actual power of the excavator and then combining the result with the closed-loop controller.

[0183] S707. Determine the excavator's final power requirement based on the hydraulic pump's flow rate requirement, required speed, and final power limitation factor.

[0184] Specifically, the final required power of the excavator is determined based on the hydraulic pump flow requirement, the required speed of the rotary motor, and the final power limitation coefficient determined in step S706 above; wherein, the final required power = hydraulic pump flow requirement × final power limitation coefficient + required speed × final power limitation coefficient.

[0185] S708 outputs the required torque to the motor controller to control the excavator's slewing.

[0186] Optionally, the acceleration of the slewing motion can be determined based on the required speed and the real-time rotational speed. The magnitude of the slewing motor's acceleration depends on the difference between the required slewing speed and the actual slewing speed. Depending on the requirements of driving control, the acceleration can be increased as the difference increases, or it can be kept as constant as possible. However, when the difference between the required slewing speed and the actual slewing speed is 0 or very small, the acceleration requirement is 0. This ensures that the actual rotational speed reaches the target value and that the speed does not fluctuate when it reaches or approaches the target value.

[0187] This acceleration requirement can be derived from a curve based on the difference between the required rotational speed and the actual rotational speed.

[0188] Meanwhile, in order to achieve a faster deceleration effect for the reverse swing handle, the reverse swing handle condition can be identified, that is, when the required rotational speed obtained by the handle is opposite to the actual rotational speed. At this time, a larger deceleration torque is adopted, and this deceleration torque can also be obtained by looking up a table from a curve based on the difference between the rotational speed requirement and the actual rotational speed according to the driving performance requirement.

[0189] To ensure driving comfort and reduce acceleration and deceleration shocks, the calculated acceleration needs to be processed through a ramp so that the final acceleration changes continuously rather than abruptly.

[0190] Optionally, determining the required torque for the swing action according to the acceleration includes:

[0191] The required torque is calculated by formula (1):

[0192] T = T Fric + M·α (1)

[0193] Where, T is the required torque, T Fric is the frictional torque of the swing system of the excavator, M is the moment of inertia of the upper body swing of the excavator; α is the acceleration.

[0194] Specifically, T fric is the frictional torque of the swing system, and this value can be measured and obtained as a calibration value into the control software when the swing reaches a constant speed. Although this frictional torque will be different under different loads or postures, the final torque output can be adjusted through the acceleration obtained from the actual rotational speed, without affecting the final driving effect.

[0195] According to the same inventive concept, Figure 11 is a schematic structural diagram of an electric swing control device for an excavator provided by an embodiment of the present invention. Referring to Figure 11 , an embodiment of the present invention further provides an electric swing control device for an excavator, which is applied to an excavator including at least one swing action condition. The excavator at least includes: a swing motor, a speed sensor, and a motor controller. The speed sensor is used to monitor the real-time rotational speed of the swing motor; the electric swing control device includes:

[0196] An opening acquisition module 8, which is used to acquire the opening of the swing handle and the real-time rotational speed of the swing motor;

[0197] A required speed calculation module 9, which is used to determine the required speed of the swing action according to the opening;

[0198] An acceleration calculation module 10, which is used to determine the acceleration of the swing action according to the required speed and the real-time rotational speed;

[0199] A required torque calculation module 11, which is used to determine the required torque of the swing motor according to the acceleration;

[0200] The execution module 12 is used to output the required torque to the motor controller for slewing control of the excavator.

[0201] Based on the same inventive concept, embodiments of the present invention provide an excavator including the electric slewing control device described in the above embodiments.

[0202] The excavator provided in this embodiment of the invention can achieve the same technical effect as the electric slewing control device provided in the above-described embodiments of the invention, and will not be described again here.

[0203] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for controlling the electric swing of an excavator, characterized in that, An excavator applicable to at least one slewing motion operation, the excavator comprising at least: a slewing motor, a speed sensor, and a motor controller, wherein the speed sensor is used to monitor the real-time rotational speed of the slewing motor; the electric slewing control method includes: The opening degree of the rotary handle and the real-time speed of the rotary motor are obtained; The required speed for the rotational motion is determined based on the opening degree. The acceleration of the rotational motion is determined based on the required speed and the real-time rotational speed. The required torque of the rotary motor is determined based on the acceleration. The required torque is output to the motor controller to control the slewing of the excavator; After determining the required torque for the rotational motion based on the acceleration, the method further includes: Obtain the actual power of the excavator and the flow rate requirement of the excavator's hydraulic pump; The required speed and final power limit coefficient of the rotary motor are determined based on the actual power and the set power of the rotary motor. The final required power of the excavator is determined based on the flow rate requirement of the hydraulic pump, the required rotational speed, and the final power limitation factor. Wherein, the final power requirement of the excavator = the flow requirement of the hydraulic pump × the final power limitation coefficient + the required speed × the final power limitation coefficient.

2. The electric slewing control method for an excavator according to claim 1, characterized in that, Before determining the required speed of the slewing motion based on the opening, it also includes: Obtain the operating conditions of the excavator; When the working condition is a single-turn working condition, the final required speed of the turning action is determined according to the opening of the turning handle; When the working condition is a compound working condition, the required speed of the slewing motion is determined according to the opening degree; the final required speed of the slewing motion is determined according to the required speed and the limiting coefficient. The composite operating condition includes at least two operating conditions that operate simultaneously, one of which is a single-turn operating condition.

3. The electric slewing control method for an excavator according to claim 2, characterized in that, When the operating condition is a single-turn condition, the final required speed of the slewing motion is determined based on the opening, including: Obtain the gear signal of the excavator; The final required speed for the rotational motion is determined based on the gear position signal and the opening degree.

4. The electric slewing control method for an excavator according to claim 2, characterized in that, When the working condition is a complex working condition, the required speed of the slewing motion is determined according to the opening degree. Determining the final required speed of the slewing motion based on the required speed and the limiting factor further includes: When the combined working condition is the loading condition; obtain the boom opening degree of the boom handle; The first limiting coefficient is determined based on the boom opening degree; The final required speed of the rotational motion = the required speed × the first limiting coefficient; The second limiting coefficient for boom lifting is determined based on the opening degree of the slewing handle; The final required speed for boom lifting = the initial speed for boom lifting × the second limiting coefficient for boom lifting; Wherein, both the first restriction coefficient and the second restriction coefficient are greater than 0 and less than or equal to 1.

5. The electric slewing control method for an excavator according to claim 2, characterized in that, When the working condition is a complex working condition, the required speed of the slewing motion is determined according to the opening degree. Determining the final required speed of the slewing motion based on the required speed and the limiting factor further includes: When the combined working condition is a leveling working condition; obtain the boom opening degree of the boom handle and the stick opening degree of the stick handle; The third limiting coefficient is determined based on the boom opening degree; The fourth limiting coefficient is determined based on the boom opening degree; The fifth restriction coefficient is determined based on the third restriction coefficient and the fourth restriction coefficient; The final required speed of the rotational motion = the required speed × the fifth limiting coefficient; The sixth limiting factor for boom lifting is determined based on the opening degree of the slewing handle; The final required speed for boom lifting = the initial speed for boom lifting × the sixth limiting coefficient for boom lifting; The seventh limiting coefficient of the boom is determined based on the opening degree of the slewing handle; The final required speed of the stick = the initial speed of the stick × the seventh limiting coefficient of the stick; The fifth limiting coefficient is the minimum value of the third and fourth limiting coefficients, and the sixth and seventh limiting coefficients are both greater than 0 and less than or equal to 1.

6. The electric slewing control method for an excavator according to claim 2, characterized in that, When the working condition is a complex working condition, the required speed of the slewing motion is determined according to the opening degree. Determining the final required speed of the slewing motion based on the required speed and the limiting factor further includes: When the combined working condition is a walking and turning working condition; obtain the first opening degree of the first walking pedal and the second opening degree of the second walking pedal; A third opening is determined based on the first opening and the second opening, wherein the third opening is the maximum value between the first opening and the second opening; The eighth limiting coefficient is determined based on the third opening degree; The final required speed of the rotational motion = the required speed × the eighth limiting coefficient; The ninth limiting coefficient for the first side travel speed of the excavator is determined based on the opening degree of the rotary handle; The final required speed for the first side walking speed = the initial speed for the first side walking speed × the ninth limiting coefficient; The tenth limiting factor for the second side travel speed of the excavator is determined based on the opening degree of the rotary handle; The final required speed for the second side walking speed = the initial speed for the second side walking speed × the tenth limiting coefficient; The eighth restriction coefficient, the ninth restriction coefficient, and the tenth restriction coefficient are all greater than 0 and less than or equal to 1.

7. The electric slewing control method for an excavator according to claim 1, characterized in that, Determining the required torque for the rotational motion based on the acceleration includes: The required torque is calculated using formula (I): (one) Where T is the required torque, T Fric The frictional torque of the excavator's slewing system is M, the moment of inertia of the excavator's upper body during slewing is M, and the acceleration is α.

8. An electric swing control device for an excavator, characterized in that, An excavator applicable to at least one slewing motion operation, the excavator comprising at least: a slewing motor, a speed sensor, and a motor controller, the speed sensor being used to monitor the real-time rotational speed of the slewing motor; the electric slewing control device comprising: An opening degree acquisition module is used to acquire the opening degree of the rotary handle and the real-time speed of the rotary motor; The required speed calculation module is used to determine the required speed of the slewing motion based on the opening degree. An acceleration calculation module is used to determine the acceleration of the rotational motion based on the required speed and the real-time rotational speed. A torque demand calculation module is used to determine the torque demand of the rotary motor based on the acceleration. An execution module is configured to output the required torque to the motor controller for slewing control of the excavator; after determining the required torque for the slewing action based on the acceleration, it further includes: Obtain the actual power of the excavator and the flow rate requirement of the excavator's hydraulic pump; The required speed and final power limit coefficient of the rotary motor are determined based on the actual power and the set power of the rotary motor. The final required power of the excavator is determined based on the flow rate requirement of the hydraulic pump, the required rotational speed, and the final power limitation factor. Wherein, the final power requirement of the excavator = the flow requirement of the hydraulic pump × the final power limitation coefficient + the required speed × the final power limitation coefficient.

9. An excavator, characterized in that, Includes the electric rotary control device as described in claim 8.

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