Rotary control method and rotary control device applied to excavator

Abstract

The invention relates to the technical field of excavator control, in particular to a rotation control method and device applied to an excavator. The method comprises the following steps: acquiring a rotation control signal of the excavator; the rotation control signal is generated by a rotation handle device of the excavator according to man-machine interaction handle control operation at the current moment; obtaining rotation speed information of the excavator at the current moment; performing signal correction on the rotation control signal according to the rotation speed information to obtain a target control signal; and controlling the excavator to execute a rotation action according to the target control signal. The real-time rotation speed information is obtained, and the rotation control signal is corrected according to the real-time rotation speed information, so that the rotation control signal is dynamically adjusted, the shaking condition in the rotation process of the excavator is reduced, and the working efficiency of the excavator is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of excavator control, and in particular to a slewing control method and a slewing control device applied to an excavator. BACKGROUND

[0002] When the excavator is performing operations such as waste grabbing and splitting, the cab needs to be raised to meet the field of view conditions. Because the cab of the excavator is connected to the vehicle body through a connecting rod mechanism and a hydraulic cylinder, the cab is prone to shaking during slewing, which causes the whole machine to shake and affects the operation efficiency. At present, the connection stiffness between the cab and the vehicle body is mainly strengthened to improve the slewing shaking of the cab.

[0003] However, it is found in practice that even if the connection stiffness between the cab and the vehicle body is strengthened, the center of gravity of the whole excavator is high after the cab is raised, and the sudden change in the speed of the moving parts during the operation of the excavator will still cause obvious slewing shaking of the cab and thus cause the whole machine to shake.

[0004] Therefore, how to reduce the shaking during the slewing of the excavator and thus improve the operation efficiency is a technical problem to be solved at present. SUMMARY

[0005] The present application provides a slewing control method and a slewing control device applied to an excavator, which can reduce the shaking during the slewing of the excavator and thus improve the operation efficiency.

[0006] In order to solve the above technical problem, the present application discloses a slewing control method applied to an excavator, which comprises: obtaining a slewing control signal of the excavator; the slewing control signal is generated by a slewing handle device of the excavator according to the handle control operation of human-machine interaction at the current time; obtaining the slewing speed information of the excavator at the current time; signal correcting the slewing control signal according to the slewing speed information to obtain a target control signal; controlling the excavator to perform a slewing action according to the target control signal.

[0007] As an optional implementation, in the first aspect of the present application, the slewing speed information includes a current slewing speed and a current slewing acceleration; signal correcting the slewing control signal according to the slewing speed information to obtain a target control signal, comprising: signal correcting the slewing control signal according to the current slewing speed to obtain an initial control signal; determining an initial current signal according to the initial control signal; the initial current signal is used to control a slewing pilot control proportional valve and a main pump control proportional valve of the excavator; signal correcting the initial current signal according to the current slewing acceleration to obtain a target control signal.

[0008] As an optional implementation form, in the first aspect of the present application, the signal correcting the slewing control signal according to the current slewing speed to obtain an initial control signal comprises: slope processing the slewing control signal according to a preset first signal slope value to obtain a first control signal; determining a target filter coefficient according to the current slewing speed; filtering the first control signal according to the target filter coefficient to obtain the initial control signal.

[0009] As an optional implementation form, in the first aspect of the present application, the determining a target filter coefficient according to the current slewing speed comprises: calculating an oscillation frequency of the current slewing speed to obtain a target oscillation frequency; comparing the target oscillation frequency with a preset first frequency threshold to obtain a first comparison result; if the first comparison result indicates that the target oscillation frequency is less than or equal to the first frequency threshold, determining a preset first filter coefficient as the target filter coefficient; if the first comparison result indicates that the target oscillation frequency is greater than the first frequency threshold, comparing the target oscillation frequency with a preset second frequency threshold to obtain a second comparison result; the second frequency threshold is greater than the first frequency threshold; if the second comparison result indicates that the target oscillation frequency is less than or equal to the second frequency threshold, calculating a product of a preset first correction coefficient and the first filter coefficient to obtain the target filter coefficient; if the second comparison result indicates that the target oscillation frequency is greater than the second frequency threshold, calculating a product of a preset second correction coefficient and the first filter coefficient to obtain the target filter coefficient.

[0010] As an optional implementation form, in the first aspect of the present application, the signal correcting the initial current signal according to the current slewing acceleration to obtain a target control signal comprises: obtaining a slewing acceleration of the excavator at a previous moment to obtain a historical slewing acceleration; calculating a difference between the current slewing acceleration and the historical slewing acceleration to obtain an acceleration difference; Signal corrects the initial current signal according to the acceleration difference value, and obtains a target control signal.

[0011] As an optional implementation, in the first aspect of the present application, the signal correction of the initial current signal according to the acceleration difference value to obtain a target control signal comprises: The acceleration difference value is compared with a preset first reference value and a second reference value to obtain a third comparison result; the first reference value is less than the second reference value; If the third comparison result represents that the acceleration difference value is less than the first reference value or the acceleration difference value is greater than the second reference value, the initial current signal is determined as a target control signal; If the third comparison result represents that the acceleration difference value is greater than the first reference value and less than the second reference value, the acceleration difference value is compared with a preset third reference value to obtain a fourth comparison result; the third reference value is greater than the first reference value and less than the second reference value; If the fourth comparison result represents that the acceleration difference value is greater than the third reference value, the product of the acceleration difference value and a preset third correction coefficient is calculated to obtain a second signal slope value, and the initial current signal is processed according to the second signal slope value to obtain a target control signal; the second signal slope value is a negative value; If the fourth comparison result represents that the acceleration difference value is less than the third reference value, the product of the acceleration difference value and a preset fourth correction coefficient is calculated to obtain a third signal slope value, and the initial current signal is processed according to the third signal slope value to obtain a target control signal; the third signal slope value is a positive value.

[0012] As an optional implementation, in the first aspect of the present application, the initial current signal determined according to the initial control signal comprises: The historical current signal of the excavator is obtained; the historical current signal is the control current signal of the slewing pilot control proportional valve and the main pump control proportional valve at a previous moment; The signal slope of the historical current signal is adjusted according to the initial control signal to obtain the initial current signal.

[0013] The second aspect of the present application discloses a slewing control device applied to an excavator, which comprises: A control signal acquisition module is configured to acquire a slewing control signal of an excavator; the slewing control signal is generated by a slewing handle device of the excavator according to a handle control operation of human-computer interaction at a current moment; A speed information acquisition module is configured to acquire slewing speed information of the excavator at a current moment; a signal correction module, configured to perform signal correction on the rotation control signal according to the rotation speed information, to obtain a target control signal; a rotation control module, configured to control the excavator to perform a rotation action according to the target control signal.

[0014] As an optional implementation form, in the second aspect, the rotation speed information comprises a current rotation speed and a current rotation acceleration; The specific manner in which the signal correction module performs signal correction on the rotation control signal according to the rotation speed information to obtain a target control signal comprises: performing signal correction on the rotation control signal according to the current rotation speed, to obtain an initial control signal; determining an initial current signal according to the initial control signal; the initial current signal is used to control a rotation pilot control proportional valve and a main pump control proportional valve of the excavator; performing signal correction on the initial current signal according to the current rotation acceleration, to obtain a target control signal.

[0015] As an optional implementation form, in the second aspect, the specific manner in which the signal correction module performs signal correction on the rotation control signal according to the current rotation speed to obtain an initial control signal comprises: performing slope processing on the rotation control signal according to a preset first signal slope value, to obtain a first control signal; determining a target filter coefficient according to the current rotation speed; performing filtering on the first control signal according to the target filter coefficient, to obtain an initial control signal.

[0016] As an optional implementation form, in the second aspect, the specific manner in which the signal correction module determines a target filter coefficient according to the current rotation speed comprises: calculating an oscillation frequency of the current rotation speed, to obtain a target oscillation frequency; comparing the target oscillation frequency with a preset first frequency threshold, to obtain a first comparison result; if the first comparison result indicates that the target oscillation frequency is less than or equal to the first frequency threshold, determining a preset first filter coefficient as the target filter coefficient; if the first comparison result indicates that the target oscillation frequency is greater than the first frequency threshold, comparing the target oscillation frequency with a preset second frequency threshold, to obtain a second comparison result; the second frequency threshold is greater than the first frequency threshold; If the second comparison result represents that the target oscillation frequency is less than or equal to the second frequency threshold, a product of a preset first correction coefficient and the first filter coefficient is calculated to obtain a target filter coefficient; If the second comparison result represents that the target oscillation frequency is greater than the second frequency threshold, a product of a preset second correction coefficient and the first filter coefficient is calculated to obtain a target filter coefficient.

[0017] As an optional implementation, in the second aspect, the specific manner in which the signal correction module corrects the initial current signal according to the current rotation acceleration to obtain a target control signal includes: An acceleration difference value is calculated according to the current rotation acceleration and the historical rotation acceleration; An acceleration difference value is calculated according to the current rotation acceleration and the historical rotation acceleration; The initial current signal is corrected according to the acceleration difference value to obtain a target control signal.

[0018] As an optional implementation, in the second aspect, the specific manner in which the signal correction module corrects the initial current signal according to the acceleration difference value to obtain a target control signal includes: The acceleration difference value is compared with a preset first reference value and a second reference value to obtain a third comparison result; the first reference value is less than the second reference value; If the third comparison result represents that the acceleration difference value is less than the first reference value or the acceleration difference value is greater than the second reference value, the initial current signal is determined as a target control signal; If the third comparison result represents that the acceleration difference value is greater than the first reference value and less than the second reference value, the acceleration difference value is compared with a preset third reference value to obtain a fourth comparison result; the third reference value is greater than the first reference value and less than the second reference value; If the fourth comparison result represents that the acceleration difference value is greater than the third reference value, a product of the acceleration difference value and a preset third correction coefficient is calculated to obtain a second signal slope value, and the initial current signal is processed according to the second signal slope value to obtain a target control signal; the second signal slope value is a negative value; If the fourth comparison result represents that the acceleration difference value is less than the third reference value, a product of the acceleration difference value and a preset fourth correction coefficient is calculated to obtain a third signal slope value, and the initial current signal is processed according to the third signal slope value to obtain a target control signal; the third signal slope value is a positive value.

[0019] As an optional implementation, in the second aspect of the present application, the specific manner of determining the initial current signal according to the initial control signal comprises: obtaining a historical current signal of the excavator; the historical current signal is a control current signal of the slewing pilot control proportional valve and the main pump control proportional valve at a previous time; adjusting a signal slope of the historical current signal according to the initial control signal to obtain the initial current signal.

[0020] The third aspect of the present application discloses another slewing control device applied to an excavator, the device comprising: a memory storing executable program codes; a processor coupled with the memory; the processor invokes the executable program codes stored in the memory to execute the slewing control method disclosed in the first aspect of the present application.

[0021] The fourth aspect of the present application discloses a computer storage medium storing computer instructions, when the computer instructions are invoked by a processor, are used to execute the slewing control method disclosed in the first aspect of the present application.

[0022] Compared with the prior art, the present application has the following beneficial effects: Firstly, the slewing control signal and the slewing speed information of the excavator at the current time are obtained; then the slewing control signal is corrected according to the slewing speed information to obtain a target control signal; finally, the excavator is controlled to perform a slewing action according to the target control signal. By obtaining real-time slewing speed information and correcting the slewing control signal according to the real-time slewing speed information, the slewing control signal is dynamically adjusted, the situation of shaking during the slewing process of the excavator is reduced, and the working efficiency of the excavator is improved. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0024] Figure 1 is a flowchart of a slewing control method applied to an excavator disclosed by the embodiments of the present application; Figure 2 is a structural schematic diagram of a slewing control device applied to an excavator disclosed by the embodiments of the present application; Figure 3 is another structure schematic view of the application embodiment disclosed for the slewing control device applied to the excavator. DETAILED DESCRIPTION

[0025] In order for those skilled in the art to better understand the application scheme, the technical solutions in the embodiments of the application will be described clearly and completely below in conjunction with the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the application.

[0026] The terms "first", "second", and the like in the specification and claims of the application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product or the like including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed or can optionally include other steps or units inherent to these processes, methods, products or the like.

[0027] Reference herein to "embodiments" means that the particular features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0028] When the excavator is performing waste grabbing, splitting and other operations, the cab needs to be raised to meet the field of view conditions. Because the cab of the excavator is connected with the vehicle body through a connecting rod mechanism and a hydraulic cylinder, the cab is prone to shaking during slewing, which in turn causes the whole machine to shake, affecting the operation efficiency. At present, the connection stiffness between the cab and the vehicle body is mainly strengthened to improve the cab slewing shaking. However, it is found in practice that even if the connection stiffness between the cab and the vehicle body is strengthened, the center of gravity of the whole excavator is high after the cab is raised, and the sudden change of the speed of the moving parts during operation of the excavator will still cause obvious cab slewing shaking and in turn cause the whole machine to shake. Therefore, how to reduce the shaking during slewing of the excavator and in turn improve the operation efficiency is a technical problem to be solved at present.

[0029] In order to solve the above technical problems, the application discloses a kind of application in excavator's rotary control method and rotary control device, can reduce the situation that shaking occurs in the process of excavator rotation, to further improve work efficiency. The following are described in detail.

[0030] Embodiment one Please refer to Figure 1 , Figure 1 It is the flowchart of a kind of application in excavator's rotary control method disclosed in the embodiment of the application. Figure 1 The rotary control method shown can be applied to rotary control device, the device can reduce the situation that shaking occurs in the process of excavator rotation, further, the device can be integrated in the control system of excavator, can also exist independently of the control system of excavator. As Figure 1 The rotary control method disclosed in the embodiment of the application includes but is not limited to the following operations: 101, obtain the rotary control signal of excavator;Rotary control signal is generated by the rotary handle device of excavator according to the handle control operation of man-machine interaction at current time; 102, obtain the rotary speed information of excavator at current time; 103, according to rotary speed information, signal correction is carried out to rotary control signal, and target control signal is obtained; 104, according to target control signal, excavator is controlled to execute rotary action.

[0031] It can be seen that the embodiment of the application first obtains the rotary control signal of excavator at current time and rotary speed information;Then according to rotary speed information, signal correction is carried out to rotary control signal, and target control signal is obtained;Finally, according to target control signal, the excavator is controlled to execute rotary action. By obtaining real-time rotary speed information, and according to real-time rotary speed information, the rotary control signal is corrected, so as to dynamically adjust the rotary control signal, reduce the situation that shaking occurs in the process of excavator rotation, to further improve the work efficiency of excavator.

[0032] In addition, the rotary control method disclosed in the embodiment of the application can suppress the rotary shaking of the whole machine through real-time rotary speed information without changing the structure of the whole machine, has higher universality.

[0033] In an optional embodiment, rotary speed information includes current rotary speed and current rotary acceleration; According to rotary speed information, signal correction is carried out to rotary control signal, and target control signal is obtained, specifically including: According to current rotary speed, signal correction is carried out to rotary control signal, and initial control signal is obtained; The initial current signal is determined according to the initial control signal; the initial current signal is used to control a slewing pilot control proportional valve and a main pump control proportional valve of the excavator; The initial current signal is signal-modified according to the current slewing acceleration to obtain a target control signal.

[0034] It should be noted that the current slewing speed and the current slewing acceleration of the excavator are measured and calculated by a slewing angle sensor and a gyroscope installed on the vehicle body of the excavator. The pilot control proportional valve and the main pump control proportional valve are main driving components for controlling slewing of the excavator.

[0035] It can be seen that the optional embodiment first performs preliminary signal modification on the initial control signal according to the current slewing speed, and then performs secondary signal modification on the initial current signal according to the current slewing acceleration to obtain the target control signal after the initial current signal is determined according to the initial control signal. The control signal is double-modified by the current slewing speed and the current slewing acceleration, so that the effect of improving the slewing jitter of the excavator is further enhanced.

[0036] In another optional embodiment, the signal modification on the slewing control signal according to the current slewing speed to obtain the initial control signal specifically includes: The slewing control signal is slope-processed according to a preset first signal slope value to obtain a first control signal; The target filter coefficient is determined according to the current slewing speed; The first control signal is filtered according to the target filter coefficient to obtain the initial control signal.

[0037] In DSP (Digital Signal Processing), the slope refers to the rate or rate of change of a signal over time. Specifically, it is a ratio that describes the rate or intensity of change of a signal between one time point and another. When the slope is positive, the signal value becomes higher and higher, and when the slope is negative, the signal value becomes lower and lower.

[0038] The optional embodiment pre-processes the slewing control signal by the first signal slope value, and then performs signal filtering to obtain the initial control signal. Specifically, the first signal slope value can be set to a positive value to increase the slewing control signal.

[0039] In yet another optional embodiment, the specific manner of filtering the first control signal according to the target filter coefficient can include implementing layered signal processing using a multi-stage filter architecture. The first stage of filtering is low-pass filtering based on the target filter coefficient, for filtering out high-frequency noise; the second stage of filtering is adaptive notch filtering, with the center frequency dynamically adjusted according to the oscillation frequency of the current rotation speed, to specifically suppress interference signals in a certain frequency band; the third stage of filtering is phase compensation filtering, for correcting signal delay introduced by the first two stages of filtering, to ensure the real-time performance of the control signal. The parameters of the multi-stage filter are jointly adjusted through a cooperative optimization algorithm, so that the overall filtering effect reaches an optimal balance between signal fidelity and anti-interference capability. In addition, the multi-stage filter architecture supports a dynamic bypass function, which automatically skips the second and third stages of filtering to reduce computational load when it is detected that the current rotation speed is in a stable interval.

[0040] In yet another optional embodiment, determining the target filter coefficient according to the current rotation speed specifically includes: calculating the oscillation frequency of the current rotation speed to obtain a target oscillation frequency; comparing the target oscillation frequency with a preset first frequency threshold to obtain a first comparison result; if the first comparison result indicates that the target oscillation frequency is less than or equal to the first frequency threshold, determining a preset first filter coefficient as the target filter coefficient; if the first comparison result indicates that the target oscillation frequency is greater than the first frequency threshold, comparing the target oscillation frequency with a preset second frequency threshold to obtain a second comparison result; the second frequency threshold is greater than the first frequency threshold; if the second comparison result indicates that the target oscillation frequency is less than or equal to the second frequency threshold, calculating the product of a preset first correction coefficient and the first filter coefficient to obtain the target filter coefficient; if the second comparison result indicates that the target oscillation frequency is greater than the second frequency threshold, calculating the product of a preset second correction coefficient and the first filter coefficient to obtain the target filter coefficient.

[0041] It can be seen that this optional embodiment sets the first correction coefficient and the second correction coefficient to selectively correct the preset first filter coefficient according to the comparison result to obtain the target filter coefficient, and then dynamically adjusts the rotation control signal to improve the rotation jitter situation. It can be understood that the specific values of the first filter coefficient, the first correction coefficient, the second correction coefficient, the first frequency threshold and the second frequency threshold can be set according to the actual application scenario.

[0042] In yet another optional embodiment, the specific manner of determining the target filter coefficient according to the current swing speed further comprises: dynamically adjusting the correction range of the target filter coefficient based on a stability parameter of the current swing speed. Specifically, the stability parameter is obtained by calculating the variance or standard deviation of the current swing speed within a preset time window. If the stability parameter is less than a preset first stability threshold, it indicates that the current swing speed fluctuates less, at which time the correction range of the target filter coefficient is limited within a preset first interval, the first interval corresponding to a lower filter strength to retain more dynamic characteristics of the control signal; if the stability parameter is greater than or equal to the first stability threshold and less than a preset second stability threshold, the correction range of the target filter coefficient is expanded to a second interval, the second interval corresponding to a medium filter strength to balance the response speed while suppressing high-frequency noise; if the stability parameter is greater than or equal to the second stability threshold, the correction range is further expanded to a third interval, the third interval corresponding to a higher filter strength to significantly suppress signal jitter caused by drastic speed fluctuations.

[0043] It can be seen that the optional embodiment can more finely balance signal smoothness and system response performance by introducing a stability parameter to dynamically classify and adjust the correction range of the filter coefficient, thereby optimizing the stability of the swing control under different working conditions.

[0044] In yet another optional embodiment, the specific manner of determining the target filter coefficient according to the current swing speed further comprises: compensating and correcting the filter coefficient in combination with an ambient temperature parameter. The ambient temperature is obtained in real time by a temperature sensor installed in the control cabinet of the excavator. When the ambient temperature is lower than a preset low temperature threshold, the target filter coefficient is multiplied by a first temperature compensation coefficient (such as 1.1) to enhance the filter strength, compensating for signal lag caused by increased hydraulic oil viscosity due to low temperature; when the ambient temperature is higher than a preset high temperature threshold, the target filter coefficient is multiplied by a second temperature compensation coefficient (such as 0.9) to reduce the filter strength, avoiding loss of high-frequency components of the signal due to reduced oil viscosity.

[0045] It can be seen that the optional embodiment can significantly improve the adaptability of the swing control system under different climate conditions by introducing a temperature compensation mechanism.

[0046] In yet another optional embodiment, the specific manner of determining the target filter coefficient according to the current swing speed further comprises: dynamically compensating the filter coefficient in combination with the pressure fluctuation characteristics of the hydraulic system. The pressure fluctuation characteristics are monitored in real time by a pressure sensor installed at the outlet of the main pump, and the fluctuation amplitude and frequency are calculated. When it is detected that the pressure fluctuation frequency is close to the swing speed oscillation frequency, it is determined that there is a risk of coupled vibration of the hydraulic system and the mechanical structure, at which time the target filter coefficient is additionally superimposed with a compensation amount proportional to the pressure fluctuation amplitude.

[0047] It can be seen that the optional embodiment can more comprehensively suppress the complex jitter mode caused by the multi-physical field coupling by introducing the hydraulic system state parameter.

[0048] In yet another optional embodiment, the signal correction of the initial current signal according to the current rotation acceleration to obtain the target control signal specifically includes: Obtaining the rotation acceleration of the excavator at the previous moment to obtain the historical rotation acceleration; Calculating the difference between the current rotation acceleration and the historical rotation acceleration to obtain the acceleration difference; Signal correction of the initial current signal according to the acceleration difference to obtain the target control signal.

[0049] It can be seen that the optional embodiment re-corrects the initial current signal according to the difference between the current value and the historical value of the rotation acceleration of the excavator, thereby dynamically adjusting the valve control current signal of the excavator to improve the rotation jitter condition.

[0050] In yet another optional embodiment, the signal correction of the initial current signal according to the acceleration difference to obtain the target control signal specifically includes: Comparing the acceleration difference with the preset first reference value and the second reference value to obtain a third comparison result; the first reference value is smaller than the second reference value; If the third comparison result represents that the acceleration difference is smaller than the first reference value or the acceleration difference is greater than the second reference value, the initial current signal is determined as the target control signal; If the third comparison result represents that the acceleration difference is greater than the first reference value and smaller than the second reference value, the acceleration difference is compared with the preset third reference value to obtain a fourth comparison result; the third reference value is greater than the first reference value and smaller than the second reference value; If the fourth comparison result represents that the acceleration difference is greater than the third reference value, the product of the acceleration difference and the preset third correction coefficient is calculated to obtain a second signal slope value, and the initial current signal is processed according to the second signal slope value to obtain the target control signal; the second signal slope value is a negative value; If the fourth comparison result represents that the acceleration difference is smaller than the third reference value, the product of the acceleration difference and the preset fourth correction coefficient is calculated to obtain a third signal slope value, and the initial current signal is processed according to the third signal slope value to obtain the target control signal; the third signal slope value is a positive value.

[0051] It can be seen that the optional embodiment sets the third correction coefficient and the fourth correction coefficient to calculate the signal slope value according to the comparison result, thereby selectively correcting the initial current signal, and further dynamically adjusting the rotation control signal to improve the situation of rotation jitter. It can be understood that the specific values of the first reference value, the second reference value, the third reference value, the third correction coefficient and the fourth correction coefficient can be set according to the actual application scene.

[0052] In yet another optional embodiment, the specific way of signal correction of the initial current signal according to the acceleration difference value further includes: adjusting the correction amplitude of the signal slope value based on the duration of the acceleration difference value. Specifically, when the acceleration difference value continuously stays in the interval between the first reference value and the second reference value within a preset time threshold, the system determines that there is a potential risk of periodic jitter. At this time, the third correction coefficient and the fourth correction coefficient are dynamically adjusted to be function values proportional to the duration. For example, when the acceleration difference value continuously exceeds the first duration threshold but does not reach the second duration threshold, the third correction coefficient is set to 1.2 times the initial value, and the fourth correction coefficient is set to 0.8 times the initial value; when the duration exceeds the second duration threshold, the third correction coefficient is further increased to 1.5 times, and the fourth correction coefficient is reduced to 0.5 times.

[0053] It can be seen that the optional embodiment can effectively suppress the sustained jitter caused by inertia accumulation or mechanical resonance, while avoiding excessive correction caused by short-term interference, by introducing time dimension to adaptively adjust the correction coefficient.

[0054] In yet another optional embodiment, the specific way of signal correction of the initial current signal according to the current rotation acceleration further includes: introducing an acceleration change trend prediction model to correct the target control signal in advance. The prediction model generates acceleration prediction values for future time steps based on the current rotation acceleration and its historical data through moving average method or exponential smoothing method. If the prediction value indicates that the acceleration will exceed the preset acceleration safety threshold in the next cycle, the initial current signal is corrected in advance with a reverse slope correction, and the amplitude of the reverse slope correction is proportional to the deviation degree of the predicted acceleration. For example, when the predicted acceleration exceeds the safety threshold by 10%, the absolute value of the second signal slope value increases by 20%; when it exceeds by 30%, the reverse slope correction amplitude is increased to 50%.

[0055] It can be seen that the optional embodiment can effectively reduce the mechanical impact caused by acceleration mutation through the prediction mechanism of the prediction model, and further improve the smoothness of the rotation action.

[0056] In yet another optional embodiment, the specific manner of signal correction of the initial current signal according to the acceleration difference value further comprises: intelligent decision-making of the correction process of the signal slope value based on fuzzy logic rules. The input variables of the fuzzy logic system include the acceleration difference value, the duration of the acceleration difference value, and the current slewing speed, and the output variable is the dynamic adjustment value of the third correction coefficient and the fourth correction coefficient. The membership functions of the input variables adopt triangular and trapezoidal distribution, and the rule base contains empirical rules such as “if the acceleration difference value is large and the duration is long, then the reverse correction coefficient is greatly increased”.

[0057] It can be seen that, through the nonlinear mapping characteristics of fuzzy logic, the optional embodiment can realize a more flexible and more actual demand signal correction strategy under complex working conditions, thereby further improving the jitter suppression effect.

[0058] In yet another optional embodiment, determining the initial current signal according to the initial control signal specifically comprises: obtaining a historical current signal of the excavator; the historical current signal is the control current signal of the slewing pilot control proportional valve and the main pump control proportional valve at a previous moment; adjusting the signal slope of the historical current signal according to the initial control signal to obtain the initial current signal.

[0059] The optional embodiment adjusts the signal slope of the historical current signal to obtain the initial current signal. It should be noted that the historical current signal includes a slewing valve current signal for driving the slewing pilot control proportional valve and a main pump valve current signal for driving the main pump control proportional valve, and the adjustment slope value of the slewing valve current signal and the adjustment slope value of the main pump valve current signal can be the same or different, which can be set according to the component parameters of the excavator.

[0060] In yet another optional embodiment, the specific manner of determining the initial current signal according to the initial control signal further comprises: weighted fusion of the signal slope of the historical current signal based on the load state of the excavator. The load state is obtained in real time by a pressure sensor installed in the hydraulic system of the excavator and is divided into three levels of light load, medium load and heavy load. When the load state is light load, the weight of the historical current signal is set to a first weight value (such as 0.3), and the weight of the initial control signal is a second weight value (such as 0.7), so as to preferentially respond to the real-time input of the operator; when the load state is medium load, the weights of the historical current signal and the initial control signal are both set to 0.5, so as to realize smooth transition; when the load state is heavy load, the weight of the historical current signal is increased to 0.7, and the weight of the initial control signal is reduced to 0.3, so as to suppress the control signal oscillation caused by load mutation by using the inertia characteristics of the historical data.

[0061] It can be seen that the optional embodiment can significantly improve the control robustness in different working scenarios through the load state driven weight distribution mechanism.

[0062] In yet another optional embodiment, the specific way of controlling the excavator to perform the slewing action according to the target control signal further includes: adopting a multi-modal execution strategy to cope with sudden abnormal working conditions. When it is detected that the slewing speed or acceleration continuously exceeds the safety threshold for a preset time, the system automatically switches to a safety control mode. In the safety control mode, the target control signal is forcibly limited within a preset safety amplitude range, and a visual or audible alarm is issued to the operator. If the abnormal state lasts for more than a set time, an emergency braking program is triggered to achieve smooth shutdown by gradually reducing the main pump flow and the pilot valve opening, thereby avoiding mechanical damage caused by sudden stop.

[0063] It can be seen that the optional embodiment can significantly improve the fault tolerance and safety of the system by introducing a multi-modal execution strategy.

[0064] Embodiment Two Please refer to Figure 2 , Figure 2 is a structural schematic diagram of a slewing control device for an excavator disclosed by the embodiments of the present application. Figure 2 The slewing control device shown can be used to execute the slewing control method for an excavator described in embodiment one, which can reduce the occurrence of shaking during the slewing process of the excavator. Further, the device can be integrated into the control system of the excavator or exist independently of the control system of the excavator. As shown in Figure 2 The slewing control device for an excavator disclosed by the embodiments of the present application includes but is not limited to the following modules: A control signal acquisition module 201 is configured to acquire a slewing control signal of the excavator. The slewing control signal is generated by a slewing handle device of the excavator according to the handle control operation of human-machine interaction at the current time; A speed information acquisition module 202 is configured to acquire slewing speed information of the excavator at the current time; A signal correction module 203 is configured to perform signal correction on the slewing control signal according to the slewing speed information to obtain a target control signal; A slewing control module 204 is configured to control the excavator to perform a slewing action according to the target control signal.

[0065] It can be seen that the embodiment of the present application first acquires the slewing control signal and the slewing speed information of the excavator at the current moment; then the slewing control signal is corrected according to the slewing speed information to obtain a target control signal; finally, the excavator is controlled to perform a slewing action according to the target control signal. By acquiring real-time slewing speed information and correcting the slewing control signal according to the real-time slewing speed information, the slewing control signal is dynamically adjusted, the situation of shaking during the slewing of the excavator is reduced, and the working efficiency of the excavator is improved.

[0066] In addition, the slewing control method applied to the excavator disclosed by the embodiment of the present application can suppress the slewing shaking of the whole machine through real-time slewing speed information without changing the structure of the whole machine, and has higher universality.

[0067] In an optional embodiment, the slewing speed information includes a current slewing speed and a current slewing acceleration; The specific manner in which the signal correction module 203 corrects the slewing control signal according to the slewing speed information to obtain a target control signal includes: correcting the slewing control signal according to the current slewing speed to obtain an initial control signal; determining an initial current signal according to the initial control signal; the initial current signal is used to control the slewing pilot control proportional valve and the main pump control proportional valve of the excavator; correcting the initial current signal according to the current slewing acceleration to obtain the target control signal.

[0068] It should be noted that the current slewing speed and the current slewing acceleration of the excavator are measured and calculated by the slewing angle sensor and the gyroscope installed on the vehicle body of the excavator. The pilot control proportional valve and the main pump control proportional valve are main driving components for controlling the slewing of the excavator.

[0069] It can be seen that the optional embodiment first preliminarily corrects the initial control signal according to the current slewing speed, and then corrects the initial current signal according to the current slewing acceleration to obtain the target control signal after determining the initial current signal according to the initial control signal. The control signal is corrected twice according to the current slewing speed and the current slewing acceleration, so that the effect of improving the slewing shaking of the excavator is further enhanced.

[0070] In another optional embodiment, the specific manner in which the signal correction module 203 corrects the slewing control signal according to the current slewing speed to obtain an initial control signal includes: performing slope processing on the slewing control signal according to a preset first signal slope value to obtain a first control signal; determining a target filter coefficient according to the current slewing speed; The first control signal is filtered according to the target filter coefficient to obtain an initial control signal.

[0071] In DSP (Digital Signal Processing), the slope refers to the rate or rate of change of a signal over time. Specifically, it is the ratio that describes the rate or intensity of change of a signal between one time point and another. When the slope is positive, the signal value is getting higher and higher, and when the slope is negative, the signal value is getting lower and lower.

[0072] The optional embodiment pre-processes the slewing control signal by a first signal slope value, and then performs signal filtering to obtain an initial control signal. Specifically, the first signal slope value can be set to a positive value to increase the slewing control signal.

[0073] In yet another optional embodiment, the specific manner in which the signal correction module 203 filters the first control signal according to the target filter coefficient can include implementing layered signal processing using a multi-stage filter architecture. The first-stage filtering is low-pass filtering based on the target filter coefficient, which is used to filter out high-frequency noise; the second-stage filtering is adaptive notch filtering, in which the center frequency is dynamically adjusted according to the oscillation frequency of the current slewing speed to specifically suppress interference signals in a specific frequency band; the third-stage filtering is phase compensation filtering, which is used to correct the signal delay introduced by the previous two stages of filtering to ensure the real-time performance of the control signal. The parameters of the multi-stage filter are jointly adjusted through a collaborative optimization algorithm, so that the overall filtering effect reaches an optimal balance between signal fidelity and anti-interference capability. In addition, the multi-stage filter architecture supports a dynamic bypass function, which automatically skips the second and third stages of filtering to reduce computational load when it is detected that the current slewing speed is in a stable interval.

[0074] In yet another optional embodiment, the specific manner in which the signal correction module 203 determines the target filter coefficient according to the current slewing speed includes: calculating the oscillation frequency of the current slewing speed to obtain a target oscillation frequency; comparing the target oscillation frequency with a preset first frequency threshold to obtain a first comparison result; if the first comparison result indicates that the target oscillation frequency is less than or equal to the first frequency threshold, a preset first filter coefficient is determined as the target filter coefficient; if the first comparison result indicates that the target oscillation frequency is greater than the first frequency threshold, the target oscillation frequency is compared with a preset second frequency threshold to obtain a second comparison result; the second frequency threshold is greater than the first frequency threshold; if the second comparison result indicates that the target oscillation frequency is less than or equal to the second frequency threshold, the product of a preset first correction coefficient and the first filter coefficient is calculated to obtain the target filter coefficient; If the second comparison result indicates that the target oscillation frequency is greater than the second frequency threshold, the product of the preset second correction coefficient and the first filter coefficient is calculated to obtain the target filter coefficient.

[0075] As can be seen, this optional embodiment selectively modifies the preset first filter coefficient based on the comparison result by setting the first correction coefficient and the second correction coefficient to obtain the target filter coefficient, thereby dynamically adjusting the slewing control signal to improve slewing jitter. It will be appreciated that the specific values ​​of the first filter coefficient, the first correction coefficient, the second correction coefficient, the first frequency threshold, and the second frequency threshold can be set according to the actual application scenario.

[0076] In another optional embodiment, the specific method in which the signal correction module 203 determines the target filter coefficient according to the current rotation speed also includes: dynamically adjusting the correction range of the target filter coefficient based on the stability parameter of the current rotation speed. Specifically, the stability parameter is obtained by calculating the variance or standard deviation of the current rotation speed within a preset time window. If the stability parameter is less than the preset first stability threshold, it indicates that the current rotation speed fluctuation is small. At this time, the correction range of the target filter coefficient is limited to the preset first interval. The filter intensity corresponding to the first interval is low, so as to retain more dynamic characteristics of the control signal; if the stability parameter is greater than or equal to the first stability threshold and less than the preset second stability threshold, the correction range of the target filter coefficient is expanded to the second interval. The filter intensity corresponding to the second interval is medium, so as to take into account the response speed while suppressing high-frequency noise; if the stability parameter is greater than or equal to the second stability threshold, the correction range is further expanded to the third interval. The filter intensity corresponding to the third interval is high, so as to significantly suppress the signal jitter caused by the sharp fluctuation of the speed.

[0077] It can be seen that this optional embodiment can more finely balance signal smoothness and system response performance by introducing stability parameters to dynamically adjust the correction range of the filter coefficient, thereby optimizing the stability of the slewing control under different working conditions.

[0078] In another optional embodiment, the signal correction module 203 determines the target filter coefficient based on the current rotational speed by performing compensation correction on the filter coefficient in conjunction with an ambient temperature parameter. The ambient temperature is acquired in real time by a temperature sensor installed in the excavator control cabinet. When the ambient temperature is below a preset low-temperature threshold, the target filter coefficient is multiplied by a first temperature compensation coefficient (e.g., 1.1) to enhance filtering strength and compensate for signal lag caused by increased hydraulic oil viscosity due to low temperatures. When the ambient temperature is above a preset high-temperature threshold, the target filter coefficient is multiplied by a second temperature compensation coefficient (e.g., 0.9) to reduce filtering strength and prevent loss of high-frequency signal components due to reduced oil viscosity.

[0079] It can be seen that the optional embodiment can significantly improve the adaptability of the slewing control system under different climate conditions by introducing a temperature compensation mechanism.

[0080] In yet another optional embodiment, the specific manner in which the signal correction module 203 determines the target filtering coefficient according to the current slewing speed further includes dynamically compensating the filtering coefficient in combination with the pressure fluctuation characteristics of the hydraulic system. The pressure fluctuation characteristics are monitored in real time by a pressure sensor installed at the outlet of the main pump, and the fluctuation amplitude and frequency are calculated. When it is detected that the pressure fluctuation frequency is close to the slewing speed oscillation frequency, it is determined that there is a risk of coupled vibration of the hydraulic system and the mechanical structure, and at this time the target filtering coefficient is additionally superimposed with a compensation amount proportional to the pressure fluctuation amplitude.

[0081] It can be seen that the optional embodiment can more comprehensively suppress the complex jitter mode caused by the coupling of multiple physical fields by introducing the state parameters of the hydraulic system.

[0082] In yet another optional embodiment, the specific manner in which the signal correction module 203 corrects the initial current signal according to the current slewing acceleration to obtain the target control signal includes: obtaining the slewing acceleration of the excavator at a previous moment to obtain a historical slewing acceleration; calculating the difference between the current slewing acceleration and the historical slewing acceleration to obtain an acceleration difference; correcting the initial current signal according to the acceleration difference to obtain the target control signal.

[0083] It can be seen that the optional embodiment re-corrects the initial current signal according to the difference between the current value and the historical value of the slewing acceleration of the excavator, thereby dynamically adjusting the valve control current signal of the excavator to improve the slewing jitter condition.

[0084] In yet another optional embodiment, the specific manner in which the signal correction module 203 corrects the initial current signal according to the acceleration difference to obtain the target control signal includes: comparing the acceleration difference with a first reference value and a second reference value to obtain a third comparison result; the first reference value is smaller than the second reference value; if the third comparison result indicates that the acceleration difference is smaller than the first reference value or the acceleration difference is greater than the second reference value, the initial current signal is determined as the target control signal; if the third comparison result indicates that the acceleration difference is greater than the first reference value and smaller than the second reference value, the acceleration difference is compared with a third reference value to obtain a fourth comparison result; the third reference value is greater than the first reference value and smaller than the second reference value; If the fourth comparison result represents that the acceleration difference is greater than the third reference value, a product of the acceleration difference and a third correction coefficient is calculated to obtain a second signal slope value, and the initial current signal is subjected to slope processing according to the second signal slope value to obtain the target control signal; the second signal slope value is a negative value. If the fourth comparison result represents that the acceleration difference is less than the third reference value, a product of the acceleration difference and a fourth correction coefficient is calculated to obtain a third signal slope value, and the initial current signal is subjected to slope processing according to the third signal slope value to obtain the target control signal; the third signal slope value is a positive value.

[0085] It can be seen that the optional embodiment sets the third correction coefficient and the fourth correction coefficient to calculate the signal slope value according to the comparison result, thereby selectively correcting the initial current signal, and further dynamically adjusting the rotation control signal to improve the rotation jitter condition. It can be understood that the specific values of the first reference value, the second reference value, the third reference value, the third correction coefficient and the fourth correction coefficient can be set according to the actual application scene needs.

[0086] In yet another optional embodiment, the specific manner in which the signal correction module 203 corrects the initial current signal according to the acceleration difference further includes adjusting the correction amplitude of the signal slope value based on the duration of the acceleration difference. Specifically, when the acceleration difference continuously stays within the interval between the first reference value and the second reference value within a preset time threshold, the system determines that there is a potential risk of periodic jitter. At this time, the third correction coefficient and the fourth correction coefficient are dynamically adjusted to be function values proportional to the duration. For example, when the acceleration difference continuously exceeds the first duration threshold but does not reach the second duration threshold, the third correction coefficient is set to 1.2 times the initial value, and the fourth correction coefficient is set to 0.8 times the initial value; when the duration exceeds the second duration threshold, the third correction coefficient is further increased to 1.5 times, and the fourth correction coefficient is reduced to 0.5 times.

[0087] It can be seen that this optional embodiment can effectively suppress the sustained jitter caused by inertia accumulation or mechanical resonance, while avoiding excessive correction caused by short-term interference, by introducing the time dimension to adaptively adjust the correction coefficient.

[0088] In yet another optional embodiment, the specific way in which the signal correction module 203 corrects the initial current signal according to the current rotation acceleration further comprises introducing an acceleration change trend prediction model to correct the target control signal in advance. The prediction model generates predicted values of acceleration for a number of future time steps based on the current rotation acceleration and its historical data, by using a moving average method or an exponential smoothing method. If the predicted values indicate that the acceleration will exceed a preset acceleration safety threshold in the next cycle, the initial current signal is corrected in advance with a reverse slope correction, the magnitude of which is proportional to the degree of deviation of the predicted acceleration. For example, when the predicted acceleration exceeds the safety threshold by 10%, the absolute value of the second signal slope value is increased by 20%; when it exceeds the safety threshold by 30%, the reverse slope correction magnitude is increased to 50%.

[0089] It can be seen that, through the prediction mechanism of the prediction model, the optional embodiment can effectively reduce mechanical impact caused by sudden acceleration changes, further improving the smoothness of the rotation action.

[0090] In yet another optional embodiment, the specific way in which the signal correction module 203 corrects the initial current signal according to the acceleration difference further comprises intelligently deciding the correction process of the signal slope value based on fuzzy logic rules. The input variables of the fuzzy logic system include the acceleration difference, the duration of the acceleration difference, and the current rotation speed, and the output variables are the dynamic adjustment values of the third correction coefficient and the fourth correction coefficient. The membership functions of the input variables adopt triangular and trapezoidal distributions, and the rule base contains empirical rules such as "if the acceleration difference is large and the duration is long, then the reverse correction coefficient is increased significantly".

[0091] It can be seen that, through the nonlinear mapping characteristics of fuzzy logic, the optional embodiment can achieve a more flexible and more practical signal correction strategy under complex working conditions, thereby further improving the jitter suppression effect.

[0092] In yet another optional embodiment, the specific way in which the signal correction module 203 determines the initial current signal according to the initial control signal comprises: obtaining a historical current signal of the excavator; the historical current signal is the control current signal of the rotation pilot control proportional valve and the main pump control proportional valve at a previous time; adjusting the signal slope of the historical current signal according to the initial control signal to obtain the initial current signal.

[0093] This optional embodiment obtains an initial current signal by adjusting the signal slope of a historical current signal. It should be noted that the historical current signal includes the swing valve current signal that drives the swing pilot control proportional valve and the main pump valve current signal that drives the main pump control proportional valve. The adjustment slope values ​​of the swing valve current signal and the main pump valve current signal can be the same or different, and can be specifically set based on the parameters of the excavator components.

[0094] In another optional embodiment, the signal correction module 203 determines the initial current signal based on the initial control signal in a specific manner that further includes: performing weighted fusion on the signal slope of the historical current signal based on the load state of the excavator. The load state is obtained in real time by a pressure sensor installed in the hydraulic system of the excavator and is divided into three levels: light load, medium load, and heavy load. When the load state is light load, the weight of the historical current signal is set to a first weight value (e.g., 0.3) and the weight of the initial control signal is set to a second weight value (e.g., 0.7) to prioritize responding to the operator's real-time input; when the load state is medium load, the weights of the historical current signal and the initial control signal are both set to 0.5 to achieve a smooth transition; when the load state is heavy load, the weight of the historical current signal is increased to 0.7 and the weight of the initial control signal is reduced to 0.3 to utilize the inertial characteristics of the historical data to suppress control signal oscillations caused by sudden load changes.

[0095] It can be seen that this optional embodiment can significantly improve the control robustness in different operating scenarios through the load state-driven weight distribution mechanism.

[0096] In another optional embodiment, the specific method by which the swing control module 204 controls the excavator's swing action based on the target control signal also includes: employing a multimodal execution strategy to address sudden abnormal operating conditions. When the swing speed or acceleration is detected to continuously exceed a safety threshold for a preset time, the system automatically switches to a safety control mode. In safety control mode, the target control signal is forcibly limited to a preset safety amplitude range, and a visual or audible warning is issued to the operator. If the abnormal state persists for longer than a set time, an emergency braking procedure is triggered, gradually reducing the main pump flow and the pilot valve opening to achieve a smooth shutdown, avoiding mechanical damage caused by an emergency stop.

[0097] It can be seen that this optional embodiment can significantly improve the fault tolerance and security of the system by introducing a multimodal execution strategy.

[0098] Example 3 See also Figure 3 , Figure 3 It is a structural schematic diagram of another rotation control device applied to an excavator disclosed in an embodiment of the present invention. Figure 3The shown slewing control device can be used to implement the slewing control method for excavators described in embodiment one, which can reduce the shaking during slewing of the excavator. Further, the device can be integrated into the control system of the excavator or exist independently of the control system of the excavator. As shown in Figure 3 The slewing control device for excavators disclosed in the embodiments of the present application includes but is not limited to: The memory 301 stores executable program codes; The processor 302 is coupled to the memory 301; The processor 302 calls the executable program codes stored in the memory 301 to execute part or all of the steps of the slewing control method for excavators described in embodiment one of the present application.

[0099] Embodiment four The computer storage medium disclosed in the embodiments of the present application stores computer instructions, which are called by the processor to execute part or all of the steps of the slewing control method for excavators described in embodiment one of the present application.

[0100] The device embodiments described above are only schematic, and the modules described as separate components can or can not be physically separated, and the components shown as modules can or can not be physical modules, which can be located in one place or distributed on multiple network modules. Part or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment. Those skilled in the art can understand and implement without creative labor.

[0101] Those skilled in the art can clearly understand the technical solutions of the various embodiments through the above specific description of the embodiments, and the various embodiments can be realized by means of software and necessary universal hardware platforms, and of course, can also be realized by hardware. Based on such understanding, the above technical solutions, essentially or in terms of contribution to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer readable storage medium, including a Read-Only Memory (ROM), a Random Access Memory (RAM), a Programmable Read-only Memory (PROM), an Erasable Programmable Read Only Memory (EPROM), a One-time Programmable Read-Only Memory (OTPROM), an Electrically-Erasable Programmable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM), or other optical disk storage, magnetic disk storage, magnetic tape storage, or any other medium that can be used to carry or store computer readable instructions.

[0102] Finally, it should be noted that: the technical content disclosed by the embodiments of the present application is only the preferred embodiments of the present application, and is only used to illustrate the technical solutions of the present application, not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that; it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A rotation control method applied to an excavator, characterized in that: The method comprises: Obtaining a rotation control signal of the excavator; the rotation control signal is generated by the rotation handle device of the excavator according to the handle control operation of the human-computer interaction at the current moment; Obtaining the rotation speed information of the excavator at the current moment; performing signal correction on the rotation control signal according to the rotation speed information to obtain a target control signal; The excavator is controlled to perform a rotation action according to the target control signal.

2. The rotation control method for an excavator according to claim 1, characterized in that: The rotation speed information includes the current rotation speed and the current rotation acceleration; The performing signal correction on the rotation control signal according to the rotation speed information to obtain a target control signal includes: Performing signal correction on the rotation control signal according to the current rotation speed to obtain an initial control signal; Determine an initial current signal according to the initial control signal; the initial current signal is used to control the swing pilot control proportional valve and the main pump control proportional valve of the excavator; The initial current signal is corrected according to the current rotation acceleration to obtain a target control signal.

3. The rotation control method for an excavator according to claim 2, characterized in that: The performing signal correction on the rotation control signal according to the current rotation speed to obtain an initial control signal includes: Performing slope processing on the rotation control signal according to a preset first signal slope value to obtain a first control signal; determining a target filter coefficient according to the current rotation speed; The first control signal is filtered according to the target filter coefficient to obtain an initial control signal.

4. The rotation control method for an excavator according to claim 3, characterized in that: The determining of the target filter coefficient according to the current rotation speed includes: Calculating the oscillation frequency of the current rotation speed to obtain a target oscillation frequency; Comparing the target oscillation frequency with a preset first frequency threshold to obtain a first comparison result; If the first comparison result indicates that the target oscillation frequency is less than or equal to the first frequency threshold, determining a preset first filter coefficient as the target filter coefficient; If the first comparison result indicates that the target oscillation frequency is greater than the first frequency threshold, comparing the target oscillation frequency with a preset second frequency threshold to obtain a second comparison result; the second frequency threshold is greater than the first frequency threshold; If the second comparison result indicates that the target oscillation frequency is less than or equal to the second frequency threshold, calculating the product of a preset first correction coefficient and the first filter coefficient to obtain a target filter coefficient; If the second comparison result indicates that the target oscillation frequency is greater than the second frequency threshold, a product of a preset second correction coefficient and the first filter coefficient is calculated to obtain a target filter coefficient.

5. The rotation control method for an excavator according to claim 2, characterized in that: The performing signal correction on the initial current signal according to the current rotation acceleration to obtain a target control signal includes: Obtaining the rotation acceleration of the excavator at a previous moment to obtain a historical rotation acceleration; Calculating the difference between the current rotation acceleration and the historical rotation acceleration to obtain an acceleration difference; The initial current signal is corrected according to the acceleration difference to obtain a target control signal.

6. The rotation control method for an excavator according to claim 5, characterized in that: The performing signal correction on the initial current signal according to the acceleration difference to obtain a target control signal includes: Comparing the acceleration difference with a preset first reference value and a second reference value to obtain a third comparison result; wherein the first reference value is less than the second reference value; If the third comparison result indicates that the acceleration difference is less than the first reference value or the acceleration difference is greater than the second reference value, determining the initial current signal as the target control signal; If the third comparison result indicates that the acceleration difference is greater than the first reference value and less than the second reference value, then comparing the acceleration difference with a preset third reference value to obtain a fourth comparison result; the third reference value is greater than the first reference value and less than the second reference value; If the fourth comparison result indicates that the acceleration difference is greater than the third reference value, calculating a product of the acceleration difference and a preset third correction coefficient to obtain a second signal slope value, and performing slope processing on the initial current signal according to the second signal slope value to obtain a target control signal; the second signal slope value is a negative value; If the fourth comparison result indicates that the acceleration difference is less than the third reference value, the product of the acceleration difference and the preset fourth correction coefficient is calculated to obtain a third signal slope value, and the initial current signal is slope-processed according to the third signal slope value to obtain a target control signal; the third signal slope value is a positive value.

7. A rotation control method for an excavator according to any one of claims 2 to 6, characterized in that: The determining of the initial current signal according to the initial control signal comprises: Acquiring a historical current signal of the excavator; the historical current signal is a control current signal of the rotary pilot control proportional valve and the main pump control proportional valve at a previous moment; The signal slope of the historical current signal is adjusted according to the initial control signal to obtain the initial current signal.

8. A slewing control device for an excavator, characterized in that: The device comprises: A control signal acquisition module is used to acquire a rotation control signal of the excavator; the rotation control signal is generated by the rotation handle device of the excavator according to the handle control operation of the human-computer interaction at the current moment; A speed information acquisition module, used to obtain the rotation speed information of the excavator at the current moment; a signal correction module, configured to perform signal correction on the rotation control signal according to the rotation speed information to obtain a target control signal; The rotation control module is used to control the excavator to perform a rotation action according to the target control signal.

9. A slewing control device for an excavator, characterized in that: The device comprises: a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the rotation control method applied to an excavator according to any one of claims 1 to 7.

10. A computer storage medium, characterized in that The computer storage medium stores computer instructions, and when the computer instructions are called by the processor, they are used to execute the rotation control method applied to the excavator according to any one of claims 1 to 7.

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