Closed rotary braking system and method for ultra-large hydraulic excavator

Abstract

The invention belongs to the technical field of excavator rotation control, and particularly relates to a closed type rotation braking system and method for an ultra-large hydraulic excavator. According to the system and the method, a rotation angle sensor is combined with a signal of a handle, the control behavior of a driver is sensed, the rotation speed and the movement trend of the excavator are recognized, automatic reverse flow output in the rotation process is formed, and the purpose of rapid driving rotation braking is achieved; and three parking braking control mode systems and methods of full-automatic mechanical braking based on speed control, software braking based on angle control and software braking based on sliding trend control are formed. According to the braking technology, the closed rotation braking time and distance are shortened, the problem of slope sliding is solved, and the automation level and the intelligent level of closed rotation are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of excavator rotation control, and particularly relates to a super-large hydraulic excavator closed rotation braking system and method. BACKGROUND

[0002] The closed rotation system refers to a closed loop system in hydraulic transmission, is a transmission system in which oil circulates in a closed loop, mainly comprises a variable rotation pump and a hydraulic motor, and is widely applied to the field of engineering machinery. The closed rotation has the advantages of stepless speed regulation, impact reduction, energy recovery and the like, but due to the mechanical characteristics of the variable rotation pump, there is an error in the inclination angle of the swash plate when the displacement is zero, and in the super-large excavator rotation process, the upper vehicle part has large rotational inertia, and the large load in the braking process is easy to cause problems such as long rotation braking distance, long rotation braking time and slope coasting. SUMMARY

[0003] The application proposes a super-large hydraulic excavator closed rotation braking system and method aiming at the problems of long braking time, long braking distance and slope coasting in the current super-large excavator closed rotation. The system and method mainly perceive the driving behavior of the driver and the rotation speed and motion trend identification of the excavator through the rotation angle sensor combined with the signal of the handle, form automatic reverse flow output in the rotation process to achieve the purpose of fast driving rotation braking, and form three parking brake control mode systems and methods based on speed control full-automatic mechanical braking, software braking based on angle control and software braking based on coasting trend control by selecting different parking brake modes. The above braking technology shortens the closed rotation braking time and distance, solves the problem of slope coasting and improves the automation and intelligent level of the closed rotation.

[0004] To achieve the above-mentioned purpose, the application adopts the following technical scheme:

[0005] A super-large hydraulic excavator closed rotation braking system, comprising a power output device, a rotation pump system, a pilot pump, a rotation pump regulating valve group, a rotation motor assembly, a rotation braking unlocking valve, a rotation angle sensor, a rotation control handle and an ECU.

[0006] The power output device is connected with the rotation pump system and the pilot pump in power; the rotation pump system controls the action of the rotation motor assembly; and the pilot pump controls the work of the rotation motor assembly through the rotation braking unlocking valve.

[0007] The closed rotation braking system of the application is controlled by the rotation angle sensor, the rotation control handle and the ECU.

[0008] The ECU is electrically connected with the rotation angle sensor and the rotation control handle, and is electrically connected with the rotation pump regulating valve group and the rotation braking unlocking valve.

[0009] Further, the rotary pump system comprises a rotary pump and a pump displacement adjusting swash plate; the rotary pump is connected with a rotary motor assembly, and the pump displacement adjusting swash plate is connected with a rotary pump adjusting valve group.

[0010] Further, the rotary pump adjusting valve group comprises a left rotary switch valve and a left rotary proportional valve for adjusting left rotation, and a right rotary switch valve and a right rotary proportional valve for adjusting right rotation.

[0011] Further, the pilot pump is connected with a rotary mechanical brake mechanism of the rotary motor assembly through a rotary brake unlocking valve.

[0012] Further, the closed rotary brake system further comprises an instrument.

[0013] A closed rotary brake method for a super large hydraulic excavator, an ECU collects signals of a rotary angle sensor and a rotary control handle, performs behavior identification and motion trend identification, and calculates brake current and time according to a brake algorithm, and then controls a rotary pump to perform rotary brake control.

[0014] Further, when the behavior identification determines that the behavior enters a rotary service brake mode, the closed rotary brake method performs service brake control.

[0015] When there is no action on the vehicle, the closed rotary brake method performs parking brake control.

[0016] The service brake control is based on a rotary service brake mode of automatic reverse flow output.

[0017] The parking brake control comprises a full-automatic mechanical brake mode based on speed control, an angle control brake mode based on dynamic adjustment of angle control, and a coasting trend control brake mode based on dynamic adjustment of coasting trend.

[0018] Further, the control method of the rotary service brake mode comprises the following steps: first, an ECU collects signals of a rotary control handle and a rotary angle sensor to form behavior identification based on angle, handle and angular velocity, and identifies whether an operator enters a rotary service brake mode according to service brake entering and exiting conditions; second, when the rotary service brake mode is entered, reverse flow current value is calculated according to an automatic reverse flow algorithm; and finally, a rotary pump is controlled according to the output reverse flow current value to perform service brake.

[0019] Further, the control method of the full-automatic mechanical braking mode: when there is no action on the car for more than a set time and the rotation speed is less than the braking speed threshold, the ECU drives the rotation braking unlocking valve lock to achieve mechanical braking; if there is no action on the car for more than a set time, but the rotation speed is greater than the braking speed threshold, the reverse braking current is calculated according to the direction and size of the rotation speed, and the rotation speed is controlled to slow down to less than the braking speed threshold according to the reverse braking current, and mechanical locking braking is performed.

[0020] Further, the control method of the angle control braking mode: after there is no action on the car for more than a set time, the stop angle value of the rotation at that time is recorded, when the angle deviates, if the deviation angle exceeds the maximum deviation angle value, dynamic correction is performed, the car is slightly swung near the recorded stop angle according to the correction current controlled by the rotation pump, dynamic braking is performed, and the deviation angle is less than the minimum deviation angle value.

[0021] Further, the control method of the coasting trend control braking mode: after there is no action on the car for more than a set time, the coasting trend is analyzed according to the angle difference value change rate, the reverse current of the rotation pump is dynamically adjusted according to the size of the coasting speed, until the rotation speed is 0, the value of the reverse current is kept, braking is performed, and the reverse braking current is zeroed until the car has a rotation action.

[0022] Further, after the rotation action, when the driving brake ends, if the coasting direction is consistent with the rotation direction during the rotation action, the control logic of the rotation braking method is maintained; if the coasting direction is not consistent with the rotation direction during the rotation action, the parking brake control logic is immediately entered, and there is no need to judge the entering condition of the parking brake control.

[0023] In terms of driving braking, the application is based on the rotation fast driving braking control technology of automatic reverse flow output, and the steering behavior is recognized by fusing the angle sensor and the handle signal, so that interference items such as vibration, rapid switching and malicious operation can be effectively filtered, and the user's fast and slow operation and whether to enter the braking mode can be accurately recognized. The automatic reverse flow control algorithm can dynamically adjust the size and duration of the reverse flow output current according to the rotation speed in the braking mode and the handle descent stroke, so as to shorten the braking time and braking distance and achieve the purpose of fast driving braking.

[0024] In terms of parking braking, the application provides three braking methods of full-automatic mechanical braking based on speed control, dynamic adjustment software braking based on angle control, and software braking based on coasting trend dynamic adjustment.

[0025] The application improves the automation and intelligent level of the closed rotation of the super-large hydraulic excavator in terms of driving braking and parking braking. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 Structure diagram of the closed rotary braking system according to the present application;

[0027] Figure 2 Flow diagram of the closed rotary braking method according to the present application. DETAILED DESCRIPTION

[0028] The technical solutions of the present application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments and specific features in the embodiments are detailed descriptions of the technical solutions of the present application, rather than limitations thereof. In the absence of conflicts, the technical features in the embodiments and the embodiments can be combined with each other.

[0029] The term "and / or" herein is merely a description of the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after it.

[0030] The method of the present application will be further described below with reference to the accompanying drawings.

[0031] As shown in Figure 1 A closed rotary braking system for a super-large hydraulic excavator, comprising a power output device 1, a rotary pump system 2, a pilot pump 3, a rotary pump regulating valve group 4, a rotary motor assembly 5, and a rotary braking unlocking valve 6.

[0032] The power output device 1 is power-connected with the rotary pump system 2 and the pilot pump 3, respectively. The rotary pump system 2 controls the action of the rotary motor assembly 5 to realize the rotation of the upper car; the pilot pump 3 controls the work of the rotary motor assembly 5 through the rotary braking unlocking valve 6, specifically:

[0033] The rotary pump system 2 comprises a rotary pump 201 and a pump displacement regulating swash plate 202. The rotary pump 201 is connected with the rotary motor assembly 5 to drive the rotary motor assembly 5 to rotate by hydraulic means. The pump displacement regulating swash plate 202 is connected with the rotary pump regulating valve group 4 to adjust the hydraulic flow direction of the rotary pump and the hydraulic flow of left and right rotation, thereby controlling the rotation speed and angle of the rotary motor assembly 5.

[0034] The rotary pump regulating valve group 4 specifically comprises a left rotation on-off valve 401 and a left rotation proportional valve 403 for adjusting left rotation, and a right rotation on-off valve 402 and a right rotation proportional valve 404 for adjusting right rotation.

[0035] The pilot pump 3 is connected with the rotary mechanical braking mechanism 501 of the rotary motor assembly 5 through the rotary braking unlocking valve 6 to brake and control the rotary motor assembly 5 by hydraulic means.

[0036] The closed rotary braking system of the present application is software controlled by the rotary angle sensor 7, the rotary control handle 8, the ECU 9 and the instrument 10.

[0037] The ECU 9 is electrically connected with the rotary angle sensor 7 and the rotary control handle 8 to collect and process the signals of the rotary angle sensor 7 and the rotary control handle 8; the signal processing of the rotary angle sensor 7 includes angle conversion and speed conversion of the angle sensor, and the signal processing of the rotary control handle 8 includes handle signal recording and handle fast / slow action recognition.

[0038] The ECU 9 is electrically connected with the rotary pump regulating valve group 4 and the rotary brake unlocking valve 6 to control the operation of the valve parts.

[0039] The working principle of the rotary braking of the present application is as follows: the power output device 1 drives the rotary pump system 2 and the pilot pump 3 to work, the rotary brake unlocking valve 6 is controlled by the ECU 9 to drive the rotary mechanical brake mechanism 501 to realize mechanical braking and then to be unlocked, the left rotary on / off valve 401, the right rotary on / off valve 402, the left rotary proportional valve 403 and the right rotary proportional valve 404 of the rotary pump regulating valve group 4 are controlled by the ECU 9 to realize left and right rotary operation. According to the relative angle between the upper car and the lower car measured by the rotary angle sensor 7 and the action of the rotary control handle 8, the intelligent automatic braking control is realized by the instrument 10 and the ECU 9.

[0040] The ECU 9 includes the service braking control and the parking braking control. The service braking control refers to the rotary service braking mode based on automatic reverse flow output. The parking braking control includes the full-automatic mechanical braking mode based on speed control, the angle control braking mode based on angle dynamic adjustment, and the coasting tendency control braking mode based on coasting tendency dynamic adjustment. The instrument 10 sets the switching of the parking braking mode by instrument software and buttons and sends it to the ECU 9.

[0041] As shown in FIG. Figure 2 A closed rotary braking method of a super large hydraulic excavator, the ECU 9 collects and processes the signals of the rotary angle sensor 7 and the rotary control handle 8, recognizes the operation behavior or the motion tendency, calculates the braking current and time according to the braking algorithm, and then controls the rotary pump 201 to realize braking control.

[0042] The signal processing of the rotary angle sensor 7 includes angle conversion and speed conversion of the angle sensor, and the signal processing of the rotary control handle 8 includes handle signal recording and handle fast / slow action recognition.

[0043] The operation behavior recognition mainly judges whether the operation behavior enters the rotary service braking mode according to the handle fast / slow action recognition, the rotary speed signal and the service braking entering condition.

[0044] Motion trend recognition is to identify the change trend of the motion direction and angle after no action on the vehicle, and to identify the speed, stop angle error, and left and right turning trend of the vehicle.

[0045] In the service brake control, the automatic reverse flow control algorithm is used to calculate the service brake current and brake time according to the automatic reverse flow control algorithm if it is judged that the operation behavior enters the turning service brake mode.

[0046] The parking brake control is performed after no action on the vehicle, and is divided into the following modes according to the motion trend recognition:

[0047] The full-automatic mechanical brake control algorithm based on speed control is used to automatically perform mechanical brake if the turning speed is less than the set brake speed threshold after no action on the vehicle, and the reverse brake current output is performed if the speed is greater than the set brake speed threshold, so that the turning speed is reduced to be less than the brake speed threshold, and the mechanical locking brake is realized.

[0048] The angle control brake algorithm is used to record the stop angle value after no action on the vehicle, and the correction current output is performed until the deviation angle is less than a certain value when the angle deviation exceeds a certain value.

[0049] The control brake algorithm based on the coasting trend is used to dynamically adjust the reverse current output of the turning pump according to the coasting trend after no action on the vehicle until the turning speed of the vehicle is 0, and the reverse current is maintained until the vehicle has a turning action, and the reverse brake current is returned to zero.

[0050] The closed turning brake method of the application includes service brake control and parking brake control, wherein the service brake control is a turning service brake mode based on automatic reverse flow output, and the parking brake control includes a full-automatic mechanical brake mode based on speed control, an angle control brake mode based on dynamic adjustment of angle control, and a coasting trend control brake mode based on dynamic adjustment of the coasting trend. Specifically:

[0051] 1. The turning service brake mode based on automatic reverse flow output: first, the ECU 9 collects the signals of the turning operation handle 8 and the turning angle sensor 7 to form an operation behavior recognition based on angle, handle, and angular velocity, and judges whether the operator enters the turning service brake mode according to the service brake entry and exit conditions.

[0052] (1) Angular velocity calculation formula

[0053] speed=(∠t-∠t-1) / Δt, wherein speed represents the angular velocity, ∠t represents the angle at time t, ∠t-1 represents the angle at time t-1, and Δt represents the time difference between time t and time t-1. When |speed|>V Max , |speed| represents the absolute value of the turning angular velocity, V MaxV(t) = V(t-1) indicates that the maximum value of the rotation speed is considered from the jump process between 360° and 0°, that is, V(t) = V(t-1) indicates that when the speed greater than the maximum value appears, that is, the jump between 360° and 0° occurs, the current speed value V(t) is equal to the last speed value V(t-1).

[0054] (2) Handle fast and slow action recognition

[0055] j List [pos] = j List [pos+1]

[0056] j List The handle array of the first 1s of the scroll record is recorded every 10ms, and pos indicates the array position range 1≤pos≤100. When j Max j List [pos], j Max = j List [pos], j Max indicates the maximum value of the handle of the first 1s, which is compared with the current data through the handle data within 1s to determine that the handle change within 1s exceeds the handle threshold value of the service brake recognition, which is the handle fast action, and the handle change exceeding 1s is the slow action.

[0057] (3) Service brake entry condition

[0058] j Max j Now j Enter And speed>s Enter And T(j Max j Now ±80)>200ms

[0059] j Now indicates the current value of the rotation handle, j Enter indicates the handle descending threshold value that can enter the rotation service brake mode, speed indicates the current rotation speed, s Enter indicates the speed threshold value that can enter the service brake, T(j Max j Now ±80)>200ms indicates that the handle is filtered under the condition that j Max j Now j Enter The handle is considered to meet the service brake entry condition as long as it does not exceed the upper limit of the threshold value 80 for 200ms

[0060] (4) Service brake exit condition

[0061] T(j Max j Now j Enter> 200ms or speed < sExit Exit or j Anti > 100 or T(antiDo) > T(cal)

[0062] T(j Max -j Now <j Enter > 200ms means the difference between the maximum handle value when entering and the current handle is less than the handle value when exiting the rotary service brake mode exceeds 200ms, speed < sExit means the current rotary speed is less than the threshold value of the service brake exit speed, j Anti > 100 means there is a reverse rotary handle action exceeding 100 values, T(antiDo) = T(cal) means the service brake execution time reaches the calculated time value. As long as one of the above conditions is met, the service brake is exited.

[0063] Secondly, when entering the rotary service brake mode, the reverse flow current value is calculated according to the automatic reverse flow algorithm. Finally, the rotary pump 201 is controlled according to the output reverse flow current value to achieve the service fast brake without manual reverse operation of the handle.

[0064] The reverse flow current value includes a brake current and a brake time.

[0065] (5) Brake current calculation:

[0066] current1 = c Max , current1 represents the service brake current, c Max represents the rotary pump current for obtaining the maximum braking force.

[0067] (6) Brake time calculation:

[0068] j Rang = j Max - j Now , j Rang represents the handle change range. When j Rang < 400, T(cal) = T min , T(cal) represents the brake time calculation value, T min represents the minimum brake time. When j Rang ≥ 400, T(cal) = R(speed) * R(j Rang ) * T max , T max represents the maximum brake time, R(speed) represents the rotary speed ratio, R(speed) = (speed - s Min ) / (s Max - s Min ), s MinVmin represents the minimum value of the speed for calculating the rotation speed ratio,

[0069] s Max Vmax represents the maximum value of the speed for calculating the rotation speed ratio. Rang R(j) represents the handle lowering ratio, R(j) = (j-j) / (j-j), j Rang Rang Min Max Min j Min Vmin represents the minimum value of the speed for calculating the handle lowering ratio,

[0070] j Max Vmax represents the maximum value of the speed for calculating the handle lowering ratio.

[0071] 2. Full-automatic mechanical braking mode based on speed control: when there is no action on the vehicle for more than 1s and the rotation speed is less than the braking speed threshold, the ECU 9 drives the rotation brake unlocking valve 6 to be locked to achieve mechanical braking. If there is no action on the vehicle for more than 1s, but the rotation speed is greater than the braking speed threshold, the reverse braking current is calculated according to the direction and size of the rotation speed, and the rotation pump 201 is controlled according to the reverse braking current, so that the rotation speed is reduced to less than the braking speed threshold, the condition for locking the rotation brake unlocking valve 6 is reached, and then mechanical locking braking is achieved.

[0072] current2 = c Min + (V-V min )*(c max -c min ) / (V max -V min ),

[0073] current2 represents the reverse braking current in the full-automatic mechanical braking mode, c Min represents the minimum value of the current, c Max represents the maximum value of the current, V represents the absolute value of the current speed, V min represents the absolute value of the minimum value of the speed, and V max represents the absolute value of the maximum value of the speed.

[0074] 3. Angle control braking mode based on dynamic adjustment of angle control: after the vehicle is inaction for 1s, the stop angle value of the rotation at that time is recorded, deviation analysis is performed when the angle deviates, dynamic correction is performed when the deviation angle exceeds the maximum deviation angle value, and the vehicle is driven to swing slightly near the recorded stop angle according to the correction current to control the rotation pump 201, so as to achieve dynamic braking until the deviation angle is less than the minimum deviation angle value.

[0075] (1) Offset angle and current calculation

[0076] ​​​​When | ∠t - ∠stop | > ∠X2, current3 = c Hd Where ∠t represents the current angle value, ∠stop represents the stop angle value recorded when the rotation stops, ∠X2 represents the maximum deviation angle value of the offset exceeding the angle value that needs to be dynamically corrected. current3 represents the correction current of the angle control braking mode, c Hd represents the current driving rotation correction in this mode, which is a constant value that can retrieve the maximum adjustment current value of the rotation pump. When | ∠t - ∠stop | < ∠X1, current3 = 0, where ∠X1 represents the minimum deviation angle value between the current angle and the stop angle when the stop correction is performed. According to ∠t - ∠stop > 0 or ∠t - ∠stop < 0, the deviation analysis and specific current output are performed.

[0077] 4. Coasting tendency control braking mode based on dynamic adjustment of coasting tendency: After 1s of no action on the vehicle, the coasting tendency is analyzed according to the angle difference value rate, and the reverse current of the rotation pump 201 is dynamically adjusted according to the coasting speed, until the rotation speed is 0, and the vehicle is stationary.

[0078] (1) Coasting tendency analysis

[0079] When ∠t - ∠stop > 0, swState = 1. Where swState = 1 represents right coasting of the rotation.

[0080] When ∠t - ∠stop < 0, swState = -1. Where swState = -1 represents left coasting of the rotation.

[0081] (2) Reverse current calculation

[0082] current4 = curInit, where current4 represents the reverse current of the coasting tendency control braking mode, and curInit represents the initial value of the calculated current, which is usually the starting point of the rotation pump displacement adjustment.

[0083] current4 = current4 + curStep, where curStep represents the amount of current increased per period. curStep = k | speed |, k > 0, i.e. the greater the rotation speed, the greater the curStep, and the curStep is proportional to the absolute value of the rotation speed.

[0084] As the reverse current increases, the speed tends to 0, and when the rotation speed is 0, the value of current4 at this time is maintained to achieve braking until the vehicle has rotation action, and the reverse braking current is zero.

[0085] The closed rotation braking method further judges the rotation direction during the rotation action in order to further shorten the braking time after the rotation action: after the rotation action, when the service braking ends, if the coasting direction is consistent with the rotation direction during the rotation action, the original parking braking control logic is maintained; if the coasting direction is inconsistent with the rotation direction during the rotation action, the parking braking control logic is immediately entered, and the parking braking entering condition that the getting-on inaction exceeds 1s does not need to be judged.

[0086] The above only describes the preferred embodiments of the present application, and it should be noted that those skilled in the art can make some improvements and modifications without departing from the technical principles of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims

1. A super large hydraulic excavator closed swing brake system, characterized by, The power output device (1), the rotary pump system (2), the pilot pump (3), the rotary pump regulating valve group (4), the rotary motor assembly (5), the rotary brake unlocking valve (6), the rotary angle sensor (7), the rotary control handle (8), and the ECU (9) are provided. The power output device (1) is connected with the rotary pump system (2) and the pilot pump (3) respectively; the rotary pump system (2) controls the rotary motor assembly (5); the pilot pump (3) controls the rotary motor assembly (5) through the rotary brake unlocking valve (6). The closed rotary brake system is controlled by the rotary angle sensor (7), the rotary control handle (8), and the ECU (9). The ECU (9) is connected with the rotary angle sensor (7) and the rotary control handle (8) electrically, and is connected with the rotary pump regulating valve group (4) and the rotary brake unlocking valve (6) electrically.

2. The super large hydraulic excavator closed swing brake system according to claim 1, characterized by, The rotary pump system (2) comprises a rotary pump (201) and a pump displacement regulating swash plate (202); the rotary pump (201) is connected with the rotary motor assembly (5), and the pump displacement regulating swash plate (202) is connected with the rotary pump regulating valve group (4).

3. The super large hydraulic excavator closed swing brake system according to claim 2, wherein The rotary pump regulating valve group (4) comprises a left rotary switch valve (401) and a left rotary proportional valve (403) for adjusting left rotation, and a right rotary switch valve (402) and a right rotary proportional valve (404) for adjusting right rotation.

4. The super large hydraulic excavator closed swing brake system of claim 1, wherein, The pilot pump (3) is connected with the rotary mechanical brake mechanism (501) of the rotary motor assembly (5) through the rotary brake unlocking valve (6).

5. The super large hydraulic excavator closed swing brake system according to claim 1, wherein The closed rotary brake system further comprises an instrument (10).

6. A super large hydraulic excavator closed swing braking method characterized by, The ECU (9) collects and processes signals of the rotary angle sensor (7) and the rotary control handle (8), identifies driving behaviors and motion trends, calculates brake current and time according to a brake algorithm, and then controls the rotary pump (201) to perform rotary brake control.

7. The super large hydraulic excavator closed swing braking method according to claim 6, characterized by When driving behaviors enter the rotary driving brake mode according to the driving behavior identification, the closed rotary brake method performs driving brake control; When there is no action on the vehicle, the closed rotary brake method performs parking brake control; The driving brake control is based on the rotary driving brake mode of automatic reverse flow output; The parking brake control comprises a full-automatic mechanical brake mode based on speed control, an angle control brake mode based on dynamic adjustment of angle control, and a coasting trend control brake mode based on dynamic adjustment of coasting trend.

8. The super large hydraulic excavator closed swing braking method according to claim 7, characterized by The control method of the rotary driving brake mode comprises the following steps: first, the ECU (9) collects signals of the rotary control handle (8) and the rotary angle sensor (7) to form driving behavior identification based on angle, handle, and angular velocity, and identifies whether the operator enters the rotary driving brake mode according to driving brake entering and exiting conditions; second, when the rotary driving brake mode is entered, the ECU (9) calculates reverse flow current value according to an automatic reverse flow algorithm; and finally, the ECU (9) controls the rotary pump (201) according to the output reverse flow current value to perform driving brake.

9. The super large hydraulic excavator closed swing braking method according to claim 7, characterized by, The control method of the full-automatic mechanical braking mode: when there is no action on the vehicle for more than a set time and the rotation speed is less than the braking speed threshold, the ECU (9) drives the rotation braking unlocking valve (6) to be locked to achieve mechanical braking; if there is no action on the vehicle for more than a set time, but the rotation speed is greater than the braking speed threshold, the reverse braking current is calculated according to the direction and size of the rotation speed, and the rotation speed is controlled to slow down to be less than the braking speed threshold according to the reverse braking current, and mechanical locking braking is performed.

10. The super large hydraulic excavator closed swing braking method according to claim 7, characterized by, The control method of the angle control braking mode: after there is no action on the vehicle for more than a set time, the stop angle value of the rotation at that time is recorded, when the angle deviates, if the deviation angle exceeds the maximum deviation angle value, dynamic correction is performed, the vehicle is controlled to swing slightly near the recorded stop angle according to the correction current, dynamic braking is performed until the deviation angle is less than the minimum deviation angle value.

11. The super large hydraulic excavator closed swing braking method of claim 7, wherein, The control method of the coasting trend control braking mode: after there is no action on the vehicle for more than a set time, the coasting trend is analyzed according to the angle difference value change rate, the reverse current of the rotation pump (201) is dynamically adjusted according to the size of the coasting speed, until the rotation speed is 0, the value of the reverse current is kept, braking is performed until the vehicle has rotation action, and the reverse braking current is zero.

12. The super large hydraulic excavator closed swing braking method of claim 7, wherein, After the rotation action, when the driving brake ends, if the coasting direction is consistent with the rotation direction during the rotation action, the control logic of the rotation braking method is maintained; if the coasting direction is not consistent with the rotation direction during the rotation action, the parking brake control logic is immediately entered without judging the entering condition of the parking brake control.

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