High-efficiency and high-reliability ultra-large type operation excavator revolving platform

Abstract

The invention discloses a high-efficiency and high-reliability ultra-large type operation excavator revolving platform, which belongs to the technical field of excavator control, and comprises an excavator main body, and a control room main body, a revolving platform main body, a crawler vehicle body and a sensor mechanism which are connected with one another are mounted on the excavator main body; the controller is integrated with a sensing acquisition module, a control processing module and a driving module, the sensor mechanism is used for acquiring pressure data of the hydraulic energy accumulator, system leakage flow data, hydraulic motor operation data, environment temperature data and braking duration time, and real-time pressure and basic recovery hydraulic energy of the hydraulic energy accumulator are calculated through a gas variable process model; according to the energy recovery control system, dynamic recovery adjustment of efficient energy is achieved through full-link cooperation of real-time data acquisition of the sensing module, physical modeling of the algorithm module and feedback execution of the control module.

Description

Technical Field

[0001] This invention relates to the field of excavator control technology, and in particular to a high-efficiency, high-reliability slewing platform for ultra-large excavators. Background Technology

[0002] Ultra-large excavators are widely used in heavy-duty working conditions such as mining and water conservancy projects. Their slewing platform, as the core component connecting the upper working device and the lower traveling system, undertakes frequent 360° rotation, braking and reversing actions.

[0003] However, existing excavator slewing platforms do not consider the variable processes of gas within the accumulator, thus ignoring volume changes and lacking temperature correction, leading to pressure calculation errors and inaccurate assessments. Furthermore, they rely solely on periodic offline monitoring to obtain fixed leakage values, ignoring the impact of pressure differences on leakage. This prevents dynamic correction of leakage losses. Finally, in existing technologies, the recovery flow rate is mostly controlled by fixed throttle valves, making it difficult to achieve a dynamic adjustment mechanism for real-time correction of energy conversion efficiency, resulting in either excess or insufficient energy accumulation during continuous operation cycles. Summary of the Invention

[0004] The technical problem to be solved by this invention is that the existing technology has the disadvantages of insufficient accuracy in calculating regenerative braking energy, lack of dynamic correction of leakage loss, and lack of closed-loop control for energy compensation. To address this, we propose a high-efficiency and high-reliability slewing platform for ultra-large excavators.

[0005] The main technical solution is: a high-efficiency and high-reliability ultra-large excavator slewing platform, including an excavator body, on which a control room body, a slewing platform body, a tracked vehicle body, and a sensor mechanism are installed in an interconnected manner;

[0006] The main body of the control room is equipped with a hydraulic accumulator, a main hydraulic pump, a main control valve group and a controller. The controller integrates a sensor acquisition module, a control processing module and a drive module. The sensor mechanism is electrically connected to the sensor acquisition module and is used to collect hydraulic accumulator pressure data, system leakage flow data, hydraulic motor operation data, ambient temperature data and braking duration.

[0007] The control processing module is configured to calculate the real-time pressure of the hydraulic accumulator and the basic recovered hydraulic energy based on the data collected by the sensor mechanism, and to calculate the system leakage flow rate based on the fluid dynamics gap flow theory.

[0008] The control and processing module also introduces a leakage loss and efficiency correction mechanism to dynamically optimize the basic recovered hydraulic energy and obtain the usable recovered energy after deducting leakage loss.

[0009] The target recovery flow rate is calculated by combining the available recoverable energy and the hydraulic motor efficiency.

[0010] The drive module is connected to the main control valve group and is used to execute the control command for the target recovery flow.

[0011] Preferably, a rotary gear is installed on the upper surface of the rotary platform body, the internal gear of the rotary gear is meshed with a planetary gear, and a rotary mechanism is fixedly connected to the upper surface of the planetary gear.

[0012] The slewing mechanism includes a slewing hydraulic motor and a slewing reduction mechanism.

[0013] Preferably, the sensor mechanism includes a pressure sensor, a flow sensor, a speed and torque sensor, a temperature sensor, a timer, and an angle sensor;

[0014] The pressure sensor is installed at the outlet of the hydraulic accumulator and at the inlet and outlet of the rotary hydraulic motor, and detects the hydraulic accumulator pressure data, including the initial pressure of the hydraulic accumulator and the return oil pressure of the rotary hydraulic motor.

[0015] The flow sensor is installed at the oil filling line and oil return line of the hydraulic accumulator and detects the system leakage flow data, including the recovery flow and the return flow.

[0016] The speed and torque sensor is installed on the output shaft of the rotary hydraulic motor and detects the motor operating data, including motor speed and output torque.

[0017] The temperature sensor is installed inside the hydraulic accumulator and hydraulic oil tank, and detects ambient temperature data including real-time gas temperature and hydraulic oil temperature.

[0018] The timer is installed on the lower surface of the main body of the rotary platform and detects the braking duration;

[0019] The angle sensor is installed on the lower surface of the main body of the rotary platform and detects the rotation angle of the main body of the rotary platform.

[0020] Preferably, the specific processes for obtaining the real-time pressure of the hydraulic accumulator, the system leakage flow rate, and the hydraulic motor efficiency are as follows:

[0021] The real-time pressure of the hydraulic accumulator is calculated by multiplying the recovery flow rate and the braking duration to obtain the recovery volume.

[0022] Based on the initial gas volume, the recovered volume, and the polytropic index, the pressure change factor caused by gas compression and expansion is obtained;

[0023] Based on the ratio of the real-time gas temperature to the initial calibration temperature, a temperature influence factor is obtained to correct the effect of temperature changes on gas pressure.

[0024] The real-time pressure of the hydraulic accumulator is obtained based on the product of the temperature influence factor and the pressure change factor.

[0025] The system leakage flow rate is obtained by calculating the pressure difference of the driving force on both sides of the leakage channel based on the difference between the real-time pressure and the return oil pressure of the hydraulic accumulator.

[0026] The dynamic viscosity is obtained by referring to a table based on the hydraulic oil temperature.

[0027] The inherent leakage coefficient of the leakage channel is calculated by using the component gap and gap length, and then combined with the pressure difference and the dynamic viscosity to obtain the system leakage flow rate;

[0028] The hydraulic motor efficiency is obtained by measuring the actual flow rate under leak-free conditions based on the motor speed and displacement.

[0029] The volumetric efficiency of the rotary hydraulic motor is obtained by comparing the actual flow rate with the theoretical flow rate.

[0030] Based on the pressure difference and the displacement, the actual torque under the condition of no mechanical loss is obtained;

[0031] The mechanical efficiency of the rotary hydraulic motor is obtained by comparing the actual torque with the theoretical torque.

[0032] The efficiency of the hydraulic motor is obtained by multiplying the volumetric efficiency and the mechanical efficiency.

[0033] Preferably, the calculation process for obtaining the basic recovered hydraulic energy is as follows:

[0034] If, during the initial rotation, the initial pressure of the hydraulic accumulator is directly obtained based on the pressure sensor detected by the pressure sensor;

[0035] The calculation is performed after the initial rotation, based on the product of the real-time pressure of the hydraulic accumulator and the recovered volume.

[0036] Preferably, the calculation process for obtaining the available recoverable energy is as follows:

[0037] The leakage energy loss during braking is obtained by multiplying the real-time pressure of the hydraulic accumulator, the leakage flow rate of the system, and the braking duration.

[0038] The usable recovered energy is obtained by subtracting the leakage energy loss from the basic recovered hydraulic energy.

[0039] Preferably, the calculation process for obtaining the target recycled traffic is as follows;

[0040] The actual output mechanical energy of the rotary hydraulic motor is obtained by multiplying the available recoverable energy by the efficiency of the hydraulic motor.

[0041] Based on the ratio of the actual output mechanical energy to the product of the real-time pressure of the hydraulic accumulator and the braking duration, it can be deduced that additional flow recovery is required.

[0042] The target recycled traffic is obtained by adding the additional recycled traffic to the recycled traffic.

[0043] Preferably, the control command includes adjusting the target recovery flow rate to replace the recovery flow rate when the main body of the slewing platform stops slewing next time.

[0044] The technical effects and advantages of this invention are as follows:

[0045] In this invention, by introducing a gas polymorphic process model, volume change terms and temperature correction terms are introduced to significantly reduce pressure calculation errors and ensure improved accuracy of basic hydraulic energy recovery. Furthermore, based on the system leakage flow calculated by fluid dynamics gap flow theory, the pressure difference and oil temperature of the driving force on both sides of the leakage channel are collected in real time, further reducing the calculation error of leakage loss and thus avoiding energy waste caused by overestimation of leakage.

[0046] In this invention, the volumetric efficiency reflecting the leakage state and the mechanical efficiency reflecting the friction state are calculated in real time. Under low-speed heavy-load conditions and high-speed light-load conditions, the insufficient compensation caused by underestimation of efficiency is avoided, and dynamic adaptation of efficiency under all operating conditions is achieved.

[0047] In this invention, a closed loop of "recovered energy - available energy - compensation flow" is established through the target recovery flow rate to control the recovery flow rate of the hydraulic accumulator in real time, thereby improving the braking energy recovery and reuse efficiency of the hydraulic excavator and realizing the development of a high-power, high-efficiency, and long-life hydraulic hybrid slewing system. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0049] Figure 2 This is a schematic diagram showing the connection of some of the rotating structures in this invention;

[0050] Figure 3 This is a schematic diagram of the internal structure of the controller in this invention;

[0051] Figure 4 This is a schematic diagram of the process of the controller performing rotation control in this invention.

[0052] In the diagram: 1-Excavator body, 2-Control room body, 3-Slewing platform body, 4-Crawler body, 5-Slewing gear, 6-Planetary gear, 7-Slewing mechanism. Detailed Implementation

[0053] The present invention will now be described in further detail with reference to the accompanying drawings and preferred embodiments.

[0054] Reference Figures 1 to 4 As shown, the present invention provides a technical solution: a high-efficiency and high-reliability ultra-large excavator slewing platform, including an excavator body 1, on which a control room body 2, a slewing platform body 3, a tracked vehicle body 4, and a sensor mechanism are installed and connected to each other;

[0055] The main body 2 of the control room is equipped with a hydraulic accumulator, a main hydraulic pump, a main control valve group and a controller. The controller integrates a sensor acquisition module, a control processing module and a drive module. The sensor mechanism is electrically connected to the sensor acquisition module to collect hydraulic accumulator pressure data, system leakage flow data, hydraulic motor operation data, ambient temperature data and braking duration.

[0056] The control processing module is configured to calculate the real-time pressure of the hydraulic accumulator and the basic recovered hydraulic energy based on the data collected by the sensor mechanism, and calculate the system leakage flow rate based on the gas polymorphism process model.

[0057] The control and processing module also introduces a leakage loss and efficiency correction mechanism to dynamically optimize the basic recovered hydraulic energy and obtain the usable recovered energy after deducting leakage loss.

[0058] The target recovery flow rate is calculated by combining available recoverable energy and hydraulic motor efficiency.

[0059] The drive module is connected to the main control valve assembly and is used to execute control commands for the target recovery flow.

[0060] Among them, a rotary gear 5 is installed on the upper surface of the rotary platform body 3, and a planetary gear 6 is meshed with the internal gear of the rotary gear 5. A rotary mechanism 7 is fixedly connected to the upper surface of the planetary gear 6.

[0061] The slewing mechanism 7 includes a slewing hydraulic motor and a slewing reduction mechanism.

[0062] The sensor mechanism includes a pressure sensor, a flow sensor, a speed and torque sensor, a temperature sensor, a timer, and an angle sensor;

[0063] Pressure sensors are installed at the outlet of the hydraulic accumulator and at the inlet and outlet of the rotary hydraulic motor, and detect hydraulic accumulator pressure data, including the initial pressure of the hydraulic accumulator and the return oil pressure of the rotary hydraulic motor.

[0064] The flow sensor is installed at the charging line and return line of the hydraulic accumulator and detects system leakage flow data, including recovery flow and return flow.

[0065] The speed and torque sensor is installed on the output shaft of the rotary hydraulic motor and detects motor operating data including motor speed and output torque;

[0066] Temperature sensors are installed inside the hydraulic accumulator and hydraulic tank, and detect ambient temperature data including real-time gas temperature and hydraulic oil temperature.

[0067] A timer is installed on the lower surface of the rotary platform body 3 and detects the braking duration;

[0068] An angle sensor is installed on the lower surface of the rotary platform body 3 and detects the rotation angle of the rotary platform body 3.

[0069] In this embodiment, the slewing platform integrates the control room body 2, the slewing platform body 3, and the sensor mechanism through the excavator body 1, forming a three-level architecture of "perception-computation-control".

[0070] Specifically: The operator issues a rotation command via the joystick on the main body 2 of the control room. The controller's drive module outputs an electrical signal to the main control valve group. The main hydraulic pump draws oil from the oil tank, converting mechanical energy into hydraulic energy. The flow rate is regulated by the main control valve group, which drives the rotary hydraulic motor to rotate. The output shaft of the rotary hydraulic motor drives the planetary gear 6 to rotate on its own axis and revolves around the rotary gear 5. The speed is reduced and the torque is amplified by the reduction mechanism and then transmitted to the rotary platform body 3. The angle sensor collects the rotation angle in real time and feeds it back to the controller to avoid overtravel. When the operator releases the joystick or triggers the braking command, the angle sensor detects the speed reduction signal. The controller switches to "energy recovery mode". The main control valve group closes the drive oil circuit and opens the recovery oil circuit. The rotary hydraulic motor reverses under inertia and becomes a "hydraulic pump" in operation, converting mechanical energy into hydraulic energy.

[0071] The recovered hydraulic oil enters the hydraulic accumulator through a check valve. The pressure sensor monitors the accumulator pressure in real time. The control processing module calculates the real-time pressure of the accumulator and the basic recovered hydraulic energy based on the gas polymorphic process model. First, the energy recovery amount is accurately quantified through dynamic parameter coupling. Second, the usable energy assessment is ensured through leakage loss correction. Finally, the dynamic optimization of energy management is achieved through closed-loop compensation, thus forming an organic whole of "measurement-calculation-control". The drive module converts the target recovery flow into a proportional valve current signal and adjusts the opening of the main control valve group. The controller updates the hydraulic accumulator pressure decay and battery health status in real time. The tracked vehicle body 4 remains in a braking state, the slewing platform body 3 is reset to the initial angle, the sensor mechanism clears the timer and angle data, and waits for the next slewing command.

[0072] Among them, the cyclical impact of the target recovery flow rate on the real-time pressure of the hydraulic accumulator is particularly critical. Specifically, by adjusting the feedback of the compensation flow rate, energy recovery is upgraded from "passive acquisition" to "active optimization," ultimately achieving the technical goal of improving the energy recovery rate and system reliability of the slewing platform of the ultra-large excavator.

[0073] Reference Figures 3 to 4 As shown in this implementation scheme: the real-time pressure of the hydraulic accumulator is obtained by multiplying the recovery flow rate and the braking duration to obtain the recovery volume;

[0074] Based on the initial gas volume, the recovered volume, and the polytropic index, the pressure change factor caused by gas compression and expansion is obtained;

[0075] Based on the ratio of real-time gas temperature to initial calibration temperature, the temperature influence factor for correcting the effect of temperature change on gas pressure is obtained.

[0076] The real-time pressure of the hydraulic accumulator is obtained based on the product effect of temperature influence factor on pressure change factor.

[0077] The specific calculation process for obtaining basic recovered hydraulic energy is as follows:

[0078] If, during the initial rotation, the initial pressure of the hydraulic accumulator is directly obtained based on the pressure sensor;

[0079] The calculation is performed after the initial rotation, based on the product of the real-time pressure of the hydraulic accumulator and the recovered volume.

[0080] In this embodiment, the formula for calculating the real-time pressure of the hydraulic accumulator is as follows:

[0081] ;

[0082] Y accY0 is the real-time pressure of the hydraulic accumulator, V0 is the initial pressure of the hydraulic accumulator, ΔV is the recovery volume, and W is the initial gas volume. acc W0 represents the real-time gas temperature, and W0 represents the initial calibration temperature.

[0083] n is a polytropic exponent, which is related to the operating speed of the accumulator:

[0084] Slow operating conditions n≈1 isothermal;

[0085] Rapid operating condition n ≈ 1.4 adiabatic;

[0086] Furthermore, in the project, n=1.2 is chosen as a compromise;

[0087] The formula for calculating the hydraulic energy recovered from the foundation after the initial rotation is as follows:

[0088] ;

[0089] in:

[0090] E rec Based on the recovery of hydraulic energy, L rec t represents the hydraulic oil recovery flow rate during braking, and t represents the braking duration.

[0091] Furthermore, it is worth noting that by considering the gas polyvariate process model that incorporates volume compression and temperature correction, the pressure calculation error of the traditional isothermal / adiabatic model is reduced, and the accuracy of the basic energy recovery assessment is ensured. In addition, the polyvariate index is adaptively adjusted for slow (n≈1) and fast (n≈1.4) operating conditions to avoid the assessment distortion of a single model under complex operating conditions, thereby further reducing the calculation deviation of energy recovery.

[0092] Reference Figures 3 to 4 As shown, in this implementation scheme: System leakage flow rate: Based on the difference between the real-time pressure of the hydraulic accumulator and the return oil pressure, the pressure difference of the driving force on both sides of the leakage channel is obtained;

[0093] The dynamic viscosity can be obtained by referring to a table based on the hydraulic oil temperature.

[0094] The inherent leakage coefficient of the leakage channel is calculated by using the component gap and gap length, and then combined with the pressure difference and dynamic viscosity to obtain the system leakage flow rate;

[0095] Furthermore, the specific calculation process for obtaining usable recovered energy is as follows:

[0096] The leakage energy loss during braking is obtained by multiplying the real-time pressure of the hydraulic accumulator, the system leakage flow rate, and the braking duration.

[0097] The usable recovered energy is obtained by subtracting the leakage energy loss from the basic recovered hydraulic energy.

[0098] In this embodiment, the formula for calculating the system leakage flow rate is as follows:

[0099] ;

[0100] L leak The system leakage flow rate is given by d, the hydraulic component clearance is specifically the clearance between the valve core and the valve body diameter, ΔY is the pressure difference, μ is the dynamic viscosity, and D is the clearance length and valve core mating length.

[0101] The formula for calculating usable recoverable energy is as follows:

[0102] ;

[0103] in:

[0104] E avail For usable recovered energy;

[0105] The calculation result is the energy loss due to leakage.

[0106] Furthermore, it is worth noting that by abandoning the traditional assumption of fixed leakage values ​​and calculating leakage flow rate by coupling real-time pressure difference and oil temperature, the error in leakage loss assessment is reduced, and the failure of recovery strategies due to overestimation of available energy is avoided. After accurately quantifying leakage loss, the available energy assessment is closer to the actual working conditions, providing a reliable data basis for subsequent flow compensation.

[0107] Reference Figures 3 to 4 As shown in this implementation scheme: Hydraulic motor efficiency: Based on the motor speed and displacement, the actual flow rate under leak-free conditions is obtained;

[0108] The volumetric efficiency of the rotary hydraulic motor is obtained by comparing the actual flow rate with the theoretical flow rate.

[0109] Based on the pressure difference and displacement, the actual torque under the condition of no mechanical loss is obtained;

[0110] The mechanical efficiency of the rotary hydraulic motor is obtained by comparing the actual torque with the theoretical torque.

[0111] The efficiency of the hydraulic motor is obtained by multiplying the volumetric efficiency and the mechanical efficiency.

[0112] The specific calculation process for obtaining the target recycled traffic;

[0113] The actual output mechanical energy of the rotary hydraulic motor is obtained by multiplying the available recoverable energy by the hydraulic motor efficiency.

[0114] Based on the ratio of the actual output mechanical energy to the product of the real-time pressure of the hydraulic accumulator and the braking duration, the additional flow rate that needs to be recovered can be calculated.

[0115] The target recycled traffic is obtained by adding the recycled traffic to the additional recycled traffic.

[0116] In this embodiment, the formula for calculating the efficiency of the hydraulic motor is as follows:

[0117] ;

[0118] in:

[0119] η motor For hydraulic motor efficiency, L actual For actual traffic, L theoretical For the theoretical flow rate, N actual The actual torque, N theoretical This is the theoretical torque;

[0120] L theoretical =r×V m N theoretical =(Y acc ×V m ) / 2π, where r is the motor speed and V m For displacement;

[0121] The formula for calculating the target recycled traffic is as follows:

[0122] ;

[0123] in:

[0124] L rec,new Recover traffic for the target;

[0125] The calculation result is the actual output mechanical energy;

[0126] The calculation result indicates that additional traffic needs to be recycled.

[0127] Furthermore, it is worth noting that by real-time coupling of volumetric efficiency and mechanical efficiency, the problem of insufficient compensation of traditional fixed efficiency values ​​under low-speed heavy load (low efficiency) or high-speed light load (large efficiency fluctuation) conditions is solved, thereby reducing the dynamic error of efficiency assessment. Based on the target flow correction of available energy and efficiency, a "recovery-assessment-compensation" closed loop is formed, which can avoid the phenomenon of energy accumulation excess or deficiency.

[0128] Reference Figures 1 to 4 As shown in this implementation scheme, the control command includes adjusting the target recovery flow rate by replacing the recovery flow rate when the main body 3 of the slewing platform stops slewing for the next time.

[0129] In this embodiment, the controller automatically replaces the current recovery flow rate with the target recovery flow rate L when the slewing platform 3 brakes for the next time.rec,new The system dynamically distributes hydraulic oil flow by adjusting the opening of the main control valve group through the drive module. At the same time, the angle sensor and timer monitor the rotation angle and braking duration t in real time and continuously feed back to the control processing module to update the target flow for the next round. Through the cyclic adjustment of "braking-correction-re-braking", the system can adapt to the changes in energy demand under different working conditions without manual intervention, avoid hydraulic shock caused by fixed flow control, and reduce fatigue damage to hydraulic components.

[0130] It should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this invention should also be within the scope of protection of this invention.

Claims

1. A high-efficiency, high-reliability, ultra-large excavator slewing platform, comprising an excavator body (1), characterized in that: The excavator body (1) is equipped with an interconnected control room body (2), a slewing platform body (3), a tracked vehicle body (4), and a sensor mechanism; The main body (2) of the control room is equipped with a hydraulic accumulator, a main hydraulic pump, a main control valve group and a controller. The controller integrates a sensor acquisition module, a control processing module and a drive module. The sensor mechanism is electrically connected to the sensor acquisition module and is used to collect hydraulic accumulator pressure data, system leakage flow data, hydraulic motor operation data, ambient temperature data and braking duration. The control processing module is configured to calculate the real-time pressure of the hydraulic accumulator and the basic recovered hydraulic energy based on the data collected by the sensor mechanism, and to calculate the system leakage flow rate based on the fluid dynamics gap flow theory. The control and processing module also introduces a leakage loss and efficiency correction mechanism to dynamically optimize the basic recovered hydraulic energy and obtain the usable recovered energy after deducting leakage loss. The target recovery flow rate is calculated by combining the available recoverable energy and the hydraulic motor efficiency. The drive module is connected to the main control valve group and is used to execute the control command for the target recovery flow.

2. The high-efficiency, high-reliability, ultra-large excavator slewing platform according to claim 1, characterized in that: A rotary gear (5) is installed on the upper surface of the rotary platform body (3), and a planetary gear (6) is meshed with the internal gear of the rotary gear (5). A rotary mechanism (7) is fixedly connected to the upper surface of the planetary gear (6). The slewing mechanism (7) includes a slewing hydraulic motor and a slewing deceleration mechanism.

3. The high-efficiency, high-reliability, ultra-large excavator slewing platform according to claim 2, characterized in that: The sensor mechanism includes a pressure sensor, a flow sensor, a speed and torque sensor, a temperature sensor, a timer, and an angle sensor; The pressure sensor is installed at the outlet of the hydraulic accumulator and at the inlet and outlet of the rotary hydraulic motor, and detects the hydraulic accumulator pressure data, including the initial pressure of the hydraulic accumulator and the return oil pressure of the rotary hydraulic motor. The flow sensor is installed at the oil filling line and oil return line of the hydraulic accumulator and detects the system leakage flow data, including the recovery flow and the return flow. The speed and torque sensor is installed on the output shaft of the rotary hydraulic motor and detects the motor operating data, including motor speed and output torque. The temperature sensor is installed inside the hydraulic accumulator and hydraulic oil tank, and detects ambient temperature data including real-time gas temperature and hydraulic oil temperature. The timer is installed on the lower surface of the rotary platform body (3) and detects the braking duration; The angle sensor is installed on the lower surface of the rotary platform body (3) and detects the rotation angle of the rotary platform body (3).

4. The high-efficiency, high-reliability, ultra-large excavator slewing platform according to claim 3, characterized in that: The specific processes for obtaining the real-time pressure of the hydraulic accumulator, the system leakage flow rate, and the efficiency of the hydraulic motor are as follows: The real-time pressure of the hydraulic accumulator is calculated by multiplying the recovery flow rate and the braking duration to obtain the recovery volume. Based on the initial gas volume, the recovered volume, and the polytropic index, the pressure change factor caused by gas compression and expansion is obtained; Based on the ratio of the real-time gas temperature to the initial calibration temperature, a temperature influence factor is obtained to correct the effect of temperature changes on gas pressure. The real-time pressure of the hydraulic accumulator is obtained based on the product of the temperature influence factor and the pressure change factor. The system leakage flow rate is obtained by calculating the pressure difference of the driving force on both sides of the leakage channel based on the difference between the real-time pressure and the return oil pressure of the hydraulic accumulator. The dynamic viscosity is obtained by referring to a table based on the hydraulic oil temperature. The inherent leakage coefficient of the leakage channel is calculated by using the component gap and gap length, and then combined with the pressure difference and the dynamic viscosity to obtain the system leakage flow rate; The hydraulic motor efficiency is obtained by measuring the actual flow rate under leak-free conditions based on the motor speed and displacement. The volumetric efficiency of the rotary hydraulic motor is obtained by comparing the actual flow rate with the theoretical flow rate. Based on the pressure difference and the displacement, the actual torque under the condition of no mechanical loss is obtained; The mechanical efficiency of the rotary hydraulic motor is obtained by comparing the actual torque with the theoretical torque. The efficiency of the hydraulic motor is obtained by multiplying the volumetric efficiency and the mechanical efficiency.

5. The high-efficiency, high-reliability, ultra-large excavator slewing platform according to claim 4, characterized in that: The specific calculation process for obtaining the basic recovered hydraulic energy is as follows: If, during the initial rotation, the initial pressure of the hydraulic accumulator is directly obtained based on the pressure sensor; The calculation is performed after the initial rotation, based on the product of the real-time pressure of the hydraulic accumulator and the recovered volume.

6. The high-efficiency, high-reliability, ultra-large excavator slewing platform according to claim 5, characterized in that: The specific calculation process for obtaining the available recoverable energy is as follows: The leakage energy loss during braking is obtained by multiplying the real-time pressure of the hydraulic accumulator, the leakage flow rate of the system, and the braking duration. The usable recovered energy is obtained by subtracting the leakage energy loss from the basic recovered hydraulic energy.

7. The high-efficiency, high-reliability, ultra-large excavator slewing platform according to claim 6, characterized in that: The specific calculation process for obtaining the target recycled traffic; The actual output mechanical energy of the rotary hydraulic motor is obtained by multiplying the available recoverable energy by the efficiency of the hydraulic motor. Based on the ratio of the actual output mechanical energy to the product of the real-time pressure of the hydraulic accumulator and the braking duration, it can be deduced that additional flow recovery is required. The target recycled traffic is obtained by adding the additional recycled traffic to the recycled traffic.

8. The high-efficiency, high-reliability, ultra-large excavator slewing platform according to claim 7, characterized in that: The control command includes adjusting the target recovery flow rate to replace the recovery flow rate when the main body of the slewing platform (3) stops slewing for the next time.

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