An electrical slewing assembly ramp control system, method and excavator

Abstract

The application discloses an electric slewing assembly ramp control system and method and an excavator. The method predicts the slewing motor speed error at the next moment by building a slewing motor speed error prediction model, identifies a ramp slewing working mode in combination with a whole vehicle high-pressure state and a slewing handle opening degree signal, and formulates a slewing speed dynamic compensation strategy according to the ramp slewing working mode, so as to solve the problem that the control precision of the electric slewing assembly ramp slewing is not high, and ensure that the electric slewing system can stably and reliably operate on the ramp. The safety problem of the ramp slewing is considered, a ramp slewing failure working mode is set, and the electric slewing assembly is locked when high voltage is applied, so as to prevent the electric slewing assembly from sliding on the ramp.

Description

Technical Field

[0001] This invention relates to the field of electric slewing safety control technology, specifically to an electric slewing assembly ramp control system, method, and excavator. Background Technology

[0002] In recent years, the country has vigorously promoted the reform of non-road new energy, which has facilitated the rapid development of new energy construction machinery. Traditional power construction machinery mostly uses hydraulic systems for power transmission. Although hydraulic systems have advantages such as easy control and large driving torque, they also suffer from the problem of rising hydraulic system temperature during long-term continuous operation, leading to a decrease in the operating efficiency of construction machinery.

[0003] To reduce heat generation in hydraulic systems, electric motors are currently used instead of rotary motors, or electric cylinders are used instead of hydraulic cylinders to avoid the problem of hydraulic systems being sensitive to temperature. Unlike hydraulic transmission systems, electric rotary assemblies are powered by battery packs. Therefore, when hovering on a slope or when a fault is triggered, the electric rotary assembly needs to be locked urgently. Due to data transmission and program execution cycles, the locking time of the electric rotary assembly is delayed, which can cause the electric rotary assembly to roll away on slopes.

[0004] In the prior art, Chinese invention patent CN120097264A provides a method and device for smooth control of ramp slewing motion of an aerial work platform. This method uses two tilt sensors to control the smoothness of ramp slewing motion, increasing the overall vehicle cost and exhibiting sensor lag, thus failing to achieve rapid control. Patent CN117263031A provides a method, device, and machinery for controlling the slewing locking mechanism during pipe hoisting. This method controls the slewing locking mechanism by comparing the lifting angle and slewing angle of the upper platform and determining whether the lifting weight exceeds the limit. This angle-based control method relies on the accuracy of the angle, resulting in low control precision. Patent CN110725358B provides a method, device, and electrically controlled slewing mechanism for slewing safety control, which determines whether the pressure signal, slewing angle signal, and operation signal correspond. This control method is too simplistic, prone to misjudgment, and has low control precision. Summary of the Invention

[0005] To address the problems of electric slewing systems being unable to hover quickly and slipping on slopes, this invention provides an electric slewing assembly slope control system, method, and excavator.

[0006] To achieve the above objectives, the present invention employs the following technical solution:

[0007] In a first aspect, the present invention provides an electric slewing assembly ramp control system, comprising a power battery, an electric slewing assembly, an electric slewing assembly controller, a slewing operation device, and a control module;

[0008] The control module is used to determine the ramp slewing working mode of the electric slewing assembly based on the input command of the slewing operation device, and to perform compensation control on the slewing speed, and output the compensated slewing speed demand command.

[0009] The electric slewing assembly controller is used to control the electric slewing assembly in different ramp slewing working modes, and to control the electric slewing assembly to output the target speed according to the compensated slewing speed command issued by the control module.

[0010] Preferably, the control module includes:

[0011] The slewing speed command calculation module is used to calculate the required slewing speed command for the slewing motor in the electric slewing assembly based on the opening degree and opening change rate of the slewing handle in the slewing operation device.

[0012] A rotary motor speed error prediction model is used to predict the difference between the rotary demand speed command and the actual speed of the rotary motor at the next moment, taking the difference between the rotary demand speed command and the actual speed of the rotary motor as input.

[0013] The ramp slewing operation mode recognition model is used to perform mode recognition and output the ramp slewing operation mode by taking the difference between the slewing motor speed error prediction model predicting the next moment's slewing speed demand command and the actual speed of the slewing motor, the vehicle high voltage status signal and the slewing handle opening signal as inputs; the ramp slewing operation mode is divided into stop mode, hold mode, drive mode, feedback mode and failure mode.

[0014] The slewing speed compensation model is used to compensate for the slewing speed under the corresponding ramp slewing working mode based on the recognition result of the ramp slewing working mode recognition model, and output the compensated slewing speed command.

[0015] Secondly, the present invention provides a slope control method for an electric slewing assembly, implemented based on the aforementioned electric slewing assembly slope control system, the method comprising:

[0016] The required rotational speed command for the rotary motor in the electric rotary assembly is calculated based on the opening degree and the rate of change of the opening of the rotary handle in the rotary operating device.

[0017] A rotary motor speed error prediction model is established, taking the difference between the rotary speed demand command and the actual speed of the rotary motor as input, and predicting the difference between the rotary speed demand command and the actual speed of the rotary motor at the next moment based on the rotary motor speed error prediction model.

[0018] A ramp slewing operation mode recognition model is constructed. The inputs are the difference between the slewing motor speed error prediction model and the actual speed of the slewing motor, the vehicle high-voltage status signal, and the slewing handle opening signal. Based on the ramp slewing operation mode recognition model, the ramp slewing operation mode is output. The ramp slewing operation mode is divided into shutdown mode, holding mode, drive mode, feedback mode, and failure mode.

[0019] A slewing speed compensation model is built. The recognition result of the slope slewing working mode recognition model is used as input to perform slewing speed compensation control in the corresponding slope slewing working mode, and the compensated slewing speed demand command is output to the electric slewing assembly controller.

[0020] The electric slewing assembly controller controls the electric slewing assembly to be in the corresponding ramp slewing working mode, and controls the electric slewing assembly to output the target speed according to the compensated slewing speed command.

[0021] Preferably, the step of calculating the required rotational speed command for the rotation of the rotary motor in the electric rotary assembly based on the opening degree and the rate of change of the opening degree of the rotary handle in the rotary operating device includes:

[0022] Real-time acquisition and calculation of the opening degree of the slewing handle in the slewing operating device ,

[0023] With the opening of the rotary handle and opening change rate Input is the command to calculate the required rotational speed. .

[0024] Preferably, the opening degree of the rotary handle Defined as: It is obtained by linear proportional conversion based on the physical position of the rotary handle. The conversion method is as follows:

[0025] When the rotary handle is in the neutral position, moving the handle from the neutral position in a specified direction represents a clockwise rotary operation. When the movement reaches its limit position 00; The movement of the handle from the center position to the opposite direction represents a counter-clockwise rotation. When the movement reaches its limit position .

[0026] Preferably, the step of building a rotary motor speed error prediction model to predict the difference between the rotary motor's required speed command and the actual speed of the rotary motor at the next moment includes:

[0027] Real-time acquisition and calculation of rotation speed requirements With respect to the actual speed of the rotary motor Determine the required rotation speed command The range of values ​​[ , and the actual speed of the rotary motor The range of values ​​[ , ] and calculate the difference between the two. Statistical difference The range of values ​​[ ];

[0028] For the difference Discretization is performed to... and As the boundary, with For discrete interval spans, a total of For each discrete interval, a discrete model of the rotary motor speed error is established, which is expressed as:

[0029] ;

[0030] Based on Markov, the discrete model of the rotary motor speed error is transformed into a rotary motor speed error prediction model;

[0031] Based on the current rotary motor speed error range As input, the maximum state transition probability value is taken as the rotary motor speed error range for the next moment through the rotary motor speed error prediction model. This prediction step is repeated continuously to obtain the error range of the rotary motor speed at the next predicted moment.

[0032] Preferably, the step of converting the discrete model of the rotary motor speed error into a rotary motor speed error prediction model based on Markov includes:

[0033] Based on the change in the rotational motor speed error range at two time points, determine The state transition probability of the constant-time rotary motor speed error;

[0034] The total number of state transitions of the rotary motor speed error at all times is obtained using the above method, and is denoted as . And the rotary motor speed error is determined by the state Transferred to Total number of times ;

[0035] Based on the maximum likelihood estimation method, the rotational speed error of the rotary motor is calculated from the state. Transferred to The probability is calculated as follows:

[0036] ;

[0037] Repeat the previous calculation, arrange all states in order, and obtain the state transition probability matrix of the rotary motor speed error.

[0038] Preferably, the step of constructing the ramp turning operation mode recognition model and outputting the ramp turning operation mode includes:

[0039] The prediction results of the rotary motor speed error prediction model are divided into different intervals according to a set correspondence, as follows:

[0040] ;

[0041] When the input satisfies the following conditions: the vehicle's high-voltage status signal is in a high-voltage off state or the rotary handle opening signal is 0, and the prediction result of the rotary motor speed error prediction model is in a state of... or At that time, the ramp turning operation mode recognition model identified it as the stop mode;

[0042] When the input satisfies the following conditions: the vehicle's high-voltage status signal is in the high-voltage power-on state, the rotary handle opening signal is not 0, and the rotary motor speed error model prediction result is within the specified range... or At that time, the ramp turning working mode recognition model identified it as the holding mode;

[0043] When the input satisfies the following conditions: the vehicle's high-voltage status signal is in the high-voltage power-on state, the rotary handle opening signal is not 0, and the rotary motor speed error model prediction result is within the specified range... At that time, the ramp turning working mode recognition model identified it as entering the drive mode;

[0044] When the input satisfies the following conditions: the vehicle's high-voltage status signal is in the high-voltage power-on state, the rotary handle opening signal is not 0, and the rotary motor speed error model prediction result is within the specified range... At that time, the ramp turning working mode recognition model identified it as entering feedback mode;

[0045] When the input satisfies the following conditions: the vehicle's high-voltage status signal is in the high-voltage power-on state, the rotary handle opening signal is not 0, and the rotary motor speed error model prediction result is within the specified range... or At that time, the ramp turning operation mode recognition model identified it as entering the failure mode.

[0046] Preferably, the step of building a slewing speed compensation model, using the recognition result of the ramp slewing working mode recognition model as input, performs slewing speed compensation control under the corresponding ramp slewing working mode, and outputs the compensated slewing speed demand command to the electric slewing assembly controller, includes:

[0047] When the ramp slewing operation mode is in stop mode, no speed compensation is required. The required slewing speed command in stop mode is: ;

[0048] When the ramp turn operation mode is in hold mode, no speed compensation is required. The turn speed command in hold mode is: ;

[0049] When the ramp turn operation mode is in drive mode, speed compensation is performed as follows to obtain the turn speed command required in drive mode: ;

[0050] When the ramp turn operation mode is in feedback mode, speed compensation is performed as follows to obtain the turn speed command required in feedback mode: ;

[0051] When the ramp slewing operation mode is in failure mode, the electric slewing assembly should be stopped immediately. After stopping, a locking command for the electric slewing locking mechanism and a high-voltage power-off command should be issued. The required slewing speed command in failure mode is: .

[0052] Thirdly, the present invention provides an excavator that uses the above-mentioned electric slewing assembly ramp control method for electric slewing assembly ramp control.

[0053] The beneficial effects of the technical solution of this invention are as follows:

[0054] This invention provides an electric slewing assembly ramp control system and method. It predicts the slewing motor speed error at the next moment by establishing a slewing motor speed error prediction model, establishes a ramp ramp operation mode by combining the vehicle's high-voltage status and the slewing handle opening signal, and formulates a dynamic slewing speed compensation strategy based on the ramp ramp operation mode, thus solving the problem of low ramp ramp control accuracy of the electric slewing assembly. This invention considers the safety of ramp ramp operation by setting a ramp ramp failure operation mode to ensure that high voltage is not applied only when the electric slewing assembly locking mechanism is activated, preventing the electric slewing assembly from sliding down the ramp. This invention, through the slewing motor speed error prediction model, the ramp ramp operation mode identification model, and the dynamic slewing speed compensation control strategy, ensures that the electric slewing system can operate stably and reliably on ramps. Attached Figure Description

[0055] Figure 1 This is a schematic flowchart of the electric rotary assembly ramp control method provided in an embodiment of the present invention;

[0056] Figure 2 This is a schematic diagram of the method for predicting the speed error range of a rotary motor provided in an embodiment of the present invention;

[0057] Figure 3This is a schematic diagram of the ramp working mode recognition process for the electric rotary assembly provided in an embodiment of the present invention. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the embodiments and accompanying drawings. Here, the illustrative embodiments and descriptions of this invention are used to explain the invention, but are not intended to limit the invention.

[0059] It should also be noted that, in order to avoid obscuring the invention with unnecessary details, only the structures and / or processing steps closely related to the solution according to the invention are shown in the accompanying drawings, while other details that are not closely related to the invention are omitted.

[0060] It should be emphasized that the term "including / comprises" as used herein refers to the presence of a feature, element, step, or component, but does not exclude the presence or addition of one or more other features, elements, steps, or components.

[0061] It should also be noted that, unless otherwise specified, the term "connection" in this article can refer not only to a direct connection, but also to an indirect connection involving an intermediary.

[0062] In the following description, embodiments of the invention will be illustrated with reference to the accompanying drawings. In the drawings, the same reference numerals represent the same or similar parts, or the same or similar steps.

[0063] It should be emphasized here that the step markers mentioned below are not a limitation on the order of the steps, but should be understood as meaning that the steps can be executed in the order mentioned in the embodiments, or in a different order than in the embodiments, or several steps can be executed simultaneously.

[0064] This invention provides an electric slewing assembly ramp control system, see [link / reference]. Figure 1 It includes a power battery, an electric slewing assembly, an electric slewing assembly controller, a slewing operation device, and a control module.

[0065] Specifically, the power battery is an energy storage device used to provide electrical energy to the electric rotation assembly or to store the electrical energy generated by the electric rotation assembly.

[0066] The electric slewing assembly is the power source for the excavator's slewing body, including the slewing motor, reducer, and slewing motor locking mechanism.

[0067] Among them, the rotary motor mainly provides driving torque when the rotary body is rotating or recovers the kinetic energy of the rotary body and converts it into electrical energy when the rotation stops;

[0068] The main function of the speed reducer is to reduce speed and increase torque, that is, to increase the output torque of the rotary motor and reduce the output speed of the rotary motor.

[0069] The main function of the rotary motor locking mechanism is to lock the rotary motor when it stops, preventing it from rotating freely and ensuring that the rotating body remains stationary.

[0070] The electric slewing assembly controller is the control unit for the slewing motor, and its main function is to control the electric slewing assembly in different working modes.

[0071] The electric slewing assembly controller communicates with the control module and controls the electric slewing assembly to output the target speed or torque based on the compensated slewing speed command sent by the control module.

[0072] The control module is the brain of the excavator's control system. Its main function is to analyze the driver's input commands, convert them into torque or speed commands from the electric slewing assembly controllers, and then distribute them appropriately to multiple electric slewing assembly controllers.

[0073] The electric slewing assembly controller controls the electric slewing assembly to execute speed or torque commands issued by the control module.

[0074] The slewing control device refers to the input mechanism, such as a handle or foot pedal, used by the driver to operate the slewing body of the excavator.

[0075] In this invention, the control module includes:

[0076] The slewing speed command calculation module is used to calculate the required slewing speed command for the slewing body based on the opening degree and the rate of change of the opening of the slewing handle in the slewing operating device.

[0077] A rotary motor speed error prediction model is used to predict the difference between the rotary speed demand command and the actual speed of the rotary motor at the next moment, taking the difference between the rotary speed demand command and the actual speed of the rotary motor as input.

[0078] The ramp slewing operation mode recognition model is used to perform pattern recognition and output the ramp slewing operation mode by taking the difference between the slewing motor speed error prediction model predicting the next moment's slewing speed command and the actual speed of the slewing motor, the vehicle high voltage status signal, and the slewing handle opening signal as inputs. The ramp slewing operation mode is divided into stop mode, hold mode, drive mode, feedback mode, and failure mode.

[0079] The slewing speed compensation model is used to compensate for the slewing speed under the corresponding working mode based on the recognition results of the ramp slewing working mode recognition model, and output the compensated slewing speed command.

[0080] Based on the above-mentioned electric slewing assembly ramp control system, the present invention provides an electric slewing assembly ramp control method, comprising:

[0081] The required rotational speed command for the rotating body is calculated based on the opening degree and the rate of change of the opening of the rotary handle in the rotary operating device.

[0082] A rotary motor speed error prediction model is built, taking the difference between the rotary speed demand command and the actual speed of the rotary motor as input, and predicting the difference between the rotary speed demand command and the actual speed of the rotary motor at the next moment based on the rotary motor speed error prediction model.

[0083] A slope turning operation mode recognition model is constructed. The inputs are the difference between the turning speed command predicted by the turning motor speed error prediction model and the actual speed of the turning motor, the high voltage status signal of the vehicle, and the opening signal of the turning handle. Based on the slope turning operation mode recognition model, the slope turning operation mode is output. The slope turning operation mode is divided into shutdown mode, holding mode, drive mode, feedback mode, and failure mode.

[0084] A slewing speed compensation model is built, and the recognition results of the slope slewing working mode recognition model are used as input to perform slewing speed compensation control under each working mode, so that the actual speed of the slewing motor is always consistent with the slewing speed command.

[0085] In this invention, the required rotational speed command for the rotating body is calculated based on the opening degree of the rotary handle and the rate of change of the opening degree, specifically including the following steps:

[0086] S11, Real-time acquisition and calculation of the opening degree of the rotary handle in the rotary operating device. ,

[0087] Rotary handle opening value Defined as: The linear proportional conversion is performed based on the physical position of the rotary handle.

[0088] When the handle is in the neutral position, the rotary motor assembly is not moving. Moving the handle from the neutral position to a specified direction represents a clockwise rotary operation. When the movement reaches its limit position 00. Similarly. Define the movement of the handle from the center position to the opposite direction as performing a counter-clockwise rotation operation. When the movement reaches its limit position .

[0089] It should be noted that the definition here is... The sign of the value is only to distinguish between clockwise and counterclockwise rotation. It should not be used directly to determine the sign or magnitude of the required speed of the rotary motor.

[0090] S12, with the rotary handle opening degree and opening change rate As input, calculate the required rotation speed command. The calculation formula is as follows:

[0091] .

[0092] It should be noted that those skilled in the art should know how to calculate the rotational speed based on the opening of the slewing handle. Currently, this is mainly based on a proportional relationship; a function is used here. replace.

[0093] In this invention, a rotary motor speed error prediction model is constructed. Taking the difference between the required rotary speed command and the actual rotary motor speed as input, the model predicts the difference between the required rotary speed command and the actual rotary motor speed at the next moment. (See [link to relevant documentation]). Figure 2 This includes the following steps:

[0094] S21, Data acquisition: Building the database required for the rotary motor speed error prediction model.

[0095] Real-time acquisition and calculation of rotation speed requirements With respect to the actual speed of the rotary motor Analyze the rotation speed command required for rotation. The range of values ​​[ , and the actual speed of the rotary motor The range of values ​​[ , ] and calculate the difference between the two. Statistical rotational speed requirement command With respect to the actual speed of the rotary motor The difference The range of values ​​[ ].

[0096] S22, Data Discretization Processing

[0097] Rotation speed command With respect to the actual speed of the rotary motor The difference Discretization is performed to... and As the boundary, with For discrete interval spans, a total of A discrete model of the rotary motor speed error is established for each discrete interval, and its formula is shown below:

[0098] .

[0099] S23, A rotary motor speed error prediction model was built based on Markov model.

[0100] Based on the change in the rotational motor speed error range at two time points, determine The state transition of the rotary motor speed error is determined at all times, and the probability of its occurrence is calculated, i.e., the state transition probability of the rotary motor speed error.

[0101] Repeating the above steps will yield the state transition status of the rotary motor speed error at all times, and the total number of state transitions is denoted as . .

[0102] Based on the above calculations, the rotational speed error of the rotary motor can be obtained from the state. Transferred to Total number of times .

[0103] Based on the maximum likelihood estimation method, the rotational speed error of the rotary motor can be calculated from the state. Transferred to The probability of is calculated using the following formula:

[0104] .

[0105] Repeating the previous calculation and arranging all the values ​​in order, we can obtain the state transition probability matrix of the rotary motor speed error. , represented as:

[0106] .

[0107] In this invention, a total of There are several rotational motor speed error ranges, therefore it is necessary to calculate the state transition probability from each rotational motor speed error range to other speed error ranges. The specific calculation steps are as follows:

[0108] S23a) Set the number of transitions from each rotary motor speed error range to other speed error ranges respectively. , , , And initialize it to an initial value of 0, where Number the rotational motor speed error range;

[0109] S23b) Count the number of transitions within each rotary motor speed error range, for example, when (i, j) = 1 and When (i, j+1) = x, ,express By repeating the above steps, the state transition probabilities for all rotary motor speed error ranges can be calculated.

[0110] S23c) Count the number of times each rotary motor speed error range shifts to other speed error ranges, for example... Repeat the above calculation steps to calculate the number of times each rotary motor speed error interval transitions to other speed error intervals, and calculate the state transition probability of each rotary motor speed error interval to other speed error intervals according to the state transition probability calculation formula.

[0111] S23d) Using the state transition probability from each rotary motor speed error interval to other speed error intervals calculated in the above steps as input, calculate the state transition probability matrix of the rotary motor speed error interval according to the formula for calculating the state transition probability matrix, and then obtain the rotary motor speed error prediction model.

[0112] S24, Prediction of the rotational motor speed error range at the next moment.

[0113] The current rotary motor speed error range As input, the rotary motor speed error prediction model takes its maximum state transition probability value as the rotary motor speed error range for the next moment. By continuously repeating this prediction step, the error range of the rotary motor speed at the next moment can be predicted in real time.

[0114] In this invention, a ramp slewing operation mode recognition model is constructed. The inputs include the difference between the slewing motor speed error prediction model's predicted next-moment slewing speed command and the actual slewing motor speed, the vehicle's high-voltage status signal, and the slewing handle opening signal. Based on the ramp slewing operation mode recognition model, the output is the ramp slewing operation mode. (See [link to relevant documentation]). Figure 3 This includes the following steps:

[0115] Using the prediction results of the rotary motor speed error prediction model, the vehicle high-voltage status signal, and the rotary handle opening signal as inputs, and the ramp rotation working mode as the output, a ramp rotation working mode recognition model is built. The ramp rotation characteristics of the electric rotary assembly are analyzed, and the ramp rotation working modes of the electric rotary assembly are divided into five working modes: stop, hold, drive, feedback, and failure. The ramp rotation working mode recognition rules are as follows:

[0116] To facilitate the formulation of rules for recognizing the ramp slewing working mode, the prediction results of the slewing motor speed error model are presented in specific numerical values. This example uses six slewing motor speed error ranges as examples, and the error ranges are as follows: .

[0117] It should be noted that, for ease of description, this embodiment uses six error intervals, but more intervals could be divided.

[0118] S3A, Stop Mode Judgment Conditions

[0119] a) The vehicle's high-voltage status signal indicates that the high-voltage power-off state is active.

[0120] b) The rotary handle opening signal is 0;

[0121] c) The prediction results of the rotary motor speed error model are in... or ;

[0122] When (a||b)&&c is satisfied, the ramp slewing operation mode recognition model determines that the slewing motor assembly enters the stop mode; when !a||!b||!c is satisfied, the ramp slewing operation mode recognition model determines that the slewing motor assembly does not enter the stop mode.

[0123] It should be noted that && represents logical AND, || represents logical OR, and ! represents logical NOT.

[0124] S3B, Maintain Mode Judgment Condition

[0125] a) The vehicle's high-voltage status signal indicates that it is powered on.

[0126] b) The slewing handle opening signal is not 0;

[0127] c) The prediction results of the rotary motor speed error model are in... or ;

[0128] When a&&b&&c is satisfied, the ramp slewing working mode recognition model determines that the slewing motor assembly enters the holding mode; when !a||!b||!c is satisfied, the ramp slewing working mode recognition model determines that the slewing motor assembly does not enter the holding mode.

[0129] S3C, Driver Mode Determination Conditions

[0130] a) The vehicle's high-voltage status signal indicates that it is powered on.

[0131] b) The slewing handle opening signal is not 0;

[0132] c) The prediction results of the rotary motor speed error model are in... ;

[0133] When a&&b&&c is satisfied, the ramp slewing working mode recognition model determines that the slewing motor assembly enters the drive mode; when !a||!b||!c is satisfied, the ramp slewing working mode recognition model determines that the slewing motor assembly does not enter the drive mode.

[0134] S3D, Feedback Mode Judgment Conditions

[0135] a) The vehicle's high-voltage status signal indicates that it is powered on.

[0136] b) The slewing handle opening signal is not 0;

[0137] c) The prediction results of the rotary motor speed error model are in... ;

[0138] When a&&b&&c is satisfied, the ramp slewing working mode recognition model determines that the slewing motor assembly enters the feedback mode; when !a||!b||!c is satisfied, the ramp slewing working mode recognition model determines that the slewing motor assembly does not enter the feedback mode.

[0139] S3E, Failure Mode and Condition Determination

[0140] a) The vehicle's high-voltage status signal indicates that it is powered on.

[0141] b) The slewing handle opening signal is not 0;

[0142] c) The prediction results of the rotary motor speed error model are in... or ;

[0143] When a&&b&&c is satisfied, the ramp slewing operation mode recognition model determines that the slewing motor assembly has entered the failure mode; when !a||!b||!c is satisfied, the ramp slewing operation mode recognition model determines that the slewing motor assembly has not entered the failure mode.

[0144] In this invention, the recognition result of the ramp slewing working mode recognition model is used as input to perform slewing speed compensation control under each working mode, so that the actual speed of the slewing motor is always consistent with the slewing speed command. This includes the following steps:

[0145] Based on the output of the ramp slewing working mode identification model, slewing speed compensation models for different modes are formulated.

[0146] S4A, Stop Mode Speed ​​Compensation

[0147] When the ramp slewing operation mode is in the stop mode, the slewing speed command is 0, and no speed compensation is required. The required slewing speed command in the stop mode is:

[0148] .

[0149] S4B, Maintaining Mode Speed ​​Compensation

[0150] When the ramp slewing operation mode is in hold mode, the required slewing speed command is basically consistent with the actual speed of the slewing motor, and no speed compensation is required. The required slewing speed command in hold mode is:

[0151] .

[0152] S4C, Drive Mode Speed ​​Compensation

[0153] When the ramp turn operation mode is in drive mode, the turn speed command is greater than the actual speed of the turn motor. This means that the actual operating speed of the electric turn assembly is less than the speed required by the driver, and speed compensation is required to ensure that the electric turn assembly meets the driver's needs. The turn speed command in drive mode is as follows:

[0154] .

[0155] S4D, feedback mode speed compensation

[0156] When the ramp turn operation mode is in feedback mode, the turn speed command is less than the actual speed of the turn motor. This means that the actual operating speed of the electric turn assembly is greater than the driver's required operating speed, and speed compensation is needed to ensure that the electric turn assembly meets the driver's needs. The turn speed command in feedback mode is:

[0157] .

[0158] S4E, Failure Mode Speed ​​Compensation

[0159] When the ramp slewing operation mode is in failure mode, the deviation between the required slewing speed command and the actual speed of the slewing motor is significant. This indicates that the actual operating speed of the electric slewing assembly has deviated from the operator's required operating speed. To ensure the safe operation of the electric slewing assembly on the ramp, the electric slewing assembly should be stopped immediately. After stopping, a locking command for the electric slewing locking mechanism and a high-voltage power-off command should be issued. The required slewing speed command in its failure mode is as follows:

[0160] .

[0161] It should be noted that the embodiments of the present invention use Markov algorithm to build a rotary motor speed error prediction model. Other feature value recognition algorithms, such as model prediction and neural networks, can also be used to achieve rotary motor speed error prediction.

[0162] It should be noted that the embodiment of the present invention uses the rotational speed of a rotary motor as an example to build the error prediction model. The relevant prediction model can still be built according to the embodiment using the rotational motor torque.

[0163] Based on the same inventive concept, the present invention also provides an excavator equipped with the above-mentioned electric slewing assembly ramp control system, and performs electric slewing assembly ramp control using the above-mentioned electric slewing assembly ramp control method.

[0164] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A ramp control system for an electric slewing assembly, characterized in that, Includes power battery, electric slewing assembly, electric slewing assembly controller, slewing operation device and control module; The control module is used to determine the ramp slewing working mode of the electric slewing assembly based on the input command of the slewing operation device, and to perform compensation control on the slewing speed, and output the compensated slewing speed demand command. The electric slewing assembly controller is used to control the electric slewing assembly to be in different ramp slewing working modes, and to control the electric slewing assembly to output the target speed according to the compensated slewing speed command issued by the control module; The control module includes: The slewing speed command calculation module is used to calculate the required slewing speed command for the slewing motor in the electric slewing assembly based on the opening degree and opening change rate of the slewing handle in the slewing operation device. A rotary motor speed error prediction model is used to predict the difference between the rotary demand speed command and the actual speed of the rotary motor at the next moment, taking the difference between the rotary demand speed command and the actual speed of the rotary motor as input. The ramp slewing operation mode recognition model is used to perform mode recognition and output the ramp slewing operation mode by taking the difference between the slewing motor speed error prediction model predicting the next moment's slewing speed demand command and the actual speed of the slewing motor, the vehicle high voltage status signal and the slewing handle opening signal as inputs; the ramp slewing operation mode is divided into stop mode, hold mode, drive mode, feedback mode and failure mode. The slewing speed compensation model is used to compensate for the slewing speed under the corresponding ramp slewing working mode based on the recognition result of the ramp slewing working mode recognition model, and output the compensated slewing speed command.

2. A slope control method for an electric rotary assembly, characterized in that, Based on the electric slewing assembly ramp control system of claim 1, the method includes: The required rotational speed command for the rotary motor in the electric rotary assembly is calculated based on the opening degree and the rate of change of the opening of the rotary handle in the rotary operating device. A rotary motor speed error prediction model is established, taking the difference between the rotary speed demand command and the actual speed of the rotary motor as input, and predicting the difference between the rotary speed demand command and the actual speed of the rotary motor at the next moment based on the rotary motor speed error prediction model. A ramp slewing operation mode recognition model is constructed. The inputs are the difference between the slewing motor speed error prediction model and the actual speed of the slewing motor, the vehicle high-voltage status signal, and the slewing handle opening signal. Based on the ramp slewing operation mode recognition model, the ramp slewing operation mode is output. The ramp slewing operation mode is divided into shutdown mode, holding mode, drive mode, feedback mode, and failure mode. A slewing speed compensation model is built. The recognition result of the slope slewing working mode recognition model is used as input to perform slewing speed compensation control in the corresponding slope slewing working mode, and the compensated slewing speed demand command is output to the electric slewing assembly controller. The electric slewing assembly controller controls the electric slewing assembly to be in the corresponding ramp slewing working mode, and controls the electric slewing assembly to output the target speed according to the compensated slewing speed command.

3. The slope control method for an electric rotary assembly according to claim 2, characterized in that, The calculation of the required rotational speed command for the rotary motor in the electric rotary assembly based on the opening degree and rate of change of the rotary handle in the rotary operating device includes: Real-time acquisition and calculation of the opening degree of the slewing handle in the slewing operating device , With the opening of the rotary handle and opening change rate Input is the command to calculate the required rotational speed. .

4. The slope control method for an electric rotary assembly according to claim 3, characterized in that, The opening of the rotary handle Defined as: It is obtained by linear proportional conversion based on the physical position of the rotary handle. The conversion method is as follows: When the rotary handle is in the neutral position, moving the handle from the neutral position in a specified direction represents a clockwise rotary operation. When the movement reaches its limit position 00; The movement of the handle from the center position to the opposite direction represents a counter-clockwise rotation. When the movement reaches its limit position .

5. The slope control method for an electric rotary assembly according to claim 2, characterized in that, The establishment of the rotary motor speed error prediction model, which predicts the difference between the rotary motor's required speed command and the actual speed of the rotary motor at the next moment, includes: Real-time acquisition and calculation of rotation speed requirements With respect to the actual speed of the rotary motor Determine the required rotation speed command The range of values ​​[ , and the actual speed of the rotary motor The range of values ​​[ , ] and calculate the difference between the two. Statistical difference The range of values ​​[ ]; For the difference Discretization is performed to... and As the boundary, with For discrete interval spans, a total of For each discrete interval, a discrete model of the rotary motor speed error is established, which is expressed as: ； Based on Markov, the discrete model of the rotary motor speed error is transformed into a rotary motor speed error prediction model; Based on the current rotary motor speed error range As input, the maximum state transition probability value is taken as the rotary motor speed error range for the next moment through the rotary motor speed error prediction model. This prediction step is repeated continuously to obtain the error range of the rotary motor speed at the next predicted moment.

6. The slope control method for an electric rotary assembly according to claim 5, characterized in that, The step of converting the discrete model of the rotary motor speed error into a rotary motor speed error prediction model based on Markov model includes: Based on the change in the rotational motor speed error range at two time points, determine The state transition probability of the constant-time rotary motor speed error; The total number of state transitions of the rotary motor speed error at all times is obtained using the above method, and is denoted as . And the rotary motor speed error is determined by the state Transferred to Total number of times ; Based on the maximum likelihood estimation method, the rotational speed error of the rotary motor is calculated from the state. Transferred to The probability is calculated as follows: ； Repeat the previous calculation, arrange all states in order, and obtain the state transition probability matrix of the rotary motor speed error.

7. The slope control method for an electric rotary assembly according to claim 2, characterized in that, The construction of the ramp turning operation mode recognition model, which outputs the ramp turning operation modes, includes: The prediction results of the rotary motor speed error prediction model are divided into different intervals according to a set correspondence, as follows: ； When the input satisfies the following conditions: the vehicle's high-voltage status signal is in a high-voltage off state or the rotary handle opening signal is 0, and the prediction result of the rotary motor speed error prediction model is in a state of... or At that time, the ramp turning operation mode recognition model identified it as the stop mode; When the input satisfies the following conditions: the vehicle's high-voltage status signal is in the high-voltage power-on state, the rotary handle opening signal is not 0, and the rotary motor speed error model prediction result is within the specified range... or At that time, the ramp turning working mode recognition model identified it as the holding mode; When the input satisfies the following conditions: the vehicle's high-voltage status signal is in the high-voltage power-on state, the rotary handle opening signal is not 0, and the rotary motor speed error model prediction result is within the specified range... At that time, the ramp turning working mode recognition model identified it as entering the drive mode; When the input satisfies the following conditions: the vehicle's high-voltage status signal is in the high-voltage power-on state, the rotary handle opening signal is not 0, and the rotary motor speed error model prediction result is within the specified range... At that time, the ramp turning working mode recognition model identified it as entering feedback mode; When the input satisfies the following conditions: the vehicle's high-voltage status signal is in the high-voltage power-on state, the rotary handle opening signal is not 0, and the rotary motor speed error model prediction result is within the specified range... or At that time, the ramp turning operation mode recognition model identified it as entering the failure mode.

8. The slope control method for an electric rotary assembly according to claim 7, characterized in that, The process of building a slewing speed compensation model, using the recognition result of the ramp slewing working mode recognition model as input, performs slewing speed compensation control under the corresponding ramp slewing working mode, and outputs the compensated slewing speed demand command to the electric slewing assembly controller, including: When the ramp slewing operation mode is in stop mode, no speed compensation is required. The required slewing speed command in stop mode is: ; When the ramp turn operation mode is in hold mode, no speed compensation is required. The turn speed command in hold mode is: ; When the ramp turn operation mode is in drive mode, speed compensation is performed as follows to obtain the turn speed command required in drive mode: ; When the ramp turn operation mode is in feedback mode, speed compensation is performed as follows to obtain the turn speed command required in feedback mode: ; When the ramp slewing operation mode is in failure mode, the electric slewing assembly should be stopped immediately. After stopping, a locking command for the electric slewing locking mechanism and a high-voltage power-off command should be issued. The required slewing speed command in failure mode is: .

9. An excavator, characterized in that, The slope control of the electric slewing assembly is performed using the slope control method for the electric slewing assembly as described in any one of claims 2 to 8.

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