Excavator and slewing control method, device, storage medium and program product thereof

Abstract

The disclosure provides a kind of excavator and its rotation control method, device, storage medium and program product, it is related to engineering machinery technical field.The rotation control method of a kind of excavator of the present disclosure comprises: obtaining the command speed of rotary motor;According to the dead zone speed of rotary motor, at least one of the current speed of rotary motor, and the command speed, determine the type of the working mode switching of excavator;In the case where the type belongs to predetermined type, the intermediate operation of working mode switching is determined according to the type and is executed, wherein the acceleration of rotary gear and tooth slot is less than the acceleration of rotary motor in response to the command speed in the intermediate operation;After the completion of intermediate operation, the speed of rotary motor is adjusted according to the command speed.

Description

Technical Field

[0001] This disclosure relates to the field of engineering machinery technology, and in particular to an excavator and its slewing control method, device, storage medium and program product. Background Technology

[0002] As a crucial piece of construction machinery, improving the energy efficiency and environmental performance of excavators has become key to the industry's development. Against this backdrop, electric excavators, which offer significantly better economic and environmental benefits than traditional excavators, are finding increasing application in the excavator market.

[0003] Traditional hydraulic slewing mechanisms in new energy excavators are technologically mature, highly reliable, and have strong resistance to impact loads. However, they have low energy efficiency and slow power response, making it difficult to quickly provide and cut off slewing power. In contrast, electric slewing mechanisms have higher energy efficiency and faster power response, enabling them to reduce operating costs and improve operating efficiency, which is an advantage of new energy excavators. However, their physical structure determines that their impact resistance is relatively weak, making them more susceptible to the risk of broken slewing bearing teeth compared to traditional hydraulic structures. Summary of the Invention

[0004] One objective of this disclosure is to propose an improved scheme for an electric rotary mechanism that reduces the impact of tooth breakage during rotation and lowers the risk of tooth breakage.

[0005] According to one aspect of some embodiments of this disclosure, a slewing control method for an excavator is proposed, comprising: acquiring a commanded rotational speed of a slewing motor; determining a type of excavator operating mode switching based on at least one of a dead-zone rotational speed of the slewing motor, a current rotational speed of the slewing motor, and the commanded rotational speed; if the type belongs to a predetermined type, determining and executing an intermediate operation for operating mode switching based on the type, wherein the acceleration of the slewing gear against the tooth groove during the intermediate operation is less than the acceleration of the slewing motor when responding to the commanded rotational speed; and adjusting the rotational speed of the slewing motor according to the commanded rotational speed after the intermediate operation is completed.

[0006] In some embodiments, determining the intermediate operation for switching operating modes based on the type includes: in the case of switching from zero-speed mode to drive mode, determining the intermediate operation as a first gear engagement operation, wherein the predetermined type includes switching from zero-speed mode to drive mode.

[0007] In some embodiments, determining the intermediate operation for switching operating modes based on the type includes: in the case where the type is switching from drive mode to braking mode, determining the intermediate operation as a second gear engagement operation, wherein the predetermined type includes switching from drive mode to braking mode.

[0008] In some embodiments, determining the intermediate operation for switching operating modes based on the type includes: in the case of switching from braking mode to driving mode, determining the intermediate operation as a second gear operation, wherein the predetermined type includes switching from braking mode to driving mode.

[0009] In some embodiments, the intermediate operation includes: acquiring the output torque of the rotary motor at the start of the intermediate operation as the initial torque; adjusting the output torque based on the initial torque until the rotary gear engages with the tooth groove, or until a predetermined time has elapsed since the start of the intermediate operation.

[0010] In some embodiments, the first tooth engagement operation includes: determining that the output torque of the rotary motor at the start of the intermediate operation is 0; increasing the output torque from 0 towards the commanded rotational speed with a predetermined first gradient until the rotary gear engages with the tooth groove or the time elapsed since the start of the first tooth engagement operation reaches a predetermined duration.

[0011] In some embodiments, the second tooth engagement operation includes: acquiring the output torque of the rotary motor at the start of the intermediate operation as the initial torque; and reducing the output torque from the initial torque at a predetermined second gradient until the rotary gear engages with the tooth groove, or until a predetermined time has elapsed since the start of the second tooth engagement operation.

[0012] In some embodiments, determining the type of excavator working mode switching based on at least one of the dead zone speed of the rotary motor, the current speed of the rotary motor, and the commanded speed includes: when the commanded speed is greater than the dead zone speed of the rotary motor, determining the type of working mode switching as zero speed mode switching to drive mode.

[0013] In some embodiments, determining the type of excavator working mode switching based on at least one of the dead zone speed of the rotary motor, the current speed of the rotary motor, and the commanded speed includes: when the commanded speed is less than the dead zone speed and the current speed is less than the dead zone speed, determining the type of working mode switching as either drive mode switching to zero speed mode or braking mode switching to zero speed mode.

[0014] In some embodiments, determining the type of excavator working mode switching based on at least one of the dead zone speed of the rotary motor, the current speed of the rotary motor, and the commanded speed includes: when the commanded speed and the current speed are in the same direction and the commanded speed is greater than the current speed, determining the type of working mode switching as switching from braking mode to driving mode.

[0015] In some embodiments, determining the type of excavator working mode switching based on at least one of the dead zone speed of the rotary motor, the current speed of the rotary motor, and the commanded speed includes: when the commanded speed is in the opposite direction to the current speed, or when the commanded speed is in the same direction as the current speed and the commanded speed is less than the current speed, determining the type of working mode switching as a drive mode switching to a braking mode.

[0016] In some embodiments, the slewing control method further includes: adjusting the speed of the slewing motor according to the commanded speed when the type is not a predetermined type.

[0017] According to one aspect of some embodiments of this disclosure, a slewing controller for an excavator is provided, comprising: a command acquisition unit configured to acquire a commanded rotational speed of a slewing motor; a switching type determination unit configured to determine a type of excavator operating mode switching based on at least one of a dead-zone rotational speed of the slewing motor, a current rotational speed of the slewing motor, and the commanded rotational speed; an intermediate operation determination unit configured to determine and execute an intermediate operation for operating mode switching based on the type if the type belongs to a predetermined type, wherein the acceleration of the slewing gear against the tooth groove during the intermediate operation is less than the acceleration of the slewing motor when responding to the commanded rotational speed; and a speed adjustment unit configured to adjust the rotational speed of the slewing motor according to the commanded rotational speed after the intermediate operation is completed.

[0018] According to one aspect of some embodiments of this disclosure, a slewing controller for an excavator is provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute any of the slewing control methods for an excavator described above based on instructions stored in the memory.

[0019] According to one aspect of some embodiments of the present disclosure, a computer-readable storage medium is provided having computer instructions stored thereon that, when executed by a processor, implement any of the excavator slewing control methods described above.

[0020] According to one aspect of some embodiments of this disclosure, a computer program product is proposed, including a computer program or instructions that, when executed by a processor, implement any of the excavator slewing control methods described above.

[0021] According to one aspect of some embodiments of this disclosure, an excavator is provided, including: a slewing controller of any of the excavators described above. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this disclosure, illustrate exemplary embodiments of the present disclosure and are used to explain the disclosure, but do not constitute an undue limitation of the disclosure. In the drawings:

[0023] Figure 1 This is a flowchart illustrating some embodiments of the excavator slewing control method disclosed herein.

[0024] Figure 2 This is a schematic diagram of some embodiments of the working mode switching in the excavator slewing control method of this disclosure.

[0025] Figure 3 This is a flowchart illustrating some embodiments of intermediate operations in the excavator slewing control method of this disclosure.

[0026] Figure 4 This is a schematic diagram of some embodiments of the slewing controller for an excavator disclosed herein.

[0027] Figure 5 This is a schematic diagram of some other embodiments of the slewing controller for an excavator according to the present disclosure.

[0028] Figure 6 This is a schematic diagram of some embodiments of the excavator disclosed herein.

[0029] Figure 7 This is a schematic diagram of some other embodiments of the excavator disclosed herein. Detailed Implementation

[0030] The technical solutions of this disclosure will be further described in detail below with reference to the accompanying drawings and embodiments.

[0031] The slewing bearing and the slewing reducer are connected by a gear transmission. When the slewing motor prepares to apply torque in the opposite direction of its rotation, the power from the slewing reducer is not directly transmitted to the slewing bearing. Instead, it first travels through the slewing reducer gears to the other end of the slewing bearing tooth groove. If the reverse torque of the motor is too large during this process, an impact will inevitably occur at the moment of contact with the teeth, affecting the operating experience and the lifespan of the slewing bearing.

[0032] To address the issue of broken teeth in slewing bearings, related technologies often employ improvements at the slewing mechanism level, such as adding buffers and refining the slewing bearing manufacturing process. However, due to the complex operating conditions of excavators and the varying operating habits of excavator operators, the slewing impact caused by the slewing reducer and slewing bearing teeth coming into contact in opposite directions when the slewing motor rotates in the opposite direction is unavoidable, and the risk of tooth breakage remains in the long term. Furthermore, when tooth breakage occurs between the slewing reducer and slewing bearing, the hydraulic circuit in a traditional hydraulic slewing mechanism can buffer the impact to some extent. In contrast, the impact on operational comfort is more significant when tooth breakage occurs in an electric slewing mechanism.

[0033] To address the aforementioned issues, this disclosure proposes an excavator and its slewing control method, device, storage medium, and program product. Improvements are made at the slewing control logic level by adding intermediate operations during the switching of working modes where impacts may occur, reducing the speed of rotational or steering changes, thereby reducing the impact of slewing gear breakage and lowering the risk of gear breakage.

[0034] Flowcharts of some embodiments of the excavator slewing control method disclosed herein are as follows: Figure 1 As shown.

[0035] In step S11, the commanded rotational speed of the rotary motor is obtained. In some embodiments, a control command for the rotary motor from the overall controller is obtained, and the commanded rotational speed is determined. The commanded rotational speed includes commanded rate and commanded direction information.

[0036] In step S13, the type of excavator's working mode switching is determined based on at least one of the dead zone speed of the slewing motor, the current speed of the slewing motor, and the commanded speed. The dead zone speed refers to the minimum input speed that the slewing motor must reach in order for the slewing mechanism (i.e., the upper body) to start rotating from a stationary state; it can also be called the "ineffective speed" or "starting speed".

[0037] In some embodiments, an algorithm for job mode recognition and switching can be constructed to improve the efficiency and accuracy of determining the type of job mode switching.

[0038] The slewing process includes zero-speed mode (M0), drive mode (M1), and braking mode (M2). The types of working mode switching include several switching types between these three modes, such as M0->M1, M1->M2, M2->M0, M1->M0, and M2->M1.

[0039] In some embodiments, at the commanded rotational speed Greater than the dead zone speed of the rotary motor In this case, the type of working mode switching is determined to be switching from zero speed mode to drive mode, i.e., M0->M1.

[0040] In some embodiments, at the commanded rotational speed Speed ​​less than dead zone And the current speed Speed ​​less than dead zone In this case, the type of working mode switching is determined to be either drive mode switching to zero speed mode M1->M0, or braking mode switching to zero speed mode M2->M0.

[0041] In some embodiments, at the commanded rotational speed Compared with the current speed The directions are the same, and the commanded rotation speed is the same. Greater than the current speed In this case, the type of working mode switching is determined to be braking mode switching to drive mode M2->M1.

[0042] In some embodiments, at the commanded rotational speed Compared with the current speed In the opposite direction, or when the command speed is reversed. Compared with the current speed The directions are the same and the commanded speed is the same. Less than the current speed In this case, the type of working mode switching is determined to be driving mode switching to braking mode M1->M2.

[0043] Based on the method in the above embodiments, the type of working mode switching can be determined based on the commanded speed, the current speed, and the dead zone speed, which improves the efficiency of type determination and reduces the amount of information required and the processing difficulty.

[0044] In step S15, if the type belongs to a predetermined type, an intermediate operation for switching the working mode is determined and executed according to the type. During the intermediate operation, the acceleration of the rotary gear and the tooth groove coming into contact with each other is less than the acceleration of the rotary motor when responding to the command speed, thereby reducing the speed of the gear and tooth groove coming into contact with each other and reducing impact.

[0045] The core idea behind achieving smooth gear engagement is to slowly change the motor torque before engagement, essentially applying damping to the motor. Once engagement is complete, the torque is quickly returned to normal, minimizing the impact during engagement. In some embodiments, the intermediate operation includes: acquiring the output torque of the rotary motor at the start of the intermediate operation as the initial torque, and then adjusting the output torque based on the initial torque until the rotary gear engages with the tooth groove, or until a predetermined time has elapsed since the start of the intermediate operation. This method allows the engagement of the rotary gear with the tooth groove to conform to the required engagement state in the direction corresponding to the commanded speed, based on the current state of the rotary motor, thereby avoiding impact between the gear and the tooth groove during acceleration in this state.

[0046] Considering the differences in the current working state of the rotary motor, the operation of adjusting the output torque based on the initial torque can be divided into two types. One type is when the output torque of the rotary motor is 0 when the intermediate operation begins, i.e., M0->M1, the output torque is increased from 0 towards the command speed with a predetermined first gradient until the rotary gear contacts the tooth groove or the time from the start of the intermediate operation reaches a predetermined duration (intermediate operation R1). The other type is when the output torque of the rotary motor is greater than 0 when the intermediate operation begins (i.e., M1->M2 or M2->M1), the output torque of the rotary motor at the start of the intermediate operation is used as the initial torque, and the output torque is decreased from the initial torque with a predetermined second gradient until the rotary gear contacts the tooth groove or the time from the start of the intermediate operation reaches a predetermined duration (intermediate operation R2).

[0047] In some embodiments, based on the phenomenon that the sudden change in load of the rotary reducer before and after tooth contact causes a sudden change in the moment of inertia, while keeping the gradient of the rotary output torque constant, this sudden change in moment of inertia can be identified by detecting the step change of the second derivative of the rotary motor speed, so as to realize the identification of the tooth contact state, thereby timely determining that the rotary gear is in contact with the tooth groove, ending the intermediate operation process, and alleviating the problem of power loss that may be caused by the intermediate operation.

[0048] In some embodiments, gear grinding issues may occur during partial operating mode switching. A predetermined type of operating mode switching can be set. When the type determined in step S13 belongs to the predetermined type, step S15 is executed, adding an intermediate operation between the two operating modes before and after the switch. When the type determined in step S13 does not belong to the predetermined type, step S15 is skipped, and step S17 is executed. This method allows for timely identification of operating mode switching situations that will not cause gear grinding, thereby improving the rotary motor's response speed to control commands.

[0049] In some embodiments, the predetermined types include switching from zero-speed mode to drive mode (M0->M1), switching from drive mode to braking mode (M1->M2), and switching from braking mode to drive mode (M2->M1). This method allows for comprehensive identification of potential gear breakage situations, further reducing the impact of gear breakage during rotation and lowering the risk of tooth breakage.

[0050] In some embodiments, the operating mode switching of the rotary motor can be as follows: Figure 2 As shown in the image.

[0051] If the working mode switching type is M0->M1, that is If so, it first enters the intermediate operation (R1) from M0, and then enters M1 after the intermediate operation is completed;

[0052] If the working mode is M1->M0 or M2->M0, that is If so, skip step S15 and proceed to step S17;

[0053] If the working mode is M2->M1, that is Then, starting from M2, the intermediate operation (R2) is entered first. After the intermediate operation is completed, the process returns to M1. Rotational speed symbols, Rotational speed The symbol;

[0054] If the working mode is M1->M2, that is If so, the intermediate operation (R2) will be entered first from M1, and then the intermediate operation will be entered from M2 after it is completed.

[0055] In some embodiments, the intermediate operations corresponding to different types are not completely the same. For example, when the type is switching from zero speed mode to drive mode, the intermediate operation is determined to be the first gear engagement operation, as shown in R1 above; when the type is switching from drive mode to braking mode, the intermediate operation is determined to be the second gear engagement operation, as shown in R2 above; when the type is switching from braking mode to drive mode, the intermediate operation is determined to be the second gear engagement operation, as shown in R2 above.

[0056] In some embodiments, the intermediate operation can be divided into three steps: torque adjustment, tooth engagement, and torque return, with the tooth engagement state identified based on the second-order step of the motor speed.

[0057] In step S1, the current output torque of the rotary motor at the moment of entering the intermediate operation is recorded. Subsequently, the rotary motor switches from speed control to torque control mode, and selects different torque adjustment strategies according to different intermediate operation types.

[0058] In the R1 process, the initial value of the motor command torque is set to 0, and it is set with a calibrable gradient. The direction of increase towards the commanded rotational speed is calculated as follows:

[0059]

[0060] In the R2 process, the initial value of the motor command torque is set to the current output torque. And make it with a calibrable gradient Descending towards 0, the calculation method is as follows:

[0061]

[0062] Step S2 is executed synchronously after step S1 begins, performing real-time detection of the tooth engagement state. The detection algorithm is implemented as follows:

[0063] (1) Current motor speed Perform a 5-point mean filter, and then calculate the second derivative of the motor's current speed at each time slice. Based on the set time window length, M second-order derivative sampling points of rotational speed within that time window are obtained. ;

[0064] (2) In each time slice, calculate the difference between the first second derivative sampling point of the rotational speed and the last second derivative sampling point of the rotational speed in that time window. ;

[0065] (3) Real-time detection Does the change within a certain time interval exceed the threshold value? If after the adjustment begins Within the time period (parameters can be specified). If the tooth-alignment is detected continuously for N time slices, it is considered that the tooth alignment has been completed, and proportional filtering is used. renew The value; if If the above conditions are not met within the time limit, the gear alignment test will be terminated and the torque return process will be initiated directly.

[0066] In step S3, the rotary motor switches back to speed control mode, ending the intermediate operation.

[0067] Based on the gear engagement process and state recognition algorithm of the above intermediate operation, the gear engagement state can be sensitively identified, which can alleviate the power loss problem that may be caused by the torque adjustment to torque return, and realize the smooth gear engagement of the slewing reducer and the slewing bearing, which can effectively reduce the impact caused by the gear meshing.

[0068] In step S17, after the intermediate operation is completed, the rotational speed of the rotary motor is adjusted according to the commanded rotational speed. In some embodiments, at the end of the above intermediate operation, the rotary motor switches from torque control mode back to speed control mode, and then the control command is executed, causing the rotary motor to rotate at the current speed. As the initial value, transition to the commanded speed with a large gradient. After the transition is complete, switch to the target working mode.

[0069] Based on the method in the above embodiment, improvements are made at the slewing control logic level. An intermediate operation is added during the switching of working modes that may cause impact, reducing the speed of rotation or steering change, thereby reducing the impact of slewing gear breakage and lowering the risk of gear breakage.

[0070] Schematic diagrams of some embodiments of the excavator slewing controller disclosed herein are shown below. Figure 4 As shown.

[0071] The instruction acquisition unit 401 is capable of acquiring the instruction speed of the rotary motor. In some embodiments, the instruction acquisition unit 401 can execute the method in any embodiment of step S11 above.

[0072] The switching type determination unit 402 can determine the type of excavator's working mode switching based on at least one of the dead zone speed of the rotary motor, the current speed of the rotary motor, and the commanded speed. In some embodiments, the switching type determination unit 402 can execute the method in any embodiment of step S13 above.

[0073] The intermediate operation determination unit 403 can determine and execute an intermediate operation for switching the working mode based on the type when the type belongs to a predetermined type. In this intermediate operation, the acceleration of the rotary gear against the tooth groove is less than the acceleration of the rotary motor when responding to the commanded rotation speed. In some embodiments, the intermediate operation determination unit 403 can execute the method in any embodiment of step S15 above.

[0074] The speed adjustment unit 404 can adjust the speed of the rotary motor according to the commanded speed after the intermediate operation is completed. In some embodiments, the speed adjustment unit 404 can perform the method in any embodiment of step S17 above.

[0075] Based on the excavator's slewing controller in the above embodiment, improvements have been made at the slewing control logic level. An intermediate operation is added during the switching of working modes that may cause impact, reducing the speed of rotation or steering change, thereby reducing the impact of slewing tooth breakage and lowering the risk of tooth breakage.

[0076] A schematic diagram of an embodiment of the slewing controller of the excavator disclosed herein is shown below. Figure 5 As shown, the excavator's slewing controller includes a memory 501 and a processor 502. The memory 501 can be a disk, flash memory, or any other non-volatile storage medium. The memory stores instructions from the corresponding embodiments of the excavator's slewing control method described above. The processor 502 is coupled to the memory 501 and can be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 502 executes the instructions stored in the memory, reducing the impact of tooth breakage during slewing and lowering the risk of tooth breakage.

[0077] In one embodiment, the excavator's swing controller includes a memory and a processor. The processor is coupled to the memory via a BUS bus. The excavator's swing controller can also be connected to an external storage device via a storage interface to access external data, and can also be connected to a network or another computer system (not shown) via a network interface. Further details are omitted here.

[0078] In this embodiment, by storing data instructions in a memory and then processing the instructions by a processor, the impact of the rotary teeth can be reduced, thus lowering the risk of tooth breakage.

[0079] In another embodiment, a computer-readable storage medium stores computer program instructions that, when executed by a processor, implement the steps of the excavator slewing control method corresponding to the method in the embodiment. Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, apparatus, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0080] Schematic diagrams of some embodiments of the excavator disclosed herein are as follows: Figure 6 As shown. Excavator 600 includes the slewing controller of any of the excavators described above, and is capable of executing the slewing control method of any of the excavators described above.

[0081] In addition, the excavator includes various mechanical structures, such as the slewing platform, the traveling mechanism, and the slewing motor. The slewing motor adjusts its working state under the control of the excavator's slewing controller 61.

[0082] Based on the excavator in the above embodiment, improvements have been made at the slewing control logic level. An intermediate operation is added during the switching of working modes that may cause impact, reducing the speed of rotation or steering change, thereby reducing the impact of slewing tooth breakage and lowering the risk of tooth breakage in the excavator's slewing mechanism.

[0083] Schematic diagrams of other embodiments of the excavator disclosed herein are as follows: Figure 7 As shown.

[0084] The vehicle controller 72 includes a slewing control module, a travel control module, and an energy management module. The slewing control module obtains the desired slewing speed from the operator's control lever opening and sends control commands to the slewing motor controller, i.e., the excavator's slewing controller 61. The excavator's slewing controller 61 controls the slewing motor to drive the slewing reducer, which is connected to the slewing bearing via gear transmission, thus realizing the excavator's slewing.

[0085] The excavator's slewing controller 61 can add an intermediate operation during the switching process of a working mode with a potential risk of tooth breakage, using any of the excavator's slewing control methods mentioned above. This intermediate operation reduces the impact caused by tooth contact, thereby reducing the impact of tooth breakage during slewing and lowering the risk of tooth breakage in the excavator's slewing mechanism.

[0086] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0087] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0088] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0089] This concludes the detailed description of the present disclosure. To avoid obscuring the concept of the disclosure, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

[0090] The methods and apparatus of this disclosure may be implemented in many ways. For example, they may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order of steps for the methods is for illustrative purposes only, and the steps of the methods of this disclosure are not limited to the order specifically described above unless otherwise specifically stated. Furthermore, in some embodiments, this disclosure may also be implemented as a program recorded on a recording medium, the program including machine-readable instructions for implementing the methods according to this disclosure. Thus, this disclosure also covers recording media storing programs for performing the methods according to this disclosure.

[0091] It should be noted that the terms "first," "second," etc., used in the specification, claims, and drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure and not to limit them; although this disclosure has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of this disclosure or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of this disclosure, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in this disclosure.

Claims

1. A method for controlling the slewing of an excavator, comprising: Obtain the commanded rotation speed of the rotary motor; The type of excavator's working mode switching is determined based on at least one of the dead zone speed of the rotary motor, the current speed of the rotary motor, and the commanded speed. When the type belongs to a predetermined type, the intermediate operation for switching the working mode is determined and executed according to the type, wherein the acceleration of the rotary gear and the tooth groove in the intermediate operation is less than the acceleration of the rotary motor when responding to the command speed. After the intermediate operation is completed, the rotational speed of the rotary motor is adjusted according to the commanded rotational speed; wherein, the intermediate operation of determining the working mode switching according to the type includes at least one of the following: When the type is a switch from zero speed mode to drive mode, the intermediate operation is determined to be a first gear engagement operation. The predetermined type includes the switch from zero speed mode to drive mode. The first gear engagement operation includes: determining that the output torque of the rotary motor is 0 when the intermediate operation begins; increasing the output torque from 0 towards the commanded speed with a predetermined first gradient until the rotary gear engages with the tooth groove or the time from the start of the first gear engagement operation reaches a predetermined duration. When the type is the drive mode switching to the braking mode, the intermediate operation is determined to be a second tooth engagement operation, wherein the predetermined type includes the drive mode switching to the braking mode, and the second tooth engagement operation includes: obtaining the output torque of the rotary motor at the start of the intermediate operation as the initial torque; and reducing the output torque from the initial torque with a predetermined second gradient until the rotary gear engages with the tooth groove, or the time elapsed since the start of the second tooth engagement operation reaches a predetermined duration; When the type is switching from the braking mode to the driving mode, the intermediate operation is determined to be a second gear operation, wherein the predetermined type includes switching from the braking mode to the driving mode.

2. The slewing control method according to claim 1, wherein, The intermediate operations include: The output torque of the rotary motor at the start of the intermediate operation is obtained as the initial torque; The output torque is adjusted based on the initial torque until the rotary gear engages with the tooth groove, or until a predetermined time has elapsed since the start of the intermediate operation.

3. The slewing control method according to claim 1, wherein, The determination of the excavator's working mode switching type based on at least one of the following: the dead zone speed of the rotary motor, the current speed of the rotary motor, and the commanded speed: If the commanded rotational speed is greater than the dead zone speed of the rotary motor, the type of the working mode switching is determined to be zero-speed mode switching to drive mode; If the commanded rotational speed is less than the dead zone rotational speed and the current rotational speed is less than the dead zone rotational speed, the type of the working mode switching is determined to be either the drive mode switching to the zero-speed mode or the braking mode switching to the zero-speed mode. If the commanded rotational speed is in the same direction as the current rotational speed, and the commanded rotational speed is greater than the current rotational speed, then the type of the working mode switching is determined to be the switching from the braking mode to the driving mode; When the commanded rotational speed is opposite to the current rotational speed, or when the commanded rotational speed is in the same direction as the current rotational speed and the commanded rotational speed is less than the current rotational speed, the type of the working mode switching is determined to be the switching of the driving mode to the braking mode.

4. The slewing control method according to claim 1 further includes: If the type does not belong to the predetermined type, the rotational speed of the rotary motor is adjusted according to the commanded rotational speed.

5. A slewing controller for an excavator, used to perform the method according to any one of claims 1-4, the slewing controller comprising: The instruction acquisition unit is configured to acquire the instruction speed of the rotary motor; The switching type determination unit is configured to determine the type of excavator working mode switching based on at least one of the dead zone speed of the rotary motor, the current speed of the rotary motor, and the commanded speed. An intermediate operation determination unit is configured to determine and execute an intermediate operation for switching the working mode based on the type when the type belongs to a predetermined type, wherein the acceleration of the rotary gear and the tooth groove in the intermediate operation is less than the acceleration of the rotary motor when responding to the command speed. The speed adjustment unit is configured to adjust the speed of the rotary motor according to the commanded speed after the intermediate operation is completed.

6. A slewing controller for an excavator, comprising: Memory; as well as A processor coupled to the memory, the processor being configured to execute the slewing control method for an excavator as described in any one of claims 1 to 4 based on instructions stored in the memory.

7. A computer-readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the slewing control method for an excavator according to any one of claims 1 to 4.

8. A computer program product comprising a computer program or instructions, wherein the computer program or instructions, when executed by a processor, implement the slewing control method for an excavator as described in any one of claims 1 to 4.

9. An excavator, comprising: The slewing controller for an excavator as described in any one of claims 5 or 6.

Images