Electrically-driven rotation system, control method and engineering machinery

Abstract

The invention relates to the field of electric drive rotation control, in particular to an electric drive rotation system, a control method and engineering machinery. The electrically-driven rotary system comprises a frame; the rotary table is mounted on the frame through a rotary support, and the control cabin and the rotary table are connected and synchronously rotate; the rotary motor is used for driving the rotary table to rotate relative to the frame through the rotary speed reducer and the rotary support, and the rotary motor is in communication connection with the motor controller; an angle sensor configured to detect a rotation angle of the turntable relative to the frame; the vehicle-mounted controller is in communication connection with the motor controller, a rotary handle in the control room and the angle sensor; the equivalent rotating speed capable of representing user perception in the control room is obtained through the rotating angle, collected by the angle sensor, of the rotary table, and closed-loop control over the speed of the electric rotary system is achieved with the equivalent rotating speed, the request rotating speed of the rotary handle and the target rotating speed of the rotary motor as control parameters. And rotation shaking caused by a gear meshing clearance is reduced.

Description

Technical Field

[0001] This invention relates to the field of electric drive rotation control, specifically to an electric drive rotation system, control method, and engineering machinery. Background Technology

[0002] Traditional crane slewing systems typically employ hydraulic drive, where a hydraulic pump drives a hydraulic motor, which in turn engages with a slewing bearing via a reducer to achieve rotation. However, due to the lag in response of the hydraulic system and the inherent minimum stable speed of the hydraulic components, hydraulically driven slewing systems suffer from low control precision and relatively difficult start-stop control. To improve control precision, electric slewing systems have emerged. Compared to the traditional engine-pump-valve-motor drive system, electric slewing systems offer higher operating efficiency, greater control precision, faster response speed, and stronger intelligent and fault diagnosis capabilities.

[0003] However, during the slewing process of the electric slewing system, the moment of inertia of the slewing system varies under different working conditions (arm length, lifting weight, luffing angle, etc.). The slewing motor and the load often require a reduction gear to achieve speed matching and output torque adjustment. Due to the influence of the installation and machining accuracy of the slewing support and slewing reducer, transmission gaps are inevitably introduced, and they have a certain degree of randomness. The existence of random gaps leads to rapid changes in electromagnetic torque, which causes impacts and mechanical resonance during transmission, seriously affecting the operating experience. Summary of the Invention

[0004] The purpose of this invention is to provide an electric drive slewing system, a control method, and engineering machinery. The system obtains the equivalent rotational speed, which can characterize the user's perception in the control room, by collecting the rotation angle of the turntable through an angle sensor. The equivalent rotational speed, the requested rotational speed of the slewing handle, and the target rotational speed of the slewing motor are used as control parameters to achieve closed-loop control of the speed of the electric slewing system, thereby reducing the slewing vibration caused by the gear meshing clearance between the slewing reducer and the slewing support.

[0005] In a first aspect, the present invention provides an electrically driven rotary system, comprising: Frame, The turntable is mounted on the chassis via a slewing support, and the operator's cab is connected to the turntable and rotates synchronously with it. A rotary motor is used to drive the turntable to rotate relative to the frame via a rotary reducer and a rotary support; the rotary motor is communicatively connected to a motor controller. An angle sensor is configured to detect the rotation angle of the turntable relative to the chassis; The vehicle-mounted controller communicates with the motor controller, the rotary handle in the control room, and the angle sensor. The vehicle-mounted controller is used to process the rotation angle collected by the angle sensor to obtain the equivalent rotation speed of the turntable, determine the transmission condition of the rotary motor based on the absolute value of the difference between the requested rotation speed of the rotary handle and the equivalent rotation speed, determine the control strategy based on the transmission condition, and control the motor controller to control the rotary motor according to the control strategy.

[0006] Optionally, the outer ring of the slewing support is fixedly connected to the vehicle frame, and the inner ring, which is rotatable relative to the outer ring, is fixedly connected to the turntable.

[0007] Optionally, the rotary reducer is equipped with an electromagnetic brake, which is communicatively connected to the vehicle controller; The vehicle controller is used to set the braking torque threshold of the electromagnetic brake according to the equivalent rotation speed of the turntable; when the equivalent rotation speed drops to a preset proportion above the preset rotation speed, the braking torque threshold of the electromagnetic brake is set to zero; when the equivalent rotation speed continues to drop to the preset rotation speed, the braking torque threshold of the electromagnetic brake is set to the preset value. The vehicle controller is also used to control the motor controller to limit the target speed of the rotary motor to zero when the electromagnetic brake feedback indicates an abnormal brake status or when the electromagnetic brake reaches the end of its service life.

[0008] Optionally, the angle sensor includes a brush encoder disposed on the central rotating body.

[0009] Optionally, the fixed part of the central rotating body is mounted on the frame, and the rotating part is connected to the turntable and rotates synchronously with the turntable.

[0010] In a second aspect, the present invention provides a control method for an electrically driven rotary system, comprising: The rotation angle collected by the angle sensor is obtained, and the equivalent rotation speed of the turntable is determined based on the rotation angle; The transmission condition of the rotary motor is determined based on the absolute value of the difference between the requested rotation speed of the rotary handle and the equivalent rotation speed. Based on the transmission conditions, a control strategy is determined, and the motor controller is controlled to control the rotary motor according to the control strategy.

[0011] Optionally, determining the equivalent rotational speed of the turntable based on the rotation angle includes: Obtain the angle value detected by the angle sensor at the current moment. ; angle value The angle value detected at the previous moment The angle change value is obtained by performing difference calculation. ; Based on the angle change value The angular velocity of the turntable rotation is determined by the sampling interval. According to angular velocity Determine the equivalent speed .

[0012] Optionally, determining the transmission conditions of the rotary motor based on the absolute value of the difference between the requested rotational speed of the rotary handle and the equivalent rotational speed includes: Calculate the requested rotational speed at the current moment. Equivalent speed compared to the previous moment absolute value of the difference ; The absolute value of the difference With respect to the preset speed difference threshold Compare; If the absolute value of the difference Greater than or equal to the speed difference critical value If the condition is true, the rotary motor is determined to be in a backlash condition; otherwise, the rotary motor is determined to be in a normal condition.

[0013] Optionally, determining a control strategy based on the transmission conditions and controlling the motor controller to control the rotary motor according to the control strategy includes: If the rotary motor operates under backlash conditions, the target speed of the rotary motor should follow the equivalent speed of the previous moment with a preset change slope. The preset slope of change and the absolute value of the difference Negative correlation; If the rotary motor is operating under normal conditions, the current requested speed will be... Set the target speed of the rotary motor.

[0014] Thirdly, the present invention provides an engineering machine that includes the aforementioned electric drive rotary system.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The electric drive rotary system of this invention detects the rotation angle of the turntable relative to the chassis using an angle sensor. It then processes the rotation angle collected by the angle sensor to obtain the equivalent rotation speed of the turntable, which represents the actual perceived rotation speed by the user in the control room. The transmission condition of the rotary motor is determined based on the absolute value of the difference between the requested rotation speed of the rotary handle and the equivalent rotation speed. A control strategy is then determined based on this transmission condition, and the motor controller is controlled to operate the rotary motor according to the control strategy. The absolute value of the difference can identify whether the output teeth of the rotary reducer are located in the backlash of the rotary support. When the absolute value of the difference is abnormal, the output teeth of the rotary reducer are in the backlash, meaning there is no load on the output teeth, which causes a rapid increase in the output torque of the motor controller. This results in the output teeth of the rotary reducer impacting the turntable. In this case, it is necessary to limit the upper limit of the slope of the target rotation speed change of the rotary motor to reduce the impact. When the absolute value of the difference is normal, it is determined that the backlash has been eliminated, and the slope limit of the target rotation speed change needs to be removed to ensure operating efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the electric drive rotary system provided in an embodiment of the present invention; Figure 2 A framework diagram of the control method for the electric drive rotary system provided in an embodiment of the present invention; Figure 3 A flowchart of a control method for an electric drive rotary system provided in an embodiment of the present invention.

[0017] Numbering on the map: 1. Slewing motor; 2. Slewing reducer; 3. Slewing support; 4. Turntable; 5. Control room; 6. Central slewing body; 7. Chassis; 8. Onboard controller; 9. Motor controller. Detailed Implementation

[0018] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0019] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0020] To make the purpose, technical solution, and advantages of this invention patent clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0021] Combination Figure 1This embodiment provides an electric drive rotary system, which includes a rotary motor 1, a rotary reducer 2, a rotary support 3, a central rotary body 6, an on-board controller 8, and a motor controller 9. The outer ring of the rotary support 3 is fixedly connected to the vehicle frame 7, and the inner ring of the rotary support 3 is fixedly connected to the turntable 4. The operating cab 5 is fixed on the turntable 4 and is connected to and rotates synchronously with the turntable 4. The rotary motor 1 is used to drive the turntable 4 to rotate relative to the vehicle frame 7 through the rotary reducer 2 and the rotary support 3. The rotary motor 1 is communicatively connected to the motor controller 9. The fixed part of the central rotary body 6 is fixedly connected to the vehicle frame 7, and the rotating part of the central rotary body 6 is connected to the turntable 4 and rotates with the rotation of the turntable 4. The vehicle-mounted controller 8 is communicatively connected to the motor controller 9, the rotary handle in the control room 5, and the angle sensor. In this embodiment, the angle sensor includes the rotary brush encoder of the central rotary body 6, which transmits angle signals to the vehicle-mounted controller 8 in real time. The vehicle-mounted controller 8 can process the angle signal collected by the rotary brush encoder to obtain the equivalent speed of the turntable 4 (it should be noted that it is also possible not to collect the speed signal of the original rotary encoder of the central rotary body 6, but to add a rotary encoder installed at the rotary support 3 / turntable 4, and use the angle signal collected at that location to obtain the equivalent speed). The vehicle-mounted controller 8 is also used to determine the transmission condition of the rotary motor 1 based on the absolute value of the difference between the requested speed of the rotary handle and the equivalent speed, determine the control strategy based on the transmission condition, and control the motor controller 9 to control the rotary motor 1 according to the control strategy. In actual operation, the operator sits in the control room 5. Compared with the target speed planning model of the slewing motor constructed by collecting data on the weight of the crane, the boom length, the boom speed or other variables, the fluctuation of the speed of the rotating part of the central slewing body 6 can intuitively reflect the operator's subjective feeling.

[0022] This embodiment proposes an electric rotary system that uses the equivalent rotational speed perceived by the user in the control room, the requested rotational speed of the rotary handle, and the target rotational speed of the rotary motor as control parameters. The system converts the angle signal collected by the rotary brush encoder of the central rotary body 6 (the rotary brush encoder further implements angle detection functionality on top of the original virtual wall / counterweight attachment function) into an equivalent rotational speed, achieving closed-loop speed control of the electric rotary system and thus reducing the rotational jitter caused by the gear meshing clearance of the rotary support 3 and the rotary reducer 2. Furthermore, during braking, the equivalent rotational speed of the turntable 4 obtained by collecting the angle signal is used to set a braking torque threshold to reduce torque fluctuations and suppress reverse rotation of the turntable 4 during motor braking.

[0023] Combination Figure 2The control structure of the electric drive rotary system in this embodiment includes two loops: an inner loop and an outer loop. The inner loop is the electromagnetic torque control of the permanent magnet synchronous motor within the dashed box, and the outer loop is the control strategy proposed in this embodiment. The outer loop control mainly determines the transmission condition of the rotary motor 1 (whether the output teeth of the rotary reducer 2 are located within the tooth gap of the rotary support 3) and the objective function (the target speed control strategy of the rotary motor 1 is determined based on the requested speed of the rotary handle, the equivalent speed of the turntable 4 which represents the end-operation perception of the load (which can be calculated by collecting the angle signal of the rotary brush encoder of the central rotary body 6), the target speed of the rotary motor 1, and the status information of the mechanical brake, according to the working mode recognition method proposed in this embodiment (identified by the absolute value of the difference between the requested speed of the rotary handle and the equivalent speed).

[0024] The rotary motion control is a position feedback system based on user visual feedback within the control room 5. The user, relying on their own perception, sends a rotary handle request speed signal based on the difference between the current position and the target position of the turntable 4, thereby controlling the rotational speed of the rotary motor 1. However, the operability of the rotary motion is not simply judged by the tracking performance of the requested speed from the rotary handle based on the actual rotational speed of the rotary motor 1, but also by considering the user's actual perception of the rotary speed of the turntable 4. This embodiment introduces an equivalent rotational speed of the turntable 4, representing the user's actual perception, into the control strategy. This effectively reduces rotary jitter caused by gear meshing clearance, reduces the impact of changes in rotational inertia on torque overshoot, and enhances the anti-interference capability of speed control.

[0025] Specifically, the brush encoder of the central rotating body 6 can collect the current angle value of the turntable 4 in real time. , set the current angle value Angle value compared to the previous moment The angle change value is obtained by calculating the difference. Then, the angular velocity of the turntable 4 was calculated. , = , The sampling interval is used to obtain the equivalent rotational speed perceived by the user's operation. , .

[0026] During steady-state rotation, the requested rotational speed of the slewing handle is Due to the manufacturing consistency of the slewing reducer 2 and the slewing support 3, changes in backlash and micro-movements of the slewing handle can cause sudden changes in output torque, thus affecting the feel of operation. Therefore, to improve smoothness, it is necessary to reduce the rate of torque change. However, the magnitude of the rate of change has different effects under different operating conditions: if the rate of torque change is large under high-speed, light-load conditions, it will cause severe vibration and swaying in various mechanisms; while if the rate of torque change is too small under low-speed, heavy-load conditions, it will result in slow response time and stuttering.

[0027] This embodiment introduces the equivalent rotational speed perceived by the user. When there is no meshing clearance between the output teeth of the rotary reducer 2 and the rotary support 3, the actual speed of the rotary motor 1 is... Approximately the equivalent rotational speed of turntable 4 (Actual speed) and equivalent speed All have undergone transmission ratio transformation and, theoretically, should remain consistent when there is no meshing backlash. At this point, only speed filtering is needed for the micro-motion of the rotary handle. The motor controller 9 controls the target speed of the rotary motor 1 to match the requested speed of the rotary handle. Follow the movement. The size of the meshing clearance has a certain degree of randomness; different backlashes will affect the requested rotation speed of the rotary handle. Equivalent speed to 4 rotations of the turntable The difference. The same rotary handle requests a certain speed. Because of the meshing gap between the output teeth of the rotary reducer 2 and the rotary support 3, if the output teeth of the rotary reducer 2 are located in the tooth gap, the output torque of the motor controller 9 will rise rapidly because the output teeth of the rotary reducer 2 are not under load, which will cause the output teeth of the rotary reducer 2 to impact the turntable 4.

[0028] Therefore, this embodiment calculates the requested rotation speed of the rotary handle. With equivalent speed absolute value of the difference , ,if Greater than the preset critical speed difference If the output teeth of rotary reducer 2 are considered to be within the tooth backlash, then based on the absolute value of the difference... Set the upper limit of the slope of the target speed change of rotary motor 1 (increasing or decreasing slope), and the absolute value of the difference. The larger the target speed, the greater the impact risk. Correspondingly, the slope of the target speed change needs to be set smaller to reduce the impact risk. When the output teeth of the rotary reducer 2 are within the tooth backlash, the impact needs to be reduced by limiting the upper limit of the slope of the target speed change of the rotary motor 1. After the tooth backlash is eliminated, the slope limit of the target speed change is removed to ensure operational efficiency. The specific control process is as follows: Figure 3As shown, the sampling period is T, and the requested rotational speed input by the rotary handle is... Request speed Equivalent speed of turntable 4 at the previous moment The absolute value of the difference is obtained by subtracting. The absolute value of the difference The critical value of the speed difference with the set value In comparison, if Greater than The target speed of rotary motor 1 follows the equivalent speed of turntable 4 with a preset change slope. This limits the rate of torque change of the rotary motor. At this point, regardless of how the speed signal requested by the rotary handle changes, the target speed of the rotary motor 1 follows the equivalent speed of the turntable 4 with a preset change slope. This reduces the acceleration impact caused by backlash. The slope of this change can be set as required, and the upward and downward slopes can also be set to be different. The slope of change is related to the absolute value of the difference. Negative correlation, absolute value of the difference The larger the value, the smaller the slope of the change at this point. If the absolute value of the difference... Less than Then, based on the requested speed of the rotary handle. This serves as the target speed for rotary motor 1 at this moment.

[0029] In this embodiment, an electric slewing system converts the angle signal collected by the central slewing body 6 into an equivalent speed signal that represents the user's perception in the control room 5, thereby realizing closed-loop control of the speed of the electric slewing system. This reduces the slewing vibration caused by the gear backlash between the slewing reducer 2 and the slewing support 3, reduces the impact of changes in rotational inertia on torque overshoot, and enhances the anti-interference capability of speed control.

[0030] Furthermore, this embodiment also includes an anti-reverse rotation strategy after braking: The turntable 4 has a large moment of inertia, and under a large braking torque, the rotational speed of the rotary motor 1 will rapidly return to zero within a short time. If the motor torque is directly reduced to zero when the rotational speed of the rotary motor 1 is close to zero, suddenly releasing the energy accumulated on the output shaft of the rotary motor, it will cause the output teeth of the rotary reducer 2 to reverse and collide with the rotary race. This embodiment proposes an anti-reverse rotation scheme, specifically as follows: at the equivalent rotational speed of the turntable 4... When close to zero speed, for example, at the preset speed The above preset ratio sets the braking torque threshold of rotary motor 1 to zero, continuously releasing the energy of the transmission system. When the equivalent speed of turntable 4 reaches zero... After friction, the speed continues to decrease to the preset speed. Then, activate the mechanical brake and set the braking torque threshold to the preset value.

[0031] In this embodiment, the rotary reducer 2 integrates an electromagnetic brake and has brake status detection and life detection functions. When it is detected that the electromagnetic brake is not effectively engaged or has reached its service life, the target speed of the rotary motor is reduced. The value is zero. This enables the high and low voltage interlock function of the electric slewing system, improving the active safety of the system.

[0032] In this embodiment, during braking, the rotational speed of turntable 4 is collected, and the braking torque threshold of rotary motor 1 is set to reduce torque fluctuations, suppress reverse rotation of turntable 4 during the braking process of rotary motor 1, and improve the smoothness of rotary braking. Furthermore, brake status detection and lifespan detection signals are added to realize the high-low voltage interlock function of the electric rotary system, improving the active safety of the electric rotary system.

[0033] 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. An electrically driven swing system, characterized by, The application relates to an electrically-driven slewing system. The application relates to an electrically-driven slewing system. The application relates to an electrically-driven slewing system. The application relates to an electrically-driven slewing system. The application relates to an electrically-driven slewing system. The application relates to an electrically-driven slewing system. The application relates to an electrically-driven slewing system.

2. The electric drive swing system of claim 1, wherein, The application relates to an electrically-driven slewing system.

3. The electric drive swing system of claim 1, wherein, The application relates to an electrically-driven slewing system. The application relates to an electrically-driven slewing system. The application relates to an electrically-driven slewing system.

4. The electric drive swing system of claim 1, wherein, The application relates to an electrically-driven slewing system.

5. The electric drive swing system of claim 4, wherein, The application relates to an electrically-driven slewing system.

6. A control method of an electrically driven swing system, characterized by, The application relates to an electrically-driven slewing system. The application relates to an electrically-driven slewing system. The application relates to an electrically-driven slewing system. The application relates to an electrically-driven slewing system.

7. The control method of an electric drive swing system according to claim 6, wherein The application relates to an electrically-driven slewing system. Acquire the angle value detected by the angle sensor at the current time ; obtaining an angle value obtaining an angle value obtaining an angle value ; According to the angle change value and the sampling interval to determine the angular velocity of the turntable rotation , according to the angular velocity to determine the equivalent rotation speed .

8. The control method of an electric drive swing system according to claim 6, characterized by, The application relates to an electrically-driven slewing system. request speed at the current time difference absolute value of the equivalent speed at the previous time ;​ absolute value of the difference with a preset speed difference threshold value is compared; If the absolute value of the difference is greater than or equal to a speed difference threshold value If the absolute value of the difference is greater than or equal to a speed difference threshold value If the absolute value of the difference is greater than or equal to a speed difference threshold value 9. The control method of an electric drive swing system according to claim 8, characterized by, The application relates to an electrically-driven slewing system. If the transmission working condition of the rotary motor is a gear gap working condition, the target rotating speed of the rotary motor follows the equivalent rotating speed at the last time with a preset change slope , and the preset change slope is negatively related to the absolute value of the difference . If the transmission working condition of the rotary electric machine is a normal working condition, the requested speed at the current time is set as the target speed of the rotary electric machine. is set as the target speed of the rotary electric machine.

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