Swing control method, controller, work machine, and storage medium

Abstract

The application discloses a slewing control method, a controller, a working machine and a storage medium, and the working machine comprises an energy storage device and a hybrid power unit composed of a hydraulic motor and a slewing motor coupled connection, and the method comprises the following steps: acquiring a real-time voltage of the energy storage device; determining a target slewing mode of the working machine according to the real-time voltage, wherein the target slewing mode is a hybrid slewing mode or a hydraulic slewing mode; in the case that the target slewing mode is the hybrid slewing mode, controlling the slewing motor and the hydraulic motor to jointly drive a slewing mechanism; in the case that the target slewing mode is the hydraulic slewing mode, controlling the hydraulic motor to drive the slewing mechanism alone; in the case that a brake signal is received during the driving of the slewing mechanism, controlling the slewing motor to brake and generate electricity, and recovering the electric energy to the energy storage device. The application realizes energy saving in all working conditions of the slewing process of the working machine, and efficient recovery and utilization of energy.

Description

Technical Field

[0001] This application relates to the field of work machinery technology, specifically to a rotation control method, controller, work machinery, and storage medium for work machinery. Background Technology

[0002] Construction machinery, such as excavators and cranes, is a key piece of equipment widely used in earthmoving, mining, and infrastructure construction. The frequent starting, stopping, and braking of the slewing motion is one of its core operating cycles, and the energy efficiency of this process has a decisive impact on the overall energy consumption of the machine.

[0003] Currently, electro-hydraulic hybrid rotary systems have emerged in the industry to improve energy efficiency, but their technical approach has inherent limitations. One mainstream solution uses a combination of an electric motor and a supercapacitor. In this solution, the motor only provides auxiliary power during the start-up or low-speed phases of the rotary motion, while the hydraulic system remains the primary driver during high-speed, stable operation. During braking, although the system can recover some energy, the recovery efficiency is limited. Another solution introduces a complex four-quadrant hydraulic pump that works in conjunction with the motor, storing the hydraulic energy during braking in an accumulator. However, a common drawback of these existing technologies is that the energy recovery mechanism is incomplete or discontinuous, and the motor fails to participate fully and deeply in the rotary drive and braking process. This results in a significant amount of kinetic energy overflowing through the hydraulic system during braking and being dissipated as heat, causing serious energy waste.

[0004] Therefore, existing electro-hydraulic hybrid rotary systems suffer from low energy recovery efficiency. Summary of the Invention

[0005] The purpose of this application is to provide a method for controlling the rotation of a working machine, a controller, the working machine, and a machine-readable storage medium, in order to solve the problem of low energy recovery efficiency in the existing electro-hydraulic hybrid rotation system.

[0006] To achieve the above objectives, the first aspect of this application provides a slewing control method for a work machinery. The work machinery includes a slewing mechanism, a hydraulic motor, a slewing motor, and an energy storage device. The energy storage device is used to provide drive power to the slewing motor and store recovered electrical energy. The hydraulic motor and the slewing motor are coupled together to form a hybrid power unit. The slewing control method includes: Obtain the real-time voltage of the energy storage device; Based on the real-time voltage, determine the target rotation mode of the operating machinery, which may be either a hybrid rotation mode or a hydraulic rotation mode. When the target rotation mode is hybrid rotation mode, the rotation motor and hydraulic motor are controlled to drive the rotation mechanism together; When the target rotation mode is hydraulic rotation mode, control the hydraulic motor to drive the rotation mechanism independently; When a braking signal is received during the driving of the slewing mechanism, the slewing motor is controlled to generate electricity through braking, and the electrical energy is recovered to the energy storage device.

[0007] In this embodiment of the application, determining the target slewing mode of the operating machinery based on the real-time voltage includes: If the real-time voltage is greater than the preset motor drive voltage, the target rotation mode is determined to be the hybrid rotation mode; When the real-time voltage is less than or equal to the preset motor drive voltage, the target rotation mode is determined to be hydraulic rotation mode.

[0008] In this embodiment, the operating machinery further includes a battery and a voltage conversion module, and the slewing control method further includes: When the real-time voltage is lower than the preset charging voltage, the control voltage conversion module is activated to convert the battery's electrical energy and charge the energy storage device.

[0009] In this embodiment of the application, a pressure switching device is provided in the hydraulic circuit of the operating machinery; The rotary mechanism is jointly driven by a rotary motor and a hydraulic motor, including: When the target rotation mode is hybrid rotation mode, the control pressure switching device is activated to make the hydraulic circuit work at the first overflow pressure so that the rotation motor and the hydraulic motor drive the rotation mechanism together. Controlling the hydraulic motor to drive the rotary mechanism independently includes: When the target rotation mode is hydraulic rotation mode, the control pressure switching device is reset, so that the hydraulic circuit works with the second overflow pressure, so that the hydraulic motor drives the rotation mechanism alone. The second overflow pressure is higher than the first overflow pressure.

[0010] In this embodiment of the application, a pressure switching device is provided in the hydraulic circuit of the operating machinery; When the target rotation mode is hydraulic rotation mode and a braking signal is received during the driving of the rotation mechanism, the method further includes: The control pressure switching device is activated to switch the overflow pressure of the hydraulic circuit to a third overflow pressure, which is lower than the second overflow pressure. The second overflow pressure is the overflow pressure of the hydraulic circuit when the hydraulic motor drives the rotary mechanism alone.

[0011] In this embodiment, the working machinery includes a pilot handle, and the control of the rotary motor and hydraulic motor to jointly drive the rotary mechanism includes: Acquire the pressure signal from the pilot handle; Determine the total required slewing torque based on the pressure signal; Based on the preset torque distribution ratio and the total required slewing torque, determine the first output torque of the rotary motor and the second output torque of the hydraulic motor; The rotary motor is controlled to output a first output torque, and the hydraulic motor is simultaneously controlled to output a second output torque, so as to jointly drive the rotary mechanism.

[0012] In this embodiment of the application, the working machinery includes a pilot handle. During the process of controlling the rotary motor and hydraulic motor to jointly drive the rotary mechanism, the rotary control method further includes: Obtain the actual rotational speed of the rotary mechanism and the pressure signal of the pilot handle; The target rotation speed of the rotary mechanism is determined based on the pressure signal from the pilot handle. The output torque of the rotary motor is adjusted based on the difference between the actual speed and the target speed to perform closed-loop speed control of the rotary motor.

[0013] A second aspect of this application provides a controller, comprising: The memory is configured to store instructions; The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the aforementioned rotation control method for the working machinery.

[0014] A third aspect of this application provides a work machine, comprising: The aforementioned controller; Slewing mechanism; Hydraulic motor; A rotary motor is coupled to a hydraulic motor to form a hybrid power unit; Energy storage devices are used to provide driving power for rotary motors and to store recovered electrical energy.

[0015] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned rotary control method.

[0016] The above technical solution adds an energy storage device and a rotary motor to the operating machinery, coupling the rotary motor with the existing hydraulic motor to form a hybrid power unit. During the rotary control process, the real-time voltage of the energy storage device is first acquired. Based on the real-time voltage, the target rotary mode of the operating machinery is determined, which can be either a hybrid rotary mode or a hydraulic rotary mode. In the hybrid rotary mode, the rotary motor and the hydraulic motor jointly drive the rotary mechanism. In the hydraulic rotary mode, the hydraulic motor drives the rotary mechanism alone. Simultaneously, upon receiving a braking signal during the rotary mechanism's operation, the rotary motor is controlled to generate electricity through braking, and the electrical energy is recovered and stored in the energy storage device. This application switches the rotary drive mode based on the real-time voltage of the energy storage device and controls the motor to recover braking energy in all modes, achieving energy saving throughout the entire operating condition of the operating machinery's rotary process, as well as efficient energy recovery and utilization.

[0017] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 A flowchart illustrating a rotation control method for a work machine provided in an embodiment of this application; Figure 2 A flowchart illustrating a rotation control method for a work machine according to a specific embodiment of this application; Figure 3 This is a structural block diagram of a controller provided in an embodiment of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0020] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0021] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0022] Figure 1 This is a flowchart illustrating a rotation control method for a work machine provided in an embodiment of this application. Figure 1 As shown, this application provides a slewing control method for a work machinery. The work machinery includes a slewing mechanism, a hydraulic motor, a slewing motor, and an energy storage device. The energy storage device is used to provide drive power to the slewing motor and store recovered electrical energy. The hydraulic motor and the slewing motor are coupled together to form a hybrid power unit. Taking the application of this slewing control method to the controller of the work machinery as an example, the slewing control method may include the following steps.

[0023] Step S101: Obtain the real-time voltage of the energy storage device.

[0024] Step S102: Determine the target rotation mode of the working machinery based on the real-time voltage. The target rotation mode is either a hybrid rotation mode or a hydraulic rotation mode.

[0025] Step S103: When the target rotation mode is hybrid rotation mode, control the rotation motor and hydraulic motor to drive the rotation mechanism together.

[0026] Step S104: When the target rotation mode is hydraulic rotation mode, control the hydraulic motor to drive the rotation mechanism independently.

[0027] In step S105, when a braking signal is received during the driving of the rotary mechanism, the rotary motor is controlled to generate electricity through braking and the electrical energy is recovered to the energy storage device.

[0028] In this embodiment, the operating machinery refers to heavy machinery equipment driven by a power unit to perform excavation, lifting, and earthmoving operations, such as hydraulic excavators and cranes. The operating machinery includes a slewing mechanism, a hydraulic motor, a slewing motor, and an energy storage device. The energy storage device is a power storage device capable of rapid charging and discharging, preferably a supercapacitor. Compared to traditional batteries, supercapacitors have advantages such as high power density, fast charging and discharging speed, and extremely long cycle life, which can meet the instantaneous power demands of frequent, high-power braking and driving of the slewing mechanism. The slewing motor and the hydraulic motor are coupled together to form a hybrid power unit. This coupling connection refers to a mechanical connection between the hydraulic motor and the slewing motor, ensuring that their power can be superimposed and output to the same load, i.e., the slewing mechanism. This connection can be coaxial series, parallel, or connected via gear sets. Coaxial series is preferred, meaning the output shaft of the hydraulic motor and the rotor of the slewing motor are directly and rigidly connected via a coupling or a shared shaft. Using coaxial series connection makes the structure more compact, the power transmission efficiency higher, and the control synchronization improved.

[0029] Specifically, the controller can continuously sample the real-time voltage across the energy storage device using a high-precision voltage sensor. This voltage reflects the current energy level available for driving the motor. Based on the real-time voltage, the controller determines the target rotation mode for the operating machinery. The rotation modes include hybrid rotation mode and hydraulic rotation mode. Hybrid rotation mode refers to the operating state where both the rotation motor and hydraulic motor drive the rotation mechanism; hydraulic rotation mode refers to the operating state where only the hydraulic motor drives the rotation mechanism. In one example, the controller can determine whether the energy storage device has sufficient energy based on its real-time voltage. If the energy is sufficient, it enters hybrid rotation mode; if the energy is insufficient, it enters hydraulic rotation mode.

[0030] In hybrid slewing mode, the controller can simultaneously send commands to both the motor controller and the hydraulic system, causing the slewing motor to output a preset proportion of drive torque. This torque is then superimposed on the torque of the hydraulic motor to jointly drive the slewing mechanism to accelerate or rotate at a constant speed. In hydraulic slewing mode, the controller only controls the hydraulic system; the motor controller does not operate or output drive torque, and all the power required for slewing is provided by the hydraulic motor.

[0031] Furthermore, during the operation of the slewing mechanism, the controller can continuously monitor the braking signal. A braking signal is a command that indicates the operator's intention to decelerate or stop the slewing mechanism. In one example, the braking signal can be monitored by the rate of change of pressure on the pilot handle. When the handle returns to center or reverses, the pressure drops sharply, allowing the controller to identify the operator's braking intention and determine that a braking signal has been detected. In another example, the braking signal can be monitored via a dedicated brake pedal or button, which can be actively triggered by the operator.

[0032] Upon receiving a braking signal, the controller commands the motor controller to switch the rotary motor from motor mode to generator mode. The rotating mechanism drives the motor rotor, generating a braking torque opposite to the direction of rotation and simultaneously outputting current. This current, after processing, is fed back into the energy storage device. It can be understood that this energy recovery operation is performed in both hybrid and hydraulic rotary modes. Particularly in hydraulic mode, even if the motor was not previously involved in driving, it is forcibly started to generate electricity during braking, thus achieving energy recovery and utilization across the entire operating range.

[0033] The above technical solution adds an energy storage device and a rotary motor to the operating machinery, coupling the rotary motor with the existing hydraulic motor to form a hybrid power unit. During the rotary control process, the real-time voltage of the energy storage device is first acquired. Based on the real-time voltage, the target rotary mode of the operating machinery is determined, which can be either a hybrid rotary mode or a hydraulic rotary mode. In the hybrid rotary mode, the rotary motor and the hydraulic motor jointly drive the rotary mechanism. In the hydraulic rotary mode, the hydraulic motor drives the rotary mechanism alone. Simultaneously, upon receiving a braking signal during the rotary mechanism's operation, the rotary motor is controlled to generate electricity through braking, and the electrical energy is recovered and stored in the energy storage device. This application switches the rotary drive mode based on the real-time voltage of the energy storage device and controls the motor to recover braking energy in all modes, achieving energy saving throughout the entire operating condition of the operating machinery's rotary process, as well as efficient energy recovery and utilization.

[0034] In this embodiment of the application, determining the target slewing mode of the operating machinery based on the real-time voltage may include: If the real-time voltage is greater than the preset motor drive voltage, the target rotation mode is determined to be the hybrid rotation mode; When the real-time voltage is less than or equal to the preset motor drive voltage, the target rotation mode is determined to be hydraulic rotation mode.

[0035] In this embodiment, the preset motor drive voltage is a voltage value pre-calibrated based on motor characteristics, capacitor characteristics, and overall vehicle performance requirements, and stored in the controller's memory. For example, it can be set to the minimum operating voltage that enables the rotary motor to stably output rated torque.

[0036] Specifically, the controller can compare the real-time voltage of the energy storage device with a preset threshold: if the real-time voltage > the preset motor drive voltage, it is determined that the energy is sufficient, and the system enters the hybrid rotation mode, starting the motor and hydraulic motor to work together; if the real-time voltage ≤ the preset motor drive voltage, it is determined that the energy is insufficient, and the system enters the hydraulic rotation mode, driven solely by the hydraulic motor. Preferably, to improve system stability, a hysteresis control strategy can be adopted in the specific implementation. By setting different switching thresholds, frequent oscillations in the rotation mode can be prevented. At the same time, a fault detection mechanism is pre-configured to automatically lock to hydraulic mode when the voltage acquisition is abnormal to ensure basic functions.

[0037] In this way, a reliable energy state assessment system was established through precise voltage monitoring and threshold comparison, which not only ensures that the high-efficiency hybrid mode is used first when energy is sufficient, but also ensures the reliability of system operation through intelligent degradation mechanism.

[0038] In this embodiment, the operating machinery further includes a battery and a voltage conversion module, and the slewing control method may further include: When the real-time voltage is lower than the preset charging voltage, the control voltage conversion module is activated to convert the battery's electrical energy and charge the energy storage device.

[0039] In this embodiment, the storage battery is a traditional on-board power source for the work machinery, typically a lead-acid battery or a lithium-ion battery, providing a stable 24V or 12V low-voltage power supply for vehicle starting, lighting, and controller power supply. The voltage conversion module is a power electronic device used to convert between different voltage levels of direct current; preferably, it is a DC-DC converter, capable of boosting the low voltage of the storage battery to the high voltage required by the energy storage device. The preset charging voltage is a pre-calibrated voltage threshold, typically lower than the preset motor drive voltage, used to determine whether the energy storage device is in a depleted state and whether external charging is required.

[0040] Specifically, while monitoring the real-time voltage for mode decision-making, the controller compares the real-time voltage with the preset charging voltage. When the detected real-time voltage is lower than the preset charging voltage, it indicates that the energy storage device's charge is low enough to affect the system's rapid response capability. The controller then sends a start command to the voltage conversion module. After starting, the voltage conversion module draws electrical energy from the battery in a constant power or constant current mode, converts and boosts it to a voltage suitable for charging the energy storage device. The controller continuously monitors the real-time voltage. When the voltage rises above the preset charging voltage by a certain range (such as the preset motor drive voltage) or reaches the set charging time, the controller stops the voltage conversion module, ending the charging cycle. During this process, the controller simultaneously monitors the battery voltage to prevent over-discharge.

[0041] In this way, by introducing a voltage conversion module to build an intelligent charging path, the energy storage device can be effectively prevented from shutting down due to energy depletion, ensuring the continuous availability of the hybrid power system. Furthermore, the robustness and reliability of the vehicle's energy system are improved through protective management of the battery.

[0042] In this embodiment of the application, a pressure switching device is provided in the hydraulic circuit of the operating machinery; Controlling the rotary motor and hydraulic motor to jointly drive the rotary mechanism can include: When the target rotation mode is hybrid rotation mode, the control pressure switching device is activated to make the hydraulic circuit work at the first overflow pressure so that the rotation motor and the hydraulic motor drive the rotation mechanism together. Controlling a hydraulic motor to drive a rotary mechanism independently can include: When the target rotation mode is hydraulic rotation mode, the control pressure switching device is reset, so that the hydraulic circuit works with the second overflow pressure, so that the hydraulic motor drives the rotation mechanism alone. The second overflow pressure is higher than the first overflow pressure.

[0043] In this embodiment, the pressure switching device refers to a device that can controllably change the maximum working pressure of a hydraulic system. It can be any component capable of this function, such as a two-stage relief valve, a proportional relief valve, or a variable displacement pump controlled by an electronically controlled pump. Preferably, it is a two-stage relief valve, which typically consists of a pilot-operated main relief valve and a two-position two-way solenoid valve that switches its pilot oil circuit. The first relief pressure refers to a relatively low system relief pressure set in hybrid rotation mode, used to limit the maximum torque provided solely by the hydraulic motor, thus requiring the rotation motor to participate in the drive to compensate for the total required torque. The second relief pressure refers to a higher rated system relief pressure set in hydraulic rotation mode, which can be set as the standard working pressure of the hydraulic system of the operating machinery, enabling the hydraulic motor to independently complete all rotation drive tasks.

[0044] In one example, when the controller determines that the machine has entered hybrid slewing mode, it sends an energizing command to the solenoid valve of the pressure switching device, causing it to actuate. Actuation means the solenoid valve is energized, switching the oil circuit; for example, controlling the closure of a two-stage relief valve. After the solenoid valve actuates, it cuts off the original passage of the main relief valve pilot oil circuit, connecting it to a remote pressure regulating valve with a lower set pressure or a smaller pressure regulating spring. At this time, the highest pressure in the entire hydraulic circuit is limited to the lower first relief pressure. Under this pressure, the maximum torque that the hydraulic motor can output is limited and cannot independently meet the needs of acceleration or uphill slewing. Therefore, the controller must simultaneously command the slewing motor to output torque, forming a combined drive.

[0045] In another example, when the controller determines that the machine has entered hydraulic slewing mode, it sends a de-energization command to the solenoid valve of the pressure switching device to reset it. Resetting means de-energizing the solenoid valve to restore the initial oil circuit. With the solenoid valve reset, the pilot oil circuit returns to the state of being connected to the original pressure regulating spring. At this time, the maximum pressure of the hydraulic circuit returns to the normal second overflow pressure. Under this pressure, the hydraulic motor can output full torque and independently complete all drive tasks, while the slewing motor does not work.

[0046] In this way, by dynamically setting the system overflow pressure through the pressure switching device, a hydraulic environment is created in which the motor must participate in the drive. This is conducive to the efficient and forced coordination between hydraulic drive and electric drive, thereby ensuring the effective execution of the hybrid mode and the realization of energy-saving effects.

[0047] In this embodiment of the application, a pressure switching device is provided in the hydraulic circuit of the operating machinery; when the target rotation mode is hydraulic rotation mode and a braking signal is received during the driving of the rotation mechanism, the method may further include: The control pressure switching device is activated to switch the overflow pressure of the hydraulic circuit to a third overflow pressure, which is lower than the second overflow pressure. The second overflow pressure is the overflow pressure of the hydraulic circuit when the hydraulic motor drives the rotary mechanism alone.

[0048] In this embodiment, the pressure switching device refers to a device that can controllably change the maximum working pressure of a hydraulic system. It can be any component capable of this function, such as a two-stage relief valve, a proportional relief valve, or a variable displacement pump controlled by an electronically controlled pump. Specifically, in hydraulic rotation mode, the system relief pressure is high. If a braking signal is detected, the controller will immediately send an energizing command to the solenoid valve of the pressure switching device before issuing the motor power generation command, causing it to activate and instantly switch the working pressure of the hydraulic system to a low pressure, i.e., the third relief pressure. The third relief pressure is lower than the second relief pressure in the above embodiment; in one example, when the pressure switching device is a two-stage relief valve, the third relief pressure can be equal to the first relief pressure in the above embodiment. This pressure reduction operation can significantly reduce the braking capacity of the hydraulic system, thereby providing sufficient load and energy recovery space for motor power generation braking. Without this operation, under high pressure settings, the hydraulic system will absorb most of the braking energy and consume it as heat, with negligible motor recovery effect.

[0049] Thus, this embodiment of the application creates the necessary conditions for motor energy recovery by forcibly switching to a low-pressure state during hydraulic braking, thus solving the problem that energy storage devices cannot efficiently recover energy when the battery is low.

[0050] In this embodiment, the working machinery includes a pilot handle, and controlling the rotary motor and hydraulic motor to jointly drive the rotary mechanism may include: Acquire the pressure signal from the pilot handle; Determine the total required slewing torque based on the pressure signal; Based on the preset torque distribution ratio and the total required slewing torque, determine the first output torque of the rotary motor and the second output torque of the hydraulic motor; The rotary motor is controlled to output a first output torque, and the hydraulic motor is simultaneously controlled to output a second output torque, so as to jointly drive the rotary mechanism.

[0051] In this embodiment, the pilot handle is the core control device in the working machinery used to receive operator commands. The angle or force with which the operator moves the handle can be converted into a corresponding pilot hydraulic pressure signal. The total required slewing torque refers to the total driving torque that the slewing mechanism needs to generate in response to the operator's input via the pilot handle. The preset torque distribution ratio refers to a fixed or variable ratio pre-set by the system in hybrid slewing mode, distributing the total required torque between the slewing motor and the hydraulic motor. The preset torque distribution ratio can be calibrated experimentally; for example, the hydraulic motor and the slewing motor can be set to drive the slewing in a 1:2 ratio.

[0052] Specifically, a high-response-frequency pressure sensor can be used to acquire the pressure signal of the pilot oil circuit of the pilot handle in real time. The acquired analog pressure signal is filtered and converted from analog to digital to obtain the pressure value, which is then sent to the controller. The controller queries a calibration data table stored in memory based on the pressure value, or uses a built-in calculation model to instantly calculate the total required rotary torque to achieve the operator's desired action. After obtaining the total required rotary torque, the controller calls a preset torque distribution ratio to calculate the first output torque required by the rotary motor and the second output torque required by the hydraulic motor. Then, the controller sends the calculated first output torque as a target command to the motor controller via a high-speed CAN bus. The motor controller uses advanced algorithms such as vector control to quickly and accurately control the motor to output the commanded torque. Simultaneously, the controller adjusts the displacement of the hydraulic pump or the opening of the main control valve through another control channel, thereby precisely controlling the output torque of the hydraulic motor to achieve the commanded second output torque. Understandably, in order to achieve synchronous control, the controller needs to strictly align the timestamps and manage the timing of the commands of the two control loops to ensure that the torque of the motor and the hydraulic motor can be applied to the rotary mechanism at the same time, forming a smooth and continuous combined force.

[0053] Thus, this implementation scheme organically combines the advantages of rapid electric drive response and stable hydraulic drive torque through precise torque distribution and synchronous control based on operational intent, achieving efficient and smooth coordinated drive of the hybrid power system. While significantly saving energy, it greatly improves the control precision and comfort of slewing operation.

[0054] In this embodiment of the application, the working machinery includes a pilot handle. During the process of controlling the rotary motor and hydraulic motor to jointly drive the rotary mechanism, the rotary control method may further include: Obtain the actual rotational speed of the rotary mechanism and the pressure signal of the pilot handle; The target rotation speed of the rotary mechanism is determined based on the pressure signal from the pilot handle. The output torque of the rotary motor is adjusted based on the difference between the actual speed and the target speed to perform closed-loop speed control of the rotary motor.

[0055] In this embodiment, the actual rotational speed refers to the current angular velocity of the slewing mechanism measured in real time by a speed sensor, which is a feedback quantity reflecting the actual operating state of the system. The target rotational speed refers to the theoretical angular velocity that the slewing mechanism is expected to achieve, determined based on the pilot handle pressure signal and a preset pressure-speed mapping relationship, representing the set value of the control system. Speed ​​closed-loop control is an automatic control method that continuously compares the target value with the actual value and automatically adjusts the control quantity according to the deviation, enabling the actual operating state of the controlled object to accurately track the target value.

[0056] Specifically, the controller can acquire the actual rotational speed signal in real time at a fixed sampling period using a speed sensor installed on the rotary motor or rotary bearing, and perform digital filtering to eliminate interference. Simultaneously, the controller continuously acquires the pressure signal from the pilot handle, converting it into the corresponding target rotational speed using a lookup table or calculation formula. Within each control cycle, the controller calculates the rotational speed error, i.e., the difference between the target rotational speed and the actual rotational speed. When the rotational speed error exceeds a preset error threshold, proportional control is used to achieve a fast response; when the rotational speed error is below the preset error threshold, an integral term is introduced to eliminate steady-state error; additionally, a derivative term can be added to suppress overshoot and improve system stability.

[0057] In one example, based on the processed speed error, the controller can calculate the adjustment amount for the rotary motor's output torque according to a preset control algorithm (such as a PID algorithm). This adjustment amount is then superimposed on the base torque value (first output torque) calculated based on torque distribution to form the final motor torque command. Specifically, when the actual speed is lower than the target speed, the motor torque is adjusted positively to enhance the driving capability; when the actual speed is higher than the target speed, the motor torque is adjusted negatively to generate appropriate braking force.

[0058] Thus, when the slewing mechanism encounters resistance (such as slopes or soft ground) causing a drop in speed, the control system can automatically increase the motor's output torque to maintain stable speed. Conversely, in downhill slewing or other conditions causing excessive speed, the system can automatically reduce the motor torque or generate electricity, effectively suppressing overspeed. By introducing closed-loop speed control, the system can automatically overcome speed fluctuations caused by load changes, ensuring that the slewing action always accurately responds to the operator's intent, significantly improving the smoothness, stability, and controllability of operation.

[0059] Figure 2 This is a flowchart illustrating a rotation control method for a work machine according to a specific embodiment of this application. Figure 2 As shown in the figure, a specific embodiment of this application provides a method for controlling the rotation of a work machine, which includes the following steps: S1, Begin.

[0060] S2, Relevant data reception and processing.

[0061] S3 and DC-DC are powered on and pre-charged.

[0062] S4. Is the capacitor voltage higher than the charging start voltage? If yes, proceed to S6; otherwise, proceed to S5.

[0063] S5 and DC-DC converters charge the capacitor.

[0064] S6. Check if the capacitor voltage is higher than the motor drive voltage; if yes, proceed to S7; otherwise, proceed to S8.

[0065] S7. Switch the slewing assist state according to the operating status, and perform closed-loop control of the slewing motor speed according to the pilot handle pressure; enter S1.

[0066] S8. Switch to the no-assist rotation state according to the operating status. The motor is not driven. The motor will only perform braking feedback when it is determined to be in the rotation braking state; then enter S1.

[0067] Specifically, after the vehicle's high-voltage power is supplied, the system first detects the real-time voltage of the supercapacitor. If this voltage is lower than a preset charging threshold, the DC-DC converter is activated to charge the supercapacitor until its voltage reaches the rated operating range. When the supercapacitor voltage is higher than a preset motor drive threshold, the system controls the secondary relief valve to close, reducing the relief pressure in the hydraulic circuit to approximately one-third of the original set value. At this point, the system enters hybrid rotation mode. In this mode, the hydraulic motor and the rotation motor jointly drive the rotation mechanism with a torque distribution ratio of approximately 1:2.

[0068] The system calculates the target output torque of the rotary motor based on the engine's current gear position and the pressure signal from the hydraulic pilot handle. Simultaneously, by acquiring the actual rotational speed of the rotary mechanism, it performs closed-loop control of the motor torque to ensure that the rotational speed matches the pilot pressure signal and the engine speed, and remains within a defined range.

[0069] When the system detects the operator's intention to decelerate or stop based on changes in the pressure of the pilot handle, it immediately controls the rotary motor to output braking torque opposite to the current direction of rotation. At this time, the motor switches to generator mode, storing the recovered energy in a supercapacitor for subsequent drive use.

[0070] If the supercapacitor voltage drops below the drive threshold, the system switches to hydraulic rotation mode: the secondary relief valve is disconnected, and the rotation mechanism is driven solely by the hydraulic motor. In this state, once deceleration or braking is detected, the system immediately closes the secondary relief valve, forcibly engaging the motor for regenerative braking. This mechanism effectively utilizes the large amount of kinetic energy generated during rotation braking, significantly accelerating the charging speed of the supercapacitor, solving the problem of insufficient conventional charging rate of the DC-DC converter, and ensuring that the hybrid power system can quickly restore its working capacity.

[0071] Figure 3 This is a structural block diagram of a controller provided in an embodiment of this application. Figure 3 As shown in the figure, this application provides a controller that may include: Memory 310 is configured to store instructions; The processor 320 is configured to retrieve instructions from the memory 310 and, when executing the instructions, to implement the rotation control method of the working machine in the above embodiments.

[0072] This application also provides a working machine, including: The controller in the above embodiments; Slewing mechanism; Hydraulic motor; A rotary motor is coupled to a hydraulic motor to form a hybrid power unit; Energy storage devices are used to provide driving power for rotary motors and to store recovered electrical energy.

[0073] In this embodiment, the operating machinery refers to heavy machinery equipment driven by a power unit to perform excavation, lifting, and earthmoving operations, such as hydraulic excavators and cranes. The operating machinery includes a slewing mechanism, a hydraulic motor, a slewing motor, and an energy storage device. The energy storage device is a power storage device capable of rapid charging and discharging, preferably a supercapacitor. Compared to traditional batteries, supercapacitors have advantages such as high power density, fast charging and discharging speed, and extremely long cycle life, which can meet the instantaneous power demands of frequent, high-power braking and driving of the slewing mechanism. The slewing motor and the hydraulic motor are coupled together to form a hybrid power unit. This coupling connection refers to a mechanical connection between the hydraulic motor and the slewing motor, ensuring that their power can be superimposed and output to the same load, i.e., the slewing mechanism. This connection can be coaxial series, parallel, or connected via gear sets. Coaxial series is preferred, meaning the output shaft of the hydraulic motor and the rotor of the slewing motor are directly and rigidly connected via a coupling or a shared shaft. Using coaxial series connection makes the structure more compact, the power transmission efficiency higher, and the control synchronization improved.

[0074] This implementation plan provides a complete hybrid power operation machinery solution. Through optimized mechanical structure and intelligent control system design, it achieves high efficiency, energy saving and precise control of the slewing system, while ensuring the reliability and safety of the whole machine. It provides an effective technical path for the green and intelligent development of operation machinery.

[0075] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform the rotary control method described in the above embodiments.

[0076] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0077] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. 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, generate instructions for implementing the flowchart... Figure 1One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0078] 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.

[0079] 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.

[0080] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0081] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0082] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0083] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0084] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling the rotation of a working machine, characterized in that, The operating machinery includes a slewing mechanism, a hydraulic motor, a slewing motor, and an energy storage device. The energy storage device provides drive power to the slewing motor and stores recovered electrical energy. The hydraulic motor is coupled to the slewing motor to form a hybrid power unit. A pressure switching device is provided in the hydraulic circuit of the operating machinery. The slewing control method includes: Obtain the real-time voltage of the energy storage device; Based on the real-time voltage, the target rotation mode of the operating machinery is determined, wherein the target rotation mode is either a hybrid rotation mode or a hydraulic rotation mode; When the target rotation mode is the hybrid rotation mode, the rotation motor and the hydraulic motor are controlled to jointly drive the rotation mechanism; When the target rotation mode is the hydraulic rotation mode, the hydraulic motor is controlled to drive the rotation mechanism independently; When a braking signal is received during the driving of the rotary mechanism, the rotary motor is controlled to generate braking power and the electrical energy is recovered to the energy storage device. If the target rotation mode is the hydraulic rotation mode, and a braking signal is received during the driving of the rotation mechanism, the method further includes: The pressure switching device is controlled to switch the overflow pressure of the hydraulic circuit to a third overflow pressure, which is lower than the second overflow pressure. The second overflow pressure is the overflow pressure of the hydraulic circuit when the hydraulic motor drives the rotary mechanism alone.

2. The slewing control method according to claim 1, characterized in that, Determining the target rotation mode of the operating machinery based on the real-time voltage includes: If the real-time voltage is greater than the preset motor drive voltage, the target rotation mode is determined to be the hybrid rotation mode. If the real-time voltage is less than or equal to the preset motor drive voltage, the target rotation mode is determined to be the hydraulic rotation mode.

3. The slewing control method according to claim 1, characterized in that, The operating machinery also includes a battery and a voltage conversion module, and the slewing control method further includes: If the real-time voltage is lower than the preset charging voltage, the voltage conversion module is activated to convert the electrical energy of the battery and charge the energy storage device.

4. The slewing control method according to claim 1, characterized in that, The hydraulic circuit of the operating machinery is equipped with a pressure switching device; The control of the rotary motor and the hydraulic motor to jointly drive the rotary mechanism includes: When the target rotation mode is the hybrid rotation mode, the pressure switching device is controlled to operate, so that the hydraulic circuit works at the first overflow pressure, so that the rotation motor and the hydraulic motor jointly drive the rotation mechanism. The control of the hydraulic motor to drive the rotary mechanism independently includes: When the target rotation mode is the hydraulic rotation mode, the pressure switching device is reset to allow the hydraulic circuit to operate at the second overflow pressure, so that the hydraulic motor can drive the rotation mechanism independently. The second overflow pressure is higher than the first overflow pressure.

5. The slewing control method according to claim 1, characterized in that, The operating machinery includes a pilot handle, and the mechanism for controlling the rotary motor and the hydraulic motor to jointly drive the rotary motion includes: Acquire the pressure signal of the pilot handle; The total required slewing torque is determined based on the pressure signal; The first output torque of the rotary motor and the second output torque of the hydraulic motor are determined based on the preset torque distribution ratio and the total required rotary torque. The rotary motor is controlled to output the first output torque, and the hydraulic motor is simultaneously controlled to output the second output torque, so as to jointly drive the rotary mechanism.

6. The slewing control method according to claim 1, characterized in that, The operating machinery includes a pilot handle. During the process of controlling the rotary motor and the hydraulic motor to jointly drive the rotary mechanism, the rotary control method further includes: Obtain the actual rotational speed of the rotary mechanism and the pressure signal of the pilot handle; The target rotational speed of the rotary mechanism is determined based on the pressure signal from the pilot handle. Based on the difference between the actual rotational speed and the target rotational speed, the output torque of the rotary motor is adjusted to perform closed-loop speed control of the rotary motor.

7. A controller, characterized in that, include: The memory is configured to store instructions; The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the slewing control method for the working machine according to any one of claims 1 to 6.

8. A type of operating machinery, characterized in that, include: The controller according to claim 7; Slewing mechanism; Hydraulic motor; A rotary motor is coupled to the hydraulic motor to form a hybrid power unit; An energy storage device is used to provide drive power for the rotary motor and to store recovered electrical energy.

9. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the slewing control method of the working machinery according to any one of claims 1 to 6.

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