Electric excavator cable management system and control method

Abstract

The invention discloses an electric excavator cable management system and a control method, and belongs to the technical field of engineering machinery electronization. The system comprises an excavator controller, a left-right walking encoder, a tension detection device, an insulation detection module and a horizontally-installed cable drum, and the drum is of a three-fulcrum installation and conical shield structure and is matched with the narrow space of the small excavator. According to the control method, speed fusion of the double encoders is executed in a fixed period, an equivalent translation speed and a rotation angular speed are obtained, and a feed-forward torque is generated in combination with dynamic feed-forward compensation; self-adaptive synchronous control is achieved through tension closed loop and walking speed prediction, and protection action is executed preferentially when tension exceeds the limit; and meanwhile, data such as insulation, tension, length and the like are fused to realize cable health diagnosis and multi-stage early warning. The problems that a tracked vehicle is inaccurate in speed reference and poor in dynamic response, cables are prone to being snapped and rolled and the like are solved, all-working-condition unmanned take-up and pay-off are achieved, and the reliability and safety of a system are improved.

Description

Technical Field

[0001] This invention relates to the field of electrification technology for construction machinery, specifically to a cable management system and control method for an electric excavator. Background Technology

[0002] With increasingly stringent environmental protection requirements, the electrification of construction machinery has become an important development direction for achieving the "dual carbon" goal. Electric excavators often use external cables for power supply to ensure continuous operation, and the automatic cable reel winding system is a core component to ensure the mobile operation of the equipment.

[0003] Existing cable reel control systems generally employ simple speed following or torque balance principles, which have the following technical drawbacks: 1. Inconsistent speed perception benchmarks: Tracked excavators lack precise speed benchmarks during acceleration, deceleration, emergency stops, and turns, resulting in poor synchronization control accuracy. 2. Poor dynamic response, mostly using lag feedback control, unable to adapt to transient conditions such as start-stop, acceleration, deceleration, and sharp turns, easily leading to risks of cable pulling, slack, breakage, and crushing; 3. The control dimension is singular, only speed or only torque control, with weak coordination capability under multi-variable working conditions and poor system robustness; The drum structure is complex and occupies a large space, making it unsuitable for small excavators. It also lacks cable health diagnosis and active protection functions for complex working conditions.

[0004] For example, the fully automatic variable frequency cable device disclosed in patent CN119774387A uses multiple frequency converters to control multiple motors, which has a complex structure, requires a large installation space, cannot solve the problem of high-precision synchronization when turning, and lacks cable anti-crushing and health monitoring.

[0005] Therefore, there is an urgent need for a miniaturized solution that integrates unmanned operation under all working conditions, high dynamic performance synchronous tracking, and multi-dimensional safety protection to meet the needs of unmanned and fully automated cable management for various construction machinery such as excavators during movement. Summary of the Invention

[0006] This invention overcomes the shortcomings of existing technologies and provides a cable management system and control method for electric excavators, enabling precise and synchronized cable winding and unwinding, tension adaptive protection, and intelligent cable health diagnosis under all working conditions of tracked excavators, meeting the needs of miniaturized installation and reliable operation on complex construction sites.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is: an electric excavator cable management system, comprising: an excavator controller, a control mechanism, an insulation detection module, a left travel encoder, a right travel encoder, a cable reel, and a tension detection device; The cable reel includes: a reel motor, a mounting bracket, a cable guide frame, a slewing support, a cable reel, a protective cover, a current collector, and an electrical control box; The left and right travel encoders are respectively installed at the left and right track drive wheels of the excavator to collect the linear velocities V_left and V_right of the left and right tracks in real time.

[0008] The tension detection device is installed at the guide roller of the cable guide frame and uses a stress plate sensor to detect the real-time tension F_tension of the cable.

[0009] The insulation detection module uses the unbalanced bridge method to monitor the insulation resistance of the cable busbar to ground in real time.

[0010] The excavator controller and the drum controller communicate via a CAN bus. The drum controller is connected to the left travel encoder, the right travel encoder, the tension detection device, the insulation detection module, the drum motor, and the reel encoder. It executes the dual encoder fusion algorithm, the dynamic feedforward compensation algorithm, the adaptive tension closed-loop control algorithm, and the travel speed prediction algorithm to achieve synchronization between cable winding and excavator travel under all working conditions, and to complete cable health diagnosis and multi-level safety protection.

[0011] Furthermore, the cable reel is installed horizontally, and empty and full proximity switches are provided on the inner and outer sides of the reel; a reel encoder is provided at the reel shaft to measure the cable winding speed, cable winding length, number of turns and position.

[0012] Furthermore, the cable reel mounting bracket adopts a three-point support structure, which is fixedly connected to the excavator's undercarriage H-frame and left and right longitudinal beams, making it suitable for installation in confined spaces and improving structural reliability and mobility.

[0013] Furthermore, the protective cover has a conical structure to prevent falling rocks and debris from entering the reel, thus improving environmental adaptability.

[0014] Furthermore, the current collector, through a brush and slip ring structure, enables stable transmission of electrical energy and signals while the reel is rotating.

[0015] The electrical control box contains a built-in drum controller, frequency converter, and insulation detection device; the control mechanism includes cab instruments and walking pedals for gear setting, status display, and operation command input.

[0016] A cable management and control method for an electric excavator, applied to the above system, includes the following steps: Periodic triggering: The control algorithm runs at a fixed high-frequency control cycle to ensure real-time performance.

[0017] Dual encoder speed fusion: Real-time acquisition of left and right track linear velocities V_left and V_right, and calculation: Equivalent translation velocity: V_com = (V_left + V_right) / 2 Rotational angular velocity: ω=(V_right−V_left) / L (L is the center distance of the tracks).

[0018] Dynamic feedforward compensation: Differentiating V_com and ω yields the translational acceleration a_com and angular acceleration α, and the feedforward torque is calculated. T_ff=K_ff_a・a_com+K_ff_α・α By directly superimposing T_ff onto the drum motor torque command, inertial disturbances are compensated in advance, reducing tension fluctuations.

[0019] Speed ​​loop control: The speed of the reel encoder is used as feedback, and the predicted walking speed signal ΔS is superimposed to it. The tracking error is corrected in the closed loop, and the basic torque T_speed is generated.

[0020] The ΔS is obtained by the excavator controller based on the control mechanism command and the speed-power mapping model in a short time, reflecting the future short-term speed change trend.

[0021] Tension closed-loop protection: Real-time detection of cable tension F_tension, compared with safety thresholds [F_min, F_max]; the tension loop has higher priority than the speed loop, and outputs compensating torque T_tension when the limit is exceeded, overriding or correcting the speed loop command. When F_tension is within the safe range: T_tension=0, the system primarily uses speed loop control; When F_tension approaches F_max (sharp turn / start): T_tension is negative, accelerate cable release to prevent over-tension; F_tension is close to F_min (cable dragging on the ground): T_tension is positive, which accelerates cable winding and prevents slack and crushing.

[0022] Torque synthesis and output: The vectors T_ff, T_speed, and T_tension are superimposed to obtain the final torque command T_cmd, which drives the drum motor to complete the cable winding and unwinding.

[0023] Cable health monitoring (optional steps): Real-time acquisition of insulation resistance, tension, cable length, and historical operating data; multi-source information fusion diagnosis: Sudden drop in insulation resistance + excessive tension: mechanical damage is determined, triggering a first-level emergency shutdown, cutting off power supply and locking the system; Slow decrease in insulation resistance + abnormal tension: This indicates aging / water immersion, triggers a level two warning, and prompts planned maintenance. A lifespan model is established based on the cumulative number of times the device is wound up and down, the bending radius, the working time, and the insulation trend. This model triggers a three-level prevention alert, prompting the device to be replaced preventively.

[0024] The beneficial effects of this invention are: 1) Precise speed perception: Dual encoders are used to obtain equivalent translational speed and rotational angular velocity, solving the problem of no unified speed reference for tracked vehicles. Combined with dynamic feedforward compensation, the response is fast and the tension fluctuation is small. 2) Strong dynamic synchronization: real-time tension feedback + walking speed prediction + adaptive closed loop to achieve "active synchronization" and avoid the risks of pulling, slack, breakage and crushing caused by lagging control; 3) Good structural adaptability: Horizontal reel + three-point mounting + conical guard, which can meet the installation of small excavators in narrow spaces. The structure is reliable, has strong passability and good protection. 4) Intelligent safety protection: Multi-source information fusion enables insulation monitoring, fault location, life assessment, and multi-level early warning protection, improving cable life and system safety; 5) Full-condition unmanned operation: No human intervention is required. It is suitable for all walking conditions such as start-stop, acceleration and deceleration, turning and emergency stop, and is stable and reliable. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of a cable management system. Figure 2 This is a structural diagram of a cable reel; Figure 3 Schematic diagram of cable reel mounting bracket; Figure 4 A schematic diagram of excavator cable reel installation; Figure 5 Here is a flowchart of the intelligent collaborative control algorithm for cables; Figure 6 Here is a flowchart of the cable health monitoring algorithm; In the diagram: 1. Drum motor; 2. Mounting support; 3. Cable guide frame; 4. Slewing support; 5. Cable reel; 6. Protective cover; 7. Current collector; 8. Electrical control box; 9. Tension detection device; 10. Mounting bracket. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of the invention.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention.

[0028] like Figure 1-4 As shown, an electric excavator cable management system includes: an excavator controller, a control mechanism, an insulation detection module, a left travel encoder, a right travel encoder, a cable reel, and a tension detection device 9; The cable reel includes: a reel motor 1, a mounting bracket 2, a cable guide frame 3, a slewing support 4, a cable reel 5, a protective cover 6, a current collector 7, and an electrical control box 8. Cable reel 5: It adopts a horizontal installation method, and the reel radius can meet the needs of multi-layer cable winding, realizing cable winding, unwinding and storage; the inner and outer sides of the reel are equipped with empty reel and full reel proximity switches to detect and send cable empty reel and full reel status signals; a reel encoder is installed at the reel shaft to measure the cable winding speed, and the reel and excavator controller calculate parameters such as cable winding length, position and historical winding number of turns.

[0029] Cable guide 3: It adopts an arm-type structure with guide rollers and is located at the cable entry and exit reel position. The rollers are used to guide and restrain the cable, reducing wear during the winding and unwinding process.

[0030] Tension detection device 9: It adopts a stress plate sensor and is installed at the guide roller of the cable guide frame 3. It is used to directly detect the force on the cable guide frame 3 mechanism when the cable is wound up and unwound, and calculate the real-time tension of the cable through the drum controller.

[0031] Slewing support 4: The upper part is connected to the cable reel 5, and the lower part is connected to the mounting bracket 10. It is used to support the weight of the cable and the reel, and to allow the reel to rotate at a low speed.

[0032] Mounting bracket 10: The bracket adopts a three-point mounting structure that is fixed to the lower H-frame and the left and right longitudinal beams. It is connected to the cable reel slewing bearing by high-strength bolts, serving as the mounting base for the entire cable reel.

[0033] Protective cover 6: Located at the top of the reel, protective cover 6 adopts a conical structure to prevent materials and debris from falling into the reel.

[0034] Collector 7: Located at the center of the inside of the cable reel 5, the collector 7 transmits electrical energy and signals during the rotation of the reel through the brush and slip ring structure; Drum motor 1: Located below the current collector 7, it connects the cable reel to the central bearing of the current collector 7 via a speed reducer, and is used to drive the cable reel 5 and the current collector 7 to rotate simultaneously.

[0035] Electrical control box 8: Installed below the slewing bearing 4, the box mainly includes a drum controller, frequency converter, insulation detection device, etc. The drum controller is connected to the left travel encoder, right travel encoder, drum empty and full proximity switches, reel encoder, tension detection device 9, etc., to acquire real-time left and right track travel speeds, reel empty and full status, reel cable winding speed, and cable tension signals. It communicates with the excavator controller via CAN bus to acquire travel prediction speed signals, execute dual encoder fusion algorithm, dynamic feedforward compensation algorithm, and adaptive tension closed-loop control algorithm, thereby controlling the frequency converter to drive the cable drum winding and unwinding operations, and implementing cable fault diagnosis and torque safety protection.

[0036] The insulation detection module is installed inside the electrical control box 8. Its subsystem consists of a voltage sampling circuit, a balanced bridge resistance network, a high-speed switch, and an insulation detection processor. The detection points are directly connected in parallel between the cable bus and the protective ground wire. It calculates the insulation resistance value to ground in real time to detect the insulation health performance of the cable. It also uses a CAN bus to communicate with the drum controller and the excavator controller.

[0037] The control mechanism, installed in the cab of the excavator, mainly includes an instrument panel and left and right travel pedals. The instrument panel is used for setting high and low speed gears, displaying cable status parameters, and monitoring alarm faults. The operator sends travel control commands to the excavator controller by operating the left and right travel pedals.

[0038] The excavator controller, installed in the upper excavator electrical control box 8, drives the left and right tracks of the lower excavator through the hydraulic system and generates a predicted walking speed signal ΔS based on the control mechanism. The excavator controller, in conjunction with the drum controller, implements cable winding and unwinding control and protection according to the instructions of the control mechanism. Simultaneously, it integrates multi-source information such as cable tension and insulation monitoring, length measurement, and historical operating data for health diagnosis, forming an intelligent monitoring solution that combines intelligent collaborative control and cable health monitoring.

[0039] The process of generating the predicted travel speed signal ΔS is as follows: The excavator's main controller receives operation commands from the excavator operator via input devices such as speed gear and left / right travel pedals. Based on the excavator's speed-power mapping model and short-term predictions from sensor signals, it calculates the expected speed increase trend that the actuator will need to achieve in the short period (within several hundred milliseconds) after the command is issued. This calculation may further include information such as the expected duration or slope of the change. This calculated value or trend value is the predicted speed demand signal (ΔS). Simultaneously, data exchange occurs via the CAN bus to ensure that the ΔS signal can be transmitted with low latency and high reliability.

[0040] The left and right travel encoders are respectively installed at the bearings of the left and right track drive wheels of the undercarriage to measure the real-time speed of the left and right tracks during travel.

[0041] like Figure 5 As shown, the system control strategy mainly includes: a cable intelligent collaborative control algorithm and a cable health monitoring algorithm. The cable intelligent collaborative control algorithm specifically includes: a dual-encoder fusion algorithm, a dynamic feedforward compensation algorithm, an adaptive tension closed-loop control algorithm, and a travel speed prediction algorithm. The dual-encoder fusion algorithm calculates the equivalent translational speed V_com and rotational angular velocity ω of the excavator's center of mass, using V_com as the speed reference for cable winding and unwinding. The dynamic feedforward compensation algorithm obtains the acceleration by differentiating V_com and ω, and generates a feedforward torque T_ff accordingly, which is applied in advance to the drive motor. The adaptive tension closed-loop control algorithm monitors the cable tension in real time and generates a higher-priority compensation torque T_tension when the tension exceeds the safe range, to cover or correct the speed control command. The travel speed prediction algorithm analyzes the excavator's travel control mechanism commands, obtains a speed prediction signal ΔS based on the excavator's speed-power mapping model and short-time prediction of sensor signals, and superimposes it onto the real-time feedback speed obtained by the drum encoder, thereby correcting the speed loop control command T_speed. The above algorithm constitutes an organic whole of "feedforward-feedback" coordination, "speed-tension" coordination, and speed and torque prediction correction. Finally, the feedforward torque T_ff, the compensation torque T_tension, and the torque T_speed output by the speed loop are vectorized and used as the final torque command of the drive drum motor 1, ensuring that the winding and unwinding speed of the drum is accurately synchronized with the speed of the excavator under all working conditions.

[0042] The control algorithm flow is as follows: 1. Periodic Trigger: The algorithm runs at a fixed high frequency control period (e.g., 1ms).

[0043] 2. Dual encoder speed fusion: Real-time reading of left and right track encoders, execution of dual encoder fusion calculation: Calculate the equivalent translation speed of the excavator's center of gravity: V_com=(V_left+V_right) / 2.

[0044] Calculate the excavator's rotational angular velocity: ω=(V_right-V_left) / L, where L is the track center distance.

[0045] 3. Dynamic Feedforward Compensation: The controller performs differentiation on the previously calculated V_com and ω to obtain the centroid translational acceleration a_com and rotational angular acceleration α. ​​A_com and α are multiplied by preset gain coefficients K_ff_a and K_ff_α to quickly calculate the feedforward torque T_ff used to counteract dynamic disturbances. T_ff=K_ff_a*a_com+K_ff_α*α This dynamic feedforward torque T_ff is directly superimposed on the torque command of the drum motor 1. This allows the system to output compensation torque in advance during the initial transient process of equipment acceleration, deceleration, or rapid rotation, actively counteracting the negative impact of system inertia, greatly reducing cable tension fluctuations, and improving the system's response speed and control stability.

[0046] 4. Speed ​​Loop Control: By superimposing the travel prediction speed signal ΔS on the speed feedback of the drum encoder, the speed tracking error is corrected in a closed loop to generate the basic torque T_speed.

[0047] 5. Tension Closed-Loop Protection: Employing a conditionally activated parallel path, the tension loop's protection commands have higher priority. In emergencies, it can override or correct commands generated by the speed loop and feedforward circuitry, ensuring safety. The controller program continuously determines whether the cable tension exceeds the limit; the tension loop only outputs compensating torque T_tension when protection is needed; otherwise, the output is zero. This achieves intelligent switching and superposition of speed control and safety protection; the specific judgment algorithm is as follows: Set a target tension safety range [F_min, F_max]. Compare the real-time tension F_tension with the target range, and input the deviation value into a PID controller (tension loop). The output of the controller is the adaptive compensation torque T_tension.

[0048] When F_tension is within the safe range, the system operates primarily using the velocity loop, and T_tension is zero.

[0049] When a sharp increase in F_tension is detected and it approaches F_max (such as during a sudden turn or start-up), T_tension quickly becomes a negative value, instructing drum motor 1 to accelerate cable release to prevent over-tension.

[0050] When a sharp drop in F_tension is detected and it approaches F_min (e.g., when the cable is dragging on the ground), T_tension quickly becomes a positive value, instructing the drum motor 1 to accelerate cable winding to prevent slack and crushing.

[0051] 6. Torque synthesis and output: The three torque components are combined: the speed loop output T_speed, the feedforward torque T_ff, and the tension compensation torque T_tension are added at the synthesis point to form the final control command T_cmd, which drives the drum motor 1 and is finally output to the cable winding actuator to ensure that the winding and unwinding speeds are precisely synchronized with the equipment's speed under all operating conditions.

[0052] The cable health monitoring algorithm (optional step) specifically includes: based on the intelligent cable reel management system, an online insulation monitoring module based on the unbalanced bridge method is integrated, and multi-source information is fused with reel tension monitoring, length measurement, and historical operation data. A cable life analysis model is established to realize comprehensive, real-time, and predictive health management of reel cables from mechanical damage to electrical insulation degradation, forming an intelligent safety protection solution that integrates proactive early warning, fault location, and life assessment.

[0053] like Figure 6 As shown, the cable health monitoring algorithm flow is as follows: 1. Online insulation monitoring: The insulation resistance value and its changing trend between each busbar and the protective ground wire of the cable are monitored online through the insulation detection device, and the results are compared with the minimum safe insulation resistance value R_min set by the system for diagnosis and analysis.

[0054] 2. Dynamic tension monitoring: The real-time tension value of the cable is monitored by the tension detection device 9, and the value is compared with the maximum tension protection value F_max set by the system for diagnosis and analysis.

[0055] 3. Data Fusion Diagnosis: Based on the real-time monitored insulation resistance and tension values, and combined with the cable winding length, position, and historical winding count records calculated by the drum encoder, multi-source data fusion diagnosis is performed with the minimum safe insulation resistance value R_min and the maximum protective tension value F_max. Three diagnostic algorithms are as follows: (1) Algorithm A: Mechanical damage determination. When the system simultaneously detects a sharp drop in insulation resistance and reports a "low insulation" alarm (resistance below R_min) and the dynamic tension protection system reports an "over-tension" alarm (tension above F_max), the algorithm can intelligently diagnose the fault as physical damage to the cable caused by external pulling or crushing. This will trigger a first-level emergency alarm in the system, and the system will implement power outage and shutdown protection. The system will also prompt the user to locate the specific fault area of ​​the cable based on the length of the cable being pulled and rolled.

[0056] (2) Algorithm B: Electrical aging / water immersion judgment. When the system detects a slow and continuous decrease in insulation resistance without any accompanying tension abnormality, the algorithm can determine that the cause of the fault is natural aging of the cable, water seepage at the joint, or internal insulation deterioration. This will trigger a secondary warning prompt from the system and prompt the user to carry out planned maintenance through the instrument.

[0057] (3) Algorithm C: Fatigue life assessment. The system records and analyzes the cumulative number of times the cable is wound and unwound, the change in bending radius (calculated by the number of layers), the working time and the ambient temperature, and combines the long-term trend of insulation resistance to establish a cable life analysis model, implement cable fatigue life assessment and health prediction, and periodically trigger three-level prevention prompts. The cable health status is displayed through the instrument, prompting the user to implement preventive replacement or maintenance.

[0058] 4. Monitoring Result Output: The excavator controller outputs corresponding diagnostic results and alarm information based on the three diagnostic algorithms mentioned above, implementing multi-level safety protection, such as: Level 1 Emergency Alarm: The instrument displays an emergency stop signal, cuts off the main circuit power supply, and locks the drum system to ensure safety. Level 2 Early Warning: The instrument displays alarm information, but does not affect current operations; the user is advised to perform planned maintenance. Level 3 Preventive Warning: The instrument displays cable health, prompting the user to perform preventive maintenance.

[0059] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A cable management system for an electric excavator, characterized in that, include: Excavator controller, control mechanism, insulation detection module, left travel encoder, right travel encoder, cable reel, tension detection device; The cable reel includes: a reel motor, a mounting bracket, a cable guide frame, a slewing support, a cable reel, a protective cover, a current collector, and an electrical control box; The left and right travel encoders are respectively installed at the left and right track drive wheels of the excavator to collect the linear velocity of the left and right tracks. The tension detection device is installed at the guide roller of the cable guide frame and is used to detect the real-time tension of the cable; The insulation detection module is used to monitor the insulation resistance of the cable; The excavator controller and the drum controller communicate via a CAN bus. The drum controller is connected to the left travel encoder, the right travel encoder, the tension detection device, the insulation detection module, the drum motor, and the reel encoder. The drum controller is configured to execute a dual encoder fusion algorithm, a dynamic feedforward compensation algorithm, an adaptive tension closed-loop control algorithm, and a travel speed prediction algorithm to achieve synchronization between the cable winding and unwinding speed and the excavator's travel speed under all working conditions, and to perform cable health diagnosis and safety protection.

2. The electric excavator cable management system according to claim 1, characterized in that, The cable reel is installed horizontally, and there are empty and full proximity switches on the inner and outer sides of the reel. A reel encoder is installed at the reel shaft to measure the cable winding speed, cable length, and number of winding turns.

3. The electric excavator cable management system according to claim 1, characterized in that, The cable reel mounting bracket adopts a three-point support structure and is fixedly connected to the excavator undercarriage H-frame and the left and right longitudinal beams.

4. The electric excavator cable management system according to claim 1, characterized in that, The protective cover has a conical structure to prevent debris from entering the inside of the reel.

5. The electric excavator cable management system according to claim 1, characterized in that, The current collector, through a brush and slip ring structure, enables the transmission of electrical energy and signals during the rotation of the reel.

6. A method for managing and controlling the cable of an electric excavator, applied to the system described in any one of claims 1-5, characterized in that, Includes the following steps: Periodic triggering: The control algorithm runs at a fixed high-frequency control cycle; Dual encoder speed fusion: Real-time acquisition of left and right track linear velocities V_left and V_right, calculation of equivalent translational velocity V_com=(V_left+V_right) / 2 and rotational angular velocity ω=(V_right−V_left) / L, where L is the track center distance; Real-time reading of the left and right track encoders, and execution of dual encoder fusion calculation: Calculate the equivalent translational velocity of the excavator's center of mass: V_com = (V_left + V_right) / 2; Calculate the excavator's rotational angular velocity: ω=(V_right-V_left) / L, where L is the track center distance; Dynamic feedforward compensation: Differentiate V_com and ω to obtain acceleration, calculate feedforward torque T_ff=K_ff_a・a_com+K_ff_α・α, and superimpose it on the drum motor torque command; Speed ​​loop control: The basic torque T_speed is generated by superimposing the travel prediction speed signal ΔS on the drum encoder speed as feedback. Tension closed-loop protection: Real-time detection of cable tension F_tension, comparison with safety threshold [F_min, F_max], outputting compensation torque T_tension when the limit is exceeded; Torque synthesis: The vectors of T_ff, T_speed, and T_tension are superimposed to obtain the final torque command T_cmd, which drives the drum motor to complete the cable winding and unwinding.

7. The electric excavator cable management and control method according to claim 6, characterized in that, The predicted walking speed signal ΔS is obtained by the excavator controller based on the control mechanism command and the speed-power mapping model in a short time.

8. The electric excavator cable management and control method according to claim 6, characterized in that, When tension exceeds the limit: When F_tension is within the safe range, the system operates primarily using the velocity loop, and T_tension is zero; When F_tension is detected to rise sharply and approach F_max, T_tension quickly becomes a negative value, instructing the drum motor to accelerate cable release to prevent over-tension; When F_tension is detected to drop sharply and approach F_min, T_tension quickly becomes a positive value, instructing the drum motor to accelerate cable winding to prevent slack and crushing.

9. A method for cable management and control of an electric excavator according to claim 6, characterized in that, It also includes cable health monitoring steps: Real-time acquisition of insulation resistance, tension, cable length, and historical operating data; multi-source information fusion diagnosis. A sudden drop in insulation resistance and excessive tension indicate mechanical damage, triggering a Level 1 emergency shutdown. The insulation resistance decreases slowly without tension, indicating aging / water immersion and triggering a level two warning. A lifespan model is established based on the cumulative number of deployments and retractions, bending radius, and working duration, triggering a three-level prevention alert.

10. A method for cable management and control of an electric excavator according to claim 6, characterized in that, The tension loop control has a higher priority than the speed loop, and when the limit is exceeded, the tension compensation torque overrides the speed loop command.

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