Slew parking control method, device, working machine, and storage medium

Abstract

The embodiment of the application provides a kind of rotary parking control method, device, working machine and storage medium, belong to working machine control technical field.The method comprises: in the case where receiving rotary control instruction value is zero position, the real-time speed of rotary motor in the working machine is obtained;According to the current speed interval where the real-time speed is located, determine the current control mode corresponding to the current speed interval from multiple preset control modes, and adopt the current control mode to carry out speed reduction control to the rotary motor;In the speed reduction process, based on the change of the real-time speed, adjust the current control mode, continue to carry out speed reduction control to the rotary motor, until the speed of the rotary motor is zero.The application can improve the reliability of rotary parking control.

Description

Technical Field

[0001] This invention relates to the field of machinery control technology, specifically to a method, device, machinery, and storage medium for controlling a turn and stop. Background Technology

[0002] The mining industry is currently accelerating its digital and intelligent upgrades. Mining equipment, with mining machinery as its core, such as mining excavators, is in a state of continuous operation with heavy loads and high frequency. Drivers need to repeatedly perform operations such as digging, turning, and unloading. The industry is placing higher demands on the operating efficiency, safety stability, and continuous operation capabilities of the equipment.

[0003] Existing control systems for stopping slewing machinery rely on only two basic control logics. One is free deceleration stopping, where the front / rear slewing motors naturally decelerate to a stop due to their own resistance after the handle's slewing value returns to zero. The other is reverse braking stopping, where the motor is controlled to run in reverse to achieve braking when the handle value crosses zero and increases in the opposite direction. Both methods are designed around the handle signal and the motor's basic state, resulting in a simplistic control strategy that fails to consider practical factors such as equipment inertia and operator fatigue under heavy-load conditions in mines.

[0004] Current slewing and parking control strategies for operating machinery lack intelligent adaptability, relying solely on natural deceleration or manual reverse braking to achieve parking. They cannot accurately adjust the braking process according to the operating conditions and operational intentions, resulting in low reliability of slewing and parking control. Summary of the Invention

[0005] The purpose of this application is to provide a turning and parking control method, device, operating machinery, and storage medium to solve the problem of low reliability of turning and parking control caused by existing turning and parking control strategies.

[0006] In a first aspect, embodiments of this application provide a method for controlling a turn-and-stop, the method comprising: When the received slewing control command value is zero, obtain the real-time speed of the slewing motor; Based on the current speed range where the real-time speed is located, a current control mode corresponding to the current speed range is determined from multiple preset control modes, and the current control mode is used to control the speed reduction of the rotary motor. During the deceleration process, based on the real-time speed change, the current control mode is adjusted to continue decelerating the rotary motor until the speed of the rotary motor reaches zero.

[0007] Optionally, adjusting the current control mode based on the real-time speed change includes: When the real-time speed decreases from the current speed range to a preset adjacent speed range under the changing conditions, the current control mode is switched to the control mode corresponding to the adjacent speed range.

[0008] Optionally, the rotary motor includes a front rotary motor and a rear rotary motor; Using the current control mode to perform speed reduction control on the rotary motor includes: When the current control mode is the first control mode, the initial required torque and initial speed of the working machinery when entering the current control mode are obtained; Based on the proportional relationship between the initial required torque and the initial rotational speed, the target torque corresponding to the real-time rotational speed is determined; The front rotary motor and the rear rotary motor are controlled to reduce speed to the target torque.

[0009] Optionally, the current control mode is used to perform speed reduction control on the rotary motor, including: When the current control mode is the second control mode, the driving force of the rotary motor is cut off, so that the rotary motor can decelerate freely by inertia.

[0010] Optionally, the rotary motor includes a front rotary motor and a rear rotary motor; Using the current control mode to perform speed reduction control on the rotary motor includes: When the current control mode is the third control mode, the speed feedback value of the rotary motor is obtained; Based on the deviation between the speed feedback value and the preset target speed, a speed closed-loop PID control algorithm is used to generate real-time control parameters. The rotary motor is decelerated according to the real-time control parameters until the speeds of both the front and rear rotary motors drop to zero.

[0011] Optionally, the method further includes: When the received slewing control command value crosses zero, the slewing control command of the working machine is obtained; When the slewing control command is a reverse braking command, the slewing motor is controlled to perform a reverse braking operation to complete the slewing stop.

[0012] Optionally, the rotary motor includes a front rotary motor and a rear rotary motor. During the entire process of performing speed reduction control on the rotary motor, the front rotary motor and the rear rotary motor are synchronously monitored and coordinated for speed reduction control with equal weight.

[0013] Secondly, embodiments of this application provide a turn-around parking control device, the device comprising: Memory, configured to store computer program instructions; and The processor is configured to implement the turn-and-stop control method as described in any one of the first aspects when executing the computer program instructions.

[0014] Thirdly, embodiments of this application provide a working machine, the working machine including: a rotary motor; and a rotary parking control device as described in the second aspect.

[0015] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the turn-and-stop control method as described in any of the first aspects.

[0016] In the above technical solution, upon receiving the slewing operation stop signal, the system first selects the most suitable current control mode from multiple preset control modes based on the current speed range of the real-time rotational speed to execute deceleration, ensuring that the initial braking strategy is highly adapted to the current working conditions. During the deceleration process, the system continuously monitors speed changes and adjusts the current control mode accordingly, achieving dynamic and precise control throughout the entire process from high speed to complete stop. Compared to existing technologies that rely solely on natural deceleration or manual reverse braking, this solution can adaptively adjust the control strategy based on the real-time motion state, avoiding problems such as braking shock, excessively long stopping time, or uncontrolled reverse torque caused by rigid control modes. This effectively improves the smoothness, response speed, and reliability of slewing stop, thereby enhancing the stability of equipment operation under heavy-load continuous working conditions in mines.

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

[0018] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 The schematic diagram illustrates a flow chart of a turn-and-stop control method according to an embodiment of this application; Figure 2 The diagram illustrates the overall flow of a turn-and-stop control method according to 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 the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[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] It should be noted that the slewing parking control method provided in the subsequent embodiments of this application can be applied to operating machinery, including but not limited to graders, road rollers, excavators, loaders and bulldozers. For the purpose of clearly illustrating the technical solution, the application of the slewing parking control method to a mechanical shovel excavator is taken as an example for the description of the embodiments.

[0023] Figure 1 A schematic flowchart illustrating a turn-and-stop control method according to an embodiment of this application is shown. Figure 1 As shown in the figure, this application provides a method for controlling a turn and stop, the method comprising: Step 101: When the received slewing control command value is zero, obtain the real-time speed of the slewing motor; In this embodiment, the operating machinery typically refers to a mining excavator, whose slewing mechanism is driven by a slewing motor. The slewing stop signal is an instruction from the operator to stop the slewing operation. In one embodiment, this signal originates from a lever operated by the operator: when the operator moves the lever back to the zero position, the equipment receives this signal, indicating that the operator wishes to stop the slewing operation. In other embodiments, this signal may also originate from a stop command issued by other control devices or a higher-level control system.

[0024] Upon receiving the stop signal, or immediately thereafter, the system initiates a status monitoring program to acquire the real-time speed of the rotary motor. Real-time speed is typically acquired by installing a speed sensor on the rotary motor's output shaft or corresponding transmission component, such as an encoder or tachogenerator, to continuously collect motor speed data at a preset sampling frequency. This real-time speed data serves as a core input parameter for subsequent decisions, reflecting the current intensity of motion and inertial state of the rotary mechanism. This step's required information can be obtained synchronously at both the handle command issuing and execution ends.

[0025] Step 102: Based on the current speed range where the real-time speed is located, determine the current control mode corresponding to the current speed range from multiple preset control modes, and use the current control mode to perform speed reduction control on the rotary motor. In this embodiment, several different speed ranges are pre-defined within the equipment. These ranges are pre-calibrated based on the motion characteristics, inertial laws, and control requirements of the rotary mechanism under heavy-load mining conditions. For example, they can be divided into high-speed, medium-speed, and low-speed ranges, each corresponding to different motion states and control objectives: the high-speed range requires smooth and rapid deceleration to avoid impact; the medium-speed range can utilize the equipment's own inertia for buffering transitions; and the low-speed range requires precise control to ensure a smooth stop. The division of speed ranges is based on the real-time speed value, and the range boundary values ​​(thresholds) can be determined through theoretical calculations or experimental calibration.

[0026] Secondly, the real-time speed acquired by the equipment is compared with the preset speed range to determine the current speed range and match the corresponding control mode. Different control modes essentially correspond to different motor control algorithms or drive strategies. For example, a torque control mode may be matched in the high-speed range, achieving smooth speed reduction by dynamically calculating the required torque; a free deceleration mode may be matched in the medium-speed range, cutting off the driving force and utilizing inertia for buffering; and a speed closed-loop control mode may be matched in the low-speed range, precisely controlling the speed to a stop using a PID algorithm. The matching process is automatically completed by the equipment's built-in decision logic, ensuring a high degree of adaptability between the control strategy and the current operating conditions.

[0027] Specifically, upon receiving the slewing operation stop signal and acquiring the real-time speed of the slewing motor, the system first determines the current control mode corresponding to the current speed range from multiple preset control modes based on the current speed range of the real-time speed. This current control mode is then immediately applied to perform speed reduction control on the slewing motor. Since the real-time speed may be in any range (e.g., high-speed, medium-speed, or low-speed range) when the stop is triggered, control is not preset to start from a fixed range. Instead, the range is dynamically determined based on the actual detected speed value, and a suitable control mode is matched. For example, if the real-time speed is 80 r / min, it is determined to be in the high-speed range, and the control mode corresponding to the high-speed range (such as torque control mode) is matched as the current control mode; if the real-time speed is 30 r / min, the control mode corresponding to the medium-speed range (such as free deceleration mode) is matched; if the real-time speed is 5 r / min, the control mode corresponding to the low-speed range (such as speed closed-loop control mode) is matched.

[0028] Step 103: During the deceleration process, based on the real-time speed change, adjust the current control mode and continue to decelerate the rotary motor until the speed of the rotary motor is zero.

[0029] In one embodiment, adjusting the current control mode based on the real-time speed change includes: When the real-time speed decreases from the current speed range to a preset adjacent speed range under the changing conditions, the current control mode is switched to the control mode corresponding to the adjacent speed range.

[0030] The equipment employs a matched control mode to perform speed reduction control on the rotary motor. During the speed reduction process, it does not use a single mode to control the motor continuously. Instead, it continuously monitors the speed change, and when the real-time speed drops to another preset range, the equipment automatically switches to the control mode corresponding to that new range and continues speed reduction. This process repeats until the motor speed reaches zero, completing the rotation and stopping. For example, if the initial speed is in the high-speed range, the equipment first controls the speed reduction in high-speed mode; when the speed drops to the boundary of the medium-speed range, it automatically switches to medium-speed mode; after entering the low-speed range, it switches to low-speed mode until it comes to a complete stop. Through this segmented switching and relay control method, segmented and precise control of the entire rotation and stopping process is achieved, ensuring that the control strategy at each stage matches the current speed condition, avoiding the problems of poor adaptability and low reliability caused by single-mode control.

[0031] During the deceleration control process using the current control mode, a dynamic monitoring and switching phase begins. Specifically, the rotational speed of the rotary motor is monitored in real time, and the real-time speed is continuously compared with the preset speed range boundary values. Whenever the real-time speed is detected to drop to the next preset speed range, the current control mode is automatically switched to the control mode corresponding to the next speed range, and deceleration control of the rotary motor continues. This process repeats until the rotational motor speed drops to zero. For example, assuming the initial real-time speed is 80 r / min, which is in the high-speed range, the high-speed mode (torque control mode) is used for deceleration first; when the speed drops to 45 r / min (entering the medium-speed range), it switches to the medium-speed mode (free deceleration mode); when the speed continues to drop to 8 r / min (entering the low-speed range), it switches to the low-speed mode (speed closed-loop control mode) and finally controls the speed to zero. For example, if the initial real-time speed is 30 r / min, which is in the medium speed range, the medium speed mode is directly used to start reducing the speed. When the speed drops to 8 r / min, the low speed mode is switched. If the initial speed is 5 r / min, which is in the low speed range, the low speed mode is directly used to control the speed to zero without switching.

[0032] In this embodiment, upon receiving the slewing operation stop signal, the system first selects the most suitable current control mode from multiple preset control modes based on the current speed range of the real-time rotational speed to perform deceleration, ensuring that the initial braking strategy is highly adapted to the current operating conditions. During deceleration, the system continuously monitors speed changes, automatically switching to the control mode corresponding to the next preset speed range whenever the speed drops to that range. This achieves dynamic and precise control throughout the entire process from high speed to complete stop. Compared to existing technologies that rely solely on natural deceleration or manual reverse braking, this solution can adaptively adjust the control strategy based on the real-time motion state, avoiding problems such as braking shocks, excessively long stopping times, or uncontrolled reverse torque caused by rigid control modes. This effectively improves the smoothness, response speed, and reliability of slewing stop, thereby enhancing the stability of equipment operation under heavy-load continuous working conditions in mines.

[0033] In one embodiment of this application, the current control mode is used to perform speed reduction control on the rotary motor, including: When the current control mode is the first control mode, the initial required torque and initial speed of the working machinery when entering the current control mode are obtained; Based on the proportional relationship between the initial required torque and the initial rotational speed, the target torque corresponding to the real-time rotational speed is determined; The rotary motor is controlled to reduce its speed to the target torque.

[0034] In this embodiment, when the first control mode is determined based on the current speed range of the real-time speed, the initial parameter acquisition step is first executed. The initial required torque and initial speed of the working machinery at the moment it enters the first control mode are collected and recorded. It should be noted that since the entire turning and stopping process may involve multiple mode switches, the first control mode may not start from the moment of stopping, but rather switch from another mode during deceleration. Therefore, it is necessary to dynamically identify the starting moment of each entry into the first control mode and obtain the instantaneous required torque and speed values.

[0035] After acquiring the initial parameters, based on the correlation between torque and speed under specific operating conditions in control theory, the proportionality coefficient between the initial required torque and the initial speed is calculated. Subsequently, this proportional relationship is applied to the real-time changing speed value, and the target torque corresponding to the current real-time speed is determined through mathematical calculations.

[0036] Finally, based on the calculated target torque, corresponding control commands are generated, and the variable frequency drive unit performs speed reduction control on the rotary motor. In specific implementation, after receiving the target torque command, the frequency converter uses algorithms such as vector control or direct torque control to precisely adjust the motor's output torque, making it follow the target torque value in real time, thereby driving the rotary motor to smoothly reduce speed according to the expected torque characteristics. The rotary motor includes a front rotary motor and a rear rotary motor; during speed reduction control, both the front and rear rotary motors need to be controlled at the same target speed for deceleration.

[0037] In this embodiment, by maintaining the ratio between torque and speed, the motor braking process is neither too aggressive to avoid impact, nor too slow to avoid excessive stopping time, thus achieving a flexible and smooth deceleration at high speeds.

[0038] In one embodiment of this application, the current control mode is used to perform speed reduction control on the rotary motor, including: When the current control mode is the second control mode, the driving force of the rotary motor is cut off, so that the rotary motor can decelerate freely by inertia.

[0039] In this embodiment, when the second control mode is determined based on the current speed range of the real-time rotational speed, a free deceleration control operation is performed. At this time, the drive force output to the rotary motor is actively cut off, so that the rotary motor is no longer subject to external drive or braking force, and decelerates freely only by the inertia of the rotary mechanism itself and natural resistance such as mechanical friction and wind resistance.

[0040] In the free deceleration mode, the drive force is cut off, allowing the equipment to transition naturally by its own inertia. This avoids the mechanical impact that may occur when forcibly braking in the high-speed range, as well as the energy waste and control complexity that may result from premature intervention in low-speed precision control.

[0041] In one embodiment of this application, the current control mode is used to perform speed reduction control on the rotary motor, including: When the current control mode is the third control mode, the speed feedback value of the rotary motor is obtained; Based on the deviation between the speed feedback value and the preset target speed, a speed closed-loop PID control algorithm is used to generate real-time control parameters. The rotary motor is subjected to speed reduction control according to the real-time control parameters until the speed of the rotary motor drops to zero.

[0042] In this embodiment, when determining the third control mode based on the current speed range of the real-time speed, the speed feedback value acquisition step is first executed. A speed sensor installed on the output shaft of the rotary motor or a corresponding transmission component continuously collects real-time speed data of the rotary motor at a preset sampling frequency, serving as the feedback input for closed-loop control.

[0043] After acquiring the speed feedback value, the process proceeds to deviation calculation and PID control. The real-time acquired speed feedback value is compared with the preset target speed, and the deviation between the two is calculated. The preset target speed can be a desired speed value pre-set based on the current control stage and the stopping target. It is typically set using a stepped or continuously decreasing method to guide the motor to decelerate smoothly along the expected trajectory. For example, in the low-speed range, the preset target speed can be set as a series of target values ​​that gradually decrease from the current speed value to zero. After obtaining the speed deviation, a speed closed-loop PID control algorithm can be used to process the deviation.

[0044] Furthermore, real-time control parameters are generated based on the calculation results of the PID control algorithm. These control parameters can be torque commands, current commands, or voltage commands, etc., used to represent the adjustment amount required to make the actual speed of the motor approach the preset target speed. Finally, based on the generated real-time control parameters, the system performs precise speed reduction control on the rotary motor through the frequency converter drive unit. The rotary motor includes a front rotary motor and a rear rotary motor; during speed reduction control, both the front and rear rotary motors need to be controlled to reduce their speed to zero using the same real-time control parameters.

[0045] In this embodiment, the deceleration control is performed through the third control mode, which can more accurately and stably control the deceleration until the speed is zero, avoiding parking position deviation or end impact caused by inertial fluctuations or insufficient control precision.

[0046] In one embodiment of this application, the method further includes: When the received slewing control command value crosses zero, the slewing control command of the working machine is obtained; When the slewing control command is a reverse braking command, the slewing motor is controlled to perform a reverse braking operation to complete the slewing stop.

[0047] In this embodiment, when no slewing operation stop signal is received, it indicates that the driver has not issued a slewing stop command. At this time, the segmented speed reduction control process is not activated; instead, the slewing control command issued by the operating end of the working machinery is acquired in real time. This slewing control command is generated by the driver by moving the slewing handle. The displacement sensor, angle sensor, or electronic control module built into the handle accurately identifies the command type, distinguishing between normal slewing operation commands and reverse braking commands. When it is determined that the acquired slewing control command is a reverse braking command, it is recognized that the driver has issued an intention to brake and stop the machine by moving the slewing handle past the zero position and increasing the operating stroke in the reverse direction. At this time, the command is immediately responded to, and a reverse braking control signal is sent to the drive module of the slewing motor to control the slewing motor to perform reverse operation. The reverse torque output by the motor counteracts the inertia of the turntable, quickly stopping the slewing motor.

[0048] In this embodiment, the reverse braking operation serves as a redundancy guarantee for intelligent control, further enhancing the safety and reliability of parking control under heavy load conditions.

[0049] In one embodiment of this application, the rotary motor includes a front rotary motor and a rear rotary motor. During the entire process of performing speed reduction control on the rotary motor, the front rotary motor and the rear rotary motor are synchronously monitored and coordinated for speed reduction control with equal weight.

[0050] In this embodiment, the rotary motor of the operating machinery adopts a structure of coordinated drive between the front and rear rotary motors. Both provide power for the turntable rotation. Throughout the entire process of segmented speed reduction control for turntable stopping, the front and rear rotary motors are always managed with equal weight. Speed ​​sensors installed on the front and rear rotary motors synchronously collect the rotational speed data of both motors in real time, ensuring the synchronization of their operating status monitoring. When matching control modes and executing speed reduction control, control commands with the same priority and parameters are sent to the drive modules of both motors, ensuring that the speed reduction rhythm and magnitude of the front and rear rotary motors are completely consistent. This avoids problems such as turntable vibration and increased mechanical wear caused by uneven load and asynchronous speed reduction between the two motors, further improving the stability and reliability of the turntable stopping control and adapting to the heavy-duty, high-frequency operating conditions required in mines. The technical solution of the present invention will be described in detail below with reference to the accompanying drawings. Figure 2This is a schematic diagram of the overall flow of the turn-and-stop control method provided in an embodiment of the present invention. The diagram fully illustrates the complete control logic from signal triggering to parking completion. The following section will discuss this in conjunction with... Figure 2 The method of the present invention will be described in detail.

[0051] like Figure 2 As shown, the overall process of the turn-and-stop control method of the present invention includes the following core steps: First, the system enters the automatic cycle monitoring phase. A speed sensor is added to the controlled object to monitor the control commands from the handle and the speed of the front / rear rotary motors in real time. Based on the principle of real-time dynamic controllability, a comprehensive judgment is made between the front-end control commands and the operational feedback from the controlled object at the end, forming a complete perception of the current rotary motion state of the turntable. For example... Figure 2 As shown on the left, two parallel monitoring tasks, "monitoring handle control commands" and "monitoring front / rear motor speeds," are continuously executed in a loop to provide a real-time data basis for subsequent decision-making.

[0052] Secondly, when the driver's joystick control command is detected to return to zero, the intelligent judgment and decision-making stage begins. This triggering condition is a key node for initiating assisted parking control, such as... Figure 2 The "Handle Return to Zero?" judgment box is shown in the middle. When the judgment is "Yes", the intelligent assisted turn-and-park mode is immediately activated. Based on the principle of priority of driver control commands and the principle of equal control of the front / rear turn motors, the intelligent assisted turn-and-park control algorithm is executed.

[0053] In intelligent assisted parking mode, the core segmented speed reduction control process is initiated. For example... Figure 2 As shown in the middle section, first determine the current speed range of the front / rear rotary motor: When the motor speed is greater than or equal to the preset deceleration value of 50 r / min, it is determined that it is in the high-speed range, and "smooth torque control speed reduction" is executed. In this mode, the forward and backward rotating motors are weighted equally, and the ratio between the required torque and the speed is calculated according to the current cycle. The motor torque required at the current speed is dynamically calculated to achieve flexible and smooth speed reduction at high speed.

[0054] When the motor speed drops to the range of 10 r / min to 50 r / min, it switches to the "free deceleration control speed reduction" mode. During this stage, the motor relies on its own inertia to decelerate freely, achieving the buffering purpose of a large inertial motion device and creating conditions for a smooth final stop.

[0055] When the motor speed drops to less than 10 r / min, it switches to the "speed closed-loop control deceleration" mode. In this mode, speed closed-loop PID control is used to precisely control the speed based on the real-time feedback of the motor speed until the speed drops to zero, completing the rotation and stopping.

[0056] Furthermore, in conjunction with the methods in the above embodiments, this application embodiment can provide a storage medium for implementation. This storage medium stores program instructions; when these program instructions are executed by a processor, they implement any of the methods in the above embodiments.

[0057] This application also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the above method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0058] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0059] This application provides a computer program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the above method embodiments and achieve the same technical effects. To avoid repetition, it will not be described again here.

[0060] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0061] The functional modules shown in the above block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on machine-readable media or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable media" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer grids such as the Internet, intranets, etc.

[0062] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0063] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and program products according to embodiments of this disclosure. It should be understood that each block in 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 program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to create a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0064] The above are merely specific embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A method for controlling a turn and stop, characterized in that, The method includes: When the received slewing control command value is zero, obtain the real-time speed of the slewing motor; Based on the current speed range where the real-time speed is located, a current control mode corresponding to the current speed range is determined from multiple preset control modes, and the current control mode is used to control the speed reduction of the rotary motor. During the deceleration process, based on the real-time speed change, the current control mode is adjusted to continue decelerating the rotary motor until the speed of the rotary motor reaches zero.

2. The method as described in claim 1, characterized in that, Adjusting the current control mode based on the real-time speed change includes: When the real-time speed decreases from the current speed range to a preset adjacent speed range under the changing conditions, the current control mode is switched to the control mode corresponding to the adjacent speed range.

3. The method as described in claim 1, characterized in that, The rotary motor includes a front rotary motor and a rear rotary motor; Using the current control mode to perform speed reduction control on the rotary motor includes: When the current control mode is the first control mode, the initial required torque and initial speed of the working machinery when entering the current control mode are obtained; Based on the proportional relationship between the initial required torque and the initial rotational speed, the target torque corresponding to the real-time rotational speed is determined; The front rotary motor and the rear rotary motor are controlled to reduce speed to the target torque.

4. The method as described in claim 1, characterized in that, Using the current control mode to perform speed reduction control on the rotary motor includes: When the current control mode is the second control mode, the driving force of the rotary motor is cut off, so that the rotary motor can decelerate freely by inertia.

5. The method as described in claim 1, characterized in that, The rotary motor includes a front rotary motor and a rear rotary motor; Using the current control mode to perform speed reduction control on the rotary motor includes: When the current control mode is the third control mode, the speed feedback value of the rotary motor is obtained; Based on the deviation between the speed feedback value and the preset target speed, a speed closed-loop PID control algorithm is used to generate real-time control parameters. The rotary motor is decelerated according to the real-time control parameters until the speeds of both the front and rear rotary motors drop to zero.

6. The method as described in claim 1, characterized in that, The method further includes: When the received slewing control command value crosses zero, the slewing control command of the working machine is obtained; When the slewing control command is a reverse braking command, the slewing motor is controlled to perform a reverse braking operation to complete the slewing stop.

7. The method as described in claim 1, characterized in that, The rotary motor includes a front rotary motor and a rear rotary motor. During the entire process of speed reduction control of the rotary motor, the front rotary motor and the rear rotary motor are synchronously monitored and coordinated for speed reduction control with equal weight.

8. A turning and parking control device, characterized in that, The device includes: Memory, configured to store computer program instructions; and The processor is configured to implement the turn-and-stop control method as described in any one of claims 1-7 when executing the computer program instructions.

9. A type of operating machinery, characterized in that, The operating machinery includes: Rotary motor; and The turn-and-stop control device as described in claim 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions, which, when executed by a processor, implement the turn-and-stop control method as described in any one of claims 1-7.

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