Excavator control method and system, excavator and storage medium

Abstract

The present disclosure relates to the technical field of excavators. Provided are an excavator control method and system, an excavator and a storage medium. The excavator control method of the present disclosure comprises: controlling working states of a rotation motor, a walking motor and a hydraulic pump motor, wherein the working states of the rotation motor comprise an energy recovery state, the rotation motor is connected to a speed reducer to provide power for a rotation function of an upper structure of an electric excavator, the walking motor is located on a lower structure of the electric excavator to provide power for walking and steering of the electric excavator, and the hydraulic pump motor is connected to a hydraulic pump to provide power for the hydraulic pump; and on the basis of a remaining battery level of a battery, managing at least one of energy consumption, energy recovery and charging of the excavator.

Description

Excavator control method, system, excavator and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on the application with CN application number 202311230028.X and application date September 21, 2023, and claims its priority. The disclosed content of the CN application is hereby introduced as a whole into this application. Technical Field

[0003] The present disclosure relates to the technical field of excavators, and in particular to an excavator control method, system, excavator, and storage medium. Background Art

[0004] With society's growing emphasis on environmental protection, the high levels of exhaust emissions from traditional excavators are no longer suitable for this new environment. As battery energy density, electronic control technology, and electromechanical transmission technology continue to mature, green, energy-efficient, and reliable electric-driven construction machinery are becoming increasingly aligned with the demands of a low-carbon economy.

[0005] However, construction machinery differs significantly from automobiles in terms of structure, operating conditions, and operating environment. Electric construction machinery also suffers from high power requirements, short battery life, and poor platform versatility. Some construction vehicles require extended operating time and must operate in locations with access to industrial power grids. For example, excavators are primarily used for excavation, backfilling, loading and unloading of earth and stone materials in urban areas or factories. Traditional excavators are typically powered by a diesel engine coupled with a hydraulic pump, which drives the operating system through a hydraulic system. This can cause environmental pollution and does not meet energy conservation and emission reduction requirements. Furthermore, this transmission method has low energy conversion efficiency and high fuel consumption.

[0006] Summary of the Invention

[0007] One purpose of the present disclosure is to provide a control solution for an electric excavator to improve the environmental friendliness and endurance of the excavator.

[0008] According to one aspect of some embodiments of the present disclosure, a method for controlling an excavator is proposed, including: controlling the working states of a slewing motor, a traveling motor, and a hydraulic pump motor, wherein the working state of the slewing motor includes an energy recovery state, the slewing motor is connected to a reducer to provide power for the slewing function of the upper body of the electric excavator, the traveling motor is located in the lower body of the electric excavator to provide power for the traveling and steering of the electric excavator, and the hydraulic pump motor is connected to the hydraulic pump to provide power for the hydraulic pump; and managing at least one of the energy consumption, energy recovery, and charging of the excavator according to the remaining power of the battery.

[0009] In some embodiments, controlling the working state of the rotary motor includes: when the rotary mechanism is on a horizontal plane, controlling the speed value of the rotary motor based on a fuzzy control method; when the rotary mechanism is on an inclined surface, controlling the speed value of the rotary motor according to the state of the rotary mechanism on the inclined surface, wherein the speed value includes the speed magnitude and the speed direction.

[0010] In some embodiments, controlling the working state of the travel motor includes: determining the speed value of the travel motor according to the opening value of the travel operating device, wherein the travel motor directly drives the excavator to travel; and sending a control instruction to the travel motor according to the speed value.

[0011] In some embodiments, controlling the working state of the travel motor further includes: sending a constant speed instruction to the travel motor according to the rate of change of the opening value of the travel operating device.

[0012] In some embodiments, controlling the working state of the hydraulic pump motor includes: determining the hydraulic load, determining the target speed of the hydraulic pump motor based on the correspondence between the hydraulic load and the speed of the hydraulic pump motor; and controlling the hydraulic pump motor to approach the target speed based on the target speed of the hydraulic pump motor.

[0013] In some embodiments, managing at least one of the excavator's energy consumption, energy recovery, and charging according to the remaining power of the battery includes at least one of the following: determining at least one of the functions that can be turned on or prohibited from being turned on according to the remaining power of the battery, the functions including the cab thermal management function, the hydraulic system thermal management function, the walking function, the electric drive function, and the electric rotation function; controlling the turning on or off of at least one of the electric rotation system or the walking system for energy recovery according to the remaining power of the battery; determining the working mode of the charging system according to the required power and the remaining power of the battery, the working modes of the charging system including: pure electric mode, a hybrid drive mode of the industrial power grid and the battery system, an industrial power grid alone drive mode, an industrial power grid alone drive and charging mode for the battery system, an energy recovery mode, and an energy dissipation mode.

[0014] In some embodiments, the working state of the slewing motor controlled by the excavator vehicle controller includes at least one of the following: when the slewing mechanism is on a horizontal plane, if the slewing speed of the slewing mechanism is greater than a first safety threshold or the opening of the slewing handle is reduced, a regenerative braking command is sent to the slewing motor so that the slewing motor switches to an energy recovery state; when the slewing mechanism is on an inclined plane, if the direction of the speed feedback from the slewing motor is the same as the direction of the opening of the slewing handle, the slewing motor is in an energy recovery state, wherein, in the energy recovery state, the slewing motor generates electrical energy and stores it in the battery system.

[0015] In some embodiments, controlling the speed value of the rotary motor based on the fuzzy control method also includes: determining the opening value of the rotary handle and the rate of change identifier of the opening value in real time; determining the target speed value of the rotary motor based on the relationship between the fuzzy subset of the opening value determined by the fuzzy control method, the fuzzy subset of the rate of change identifier of the opening value and the speed of the rotary motor; and controlling the rotary motor to rotate at the target speed value.

[0016] In some embodiments, when the rotary handle is in the middle position, the opening value is a first value and the electric rotary system is stationary; when the rotary handle moves from the middle position to the predetermined specified direction, the electric rotary system performs a clockwise rotation operation and the opening value is a second value; when the rotary handle moves from the middle position to the opposite direction of the predetermined specified direction, the electric rotary system performs a counterclockwise rotation operation and the opening value is a third value; when the opening of the rotary handle remains unchanged, the rate of change of the opening value is identified as a fourth value; when the opening of the rotary handle changes at the maximum speed, the rate of change of the opening value is identified as a fifth value.

[0017] In some embodiments, controlling the speed value of the rotating motor based on the fuzzy control method also includes: determining the corresponding rotating mechanism rotation speed based on the actual motor speed of the rotating motor; if the rotation speed of the rotating mechanism is greater than the second safety threshold, the length of time after the regenerative braking command is issued exceeds the predetermined time threshold, and the speed of the rotating motor remains unchanged or increases, then starting the safety device to reduce the rotation speed; if the brake switch in the rotating operating device is turned on, then controlling the safety device to tighten the rotating motor and sending a speed return to 0 command to the rotating motor; if the brake switch in the rotating operating device is turned off, then controlling the safety device to release the rotating motor.

[0018] In some embodiments, controlling the rotational speed of the rotary motor according to the state of the rotary mechanism on the inclined surface includes: if the rotary mechanism is in a stationary state on the inclined surface, receiving the motor speed feedback from the rotary motor and determining whether there is an input to the rotary operating device; if there is no input to the rotary operating device, sending a speed value in the opposite direction of the feedback motor speed to the rotary motor; if there is an input to the rotary operating device, performing rotation control according to the input signal of the rotary operating device.

[0019] In some embodiments, controlling the speed value of the rotary motor according to the state of the rotary mechanism on the inclined surface also includes: if the rotary mechanism remains stationary on the inclined surface, and after sending a speed value in the opposite direction of the feedback motor speed to the rotary motor, the duration for which no input from the rotary operating device is received exceeds a third safety threshold, the safety device is controlled to retract the rotary motor and send a speed return to 0 instruction to the rotary motor; if the brake switch in the rotary operating device is turned on, the safety device is controlled to retract the rotary motor and send a speed return to 0 instruction to the rotary motor; if the brake switch in the rotary operating device is turned off, the safety device is controlled to release the rotary motor.

[0020] In some embodiments, controlling the speed of the rotary motor according to the state of the rotary mechanism on the inclined surface also includes: if the rotary mechanism is in a descending rotary state or an ascending rotary state on the inclined surface, determining the opening value of the rotary handle and the rate of change identifier of the opening value in real time; determining the target speed value of the rotary motor based on the relationship between the fuzzy subset of the opening value, the fuzzy subset of the rate of change identifier of the opening value determined by the fuzzy control method and the speed of the rotary motor, wherein, if the rotary mechanism is in a descending rotary state, the speed direction of the target speed value is the same as the opening direction of the rotary handle, and if the rotary mechanism is in an ascending rotary state, the speed direction of the target speed value is opposite to the opening direction of the rotary handle; controlling the rotary motor to rotate at the target speed value.

[0021] In some embodiments, when the slewing mechanism is on an inclined surface, controlling the rotation speed of the slewing motor according to the state of the slewing mechanism on the inclined surface also includes: determining the corresponding slewing mechanism rotation speed according to the actual motor speed of the slewing motor; if the slewing speed of the slewing mechanism is greater than a fourth safety threshold, the length of time after the regenerative braking command is issued exceeds a predetermined time threshold, and the rotation speed of the slewing motor remains unchanged or increases, then starting the safety device to reduce the rotation speed; if the brake switch in the slewing operating device is turned on, then controlling the safety device to tighten the slewing motor, and sending a speed reset command to the slewing motor.

[0022] In some embodiments, when the rotary mechanism is on an inclined surface, controlling the rotational speed value of the rotary motor according to the state of the rotary mechanism on the inclined surface also includes at least one of the following: when the rotational speed direction of the rotary motor feedback is opposite to the opening direction of the rotary handle, determining that the rotary mechanism is switched from a stationary state to an ascending rotation state; when the rotational speed direction of the rotary motor feedback is the same as the opening direction of the rotary handle, determining that the rotary mechanism is switched from a stationary state to a descending rotation state; when the rotation speed of the rotary mechanism is greater than a set ascending rotation speed threshold, the opening of the rotary handle is greater than a set handle opening threshold, and the rotational speed direction of the rotary motor feedback is the same as the opening direction of the rotary handle, determining that the rotary mechanism is switched from an ascending rotation state to a descending rotation state; when the rotation speed of the rotary mechanism is less than a set descending rotation speed threshold, the opening of the rotary handle is greater than the set handle opening threshold, and the rotational speed direction of the rotary motor feedback is opposite to the opening direction of the rotary handle, determining that the rotary mechanism is switched from a descending rotation state to an ascending rotation state.

[0023] In some embodiments, determining the speed value of the walking motor according to the opening value of the walking operating device includes: determining the speed direction according to a combination of the opening value of the first walking operating device and the opening value of the second walking operating device, the speed direction including stationary, forward, backward, left turn in the forward direction, right turn in the forward direction, left turn in the backward direction, and right turn in the backward direction; determining the speed magnitude of the first walking motor according to the opening value of the first walking operating device, and determining the speed magnitude of the second walking motor according to the opening value of the second walking operating device, wherein the speed value includes the speed magnitude and the speed direction.

[0024] In some embodiments, controlling the working state of the travel motor also includes: when the rate of change of the opening value of the travel operating device is 0, if the excavator is in a forward state, a constant speed instruction in a first direction is sent to the travel motor; if the excavator is in a backward state, a constant speed instruction in a second direction is sent to the travel motor.

[0025] In some embodiments, determining the hydraulic load and determining the target speed of the hydraulic pump motor based on the correspondence between the hydraulic load and the speed of the hydraulic pump motor includes: determining the hydraulic load based on the pressure value output by the pressure sensor, wherein the pressure sensor is installed at the output end of the hydraulic pump; determining the corresponding ideal speed based on the pressure range in which the hydraulic load is located, wherein the ideal speed is determined by clustering operations within the pressure range corresponding to the pressure range based on the correspondence between the pressure range and the speed range; and determining the target speed of the hydraulic pump motor based on the ideal speed and the speed error.

[0026] In some embodiments, controlling the hydraulic pump motor to approach the target speed of the hydraulic pump motor according to the target speed of the hydraulic pump motor includes: sending a control signal to the hydraulic pump motor according to the target speed of the hydraulic pump motor; determining the speed gain of the hydraulic pump motor based on the fuzzy control method according to the speed deviation between the ideal speed and the actual speed of the hydraulic pump motor and the hydraulic load; and adjusting the control signal sent to the hydraulic pump motor in real time according to the speed gain, so as to control the hydraulic pump motor to approach the target speed of the hydraulic pump motor.

[0027] In some embodiments, determining the target speed of the hydraulic pump motor further includes: determining the target speed of the hydraulic pump motor to be the predetermined idle speed when the change value of the hydraulic load within a predetermined time length is less than a predetermined idle pressure threshold and no operation instruction is received; and executing an operation to determine the corresponding ideal speed based on the pressure range in which the hydraulic load is located when the change value of the hydraulic load within a predetermined time length is greater than or equal to the predetermined idle pressure threshold, or at least one of the operation instructions is received.

[0028] In some embodiments, managing the energy consumption of the excavator according to the remaining power of the battery includes: when the remaining power of the battery is greater than or equal to a first power threshold, the functions allowed to be activated include the cab thermal management function, the hydraulic system thermal management function, the walking function, the electric drive function and the electric rotation function; when the remaining power of the battery is greater than or equal to a second power threshold and less than the first power threshold, the functions allowed to be activated include the hydraulic system thermal management function, the walking function, the electric drive function and the electric rotation function, and the functions prohibited from being activated include the cab thermal management function; when the remaining power of the battery is less than the second power threshold, the functions allowed to be activated include the walking function and the functions of the electric rotation function except for adjusting the cab to the forward direction, the cab thermal management function, the hydraulic system thermal management function, and the electric drive function, and the functions prohibited from being activated include the function of adjusting the cab to the forward direction, the cab thermal management function, the hydraulic system thermal management function, and the electric drive function in the electric rotation function.

[0029] In some embodiments, managing the energy recovery of the excavator according to the remaining power of the battery includes: controlling the electric slewing system to perform energy recovery when the speed control instruction of the slewing motor is a predetermined first value, the absolute value of the speed value fed back by the slewing motor is greater than a predetermined first energy recovery threshold, and the remaining power of the battery is less than a third power threshold; controlling the walking system to perform energy recovery when the speed control instruction of the walking motor is a predetermined second value, the absolute value of the speed value fed back by the walking motor is greater than a predetermined second energy recovery threshold, and the remaining power of the battery is less than a fourth power threshold.

[0030] In some embodiments, managing the charging of the excavator according to the remaining power of the battery includes: when the remaining power is between a predetermined upper limit and a predetermined lower limit, if the demand power is greater than the limited power of the industrial power grid, the working mode is a hybrid drive mode, wherein in the hybrid drive mode, the industrial power grid outputs at optimal efficiency and the battery system supplements; if the demand power is greater than 0 and less than the limited power of the industrial power grid, and the remaining power is less than the lower hysteresis value, the working mode is a mode in which the industrial power grid drives alone and charges the battery system; if the demand power is greater than 0 and less than the limited power of the industrial power grid, the remaining power is greater than the lower hysteresis value, and the demand power is less than the limited power of the battery system, the working mode is a pure electric mode; if the demand is greater than 0 and less than the limited power of the industrial power grid, the remaining power is greater than the lower hysteresis value, and the demand power is greater than the limited power of the battery system, the working mode is a hybrid drive mode; if the demand is less than or equal to 0, and the remaining power is less than the upper hysteresis value, the working mode is an energy recovery mode; if the demand is less than or equal to 0, and the remaining power is greater than or equal to the upper hysteresis value, the working mode is an energy dissipation mode.

[0031] In some embodiments, managing the charging of the excavator according to the remaining power of the battery includes: if the required power is less than the limited power of the industrial power grid, determining the working mode to be the industrial power grid alone drive mode and charging the battery system; if the required power is greater than the limited power of the industrial power grid, determining the working mode to be the industrial power grid alone drive mode.

[0032] According to one aspect of some embodiments of the present disclosure, an excavator control system is proposed, including: an electric slewing controller, configured to control the working state of the slewing motor, wherein the working state of the slewing motor includes an energy recovery state, and the slewing motor is connected to a reducer to provide power for the slewing function of the upper body of the electric excavator; a walking controller, configured to control the working state of the walking motor, wherein the walking motor is located in the lower body of the electric excavator to provide power for the walking and steering of the electric excavator; an electric drive hydraulic controller, configured to control the working state of the hydraulic pump motor, wherein the hydraulic pump motor is connected to the hydraulic pump to provide power for the hydraulic pump; and an energy management controller, configured to manage at least one of the energy consumption, energy recovery, and charging of the excavator according to the remaining power of the battery.

[0033] In some embodiments, the system also includes: a vehicle controller, which is electrically connected to the electric swing controller, the travel controller, the electric drive hydraulic controller, the energy management controller, and the operating mechanism of the battery system, the pressure sensor and the hydraulic system, and is configured to parse operating instructions, monitor the vehicle status and send vehicle control instructions.

[0034] According to one aspect of some embodiments of the present disclosure, an excavator control system is proposed, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to execute any one of the above excavator control methods based on instructions stored in the memory.

[0035] According to one aspect of some embodiments of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the instructions are executed by a processor, the steps of any one of the excavator control methods described above are implemented.

[0036] According to one aspect of some embodiments of the present disclosure, an excavator is proposed, comprising: an electric slewing system configured to perform slewing operations of the upper body of the excavator; a walking system configured to perform walking and steering operations of the lower body of the excavator; an electric drive hydraulic system configured to control the working operations of the excavator; a battery system configured to store and provide electrical energy; a charging system configured to perform at least one of replenishing electrical energy for the battery system or providing electrical energy for the operation of the entire machine; and any one of the excavator control systems mentioned above.

[0037] In some embodiments, the excavator meets at least one of the following requirements: the electric slewing system includes a slewing motor, a safety device, and a slewing operating device; the walking system includes a walking motor and a walking operating device; and the electric drive hydraulic system includes a hydraulic pump motor, a hydraulic pump, a hydraulic system actuator, and a hydraulic system operating device. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings described herein are used to provide further understanding of the present disclosure and constitute a part of the present disclosure. The exemplary embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute improper limitations on the present disclosure.

[0039] FIG1 is a flow chart of some embodiments of the excavator control method disclosed herein.

[0040] FIG2A is a flow chart of some embodiments of controlling the working state of a slewing motor in the excavator control method disclosed herein.

[0041] FIG2B is a flowchart of other embodiments of controlling the working state of the slewing motor in the excavator control method disclosed herein.

[0042] FIG3 is a flow chart of some embodiments of controlling a travel motor in the excavator control method disclosed herein.

[0043] FIG4A is a flowchart of some embodiments of controlling the working state of a hydraulic pump motor in the excavator control method disclosed herein.

[0044] FIG4B is a schematic diagram of some embodiments of controlling the working state of a hydraulic pump motor in the excavator control method disclosed herein.

[0045] FIG4C is a flowchart of other embodiments of the adaptive control strategy for controlling the hydraulic pump motor in the excavator control method of the present disclosure.

[0046] FIG4D is a flowchart of yet other embodiments of controlling the working state of a hydraulic pump motor in the excavator control method of the present disclosure.

[0047] FIG5A is a schematic diagram of some embodiments of an on-board charging system in the excavator control method of the present disclosure.

[0048] FIG5B is a schematic diagram of some embodiments of energy management in the excavator control method of the present disclosure.

[0049] FIG5C is a flow chart of charging control in some embodiments of the excavator control method disclosed herein.

[0050] FIG5D is a flowchart of other embodiments of energy management in the excavator control method of the present disclosure.

[0051] FIG5E is a schematic diagram of the battery SOC operating hysteresis range in the excavator control method disclosed herein.

[0052] FIG6 is a schematic diagram of some embodiments of the excavator control system disclosed herein.

[0053] FIG. 7 is a schematic diagram of other embodiments of the excavator control system disclosed herein.

[0054] FIG8 is a schematic diagram of yet other embodiments of the excavator control system disclosed herein.

[0055] FIG. 9 is a schematic diagram of some embodiments of an excavator according to the present disclosure.

[0056] FIG. 10 is a schematic diagram of other embodiments of the excavator disclosed herein. DETAILED DESCRIPTION

[0057] The technical solution of the present disclosure is further described in detail below through the accompanying drawings and examples.

[0058] A flowchart illustrating some embodiments of the excavator control method disclosed herein is shown in Figure 1. In some embodiments, the excavator control method disclosed herein can be implemented by an excavator control system installed on an excavator. In some embodiments, the excavator control system is an electrically powered device. In some embodiments, steps S11 and S12 can be executed in parallel, regardless of order.

[0059] In step S11, the operating states of the slewing motor, the travel motor, and the hydraulic pump motor are controlled. In some embodiments, the operating state of the slewing motor includes an energy recovery state. In some embodiments, in the energy recovery state, the slewing motor generates electrical energy and stores it in the battery system.

[0060] In some embodiments, the slewing motor is connected to the reducer to provide power for the slewing function of the upper body of the electric excavator; the traveling motor is located in the lower body of the electric excavator to provide power for the traveling and steering of the electric excavator; the hydraulic pump motor is connected to the hydraulic pump to provide power for the hydraulic pump.

[0061] In step S12, at least one of energy consumption, energy recovery, and charging of the excavator is managed according to the remaining power of the battery.

[0062] Through the method in the embodiment shown above, the slewing system, traveling system and hydraulic system of the excavator can be controlled respectively by controlling the slewing motor, traveling motor and hydraulic pump motor. In addition, the battery system and charging system can be scheduled according to the remaining power, thereby realizing the electric control of the entire excavator and improving the environmental friendliness of the excavator; by recovering the energy of the slewing motor, the energy recovery efficiency can be improved and the endurance of the excavator can be improved.

[0063] In some embodiments, a flow chart for controlling the working state of the rotary motor is shown in FIG2A .

[0064] In step 211, it is determined whether the rotary mechanism (rotating body) is located on a horizontal plane or an inclined plane. If the rotary mechanism is located on a horizontal plane, step 212 is executed; if the rotary mechanism is located on an inclined plane, step 213 is executed.

[0065] In some embodiments, whether the slewing mechanism is located on a horizontal surface or an inclined surface can be determined based on whether a speed feedback signal is present from the slewing motor when no operation command is input from the slewing operating device. In some embodiments, if no operation command is input from the slewing operating device and a speed feedback signal is present from the slewing motor, the slewing mechanism is determined to be located on an inclined surface; if no operation command is input from the slewing operating device and no speed feedback signal is present from the slewing motor, the slewing mechanism is determined to be located on a horizontal surface.

[0066] In step 212 , the speed value of the rotary motor is controlled based on the fuzzy control method, where the speed value includes the speed magnitude and the speed direction.

[0067] In some embodiments, if the slewing mechanism's speed exceeds a first safety threshold or the handle's opening decreases, a regenerative braking command is sent to the slewing motor, causing it to switch to an energy recovery mode. This method reduces the slewing mechanism's speed to improve safety or meet user requirements for speed reduction while also recovering and storing the kinetic energy of the slewing mechanism as electrical energy, reducing energy consumption and improving battery life.

[0068] In some embodiments, during operation, the opening value of the rotary handle and the rate of change identifier of the opening value are determined in real time; based on the relationship between the fuzzy subset of the opening value determined by the fuzzy control method, the fuzzy subset of the rate of change identifier of the opening value, and the speed of the rotary motor, the target speed value of the rotary motor is determined; and the rotary motor is controlled to rotate at the target speed value. In some embodiments, the rate of change identifiers of different opening values ​​are pre-set to facilitate the conversion of the rate of change of the opening value of the rotary handle determined in real time into the rate of change identifier based on preset information, thereby improving processing efficiency. In some embodiments, the correspondence between the fuzzy subset of the opening value, the fuzzy subset of the rate of change identifier, and the speed of the rotary motor is pre-set, and the target speed value is determined by querying the correspondence based on the opening value and the rate of change identifier determined in real time. In some embodiments, the target speed value includes the target speed direction and the target speed magnitude.

[0069] Through this method, the target speed value can be determined based on the fuzzy control method, with low computational complexity and small granularity of speed control, which reduces the requirements for equipment computing and control capabilities and is conducive to promotion and application.

[0070] In some embodiments, when the rotary handle is in the neutral position, the opening value is a first value (e.g., 0), and the electric rotary system does not perform any movement and remains stationary. In some embodiments, when the rotary handle moves from the neutral position to the predetermined specified direction, the electric rotary system performs a clockwise rotation operation, and the opening value is a second value (e.g., a value greater than 0). In some embodiments, when the rotary handle moves from the neutral position to the opposite direction of the predetermined specified direction, the electric rotary system performs a counterclockwise rotation operation, and the opening value is a third value (e.g., a value less than 0). In some embodiments, when the opening of the rotary handle remains unchanged, the rate of change of the opening value is identified as a fourth value (e.g., 0). In some embodiments, when the opening of the rotary handle changes at the maximum speed, the rate of change of the opening value is identified as a fifth value (e.g., a preset maximum value, e.g., 1).

[0071] Through this method, numerical information can be used to represent the state change of the rotary handle, which reduces the difficulty of information processing and use and improves the control efficiency of the excavator.

[0072] In some embodiments, the corresponding slewing mechanism rotation speed is determined based on the actual motor speed of the slewing motor. If the slewing mechanism's rotation speed exceeds a second safety threshold, the time after the regenerative braking command is issued exceeds a predetermined time threshold, and the slewing motor's speed remains unchanged or increases, a safety device is activated to reduce the slewing speed. This method enables timely safety control to reduce the slewing speed if the slewing mechanism's rotation speed is excessively high and remains in this state for an extended period, thereby improving safety control capabilities. Furthermore, if the brake switch in the slewing operating device is on, the safety device is controlled to retract the slewing motor and send a speed reset command to the slewing motor, thereby promptly controlling the braking of the slewing motor and improving the safety of the excavator. Furthermore, if the brake switch in the slewing operating device is off, the safety device is controlled to release the slewing motor, facilitating resumption of operation and improving operational continuity.

[0073] In step 213 , the rotation speed of the rotary motor is controlled according to the state of the rotary mechanism on the inclined surface. The rotation speed value includes the speed magnitude and the speed direction.

[0074] In some embodiments, when the rotating mechanism is on an inclined surface, if the direction of the rotation speed fed back by the rotating motor is the same as the direction of the opening of the rotating handle, the rotating motor is in an energy recovery state. In the energy recovery state, the rotating motor generates electrical energy and stores it in the battery system. While reducing the rotation speed of the rotating mechanism to improve safety, the kinetic energy of the rotating mechanism can be recovered as electrical energy and stored, thereby reducing energy consumption and improving endurance.

[0075] In some embodiments, the rotating mechanism has three possible states on the inclined surface: stationary, descending rotation, and ascending rotation. Further control is performed according to the state of the rotating mechanism on the inclined surface, thereby refining the control process, improving the adaptability of the control of the rotating motor and the state of the rotating mechanism, and improving safety.

[0076] In some embodiments, if the slewing mechanism is stationary on an inclined surface, feedback from the slewing motor's motor speed is received, and a determination is made as to whether an input has been received from the slewing operating device. If no input has been received from the slewing operating device, meaning no operator has requested an operation, a speed value in the opposite direction of the feedback from the motor speed is transmitted to the slewing motor. If input has been received from the slewing operating device, meaning an operator has requested an operation, slewing control is performed based on the input signal from the slewing operating device, thereby ensuring that the operator's operational requirements are met.

[0077] In some embodiments, if the slewing mechanism remains stationary on an inclined surface and receives no input from the slewing operating device for a period exceeding a third safety threshold after sending a speed value opposite to the feedback motor speed to the slewing motor, the safety device is controlled to retract the slewing motor and send a speed reset command to the slewing motor to improve excavator safety. If the brake switch in the slewing operating device is on, the safety device is controlled to retract the slewing motor and send a speed reset command to the slewing motor, thereby promptly braking the slewing motor and improving excavator safety. If the brake switch in the slewing operating device is off, the safety device is controlled to release the slewing motor to facilitate resumption of operation and improve operational continuity.

[0078] In some embodiments, if the rotary mechanism is in a descending or ascending state on an inclined surface, the opening value of the rotary handle and the rate of change indicator of the opening value are determined in real time. Furthermore, based on the relationship between the fuzzy subset of the opening value, the fuzzy subset of the rate of change indicator of the opening value, and the rotational speed of the rotary motor determined using a fuzzy control method, a target speed value for the rotary motor is determined. In some embodiments, if the rotary mechanism is in a descending state, the rotational direction of the target speed value is the same as the direction of the opening of the rotary handle. In some embodiments, if the rotary mechanism is in an ascending state, the rotational direction of the target speed value is opposite to the direction of the opening of the rotary handle. After determining the target speed value, the rotary motor is controlled to rotate at the target speed value. This method allows the target speed to be determined based on the rotary state of the rotary mechanism on the inclined surface using a fuzzy control valve, and the target speed direction to be determined based on the rotational direction of the rotary mechanism, thereby improving the accuracy of control over the rotary motor of the rotary mechanism.

[0079] In some embodiments, the rotation speed of the corresponding rotating mechanism is determined based on the actual motor speed of the rotating motor; if the rotation speed of the rotating mechanism is greater than a fourth safety threshold, the length of time after the regenerative braking command is issued exceeds a predetermined time threshold, and the speed of the rotating motor remains unchanged or increases, the safety device is activated to reduce the rotation speed; if the brake switch in the rotating operating device is turned on, the safety device is controlled to tighten the rotating motor and send a speed reset command to the rotating motor.

[0080] Through this method, safety control can be carried out in time to reduce the rotation speed, and the rotation motor braking can be controlled in time to improve the safety of the excavator.

[0081] In some embodiments, the first, second, third, and fourth safety thresholds may be the same or different, and the specific values ​​are set or adjusted according to actual operation.

[0082] In some embodiments, when the slewing mechanism is on an inclined surface, the slewing mechanism may switch between three states: stationary, ascending, and descending. In some embodiments, the slewing mechanism is determined to have switched from the stationary state to the ascending state when the direction of the rotational speed feedback from the slewing motor is opposite to the direction of the slewing handle opening. In some embodiments, the slewing mechanism is determined to have switched from the stationary state to the descending state when the direction of the rotational speed feedback from the slewing motor is the same as the direction of the slewing handle opening. In some embodiments, the slewing mechanism is determined to have switched from the ascending state to the descending state when the slewing speed of the slewing mechanism is greater than a set ascending speed threshold, the slewing handle opening is greater than a set handle opening threshold, and the direction of the rotational speed feedback from the slewing motor is the same as the direction of the slewing handle opening. In some embodiments, the slewing mechanism is determined to have switched from the ascending state to the descending state when the slewing speed of the slewing mechanism is less than a set descending speed threshold, the slewing handle opening is greater than a set handle opening threshold, and the direction of the rotational speed feedback from the slewing motor is opposite to the direction of the slewing handle opening. Through this method, the state switching of the slewing mechanism can be identified in time, thereby facilitating the switching of the control strategy and improving the reliability of control and equipment safety.

[0083] 2B shows another embodiment of the flow chart of controlling the working state of the rotary motor in the excavator control method of the present disclosure. The specific numerical values ​​in the following embodiments are examples of feasible real-time methods and do not constitute an improper limitation of the present disclosure.

[0084] In steps 221-222, the excavator control system determines the operating state of the slewing motor and determines whether the slewing mechanism is on an inclined surface based on the state relationship between the slewing motor and the slewing operating device.

[0085] If the slewing operating device does not have an operation command input and the slewing motor has no speed feedback signal, it is determined that the slewing mechanism is on a horizontal surface, and step 223 is executed. If the slewing operating device does not have an operation command input and the slewing motor has a speed feedback signal, it is determined that the slewing mechanism is on an inclined surface, and step 222 is executed.

[0086] In the current embodiment, the rotation speed of the rotary motor is set to a positive value when the rotary mechanism rotates clockwise, and the rotation speed of the rotary motor is set to a negative value when the rotary mechanism rotates counterclockwise.

[0087] If it is determined in steps 223-224 that the slewing mechanism is in a horizontal plane, then during the subsequent horizontal plane slewing control process, the target speed of the slewing motor is determined based on the fuzzy control algorithm according to the opening value and rate of change of the slewing handle, and step 229 is further executed. In some embodiments, the target speed of the horizontal plane slewing motor is controlled by the following steps S1-S6.

[0088] In step S1, the rotary handle opening value k in the rotary operating device is collected and calculated in real time, and the rate of change of the rotary handle opening value is calculated in real time.

[0089] The handle opening value k is defined as k∈[-1, 1] and is linearly scaled based on the handle's physical position. When k=0, the handle is in neutral, indicating no movement of the electric rotary system. Handle movement from neutral to a specified direction represents a clockwise rotation operation, in which case k>0. At the extreme position, k=1. Similarly, handle movement from neutral to the opposite direction represents a counterclockwise rotation operation, in which case k<0. At the extreme position, k=-1.

[0090] In some embodiments, if the handle can only indicate clockwise rotation or counterclockwise rotation using a digital signal, k is a constant value of 1 when rotating clockwise, and a constant value of -1 when rotating counterclockwise.

[0091] The positive or negative value of k is defined here only to distinguish clockwise or counterclockwise rotation. This value should not be used directly to determine the positive or negative target speed or rotation direction of the rotary motor.

[0092] Rotary handle opening value change rate The rate of change of the rotary handle opening value is calculated based on the rotary handle opening value and the time required for the opening change. When , it means that the handle opening does not perform any operation. , it means the handle is operated at the fastest speed.

[0093] In step S2, the fuzzy control method is used to control the handle opening value k and the handle opening value change rate. With the speed of the rotary motor as input and the output, fuzzy control rules are formulated to calculate the target speed of the rotary motor in real time, so that the rotary motor rotates at a constant speed and drives the rotary mechanism to perform an upward rotary motion at a constant speed.

[0094] The input variables of the fuzzy control algorithm are the rotary handle opening value k and the rate of change of the rotary handle opening value. The output variable is the target motor speed. The fuzzy subset of the rotary handle opening value k is defined as {-1,-0.6,-0.2,0,0.2,0.6,1}, and the corresponding language variables are {lf,lm,ls,z,rs,rm,rf}, which are examples of parameters of the controller program during operation. The rate of change of the rotary handle opening value is The fuzzy subset of is defined as {0, 0.2, 0.6, 1}, and the corresponding linguistic variables are {z, s, m, f}. The fuzzy subset of the target motor speed is defined as {-1000, -600, -200, 0, 200, 600, 1000}, and the corresponding linguistic variables are {nb, nm, ns, z, ps, pm, pb}.

[0095] In step S3, the slewing mechanism's rotational speed is calculated in real time based on the motor's actual speed, and a safety threshold for the rotational speed is set. If the rotational speed exceeds the safety threshold or the handle opening decreases, the main controller sends a regenerative braking command to the slewing motor, setting a target speed opposite to the current regenerative speed. This causes the slewing motor to operate as a generator, storing the generated energy in the battery system.

[0096] In step S4, a regenerative braking execution time threshold is set. If the slewing mechanism's rotational speed exceeds the safety threshold and the main controller sends a regenerative braking command to the slewing motor, but the slewing motor speed does not decrease after exceeding the regenerative braking execution time threshold, the main controller activates the safety device to reduce the slewing speed.

[0097] In step S5, if the brake switch in the rotary operating device is turned on, the main controller controls the safety device to lock the rotary motor, and at the same time, the main controller sends a zero speed command to the rotary motor.

[0098] In step S6, if the brake switch in the swing operating device is turned off, the main controller controls the safety device to release the swing motor.

[0099] In some embodiments, if the slewing mechanism is determined to be on an inclined surface, the operations starting with step 225 are executed. If the slewing mechanism is determined to be on an inclined surface, the slewing mechanism can be in three states on the inclined surface: stationary, ascending rotation, and descending rotation. If the slewing mechanism is stationary on the inclined surface, the target rotation speed of the slewing motor is controlled by the following steps during the subsequent inclined surface rotation control process when the slewing mechanism is stationary on the inclined surface.

[0100] In step 225, the motor speed feedback from the rotary motor is received and the rotation control device (e.g., a rotary handle) is checked for input. If no input is received from the rotary control device (e.g., a rotary handle), step 226 is executed. If input is received from the rotary control device, the rotation control is performed according to the input signal from the rotary control device, and step 230 is executed.

[0101] In some embodiments, information reception and processing and instruction issuance may be performed by a main controller of the excavator control system.

[0102] In step 226 , a speed value opposite to the feedback speed is sent to the rotary motor, so that the rotary motor is put into “stall” operation, thereby keeping the rotary mechanism stationary.

[0103] In step 227, during the control of the stationary state of the inclined surface of the rotary mechanism, a safety time threshold for the "stalling" of the rotary motor is set. If the "stalling" time of the rotary motor exceeds the safety time threshold, step 228 is executed; otherwise, the process returns to step 222.

[0104] In step 228 , the main controller controls the safety device to lock the rotary motor, and at the same time, the main controller sends a zero speed command to the rotary motor.

[0105] Furthermore, if there is an input to the swing operating device, the main controller controls the safety device to release the swing motor. If the brake switch in the swing operating device is on, the main controller controls the safety device to lock the swing motor and simultaneously sends a zero speed command to the swing motor. If the brake switch in the swing operating device is off, the main controller controls the safety device to release the swing motor.

[0106] In step 230, it is determined whether the direction of the slewing motor's feedback speed is opposite to the direction of the slewing handle opening. If the direction of the slewing motor's feedback speed is opposite to the direction of the slewing handle opening, the slewing mechanism is in an ascending slewing state on the inclined surface, and step 231 is executed. If the direction of the slewing motor's feedback speed is the same as the direction of the slewing handle opening, the slewing mechanism is in a descending slewing state on the inclined surface, and step 235 is executed.

[0107] In step 231, an ascending slewing control operation is executed. The slewing handle opening and opening change rate are used as inputs. A gain speed is calculated based on a fuzzy control algorithm. The speed required to maintain the slewing mechanism stationary is used as the reference speed, and a target speed value is calculated. In some embodiments, the following steps S1-S4 may be performed.

[0108] In step S1, the rotary handle opening value k of the rotary operating device is collected and calculated in real time, and the rate of change of the rotary handle opening value is calculated in real time.

[0109] The handle opening value k is defined as k∈[-1, 1] and is linearly scaled based on the handle's physical position. When k=0, the handle is in neutral, indicating no movement of the electric rotary system. Handle movement from neutral to a specified direction represents a clockwise rotation operation, in which case k>0. At the extreme position, k=1. Similarly, handle movement from neutral to the opposite direction represents a counterclockwise rotation operation, in which case k<0. At the extreme position, k=-1.

[0110] In some embodiments, if the handle can only indicate clockwise rotation or counterclockwise rotation using a digital signal, k is a constant value of 1 when rotating clockwise, and a constant value of -1 when rotating counterclockwise.

[0111] The positive or negative value of k is defined here only to distinguish clockwise or counterclockwise rotation. This value should not be used directly to determine the positive or negative target speed or rotation direction of the rotary motor.

[0112] Rotary handle opening value change rate The rate of change of the rotary handle opening value is calculated based on the rotary handle opening value and the time required for the opening change. When , it means that the handle opening does not perform any operation. , it means the handle is operated at the fastest speed.

[0113] In step S2, a fuzzy control method is used to control the rotation handle opening value k and the rotation handle opening value change rate based on the preset fuzzy control rules. The target speed of the rotary motor is calculated in real time using the speed gain as the input and the speed gain as the output. The speed of the rotary motor when the rotary motor is in a stationary state is the reference speed. The target speed of the rotary motor is the sum of the reference speed and the speed gain.

[0114] In some embodiments, the input variables of the fuzzy control algorithm are the rotary handle opening value k, the rotary handle opening value change rate The output variable is the speed gain. The fuzzy subset of the rotary handle opening value k is defined as {-1,-0.6,-0.2,0,0.2,0.6,1}, and the corresponding linguistic variables are {lf,lm,ls,z,rs,rm,rf}. The rate of change of the rotary handle opening value is The fuzzy subset of is defined as {0, 0.2, 0.6, 1}, and the corresponding linguistic variables are {z, s, m, f}. The above linguistic variables are examples of controller program parameters during operation. The fuzzy subset of the speed gain is defined as {-1000, -600, -200, 0, 200, 600, 1000}, and the corresponding linguistic variables are {nb, nm, ns, z, ps, pm, pb}.

[0115] In step S3, the target speed of the rotary motor is calculated based on the speed gain calculated by the fuzzy control algorithm and the reference speed of the rotary motor. The calculation formula is as follows.

[0116] n T =n b +Δn

[0117] In the above formula, n T is the target speed of the rotary motor, n b is the reference speed of the rotary motor, which is equal to the speed value output by the rotary motor when the rotary mechanism is stationary on the inclined surface. Δn is the speed gain, which is calculated and output by the fuzzy control algorithm.

[0118] In step S4, the rotation speed of the rotary mechanism is calculated in real time based on the actual motor speed of the rotary motor, and a rotation speed safety threshold is set. If the rotation speed exceeds the safety threshold, the main controller controls the safety device to take effect and reduce the rotation speed.

[0119] In some embodiments, after step 231, step 232 may be executed to determine whether the rotation speed is greater than a corresponding set threshold and whether the handle opening is greater than a corresponding set threshold. If the rotation speed is greater than the set threshold and the handle opening is greater than the corresponding set threshold, a switch from ascending rotation to descending rotation is determined and step 233 is executed. If at least one of the rotation speed is less than or equal to the corresponding set threshold or the handle opening is less than or equal to the corresponding set threshold is true, step 229 is executed.

[0120] In step 233, descending slewing control is executed. The slewing handle opening and opening change rate are used as inputs. A gain speed is calculated based on a fuzzy control algorithm, and the speed required to keep the rotating body stationary is used as the reference speed. The target speed is then calculated. In some embodiments, the specific implementation method can be the same as that in step 235 below.

[0121] After completing step 233, step 234 is executed to determine whether the rotation speed is less than the set threshold and whether the rotation handle opening is greater than the corresponding set threshold. If the rotation speed is less than the corresponding set threshold and the rotation handle opening is greater than the corresponding set threshold, the process returns to step 231. If at least one of the rotation speed is greater than or equal to the corresponding set threshold or the rotation handle opening is less than or equal to the corresponding set threshold is true, step 229 is executed.

[0122] In step 235, because the direction of the feedback rotation speed of the slewing motor is the same as the direction of the slewing handle opening, it is determined that the slewing mechanism is in a descending slewing state on the inclined surface. In some embodiments, because the slewing motor generates a rotation speed opposite to the force of gravity on the slewing mechanism during its descending slewing, the slewing motor acts as a generator and stores the generated electrical energy in the battery system.

[0123] Executing descending slewing control, using the slewing handle opening and opening change rate as inputs, calculating a gain speed based on a fuzzy control algorithm, and calculating a target speed based on the speed that keeps the rotating body stationary. In some embodiments, the following steps S1-S4 are used to control the slewing mechanism to achieve a target speed for the slewing motor when the mechanism is in a descending slewing state on an inclined surface.

[0124] In step S1, the opening value k of the rotary handle of the rotary operating device is collected and calculated in real time, and the rate of change of the opening value of the rotary handle is calculated in real time.

[0125] The handle opening value k is defined as k∈[-1, 1] and is linearly scaled based on the handle's physical position. When k=0, the handle is in neutral, indicating no movement of the electric rotary system. Handle movement from neutral to a specified direction represents a clockwise rotation operation, in which case k>0. At the extreme position, k=1. Similarly, handle movement from neutral to the opposite direction represents a counterclockwise rotation operation, in which case k<0. At the extreme position, k=-1.

[0126] In some embodiments, if the handle can only indicate clockwise rotation or counterclockwise rotation using a digital signal, k is a constant value of 1 when rotating clockwise, and a constant value of -1 when rotating counterclockwise.

[0127] The positive or negative value of k is defined here only to distinguish clockwise or counterclockwise rotation. This value should not be used directly to determine the positive or negative target speed or rotation direction of the rotary motor.

[0128] Rotary handle opening value change rate The rate of change of the rotary handle opening value is calculated based on the rotary handle opening value and the time required for the opening change. When , it means that the handle opening does not perform any operation. , it means the handle is operated at the fastest speed.

[0129] In step S2, a fuzzy control algorithm is used to calculate the rotation handle opening value k and the rotation handle opening value change rate based on the pre-defined fuzzy rules. The target motor speed is calculated in real time using the speed gain as the input and the speed gain as the output, and the speed of the rotary motor when the rotary motor is in a stationary state as the reference speed.

[0130] The input variables of the fuzzy control algorithm are the rotary handle opening value k and the rate of change of the rotary handle opening value. The output variable is the speed gain. The fuzzy subset of the rotary handle opening value k is defined as {-1,-0.6,-0.2,0,0.2,0.6,1}, and the corresponding linguistic variables are {lf,lm,ls,z,rs,rm,rf}. The rate of change of the rotary handle opening value is The fuzzy subset of is defined as {0, 0.2, 0.6, 1}, and the corresponding linguistic variables are {z, s, m, f}. The fuzzy subset of the speed gain is defined as {-1000, -600, -200, 0, 200, 600, 1000}, and the corresponding linguistic variables are {nb, nm, ns, z, ps, pm, pb}.

[0131] In step S3, the target speed of the rotary motor is calculated based on the speed gain calculated by the fuzzy control algorithm and the reference speed of the rotary motor. The calculation formula is as follows.

[0132] n t =n b +Δn

[0133] In the above formula, n t is the target speed of the rotary motor, n b is the reference speed of the rotary motor, which is equal to the speed value output by the rotary motor when the rotary mechanism is stationary on the inclined surface. Δn is the speed gain, which is calculated and output by the fuzzy control algorithm.

[0134] In step S4, the rotation speed of the rotary mechanism is calculated in real time based on the actual motor speed of the rotary motor, and a rotation speed safety threshold is set. If the rotation speed exceeds the safety threshold, the main controller controls the safety function to reduce the rotation speed.

[0135] In step 236, a determination is made as to whether the rotation speed is less than the corresponding set threshold and whether the handle opening is greater than the corresponding set threshold. If the rotation speed is less than the corresponding set threshold and the handle opening is greater than the corresponding set threshold, a switch to the ascending rotation state is determined and step 237 is executed. If at least one of the following conditions holds: the rotation speed is greater than or equal to the corresponding set threshold, or the handle opening is less than or equal to the corresponding set threshold, step 229 is executed.

[0136] In step 237, the ascending slewing control operation is executed. The slewing handle opening and opening change rate are used as inputs. A gain speed is calculated based on a fuzzy control algorithm, and the speed required to maintain the slewing mechanism stationary is used as the reference speed. The target speed is then calculated. In some embodiments, the specific implementation method can be the same as that in step 231 above.

[0137] In step 238, a determination is made as to whether the rotation speed is greater than the corresponding set threshold and whether the handle opening is greater than the corresponding set threshold. If both the rotation speed and the handle opening are greater than the corresponding set threshold, a switch from ascending to descending rotation is determined, and step 235 is executed. If at least one of the following conditions holds: the rotation speed is less than or equal to the corresponding set threshold, or the handle opening is less than or equal to the corresponding set threshold, step 229 is executed.

[0138] In step 229, it is determined whether the rotation speed is 0. If the rotation speed is not 0, step 228 is executed. If the rotation speed is 0, the current control process ends.

[0139] Based on the method in the embodiment shown above, it is possible to realize electrical control of the rotary motor, and then realize electrical control of the electric rotary system of the excavator, which can improve safety while meeting the operating needs of the operator; realize kinetic energy recovery and improve the endurance of the equipment.

[0140] FIG3 is a flowchart of some embodiments of controlling the travel motor in the excavator control method disclosed in the present invention.

[0141] In step 311, the speed value of the travel motor is determined according to the opening value of the travel operating device, wherein the travel motor directly drives the excavator to move, so as to reduce energy consumption and improve the endurance of the equipment.

[0142] In some embodiments, a rotational speed direction is determined based on a combination of the opening values ​​of the first and second travel operating devices. The rotational speed directions include stationary, forward, reverse, forward left turn, forward right turn, reverse left turn, and reverse right turn. Furthermore, the rotational speed of the first travel motor is determined based on the opening value of the first travel operating device, and the rotational speed of the second travel motor is determined based on the opening value of the second travel operating device. The rotational speed value includes both the rotational speed magnitude and the rotational speed direction.

[0143] In step 312, a control instruction is sent to the travel motor according to the speed value. In some embodiments, there may be two travel motors, such as a first travel motor and a second travel motor.

[0144] By using this method, the operating state of the travel motor can be directly determined by utilizing the opening value of the travel operating device, thereby simplifying the driving logic of the travel system, improving the driving efficiency, and reducing the energy consumption of the travel system.

[0145] In some embodiments, when the traveling system is in a state such as braking or deceleration, the kinetic energy of the traveling system can be recovered and stored in the battery, thereby realizing kinetic energy recovery and improving the endurance of the excavator.

[0146] In some embodiments, as shown in FIG3 , the control of the travel motor may further include step 313 .

[0147] In step 313, a constant speed instruction is sent to the travel motor according to the change rate of the opening value of the travel operating device.

[0148] In some embodiments, when the rate of change of the opening value of the travel operating device is 0, if the excavator is in a forward state, a constant speed command in a first direction is sent to the travel motor; if the excavator is in a backward state, a constant speed command in a second direction is sent to the travel motor.

[0149] Through this method, the stability of the excavator's operating state can be improved, which is conducive to reducing the difficulty of operation and improving the degree of automation and efficiency of the operation.

[0150] In some embodiments, the excavator control method disclosed herein primarily controls the travel system, including driving state determination, operating signal analysis, drive motor control, and cruise control. In some embodiments, control of the travel motor, and thus control of the travel system driven by the travel motor, can be achieved through the following steps S1-S4. The specific parameters in the present embodiment are merely examples of possible implementations and do not constitute an undue limitation of this disclosure.

[0151] In step S1, the opening values ​​k1 and k2 of the first and second travel operating devices are collected and calculated in real time, and the opening value change rate of the first and second travel operating devices is calculated in real time. And judge the driving state of the whole machine.In some embodiments, the first and second walking operating devices can be called forward and backward walking operating devices, or left and right walking operating devices.

[0152] In some embodiments, the opening values ​​of the first and second travel operating devices are identified as k1 and k2, and linear proportional conversion is performed according to the physical position of the travel operating devices. When k1=k2=0, the travel operating device is in the neutral position, indicating that the travel system is not moving. In some embodiments, the first and second travel operating devices are set to move simultaneously from the neutral position to the specified direction to represent a forward operation, in which case k1=k2>0, and k1=k2=1 when the movement reaches the extreme position. The travel operating devices are set to move simultaneously from the neutral position to the direction opposite to the specified direction to represent a backward operation, in which case k1=k2<0, and k1=k2=-1 when the movement reaches the extreme position. It is assumed that the movement of the first walking operating device from the neutral position toward the specified direction and the second walking operating device remains in the neutral position or the movement of the backward walking operating device in the direction opposite to the specified direction represents a left turn in the forward direction, in which case k1>0, k2≤0; it is defined that the movement of the first walking operating device remains in the neutral position or in the direction opposite to the specified direction and the movement of the second walking operating device from the neutral position toward the specified direction represents a right turn in the forward direction, in which case k1≤0, k2>0; it is defined that the movement of the first walking operating device from the neutral position toward the direction opposite to the specified direction and the second walking operating device remains in the neutral position or moves in the specified direction represents a left turn in the backward direction, in which case k1<0, k2≥0; it is defined that the movement of the first walking operating device remains in the neutral position or in the specified direction and the movement of the second walking operating device from the neutral position toward the specified direction represents a right turn in the backward direction, in which case k1≥0, k2<0.

[0153] The positive and negative values ​​of k1 and k2 are defined here only to distinguish the direction of straight travel or turning. The values ​​should not be used directly to determine the positive or negative target speed or rotation direction of the travel motor.

[0154] In step S2, the operation signal analysis refers to the vehicle controller judging the validity and size of the input signals of the first and second travel operating devices, and converting them into speed control instructions for the first and second travel motors. The calculation formula of the travel operating device and the motor speed is as follows: L =f(p L ) n R =f(p R )

[0155] Where n L The required speed of the first travel motor, n R is the required speed of the second travel motor, p L is the opening of the first travel operating device, p R is the second travel operating device opening, f(·) is a calculation method for determining the required travel motor speed according to the travel operating device opening. In some embodiments, f(·) is a function for determining the required travel motor speed according to the travel operating device opening.

[0156] In step S3, the driving motor control is mainly that the vehicle controller determines the speed control instruction of the travel motor according to the driving state and the opening degree of the left and right travel operating devices, as follows:

[0157] ① When it is determined that the vehicle is in a straight-ahead state, the vehicle controller sends the same motor positive speed command to the first and second travel motor controllers;

[0158] ② When it is determined that the vehicle is in a straight-ahead backward state, the vehicle controller sends the same motor negative speed command to the first and second travel motor controllers;

[0159] ③ When it is determined that the vehicle is turning left in the forward direction, the vehicle controller sends a positive speed command to the first travel motor and a 0 speed or negative speed command to the second travel motor;

[0160] ④ When it is determined that the vehicle is turning right in the forward direction, the vehicle controller sends a 0 speed or negative speed command to the first travel motor and a positive speed command to the second travel motor;

[0161] ⑤ When it is determined that the vehicle is in the reverse direction and turning left, the vehicle controller sends a negative speed command to the first travel motor and a 0 speed or positive speed command to the second travel motor;

[0162] ⑥ When it is determined that the vehicle is in the reverse direction and turning right, the vehicle controller sends a 0 speed or positive speed command to the first travel motor and a negative speed command to the second travel motor.

[0163] In step S4, the cruise control exists in the state where the whole machine is in a straight line driving state, when the openings k1 and k2 of the first and second travel operating devices are constant and the opening change rate is When it is 0, the whole machine enters the cruise control state. At this time, the vehicle controller sends the current motor speed to the first and second travel motors, as follows:

[0164] ① When the vehicle is in the forward state and enters cruise control, the first and second travel motor controllers of the vehicle controller send a constant speed command for the current motor forward speed;

[0165] ② When the whole machine is in the reverse state and enters the cruise control, the first and second travel motor controllers of the whole vehicle controller send a constant speed command of the current motor negative speed.

[0166] Based on the method in the embodiment shown above, it is possible to realize electrical control of the travel motor, and then realize electrical control of the excavator's travel system, which can improve safety on the basis of meeting the operator's operating needs; reduce energy consumption and improve driving efficiency by analyzing the status of the operating device and directly controlling the travel motor; realize kinetic energy recovery, and further improve the endurance of the equipment.

[0167] FIG4A is a flowchart of some embodiments of controlling the working state of a hydraulic pump motor in the excavator control method disclosed in the present invention.

[0168] In step 411 , the hydraulic load is determined, and the target speed of the hydraulic pump motor is determined based on the corresponding relationship between the hydraulic load and the speed of the hydraulic pump motor.

[0169] In some embodiments, a pressure sensor can be installed at the output of the hydraulic pump to determine the hydraulic load based on the pressure value output by the pressure sensor. Furthermore, the corresponding ideal speed is determined based on the pressure range within which the hydraulic load exists. The ideal speed is determined by clustering within the pressure range corresponding to the pressure range based on the correspondence between pressure ranges and speed ranges. After the ideal speed is determined, the target speed of the hydraulic pump motor is determined based on the ideal speed and the speed error.

[0170] In some embodiments, if the change in the hydraulic load over a predetermined period of time is less than a predetermined idle pressure threshold and no operation command is received, the target speed of the hydraulic pump motor is determined to be the predetermined idle speed. If the change in the hydraulic load over a predetermined period of time is greater than or equal to the predetermined idle pressure threshold, or if at least one of the following operation commands is received, an operation is performed to determine the corresponding ideal speed based on the pressure range that the hydraulic load is in. This method allows the entire machine to enter an automatic idle state when there is no input from the hydraulic system operating mechanism and the hydraulic load remains stable at a certain value for a long time. When the difference between the current and previous pressures at the hydraulic pump output is greater than the set idle pressure threshold or an operator input command is received, the entire machine exits automatic idle and the drive motor matches the corresponding motor speed according to the hydraulic load pressure, thereby achieving automatic idle control of the hydraulic system and improving the overall electronic control capability of the excavator.

[0171] In step 412 , the hydraulic pump motor is controlled to approach the target speed of the hydraulic pump motor according to the target speed of the hydraulic pump motor.

[0172] In some embodiments, a control signal is sent to the hydraulic pump motor according to the target speed of the hydraulic pump motor; based on the fuzzy control method, the speed gain of the hydraulic pump motor is determined according to the speed deviation between the ideal speed and the actual speed of the hydraulic pump motor and the hydraulic load; and the control signal sent to the hydraulic pump motor is adjusted in real time according to the speed gain so as to control the hydraulic pump motor to approach the target speed of the hydraulic pump motor.

[0173] Based on the method in the above embodiment, it is possible to implement electrical control of the hydraulic system and improve the electrical control capability of the entire excavator.

[0174] In some embodiments, a model can be pre-built to simulate the hydraulic system, obtain model parameters, and then set the parameters in the control system. A schematic diagram of some embodiments of the hydraulic system control model is shown in Figure 4B, which mainly includes the hydraulic pump pressure range division, the drive motor optimal speed model, the adaptive control algorithm design (as shown in Figure 4C), and the automatic idle speed control (as shown in Figure 4D).

[0175] In some embodiments, a pressure sensor is installed at one end of the hydraulic pump output to collect the pressure value of the hydraulic pump and the corresponding motor speed value, and the collected pressure value and speed value are pre-processed. Finally, according to the pressure range of the hydraulic pump, they are divided into n different pressure intervals, namely (P0, P1), (P1, P2) ... (P n-1 ,P n ), and obtain the speed range (n0,n1), (n1,n2)...(n n-1 ,n n ).

[0176] The optimal speed model for the drive motor shown in FIG4B is to optimize each hydraulic pump pressure interval using a k-mean clustering algorithm, calculate the optimal speed for the drive motor for each pressure interval, and establish the optimal speed model for the drive motor. In some embodiments, the steps for the optimal speed model for the drive motor are as follows (1)-(5).

[0177] (1) Select the initial center value. Select an initial value in each speed range, namely k1, k2...k n , as the initial center value of the k-mean clustering algorithm.

[0178] (2) Cluster optimization. Calculate the distance between each sample in the speed range and the initial center value. For any speed in the speed range, calculate the class it should belong to. Use the Euclidean distance measurement method. The larger the distance, the greater the difference between individuals.

[0179] (3) Re-clustering: Re-determine the center value based on the calculation results.

[0180] (4) Iteration is completed. When the objective function reaches the optimal value or the maximum number of iterations is reached, the clustering optimization is terminated and the final cluster center k is obtained. o1 、k o2 ...k on , thus obtaining the optimal speed value of each hydraulic pump pressure range, that is, n o1 、n o2 ...n on .

[0181] (5) The optimal speed value n of each hydraulic pump pressure range o1 、n o2 ...n on Establish the optimal speed model of the drive motor.

[0182] Adaptive control algorithm design involves using an optimization algorithm to make the pump drive motor speed approach the optimal speed model of the drive motor so that the output speed of the drive motor follows the optimal speed model of the drive motor. In some embodiments, a model reference adaptive control method is used to adaptively control the drive motor and the hydraulic pump. An adaptive adjustment mechanism is designed to make the output signal of the controlled object and the dynamic characteristics of the reference model as close as possible. The steps for designing the model reference adaptive control strategy are shown in steps (1) to (5) below.

[0183] (1) The optimal speed model of the driving motor is used as the reference model in the model reference adaptive control to obtain the ideal speed output in the driving motor-hydraulic pump adaptive control method.

[0184] (2) An adjustable controller is designed with the hydraulic pump output pressure as input and the drive motor speed control instruction as output. The drive motor speed is a function of the hydraulic pump output pressure, and its calculation formula is shown below.

[0185] n=f(P)+Δn

[0186] In the above formula, n is the output speed of the drive motor, f(P) is the output pressure of the hydraulic pump, Δn is the speed error of the drive motor, and its initial value is 0.

[0187] (3) The controlled model of the drive motor is established with the drive motor as the controlled object, the control signal of the adjustable controller as the input, and the actual speed of the drive motor as the output.

[0188] (4) Using the fuzzy control method, an adaptive adjustment mechanism is designed, which takes the error Δn between the optimal speed of the reference model and the actual speed of the controlled object and the output pressure P of the hydraulic pump as input to drive the motor speed gain n g For output, fuzzy rules are formulated to calculate the speed gain of the driving motor in real time.

[0189] In some embodiments, the adaptive control strategy flow is shown in FIG4C .

[0190] In step 431 , it is determined whether the motor error Δn is a positive number. If the motor error is a positive number, step 431 is executed; otherwise, step 433 is executed.

[0191] In step 432 , a fuzzy control algorithm is used to adaptively calculate a positive speed gain, increase the motor speed command value, and then execute step 434 .

[0192] In step 433 , the fuzzy control adaptively adjusts and calculates the negative speed gain to reduce the motor speed command value, and then executes step 434 .

[0193] In step 434 , it is determined whether the hydraulic pump motor error is 0. If the hydraulic pump motor error is 0, step 435 is executed; if the hydraulic pump motor error is not 0, the process returns to step 431 to continue adjustment.

[0194] In step 435 , it is determined whether the idle speed command is valid. If the idle speed command is valid, step 436 is executed; otherwise, step 437 is executed.

[0195] In step 436 , the idle speed command of the hydraulic pump motor is output, and the process ends.

[0196] In step 437 , the motor control instruction is output and the process ends.

[0197] Through this method, the error of the hydraulic pump motor can be made close to 0, and the hydraulic pump motor can be made close to the target speed of the hydraulic pump motor; when the idle speed command is triggered, it can be switched to the idle speed-based operation state in time, thereby improving the adaptive operation degree of the equipment.

[0198] In some embodiments, the input variables of the fuzzy control algorithm are the speed error Δn and the hydraulic pump output pressure P, and the output variable is the drive motor speed gain n g The fuzzy subset of the speed error Δn is defined as {-1000,-600,-200,0,200,600,1000}, and the corresponding linguistic variables are {nb,nm,ns,z,ps,pm,pb}; the fuzzy subset of the hydraulic pump output pressure P is defined as {0,20,60,100}, and the corresponding linguistic variables are {z,s,m,b}; the drive motor speed gain n is defined as g The fuzzy subset is defined as {-1000,-600,-200,0,200,600,1000}, and the corresponding linguistic variables are set to {lb,lm,ls,z,rs,rm,rb}. The linguistic variables are examples of the parameters of the controller program during operation.

[0199] (5) The speed gain calculated by the adaptive adjustment mechanism is input into the adjustable controller. The speed gain calculated by the adaptive adjustment mechanism modifies the motor speed control command of the adjustable controller in real time, so that the actual motor speed output by the controlled object approaches the corresponding speed of the optimal speed model.

[0200] Through the method in the embodiment shown above, the operating state of the hydraulic system under control can be simulated. By applying the simulated process, clustering parameters, etc. to the excavator control system, electronic control of the hydraulic system can be achieved, data processing pressure can be reduced, and control efficiency can be improved.

[0201] In some embodiments, the automatic idle control mentioned above refers to the entire machine entering an automatic idle state when there is no input from the hydraulic system operating mechanism and the hydraulic load remains stable at a certain value for a long time. In some embodiments, the automatic idle control process is shown in FIG4D .

[0202] In step 441 , it is determined whether the hydraulic load has changed. If the hydraulic load has changed, step 442 is executed; if the hydraulic load has not changed, step 444 is executed.

[0203] In step 442 , the speed of the hydraulic pump driving motor is adjusted in real time according to the hydraulic load, and then step 443 is executed.

[0204] In step 443 , it is determined whether the hydraulic load has changed. If the hydraulic load has changed, the process returns to step 442 ; if the hydraulic load has not changed, the process proceeds to step 444 .

[0205] In step 444, it is determined that the pressure difference between the current moment and the pressure at the output end of the hydraulic pump at the previous moment is less than the set idle pressure threshold, and the duration is greater than the set idle time threshold, and the operator has no operation input instructions during this process, then step 446 is executed; otherwise, when the pressure difference between the current moment and the pressure at the output end of the hydraulic pump at the previous moment is greater than the set idle pressure threshold, or the operator has at least one of the operation input instructions satisfied, then step 445 is executed.

[0206] In step 445 , the driving motor matches the corresponding motor speed according to the hydraulic load pressure, and step 441 is executed.

[0207] In step 446, an idle speed command is sent to the hydraulic pump drive motor to adjust the entire machine into an automatic idle state. The drive motor operates at the set idle speed, and the adjustment process ends. In some embodiments, if the hydraulic load changes, step 443 can be executed.

[0208] By using the method in the embodiment shown above, it is possible to switch to an idle operation-based state in a timely manner when an idle instruction is triggered, thereby improving the adaptive operation level of the device.

[0209] In some embodiments, the whole vehicle energy management of the excavator mainly includes energy consumption, energy recovery, and charging.

[0210] In some embodiments, based on the remaining battery power, at least one of the functions that can be enabled or prohibited from being enabled is determined, and the functions include cab thermal management function, hydraulic system thermal management function, walking function, electric drive function and electric rotation function. In some embodiments, all or more functions can be started when the power is sufficient, thereby improving the equipment performance of the excavator; when the power is insufficient, priority is given to operations and recharging needs to improve the endurance of the excavator.

[0211] In some embodiments, SOC (State of Charge) management primarily manages vehicle functions based on the battery's current state of charge (hereinafter referred to as SOC), for example:

[0212] When SOC ≥ SOC safe When the vehicle is in the state of emergency, all vehicle functions can be turned on, including cab thermal management, hydraulic system thermal management, travel function, electric drive function, electric rotation function, etc.

[0213] When SOC LL_min ≤SOC<SOC safe When the driver's cab thermal management function is disabled, the hydraulic system thermal management, travel function, electric drive function, and electric rotation function can be enabled.

[0214] When SOC <SOC LLC_min When the vehicle is in the forward direction, the travel function is turned on, the electric slewing function adjusts the cab to the forward direction and is prohibited from starting, and the cab thermal management, hydraulic system thermal management, and electric drive functions are prohibited from starting.

[0215] In some embodiments, SOC safe For the safety power of the excavator, SOC LLC_min is the lower hysteresis value, SOC safe >SOC LLC_min .

[0216] Through this method, various functions including cab thermal management can be started when the battery is sufficient, thereby improving the excavator's operating performance and user-friendliness; when the battery is insufficient, the cab thermal management function is shut down first to ensure the normal operation of the operating function; when the battery is in a dangerous state, the normal operation of the walking function is given priority to ensure that the excavator can go to the charging location, thereby improving the excavator's sustainable operation capability and reducing the probability of needing other vehicles to transport the excavator.

[0217] In some embodiments, at least one of the electric slewing system or the travel system is turned on or off to recover energy based on the remaining battery power, thereby reducing unnecessary energy consumption and further improving the endurance of the excavator.

[0218] In some embodiments, energy recovery mainly includes electric swing system energy recovery and travel system energy recovery.

[0219] In some embodiments, the electric swing system energy recovery conditions include:

[0220] ①The rotary motor speed control command is 0;

[0221] ② The feedback speed of the rotary motor is greater than the energy recovery speed threshold;

[0222] ③The battery SOC state is less than the upper hysteresis value SOC ULC_max .

[0223] When the above-mentioned electric rotation system energy recovery conditions are met at the same time, the electric rotation energy recovery state is entered.

[0224] In some embodiments, the energy recovery conditions of the traveling system are:

[0225] ①The walking motor speed control command is 0;

[0226] ②The absolute value of the walking motor feedback speed is greater than the energy recovery speed threshold;

[0227] ③The battery SOC state is less than the upper hysteresis value SOC ULC_max .

[0228] When the above-mentioned walking system energy recovery conditions are met at the same time, the walking system energy recovery state is entered.

[0229] Through the method in the embodiment shown above, energy can be recovered from both the slewing system and the traveling system, thereby fully recovering the excavator's kinetic energy and improving its endurance.

[0230] In some embodiments, the working mode of the charging system is determined based on the required power and the remaining power of the battery. The working modes of the charging system include: pure electric mode, hybrid drive mode of industrial power grid and battery system, industrial power grid alone drive mode, industrial power grid alone drive and battery system charging mode, energy recovery mode and energy dissipation mode. Through this method, the effective utilization of the electric energy of the battery and the power grid can be achieved, and the continuous operation capability of the excavator can be improved.

[0231] In some embodiments, the on-board charging system is shown in FIG5A . The power battery 511 and the charging module (1) (2) can both output power to the PDU (Power Distribution Unit) distribution box 512. In some embodiments, the charging module is connected to the junction box, which is mainly used to input grid power and distribute it to the charging system. High-voltage accessories, slewing systems, walking systems, and hydraulic systems all obtain electrical energy from the PDU distribution box 512. At the same time, the charging module is connected to the power battery 511 to charge the power battery 511. In some embodiments, when the grid power is used as the main power source, the charging system is always in the on state; when the battery system is used as the main power source, the charging system is always in the off state.

[0232] Through this method, based on the on-board charging system, the excavator can be driven by electricity based on batteries and industrial power grids, and the electricity from the power grid can be used to charge the battery, thereby improving the excavator's endurance and flexibility of use.

[0233] 5B shows a schematic diagram of some embodiments of energy management in the excavator control method of the present disclosure. Energy management can logically include a control layer 521 and an execution layer 522.

[0234] The control layer 521 includes a system observer, a power demand calculation module, an energy management controller, a charging module, and a BMS (Battery Management System) controller. The system observer detects the speed, hydraulic information, and battery information of each motor of the excavator in real time and sends it to the power demand calculation module. The power demand calculation module determines the power demand of the excavator based on the information obtained and sends it to the energy management controller. The energy management controller determines the power information to be output to the charging module and the BMS module respectively, which are used as the output power of the industrial grid as P e , and the output power P of the battery system b .

[0235] In the execution layer 522, the battery pack is based on the power information P from the BMS controller. b Control output power; charging actuator based on power information P from charging module e Control output power. The output power is converted by the inverter and provided to various parts of the excavator.

[0236] In some embodiments, in the case of charging, the energy management strategy is controlled as shown in FIG5C .

[0237] In step 531 , the system operates in a highest efficiency state of charge.

[0238] In step 532 , the required charging power is calculated based on the current SOC value.

[0239] In step 533, it is determined whether the required charging power is greater than the power of a single charging module. If so, step 534 is executed; if not, step 537 is executed.

[0240] In steps 534-536, the required charging power is divided by the power of a single charging module, and the quotient is rounded down to obtain the number of charging modules that the charging demand is greater than, which is recorded as n-1, where n is a positive integer greater than 1; then, the n charging modules are charged, and the charging power for each charging module is the required charging power / n.

[0241] In steps 537-538, a single charging module is charged, and the charging power is the required charging power.

[0242] Through the method in the above embodiment, the number of charging modules to be charged and the charging power for each charging module can be determined according to the required charging power, thereby improving the adaptive capability of charging.

[0243] In some embodiments, the charging energy management strategy is shown in Figure 5D. In some embodiments, the "optimal power-efficiency mode" characteristic curve can be determined based on the operating characteristics of the charging system.

[0244] In step 541 , the control system state observer is used to obtain the hydraulic pump flow rate p, the hydraulic pump pressure Q, the speed n of each motor, and the battery SOC in real time.

[0245] In step 542, the required power P of the vehicle is calculated based on the acquired system state parameters. d , and set the output power of the industrial grid to P e , the output power of the battery system is P b The formula for calculating the required power of the entire vehicle is as follows.

[0246] In the above formula, P d is the required power of the whole machine, η t is the vehicle efficiency, P t The operating power of the vehicle.

[0247] In step 543, according to the calculated total power requirement P d The state of the battery and the current SOC determine the working mode of the charging system.

[0248] In some embodiments, the decision logic may be as shown in steps 544-557. In some embodiments, the SOCmin 、 SOC LLC_min , SOC ULC_max , SOC max The relationship between is shown in FIG5E .

[0249] In step 544, it is determined whether the battery SOC is below the lower limit SOC min and upper limit SOC max If the battery SOC is between the lower limit SOC min and upper limit SOC max If the battery SOC is not within the lower limit SOC, then step 545 is executed; min and upper limit SOC max , then execute step 552.

[0250] In step 545, the required power P of the whole machine is determined. d Is it greater than 0. If P d If it is greater than 0, that is, the whole machine has a demand for energy consumption, then execute step 549. d If it is less than or equal to 0, that is, the entire machine currently has no energy consumption demand, then step 546 is executed.

[0251] In step 546, it is determined whether the current charge is less than the upper hysteresis value SOC ULC_max If the current SOC is less than SOC ULC_max , then execute step 548; if the current power is greater than or equal to SOC ULC_max , then execute step 547.

[0252] In step 547 , it is determined that there is currently no need to charge the battery and no need to provide electrical energy to the entire machine for consumption, and the recovered electrical energy is dissipated through mechanical braking or a resistance barrier.

[0253] In step 548 , the recovered energy is stored in the battery system.

[0254] In step 549, the required power P of the whole machine is determined. d Is it greater than the power limit P of the industrial power grid? emax The required power of the whole machine P d Greater than the limiting power P of the industrial power grid emax , then execute step 550; if the required power P of the whole machine d Less than or equal to the industrial power grid limit power P emax , then execute step 552.

[0255] In steps 550-551, it is determined to enter a hybrid driving mode of the industrial power grid and the battery system, with the charging module actuator as the main power output, the charging module outputting at optimal efficiency, the battery as the auxiliary power output, and the battery system supplementing the insufficient power of the industrial power grid.

[0256] In step 552, it is determined whether the current SOC is less than the lower hysteresis value SOC LLC_min If SOC is less than the lower hysteresis value SOC LLC_min , then execute step 553; if SOC is greater than or equal to the lower hysteresis value SOC LLC_min , then execute step 555.

[0257] In steps 553-554, the industrial grid enters a mode in which the power is independently output with optimal efficiency and the battery system is charged.

[0258] Furthermore, when the battery SOC is less than the lower limit SOC min When the battery system power is too low, in order to ensure the service life of the battery system, the battery does not work at this time:

[0259] ①When the whole machine requires power P d Less than the industrial grid limit power P emax When the system is running, it enters the industrial grid-only driving efficiency optimization mode and charges the battery system;

[0260] ②When the whole machine requires power P d Greater than the industrial grid limit power P emax When the power is turned on, it enters the industrial grid-only driving efficiency optimization mode.

[0261] This method can ensure the service life of the battery system while giving priority to ensuring the normal operation. Secondly, the power of the surplus charging module can be used to charge the battery system to achieve full utilization of electrical energy.

[0262] In step 555, the power requirement P of the whole machine is determined. d Is it less than the power limit P of the battery system? bmax The required power of the whole machine P d Less than the power limit P of the battery system bmax , then execute step 556; if the required power P of the whole machine d Greater than or equal to the power limit P of the battery system bmax , then execute step 550.

[0263] In steps 556-557, the pure electric mode is entered where the battery system is the only driving mode.

[0264] Based on the method in the embodiment shown above, it is possible to flexibly switch the source of driving power according to information such as the remaining power, the power demand of the entire machine, and the limited power of the industrial power grid, thereby improving the flexibility of the excavator's electronic control, improving the ability to complete operations, and facilitating timely charging and improving continuous operation capabilities.

[0265] A schematic diagram of some embodiments of the excavator control system 61 of the present disclosure is shown in FIG6 .

[0266] The electric swing controller 611 can control the operating state of the swing motor, including the energy recovery state. The swing motor is connected to a speed reducer to provide power for the swing function of the electric excavator's upper body. In some embodiments, the electric swing controller 611 can perform the control operations for the swing system described in any of the above embodiments.

[0267] The travel controller 612 can control the operating state of the travel motor, which is located in the lower body of the electric excavator and provides power for the electric excavator's movement and steering. In some embodiments, the travel controller 612 can perform the operations corresponding to the embodiment of Figure 3. In some embodiments, the travel controller 612 can perform the control operations for the travel system in any of the above embodiments.

[0268] The electric drive hydraulic controller 613 can control the working state of the hydraulic pump motor, wherein the hydraulic pump motor is connected to the hydraulic pump to provide power for the hydraulic pump. In some embodiments, the electric drive hydraulic controller 613 can perform the control operation of the hydraulic system in any of the above embodiments.

[0269] The energy management controller 614 can manage at least one of energy consumption, energy recovery, and charging of the excavator according to the remaining power of the battery. In some embodiments, the energy management controller 614 can perform the control operations in any of the embodiments described above, such as those in FIG. 5A-5E .

[0270] Such an excavator control system can control the excavator's slewing system, traveling system, and hydraulic system respectively by controlling the slewing motor, traveling motor, and hydraulic pump motor. In addition, it can also dispatch the battery system and charging system according to the remaining power, thereby realizing the electric control of the entire excavator and improving the environmental friendliness of the excavator. By recovering the energy of the slewing motor, it can improve the energy recovery efficiency and improve the endurance of the excavator.

[0271] In some embodiments, as shown in FIG6 , the excavator control system further includes a vehicle controller 615 , which is electrically connected to the electric slewing controller, the travel controller, the electric drive hydraulic controller, the energy management controller, as well as the battery system, the pressure sensor and the operating mechanism of the hydraulic system, and is capable of parsing operating instructions, monitoring the vehicle status and sending vehicle control instructions.

[0272] Such an excavator control system can monitor the status of the entire vehicle, analyze the operating instructions provided by the operator on the human-computer interaction device on the excavator, and generate control instructions that are easy for the equipment to execute based on the control information generated by other parts of the excavator control system, thereby improving the system's human-computer interaction and adaptability.

[0273] A structural diagram of an embodiment of the excavator control system disclosed in the present invention is shown in FIG7 . The excavator control system includes a memory 701 and a processor 702 . Wherein: the memory 701 can be a disk, a flash memory or any other non-volatile storage medium. The memory is used to store the instructions in the corresponding embodiment of the excavator control method described above. The processor 702 is coupled to the memory 701 and can be implemented as one or more integrated circuits, such as a microprocessor or a microcontroller. The processor 702 is used to execute the instructions stored in the memory, which can realize the electric control of the entire excavator, improve the environmental friendliness of the excavator, improve the efficiency of power recovery, and improve the endurance of the excavator.

[0274] In one embodiment, as shown in FIG8 , an excavator control system 800 includes a memory 801 and a processor 802. The processor 802 is coupled to the memory 801 via a BUS 803. The excavator control system 800 can also be connected to an external storage device 805 via a storage interface 804 to access external data, and can also be connected to a network or another computer system (not shown) via a network interface 806. A detailed description is omitted here.

[0275] In this embodiment, by storing data instructions in a memory and then processing the above instructions through a processor, the entire excavator can be electrically controlled, thereby improving the environmental friendliness of the excavator, improving the efficiency of power recovery, and improving the endurance of the excavator.

[0276] In another embodiment, a computer-readable storage medium stores computer program instructions thereon, which, when executed by a processor, implement the steps of the method in the corresponding embodiment of the excavator control method. It should be understood by those skilled in the art that the embodiments of the present disclosure can be provided as methods, devices, or computer program products. Therefore, the present disclosure can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present disclosure can take the form of a computer program product implemented on one or more computer-usable non-transitory storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0277] A schematic diagram of some embodiments of the excavator disclosed herein is shown in FIG9 .

[0278] The electric swing system 921 can perform the upper vehicle body swing operation of the excavator. In some embodiments, the electric swing system includes a swing motor, a safety device and a swing operation device.

[0279] The travel system 922 can perform travel and steering operations of the lower body of the excavator. In some embodiments, the travel system includes a travel motor and a travel operating device.

[0280] The electric drive hydraulic system 923 can control the working operation of the excavator. In some embodiments, the electric drive hydraulic system includes a hydraulic pump motor, a hydraulic pump, a hydraulic system actuator and a hydraulic system operating device.

[0281] The battery system 924 is capable of storing and providing electrical energy. In some embodiments,

[0282] The charging system 925 can perform at least one of replenishing the battery system with power or providing power for the whole machine to work. In some embodiments,

[0283] The excavator control system 91 can be any one of the ones mentioned above.

[0284] In such an excavator, the excavator control system can control the excavator's slewing system, traveling system, and hydraulic system respectively by controlling the slewing motor, traveling motor, and hydraulic pump motor. In addition, it can also dispatch the battery system and charging system according to the remaining power, thereby realizing the electric control of the entire excavator and improving the environmental friendliness of the excavator. By recovering the energy of the slewing motor, the energy recovery efficiency can be improved, thereby improving the endurance of the excavator.

[0285] Schematic diagrams of other embodiments of the excavator disclosed herein are shown in FIG10 .

[0286] The electric-drive hydraulic system includes a hydraulic pump motor 1032, a hydraulic pump motor controller 1031, a hydraulic pump 1033, a hydraulic system actuator 1034, and a hydraulic system operating device 1011. The hydraulic pump motor 1032 provides power to the hydraulic pump and is connected to the hydraulic pump 1033 to provide power to the hydraulic pump. The hydraulic pump motor controller 1031 is connected to the hydraulic pump motor 1032 and receives control commands or vehicle status from the vehicle controller 1021 to control the start and stop of the hydraulic pump motor. The hydraulic pump 1033 provides pressurized fluid for the hydraulic transmission and is a hydraulic component that converts the mechanical energy of the drive motor into pressure energy of the fluid. The hydraulic system operating device 1034 is an operating mechanism that allows the driver to adjust the flow or pressure of the hydraulic system, achieving load regulation of the hydraulic system. The hydraulic system operating device 1011 controls the pump motor and hydraulic system actuator through the vehicle controller.

[0287] The walking system includes a walking motor (including a first walking motor 1042 and a second walking motor 1044), a walking motor controller (including a first walking motor controller 1041 and a second walking motor controller 1043), and a walking operating device 1012. The walking motor is installed on the lower body of the electric excavator. In some embodiments, it can be divided into two motors, left and right (or front and rear), to provide power for the electric excavator to realize functions such as walking and steering. The walking motor controller is connected to the vehicle controller 1021, receives control instructions or vehicle status transmitted by the vehicle controller, and controls the start or stop of the walking motor. The walking operating device 1012 is an operating mechanism for an operator (such as a driver) to control the walking motor. It is divided into a first and a second (or left and right, or front and rear) walking operating devices, which respectively control the first and second (or left and right, or front and rear) walking motors.

[0288] The electric slewing system includes a slewing motor 1052, a slewing motor controller 1051, a safety device 1053, and a slewing operating device 1013. The slewing motor 1052 is mounted on the upper body of the electric excavator and connected to a speed reducer, providing power for the upper body's slewing function. The slewing motor controller 1051 is connected to the vehicle controller 1021, receiving control commands or vehicle status from the vehicle controller to start or stop the slewing motor. The safety device 1053 is used to reduce motor speed or lock the motor in an emergency, providing safety protection. The safety device 1053 includes a brake and a solenoid valve. The brake is used to slow down or lock the motor and is connected to the solenoid valve. The solenoid valve controls whether the brake is applied or locked and is connected to the main controller. The slewing operating device 1013 allows the operator to input slewing system operations. The slewing operating device includes a slewing handle and a brake switch. The slewing handle is the operating signal input of the electric slewing system and is connected to the main controller to control the slewing motion of the electric slewing system. The brake switch is the brake input signal and is connected to the main controller to control the start and stop of the brake.

[0289] The vehicle controller 1021 is the whole machine control center, which is connected to the motor controller, battery system, pressure sensor and hydraulic system operating mechanism. It plays the role of parsing operating instructions, monitoring the vehicle status and sending vehicle control instructions.

[0290] The battery system 1061 provides power to the electric drive system, ensuring the normal operation of the entire electric drive system. The battery system is connected to the hydraulic pump motor, travel motor, rotary motor and motor controller.

[0291] The charging system mainly plays the role of replenishing the battery system with power or providing power for the entire machine to work, including the PDU distribution box 1062, high-voltage accessories 1053, junction box 1054 and charging module 1055. The charging system is connected to the battery system.

[0292] Such an excavator realizes electric rotation control, distributed drive control, electric drive hydraulic adaptive control, vehicle energy management control and charging energy management control of a pure electric excavator. Through distributed drive and energy recovery management during electric rotation, the electric energy generated by the motor can be recovered to extend the working time. At the same time, the charging energy management control realizes the on-load charging function of the pure electric excavator, which can reduce the vehicle battery capacity and reduce the cost of the whole vehicle.

[0293] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram and the combination of the processes and / or boxes in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0294] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0295] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0296] The present disclosure has been described in detail so far. To avoid obscuring the concept of the present disclosure, some details known in the art have not been described. Based on the above description, those skilled in the art can fully understand how to implement the technical solutions disclosed herein.

[0297] The methods and apparatus of the present disclosure may be implemented in many ways. For example, the methods and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above, unless otherwise specifically stated. In addition, in some embodiments, the present disclosure may also be implemented as programs recorded in a recording medium, which include machine-readable instructions for implementing the methods according to the present disclosure. Therefore, the present disclosure also covers recording media that store programs for executing the methods according to the present disclosure.

[0298] It should be noted that the terms "first", "second", etc. in the specification, claims, and drawings of the present disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way are interchangeable where appropriate so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or apparatus.

[0299] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure and not to limit it. Although the present disclosure has been described in detail with reference to the preferred embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present disclosure can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solutions of the present disclosure, which should all be included in the scope of the technical solutions requested for protection in the present disclosure.

Claims

1. A method for controlling an excavator, comprising: Controlling the working states of the slewing motor, the traveling motor and the hydraulic pump motor, wherein the working state of the slewing motor includes an energy recovery state, the slewing motor is connected to the reducer to provide power for the slewing function of the upper body of the electric excavator, the traveling motor is located in the lower body of the electric excavator to provide power for the traveling and steering of the electric excavator, and the hydraulic pump motor is connected to the hydraulic pump to provide power for the hydraulic pump; and At least one of energy consumption, energy recovery, and charging of the excavator is managed according to the remaining power of the battery.

2. The excavator control method according to claim 1, wherein: The working status of the control rotary motor includes: When the rotary mechanism is on a horizontal plane, the rotation speed value of the rotary motor is controlled based on a fuzzy control method; When the rotary mechanism is on an inclined surface, the rotation speed of the rotary motor is controlled according to the state of the rotary mechanism on the inclined surface. The rotation speed value includes the rotation speed magnitude and the rotation speed direction.

3. The excavator control method according to claim 1, wherein: The working status of the travel motor is controlled as follows: Determining the rotation speed value of the travel motor according to the opening value of the travel operating device, wherein the travel motor directly drives the excavator to travel; and A control instruction is sent to the travel motor according to the rotation speed value.

4. The excavator control method according to claim 3, wherein: Controlling the working state of the travel motor also includes: sending a constant speed instruction to the travel motor according to the change rate of the opening value of the travel operating device.

5. The excavator control method according to claim 1, wherein: Control the working status of the hydraulic pump motor including: Determine the hydraulic load, and determine the target speed of the hydraulic pump motor according to the corresponding relationship between the hydraulic load and the speed of the hydraulic pump motor; and The hydraulic pump motor is controlled to approach the target speed of the hydraulic pump motor according to the target speed of the hydraulic pump motor.

6. The excavator control method according to claim 1, wherein: Managing at least one of energy consumption, energy recovery, and charging of the excavator according to the remaining power of the battery includes at least one of the following: According to the remaining power of the battery, at least one of the functions that can be enabled or prohibited from being enabled is determined, wherein the functions include the cab thermal management function, the hydraulic system thermal management function, the walking function, the electric drive function and the electric return function. Transfer function; Controlling the opening or closing of at least one of the electric swing system or the travel system for energy recovery according to the remaining power of the battery; or The working mode of the charging system is determined according to the required power and the remaining power of the battery. The working modes of the charging system include: pure electric mode, hybrid drive mode of industrial power grid and battery system, industrial power grid alone drive mode, industrial power grid alone drive and battery system charging mode, energy recovery mode and energy dissipation mode.

7. The excavator control method according to claim 2, wherein: The working state of the slewing motor controlled by the excavator vehicle controller includes at least one of the following: When the slewing mechanism is on a horizontal plane, if the slewing speed of the slewing mechanism is greater than a first safety threshold or the opening of the slewing handle is reduced, a regenerative braking instruction is sent to the slewing motor so that the slewing motor switches to an energy recovery state; or When the rotary mechanism is on an inclined surface, if the direction of the rotation speed fed back by the rotary motor is the same as the direction of the opening of the rotary handle, the rotary motor is in an energy recovery state. Wherein, in the energy recovery state, the rotary motor generates electrical energy and stores it in the battery system.

8. The excavator control method according to claim 7, wherein: The method of controlling the rotation speed of the rotary motor based on the fuzzy control method further includes: Determining in real time the opening value of the rotary handle and an indication of the rate of change of the opening value; Determine a target speed value of the rotary motor based on the relationship between the fuzzy subset of the opening value determined by the fuzzy control method, the fuzzy subset of the change rate identifier of the opening value, and the speed of the rotary motor; and The rotary motor is controlled to rotate at the target speed value.

9. The excavator control method according to claim 8, wherein: The method meets at least one of the following requirements: When the swing handle is in the middle position, the opening value is the first value, and the electric swing system is stationary; When the rotary handle moves from the neutral position to the predetermined direction, the electric rotary system performs a clockwise rotary operation, and the opening value is a second value; When the rotary handle moves from the neutral position to the direction opposite to the predetermined direction, the electric rotary system performs a counterclockwise rotary operation, and the opening value is a third value; When the opening of the rotary handle remains unchanged, the rate of change of the opening value is marked as a fourth value; or When the opening degree of the rotary handle changes at a maximum speed, the change rate of the opening degree value is identified as a fifth value.

10. The excavator control method according to claim 8 or 9, wherein: The method of controlling the rotation speed of the rotary motor based on the fuzzy control method further includes: Determine the corresponding rotation speed of the rotation mechanism according to the actual motor speed of the rotary motor; If the rotation speed of the slewing mechanism is greater than a second safety threshold, the length of time after the regenerative braking command is issued exceeds a predetermined time threshold, and the speed of the slewing motor remains unchanged or increases, a safety device is activated to reduce the rotation speed; If the brake switch in the rotary operating device is turned on, the safety device is controlled to retract the rotary motor and a speed return instruction is sent to the rotary motor; and If the brake switch in the swing operating device is turned off, the safety device is controlled to release the swing motor.

11. The excavator control method according to claim 7, wherein: The step of controlling the rotation speed of the rotary motor according to the state of the rotary mechanism on the inclined surface comprises: If the rotary mechanism is at rest on the inclined surface, receiving the motor speed fed back by the rotary motor, and determining whether there is an input to the rotary operating device; If there is no input to the rotary operating device, a speed value opposite to the feedback motor speed is sent to the rotary motor; and If there is an input to the swing operation device, swing control is performed according to the input signal of the swing operation device.

12. The excavator control method according to claim 11, wherein: The step of controlling the rotation speed of the rotary motor according to the state of the rotary mechanism on the inclined surface further comprises: If the slewing mechanism remains stationary on the inclined surface and does not receive input from the slewing operating device for a duration exceeding the third safety threshold after sending a speed value opposite to the feedback motor speed to the slewing motor, then Controlling the safety device to retract the rotary motor and sending a speed return instruction to the rotary motor; If the brake switch in the rotary operating device is turned on, the safety device is controlled to retract the rotary motor and a speed return instruction is sent to the rotary motor; and If the brake switch in the swing operating device is turned off, the safety device is controlled to release the swing motor.

13. The excavator control method according to claim 11, wherein: The step of controlling the rotation speed of the rotary motor according to the state of the rotary mechanism on the inclined surface further comprises: If the rotary mechanism is in a descending rotary state or an ascending rotary state on the inclined surface, then Determining in real time the opening value of the rotary handle and an indication of the rate of change of the opening value; Determine a target speed value of the rotary motor based on the relationship between the fuzzy subset of the opening value determined by the fuzzy control method, the fuzzy subset of the change rate identifier of the opening value, and the speed of the rotary motor, wherein if the rotary mechanism is in a descending rotary state, the speed direction of the target speed value is the same as the opening direction of the rotary handle, and if the rotary mechanism is in an ascending rotary state, the speed direction of the target speed value is opposite to the opening direction of the rotary handle; and The rotary motor is controlled to rotate at the target speed value.

14. The excavator control method according to claim 13, wherein: When the rotary mechanism is on an inclined surface, controlling the rotation speed of the rotary motor according to the state of the rotary mechanism on the inclined surface further comprises: Determine the corresponding rotation speed of the rotation mechanism according to the actual motor speed of the rotary motor; If the rotation speed of the rotation mechanism is greater than a fourth safety threshold, the length of time after the regenerative braking command is issued exceeds a predetermined time threshold, and the speed of the rotation motor remains unchanged or increases, a safety device is activated to reduce the rotation speed; and If the brake switch in the rotary operating device is turned on, the safety device is controlled to tighten the rotary motor and send a speed return to zero instruction to the rotary motor.

15. The excavator control method according to claim 7, wherein: When the rotary mechanism is on an inclined surface, controlling the rotation speed value of the rotary motor according to the state of the rotary mechanism on the inclined surface further includes at least one of the following: When the rotation speed direction of the rotary motor feedback is opposite to the direction of the rotary handle opening, it is determined that the rotary mechanism is switched from the static state to the ascending rotary state; When the rotation speed direction of the rotary motor feedback is the same as the opening direction of the rotary handle, determining that the rotary mechanism is switched from a stationary state to a descending rotary state; When the rotation speed of the rotation mechanism is greater than the set rising rotation speed threshold, the opening of the rotation handle is greater than the set handle opening threshold, and the rotation speed direction of the rotation motor feedback is the same as the opening direction of the rotation handle, it is determined that the rotation mechanism is switched from the rising rotation state to the falling rotation state; or When the rotation speed of the rotation mechanism is less than the set descending rotation speed threshold, and the opening of the rotation handle is greater than the set When a handle opening threshold is determined and the rotation speed direction of the rotary motor feedback is opposite to the opening direction of the rotary handle, it is determined that the rotary mechanism is switched from the descending rotary state to the ascending rotary state.

16. The excavator control method according to claim 3 or 4, wherein: Determining the speed value of the travel motor according to the opening value of the travel operating device includes: Determine a rotation speed direction according to a combination of an opening value of the first travel operating device and an opening value of the second travel operating device, wherein the rotation speed direction includes stationary, forward, backward, forward left turn, forward right turn, backward left turn, and backward right turn; and The speed of the first travel motor is determined according to the opening value of the first travel operating device, and the speed of the second travel motor is determined according to the opening value of the second travel operating device, wherein the speed value includes the speed size and the speed direction.

17. The excavator control method according to claim 4, wherein: The working status of the travel motor is also controlled: When the rate of change of the opening value of the travel operating device is 0, If the excavator is in a forward state, a constant speed instruction in a first direction is sent to the travel motor; and If the excavator is in a backward state, a constant speed instruction in a second direction is sent to the travel motor.

18. The excavator control method according to claim 5, wherein: The step of determining the hydraulic load and determining the target speed of the hydraulic pump motor according to the corresponding relationship between the hydraulic load and the speed of the hydraulic pump motor comprises: Determining the hydraulic load according to the pressure value output by the pressure sensor, wherein the pressure sensor is installed at the output end of the hydraulic pump; Determining a corresponding ideal speed according to the pressure interval in which the hydraulic load is located, wherein the ideal speed is determined by clustering operation within a pressure interval corresponding to the pressure interval according to a corresponding relationship between the pressure interval and the speed interval; and The target speed of the hydraulic pump motor is determined according to the ideal speed and the speed error.

19. The excavator control method according to claim 5, wherein: The controlling the hydraulic pump motor to approach the target speed of the hydraulic pump motor according to the target speed of the hydraulic pump motor comprises: sending a control signal to the hydraulic pump motor according to a target speed of the hydraulic pump motor; Based on a fuzzy control method, determining a speed gain of the hydraulic pump motor according to a speed deviation between the ideal speed and an actual speed of the hydraulic pump motor and the hydraulic load; and The control signal sent to the hydraulic pump motor is adjusted in real time according to the speed gain to control the hydraulic pump motor. The pressure pump motor approaches the target speed of the hydraulic pump motor.

20. The excavator control method according to claim 18, wherein: The step of determining the hydraulic load and determining the target speed of the hydraulic pump motor according to the corresponding relationship between the hydraulic load and the speed of the hydraulic pump motor further includes at least one of the following: When the change value of the hydraulic load within a predetermined time length is less than a predetermined idle pressure threshold and no operation instruction is received, determining the target speed of the hydraulic pump motor to be a predetermined idle speed; or When the change value of the hydraulic load within a predetermined time length is greater than or equal to the predetermined idle pressure threshold, or when at least one of the operation instructions is received, the operation of determining the corresponding ideal speed according to the pressure range of the hydraulic load is performed.

21. The excavator control method according to claim 6, wherein: Managing the energy consumption of the excavator according to the remaining charge of the battery includes at least one of the following: When the remaining power of the battery is greater than or equal to the first power threshold, the functions allowed to be turned on include the cab thermal management function, the hydraulic system thermal management function, the walking function, the electric drive function and the electric swing function; When the remaining power of the battery is greater than or equal to the second power threshold and less than the first power threshold, the functions allowed to be enabled include the hydraulic system thermal management function, the walking function, the electric drive function and the electric swing function, and the functions prohibited from being enabled include the cab thermal management function; or When the remaining power of the battery is less than the second power threshold, the functions that are allowed to be activated include the walking function and the functions of the electric rotation function except for adjusting the cab to the forward direction, and the functions that are prohibited from being activated include the function of adjusting the cab to the forward direction in the electric rotation function, the cab thermal management function, the hydraulic system thermal management function, and the electric drive function.

22. The excavator control method according to claim 21, wherein: Managing the excavator's energy recovery based on the remaining charge of the battery includes at least one of the following: When the speed control instruction of the rotary motor is a predetermined first value, the absolute value of the speed value fed back by the rotary motor is greater than a predetermined first energy recovery threshold, and the remaining power of the battery is less than a third power threshold, controlling the electric rotary system to perform energy recovery; or When the speed control instruction of the walking motor is a predetermined second value, the absolute value of the speed value fed back by the walking motor is greater than a predetermined second energy recovery threshold, and the remaining power of the battery is less than a fourth power threshold, the walking system is controlled to perform energy recovery.

23. The excavator control method according to claim 6, wherein: Managing the excavator's charging based on the battery's remaining charge includes: When the remaining power is between a predetermined power upper limit and a predetermined power lower limit, at least one of the following is performed: If the required power is greater than the limited power of the industrial power grid, the working mode is the hybrid driving mode, wherein in the hybrid driving mode, the industrial power grid outputs at the optimal efficiency and the battery system supplements; If the required power is greater than 0 and less than the limited power of the industrial power grid, and the remaining power is less than the lower limit hysteresis value, the working mode is a mode in which the industrial power grid is driven alone and the battery system is charged; If the required power is greater than 0 and less than the limited power of the industrial power grid, the remaining power is greater than the lower limit hysteresis value, and the required power is less than the limited power of the battery system, then the working mode is the pure electric mode; If the demand is greater than 0 and less than the power limit of the industrial power grid, the remaining power is greater than the lower hysteresis value, and the demand power is greater than the power limit of the battery system, then the working mode is the hybrid drive mode; If the demand is less than or equal to 0, and the remaining power is less than the upper hysteresis value, the working mode is the energy recovery mode; or If the demand is less than or equal to 0, and the remaining power is greater than or equal to the upper hysteresis value, then the working mode is the energy dissipation mode.

24. The excavator control method according to claim 6, wherein: Managing the charging of the excavator based on the remaining charge of the battery includes at least one of the following: If the required power is less than the limited power of the industrial power grid, determining that the working mode is a mode in which the industrial power grid is driven alone and the battery system is charged; or If the required power is greater than the limited power of the industrial power grid, the working mode is determined to be the industrial power grid independent driving mode.

25. An excavator control system, comprising: An electric swing controller configured to control the working state of the swing motor, wherein the working state of the swing motor includes an energy recovery state, the swing motor is connected to a reducer to provide power for the swing function of the vehicle body on the electric excavator; A travel controller, configured to control the working state of a travel motor, wherein the travel motor is located at the lower body of the electric excavator and provides power for the travel and steering of the electric excavator; an electric-driven hydraulic controller configured to control the working state of a hydraulic pump motor, wherein the hydraulic pump motor is connected to the hydraulic pump to provide power for the hydraulic pump; and The energy management controller is configured to manage at least one of energy consumption, energy recovery, and charging of the excavator according to the remaining power of the battery.

26. The excavator control system according to claim 25, further comprising: The vehicle controller is electrically connected to the electric swing controller, travel controller, electric drive hydraulic controller, energy management controller, as well as the battery system, pressure sensor and hydraulic system operating mechanism, and is configured to parse operating instructions, monitor the vehicle status and send vehicle control instructions.

27. An excavator control system, comprising: Memory; as well as A processor coupled to the memory, the processor being configured to execute the method according to any one of claims 1 to 24 based on instructions stored in the memory.

28. A computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the steps of the method according to any one of claims 1 to 24.

29. An excavator, comprising: An electric swing system configured to perform an upper body swing operation of the excavator; A traveling system configured to perform traveling and steering operations of a lower body of the excavator; An electric-driven hydraulic system configured to control the working operation of the excavator; a battery system configured to store and provide electrical energy; A charging system configured to perform at least one of replenishing power for the battery system or providing power for the whole machine; and An excavator control system as described in any one of claims 25 to 27.

30. The excavator according to claim 29, wherein: The excavator meets at least one of the following requirements: The electric swing system includes a swing motor, a safety device and a swing operating device; The walking system includes a walking motor and a walking operating device; or The electric drive hydraulic system includes a hydraulic pump motor, a hydraulic pump, a hydraulic system actuator and a hydraulic system operating device.

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