A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Control method, control device and controller for excavator and excavator
The embodiment of the invention provides a control method and device for an excavator, a controller and the excavator. The control method for the excavator comprises the steps that the deviation angle of an operation handle of the excavator is obtained; under the condition that the deviation angle is zero, the rotating speed of a rotating motor of the excavator is obtained; under the condition that the rotating speed is not zero, the target maximum rotating speed and the target maximum braking angle of a rotating platform of the excavator and the rotating direction of a rotating motor are obtained; determining a target brake torque of the rotary motor according to the target maximum rotary speed and the target maximum brake angle; determining a target braking direction of the rotary motor according to the rotating direction; and controlling the rotary motor to start the braking process according to the target braking torque and the target braking direction. According to the embodiment of the invention, energy recovery during rotation braking can be realized, the characteristic response curve, the target maximum rotation speed and the target maximum braking angle are set, the operation efficiency and the response speed are improved, overflow loss is avoided during rotation starting, and the control experience is optimized.
本发明实施例提供一种用于挖掘机的控制方法、控制装置、控制器和挖掘机，用于挖掘机的控制方法包括：获取挖掘机的操作手柄的偏移角度；在偏移角度为零的情况下，获取挖掘机的回转电机的转速；在转速不为零的情况下，获取挖掘机的回转平台的目标最大回转速度及目标最大制动角度和回转电机的转动方向；根据目标最大回转速度和目标最大制动角度确定回转电机的目标制动扭矩；根据转动方向确定回转电机的目标制动方向；以及根据目标制动扭矩和目标制动方向控制回转电机开始制动过程。本发明实施例可以实现回转制动时的能量回收，设置特性响应曲线、目标最大回转速度和目标最大制动角度，提高运行效率和响应速度，回转起动时无溢流损失，优化操控体验。
Control method, control device and controller for excavator and excavator
The embodiment of the invention provides a control method and device for an excavator, a controller and the excavator. The control method for the excavator comprises the steps that the deviation angle of an operation handle of the excavator is obtained; under the condition that the deviation angle is zero, the rotating speed of a rotating motor of the excavator is obtained; under the condition that the rotating speed is not zero, the target maximum rotating speed and the target maximum braking angle of a rotating platform of the excavator and the rotating direction of a rotating motor are obtained; determining a target brake torque of the rotary motor according to the target maximum rotary speed and the target maximum brake angle; determining a target braking direction of the rotary motor according to the rotating direction; and controlling the rotary motor to start the braking process according to the target braking torque and the target braking direction. According to the embodiment of the invention, energy recovery during rotation braking can be realized, the characteristic response curve, the target maximum rotation speed and the target maximum braking angle are set, the operation efficiency and the response speed are improved, overflow loss is avoided during rotation starting, and the control experience is optimized.
本发明实施例提供一种用于挖掘机的控制方法、控制装置、控制器和挖掘机，用于挖掘机的控制方法包括：获取挖掘机的操作手柄的偏移角度；在偏移角度为零的情况下，获取挖掘机的回转电机的转速；在转速不为零的情况下，获取挖掘机的回转平台的目标最大回转速度及目标最大制动角度和回转电机的转动方向；根据目标最大回转速度和目标最大制动角度确定回转电机的目标制动扭矩；根据转动方向确定回转电机的目标制动方向；以及根据目标制动扭矩和目标制动方向控制回转电机开始制动过程。本发明实施例可以实现回转制动时的能量回收，设置特性响应曲线、目标最大回转速度和目标最大制动角度，提高运行效率和响应速度，回转起动时无溢流损失，优化操控体验。
Control method, control device and controller for excavator and excavator
用于挖掘机的控制方法、控制装置、控制器和挖掘机
CAI WEN (author) / MA YINGLI (author) / ZHANG SHIYOU (author)
2022-04-29
Patent
Electronic Resource
Chinese
IPC:
E02F
Baggern
,
DREDGING
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