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Engineering machinery rotation structure control method and device, electronic equipment and engineering machinery
The invention provides an engineering machinery rotation structure control method and device, electronic equipment and engineering machinery, and provides a method for stably releasing elastic potential energy in the engineering machinery when rotation of the engineering machinery is hindered. A motor of the engineering machinery is controlled to continuously output working torque in the original rotation direction, certain resistance is provided for release of elastic potential energy, and it is guaranteed that no large resilience force is generated in the whole elastic release process, so that the engineering machinery is unstable. Along with release of the elastic potential energy, the working torque output by the motor in the original rotation direction is gradually reduced until the working torque is equal to the first torque value. The working torque is set to be reduced to the first torque value instead of being reduced to zero, and it is considered that in some cases, when the working torque is directly reduced to zero, the interior of the rotary structure collides due to inertia, and the stability of engineering machinery is affected. Therefore, the first torque value can be set according to actual needs so as to ensure that the engineering machinery is still kept stable at the end of releasing the elastic potential energy.
本申请提供了一种工程机械回转结构控制方法、装置、电子设备和工程机械，以提供一种稳定释放工程机械回转被阻碍时工程机械内部的弹性势能的方法。通过控制工程机械的电机向原回转方向继续输出工作扭矩，为弹性势能的释放提供一定阻力，保证在整个弹性释放的过程中不会产生较大的回弹力使得工程机械不稳定。随着弹性势能的释放，逐渐减小电机向原回转方向输出的工作扭矩直至等于第一扭矩值。设置将工作扭矩减小至第一扭矩值而不是减少到零，是考虑到有些情况下，直接将工作扭矩减少至零时，回转结构内部会由于惯性发生碰撞，影响工程机械的稳定。因此，第一扭矩值可以根据实际需要设置，以保证在弹性势能释放的最后，工程机械仍然保持稳定。
Engineering machinery rotation structure control method and device, electronic equipment and engineering machinery
The invention provides an engineering machinery rotation structure control method and device, electronic equipment and engineering machinery, and provides a method for stably releasing elastic potential energy in the engineering machinery when rotation of the engineering machinery is hindered. A motor of the engineering machinery is controlled to continuously output working torque in the original rotation direction, certain resistance is provided for release of elastic potential energy, and it is guaranteed that no large resilience force is generated in the whole elastic release process, so that the engineering machinery is unstable. Along with release of the elastic potential energy, the working torque output by the motor in the original rotation direction is gradually reduced until the working torque is equal to the first torque value. The working torque is set to be reduced to the first torque value instead of being reduced to zero, and it is considered that in some cases, when the working torque is directly reduced to zero, the interior of the rotary structure collides due to inertia, and the stability of engineering machinery is affected. Therefore, the first torque value can be set according to actual needs so as to ensure that the engineering machinery is still kept stable at the end of releasing the elastic potential energy.
本申请提供了一种工程机械回转结构控制方法、装置、电子设备和工程机械，以提供一种稳定释放工程机械回转被阻碍时工程机械内部的弹性势能的方法。通过控制工程机械的电机向原回转方向继续输出工作扭矩，为弹性势能的释放提供一定阻力，保证在整个弹性释放的过程中不会产生较大的回弹力使得工程机械不稳定。随着弹性势能的释放，逐渐减小电机向原回转方向输出的工作扭矩直至等于第一扭矩值。设置将工作扭矩减小至第一扭矩值而不是减少到零，是考虑到有些情况下，直接将工作扭矩减少至零时，回转结构内部会由于惯性发生碰撞，影响工程机械的稳定。因此，第一扭矩值可以根据实际需要设置，以保证在弹性势能释放的最后，工程机械仍然保持稳定。
Engineering machinery rotation structure control method and device, electronic equipment and engineering machinery
工程机械回转结构控制方法、装置、电子设备和工程机械
WEI SHENGJIE (author) / CAI YOUSHI (author)
2024-08-30
Patent
Electronic Resource
Chinese
IPC:
E02F
Baggern
,
DREDGING
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