CN107251409A - Slewing equipment - Google Patents
Slewing equipment Download PDFInfo
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- CN107251409A CN107251409A CN201680006953.6A CN201680006953A CN107251409A CN 107251409 A CN107251409 A CN 107251409A CN 201680006953 A CN201680006953 A CN 201680006953A CN 107251409 A CN107251409 A CN 107251409A
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- rotary motor
- rotation
- interval
- motor
- controller
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- 238000012360 testing method Methods 0.000 claims description 36
- 230000007246 mechanism Effects 0.000 claims description 20
- 230000014509 gene expression Effects 0.000 claims description 6
- 238000007689 inspection Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 16
- 238000000034 method Methods 0.000 description 11
- 230000009471 action Effects 0.000 description 9
- 230000008859 change Effects 0.000 description 8
- 238000001514 detection method Methods 0.000 description 8
- 238000010276 construction Methods 0.000 description 6
- 239000012530 fluid Substances 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000005299 abrasion Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 3
- 230000007423 decrease Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000008929 regeneration Effects 0.000 description 3
- 238000011069 regeneration method Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 241000602850 Cinclidae Species 0.000 description 1
- 241000283086 Equidae Species 0.000 description 1
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 230000006837 decompression Effects 0.000 description 1
- 238000010573 double replacement reaction Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The present invention provides a kind of slewing equipment.Reductor (504) transmits the rotation of rotary motor (502) to revolving body (4).Rotary motor driver (506) driving rotary motor (502).(i) the non-idling interval (T that revolving body (4) rotates when rotating rotary motor (502)A), controller (520) controls rotary motor driver (506) according to operational order value (S1).Also, (ii) even if when rotating rotary motor (502) revolving body (4) also non-rotary idle running interval (TB), controller (520) is with arrival non-idling interval (TA) before untill rotary motor (502) rotate at high speed, and reach non-idling interval (TB) when rotating speed or the mode of torque drop control rotary motor driver (506).
Description
Technical field
The present invention relates to a kind of slewing equipment.
Background technology
Possessing by the construction machinery of representative of power excavator or crane in recent years makes returning for upper rotation revolution
Rotary device.Typically, slewing equipment possesses for the rotary motor of driving rotary body and transmits the defeated of rotary motor to revolving body
The Poewr transmission mechanism gone out, can use hydraulic motor or electro-motor (motor), in Poewr transmission mechanism in rotary motor
Middle use reductor.
The anglec of rotation or rotary speed of revolving body desirably by the anglec of rotation of rotary motor, rotary speed with
The speed reducing ratio of reductor and uniquely determine.Therefore, as the revolving body in excavator angular surveying mode, be rarely employed straight
The angular sensor for the rotation information (anglec of rotation, rotary speed, angular velocity of rotation etc.) for fetching swivel is obtained, typically, if
Put the angular transducer for the rotation information for obtaining rotary motor, output valve and deceleration using the angular transducer of rotary motor
Than using the metering system of the indirect for the angle that revolving body is obtained by calculating.
The revolving body angular surveying mode of the indirect has the advantages that the sensor without directly determining revolving body angle,
On the other hand, angular transmission error or backlash that reductor has etc. turns into error component, the angular surveying with revolving body
Accuracy deteriorate shortcoming.Moreover, when backlash makes the direction of rotation reversion of motor, the rotation for producing rotary motor is not delivered to
The interval (dead band) of revolving body, if ignore the control of the presence of backlash, the rotary motor in rotation status can be with place
In halted state revolution side gear clash, as make revolving body produce discordant vibration the reason for.
In the excavator that hydraulic motor is used as rotary motor, due to the low-response because of hydraulic motor, low rotation
The reduction of speed reducing ratio caused by high torque (HT), can not ignore influences in actual use as caused by backlash.
On the other hand, it is used in the slewing equipment in hybrid earth mover, ac motor is used as rotary motor
(electro-motor).In this case, the rising of the rotating speed caused by the height because of the response of electro-motor drastically, or it is adjoint
Increase for the backlash amount of the motor drive shaft used the conversion of high speed reducing ratio reductor corresponding with high rotation low torque, it can be seen that
Influence substantially to change as problem as caused by these backlash.
In the influence of backlash, the problem of vibration produced during the direction of rotation for switching rotary motor turns into larger.As
Technology for reducing the problem, for example, have the motor rotary speed to rotary motor in backlash is interval disclosed in patent document 1
Or torque sets the technology of limitation.
Conventional art document
Patent document
Patent document 1：No. 06/033401 pamphlet of International Publication No.
The content of the invention
The invention technical task to be solved
In the technology described in patent document 1, reduction is transmitted from rotary motor to revolving body when abjection backlash is interval
Energy, with the effect for reducing collision.However, interval in backlash, due to the rotating speed step-down of rotary motor, therefore from rotary motor
Startup or switching direction of rotation to deviate from backlash it is interval untill time it is elongated, the performance decline with revolving body
Shortcoming.This problem can also be produced in the case of using hydraulic motor as rotary motor.
The present invention be in view of this problem and complete, the exemplary first purpose of one mode is that there is provided a kind of energy
The exercise performance of revolving body is enough maintained, and suppresses the slewing equipment of vibration.
Mechanism for solving technical task
The mode of the present invention is related to a kind of slewing equipment, and it, which is equipped on, possesses walking mechanism and be equipped on freely rotating
The excavator of the upper rotation of walking mechanism, and turn round upper rotation according to operational order value.Slewing equipment possesses：
Rotary motor；Reductor, the rotation of rotary motor is transmitted to the upper rotation；1st rotation testing agency, obtains revolution horse
The rotation information reached；2nd rotation testing agency, obtains the rotation information of upper rotation；Rotary motor driver, driving revolution
Motor；And controller, control rotary motor driver.Controller and rotary motor driver are according to the rotation information of rotary motor
And the rotation information of upper rotation, and control rotary motor.
According to which, testing agency is rotated by setting the 2nd, the actual position of upper rotation can be directly obtained
Put, the rotation information such as speed, acceleration, and it can be made to be reflected in the control of rotary motor.
The slewing equipment of one mode possesses：Rotary motor；Reductor, the rotation of rotary motor is transmitted to upper rotation；
Rotary motor driver, drives rotary motor；And controller, it is non-that (i) upper rotation when rotating rotary motor rotates
Idle running is interval, and the controller controls rotary motor driver according to operational order value, and (ii) is even if revolve rotary motor
Also non-rotary idle running is interval for upper rotation when turning, and the controller is with the rotary motor untill before reaching non-idling interval
Rapidly rotate, and the mode of rotating speed or torque drop controls rotary motor driver when reaching non-idling interval.
According to which, the backlash not contacted in rotary motor with reductor is interval, rotary motor can be made promptly to revolve
Turn, and before will colliding shortly, make rotating speed or torque drop to the degree of vibration can be adequately suppressed, thus, it is possible to tie up
The exercise performance of revolving body is held, and suppresses vibration.
Slewing equipment can be further equipped with obtaining the 1st rotation testing agency and the acquisition of the rotation information of rotary motor
2nd rotation testing agency of the rotation information of upper rotation.Controller can be based on the 1st rotation testing agency and the 2nd rotation
The output of testing agency and judge that non-idling is interval interval with idle running, and obtain the position of the rotary motor in idle running interval.
In addition to monitoring the rotation information of rotary motor, the rotation information of upper rotation is also monitored, thus, it is possible to sentence
Other non-idling is interval interval with idle running, and can detect the relative position of rotary motor and upper rotation.
Controller can be believed according to the 1st angle of the anglec of rotation for the motor coordinate system (motor drive shaft conversion) for representing rotary motor
The difference of 2nd angle information of the anglec of rotation of motor coordinate system of the breath with representing upper rotation, and obtain in idle running interval
The position of rotary motor.
The differential representation rotary motor and the relative position of upper rotation of 1st angle information and the 2nd angle information, specifically
For, interval in non-idling, difference maintains the steady state value of maximum or minimum value, interval in idle running, difference minimum value with
Change between maximum.Therefore by monitoring difference, the position of the rotary motor in idle running interval can be obtained.
Controller can perform following steps：Make rotary motor interval and rotated to the 1st direction across idle running, and then across
More dally it is interval and to the 2nd direction rotate the step of；Obtain the 1st angle of the anglec of rotation for the motor coordinate system for representing rotary motor
The step of difference of 2nd angle information of the anglec of rotation of motor coordinate system of the information with representing upper rotation；And obtain difference
Maximum and minimum value the step of.
Maximum to difference, minimum value carry out actual measurement, thus with changing year in year out caused by the abrasion because of gear etc.
Control unrelated and that pinpoint accuracy can be carried out.
Controller can further perform following steps：The difference of maximum and minimum value is set to interval corresponding with idle running
Backlash amount.
Thereby, it is possible to carry out actual measurement to the interval length of backlash.
Controller can further perform following steps：By the average value or maximum of the maxima and minima of difference
Any one value in value, minimum value is set to offset and kept.
Thereby, it is possible to update the offset of the 1st angle information and the 2nd angle information according to actual measured value.
(i) interval in non-idling, controller can generate speed value corresponding with operational order value, and rotary motor drives
Dynamic device drives rotary motor in the detected value of the rotating speed of the rotary motor mode consistent with speed value.(ii) dally interval bag
Include the 1st interval and the 2nd interval, the torque instruction that controller is indicated defined maximum accelerating torque in the 1st interval generation
Value, and the torque instruction value indicated in the 2nd interval generation defined maximum deceleration torque.It is interval in idle running, turn round horse
Up to driver torque corresponding with torque instruction value can be utilized to drive rotary motor.
The another way of the present invention is directed to a kind of slewing equipment.Slewing equipment possesses：Rotary motor；Reductor, upwards
Portion's revolving body transmits the rotation of rotary motor；Rotary motor driver, drives rotary motor；1st rotation testing agency, obtains back
Turn the rotation information of motor；2nd rotation testing agency, obtains the rotation information of upper rotation；And controller, based on by the 1st
The anglec of rotation of the motor coordinate system for the rotary motor that rotation testing agency obtains is returned with the top obtained by the 2nd rotation testing agency
The difference of the anglec of rotation of the motor coordinate system of swivel, when maximum as defined in being divided into or the minimum value of being on duty, is judged to making revolution horse
Non-idling up to upper rotation rotation during rotation is interval, when difference between the minimum and maximum when, even if being judged to making
Also non-rotary idle running is interval for upper rotation when rotary motor rotates.
According to which, the 2nd rotation testing agency of the rotation information for obtaining upper rotation, the revolution of monitoring top are set
The difference of the anglec of rotation of body and the anglec of rotation of rotary motor, thus, it is possible to judge that idle running is interval interval with non-idling.
Controller can be according to difference and the distance or difference and the distance of minimum value of maximum, and detects that idle running is interval
Rotary motor the anglec of rotation (position).
If being able to detect that the position of the interval rotary motor of idle running, it can conclude that from idle running interval and be transitioned into non-idling
Position (i.e. angle) untill interval, or can predict rotary motor gear and reductor gear clash at the time of, because
This can carry out the appropriate control for suppressing vibration.
In addition, between method, device, system etc. phase double replacement above constitutive requirements arbitrary combination or the present invention
The mode that constitutive requirements and the mode of performance also serve as the present invention is effective.
Invention effect
In accordance with the invention it is possible to maintain the exercise performance of revolving body, and suppress vibration.
Brief description of the drawings
Fig. 1 is the one i.e. stereogram of the outward appearance of excavator for representing the construction machinery involved by embodiment.
Fig. 2 is the block diagram of power system and the hydraulic system of the excavator involved by embodiment etc..
Fig. 3 is the block diagram for the structure for representing the motoring device involved by embodiment.
Fig. 4 is the block diagram for the structure for representing the motoring device involved by embodiment.
Fig. 5 is the movement oscillogram of the motoring device involved by embodiment.
Fig. 6 is the movement oscillogram of the motoring device involved by comparison techniques.
Fig. 7 is the block diagram of the controller relevant with location estimating.
Fig. 8 (a)~(g) is tooth, the figure of the tooth of reductor for representing rotary motor.
Fig. 9 is the figure of the angle for the angle and revolving body for representing rotary motor.
Figure 10 is backlash acquisition unit and the block diagram for offseting acquisition unit.
Figure 11 is the block diagram of the controller involved by the 1st variation.
Figure 12 is the block diagram for the structure for representing the motoring device involved by the 5th variation.
Figure 13 is represents the block diagram of the structure of the 6th variation or the motoring device involved by the 7th variation.
Embodiment
Hereinafter, based on preferred embodiment, the present invention will be described for refer to the attached drawing.Phase shown in each accompanying drawing
Identical symbol is marked in same or equal constitutive requirements, part, processing, and suitably the repetitive description thereof will be omitted.Also, embodiment party
Formula is illustrates, rather than invention is defined, all features or its combination described in embodiment, not necessarily sends out
Bright essential content.
Fig. 1 is the one i.e. stereogram of the outward appearance of excavator 1 for representing the construction machinery involved by embodiment.Excavator
1 mainly possesses：Walking mechanism 2 and the top revolution that the top of walking mechanism 2 is rotatably equipped on via slew gear 3
Body (hreinafter referred to as revolving body) 4.
It is provided with revolving body 4：Swing arm 5, be hingedly coupled to swing arm 5 front end dipper 6 and be hingedly coupled to bucket
The scraper bowl 10 of the front end of bar 6.Scraper bowl 10 is the equipment for capturing the hanging objects such as sandy soil, steel.10 points of swing arm 5, dipper 6 and scraper bowl
It is not hydraulically driven by swing arm cylinder 7, dipper cylinder 8 and scraper bowl cylinder 9.Also, it is provided with revolving body 4 for accommodating to shovel
The driver's cabin 4a of operating personnel that the position of bucket 10 or excitation actuating and release movement are operated and for producing drawing for hydraulic pressure
Hold up power source as 11.Engine 11 is for example made up of diesel motor.
Fig. 2 is the block diagram of power system and the hydraulic system of the excavator 1 involved by embodiment etc..In addition, in Fig. 2,
The system for mechanically transmitting power is represented with doublet, hydraulic system is represented with heavy line, manipulation is indicated with dashed lines
System, power system is represented with fine line.
Excavator 1 possesses dynamotor 12 and reductor 13, and the rotary shaft of engine 11 and dynamotor 12 connects
It is connected to the input shaft of reductor 13 and connected to each other.When the load of engine 11 is larger, the drive that dynamotor 12 passes through itself
Power and the driving force for aiding in (assistance) engine 11, and the driving force of dynamotor 12 passes by the output shaft of reductor 13
It is handed to main pump 14.On the other hand, when the load of engine 11 is smaller, the driving force of engine 11 is transferred to electricity by reductor 13
Generator 12 is moved, thus dynamotor 12 is generated electricity.Dynamotor 12 is for example embedded in the IPM of internal rotor by magnet
(Interior Permanent Magnetic) motor is constituted.The switching of driving with the generating of dynamotor 12 is by being dug
The controller 30 of the drive control of power system in native machine 1 is carried out according to load of engine 11 etc..
Main pump 14 and pioneer pump 15 are connected with the output shaft of reductor 13, and via high pressure liquid pressure pipe in main pump 14
Road 16 and be connected with control valve 17.Control valve 17 is the device for the control for carrying out the hydraulic system in excavator 1.In control valve 17
On, in addition to the hydraulic motor 2A and 2B for driving the walking mechanism 2 shown in Fig. 1, swing arm cylinder 7, dipper cylinder 8 and scraper bowl cylinder
9 are connected via high-pressure and hydraulic pipeline, and control valve 17 inputs and controlled the hydraulic pressure supplied to these according to the operation of driver.
On pioneer pump 15, operation device 26 (operating mechanism) is connected with via pilot line 25.Operation device 26 is
For the operation device operated to rotary motor 21, walking mechanism 2, swing arm 5, dipper 6 and scraper bowl 10, by operator
Member is operated.In operation device 26, control valve 17 is connected with via fluid pressure line 27, and connect via fluid pressure line 28
It is connected to pressure sensor 29.Operation device 26 by by pilot line 25 supply hydraulic pressure (hydraulic pressure of 1 side) be converted to
The corresponding hydraulic pressure of operational ton (hydraulic pressure of 2 sides) of operating personnel and export.The hydraulic pressure of 2 sides exported from operation device 26 leads to
Cross fluid pressure line 27 and be supplied to control valve 17, and be detected by pressure sensor 29.
If inputting the operation having for turning round slew gear 3 to operation device 26, pressure sensor 29 operates this
Amount is detected as the change of the hydraulic pressure in fluid pressure line 28.The output of pressure sensor 29 represents the liquid in fluid pressure line 28
The electric signal of pressure.The electric signal is input into controller 30, and for the drive control of rotary motor 21.
Controller 30 is by including CPU (Central Processing Unit) and internal storage arithmetic processing apparatus
And constitute, and realized by making CPU perform the program for the drive control for being stored in internal storage.Controller 30, which is received, to be come
Inputted from the operation of various sensors and the grade of operation device 26, and carry out inverter 18A, 18C and storage mechanism 20 etc. driving
Control.
Hydraulic motor 40 is configured to, and is rotated by the oil that slave arm cylinder 7 spues when swing arm 5 declines, and in order to move
Energy when arm 5 declines because of gravity is converted to revolving force and set.Hydraulic motor 40 be arranged at control valve 17 and swing arm cylinder 7 it
Between hydraulic tube 7A in.
Rotary motor 21 is arranged in Fig. 1 slew gear 3, and rotates upper rotation 4.Rotary motor
21 be ac motor, and is the power source for the slew gear 3 for making the revolution of revolving body 4.In the rotary shaft of rotary motor 21
Decomposer 22, mechanical brake 23 and rotary reducer 24 are connected with 21A.Revolution is received with inverter 18C and comes from storage motor
The electric power of structure 20, and drive rotary motor 21.Also, when rotary motor 21 carries out regeneration operation, to storage motor
Structure 20 reclaims the electric power from rotary motor 21.
When rotary motor 21 enters action edge operation, the revolving force of the rotary driving force of rotary motor 21 is being returned
Turn to be exaggerated in reductor 24, and revolving body 4 is rotated by feed speed control.Also, due to the inertia of revolving body 4
Rotation, rotating speed is increased and transmitted to rotary motor 21 in rotary reducer 24, so as to produce regenerated electric power.
Rotation position and the sensor of the anglec of rotation of the decomposer 22 for the rotary shaft 21A of detection rotary motor 21,
By the anglec of rotation and the direction of rotation that are mechanically linked and detected rotary shaft 21A with rotary motor 21.Decompose
Device 22 exports the anglec of rotation and the direction of rotation of slew gear 3 by detecting the rotary shaft 21A anglec of rotation.Mechanical brake
23 be the brake apparatus for producing mechanical brake force, makes the rotation of rotary motor 21 by the instruction from controller 30
Rotating shaft 21A mechanically stops.Rotary reducer 24 is that the rotary shaft 21A of rotary motor 21 rotary speed is subtracted
Speed and the reductor for being mechanically transferred to slew gear 3.
Then, power system is described in detail.As power system, mainly possess controller 30, storage mechanism 20,
Inverter 18A~18C.
(auxiliary)
Dynamotor 12 is connected with the inverter 18A of auxiliary 2 sides (output) end.Inverter 18A is based on
A part for controller 30 is auxiliary circuit control device 30A instruction, and carries out the operation control of dynamotor 12.
(revolution)
Rotary motor 21, decomposer 22, mechanical brake 23, rotary reducer 24, revolution inverter 18C and control
A part for device 30 processed is that the circuit control device 30C of revolution constitutes motoring device 500.
Rotary motor 21 is by PWM (Pulse Width Modulation) control instructions by revolution inverter
18C exchange drivings.It is used as rotary motor 21, such as the IP M motors of preferred magnet baried type.
Revolution is received with operating the corresponding rotational speed command of input, and to pass through decomposer with circuit control device 30C
22 come the rotational speed of the rotary motor 21 detected the mode consistent with rotational speed command, and controls revolution inversion
Device 18C.
(power supply)
Storage mechanism 20 for example possesses：Battery is battery, controls the type of voltage step-up/down converter of the discharge and recharge of battery (two-way
DC/DC converters) and the DC bus (not shown) that is made up of the direct current distribution of positive pole and negative pole.As electric storage means, it can make
2 primary cells, capacitor, the power supply of other forms of the electric power that can give and accept in addition that can be charged with lithium ion battery etc..
Respective 1 side of inverter 18A, 18C (direct current input) is connected with DC bus.A part for controller 30 is converter control
Device processed makes two-way DC/DC converters carry out boost action, in dynamotor when dynamotor 12 etc. enters action edge operation
When 12 grades carry out regeneration operation, two-way DC/DC converters are made to carry out decompression action, reclaiming dynamotor 12 to electric storage means produces
Electric power.Thus, the voltage (DC link voltages) of DC bus remains steady state value.
It is the overall structure of excavator 1 above.Then, the motoring device 500 involved by embodiment is carried out in detail
Describe in detail bright.
Fig. 3 is the block diagram for the structure for representing the motoring device 500 involved by embodiment.Motoring device 500
Mainly possess rotary motor 502, reductor 504, rotary motor driver 506, controller 520.
Rotary motor 502 is corresponding with Fig. 2 rotary motor 21.Reductor 504 and Fig. 2 24 pairs of rotary reducer
Should, and to upper rotation 4 transmit rotary motor 502 rotation.Reductor 504 has the backlash of non-zero.
A part for controller 30 of the controller 520 equivalent to Fig. 2 is circuit control device 30C etc..
Fig. 2 operation device 26 has the control stick of revolution, and the operational ton (operation angle) of control stick is returned as top
The control instruction of swivel 4.For example, the operational ton of control stick is the operational order value indicated the rotary speed of revolving body 4
S1.Controller 520 receives operational order value S1, and according to operational order value S1, and generate for being revolved to rotary motor 502
Turn the control instruction value S2 of control.In information-aided construction, operational order value S1 can also be generated by computer.
Rotary motor driver 506 the circuit control device 30C equivalent to Fig. 2 and revolution inverter 18C.Rotary motor
Driver 506 carries out feedback control according to control instruction value S2 to rotary motor 502.Such as control instruction value S2 can be revolution
The speed value ω of motor 502REF.1st rotation testing agency 508 obtains rotation information (the 1st rotation letter of rotary motor 502
Breath) S3.1st rotates testing agency 508 for rotary encoder, and corresponding with Fig. 2 decomposer 22.Or, the 1st rotation detection machine
Structure 508 can be Hall sensor.Or rotary motor 502 can be with sensorless drive, now, the 1st rotation testing agency 508
The output of the comparator of counter electromotive force detection that can be according to used in sensorless drive, and detect rotation information.
1st rotation information S3 includes the speed detection value ω for representing the rotary speed of rotary motor 502RES.Rotary motor drives
Dynamic device 506 is with speed detection value ωRESWith speed value ωREFConsistent mode, electric current, the i.e. torque tau to rotary motor 502
Carry out feedback control.
It is " non-idling interval T by the section definition that revolving body 4 rotates when rotating rotary motor 502A", even if will make back
It is " idle running interval T to turn the section definition that revolving body 4 does not also rotate when motor 502 rotatesB”.(i) in non-idling interval TA, control
Device 520 controls rotary motor driver 506 according to operational order value S1.Specifically, export corresponding to operational order value S1
Speed value S2.
Also, (ii) is in idle running interval TB, the controller 520 is to reach non-idling interval TAThe revolution untill before
Motor 502 rotates at high speed, and reaches non-idling interval TAWhen rotating speed or the mode of torque drop control rotary motor to drive
Device 506.
In the present embodiment, if controller 520 is judged as the interval T that dalliesB, then rotary motor 502 can be made in idle running area
Between TBInside rapidly rotate.(ii) dally interval TBIncluding the 1st interval TB1With the 2nd interval T connected with itB2.Controller 520 exists
1st interval TB1Generation is to defined maximum accelerating torque τACCThe torque instruction value S4 indicated, in the 2nd interval TB2Generation pair
Defined maximum deceleration torque tauBRKThe torque instruction value S4 indicated.Rotary motor driver 506 is in idle running interval TB, profit
Rotary motor 502 is driven with torque tau corresponding with torque instruction value S4.
Fig. 4 is the block diagram for the configuration example for representing rotary motor driver 506.Rotary motor driver 506 includes subtracter
540th, PI (ratio/integration) controller 542, inverter 548.The generation of subtracter 540 control instruction value S2 is speed value
ωREFWith the speed detection value ω from the 1st rotation testing agency 508RESError delta ω.PI controllers 542 receive error delta
ω and carry out PI computings, thus generate torque instruction value τREF.P controls or PID control can be used to replace PI to control.
Inverter 548 is supplied and torque instruction value τ to rotary motor 502REFCorresponding driving current, and to rotary motor
502 carry out rotation control.
Rotary motor driver 506 is also equipped with selector 544.Also, in rotary motor driver 506, by controller
520 input expressions are non-idling interval TAOr idle running interval TBRange restraint signal S5.When range restraint signal S5 represents non-
Dally interval TAWhen, the output of the selection PI of selector 544 controllers 542, when range restraint signal S5 represents the interval T that dalliesBWhen,
The selection torque instruction value of selector 544 S4.Also, the proportional gains of PI controllers 542, storage gain are in range restraint signal S5
Represent idle running interval TBDuring be set as zero.
It is the structure of rotary motor driver 506 above.In addition, subtracter 540, PI controllers 542, selector 544 can
The function of combining to realize with software program by hardware such as microcomputer or processors is thought, without being used as single hardware
And set.
Then, the action to motoring device 500 is illustrated.Fig. 5 is the motoring dress involved by embodiment
Put the movement oscillogram in 500 idle running interval.Fig. 6 is the action in the idle running interval of the motoring device involved by comparison techniques
Oscillogram.The advantage of motoring device 500 involved by embodiment with the motoring involved by comparison techniques by filling
The contrast put becomes clear and definite.
Therefore, with reference first to Fig. 6, the action to the motoring device involved by comparison techniques is illustrated.Fig. 6 is shown
There is control.Before the instant, rotary motor and revolving body stop.In motoring device involved by comparison techniques, from
During rotary motor starts the idle running interval of t0 to t2 at the time of rotation, motor torque is exported according to speed command.The speed
Degree instruction is impacted to reduce as caused by collision, rises to 150rpm or so from 0rpm at leisure.As a result, rotary motor
It is slowly rotated, 0.07s or so time is needed untill idle running interval is terminated.
Then, with reference to Fig. 5, the action to the motoring device 500 involved by embodiment is illustrated.Motoring
In device 500, at the time of rotary motor starts rotation after t0, the revolution horse within the short time (being 0.01 second or so in Fig. 5)
The rotating speed reached is promptly risen near its peak value 450rmp.Specifically, in idle running interval TBThe 1st interval TB1, assign most
It is big to accelerate torque tauACC, and the rotating speed of rotary motor steeply rises in the short time.If moreover, entering the 2nd interval T in moment t1B2,
Then assign maximum deceleration torque tauBRK, and rotary motor rotating speed drop to can be adequately suppressed vibration scope (herein for
20rpm).In moment t2, idle running interval is terminated, but motor torque now is essentially zero, and rotary motor is inertially
Rotated (idle running), and the rotating speed is very low.Therefore, compared with comparison techniques, in vibrating that collision moment t2 is produced
To significantly inhibiting.
Also, the interval finish time t2 of idle running is 0.03 second or so, and finish time t2=0.07 second than Fig. 6 is short, i.e.
Even if compared with comparison techniques, response will not also sacrifice, and be improved on the contrary.Because rapid after carving t0 on startup
Improve rotating speed in ground.
It is the action of motoring device 500 above.In this way, according to motoring device 500, being able to maintain that revolving body
Exercise performance, and suppress vibration.Moreover, by the way that vibration can be suppressed, the load for assigning operating personnel can be mitigated and improved
Operating efficiency, or noise being diffused into around Work places etc. can be mitigated.
Then, to the non-idling interval T in controller 520AWith idle running interval TBJudgement and idle running interval TBInterior
The deduction of the position of rotary motor 502 is illustrated.
As shown in figure 3, motoring device 500 is except possessing the 1st of the rotation information S3 for obtaining rotary motor 502 the rotation
Outside testing agency 508, it is also equipped with obtaining rotation information (the 2nd rotation information) S5 of revolving body 4 the 2nd rotation testing agency
510。
Controller 520 rotates the output θ of testing agency 510 based on the 1st rotation testing agency 508 and the 2nd1、θ2, and judge
Non-idling interval TAWith idle running interval TB, and obtain idle running interval TBThe position of interior rotary motor 502.Export θ1Represent back
Turn the position (anglec of rotation) of motor 502, θ2Represent the position (anglec of rotation) of revolving body 4.
When rotary motor 502 and reductor 504 carry out tooth contact, the angle, θ of revolving body 42It is subordinated to rotary motor 502
Position θ1.During the acceleration of revolution, slow down when, stop when, carry out tooth contact.On the other hand, when not carrying out tooth contact, revolution
The angle, θ of body 42The angle, θ of rotary motor 502 is not subordinated to1.Fig. 3 motoring device 500 is by setting the 2nd rotation to detect
Mechanism 510, and detect the angle, θ of the revolving body 4 during without tooth contact2, and based on the angle, θ with rotary motor 5021It is relative
Relation, their position relationship is inferred by computing.
Fig. 7 is the block diagram of the controller 520 relevant with location estimating.Controller 520 includes the interval command value life of non-idling
Into portion 532, the interval command value generating unit 534 of idle running, location estimating portion 536.
Non-idling interval command value generating unit 532 is in non-idling interval generation rotation command value ωREFThat is control instruction value
S2.Torque instruction value S4 (τ of the idle running interval command value generating unit 534 in the anxious acceleration of the interval generation of idle running, anxious brakingREF).Position
Put the angle, θ that inferring portion 536 receives rotary motor 5021With the angle, θ of revolving body 42, and it is non-idling interval T to judgeAWith idle running
Interval TBIn which, and idle running interval TB, infer the position of the rotary motor 502 in backlash.Specifically, position
1st angle information θ of the anglec of rotation of the inferring portion 536 based on the motor coordinate system for representing rotary motor 502m1With representing revolving body 4
Motor coordinate system the anglec of rotation the 2nd angle information θm2Difference be their relative position, and obtain idle running interval TBIt is interior
Rotary motor 502 position.
Location estimating portion 536 includes route marker 522, subtracter 524, position operational part 526, backlash acquisition unit 528, skew
Acquisition unit 530.
Route marker 522 receives the angle, θ of rotary motor 5021, revolving body 4 angle, θ2, and these are converted to common
1st angle information θ of motor coordinate systemm1, the 2nd angle information θm2.The speed reducing ratio of reductor 504 is used during conversion.Subtracter
The angle information θ of 524 computing the 1stm1With the 2nd angle information θm2Difference delta θm.Difference delta θmRepresent rotary motor 502 and revolving body
4 relative position.
Position operational part 526 is according to difference delta θm, judgement is non-idling interval TAOr idle running interval TB, and in idle running
Interval TBThe position of rotary motor 502 in computing backlash.
Fig. 8 (a)~(g) is the tooth T1 and the tooth T2 of gyroaxis side for the rotary motor axle side for representing reductor 504 figure.Horse
Up to the rotation angle θ that the tooth T1 of axle side position is rotary motor 502m1, the tooth T2 of gyroaxis side position is the rotation of revolving body 4
Rotational angle thetam2.Here, in order to be readily appreciated that, gear is expressed as into straight line.Here, θm1With θm2Origin it is consistent.Also, each gear
Left side edge E1, E2 assign coordinate.
In Fig. 8 (a), in idle running interval TB, tooth T1 right direction movements in backlash of motor drive shaft side.Now, gyroaxis
The tooth T2 of side is static.During this period, θm1With θm2Difference delta θmTo the 1st direction change.Fig. 8 (b) is idle running interval TBWith non-NULL
Turn interval TABorder, when representing that the tooth T1 of motor drive shaft side is contacted with the tooth T2 of gyroaxis side.As shown in Fig. 8 (c), if motor
The further right directions of tooth T1 of axle side are moved, then the angle, θ of gyroaxism2The angle, θ of rotary motor 502 can be subordinated tom1And become
Change.That is, their difference delta θm=θm1-θm2Steady state value θ as defined in takingMAX。
In Fig. 8 (d), in idle running interval TB, tooth T1 left direction movements in backlash of motor drive shaft side.Now, gyroaxis
The tooth T2 of side is static.During this period, θm1With θm2Difference delta θmTo the 2nd direction change.
Fig. 8 (e) is idle running interval TBWith non-idling interval TABorder, represent tooth T1 and the gyroaxis side of motor drive shaft side
When tooth T2 is contacted.As shown in Fig. 8 (f), if the further left direction movements of the tooth T1 of motor drive shaft side, the angle of revolving body 4
θm2The angle, θ of rotary motor axle can be subordinated tom1And change.That is, their difference θm1-θm2Steady state value θ as defined in takingMIN.Such as Fig. 8
(g) shown in, if rotating the right direction of rotary motor 502, rotary motor 502 can dally in backlash, and difference delta θmTo
1st direction change.
Fig. 9 is the angle, θ for representing rotary motor 502m1With the angle, θ of revolving body 4m2Figure.Fig. 9 (a)~(g) and Fig. 8
(a) the respective state correspondences of~(g).
As difference delta θmTake maximum θMAXWhen, or take minimum value θMINWhen, position operational part 526 is determined as non-idling area
Between TA, as difference delta θmIn minimum value θMINWith maximum θMAXBetween when, can determine that for idle running interval TB。
Also, Δ θmWith minimum value θMINDistance or Δ θmWith maximum θMAXDistance represent revolution horse in backlash
Up to 502 position (angle).Therefore, can also be by Δ θ when rotary motor 502 rotates to the 1st directionmWith maximum θMAX's
Distance is set to the 1st interval T when being more than setting WB1, by Δ θmWith maximum θMAXDistance be less than setting W when be set to the 2nd area
Between TB2.On the contrary, when rotary motor 502 rotates to the 2nd direction, can also be by Δ θmWith minimum value θMINDistance be more than rule
The 1st interval T is set to during definite value WB1, by Δ θmWith minimum value θMINDistance be less than setting W when be set to the 2nd interval TB2。
If consequently, it is possible to known difference delta θmMinimum value θMINAnd maximum θMAX, then can be according to difference delta θmAnd judge
Non-idling interval TA, idle running interval TB, and the position of the rotary motor 502 in backlash can be calculated.
Minimum value θMINAnd maximum θMAXDesign load can be used, but can also actually set as described below
The standby middle actual measurement of progress.Especially, it is impossible to ignore in the case that backlash amount is changed over time as caused by the abrasion of gear, below
Technology be particularly effective.
Controller 520 performs the correction comprised the following steps.
Step 1) rotary motor 502 is rotated to the 1st direction, then rotated to the 2nd direction.
Step 2) during step 1, obtain the 1st jiao of the anglec of rotation for the motor coordinate system for representing rotary motor 502
Spend information θm1With the 2nd angle information θ of the anglec of rotation of the motor coordinate system of expression revolving body 4m1Difference delta θm。
Step 3) obtain difference delta θmMaximum θMAXAnd minimum value θMIN。
Processing more than, the parameter needed for position operational part 526 is corrected.Controller 520 can also repeat many
Secondary step 1~3, wait statistics to handle and obtain maximum θ using averageMAXAnd minimum value θMI N.As long as entering appropriate in the period of
Row correction.
Controller 520 can further perform following processing.
Step 4) by maximum θMAXWith minimum value θMINDifference be set to idle running interval TBCorresponding backlash amount.Step 4
Performed by backlash acquisition unit 528, and backlash amount S7 is maintained.Due to the abrasion of gear, backlash amount is increased over time.If
Carry out the processing, then the interval rotation control of idle running can be carried out based on the correct backlash amount that determines, therefore, it is possible to suppress with
The hydraulic performance decline of time.Also, in the case that backlash amount is become greater to more than a certain threshold value, additionally it is possible to be diagnosed as abrasion or event
Barrier.
Step 5) by maximum θMAXWith minimum value θMINAverage value be set to offset and obtain.Step 5 is obtained by skew
Take portion 530 and perform, and offset S8 is maintained.
In order to minimum value θMINAnd maximum θMAXCarry out actual measurement, controller 520 possesses backlash acquisition unit 528, inclined
Move acquisition unit 530.Figure 10 is backlash acquisition unit 528 and the block diagram for offseting acquisition unit 530.In step 3, peak value acquisition unit 550
Obtain difference delta θmMaximum θMAX.In step 3, floors acquisition unit 552 obtains difference delta θmMinimum value θMIN。
The computing backlash amount S7 of subtracter 554.Adder calculator 556 is to maximum θMAXWith minimum value θMINCarry out addition fortune
Calculate, multiplier 558 is multiplied by 1/2 in add operation result and calculates offset S8.
In so obtained backlash amount S7 and offset S8 and maximum θMAXAnd minimum value θMINIn, set up following relation
Formula.
θMAX=S8+S7/2
θMIN=S8-S7/2
Position operational part 526 can calculate maximum θ based on backlash amount S7 and offset S8MAXWith minimum value θMIN。
In addition, offset S8 can be by maximum θMAXTo define.In this case, setting up following relational expression.
θMAX=S8
θMIN=S8-S7
Or, offset S8 can be by minimum value θMINTo define.In this case, setting up following relational expression.
θMAX=S8+S7
θMIN=S8
More than, according to embodiment, the present invention is described.The present invention is not limited to above-mentioned embodiment, Neng Goujin
The various design alterations of row, can carry out various modifications example, and this variation also falls in the scope of the present invention, and this is for ability
It is intelligible for field technique personnel.Hereinafter, this variation is illustrated.
(the 1st variation)
In embodiment, in idle running interval TB, in order that rotary motor 502 promptly accelerates, and with gear clash it
Front reduction gear, and direct torque has been carried out, but the present invention is not limited to this.Figure 11 is the controller involved by the 1st variation
520a block diagram.
In idle running interval TB, the interval command value generating unit 534 of idle running is generated to be changed to motor speed shown as shown in Figure 5
The speed value S9 indicated.When range restraint signal S5 represents non-idling interval TAWhen, the selection control of selector 535 refers to
Value S2 is made, when range restraint signal S5 represents the interval T that dalliesBWhen, the selection speed value of selector 535 S9.Rotary motor drives
Dynamic device 506 is based on the speed value ω exported by controller 520REFAnd control rotary motor 502.
(the 2nd variation)
Or, as another variation, in idle running interval TB, position control can be used, makes rotary motor 502 promptly
Accelerate, and in the front reduction gear with gear clash.
(the 3rd variation)
Non-idling interval TAWith idle running interval TBDecision method be not limited to the method illustrated in embodiment.For example
Can by rotary motor driving current and rotary motor acceleration relation, infer load moment of inertia amount, and institute will be made
The load moment of inertia amount of deduction does not include being inferred as idle running interval equivalent to the interval of rotary body.
(the 4th variation)
In embodiment, backlash amount S7 and offset S8 situation is kept to be illustrated in advance position inferring portion 536,
But the present invention is not limited to this.For example, location estimating portion 536 can keep difference delta θ in advancemMinimum value θMINWith maximum
Value θMAX, and obtain by computing backlash amount S7 and offset S8.In backlash amount S7, offset S8, minimum value θMIN, maximum
θMAXIn, location estimating portion 536 can keep at least two in advance, and obtain by computing remaining value.
(the 5th variation)
Figure 12 is the block diagram for the structure for representing the motoring device 500a involved by the 5th variation.Motoring device
500a basic structure is identical with Fig. 3 basic structure.
In controller 520, input has the operational order value S1 indicated the position of revolving body 4.Also, in control
In device 520, input has the angle information θ for representing the 2nd actual position for rotating the revolving body 4 that testing agency 510 is generated2。
Angle information θ2Equivalent to location feedback value θFB.Operational order value S1 can with by operator carry out revolution control stick operation
Amount is corresponding.Or operational order value S1 can be generated by computer in information-aided construction.
Controller 520 includes so-called positioner, and with angle information θ2Represented location feedback value θFBWith behaviour
Make the position command value θ represented by instruction S1REFConsistent mode, generates the control instruction relative to rotary motor driver 506
Value S2.Control instruction value S2 can be speed value ωREF。
Rotary motor driver 506 is according to the speed value ω from controller 520REFAnd rotary motor 502 is carried out
Feedback control.1st rotation testing agency 508 obtains rotation information (the 1st rotation information) S3 of rotary motor 502.1st rotation letter
Cease the speed detection value ω that S3 includes representing the rotary speed of rotary motor 502RES.Rotary motor driver 506 can include with
Speed detection value ωRESWith speed value ωRE FConsistent mode, the electric current to rotary motor 502 is that torque tau is fed back
The speed control of control.
According to the 5th variation, do not detect that idle running is interval or non-idling is interval, and utilize from the 2nd rotation testing agency 510
The 2nd rotation information, thus, it is possible to which the position θ of revolving body 4 is set into direct control object, and can correctly control its position
Put.
(the 6th variation)
Figure 13 is the block diagram for the structure for representing the motoring device 500b involved by the 6th variation.Motoring device
500b basic structure is identical with Fig. 3 basic structure.Controller 520 includes positioner, and with operational order value S1 institutes
The position feed back signal θ that the position command of expression is detected with the 1st rotation testing agency 5081Consistent mode, generation control refers to
Make value S2 (speed value ωREF)。
In controller 520, input has the 2nd rotation information S6 for rotating the revolving body 4 that testing agency 510 is generated.Rotation
Transfering the letter breath S6 includes the position θ of revolving body 42, speed omega2, acceleration alpha2In at least one.Controller 520 makes revolving body 4
Rotation information S6 is in S1, S2, θ1In at least one in reflected.For example, controller 520 is right using rotation information S6
S1、S2、θ1In at least one be corrected.
For example, in the case of the rotational latency of rotary motor 502 is detected by rotation information S6, can be carried with rotating speed
High mode, makes the output valve or input value changes of positioner.Correction can be in S1, S2, θ1In at least one on
Coefficient is multiplied by, can also be carried out by reference to tables of data.
(the 7th variation)
With continued reference to Figure 13, the 7th variation is illustrated.In 7th variation, in addition to controller 520, Huo Zhedai
For in this, relative to rotary motor driver 506, input has the rotation information S6 that the 2nd rotation testing agency 510 is generated.Return
Turn rotation information S6 of the motor driver 506 according to revolving body 4, and to S2, ωRES, its output be torque instruction (current-order)
It is modified or corrects.For example, by rotation information S6, and detect the feelings of the torque not enough (excessive) of rotary motor 502
Under condition, can (decline) mode increased with torque, make positioner output valve or input value changes.
Symbol description
1- excavators, 2- walking mechanisms, 2A- hydraulic motors, 3- slew gears, 4- revolving bodies, 4a- driver's cabins, 5- swing arms,
6- dippers, 7- swing arm cylinders, 7A- hydraulic tubes, 8- dipper cylinders, 9- scraper bowl cylinders, 10- scraper bowls, 11- engines, 12- dynamotor, 13-
Reductor, 14- main pumps, 15- pioneer pumps, 16- high-pressure and hydraulic pipelines, 17- control valves, 18,18A, 18B- inverters, 18C- revolutions
With inverter, 20- storage mechanism, 21- rotary motors, 21A- rotary shafts, 22- decomposers, 23- mechanical brakes, 24- is returned
Turn reductor, 25- pilot lines, 26- operation devices, 27,28- fluid pressure lines, 29- pressure sensors, 30- controllers, 30A,
30C- circuit control devices, 40- hydraulic motors, 42- swing arm regeneration generators, 500- motoring devices, 502- revolution horses
Reach, 504- reductors, 506- rotary motor drivers, the rotations of 508- the 1st testing agency, the rotations of 510- the 2nd testing agency, 520-
Controller, 522- route markers, 524- subtracters, 526- positions operational part, 528- backlash acquisition units, 530- skew acquisition units,
532- non-idlings interval command value generating unit, the interval command value generating unit of 534- idle running, 536- location estimatings portion, 540- subtractions
Device, 542-PI controllers, 544- selectors, 548- inverters, 550-, S1- operational order values, S2- control instruction values, S3- the 1st
Rotation information, S4- torque instruction values, S5- range restraint signals, S7- backlash amounts, S8- offsets.
Industrial applicability
The present invention can be applied in construction machinery etc..
Claims (11)
1. a kind of slewing equipment, it is equipped on the top go back to for possessing walking mechanism and being equipped on the walking mechanism with freely rotating
The excavator of swivel, and turn round the upper rotation according to operational order value, it is characterised in that the slewing equipment tool
It is standby：
Rotary motor；
Reductor, the rotation of the rotary motor is transmitted to the upper rotation；
1st rotation testing agency, obtains the rotation information of the rotary motor；
2nd rotation testing agency, obtains the rotation information of the upper rotation；
Rotary motor driver, drives the rotary motor；And
Controller, controls the rotary motor driver,
The controller and the rotary motor driver are according to the rotation information and the upper rotation of the rotary motor
Rotation information, control the rotary motor.
2. slewing equipment according to claim 1, it is characterised in that
(i) when rotating the rotary motor, the non-idling of the upper rotation rotation is interval, and the controller is according to institute
Operational order value is stated to control the rotary motor driver, (ii) even if making the rotary motor rotate the top revolution
Also non-rotary idle running is interval for body, and the controller is with the rotary motor high speed untill before reaching the non-idling interval
Ground rotates, and the mode of rotating speed or torque drop controls the rotary motor driver when reaching the non-idling interval.
3. slewing equipment according to claim 1 or 2, it is characterised in that
Output of the controller based on the described 1st rotation testing agency and the 2nd rotation testing agency, judges the non-NULL
Turn interval and described idle running interval, and obtain the position of the rotary motor in the idle running interval.
4. slewing equipment according to claim 3, it is characterised in that
The controller is according to the 1st angle information of the anglec of rotation for the motor coordinate system for representing the rotary motor and expression
The difference of 2nd angle information of the anglec of rotation of the motor coordinate system of upper rotation, obtains described time in the idle running interval
Turn the position of motor.
5. slewing equipment according to any one of claim 1 to 4, it is characterised in that
The controller performs following steps：
The rotary motor is set to be rotated to the 1st direction, the step of then being rotated to the 2nd direction；
The 1st angle information of the anglec of rotation for the motor coordinate system for representing the rotary motor is obtained with representing the upper rotation
Motor coordinate system the anglec of rotation the 2nd angle information difference the step of；And
The step of obtaining the maximum and minimum value of the difference.
6. slewing equipment according to claim 5, it is characterised in that
The controller further performs following steps：The difference of the maximum and the minimum value is set to and the idle running
Interval corresponding backlash amount.
7. the slewing equipment according to claim 5 or 6, it is characterised in that
The controller further performs following steps：By the average value of the maxima and minima of the difference or described
Any one value in maximum, the minimum value is set to offset and kept.
8. slewing equipment according to any one of claim 1 to 7, it is characterised in that
(i) interval in the non-idling, the controller generates speed value corresponding with the operational order value, described time
Turn motor driver and described return is driven in the detected value of the rotating speed of the rotary motor mode consistent with the speed value
Turn motor,
(ii) idle running is interval includes the 1st interval and the 2nd interval, and the controller is in the described 1st interval generation to defined
The torque instruction value that maximum accelerating torque is indicated, and defined maximum deceleration torque is carried out in the described 2nd interval generation
The torque instruction value indicated, the rotary motor driver is using torque corresponding with the torque instruction value to drive
State rotary motor.
9. a kind of slewing equipment, it is equipped on the top go back to for possessing walking mechanism and being equipped on the walking mechanism with freely rotating
The excavator of swivel, and turn round the upper rotation according to operational order value, it is characterised in that the slewing equipment tool
It is standby：
Rotary motor；
Reductor, the rotation of the rotary motor is transmitted to the upper rotation；
Rotary motor driver, drives the rotary motor；
1st rotation testing agency, obtains the rotation information of the rotary motor；
2nd rotation testing agency, obtains the rotation information of the upper rotation；And
Controller, the anglec of rotation based on the motor coordinate system of rotary motor obtained by the described 1st rotation testing agency with by institute
The difference of the anglec of rotation of the motor coordinate system for the upper rotation that the 2nd rotation testing agency obtains is stated, is on duty and is divided into regulation
Maximum or minimum value when, the non-idling of the upper rotation rotation is interval when being judged to making the rotary motor to rotate,
When difference is between the maximum and the minimum value, even if being judged to making the rotary motor rotate the top revolution
Also non-rotary idle running is interval for body.
10. slewing equipment according to claim 9, it is characterised in that
The controller is according to the difference and the distance of the distance or the difference and the minimum value of the maximum, inspection
Survey the anglec of rotation of the interval rotary motor of the idle running.
11. the slewing equipment according to claim 9 or 10, it is characterised in that
The controller performs following steps：
The rotary motor is set to be rotated to the 1st direction, the step of then being rotated to the 2nd direction；
The 1st angle information of the anglec of rotation for the motor coordinate system for representing the rotary motor is obtained with representing the upper rotation
Motor coordinate system the anglec of rotation the 2nd angle information difference the step of；And
Using the difference of the maximum of the difference and minimum value as backlash amount the step of kept.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015061366 | 2015-03-24 | ||
| JP2015-061366 | 2015-03-24 | ||
| PCT/JP2016/058130 WO2016152650A1 (en) | 2015-03-24 | 2016-03-15 | Slewing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107251409A true CN107251409A (en) | 2017-10-13 |
| CN107251409B CN107251409B (en) | 2021-01-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680006953.6A Expired - Fee Related CN107251409B (en) | 2015-03-24 | 2016-03-15 | Turning device |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6487529B2 (en) |
| CN (1) | CN107251409B (en) |
| WO (1) | WO2016152650A1 (en) |
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| CN110759004A (en) * | 2019-12-25 | 2020-02-07 | 常州磐宇仪器有限公司 | Motor boundary determination method and self-adaptive positioning application thereof on sampling needle push rod |
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|---|---|---|---|---|
| JP6717399B1 (en) * | 2019-03-19 | 2020-07-01 | 株式会社明電舎 | Backlash control device and backlash control method in motor drive system |
| CN112327213B (en) * | 2020-10-19 | 2024-04-19 | 南京工程学院 | Electric revolving body performance detection system and detection method |
| JP7510377B2 (en) * | 2021-03-24 | 2024-07-03 | 株式会社小松製作所 | Hydraulic excavator and method for controlling hydraulic excavator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110759004A (en) * | 2019-12-25 | 2020-02-07 | 常州磐宇仪器有限公司 | Motor boundary determination method and self-adaptive positioning application thereof on sampling needle push rod |
| CN110759004B (en) * | 2019-12-25 | 2020-03-31 | 常州磐宇仪器有限公司 | Motor boundary determination method and self-adaptive positioning application thereof on sampling needle push rod |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2016152650A1 (en) | 2016-09-29 |
| JP6487529B2 (en) | 2019-03-20 |
| CN107251409B (en) | 2021-01-29 |
| JPWO2016152650A1 (en) | 2018-01-18 |
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