CN103882901A - Excavator rotation braking energy recovery control method - Google Patents

Abstract

The invention discloses an excavator rotation braking energy recovery control method. When an upper body rotary platform starts to rotate, a motor controller receives a command to enable a motor to be in a power-driven state, and the motor with an electricity generation function is driven to reach a certain work rotation speed. When the upper body platform stops rotating, the motor controller sends reverse torque signals to the motor, so that hydraulic oil of an oil outlet of a rotary motor pushes a recovery motor, due to the fact that the motor has a certain rotation speed, the motor can quickly response to the torque of the recovery motor to generate and store electricity, pressure reduction of a braking opening of the rotary motor is reduced, overflow loss is reduced, the maximum rotation speed of the motor is improved, electricity generating time is lengthened, and maximum efficient rotation braking energy recovery is achieved.

Description

Digger revolving braking energy recycling and control method

Technical field

The present invention relates to a kind of digger revolving braking energy recycling and control method.

Background technology

Along with the problem of energy shortage and environment pollution is on the rise, the energy-saving and emission-reduction of research engineering machinery and new energy development become the extremely urgent realistic problem of Ge great manufacturer.And hydraulic crawler excavator is because quantity is many, oil consumption is high, discharge is poor, become the main object that people pay close attention to.

Hydraulic crawler excavator, because high efficiency and the reliability of its work are widely used in building operations industry, excavates revolution in its typical case's fixed point and unloads under geotechnological condition, in excacation circulation, has twice braking of twice revolution.Wherein rotary kinetic energy is all converted into heat-energy losses, causes that hydraulic oil temperature raises, and reduces the application life of hydraulic system simultaneously.If this part energy effectively can be reclaimed and recycles, the capacity usage ratio of excavator be can improve, thereby energy consumption and discharge reduced, there is higher economic worth and social effect.

In the last few years, domestic and international many producers reclaimed the research of having carried out in various degree with distinct methods to the energy of excavator.

Aspect the recovery of hydraulic crawler excavator rotary braking energy, to there being the method for identifying revolution Acceleration of starting and retarding braking process based on rotary motor import/export pressure reduction that adopts in the judgement of getting-on platform motion state, but the method need could judge after rotary motor brake port pressure is set up, there is certain hysteresis compared to the actual gyration state of getting-on platform, will affect the energy recovering effect of shorter rotary braking operating mode of the period of motion.Equally, in the time regaining back and forth transformation of ownership energy by electric power generation, method is in the past to judge that getting-on platform revolution system after on-position just sends the work of instruction starter motor, do not consider that motor is transferred to the process (rotating speed rises to efficient operation rotary speed area from zero) of the duty of generating electricity by inactive state, also greatly reduce energy recovery efficiency with the hysteresis of rotary braking virtual condition.

Summary of the invention

Technical problem to be solved by this invention is to provide a kind of digger revolving braking energy recycling and control method efficiently, under excavator upper-part rotation platform Turning course, the method can maximize high efficiente callback rotary braking energy and be converted into electric energy and store, can reduce the energy loss of dynamical system, improve energy recovery efficiency, realized the object of excavator energy-saving and emission-reduction.

A kind of digger revolving braking energy recycling and control method, adopt excavator energy-recuperation system, described excavator energy-recuperation system comprises motor 1, hydraulic pump 3, banked direction control valves 4, arm oil cylinder 8, rotary motor 5 and complete machine controller 14, and drive motors 2 is in transmission connection with described hydraulic pump 3; Between the rodless cavity hydraulic fluid port of described boom cylinder 8 and described banked direction control valves, be provided with the first solenoid operated directional valve 9, the first described solenoid operated directional valve 9 outlets connect the entrance that reclaims hydraulic motor 11; Described recovery hydraulic motor 11 is in transmission connection with the recovery motor 10 with electricity generate function, described drive motors 2 is connected with electric energy-storage travelling wave tube 13 electricity by electric machine controller 12 with the described recovery motor 10 with electricity generate function, between the oil-in of described rotary motor 5 and oil-out, be parallel with one way valve 6, rear connection the first electromagnetic valve 7, the first electromagnetic valves 7 of one way valve 6 are connected with recovery hydraulic motor 11 oil circuits; Described rotary motor 5 is parallel with one way valve 6;

Control method comprises the following steps:

Step 1: the upper limit SOC of state of charge SOC when setting electric energy-storage travelling wave tube and normally working _maxwith lower limit SOC _min; ;

Step 2: excavator upper-part rotation platform enters Turning course, detects electric energy-storage travelling wave tube SOC value, works as SOC<SOC _maxtime, enter step 3; Otherwise, repeating step 2;

Step 3: utilize complete machine controller 14 by the pilot pressure of pressure sensor collection revolution pilot handle output, in the time being incremental variations in the Δ T time that the pilot pressure of revolution pilot handle output is being set, start the motor 10 with electricity generate function, and the first rotating speed that the stabilization of speed of the recovery motor 10 with electricity generate function is being set, enter step 4, otherwise, return to step 2;

Step 4: while variation when tapering off in the Δ T time that the pilot pressure of revolution pilot handle output is being set, the first solenoid operated directional valve 9 is opened, and excavator energy-recuperation system starts to carry out energy recovery, enters step 5, otherwise, repeating step 4;

Step 5: entire car controller sends instruction and applies direction dtc signal by electric machine controller to the recovery motor 10 with electricity generate function, by with reclaim the recovery motor that is connected of motor coaxle and act on rotary motor, complete the braking of upper-part rotation platform, the recovery motor 10 simultaneously with electricity generate function charges to electric energy-storage travelling wave tube, complete the rotary braking energy recovery that generating stores, return to step 2.

The upper limit SOC of state of charge SOC when described electric energy-storage travelling wave tube is normally worked _maxwith lower limit SOC _minbe respectively 0.4 and 0.8.

Be 10ms-20ms for the pilot pressure that judges the output of revolution pilot handle at the time Δ T of the time Δ T situation of change of setting.

Described electric energy-storage travelling wave tube is super capacitor.

In described step 5, entire car controller sends instruction and applies direction dtc signal T by electric machine controller to the recovery motor 10 with electricity generate function _mto calculate acquisition according to following formula:

$T_m=\frac{P\&CenterDot;V_r}{2\mathrm{\&pi;}}(1+\frac{J_r{V}_r}{J_s{V}_s})+\frac{J_r{V}_r}{J_s{V}_s}{T}_{\mathrm{fs}}-T_{\mathrm{fr}}$

Wherein, P is the pressure of rotary motor brake port in braking procedure, obtains by pressure sensor collection; V _sfor the rated discharge of rotary motor; V _rfor reclaiming the rated discharge of motor; J _sfor the dynamic moment of inertia of upper-part rotation platform action on rotary motor; J _ract on for reclaiming motor and motor the dynamic moment of inertia reclaiming on motor; T _fsfor the moment of resistance of upper-part rotation platform action on rotary motor in braking procedure; T _fract on for reclaiming motor in braking procedure and reclaiming motor the moment of resistance reclaiming on motor; Q _sfor the specified output flow of rotary motor in braking procedure; Q _rfor reclaiming the specified input flow rate of motor in braking procedure; ω _sfor the rated angular velocity of rotary motor; ω _rfor reclaiming the rated angular velocity of motor;

J _s, J _r, T _fsand T _frcomputational methods all belong to prior art.

T _mdesign formulas be that many inertia system torque equilibrium equation is as follows by the acquisition of deriving of upper-part rotation platform, rotary motor, recovery motor and the many inertia system torque equilibrium equation group that reclaims motor composition:

$\left\{\begin{array}{c}-\frac{P\&CenterDot;V_s}{2\mathrm{\&pi;}}-T_{\mathrm{fs}}=J_s\&CenterDot;\frac{d{\mathrm{\&omega;}}_s}{\mathrm{dt}}\\ -T_m+\frac{P\&CenterDot;V_r}{2\mathrm{\&pi;}}-T_{\mathrm{fr}}=J_r\&CenterDot;\frac{{\mathrm{d\&omega;}}_r}{\mathrm{dt}}\\ Q_r=Q_s\\ \frac{d{\mathrm{\&omega;}}_r}{\mathrm{dt}}\&CenterDot;V_r=\frac{{\mathrm{d\&omega;}}_s}{\mathrm{dt}}\&CenterDot;V_s\end{array}\right.$

In energy-recuperation system control, when rotary motor brake port pressure increases gradually, complete machine controller is reclaiming on the basis of its current rotation speed n of motor feedback, calculating and sending goes out corresponding torque command, regulates the input current size and Orientation that reclaims motor to export corresponding torque by electric machine controller.

Beneficial effect

The present invention, compared with background technology, has the following advantages:

1, in the time that the revolution of upper-part rotation platform starts, electric machine controller receives that instruction makes motor in motoring condition, drives the motor with electricity generate function to reach certain working speed.When upper-part rotation platform rotary braking, electric machine controller applies opposing torque signal to motor, rotary motor oil-out hydraulic oil promotes to reclaim motor, because motor has had certain rotating speed, thereby can respond rapidly recovery motor torsional moment generates electricity and stores, thereby reduce rotary motor brake port pressure and reduce spill losses, improve motor maximum (top) speed simultaneously and extend generating dutation, realize the efficient rotary braking energy of maximization and reclaim.

2, for fear of cause rotary motor brake port insufficient pressure to occur inhaling empty because motor speed is too high, or there is spill losses in the too low rotary motor brake port pressure that causes of motor speed, and motor maximum (top) speed need be effectively controlled according to Turning course.Revolving dial rotating speed is obtained in entire car controller collection, go out the rotating speed of rotary motor by platform speed ratio calculation, calculate according to rotary motor discharge capacity and recovery motor displacement the energy recovery standby maximum (top) speed that electric energy-storage travelling wave tube drive motors should reach again, entire car controller sends to electric machine controller to control the rotating speed of motor.

Brief description of the drawings

Fig. 1 is the flow chart of digger revolving braking energy recycling and control method of the present invention;

Fig. 2 is the corresponding relation figure of revolution pilot pressure of the present invention and rotary handle lever travel;

Fig. 3 is the structured flowchart of the control object excavator energy-recuperation system of the method for the invention;

Fig. 4 is that upper-part rotation platform revolution mode of operation is switched identification schematic diagram.

Detailed description of the invention

Below in conjunction with drawings and Examples, the present invention is described further.

As shown in Figure 1, for rotary braking energy of the present invention reclaims control flow chart, a kind of digger revolving braking energy recycling and control method, adopt excavator energy-recuperation system, described excavator energy-recuperation system comprises motor 1, hydraulic pump 3, banked direction control valves 4, arm oil cylinder 8, rotary motor 5 and complete machine controller 14, and drive motors 2 is in transmission connection with described hydraulic pump 3; Between the rodless cavity hydraulic fluid port of described boom cylinder 8 and described banked direction control valves, be provided with the first solenoid operated directional valve 9, the first described solenoid operated directional valve 9 outlets connect the entrance that reclaims hydraulic motor 11; Described recovery hydraulic motor 11 is in transmission connection with the recovery motor 10 with electricity generate function, described drive motors 2 is connected with electric energy-storage travelling wave tube 13 electricity by electric machine controller 12 with the described recovery motor 10 with electricity generate function, between the oil-in of described rotary motor 5 and oil-out, be parallel with one way valve 6, rear connection the first electromagnetic valve 7, the first electromagnetic valves 7 of one way valve 6 are connected with recovery hydraulic motor 11 oil circuits; Described rotary motor 5 is parallel with one way valve 6;

Control method comprises the following steps:

Step 1: the upper limit SOC of state of charge SOC when setting electric energy-storage travelling wave tube and normally working _maxwith lower limit SOC _min; ;

Step 2: excavator upper-part rotation platform enters Turning course, detects electric energy-storage travelling wave tube SOC value, works as SOC<SOC _maxtime, enter step 3; Otherwise, repeating step 2;

Step 3: utilize complete machine controller 14 by the pilot pressure of pressure sensor collection revolution pilot handle output, in the time being incremental variations in the Δ T time that the pilot pressure of revolution pilot handle output is being set, start the motor (10) with electricity generate function, and the first rotating speed that the stabilization of speed of the recovery motor 10 with electricity generate function is being set, enter step 4, otherwise, return to step 2;

Step 4: while variation when tapering off in the Δ T time that the pilot pressure of revolution pilot handle output is being set, the first solenoid operated directional valve 9 is opened, and excavator energy-recuperation system starts to carry out energy recovery, enters step 5, otherwise, repeating step 4;

Step 5: entire car controller sends instruction and applies direction dtc signal by electric machine controller to the recovery motor 10 with electricity generate function, by with reclaim the recovery motor that is connected of motor coaxle and act on rotary motor, complete the braking of upper-part rotation platform, the recovery motor 10 simultaneously with electricity generate function charges to electric energy-storage travelling wave tube, complete the rotary braking energy recovery that generating stores, return to step 2.

The upper limit SOC of state of charge SOC when described electric energy-storage travelling wave tube is normally worked _maxwith lower limit SOC _minbe respectively 0.4 and 0.8.

Be 10ms-20ms for the pilot pressure that judges the output of revolution pilot handle at the time Δ T of the time Δ T situation of change of setting.

Described electric energy-storage travelling wave tube is super capacitor.

In described step 5, entire car controller sends instruction and applies direction dtc signal T by electric machine controller to the recovery motor 10 with electricity generate function _mto calculate acquisition according to following formula:

$T_m=\frac{P\&CenterDot;V_r}{2\mathrm{\&pi;}}(1+\frac{J_r{V}_r}{J_s{V}_s})+\frac{J_r{V}_r}{J_s{V}_s}{T}_{\mathrm{fs}}-T_{\mathrm{fr}}$

Wherein, P is the pressure of rotary motor brake port in braking procedure, obtains by pressure sensor collection; V _sfor the rated discharge of rotary motor; V _rfor reclaiming the rated discharge of motor; J _sfor the dynamic moment of inertia of upper-part rotation platform action on rotary motor; J _ract on for reclaiming motor and motor the dynamic moment of inertia reclaiming on motor; T _fsfor the moment of resistance of upper-part rotation platform action on rotary motor in braking procedure; T _fract on for reclaiming motor in braking procedure and reclaiming motor the moment of resistance reclaiming on motor; Q _sfor the specified output flow of rotary motor in braking procedure; Q _rfor reclaiming the specified input flow rate of motor in braking procedure; ω _sfor the rated angular velocity of rotary motor; ω _rfor reclaiming the rated angular velocity of motor;

J _s, J _r, T _fsand T _frcomputational methods all belong to prior art.

T _mdesign formulas be that many inertia system torque equilibrium equation is as follows by the acquisition of deriving of upper-part rotation platform, rotary motor, recovery motor and the many inertia system torque equilibrium equation group that reclaims motor composition:

$\left\{\begin{array}{c}-\frac{P\&CenterDot;V_s}{2\mathrm{\&pi;}}-T_{\mathrm{fs}}=J_s\&CenterDot;\frac{d{\mathrm{\&omega;}}_s}{\mathrm{dt}}\\ -T_m+\frac{P\&CenterDot;V_r}{2\mathrm{\&pi;}}-T_{\mathrm{fr}}=J_r\&CenterDot;\frac{{\mathrm{d\&omega;}}_r}{\mathrm{dt}}\\ Q_r=Q_s\\ \frac{d{\mathrm{\&omega;}}_r}{\mathrm{dt}}\&CenterDot;V_r=\frac{{\mathrm{d\&omega;}}_s}{\mathrm{dt}}\&CenterDot;V_s\end{array}\right.$

In energy-recuperation system control, when rotary motor brake port pressure increases gradually, complete machine controller is reclaiming on the basis of its current rotation speed n of motor feedback, calculating and sending goes out corresponding torque command, regulates the input current size and Orientation that reclaims motor to export corresponding torque by electric machine controller.

Excavator operator turns round pilot handle control stick control excavator by adjusting and makes revolution startup, braking maneuver, and the tilt quantity of revolution control stick and revolution pilot pressure magnitude relationship as shown in Figure 2, are divided into three processes:

Stage one curve of output A～B section, when control stick tilts a little, rotary handle control valve valve rod and valve port are that negative opening mode is that valve rod covers valve port completely, and there is a surplus, handle control valve valve rod still cuts off the oil circuit between pioneer pump and revolving valve connection guide hydraulic fluid port completely, revolving valve connection guide hydraulic fluid port communicates with oil back chamber hydraulic oil container, and pressure is zero.

Stages two curve of output C～D section, when the control stick certain angle that tilts once again, handle control valve valve port is opened, and pioneer pump oil-out communicates with working chamber, and revolving valve connection valve guide hydraulic fluid port starts to produce pressure.Along with rotary handle control stick angle of inclination increases, valve port flow area strengthens, and revolution guide oil mouth pressure improves gradually, and the stroke of revolving valve connection pilot pressure and rotary handle action bars is certain proportionate relationship output.

Stages three curve of output E～F section, in the time that handle control valve valve rod moves to range, revolving valve connection pilot port pressure equates with pioneer pump output pressure, even at this moment control stick continuation inclination, revolving valve connection guide oil mouth pressure also no longer increases.

According to more than, along with excavator operator regulates rotary handle control stick, the increasing progressively of revolution startup, on-position and the revolution pilot handle output pressure of excavator getting-on platform, decline trend are corresponding relation, and the variation tendency that therefore can join C～D section guide oil mouth pressure according to revolving valve judges digger revolving motion state.

The validation verification of the identification of revolution mode of operation switching instant:

In Fig. 4, be respectively the pilot pressure curve of revolution pilot handle output and the make-and-break signal of solenoid operated directional valve, 1 represents that solenoid operated directional valve is that rotary braking energy recovery valve is opened, and connects the oil circuit of former rotary system and energy-recuperation system; 0 represents that solenoid operated directional valve cuts out, and disconnects connecting of former rotary system and energy-recuperation system.As can be seen from the figure, be decreased to 2MPa left and right at pilot pressure from 3.5MPa, entire car controller is just judged rotary system and is about to enter on-position.The switching that adopts rotary handle pilot pressure variation tendency can identify accurately and rapidly rotary system motion state is described.

Wherein, as shown in Figure 3, motor 1, drive motors 2, hydraulic pump 3 machine driving connect the structural representation of excavator energy-recuperation system, reclaiming hydraulic motor 11 is connected with recovery motor 10 machine driving with electricity generate function, hydraulic pump 3 communicates with the oil circuit of banked direction control valves 4, banked direction control valves 4 communicates with the oil circuit of rotary loop, boom cylinder 8, between the rodless cavity hydraulic fluid port of boom cylinder 8 and banked direction control valves 4, be connected with the first solenoid operated directional valve 9, in rotary loop, on an other branch road in parallel with rotary motor 5, be connected to one way valve 6, one way valve 6 is connected with the first electromagnetic valve 7, the first solenoid operated directional valve 9 is connected the entrance that reclaims hydraulic motor 11 with the outlet of the first electromagnetic valve 7, drive motors 2 is connected with electric energy-storage travelling wave tube 13 electricity by electric machine controller 12 with the recovery motor 10 with electricity generate function, electricity energy-storage travelling wave tube 13 is super capacitor or battery, complete machine controller 14 is provided with pressure feedback signal input interface, the left and right hydraulic fluid port of pressure feedback signal input interface and rotary motor 5, reclaiming the hydraulic fluid port of hydraulic motor 11 and the signal output part of boom cylinder 8 joins, complete machine controller 14 and motor 1, hydraulic pump 3, electricity energy-storage travelling wave tube 13, electric machine controller 12, the first electromagnetic valve 7 is connected with the first solenoid operated directional valve 9 electricity.Entire car controller 14 is from hydraulic actuating mechanism acknowledge(ment) signals such as rotary motor 5, recovery hydraulic motor 11 and boom cylinders 8, to motor 1, hydraulic pump 3, electric energy-storage travelling wave tube 13, electric machine controller 12 and the first electromagnetic valve 7 and the first solenoid operated directional valve 9 sending controling instructions.

Operating principle is as follows:

Entire car controller 14 gathers and data processing by the pressure signal that boom cylinder 8 and rotary motor 5 are exported, and obtains load pressure; Thereby to the station of discharge capacity, the first electromagnetic valve 7 and first solenoid operated directional valve 9 of the mode of operation of motor 1, hydraulic pump 3, the first electromagnetic valve 7, the first solenoid operated directional valve 9 sending controling instruction control engines 1, hydraulic pump 3.Electric machine controller 12 is by receiving the signal that transmits of entire car controller 14, thereby sends to drive motors 2, the recovery motor 10 with electricity generate function the pattern that control instruction is controlled drive motors 2 and had the recovery motor 10 of electricity generate function.

Concrete control is as follows:

1) hydraulic fluid port that, as shown in Figure 3, the rodless cavity of boom cylinder 8 connects the first solenoid operated directional valve 9, the first solenoid operated directional valves 9 also connects respectively banked direction control valves 4 and reclaims hydraulic motor 11.Swing arm rise time, entire car controller 14 control the first solenoid operated directional valve 9 be operated in upper, ascent stage, hydraulic oil enters rodless cavity from the first solenoid operated directional valve 9.When swing arm declines, entire car controller 14 is controlled the first solenoid operated directional valve 9 and is operated in the next, the hydraulic oil of boom cylinder 8 is entered and is reclaimed hydraulic motor 11 by the first solenoid operated directional valve 9, the potential energy that swing arm is declined is converted into the hydraulic energy that reclaims hydraulic motor 11, reclaiming hydraulic motor 11 drives the recovery motor 10 with electricity generate function to work, the recovery motor 10 now with electricity generate function is operated in generating state, be electric energy by the hydraulic energy transfer that reclaims hydraulic motor 11, be stored in electric energy-storage travelling wave tube 13 by electric machine controller 12, electric energy-storage travelling wave tube 13 is in charged state.

2), as shown in Figure 3, the oil inlet and outlet of rotary motor 5 one way valve 6 that is connected in parallel respectively, rear connection the first electromagnetic valve 7, the first electromagnetic valves 7 of one way valve 6 with reclaim hydraulic motor 11 oil circuits and be connected.In the time of getting-on platform rotary braking, entire car controller 14 is controlled the first electromagnetic valve 7 and is operated in the nextly, and the rotary motor 5 high pressure chest hydraulic oil that cause because of upper-part rotation platform dynamic moment of inertia are entered and reclaimed hydraulic motor 11 and drive its rotations by the first electromagnetic valve 7; Simultaneously, entire car controller 14 is to electric machine controller 12 transmitted signals, the recovery motor 10 that makes electric machine controller 12 controls have electricity generate function is operated in generating state, the threephase AC electric energy rectification that frequency-variable module in electric machine controller 12 generates the recovery motor 10 with electricity generate function is converted to direct current energy and stores into electric energy-storage travelling wave tube 13, and electric energy-storage travelling wave tube 13 is in charged state.

3) system that, hydraulic pump 3 is made up of motor 1 and drive motors 2 drives jointly.Motor 1 is under a certain pattern time, motor 1 provides a certain firm power, and in the time that bearing power is greater than the setting power of motor 1, electric machine controller 12 is controlled motor 2 and is operated in motoring condition, hydraulic pump 3 is driven jointly by motor 1 and motor 2, and electric energy-storage travelling wave tube 13 is in discharge condition; In the time that motor 1 self is set up power and can be met bearing power demand, electric machine controller 12 is controlled drive motors 2 and is operated in servo-actuated state, and motor 1 drives separately hydraulic pump 3, and electric energy-storage travelling wave tube 13 is in off position.

Claims (5)

1. a digger revolving braking energy recycling and control method, it is characterized in that, adopt excavator energy-recuperation system, described excavator energy-recuperation system comprises motor (1), hydraulic pump (3), banked direction control valves (4), arm oil cylinder (8), rotary motor (5) and complete machine controller (14), and drive motors (2) is in transmission connection with described hydraulic pump (3); Between the rodless cavity hydraulic fluid port of described boom cylinder (8) and described banked direction control valves, be provided with the first solenoid operated directional valve (9), described the first solenoid operated directional valve (9) outlet connects the entrance that reclaims hydraulic motor (11); Described recovery hydraulic motor (11) is in transmission connection with the recovery motor (10) with electricity generate function, described drive motors (2) is connected with electric energy-storage travelling wave tube (13) electricity by electric machine controller (12) with the described recovery motor (10) with electricity generate function, between the oil-in of described rotary motor (5) and oil-out, be parallel with one way valve (6), after one way valve (6), connect the first electromagnetic valve (7), the first electromagnetic valve (7) is connected with recovery hydraulic motor (11) oil circuit; Described rotary motor (5) is parallel with one way valve (6);

Control method comprises the following steps:

Step 1: the upper limit SOC of state of charge SOC when setting electric energy-storage travelling wave tube and normally working _maxwith lower limit SOC _min; ;

Step 2: excavator upper-part rotation platform enters Turning course, detects electric energy-storage travelling wave tube SOC value, works as SOC<SOC _maxtime, enter step 3; Otherwise, repeating step 2;

Step 3: utilize complete machine controller (14) by the pilot pressure of pressure sensor collection revolution pilot handle output, in the time being incremental variations in the Δ T time that the pilot pressure of revolution pilot handle output is being set, start the motor (10) with electricity generate function, and the first rotating speed that the stabilization of speed of the recovery motor (10) with electricity generate function is being set, enter step 4, otherwise, return to step 2;

Step 4: while variation when tapering off in the Δ T time that the pilot pressure of revolution pilot handle output is being set, the first solenoid operated directional valve (9) is opened, and excavator energy-recuperation system starts to carry out energy recovery, enters step 5, otherwise, repeating step 4;

Step 5: entire car controller sends instruction and applies direction dtc signal by electric machine controller to the recovery motor (10) with electricity generate function, by with reclaim the recovery motor that is connected of motor coaxle and act on rotary motor, complete the braking of upper-part rotation platform, the recovery motor (10) simultaneously with electricity generate function charges to electric energy-storage travelling wave tube, complete the rotary braking energy recovery that generating stores, return to step 2.

2. digger revolving braking energy recycling and control method according to claim 1, is characterized in that, the upper limit SOC of state of charge SOC when described electric energy-storage travelling wave tube is normally worked _maxwith lower limit SOC _minbe respectively 0.4 and 0.8.

3. digger revolving braking energy recycling and control method according to claim 2, is characterized in that, is 10ms-20ms for the pilot pressure that judges the output of revolution pilot handle at the time Δ T of the time Δ T situation of change of setting.

4. according to the digger revolving braking energy recycling and control method described in claim 1-3 any one, it is characterized in that, described electric energy-storage travelling wave tube is super capacitor.

5. digger revolving braking energy recycling and control method according to claim 4, is characterized in that, in described step 5, entire car controller sends instruction and applies direction dtc signal T by electric machine controller to the recovery motor (10) with electricity generate function _mto calculate acquisition according to following formula:

$T_m=\frac{P\&CenterDot;V_r}{2\mathrm{\&pi;}}(1+\frac{J_r{V}_r}{J_s{V}_s})+\frac{J_r{V}_r}{J_s{V}_s}{T}_{\mathrm{fs}}-T_{\mathrm{fr}}$

Wherein, P is the pressure of rotary motor brake port in braking procedure, obtains by pressure sensor collection; V _sfor the rated discharge of rotary motor; V _rfor reclaiming the rated discharge of motor; J _sfor upper-part rotation acts on the dynamic moment of inertia on rotary motor; J _ract on for reclaiming motor and motor the dynamic moment of inertia reclaiming on motor; T _fsfor the moment of resistance of upper-part rotation platform action on rotary motor in braking procedure; T _fract on for reclaiming motor in braking procedure and reclaiming motor the moment of resistance reclaiming on motor; Q _sfor the specified output flow of rotary motor in braking procedure; Q _rfor reclaiming the specified input flow rate of motor in braking procedure; ω _sfor the rated angular velocity of rotary motor; ω _rfor reclaiming the rated angular velocity of motor.

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