CN103882901B - Digger revolving Brake energy recovery control method - Google Patents

Abstract

The invention discloses a kind of digger revolving Brake energy recovery control method, by when the revolution of upper-part rotation platform starts, electric machine controller receives instruction makes motor be in motoring condition, drives the motor with electricity generate function to reach certain working speed.During getting-on 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 been provided with certain rotating speed, thus can respond rapidly reclaim motor torsional moment carry out generating electricity and storing, thus reduce rotary motor brake port pressure minimizing spill losses, improve motor maximum (top) speed simultaneously and extend generating dutation, realize maximizing efficient rotary braking energy regenerating.

Description

Digger revolving Brake energy recovery control method

Technical field

The present invention relates to a kind of digger revolving Brake energy recovery 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 is widely used in building operations industry due to the high efficiency of its work and reliability, excavates under revolution unloads geotechnological condition, there is twice revolution, twice braking in excacation circulation in its typical case's fixed point.Wherein rotary kinetic energy is all converted into heat-energy losses, causes hydraulic oil temperature to raise simultaneously, reduces the application life of hydraulic system.If this part energy effectively can be reclaimed and recycle, the capacity usage ratio of excavator can be improved, thus reduce energy consumption and discharge, there is higher economic worth and social effect.

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

In hydraulic crawler excavator rotary braking energy regenerating, the method adopting and identify revolution Acceleration of starting and retarding braking process based on rotary motor import/export pressure reduction is had on getting-on platform motion state is judged, but the method could need judge after rotary motor brake port pressure is set up, exist necessarily delayed compared to getting-on platform actual gyration state, will the energy regenerating effect of the period of motion shorter rotary braking operating mode be affected.Equally, when regaining transformation of ownership energy back and forth by electric power generation, method be in the past judge getting-on platform revolution be in on-position after system just send the work of instruction starter motor, do not consider that motor is transferred to the process (rotating speed rises to efficient working speed region from zero) of power generation operation state by inactive state, also greatly reduce energy recovery efficiency with the delayed 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 Brake energy recovery control method efficiently, on board a dredger under car revolving dial Turning course, the method can maximize high efficiente callback rotary braking energy and be converted into electric energy and store, the energy loss of dynamical system can be reduced, improve energy recovery efficiency, realize the object of excavator energy-saving and emission-reduction.

A kind of digger revolving Brake energy recovery 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 and described hydraulic pump 3 are in transmission connection; Be provided with the first solenoid operated directional valve 9 between the rodless cavity hydraulic fluid port of described arm oil cylinder 8 and described banked direction control valves, the first described solenoid operated directional valve 9 exports the entrance connecting Ethylene recov pressure motor 11; Described Ethylene recov pressure 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, one way valve 6 is parallel with between the oil-in of described rotary motor 5 and oil-out, connect the first electromagnetic valve 7, first electromagnetic valve 7 after one way valve 6 to be connected with Ethylene recov pressure 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 setting state of charge SOC when electric energy-storage travelling wave tube normally works _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, repeat step 2;

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

Step 4: when the pilot pressure turning round pilot handle output tapers off change in the Δ T time set, the first solenoid operated directional valve 9 is opened, and excavator energy-recuperation system starts to carry out energy regenerating, enters step 5, otherwise, repeat step 4;

Step 5: complete machine 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 regenerating that generating stores, return step 2.

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

Be 10ms-20ms for judging to turn round pilot pressure that pilot handle exports at the time Δ T of time Δ T situation of change of setting.

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

In described step 5, complete machine controller sends instruction and applies direction dtc signal T by electric machine controller to the recovery motor 10 with electricity generate function _mcarry out calculating according to following formula to obtain:

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

Wherein, P is the pressure of rotary motor brake port in braking procedure, is obtained 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 _rfor recovery motor and motor act on the dynamic moment of inertia reclaimed on motor; T _fsfor the moment of resistance of upper-part rotation platform action on rotary motor in braking procedure; T _frthe moment of resistance reclaimed on motor is acted on for reclaiming motor in braking procedure and reclaiming 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 by upper-part rotation platform, rotary motor, recovery motor and reclaim many inertia system torque equilibrium equation group of forming of motor and carry out derivation and obtain, many inertia system torque equilibrium equation is as follows:

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

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

Beneficial effect

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

1, when the revolution of upper-part rotation platform starts, electric machine controller receives instruction makes motor be in motoring condition, drives the motor with electricity generate function to reach certain working speed.During 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 been provided with certain rotating speed, thus can respond rapidly reclaim motor torsional moment carry out generating electricity and storing, thus reduce rotary motor brake port pressure minimizing spill losses, improve motor maximum (top) speed simultaneously and extend generating dutation, realize maximizing efficient rotary braking energy regenerating.

2, in order to avoid causing rotary motor brake port insufficient pressure to occur inhaling sky 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.The collection of complete machine controller obtains revolving dial rotating speed, the rotating speed of rotary motor is gone out by platform speed ratio calculation, again according to rotary motor discharge capacity with reclaim motor displacement and calculate the standby maximum (top) speed of energy regenerating that electric energy-storage travelling wave tube drive motors should reach, complete machine controller sends to electric machine controller to control the rotating speed of motor.

Accompanying drawing explanation

Fig. 1 is the flow chart of digger revolving Brake energy recovery 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 switches 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 regenerating control flow chart of the present invention, a kind of digger revolving Brake energy recovery 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 and described hydraulic pump 3 are in transmission connection; Be provided with the first solenoid operated directional valve 9 between the rodless cavity hydraulic fluid port of described arm oil cylinder 8 and described banked direction control valves, the first described solenoid operated directional valve 9 exports the entrance connecting Ethylene recov pressure motor 11; Described Ethylene recov pressure 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, one way valve 6 is parallel with between the oil-in of described rotary motor 5 and oil-out, connect the first electromagnetic valve 7, first electromagnetic valve 7 after one way valve 6 to be connected with Ethylene recov pressure 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 setting state of charge SOC when electric energy-storage travelling wave tube normally works _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, repeat step 2;

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

Step 4: when the pilot pressure turning round pilot handle output tapers off change in the Δ T time set, the first solenoid operated directional valve 9 is opened, and excavator energy-recuperation system starts to carry out energy regenerating, enters step 5, otherwise, repeat step 4;

Step 5: complete machine 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 regenerating that generating stores, return step 2.

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

Be 10ms-20ms for judging to turn round pilot pressure that pilot handle exports at the time Δ T of time Δ T situation of change of setting.

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

In described step 5, complete machine controller sends instruction and applies direction dtc signal T by electric machine controller to the recovery motor 10 with electricity generate function _mcarry out calculating according to following formula to obtain:

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

Wherein, P is the pressure of rotary motor brake port in braking procedure, is obtained 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 _rfor recovery motor and motor act on the dynamic moment of inertia reclaimed on motor; T _fsfor the moment of resistance of upper-part rotation platform action on rotary motor in braking procedure; T _frthe moment of resistance reclaimed on motor is acted on for reclaiming motor in braking procedure and reclaiming 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 by upper-part rotation platform, rotary motor, recovery motor and reclaim many inertia system torque equilibrium equation group of forming of motor and carry out derivation and obtain, many inertia system torque equilibrium equation is as follows:

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

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

Excavator operator turns round pilot handle control stick control excavator by adjustment and makes revolution startup, braking maneuver, turns round the tilt quantity of control stick and turns round pilot pressure magnitude relationship as shown in Figure 2, being 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 and valve rod cover valve port completely, and have surplus, still cut-out pioneer pump and revolving valve join the oil circuit between guide's hydraulic fluid port to handle control valve valve rod completely, revolving valve connection guide hydraulic fluid port communicates with oil back chamber hydraulic oil container, and pressure is zero.

Stage two curve of output C ~ D section, when control stick tilts certain angle 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 that certain proportionate relationship exports.

Stage three curve of output E ~ F section, when handle control valve valve rod moves to range, revolving valve connection pilot port pressure is equal with pioneer pump output pressure, even if at this moment control stick continues to tilt, 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 revolution startup of excavator getting-on platform, the increasing progressively of on-position and revolution pilot handle output pressure, decline trend is 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:

Be respectively the pilot pressure curve of revolution pilot handle output and the make-and-break signal of solenoid operated directional valve in Fig. 4,1 represents that solenoid operated directional valve and rotary braking energy recovery valve are 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 about 2MPa at pilot pressure from 3.5MPa, complete machine controller just judges that rotary system is about to enter on-position.The switching adopting rotary handle pilot pressure variation tendency can identify rotary system motion state is accurately and rapidly 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, Ethylene recov pressure 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, arm oil cylinder 8, the first solenoid operated directional valve 9 is connected with between the rodless cavity hydraulic fluid port of arm oil cylinder 8 and banked direction control valves 4, in rotary loop, an other branch road in parallel with rotary motor 5 is connected to one way valve 6, and one way valve 6 is connected with the first electromagnetic valve 7, first solenoid operated directional valve 9 is connected the entrance of Ethylene recov pressure 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, the hydraulic fluid port of Ethylene recov pressure motor 11 and the signal output part of arm oil cylinder 8 connect, complete machine controller 14 and motor 1, hydraulic pump 3, electricity energy-storage travelling wave tube 13, electric machine controller 12, first electromagnetic valve 7 is connected with the first solenoid operated directional valve 9 electricity.Complete machine controller 14 from hydraulic actuating mechanism acknowledge(ment) signals such as rotary motor 5, Ethylene recov pressure motor 11 and arm oil 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 instruction.

Operating principle is as follows:

Complete machine controller 14 is gathered and data processing by the pressure signal exported arm oil cylinder 8 and rotary motor 5, obtains load pressure; To motor 1, hydraulic pump 3, first electromagnetic valve 7, first solenoid operated directional valve 9 sending controling instruction thus control the station of the mode of operation of motor 1, the discharge capacity of hydraulic pump 3, the first electromagnetic valve 7 and the first solenoid operated directional valve 9.The signal that electric machine controller 12 transmits by receiving complete machine controller 14, sends control instruction to drive motors 2, the recovery motor 10 with electricity generate function thus controls drive motors 2 and have the pattern of 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 arm oil cylinder 8 connects the first solenoid operated directional valve 9, first solenoid operated directional valve 9 also connects banked direction control valves 4 and Ethylene recov pressure motor 11 respectively.When swing arm rises, complete machine controller 14 controls the first solenoid operated directional valve 9 and is operated in upper, then ascent stage, and hydraulic oil enters rodless cavity from the first solenoid operated directional valve 9.When swing arm declines, complete machine controller 14 controls the first solenoid operated directional valve 9 and is operated in bottom, the hydraulic oil of arm oil cylinder 8 enters Ethylene recov pressure motor 11 by the first solenoid operated directional valve 9, the hydraulic energy that the potential energy that swing arm declines is Ethylene recov pressure motor 11, Ethylene recov pressure 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 of Ethylene recov pressure 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 is connected in parallel one way valve 6 respectively, connects the first electromagnetic valve 7, first electromagnetic valve 7 and be connected with Ethylene recov pressure motor 11 oil circuit after one way valve 6.When getting-on platform rotary braking, complete machine controller 14 controls the first electromagnetic valve 7 and is operated in bottom, and the rotary motor 5 high pressure chest hydraulic oil caused because of upper-part rotation platform dynamic moment of inertia enters Ethylene recov pressure motor 11 by the first electromagnetic valve 7 and drives it to rotate; Simultaneously, complete machine controller 14 sends signal to electric machine controller 12, the recovery motor 10 making electric machine controller 12 control to have electricity generate function is operated in generating state, the threephase AC electric energy rectification that the recovery motor 10 with electricity generate function generates is converted to direct current energy and stores into electric energy-storage travelling wave tube 13 by the frequency-variable module in electric machine controller 12, 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.When motor 1 is under a certain pattern, motor 1 provides a certain firm power, and when bearing power is greater than the setting power of motor 1, electric machine controller 12 controls 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; When motor 1 self setting power can meet load power demand, electric machine controller 12 controls drive motors 2 and is operated in servo-actuated state, and motor 1 drives hydraulic pump 3 separately, and electric energy-storage travelling wave tube 13 is in off position.

Claims (5)

1. a digger revolving Brake energy recovery 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) and described hydraulic pump (3) are in transmission connection; Be provided with the first solenoid operated directional valve (9) between the rodless cavity hydraulic fluid port of described arm oil cylinder (8) and described banked direction control valves, described the first solenoid operated directional valve (9) outlet connects the entrance of Ethylene recov pressure motor (11); Described Ethylene recov pressure 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, one way valve (6) is parallel with between the oil-in of described rotary motor (5) and oil-out, one way valve (6) connects the first electromagnetic valve (7) afterwards, and the first electromagnetic valve (7) is connected with Ethylene recov pressure 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 setting state of charge SOC when electric energy-storage travelling wave tube normally works _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, repeat step 2;

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

Step 4: when the pilot pressure turning round pilot handle output tapers off change in the Δ T time set, the first solenoid operated directional valve (9) is opened, and excavator energy-recuperation system starts to carry out energy regenerating, enters step 5, otherwise, repeat step 4;

Step 5: complete machine 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 regenerating that generating stores, return step 2.

2. digger revolving Brake energy recovery 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 normally works _maxwith lower limit SOC _minbe respectively 0.4 and 0.8.

3. digger revolving Brake energy recovery control method according to claim 2, is characterized in that, is 10ms-20ms for judging to turn round pilot pressure that pilot handle exports at the time Δ T of time Δ T situation of change of setting.

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

5. digger revolving Brake energy recovery control method according to claim 4, is characterized in that, in described step 5, complete machine controller sends instruction and applies direction dtc signal T by electric machine controller to the recovery motor (10) with electricity generate function _mcarry out calculating according to following formula to obtain:

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

Wherein, P is the pressure of rotary motor brake port in braking procedure, is obtained by pressure sensor collection; V _sfor the rated discharge of rotary motor; V _rfor reclaiming the rated discharge of motor; J _sthe dynamic moment of inertia on rotary motor is acted on for upper-part rotation; J _rfor recovery motor and motor act on the dynamic moment of inertia reclaimed on motor; T _fsfor the moment of resistance of upper-part rotation platform action on rotary motor in braking procedure; T _frthe moment of resistance reclaimed on motor is acted on for reclaiming motor in braking procedure and reclaiming 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.