WO2013060010A1

WO2013060010A1 - Electric drive rotation control system, engineering machinery and rotary emergency braking control method

Info

Publication number: WO2013060010A1
Application number: PCT/CN2011/081432
Authority: WO
Inventors: 陈华; 张明珍; 张迁; 东荣
Original assignee: 中联重科股份有限公司; 湖南中联重科专用车有限责任公司
Priority date: 2011-10-27
Filing date: 2011-10-27
Publication date: 2013-05-02

Abstract

An electric drive rotation control system, engineering machinery and a rotary emergency braking control method. The electric drive rotation control system (20) comprises: a main controller (21), a rotary electric motor controller (22), a rotary electric motor (23), an electrical energy supply apparatus (24), a rotational speed sensor (25), a hydraulic braking control valve (26a) and a hydraulic brake (26b). In addition, the main controller (21) is also configured such that after an emergency braking signal is received, an emergency control signal is outputted to the rotary electric motor controller (22) to control the rotary electric motor (23) to generate electricity and brake using a given reverse torque, and according to the signal regarding the operating status of the rotary electric motor (23) fed back by the rotational speed sensor (25), the time for generating a hydraulic braking signal to the hydraulic braking control valve (26a) is determined. Furthermore, the emergency control signal can be a switched braking signal outputted by the main controller (21) using a switched control mode. Therefore, the present invention can achieve rotary emergency braking control when emergency braking is required or when the rotary operation is out of control, and can improve system reliability and prevent the severe consequences caused by out of control rotation.

Description

Electric drive rotary control system, engineering machinery and rotary emergency brake control method

The invention relates to the technical field of hybrid engineering machinery, in particular to an electric drive rotary control system, a construction machine and a rotary emergency brake control method. Background technique

Research on the hybrid power technology of excavators in construction machinery has been extensive, and because of the relatively high maintenance cost, there are fewer products in the domestic market. Different from the traditional hydraulic drive rotary control system, the hybrid electric power excavator is powered by the engine and the electric motor. The battery pack or super capacitor is used as the energy storage unit, the hydraulic pilot control device is retained, and the recoverable energy is utilized. The motor drive replaces the high-energy hydraulic drive rotary control system to save energy and reduce consumption. As shown in FIG. 1, the hybrid excavator 10 generally has an upper-part turning body 13 that is rotatably mounted on the crawler-type lower traveling body 11, and a work attachment attached to the upper-part turning body, such as the boom 17, the arm 18, The bucket 19 and the corresponding hydraulic actuator, and the upper slewing body 13 is driven to rotate by the slewing motor 15 in the electric drive slewing control system. The shortcomings of the electric drive slewing control system relative to the hydraulic drive slewing control system are: The on-site CAN bus control signal is susceptible to external electromagnetic interference, which causes the uncontrolled operation of the rotary motion.

At present, there are few related information on the productization of the hybrid excavator and the technical details of the public disclosure. Some manufacturers adopting the electric drive rotary control system only use the reverse power generation braking of the rotary motor, that is, the state of entering the power generation braking state. The swing motor applies a certain reverse torque. Although the reverse power brake with the rotary motor combined with the zero speed brake of the hydraulic brake caliper can effectively realize the swing brake under normal conditions; on the one hand, it is difficult to cope with the reverse power generation brake inherent in the rotary motor alone. Emergency rotary braking, on the other hand, its control mainly depends on the effective transmission of bus data, in order to achieve feedback of operating conditions (speed, torque, etc.) and real-time control of the rotating motor. If an external strong electromagnetic interference source (high-voltage substation, high-power transmission tower, etc.) or a device on the fieldbus network fails, the error frame on the fieldbus increases sharply, causing the network load rate to exceed the limit, thus causing the master in the swing control system. The bus communication efficiency between the controller and the rotary motor controller is degraded, and even intermittent interruptions cause the swing operation to be uncontrolled. At this time, since the hydraulic brake valve is controlled by the program-controlled zero-speed brake, the main controller may receive an incorrect feedback signal of the rotary motor when the swing is not controlled. Therefore, the hydraulic brake solenoid valve may not be able to act at a determined time and may cause serious consequences. Summary of the invention

The object of the present invention is to provide an electric drive slewing control system, a slewing emergency brake control method and a construction machine using the same, which can perform emergency braking under uncontrolled rotation, thereby improving system reliability. To avoid serious consequences caused by uncontrolled rotation.

Specifically, an electric drive rotation control system provided by an embodiment of the present invention is suitable for controlling a swing motion of a rotary body of a construction machine. In this embodiment, the electric drive rotation control system comprises: a main controller, a rotary motor controller, a rotary motor, an electric power supply device, a rotational speed sensor, a hydraulic brake control valve, and a hydraulic brake, and the electric power supply device is rotated by the rotary motor controller. The motor provides power to drive the rotary body to perform the swinging motion, and the main controller controls the rotary electric motor controller to control the rotary electric power feeding to the main controller, and the main controller determines whether to generate the hydraulic brake signal to the hydraulic brake control according to the operation state signal. The valve controls the hydraulic brake to brake the rotary body. In addition, the main controller is further configured to, after receiving the emergency braking signal, output an emergency control signal to the swing motor controller to control the swing motor to generate braking with a specific reverse torque, and determine the generated according to the operating state signal fed back by the speed sensor. The time from the hydraulic brake signal to the hydraulic brake control valve.

In the embodiment of the present invention, the main controller is configured to switch from the field bus communication control mode to the switch quantity control mode after receiving the emergency brake signal, and output the switch quantity brake signal as the switch quantity control mode. Emergency control signal.

In the embodiment of the present invention, the electric drive slewing control system may further include a slewing emergency brake switch, and the slewing emergency brake switch generates an emergency brake signal to the main controller after being triggered.

In the embodiment of the present invention, the electric drive rotation control system may further include an alarm unit such as a buzzer, and the main controller triggers the alarm unit to alarm after receiving the emergency brake signal.

In the embodiment of the present invention, the electric drive slewing control system may further include a contactor connected between the power supply device and the rotary motor controller and controlled by the main controller; when the main controller receives the emergency brake After the signal, the contactor is opened to cut off the connection between the power supply device and the rotary motor controller. Further, a circuit breaker and a discharge resistor may be further included, and the discharge resistor is connected to the swing motor controller through the circuit breaker and controlled by the main controller; when the main controller receives the emergency brake signal, the circuit breaker is turned on to discharge the resistor and The rotary motor controller is switched on. In the embodiment of the present invention, the specific reverse torque power generation braking described above is, for example, generated by the maximum reverse torque.

In the embodiment of the present invention, the rotation speed sensor in the electric drive rotation control system is, for example, a rotary transformer, is mounted on the output shaft of the rotary motor, and rotates synchronously with the rotary motor and outputs the rotation speed to the main controller as a pulse signal. As an operating status signal.

Another embodiment of the present invention provides a construction machine including a rotary body and the above-described electric drive rotation control system for controlling a swinging motion of the swing body. Further, the swing emergency brake switch for triggering the generation of the emergency brake signal in the electric drive slewing control system is preferably installed in the cab of the construction machine.

According to still another embodiment of the present invention, a rotary emergency brake control method is applied to a construction machine; wherein the construction machine comprises a rotary body, a transmission mechanism, a main controller and a rotary motor, and the rotary motor drives the rotary body to perform a rotary motion through a transmission mechanism. . The rotary emergency brake control method of the embodiment includes the steps of: triggering generation of an emergency brake signal to the main controller; outputting an emergency control signal by the main controller to control the rotary motor to generate braking with a specific reverse torque; detecting the operation of the rotary motor The state and feedback operation state signal to the main controller; the main controller determines the time for outputting the hydraulic brake signal according to the rotation speed signal; and hydraulically brakes the transmission mechanism by the hydraulic brake signal to realize the rotary braking of the rotary body.

In the embodiment of the present invention, the main controller outputs the switching amount brake signal as an emergency control signal, for example, in a switching amount control manner.

In the embodiment of the present invention, the above-mentioned swing emergency brake control method may further include the steps of: switching from the fieldbus communication control mode to the switch quantity control mode after the main controller receives the emergency brake signal.

In the embodiment of the invention, in the above-described swing emergency brake control method, the specific reverse torque power brake is, for example, the maximum reverse torque power generation brake.

In the embodiment of the present invention, the above-described swing emergency brake control method may further include the steps of: after the main controller touches receiving the emergency brake signal, disconnecting the power of the rotary motor; and further preventing the rotary motor from overheating .

In the embodiment of the present invention, the above-described swing emergency brake control method may further include the steps of: enabling the alarm unit to alarm after the main controller touches the emergency brake signal. In the embodiment of the present invention, in the above-described slewing emergency brake control method, the step of determining, by the main controller, the time for outputting the hydraulic brake signal according to the operation state signal includes: responsive to the rotational state of the mechanism on the operating state; The rotational torque is compared with the rotational torque limit that the moving mechanism can withstand; and when the calculated rotational torque is less than the rotational torque limit value, the hydraulic brake signal is output.

In the embodiment of the present invention, on the basis of the existing field bus communication control mode to control the rotary brake, a set of rotary emergency braking scheme is added, and when the emergency braking is required, the rotary motor is made to have a specific reverse torque (for example, maximum Reverse torque) starts the brake and realizes the emergency brake control. In addition, when there is uncontrollable rotation, there is often a problem in fieldbus communication. In the prior art, the power of the rotary motor can only be cut off by the system power failure and the hydraulic brake is passively implemented, which will cause the control system and the power system to fail. Unable to control effectively and may have a huge impact on the rotary drive. The rotary emergency braking scheme also provides a set of redundant control that is independent of the field bus communication and can realize the manual braking without turning off the system power supply, and can obtain the rotating motor speed through the speed signal fed back by the speed sensor, and pass the switch. The quantity control mode controls the rotary motor to switch to the reverse power generation braking state; and the power supply of the rotary motor can be further cut off to avoid a false start caused by a bus communication failure, and the discharge resistor is used to release the energy generated during the reverse power generation braking process; The hydraulic brake control valve can be effectively controlled to operate at an appropriate timing. Therefore, the reliability of the electric drive reversal control of the construction machine is improved.

The above description is only an overview of the technical solutions of the present invention, and the technical means of the present invention can be more clearly understood, and can be implemented in accordance with the contents of the specification, and the above and other objects, features and advantages of the present invention can be more clearly understood. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments will be described in detail with reference to the accompanying drawings: 3⁄4. BRIEF abstract

1 is a top plan view of a prior art hybrid excavator.

2 is a block diagram showing the structure of an electric drive slewing control system in accordance with an embodiment of the present invention. 3 is a flow chart of a rotary emergency brake control in accordance with an embodiment of the present invention. Preferred embodiment of the invention In order to further illustrate the technical means and efficacy of the present invention for achieving the intended purpose of the invention, the electric drive slewing control system, the construction machine and the slewing emergency brake control method according to the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Specific implementation methods, methods, steps and effects, detailed description: 3⁄4 mouth.

The foregoing and other technical aspects, features and advantages of the present invention will be apparent from The description of the embodiments is to be understood as illustrative and not restrictive.

Referring to FIG. 2, the electric drive slewing control system 20 according to the embodiment of the present invention is applied to a hybrid construction machine including a slewing body 30. In the present embodiment, the hybrid power engineering machine is, for example, a hybrid power excavator, and includes, for example, a lower traveling body, an upper slewing body rotatably mounted on the crawler type lower traveling body, and the like, similar to the shovel 10 shown in FIG. The work attachments mounted on the upper slewing body, such as the boom, the stick, the bucket, and the corresponding hydraulic actuators; but the invention is not limited thereto, and the hybrid construction machine of the embodiment of the invention may be any Construction machinery with electrically driven rotors.

As shown in FIG. 2, the electric drive swing control system 20 includes a main controller 21, a swing motor controller 22, a swing motor 23, an energy storage unit 24, a contactor KM1, a circuit breaker KM2, a discharge resistor 1, a rotational speed sensor 25, and a hydraulic pressure. Brake control valve 26a, hydraulic brake 26b, transmission 27, swing emergency brake switch 28, and police unit 29. The main controller 21 serves as a control center of the entire control system to control the swinging motion of the swing body 30, and is, for example, a programmable logic controller (PLC). The main controller 21 normally communicates with the swing motor controller 22 via the field bus, and the energy storage unit 24 serves as an example of an electric power supply device that supplies power to the swing motor 23 via the swing motor controller 22 via the drive train mechanism. 27, the swing body 30 is driven to perform the swing operation; in other words, the main controller 21 normally controls the operation state of the swing motor 23 by the swing motor controller 22 by the field bus communication control method. The contactor KM1 is connected between the energy storage unit 24 and the swing motor controller 22 and is controlled by the main controller 21, and the discharge resistor R is connected to the swing motor controller 22 through the circuit breaker KM2 and is controlled by the main controller 21. In addition, as can be seen from FIG. 2, the main controller 21 is further configured to control the swing motor 23 by the swing motor controller 22 by means of the switch amount control mode, and in the case of the reverse emergency brake, the main controller 21 Selecting the switch quantity control mode to output the switch quantity braking signal The swing motor 23 is controlled as an emergency control signal to initiate braking with a specific reverse torque. The rotation speed sensor 25 detects an operation state (for example, a rotation speed) of the swing motor 23 and generates an operation state signal fed back to the main controller 21, and the main controller 21 determines whether or not to generate a hydraulic brake signal to the hydraulic system based on an operation state signal (for example, a rotation speed signal). The dynamic control valve 26a controls the hydraulic brake 26b to perform the rotational braking of the rotary body 30 by the brake transmission mechanism 27. In this embodiment, the rotational speed sensor 25 is, for example, a rotary transformer, which is mounted on the output shaft of the rotary motor 23, rotates synchronously with the rotary motor 23, and outputs the rotational speed to the main controller 21 as a rotational speed signal in a pulse signal manner; The control valve 26a is, for example, a solenoid valve, and the hydraulic brake 26b is, for example, a hydraulic brake caliper, and the transmission mechanism 27 is integrated, for example, in a reduction gear box and mechanically coupled with the rotary body 30 through a gear.

The rotary emergency brake switch 28 is installed, for example, in a cab of a hybrid construction machine, and is conveniently disposed within a 30 cm circumferential radius of the swing joystick in the cab, and its normally closed contact is connected to the main control. The switch input point of the device 21. Here, the swing joystick is electrically coupled to the main controller 21, which can be manually manipulated to generate a swing operation command. When the manipulator needs to perform an emergency braking or finds that the swing is not controlled, the emergency brake switch 28 can be artificially triggered to generate an emergency brake signal to the main controller 21. After receiving the emergency brake signal, the main controller 21 will generate an alarm signal to trigger the alarm unit 29 to alarm and select the switch quantity control mode to shield the field bus communication control mode. In this embodiment, the alarm unit 29 is, for example, an audible alarm unit such as a buzzer, but is not limited thereto, and may be a light alarm unit or an acousto-optic combination alarm unit or the like.

The swing emergency brake control process executed in the electric drive slewing control system 20 will be described in detail below with reference to FIG.

Normally, the main controller 21 controls the swing motor 23 to control the swing operation of the swing body 30 by the swing motor controller 22 in the field bus communication control mode (step S10); the main controller 21 detects whether the swing operation is completed ( Step S12) is realized, for example, by detecting a swing motion command issued from the swing joystick. When it is detected that the current turning operation is completed, the main controller 21 informs the turning motor controller 22 to stop the turning motor 23 from being stopped by the field bus communication control mode. At this time, the turning motor 23 is in the power generating braking state due to the rotational inertia, and the rotating speed is The sensor 25 detects an operation state of the swing motor 23, for example, a rotation speed, and feeds back an operation state signal to the main controller 21, and the main controller 21 determines whether the swing motor 23 is at a zero speed based on the received operation state signal (step S14), that is, Whether the rotational speed of the swing motor 23 is zero or close to zero speed. When it is determined that the swing motor 23 is at a zero speed, a hydraulic brake signal is generated to the hydraulic brake control valve 26a to enable the pair of hydraulic brakes 26b. The transmission mechanism 27 performs hydraulic braking (step S20) to thereby achieve the rotary braking of the rotary body 30, that is, the zero speed brake parking is realized.

When the emergency braking situation is reversed, for example, the manipulator needs to perform emergency braking or find that the rotation is not controlled, the emergency braking signal generated by the manipulator can be triggered to generate the emergency braking signal to the main controller 21, and the main controller 21 receives After the emergency brake signal is determined, it is determined that emergency braking is required (step S11), and an alarm signal enable (Enable) alarm unit 29 is generated (step S13), and the contactor KM1 is opened to cut off the energy storage unit 24 and the rotary motor. The connection of the controller 22 avoids a false start caused by an error command of the field bus before the failure of the rotary brake and after the failure of the stop, and simultaneously turns on the circuit breaker KM2 to connect the discharge resistor R with the rotary motor controller 22 so that the rotary motor 23 is reversed. The energy generated during braking of the power generation is released to avoid damage caused by overheating of the rotary motor 22 (step S15), and the fieldbus communication control mode is shielded, and the switch quantity control mode is selected to output the switch quantity brake signal as an emergency control signal to the swing motor. The controller 22 controls the swing motor 23 to start the brake with a specific reverse torque (step S17), at which time the rotary motor 2 3 A specific reverse torque, such as a maximum reverse torque, is applied and the brake is activated, i.e., in a reverse-actuated brake. The rotation speed sensor 25 detects the operation state of the swing motor 23, for example, the rotation speed, and feeds back an operation state signal such as a rotation speed signal to the main controller 21, and the main controller 21 determines whether the rotation speed of the swing motor 23 is out of limit based on the received rotation speed signal ( Step S19) to avoid serious damage to the transmission mechanism 27 caused by the sudden brake brake of the hydraulic brake 26b during the high-speed rotation, and the accident of the rotary body 30 cannot be controlled, that is, the rotary motor fed back by the main controller 21 according to the rotational speed sensor 25 in real time. The rotational speed signal calculates the rotational angular velocity of the current transmission mechanism 27, and calculates the rotational moment loaded on the transmission mechanism 27 in combination with its rotational inertia (related to its own structure and mass distribution); the calculated rotational torque and the transmission mechanism 27 can The torque limit values received are compared to determine if the speed is exceeded. When it is calculated by comparison that the rotational torque is less than the rotational torque limit value, indicating that there is no serious damage, the main controller 21 controls the hydraulic brake control valve 26a to enable the hydraulic brake 26b to perform the brake stop. If the calculated rotational torque is still greater than the rotational torque limit value, indicating a serious damage hazard, the current swing motor 23 is still driven to reverse the maximum torque to generate the brake until the danger of serious damage is applied.

It should be noted that, in the above embodiment, the main controller 21 switches from the field bus communication control mode to the switch quantity control mode to output the switch quantity brake signal as an emergency control signal in the emergency braking situation, but the present invention does not This is limited; since the main controller 21 can be programmed to set its control process, it can also be set to be controlled from fieldbus communication in case of emergency braking. The mode is switched to the switch quantity control mode, and the fieldbus communication control mode is still used to output the emergency control signal, or is set to switch from the field bus communication control mode to another control mode different from the switch quantity control mode to output the emergency control signal. Appropriate changes are within the scope of protection of the present invention.

In summary, the embodiment of the present invention adds a set of rotary emergency braking scheme based on the existing fieldbus communication control mode to control the rotary braking, and makes the rotary motor have a specific reverse when emergency braking is required. The brake is actuated to a torque (for example, a maximum reverse torque) to achieve a swing emergency brake control. In addition, when the uncontrollable rotation occurs, there is often a problem in the fieldbus communication. In the prior art, the control system and the power system fail, the working device cannot be effectively controlled, and the rotary transmission mechanism may be greatly impacted. The rotary emergency braking scheme also provides a set of redundant control that is independent of the field bus communication and can realize the manual braking without turning off the system power supply, and can obtain the rotating motor speed through the speed signal fed back by the speed sensor, and pass the switch. The quantity control mode controls the rotary motor to switch to the reverse power generation braking state; and the power supply of the rotary motor can be further cut off to avoid a false start caused by a bus communication failure, and the discharge resistor is used to release the energy generated during the reverse power generation braking process; The hydraulic brake control valve can be effectively controlled to operate at an appropriate timing. Therefore, the reliability of the electric drive rotation control of the construction machine is improved.

The above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Although the present invention has been disclosed in the above preferred embodiments, it is not intended to limit the invention, any A person skilled in the art can make some modifications or modifications to equivalent embodiments when the above-disclosed technical content can be utilized without departing from the technical scope of the present invention, but all the modifications, equivalent changes and modifications are still It is within the scope of the technical solution of the present invention.

INDUSTRIAL APPLICABILITY An embodiment of the present invention adds a set of rotary emergency braking scheme based on the existing fieldbus communication control mode to control the swing brake, and makes the swing motor have a specific reverse torque when emergency braking is required. The brake is started (for example, the maximum reverse torque) to achieve the swing emergency brake control. In addition, when there is uncontrollable rotation, there is often a problem in fieldbus communication. In the prior art, only the system can be passed. The power system fails, the work unit cannot be effectively controlled and may have a huge impact on the rotary drive. The rotary emergency braking scheme also provides a set of redundant control that is independent of the field bus communication and can realize the manual braking without turning off the system power supply, and can obtain the rotating motor speed through the speed signal fed back by the speed sensor, and pass the switch. The quantity control mode controls the rotary motor to switch to the reverse power generation braking state; and the power supply of the rotary motor can be further cut off to avoid a false start caused by a bus communication failure, and the discharge resistor is used to release the energy generated during the reverse power generation braking process; The hydraulic brake control valve can be effectively controlled to operate at an appropriate timing. Therefore, the reliability of the electric drive rotation control of the construction machine is improved.

Claims

Claim

1. An electric drive slewing control system, suitable for controlling a rotary motion of a rotary body of a construction machine; the electric drive slewing control system comprises: a main controller, a rotary motor controller, a rotary motor, an electric power supply device, a rotational speed sensor, a hydraulic pressure a brake control valve and a hydraulic brake, wherein the electric power supply device supplies power to the rotary electric machine to drive the rotary electric machine to perform a swing operation, and the main controller controls the rotary electric machine by controlling the rotary electric machine controller In an operating state, the rotational speed sensor detects an operating state of the rotating electrical machine and generates an operating state signal fed back to the main controller, and the main controller determines, according to the operating state signal, whether to generate a hydraulic brake signal to the hydraulic brake control valve. Controlling the hydraulic brake to perform the rotary braking on the rotary body; the main controller is further configured to: after receiving the emergency brake signal, output an emergency control signal to the rotary motor controller to control the rotary motor to be specific Reverse torque generation braking, and sensing based on the speed The operational status signal fed back determines the time at which the hydraulic brake signal is generated to the hydraulic brake control valve.

2 . The electric drive swing control system according to claim 1 , wherein the main controller is configured to switch from a field bus communication control mode to a switch quantity control mode after receiving the emergency brake signal, and The switch quantity control mode outputs a switch quantity brake signal as the emergency control signal.

The electric drive swing control system according to claim 1, further comprising: a rotary emergency brake switch, wherein the emergency brake switch generates the emergency brake signal to the main controller after being triggered.

4. The electric drive swing control system according to claim 1, further comprising: an alarm unit, wherein the main controller triggers the alarm unit to alarm after receiving the emergency brake signal.

The electric drive rotation control system according to claim 4, wherein the alarm unit is a buzzer.

6. The electric drive swing control system according to claim 1, further comprising: a contactor connected between the power supply device and the rotary motor controller and controlled by the main controller; When the main controller receives the emergency brake signal, the contactor is disconnected to cut off the connection between the power supply device and the rotary motor controller.

The electric drive slewing control system according to claim 6, further comprising a circuit breaker and a discharge resistor, wherein the discharge resistor is connected to the rotary motor controller through the circuit breaker and accepts the main Control of the controller; when the main controller receives the emergency brake signal, the circuit breaker is turned on to connect the discharge resistor to the swing motor controller.

The electric drive swing control system according to claim 1, wherein: the specific reverse torque power generation brake is a maximum reverse torque power generation brake.

The electric drive slewing control system according to claim 1, wherein: the rotation speed sensor is a rotary transformer, is mounted on an output shaft of the rotary motor, and rotates synchronously with the rotary motor and rotates the speed by a pulse signal. Output to the main controller as the operational status signal.

10. - A variety of construction machinery, including:

Revolving body;

The electric drive swing control system according to any one of claims 1 to 9, for controlling a swinging motion of the rotary body.

The construction machine according to claim 10, wherein: the rotary emergency brake switch for triggering the generation of the emergency brake signal in the electric drive slewing control system is installed in the driving machine of the construction machine.

12. A rotary emergency brake control method applied to an engineering machine, the engineering machine comprising a rotary body, a transmission mechanism, a main controller and a rotary motor, wherein the rotary motor drives the rotary body to perform a rotary motion through the transmission mechanism; Include: Includes steps:

Trigger generating an emergency brake signal to the main controller;

The main controller outputs an emergency control signal to control the rotary motor to brake with a specific reverse torque;

Detecting an operating state of the rotary electric machine and feeding back an operating state signal to the main controller; determining, by the main controller, a time for outputting a hydraulic brake signal according to the operating state signal; and hydraulically driving the transmission mechanism by using the hydraulic brake signal Braking to achieve a rotary brake of the rotor.

The swing emergency brake control method according to claim 12, wherein the main controller outputs the switch brake signal as the emergency control signal in a switching amount control manner.

The method according to claim 13, further comprising the steps of:

After receiving the emergency braking signal, the main controller switches from the fieldbus communication control mode to the switching quantity control mode.

The swing emergency brake control method according to claim 12, wherein the specific reverse torque power generation brake is a maximum reverse torque power generation brake.

The method according to claim 12, further comprising the steps of:

After the main controller touches the emergency brake signal, disconnecting the power of the rotary motor;

17. The swing emergency brake control method according to claim 16, further comprising: energy to prevent the rotary motor from overheating.

The method according to claim 12, further comprising:

After the main controller touches the emergency brake signal, the alarm unit is enabled to alarm.

The method according to claim 12, wherein the step of determining, by the main controller, the time for outputting the hydraulic brake signal according to the operation state signal comprises: calculating the operation state signal according to the operation state signal The rotational angular velocity of the transmission mechanism is combined with the rotational inertia of the transmission mechanism to calculate a rotational moment loaded on the transmission mechanism;

Comparing the calculated rotational torque with the rotational torque limit that the transmission can withstand;

When the calculated rotational torque is less than the rotational torque limit value, the hydraulic brake signal is output.