CN104747303A - Concrete pump truck and control method thereof - Google Patents
Concrete pump truck and control method thereof Download PDFInfo
- Publication number
- CN104747303A CN104747303A CN201310741688.4A CN201310741688A CN104747303A CN 104747303 A CN104747303 A CN 104747303A CN 201310741688 A CN201310741688 A CN 201310741688A CN 104747303 A CN104747303 A CN 104747303A
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- Prior art keywords
- motor
- main pump
- rotating speed
- concrete mixer
- power
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/04—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving pumps
Abstract
The embodiment of the invention provides a concrete pump truck and a control method thereof. The concrete pump truck comprises an engine, a main pump and a conveying cylinder which are sequentially coupled and further comprises a hopper and an arm frame. The main pump driven by the engine sucks and pumps materials in the hopper into a pipeline in the arm frame through the conveying cylinder, and the materials are conveyed to a destination through the arm frame. The concrete pump truck is further provided with a controller which is arranged to be used for calculating the needed power of the engine. The optimized working point of the engine to fuel efficiency is determined according to the calculated power. The corresponding rotating speed of the motor and the displacement of the main pump are determined according to the optimized working point, and accordingly the rotating speed of the engine and the displacement of the main pump are controlled. The working point is the combination of the rotating speed and the torque of the engine at a certain moment. The concrete pump truck and the control method thereof improve the fuel efficiency.
Description
Technical field
The present invention relates to engineering machinery field, particularly relate to a kind of concrete mixer and controlling method thereof.
Background technique
At modern project mechanical field, the control of concrete mixer becomes more and more important.Along with country's improving constantly the requirement of vehicular discharge and national environmental consciousness, the requirement improving the fuel economy of concrete mixer is more and more urgent.
Fig. 1 a shows the state of concrete mixer 6 when jib launches.Fig. 1 b shows the state of concrete mixer 6 when jib is packed up.Hopper 1 holds concrete material.Concrete material in hopper 1 by the hollow pipe of jib 3 inside, throws in the place to needing concrete material through front end flexible pipe 4 under the effect of main pump 2.
Fig. 2 shows the internal structure of concrete mixer 6.Concrete mixer 6 comprises: the pumping system 17 be made up of main pump 2 and conveying cylinder 8, wherein main pump 2 by conveying cylinder 8 material in hopper 1 sucked and pump to the pipeline in jib 3; The jib actuating system 16 be made up of arm-pump 21 and jib drive part 9, is responsible for the action of jib 3; The stirring and washing system 19 be made up of stirring and washing pump 12 and stirring and washing part 13, is responsible for the stirring of concrete material and the cleaning of hopper; The distribution system 18 be made up of distribution oil pump 10 and oscillating oil cylinder 11, it is the auxiliary system of pumping system 17.
The Poewr control method of prior art generally only controls the discharge capacity of main pump 2.In the prior art, it has been generally acknowledged that, each gear of concrete mixer 6 corresponds to different motor 7 rotating speeds.The implication of the rotating speed of motor 7 is engine revolutions of time per unit, the implication of the discharge capacity of main pump 2 is that motor 7 often turns around the volume of pump output hydraulic pressure oil, the therefore discharge capacity of the rotating speed × main pump 2 of rate of pumping (material of time per unit pumping how many volumes)=corresponding coefficient × motor 7.In the controlling method of prior art, after each gear of concrete mixer 6 sets, the rotating speed of the motor 7 of each gear is determined thereupon.Then, the rotating speed of the motor 7 of each gear is constant all the time, and what adjust during power adjustments is only the discharge capacity of main pump 2.
Keep the rotating speed of motor 7 discharge capacity that is constant, that only adjust main pump 2 can not ensure that motor 7 is in the Optimization Work point for fuel efficiency.Operation point is the at a time rotating speed of motor 7 and the combination of moment of torsion.As shown in Figure 3, suppose that motor 7 rotating speed is at the beginning n
a, moment of torsion is T
a, be namely in power P=P
aconstant power curve A on operation point a(n
a, T
a).Suppose for power P=P
aconstant power curve A, operation point a(n
a, T
a) be Optimization Work point for fuel efficiency just.Then, because the attitude of jib 3 there occurs change, the power causing motor 7 to be born may have occurred change, and the operation point of motor may need to move to power P=P
bconstant power curve B on.For power P=P
bconstant power curve B, may be b(n for the Optimization Work point of fuel efficiency
b, T
b), n
b≠ n
a.But the controlling method that the rotating speed for motor in prior art 7 remains unchanged is cannot by operation point a(n
a, T
a) move to operation point b(n
b, T
b) thus raising fuel efficiency.
Summary of the invention
One of technical problem that an aspect of of the present present invention solves is to provide a kind of concrete mixer and controlling method thereof, thus improves fuel efficiency.
According to an aspect of the present invention, provide a kind of concrete mixer, comprise the motor be coupled successively, main pump, conveying cylinder, and comprise hopper and jib, wherein engine-driven main pump by conveying cylinder by hopper material suck and pump to the pipeline in jib, destination is delivered to by jib, this concrete mixer also has controller, be configured to the power of the motor required for calculating, according to the Optimization Work point of the power determination motor calculated for fuel efficiency, and determine the rotating speed of corresponding motor and main pump delivery according to this Optimization Work point thus accordingly the rotating speed of motor and main pump delivery controlled, described operation point is the at a time rotating speed of motor and the combination of moment of torsion.
Preferably, when pumping does not start, controller is configured to the power by the motor required for following process estimation: according to the gear preset, by searching the gear rate of pumping of showing determine concrete mixer corresponding to rate of pumping; According to the attitude of current arm support, by search attitude corresponding with main pump pressure show to determine main pump works time pressure; The power of initial required motor is determined according to the pressure when rate of pumping of concrete mixer and main pump work.After pumping starts, controller is configured to the power of the motor periodically required for real measured data calculating.
Preferably, controller be configured to by following Period Process calculate according to real measured data required for the power of motor: survey the displacement control electric current corresponding with main pump delivery thus draw main pump delivery; Rotating speed, the main pump delivery of pressure when working according to the main pump of actual measurement, the motor of reading, the power of calculation engine.
Preferably, controller be configured to by following Period Process calculate according to real measured data required for the power of motor: the rotating speed and the moment of torsion that read motor from motor bus, according to rotating speed and the moment of torsion of described motor, the power of calculation engine.
Preferably, controller is configured to come according to the power determination motor that the calculates Optimization Work point for fuel efficiency by following process: prestore the Optimization Work point for fuel efficiency on some constant power curves in universal characteristic curve of engine and every bar constant power curve; According to the power that calculates find performance number and the immediate constant power curve of this power and on the point of the Optimization Work for fuel efficiency.
Preferably, controller is configured to determine the rotating speed of corresponding motor and main pump delivery by following process according to this Optimization Work point: the rotating speed reading the motor of this Optimization Work point; Main pump delivery is determined according to the rate of pumping of concrete mixer and the rotating speed of motor.
Preferably, controller is also configured to: the real-time torque percentage monitoring motor, and wherein torque percentage is the real-time moment of torsion of motor and the ratio of reference torque in real time, exceedes threshold value in response to this real-time torque percentage, regulate the rotating speed of motor, make to become large with the Maximum Torque that can reach; Main pump delivery is determined according to the rate of pumping of concrete mixer and the rotating speed of motor.
Preferably, controller is communicated with motor by bus, and controller, by receiving the information of real-time torque percentage from motor via described bus, monitors the real-time torque percentage of motor.
According to an aspect of the present invention, provide a kind of controlling method of concrete mixer, comprising: the power needed for motor calculating concrete mixer; According to the Optimization Work point of the power determination motor calculated for fuel efficiency, wherein operation point is the at a time rotating speed of motor and the combination of moment of torsion; Determine the corresponding rotating speed of motor and the main pump delivery of concrete mixer according to this Optimization Work point thus accordingly the rotating speed of motor and main pump delivery controlled.
Preferably, the method also comprises: the real-time torque percentage monitoring motor, and wherein torque percentage is the real-time moment of torsion of motor and the ratio of reference torque in real time, exceedes threshold value in response to this real-time torque percentage, regulate the rotating speed of motor, make to become large with the Maximum Torque that can reach; Main pump delivery is determined according to the rate of pumping of concrete mixer and the rotating speed of motor.
Due to according to an aspect of the present invention, not only main pump delivery is controlled, but the rotating speed of motor and main pump delivery are jointly controlled, during with regard to avoiding that the rotating speed of motor in prior art is constant causes changed power, the operation point of motor can not move to the problem for the Optimization Work point of fuel efficiency on new constant power curve, thus improves fuel efficiency.
Accompanying drawing explanation
Fig. 1 a shows the state of concrete mixer 6 when jib is opened.
Fig. 1 b shows the state of concrete mixer 6 when jib is packed up.
Fig. 2 shows the internal structure of concrete mixer 6.
Fig. 3 illustrate respectively Optimization Work point a and b for fuel efficiency in constant power curve A and B.
The operation point that Fig. 4 shows the motor regulating the rotating speed of motor to cause according to one embodiment of present invention when engine overload is moved.
Fig. 5 shows the flow chart of the controlling method of concrete mixer according to an embodiment of the invention.
Embodiment
Preferred implementations more of the present invention are described with reference to the accompanying drawings.
The present invention is based on such principle: in prior art, is generally that each gear of concrete mixer 6 corresponds to different motor 7 rotating speeds.But this may not be reasonable.In essence, when driver is transferred to a gear, in fact it is desired that a suitable rate of pumping (rotating speed × main pump delivery of rate of pumping=corresponding coefficient × motor).Therefore, in the present invention, each gear of concrete mixer 6 corresponds to different rate of pumpings.In prior art, when engine power changes, why the operation point of motor can not move to the Optimization Work point for fuel efficiency on new constant power curve, is because the rotating speed of motor is immutable.According to one embodiment of present invention, under this gear, under immovable prerequisite, the rotating speed of motor and main pump delivery can be changed at maintenance rate of pumping.Like this, just can redefine the Optimization Work point for fuel efficiency on new constant power curve when engine power changes, the operation point of motor be transferred to this point, thus improve fuel efficiency.
As shown in Figure 2, concrete mixer according to an embodiment of the invention comprises the motor 7, main pump 2, the conveying cylinder 8 that are coupled successively, and comprises hopper 1 and jib 3.Material in hopper 1 is sucked also pump by conveying cylinder 8 and, to the pipeline in jib 3, delivers to destination by jib 3 by the main pump 2 that motor 7 drives.This concrete mixer also has controller 14, be configured to the power of the motor 7 required for calculating, according to the Optimization Work point of the power determination motor 7 calculated for fuel efficiency, and determine the corresponding rotating speed of motor 7 and the discharge capacity of main pump 2 according to this Optimization Work point thus accordingly the rotating speed of motor 7 and the discharge capacity of main pump 2 controlled.Described operation point is the at a time rotating speed of motor 7 and the combination of moment of torsion.
Be described in detail in the control procedure of embodiment's middle controller 14 below.
I. controller 14 calculates the power of required motor 7.
After pumping starts, the power of the motor 7 required for controller 14 can calculate according to real measured data.The power of motor 7 required when not starting for pumping, can be determined by following manner.
The power of motor 7 equals pressure when corresponding coefficient × rate of pumping × main pump 2 works.For a motor, corresponding system is fixing, therefore, as long as obtain pressure when rate of pumping and main pump 2 work, just can draw the power of motor 7.
Because each gear of concrete mixer 6 corresponds to different rate of pumping, and in controller 14, store that gear is corresponding with rate of pumping to be shown, therefore, when pumping does not start, controller 14 just can determine the rate of pumping of concrete mixer 6 by searching this table.
When pumping does not start, pressure when main pump 2 works can not be surveyed.But research finds, pressure when main pump 2 works mainly affects by the attitude (pumping height) of jib 3, affect not quite by the density of concrete material, stickiness.The corresponding table of the pressure when attitude of various jib 3 being worked with corresponding main pump 2 is in advance stored in controller 14.Like this, according to the attitude of current arm support 3, pressure when just can determine that main pump 2 works by searching this correspondence table.
In one embodiment, jib 3 is installed multiple angle transducer (not shown).Angle between each arm of the jib 3 sensed by each angle transducer, controller 14 knows the attitude of jib, and from the correspondence table be stored in controller 14 to determine pressure when main pump 2 works.
Thus when pumping does not start, pressure when working according to the rate of pumping of concrete mixer 6 and main pump 2 just can determine the power of required motor 7.After pumping starts, the power of the motor 7 required for controller just can calculate according to real measured data.
In one embodiment, owing to utilizing the relation of the power=corresponding coefficient of motor 7 × the be proportional to discharge capacity of the rotating speed × main pump 2 of the pressure × motor 7 when main pump 2 works, and be fixing for corresponding coefficient a motor, the power of the discharge capacity account motor 7 of pressure when therefore can work based on main pump 2, the rotating speed of motor 7, main pump 2.Pressure when main pump 2 works can be surveyed by pressure transducer.Discharge capacity and displacement control electric current have the corresponding relation determined in specific concrete mixer.The corresponding relation list of discharge capacity and displacement control electric current can be stored in advance in controller 14.Displacement control electric current can be surveyed.Therefore, by surveying the displacement control electric current corresponding with the discharge capacity of main pump 2, by searching the corresponding relation list of discharge capacity and the displacement control electric current prestored, the discharge capacity of corresponding main pump 2 can be determined.The rotating speed of motor 7 can directly read.Like this, just can the power of calculation engine 7.
In one embodiment, due to the rotating speed × moment of torsion of the power=corresponding coefficient × motor 7 of motor 7, and corresponding coefficient is fixing for a motor, therefore can according to the power of the rotating speed read from motor bus 15 and torque information calculation engine 7.
The power of the motor 7 required for can periodically calculating according to measured signal.Such as, 3,6,9 are started in pumping ... minute to survey.
Such as, when pumping does not start, calculate the initial gain value of motor 7.When pumping starts 3 minutes, calculate the performance number of now motor 7 according to measured signal.If this performance number and initial gain value change, just mean that constant power curve movement that the operation point of motor 7 is positioned at from initial work location is to another constant power curve.When pumping starts 6 minutes, then calculate the performance number of now motor 7 according to measured signal.Now, likely the constant power curve movement that is positioned at when 3 minutes from pumping of the operation point of motor 7 on another constant power curve.
II. controller 14 is according to the Optimization Work point of the power determination motor 7 calculated for fuel efficiency.
On the constant power curve corresponding with certain power, only have the fuel efficiency of a few thing point place motor higher, therefore, on the some constant power curves in universal characteristic curve of engine and every bar constant power curve, this one or more Optimization Work point that fuel efficiency is higher is recorded in controller 14.Then, controller 14 just can according to the power search performance number calculated and the immediate constant power curve of this power and on these Optimization Work points for fuel efficiency.When constant power curve there being multiple Optimization Work point, controller 14 such as can choose the process of the larger Optimization Work point of corresponding discharge of main pump for following determination engine speed, can certainly an optional Optimization Work point.
III. controller 14 is determined the corresponding rotating speed of motor 7 and the discharge capacity of main pump 2 according to this Optimization Work point thus is controlled the rotating speed of motor 7 and the discharge capacity of main pump 2 accordingly.
After Optimization Work point is determined, in above-mentioned universal characteristic curve of engine, just can read rotating speed and the moment of torsion of the motor 7 of this operation point.As mentioned above, the discharge capacity of the rotating speed × main pump 2 of rate of pumping=corresponding coefficient × motor 7, wherein corresponding coefficient is fixing for a motor.After gear setting, corresponding rate of pumping is also determined.Therefore, the discharge capacity of main pump 2 can be determined according to the rotating speed of rate of pumping and motor 7.After the rotating speed of motor 7 and the discharge capacity of main pump 2 are determined, controller 14 can respectively by controller zone network (CAN) bus 15 and the rotating speed of discharge capacity Current Control motor 7 and the discharge capacity of main pump 2 that output to main pump 2.
In addition, one embodiment of the present of invention can also play the pumping capacity of concrete mixer to greatest extent.
When concrete mixer 6 runs into special operation condition (such as pumping height is high and concrete density is larger), pressure when main pump 2 works is very big.In prior art, owing to automatically not regulating the rotating speed of motor 7, and the pressure of the discharge capacity × main pump 2 of the rotating speed × main pump 2 of the power=corresponding coefficient × motor 7 of motor 7 when working, overload can only be prevented by the discharge capacity reducing main pump 2, this reduces pumping capacity.Due to according to one embodiment of present invention, the rotating speed of motor 7 is adjustable, so just can before the discharge capacity reducing main pump 2 by the rotational speed regulation of motor 7 to energy duty engine 7 compared with the engine speed place of high pulling torque, thus play the pumping capacity of concrete mixer to greatest extent.
The sectional broken line of the MP-PQ-QR of Fig. 4 is the curve of the portative Maximum Torque of motor 7 with the rotation speed change of motor 7.As shown in Figure 4, be n at the rotating speed of motor 7
atime, its portative Maximum Torque is T
r.If do not limit rotating speed, the portative Maximum Torque of motor 7 is T
q.That is, the portative Maximum Torque of motor 7 is not unalterable, but along with the rotation speed change of motor 7.
Controller 14 monitors the real-time torque percentage of motor 7, and wherein torque percentage is the real-time moment of torsion of motor 7 and the ratio of reference torque in real time.As Fig. 4, reference torque T
wthe portative Maximum Torque T of rotating speed is not limit a little more than motor 7
q.Controller 14 exceedes threshold value in response to this real-time torque percentage, regulates the rotating speed of motor 7, makes to become large with the Maximum Torque that can reach.
Such as, present engine 7 is in the operation point a in Fig. 4, and its rotating speed is n
a, moment of torsion is T
a.For current rotating speed n
a, the Maximum Torque that motor 7 can reach is T
r.Real-time torque percentage T
a/ T
wR=0.5.Given threshold=0.6.Pressure when main pump 2 works increases suddenly and causes the moment of torsion of motor 7 to be increased to T suddenly
sttime, the operation point of motor 7 moves abruptly to s (n
a, T
st), cause real-time torque percentage T
st/ T
wR=0.65>0.6.At this moment, regulate the rotating speed of motor 7, make to become greatly with the Maximum Torque that can reach, namely move to Q direction, the rotating speed of motor 7 becomes large.The operation point of motor 7 can only be moved on a constant power curve.Therefore the operation point of motor 7 moves to the operation point t (n in constant power curve C
t, T
t).Now moment of torsion reduces in real time.Real-time torque percentage T
t/ T
w=0.58<0.6, namely real-time torque percentage is lower than threshold value.
Due to the discharge capacity of the rotating speed × main pump 2 of rate of pumping=corresponding coefficient × motor 7, and corresponding coefficient is fixing for a motor, after determine corresponding rate of pumping according to current gear, according to the rotating speed n of rate of pumping and motor 7
t, the discharge capacity of main pump 2 can be obtained.
Real-time torque percentage receives the information of real-time torque percentage from motor 7 via engine CAN bus by controller 14, monitor the real-time torque percentage of motor 7.
Although describe the present invention with reference to concrete mode of execution here, scope of the present invention is not limited to shown details.When not departing from basic principle of the present invention, can make various amendment for these details, these amendments all drop in protection scope of the present invention.
Claims (10)
1. a concrete mixer (6), comprise the motor (7) be coupled successively, main pump (2), conveying cylinder (8), and comprise hopper (1) and jib (3), wherein the main pump (2) that drives of motor (7) by conveying cylinder (8) material in hopper (1) sucked and pump to the pipeline in jib (3), destination is delivered to by jib (3), this concrete mixer also has controller (14), be configured to the power of the motor (7) required for calculating, according to the Optimization Work point of the power determination motor (7) calculated for fuel efficiency, and determine the corresponding rotating speed of motor (7) and the discharge capacity of main pump (2) according to this Optimization Work point thus accordingly the rotating speed of motor (7) and the discharge capacity of main pump (2) controlled, described operation point is the at a time rotating speed of motor (7) and the combination of moment of torsion.
2. concrete mixer according to claim 1 (6), wherein when pumping does not start, controller (14) is configured to the power by the motor (7) required for following process computation:
According to the gear preset, by searching the gear rate of pumping of showing determine concrete mixer corresponding to rate of pumping;
According to the attitude of current arm support (3), by search attitude corresponding with main pump pressure show to determine main pump (2) works time pressure;
Pressure when being worked by the rate of pumping of concrete mixer and main pump (2) determines the power of initial required motor (7),
After pumping starts, controller (14) is configured to the power of the motor (7) periodically required for real measured data calculating.
3. concrete mixer according to claim 2 (6), its middle controller (14) be configured to by following Period Process calculate according to real measured data required for the power of motor (7):
The actual measurement displacement control electric current corresponding with the discharge capacity of main pump (2) thus draw the discharge capacity of main pump (2);
Pressure, the rotating speed of motor (7) of reading, the power of the discharge capacity account motor (7) of main pump (2) when working according to the main pump (2) of actual measurement.
4. concrete mixer according to claim 2 (6), its middle controller (14) be configured to by following Period Process calculate according to real measured data required for the power of motor (7):
Rotating speed and the moment of torsion of motor (7) is read, according to the rotating speed of motor (7) and the power of torque arithmetic motor (7) from motor bus.
5. concrete mixer according to claim 1 (6), its middle controller (14) is configured to come according to the Optimization Work point of the power determination motor (7) calculated for fuel efficiency by following process:
Prestore the Optimization Work point for fuel efficiency on some constant power curves in universal characteristic curve of engine and every bar constant power curve;
According to the power that calculates find performance number and the immediate constant power curve of this power and on the point of the Optimization Work for fuel efficiency.
6. concrete mixer according to claim 1 (6), its middle controller (14) is configured to determine the corresponding rotating speed of motor (7) and the discharge capacity of main pump (2) by following process according to this Optimization Work point:
Read the rotating speed of the motor (7) of this Optimization Work point;
According to the discharge capacity of the rate of pumping of concrete mixer and the rotating speed determination main pump (2) of motor (7).
7. concrete mixer according to claim 1 (6), its middle controller (14) is also configured to:
Monitor the real-time torque percentage of motor (7), wherein torque percentage is the real-time moment of torsion of motor (7) and the ratio of reference torque in real time, exceed threshold value in response to this real-time torque percentage, regulate the rotating speed of motor (7), make to become large with the Maximum Torque that can reach;
According to the discharge capacity of the rate of pumping of concrete mixer and the rotating speed determination main pump (2) of motor (7).
8. concrete mixer according to claim 7 (6), its middle controller (14) is communicated with motor (7) by bus, controller (14), by receiving the information of real-time torque percentage from motor (7) via described bus, monitors the real-time torque percentage of motor (7).
9. the controlling method (20) of a concrete mixer, comprising:
Calculate the power (S1) needed for motor (7) of concrete mixer;
According to the Optimization Work point (S2) of the power determination motor (7) calculated for fuel efficiency, wherein operation point is the at a time rotating speed of motor (7) and the combination of moment of torsion;
Determine the discharge capacity of the corresponding rotating speed of motor (7) and the main pump (2) of concrete mixer according to this Optimization Work point thus accordingly the rotating speed of motor (7) and the discharge capacity of main pump (2) controlled (S3).
10. the controlling method (20) of concrete mixer according to claim 9, also comprises:
Monitor the real-time torque percentage of motor (7), wherein torque percentage is the real-time moment of torsion of motor (7) and the ratio of reference torque in real time, exceed threshold value in response to this real-time torque percentage, regulate the rotating speed of motor (7), make to become large with the Maximum Torque that can reach;
According to the discharge capacity of the rate of pumping of concrete mixer and the rotating speed determination main pump (2) of motor (7).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310741688.4A CN104747303A (en) | 2013-12-27 | 2013-12-27 | Concrete pump truck and control method thereof |
| DE102014224723.3A DE102014224723A1 (en) | 2013-12-27 | 2014-12-03 | Concrete pump vehicle and method for controlling the same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310741688.4A CN104747303A (en) | 2013-12-27 | 2013-12-27 | Concrete pump truck and control method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN104747303A true CN104747303A (en) | 2015-07-01 |
Family
ID=53372299
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310741688.4A Pending CN104747303A (en) | 2013-12-27 | 2013-12-27 | Concrete pump truck and control method thereof |
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| Country | Link |
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| CN (1) | CN104747303A (en) |
| DE (1) | DE102014224723A1 (en) |
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| CN110094272A (en) * | 2019-05-14 | 2019-08-06 | 三一专用汽车有限责任公司 | Pump control method, pumping control system and pump truck |
| CN111173056A (en) * | 2019-12-31 | 2020-05-19 | 潍柴动力股份有限公司 | Rotation speed control method and device of full hydraulic bulldozer |
| CN111650866A (en) * | 2020-06-17 | 2020-09-11 | 柳工建机江苏有限公司 | Concrete pump truck construction condition recognition control system and control method |
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| CN109404146B (en) * | 2018-12-12 | 2021-02-02 | 三一汽车制造有限公司 | Control method and control system of power system and engineering machinery |
| CN109356733B (en) * | 2018-12-12 | 2021-03-16 | 三一汽车制造有限公司 | Control method and control system of power system and engineering machinery |
| CN109630298B (en) * | 2018-12-12 | 2021-05-07 | 三一汽车制造有限公司 | Control method and control system of power system and engineering machinery |
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| CN111173056B (en) * | 2019-12-31 | 2022-04-05 | 潍柴动力股份有限公司 | Rotation speed control method and device of full hydraulic bulldozer |
| CN111650866A (en) * | 2020-06-17 | 2020-09-11 | 柳工建机江苏有限公司 | Concrete pump truck construction condition recognition control system and control method |
| CN113187689A (en) * | 2021-05-07 | 2021-07-30 | 潍柴动力股份有限公司 | Hydraulic pump displacement control method and device, electronic equipment and storage medium |
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| DE102014224723A1 (en) | 2015-07-02 |
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