CN105373147A

CN105373147A - Concrete pump truck control system, method and controller

Info

Publication number: CN105373147A
Application number: CN201410424427.4A
Authority: CN
Inventors: 李沛林; 高荣芝; 郭岗; 吴德志
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2014-08-26
Filing date: 2014-08-26
Publication date: 2016-03-02
Anticipated expiration: 2034-08-26
Also published as: CN105373147B

Abstract

The present invention discloses a concrete pump truck control system, a method and a controller. The controller in the control system can cooperatively control engine rotation speed according to an operation user expected pumping speed, an operation user expected arm frame action speed, the needed output power of an engine and the displacement of a hydraulic pump, the problems of insufficient engine output power, engine speed lose and stalling caused by the dissatisfaction of the pumping speed of the pumping cylinder in a pumping hydraulic system by the engine rotation speed due to the no consideration of a pumping speed requirement are avoided, thus the adjusted engine rotation speed can satisfy the requirement of each system, since the finally determined engine rotation speed is a lowest engine rotation speed which can satisfy each system requirement at the same time, and thus the purpose of improving engine power utilization rate can be achieved.

Description

A kind of concrete pump vehicle control, method and controller

Technical field

The present invention relates to concrete mixer technical field, particularly relate to a kind of concrete pump vehicle control, method and controller.

Background technology

Concrete mixer due to easy construction flexible, be widely used in modern construction.Particularly, concrete mixer adopts hydraulic system to drive usually, as shown in Figure 1, its hydraulic system mainly can comprise main hydraulic system of pump 11, jib support leg hydraulic system 14 and distribute hydraulic system 12, stirring hydraulic system 13 and other auxiliary hydraulic systems.Further, for arbitrary hydraulic system, corresponding hydraulic pump and the hydraulic jack (not shown in figure 1) by hydraulic pump drive can in described hydraulic system, be comprised.Such as, a hydraulic pump and corresponding pumping oil cylinder (not shown in figure 1) can be comprised in described main hydraulic system of pump 11, a hydraulic pump can be comprised in described jib support leg hydraulic system 14, one or more for driving the arm support oil cylinder (not shown in figure 1) of each joint arm in jib and driving the driving oil cylinder of multiple leg motion accordingly, wherein, jib and supporting leg can not move simultaneously, when jib not yet launches (now main hydraulic system of pump also not yet works), now leg motion can be controlled, when jib moves, supporting leg can not move, hydraulic pump now in jib support leg hydraulic system 14 is jib fuel feeding.Wherein, the hydraulic pump in each hydraulic system can be driven by a transfer case by the engine in concrete mixer, and under normal circumstances, the speed of the hydraulic pump in each hydraulic system is generally identical.

Particularly, in concrete pump vehicle hydraulic system, have two responsivenesses to need to control, one is the rate of pumping of pumping oil cylinder in main hydraulic system of pump 11, and one is the jib speed of each arm support oil cylinder in jib support leg hydraulic system 14.This is because:

For main hydraulic system of pump 11, it realizes concrete conveying by pumping oil cylinder pushing concrete cylinder, and, under different execution conditions, to different transporting velocity requirements should be had, therefore, operating personnel need according to the corresponding transporting velocity of construction regulating working conditions.And for jib support leg hydraulic system 14, because it is responsible for the action of jib and supporting leg, and, because each joint arm in jib requires that responsiveness is stablized, can not be sometimes fast and sometimes slow, go back the speed that demand fulfillment setting safety standard limits simultaneously, therefore, corresponding control must be carried out to the responsiveness of each joint arm in jib.Have again, due to for distribution hydraulic system 12 and stir the auxiliary hydraulic system such as hydraulic system 13, the responsiveness of the hydraulic jack of its correspondence is relevant to rate of pumping, can change with rate of pumping, and therefore, the responsiveness without the need to the hydraulic jack to its correspondence is carried out difference and controlled.

Particularly, the rate of pumping due to the pumping oil cylinder in main hydraulic system of pump 11 depends on the flow of the hydraulic pump in main hydraulic system of pump, the rotating speed of the hydraulic pump namely in main hydraulic system of pump 11 and discharge capacity; The jib speed of each arm support oil cylinder in jib support leg hydraulic system 14 depends on the flow of supply arm support oil cylinder, and the flow of each arm support oil cylinder is by the rotating speed of the hydraulic pump in jib support leg hydraulic system 14, discharge capacity and the proportional multi-way valve Collaborative Control controlling jib speed and direction; Moreover, because the hydraulic pump in each hydraulic system can be driven by a transfer case by the engine in concrete mixer, therefore, the speed of the hydraulic pump controlled in each hydraulic system is reached at present usually through the rotating speed controlling engine, and then control the rate of pumping of the pumping oil cylinder in main hydraulic system of pump 11, and the object of the jib speed of each arm support oil cylinder in jib support leg hydraulic system 14.

Particularly, at present, usually through the engine speed determining concrete mixer with under type:

Mode one: by calculating the maximum flow that whole jib may need, calculate the rotating speed of engine when reaching maximum flow needed for jib.This engine speed is decided to be the minimum speed of engine when concrete mixer works, and correspondingly, the actual speed of engine during concrete mixer work then can change between minimum speed and maximum (top) speed according to required rate of pumping.

It should be noted that, when adopting which one to determine the engine speed of concrete mixer, corresponding rate of pumping can be met while making jib speed reach setting value.But, because which one is that the maximum flow that may need according to whole jib carrys out the minimum speed of calculation engine, thus make that power utilization is lower, energy-saving effect is not good.Such as, in real work, the action of single-unit arm may be only had, and may be only action at a slow speed, now, needed for jib, flow is very little, and therefore, the rotating speed of required engine is also very little, if now rate of pumping also requires lower, and the minimum speed of engine is still determined by maximum flow needed for jib, then can cause the waste of engine capacity undoubtedly, make energy-saving effect not good.

Mode two: calculate the flow needed for each joint arm correspondence in jib, and the flow needed for each joint arm correspondence calculates corresponding engine speed, thus the relation needed for jib between flow and engine speed can have been coordinated preferably.

But, although which two can deficiency to a certain extent in compensating mode one power dissipation, but because it does not consider that rate of pumping also needs to control, thus cause determined engine speed possibly cannot meet the rate of pumping requirement of the pumping oil cylinder in main hydraulic system of pump.Meanwhile, because the output power of engine under different rotating speeds is also different, thus engine output also may be caused inadequate, cause falling speed, the phenomenon such as flame-out.

In sum, existingly determine that the mode of the engine speed of concrete mixer is not good, therefore, need badly and a kind of new concrete mixer control method is provided, solve above-mentioned each problem.

Summary of the invention

Embodiments provide a kind of concrete pump vehicle control and control method, the problem that the mode in order to the engine speed solving the determination concrete mixer existed in prior art is not good.

Embodiments provide a kind of concrete pump vehicle control, comprise rate of pumping control device, jib speed control unit, controller and engine rotational speed control apparatus:

Described rate of pumping control device, for the rate of pumping signal that the rate of pumping generated with operate desired by user matches, and sends to described controller by described rate of pumping signal;

Described jib speed control unit, for the jib rate signal that the jib responsiveness generated with operate desired by user matches, and sends to described controller by described jib rate signal;

Described controller, for receiving the described rate of pumping signal that described rate of pumping control device sends, and according to the maximum pump discharge of the hydraulic pump in described rate of pumping signal and main hydraulic system of pump, calculate the first engine speed meeting the rate of pumping of operation desired by user, and, determine the power that engine need export, and the second engine speed that the power that the power calculation that need export according to the engine determined and described engine need export matches, and, receive the described jib rate signal that described jib speed control unit sends, and according to the maximum pump discharge of the hydraulic pump in described jib rate signal and jib support leg hydraulic system, calculate the trimotor rotating speed meeting the jib responsiveness of operation desired by user, and from described first engine speed, select rotating speed value the maximum as the 4th engine speed in described second engine speed and described trimotor rotating speed, and, described 4th engine speed is sent to described engine rotational speed control apparatus,

Described engine rotational speed control apparatus, for receiving described 4th engine speed that described controller sends, and adjusts the rotating speed of engine according to described 4th engine speed.

Further, the embodiment of the present invention additionally provides a kind of concrete mixer control method, described control method is applied in concrete pump vehicle control, and described concrete pump vehicle control comprises rate of pumping control device, jib speed control unit, controller and engine rotational speed control apparatus; Described control method comprises:

Described controller receives the described rate of pumping signal that described rate of pumping control device sends, and according to the maximum pump discharge of the hydraulic pump in described rate of pumping signal and main hydraulic system of pump, calculate the first engine speed meeting the rate of pumping of operation desired by user, and, determine the power that engine need export, and the second engine speed that the power that the power calculation that need export according to the engine determined and described engine need export matches, and, receive the described jib rate signal that described jib speed control unit sends, and according to the maximum pump discharge of the hydraulic pump in described jib rate signal and jib support leg hydraulic system, calculate the trimotor rotating speed meeting the jib responsiveness of operation desired by user, and from described first engine speed, select rotating speed value the maximum as the 4th engine speed in described second engine speed and described trimotor rotating speed, and, described 4th engine speed is sent to described engine rotational speed control apparatus, to be adjusted the rotating speed of engine according to described 4th engine speed received by described engine rotational speed control apparatus,

Wherein, described rate of pumping signal be generated by the rate of pumping of described rate of pumping control device desired by operation user with the rate of pumping signal that matches of rate of pumping desired by operation user; Described jib rate signal be generated by the jib responsiveness of described jib speed control unit desired by operation user with the jib rate signal that matches of jib responsiveness desired by operation user.

Further, the embodiment of the present invention additionally provides a kind of controller, comprising:

Receiving element, the jib rate signal that the jib speed control unit for receiving in rate of pumping signal and described concrete pump vehicle control that rate of pumping control device in concrete pump vehicle control sends sends; Wherein, described rate of pumping signal be generated by the rate of pumping of described rate of pumping control device desired by operation user with the rate of pumping signal that matches of rate of pumping desired by operation user; Described jib rate signal be generated by the jib responsiveness of described jib speed control unit desired by operation user with the jib rate signal that matches of jib responsiveness desired by operation user;

Processing unit, for the maximum pump discharge according to the hydraulic pump in described rate of pumping signal and main hydraulic system of pump, calculate the first engine speed meeting the rate of pumping of operation desired by user, and, determine the power that engine need export, and the second engine speed that the power that the power calculation that need export according to the engine determined and described engine need export matches, and, according to the maximum pump discharge of the hydraulic pump in described jib rate signal and jib support leg hydraulic system, calculate the trimotor rotating speed meeting the jib responsiveness of operation desired by user, and from described first engine speed, select rotating speed value the maximum as the 4th engine speed in described second engine speed and described trimotor rotating speed,

Transmitting element, for described 4th engine speed being sent to the engine rotational speed control apparatus in described concrete pump vehicle control, to be adjusted the rotating speed of engine according to described 4th engine speed received by described engine rotational speed control apparatus.

Beneficial effect of the present invention is as follows:

Embodiments provide a kind of concrete pump vehicle control, method and controller, controller in described control system can receive that rate of pumping control device sends with the rate of pumping signal that matches of rate of pumping desired by operation user, and in conjunction with the maximum pump discharge of the hydraulic pump in main hydraulic system of pump, calculate the first engine speed meeting the rate of pumping of operation desired by user, and, determine the power that engine need export, and the second engine speed that the power that the power calculation that need export according to the engine determined and described engine need export matches, and, the jib rate signal matched with the jib responsiveness desired by operation user receiving that jib speed control unit sends, and in conjunction with the maximum pump discharge of the hydraulic pump in jib support leg hydraulic system, calculate the trimotor rotating speed meeting the jib responsiveness of operation desired by user, and from described first engine speed, select rotating speed value the maximum as the 4th engine speed in described second engine speed and described trimotor rotating speed, and, described 4th engine speed is sent to described engine rotational speed control apparatus, to be adjusted the rotating speed of engine according to described 4th engine speed received by described engine rotational speed control apparatus.That is, in technical scheme described in the embodiment of the present invention, controller in concrete pump vehicle control can according to the rate of pumping operated desired by user, the jib responsiveness of operation desired by user, the power that engine need export and hydraulic pressure pump capacity Collaborative Control engine speed, avoid the engine output caused because not considering the rate of pumping of the pumping oil cylinder that rate of pumping demand causes engine speed cannot meet in main hydraulic system of pump to require inadequate, engine falls speed, the problem such as flame-out, make the engine speed after regulating can meet the requirement of each system simultaneously, and, because final determined engine speed is actually the minimum engine speed that can meet each system requirements simultaneously, thus the object improving engine capacity utilization factor can also be reached.

Accompanying drawing explanation

Figure 1 shows that the structural representation of typical hydraulic system in prior art;

Figure 2 shows that the structural representation of a kind of concrete pump vehicle control in the embodiment of the present invention one;

Figure 3 shows that another structural representation of a kind of concrete pump vehicle control in the embodiment of the present invention one;

Figure 4 shows that another structural representation of a kind of concrete pump vehicle control in the embodiment of the present invention one;

Figure 5 shows that the schematic flow sheet of a kind of concrete mixer control method in the embodiment of the present invention two;

Figure 6 shows that the structural representation of a kind of controller in the embodiment of the present invention three.

Embodiment

In order to make the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the present invention is described in further detail, and obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.

Embodiment one:

The embodiment of the present invention one provides a kind of concrete pump vehicle control, as shown in Figure 2, it comprises rate of pumping control device 21, jib speed control unit 22, controller 23 and engine rotational speed control apparatus 24 for the structural representation of control system described in the embodiment of the present invention one, described control system:

Described rate of pumping control device 21 can be used for generating the rate of pumping signal matched with the rate of pumping of operation desired by user, and described rate of pumping signal is sent to described controller 23;

Described jib speed control unit 22 can be used for generating the jib rate signal matched with the jib responsiveness of operation desired by user, and described jib rate signal is sent to described controller 23; Wherein, the jib responsiveness of operation desired by user can refer to the jib responsiveness for the arbitrary single-unit arm in jib or single oil cylinder or all joint arms.In addition, described jib speed control unit 22 can refer to jib speed control handle usually, when needs boom system works, operation user is by the mode of operation jib speed control handle, generate the jib rate signal matched with the jib responsiveness of operation desired by user, the embodiment of the present invention does not all repeat this;

Described controller 23 can be used for the described rate of pumping signal receiving the transmission of described rate of pumping control device 21, and according to the maximum pump discharge of the hydraulic pump in described rate of pumping signal and main hydraulic system of pump, calculate the first engine speed of the rate of pumping of satisfied operation desired by user (particularly, owing to being the first engine speed calculated according to the maximum pump discharge of the hydraulic pump in main hydraulic system of pump, therefore, this first engine speed can be the minimum engine speed meeting the rate of pumping of operation desired by user usually), and, determine the power that engine need export, and the second engine speed that the power that the power calculation that need export according to the engine determined and described engine need export matches, and, receive the described jib rate signal that described jib speed control unit 22 sends, and according to the maximum pump discharge of the hydraulic pump in described jib rate signal and jib support leg hydraulic system, calculate the trimotor rotating speed of the jib responsiveness of satisfied operation desired by user (particularly, owing to being the trimotor rotating speed calculated according to the maximum pump discharge of the hydraulic pump in jib support leg hydraulic system, therefore, this trimotor rotating speed can be the minimum engine speed meeting the jib responsiveness of operation desired by user usually), and from described first engine speed, select rotating speed value the maximum as the 4th engine speed in described second engine speed and described trimotor rotating speed, and, described 4th engine speed is sent to described engine rotational speed control apparatus 24,

Described engine rotational speed control apparatus 24 can be used for described 4th engine speed receiving the transmission of described controller 23, and adjusts the rotating speed of engine according to described 4th engine speed.

That is, in technical scheme described in the embodiment of the present invention, controller in concrete pump vehicle control can according to the rate of pumping operated desired by user, the jib responsiveness of operation desired by user, the power that engine need export and corresponding hydraulic pressure pump capacity Collaborative Control engine speed, thus it is inadequate to avoid the engine output caused because not considering the rate of pumping of the pumping oil cylinder that rate of pumping demand causes engine speed cannot meet in main hydraulic system of pump to require, engine falls speed, the problem such as flame-out, make the engine speed after regulating can meet the requirement of each system simultaneously, and, because final determined engine speed is actually the minimum engine speed that can meet each system requirements simultaneously, thus also can reach the effect improving engine capacity utilization factor.

Particularly, described controller 23 is determined specifically to be embodied as the power that engine need export: the general power needed for the load of concrete mixer determines the power that corresponding described engine need export.Correspondingly, the second engine speed that the power that the power calculation that need export according to the engine determined and described engine need export matches, can be embodied as: the power that need export according to the engine determined and corresponding engine capacity speed curves, calculation engine exports the suitable engine speed needed for corresponding power determined, and using this suitable engine speed as the second engine speed.

Further, it should be noted that, as shown in Figure 3, described control system also can comprise hydraulic pump discharge control device 31:

Described controller 23 also can be used for the rate of pumping desired by described 4th engine speed and operation user, determine the hydraulic pressure pump capacity in main hydraulic system of pump, and, according to the jib responsiveness desired by described 4th engine speed and operation user, determine the hydraulic pressure pump capacity in jib support leg hydraulic system, and the hydraulic pressure pump capacity in the hydraulic pressure pump capacity in the main hydraulic system of pump determined and the jib support leg hydraulic system determined is sent to described hydraulic pump discharge control device 31;

Described hydraulic pump discharge control device 31 can be used for receiving the hydraulic pressure pump capacity in the main hydraulic system of pump of described controller 23 transmission and the hydraulic pressure pump capacity in jib support leg hydraulic system, and according to the hydraulic pressure pump capacity in described main hydraulic system of pump and the hydraulic pressure pump capacity in jib support leg hydraulic system, adjust the hydraulic pressure pump capacity in corresponding hydraulic system respectively.

Further, it should be noted that, as shown in Figure 4, described control system also can comprise engine speed detection device 41:

Described engine speed detection device 41 can be used for the actual speed detecting engine, and the actual speed of the described engine detected is sent to described controller 23;

Described controller 23 also can be used for the actual speed receiving the described engine that described engine speed detection device 41 sends, and when determining that the actual speed of described engine is less than described 4th engine speed, issuing to described engine rotational speed control apparatus 24 and being used to indicate the first control signal that described engine rotational speed control apparatus 24 increases engine speed; Or, when determining that the actual speed of described engine is greater than described 4th engine speed, issuing to described engine rotational speed control apparatus 24 and being used to indicate the second control signal that described engine rotational speed control apparatus 24 reduces engine speed;

Described engine rotational speed control apparatus 24 also can be used for described first control signal receiving the transmission of described controller 23, and increases the rotating speed of engine according to described first control signal; Or, also can be used for described second control signal receiving the transmission of described controller 23, and reduce the rotating speed of engine according to described second control signal.

That is, the actual speed of the engine that described controller 23 feeds back by engine speed detection device 41, judge the magnitude relationship between the actual speed of engine and described 4th engine speed, and issue corresponding rise or downward steering order according to judged result to described engine rotational speed control apparatus 24, thus the rotating speed of engine can be controlled in real time, make the rotating speed of the engine after regulating can meet the requirement of each system simultaneously, and, closed-loop control is defined between actual engine speed and the engine speed of expectation, thus the control effects of the control system of the embodiment of the present invention also can be made more accurate.

Further, described controller 23 also can be used for the actual rate of pumping of the pumping oil cylinder detected in main hydraulic system of pump, and when determining the described rate of pumping that the actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump is less than desired by operation user, issuing to described hydraulic pump discharge control device 31 and being used to indicate the 3rd control signal that described hydraulic pump discharge control device 31 increases the hydraulic pressure pump capacity in main hydraulic system of pump; Or, when determining the described rate of pumping that the actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump is greater than desired by operation user, issuing to described hydraulic pump discharge control device 31 and being used to indicate the 4th control signal that described hydraulic pump discharge control device 31 reduces the hydraulic pressure pump capacity in main hydraulic system of pump;

Described hydraulic pump discharge control device 31 also can be used for described 3rd control signal receiving the transmission of described controller 23, and increases the hydraulic pressure pump capacity in main hydraulic system of pump according to described 3rd control signal; Or, also for receiving described 4th control signal that described controller 23 sends, and reduce the hydraulic pressure pump capacity in main hydraulic system of pump according to described 4th control signal.

That is, described controller 23 also can detect the actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump, and the actual rate of pumping of the pumping oil cylinder in the main hydraulic system of pump detected and the rate of pumping desired by operation user are compared, increase with the hydraulic pressure pump capacity controlled according to comparative result in main hydraulic system of pump or reduce, thus the closed-loop control that can define between actual rate of pumping and the rate of pumping of operation desired by user, and then make the control effects of the control system in the embodiment of the present invention more accurate.

Further, described controller 23 also can be used for the actual jib speed of each arm support oil cylinder detected in jib support leg hydraulic system, and when determining corresponding with the described arbitrary arm support oil cylinder jib responsiveness that the actual jib speed of arbitrary arm support oil cylinder is less than desired by operation user, issuing to described hydraulic pump discharge control device 31 and being used to indicate the 5th control signal that described hydraulic pump discharge control device 31 increases the hydraulic pressure pump capacity in jib support leg hydraulic system; Or, when determining corresponding with the described arbitrary arm support oil cylinder jib responsiveness that the actual jib speed of arbitrary arm support oil cylinder is greater than desired by operation user, issuing to described hydraulic pump discharge control device 31 and being used to indicate the 6th control signal that described hydraulic pump discharge control device 31 reduces the hydraulic pressure pump capacity in jib support leg hydraulic system;

Described hydraulic pump discharge control device 31 also can be used for described 5th control signal receiving the transmission of described controller 23, and increases the hydraulic pressure pump capacity in jib support leg hydraulic system according to described 5th control signal; Or, also can be used for described 6th control signal receiving the transmission of described controller 23, and reduce the hydraulic pressure pump capacity in jib support leg hydraulic system according to described 6th control signal.

That is, described controller 23 also can detect the actual jib speed of each arm support oil cylinder in jib support leg hydraulic system, and the actual jib speed of each arm support oil cylinder detected is compared with the jib responsiveness matched with corresponding arm support oil cylinder desired by operation user, so that according to comparative result, the hydraulic pressure pump capacity controlled in jib support leg hydraulic system increases or reduces, thus the closed-loop control between the actual jib speed that can define each arm support oil cylinder and the jib responsiveness matched with corresponding arm support oil cylinder desired by operation user, and then the control effects of the control system in the embodiment of the present invention can be made more accurate.

The invention process one example provides a kind of concrete pump vehicle control, in technical scheme described in the embodiment of the present invention, controller in concrete pump vehicle control can according to the rate of pumping operated desired by user, the jib responsiveness of operation desired by user, the power that engine need export and corresponding hydraulic pressure pump capacity Collaborative Control engine speed, thus it is inadequate to avoid the engine output caused because not considering the rate of pumping of the pumping oil cylinder that rate of pumping demand causes engine speed cannot meet in main hydraulic system of pump to require, engine falls speed, the problem such as flame-out, make the engine speed after regulating can meet the requirement of each system simultaneously, and, because final determined engine speed is actually the minimum engine speed that can meet each system requirements simultaneously, thus also can reach the effect improving engine capacity utilization factor, in addition, due to also by practical engine speeds and desired engine speed are compared, form the rotating speed that engine speed closed-loop control system regulates engine in real time, and, by actual rate of pumping and the rate of pumping desired by operation user are compared, form rate of pumping closed-loop control system and regulate rate of pumping etc. in real time, thus also can reach the control effects effect more accurately making control system.

Embodiment two:

The embodiment of the present invention two provides a kind of concrete mixer control method, can be applicable to comprising in the concrete pump vehicle control of rate of pumping control device, jib speed control unit, controller and engine rotational speed control apparatus described in the embodiment of the present invention one.As shown in Figure 5, it is the schematic flow sheet of control method described in the embodiment of the present invention two, and described control method can comprise the following steps:

Step 501: controller receives the rate of pumping signal that described rate of pumping control device sends, and according to the maximum pump discharge of the hydraulic pump in described rate of pumping signal and main hydraulic system of pump, calculate the first engine speed meeting the rate of pumping of operation desired by user, and, determine the power that engine need export, and the second engine speed that the power that the power calculation that need export according to the engine determined and described engine need export matches, and, receive the jib rate signal that described jib speed control unit sends, and according to the maximum pump discharge of the hydraulic pump in described jib rate signal and jib support leg hydraulic system, calculate the trimotor rotating speed meeting the jib responsiveness of operation desired by user, and from described first engine speed, select rotating speed value the maximum as the 4th engine speed in described second engine speed and described trimotor rotating speed.

Wherein, described rate of pumping signal be generated by the rate of pumping of described rate of pumping control device desired by operation user with the rate of pumping signal that matches of rate of pumping desired by operation user; Described jib rate signal be generated by the jib responsiveness of described jib speed control unit desired by operation user with the jib rate signal that matches of jib responsiveness desired by operation user, the embodiment of the present invention does not repeat this.

It should be noted that further, because described first engine speed calculates according to the maximum pump discharge of the hydraulic pump in main hydraulic system of pump, therefore, this first engine speed can be the minimum engine speed meeting the rate of pumping of operation desired by user usually; In addition, because described trimotor rotating speed calculates according to the maximum pump discharge of the hydraulic pump in jib support leg hydraulic system, therefore, this trimotor rotating speed can be the minimum engine speed meeting the jib responsiveness of operation desired by user usually, and the embodiment of the present invention does not also repeat this.

Step 502: described 4th engine speed is sent to described engine rotational speed control apparatus by controller, to be adjusted the rotating speed of engine according to described 4th engine speed received by described engine rotational speed control apparatus.

Further, it should be noted that, because described concrete pump vehicle control also can comprise hydraulic pump discharge control device, therefore, while described 4th engine speed is sent to described engine rotational speed control apparatus or afterwards, described control method also can comprise:

According to the rate of pumping desired by described 4th engine speed and operation user, determine the hydraulic pressure pump capacity in main hydraulic system of pump, and, according to the jib responsiveness desired by described 4th engine speed and operating system, determine the hydraulic pressure pump capacity in jib support leg hydraulic system, and the hydraulic pressure pump capacity in the hydraulic pressure pump capacity in the main hydraulic system of pump determined and the jib support leg hydraulic system determined is sent to described hydraulic pump discharge control device, with by described hydraulic pump discharge control device according to the hydraulic pressure pump capacity in the described main hydraulic system of pump received and the hydraulic pressure pump capacity in jib support leg hydraulic system, adjust the hydraulic pressure pump capacity in corresponding hydraulic system respectively.

Further, it should be noted that, because described concrete pump vehicle control also can comprise the actual speed for detecting engine, and the actual speed of the described engine detected being sent to the engine speed detection device of described controller; Therefore, described control method also can comprise:

Receive the actual speed of the described engine that described engine speed detection device sends, and when determining that the actual speed of described engine is less than described 4th engine speed, issue to described engine rotational speed control apparatus and be used to indicate the first control signal that described engine rotational speed control apparatus increases engine speed, to be increased the rotating speed of engine according to described first control signal received by described engine rotational speed control apparatus; Or,

When determining that the actual speed of described engine is greater than described 4th engine speed, issue to described engine rotational speed control apparatus and be used to indicate the second control signal that described engine rotational speed control apparatus reduces engine speed, to be reduced the rotating speed of engine according to described second control signal received by described engine rotational speed control apparatus.

That is, the actual speed of the engine that described controller feeds back by engine speed detection device, judge the magnitude relationship between the actual speed of engine and described 4th engine speed, and issue corresponding rise or downward steering order according to judged result to described engine rotational speed control apparatus, thus the rotating speed of engine can be controlled in real time, make the rotating speed of the engine after regulating can meet the requirement of each system simultaneously, and, closed-loop control is defined between actual engine speed and the engine speed of expectation, thus the control effects of the control system of the embodiment of the present invention also can be made more accurate.

Further, it should be noted that, described control method also can comprise:

Detect the actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump, and when determining the rate of pumping that the actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump is less than desired by operation user, issue to described hydraulic pump discharge control device and be used to indicate the 3rd control signal that described hydraulic pump discharge control device increases the hydraulic pressure pump capacity in main hydraulic system of pump, to be increased the hydraulic pressure pump capacity in main hydraulic system of pump according to described 3rd control signal received by described hydraulic pump discharge control device; Or,

When determining the rate of pumping that the actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump is greater than desired by operation user, issue to described hydraulic pump discharge control device and be used to indicate the 4th control signal that described hydraulic pump discharge control device reduces the hydraulic pressure pump capacity in main hydraulic system of pump, to be reduced the hydraulic pressure pump capacity in main hydraulic system of pump according to described 4th control signal received by described hydraulic pump discharge control device.

That is, described controller can detect the actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump, and the actual rate of pumping of the pumping oil cylinder in the main hydraulic system of pump detected and the rate of pumping desired by operation user are compared, increase with the hydraulic pressure pump capacity controlled according to comparative result in main hydraulic system of pump or reduce, thus the closed-loop control that can define between actual rate of pumping and the rate of pumping of operation desired by user, and then make the control effects of the control system in the embodiment of the present invention more accurate.

Further, described control method also can comprise:

Detect the actual jib speed of each arm support oil cylinder in jib support leg hydraulic system, and when determining corresponding with the described arbitrary arm support oil cylinder jib responsiveness that the actual jib speed of arbitrary arm support oil cylinder is less than desired by operation user, issue to described hydraulic pump discharge control device and be used to indicate the 5th control signal that described hydraulic pump discharge control device increases the hydraulic pressure pump capacity in jib support leg hydraulic system, with by described hydraulic pump discharge control device according to the hydraulic pressure pump capacity in the described 5th control signal increase jib support leg hydraulic system received; Or,

When determining corresponding with the described arbitrary arm support oil cylinder jib responsiveness that the actual jib speed of arbitrary arm support oil cylinder is greater than desired by operation user, issue to described hydraulic pump discharge control device and be used to indicate the 6th control signal that described hydraulic pump discharge control device reduces the defeated discharge capacity of hydraulic pump in jib support leg hydraulic system, with by described hydraulic pump discharge control device according to the hydraulic pressure pump capacity in the described 6th control signal reduction jib support leg hydraulic system received.

That is, described controller also can detect the actual jib speed of each arm support oil cylinder in jib support leg hydraulic system, and the actual jib speed of each arm support oil cylinder detected is compared with the jib responsiveness matched with corresponding arm support oil cylinder desired by operation user, so that according to comparative result, the hydraulic pressure pump capacity controlled in jib support leg hydraulic system increases or reduces, thus the closed-loop control between the actual jib speed that can define each arm support oil cylinder and the jib responsiveness matched with corresponding arm support oil cylinder desired by operation user, and then the control effects of the control system in the embodiment of the present invention can be made more accurate.

The embodiment of the present invention two provides a kind of concrete mixer control method being applicable to concrete pump vehicle control described in the embodiment of the present invention one, in technical scheme described in the embodiment of the present invention, can according to the rate of pumping operated desired by user, the jib responsiveness of operation desired by user, the power that engine need export and corresponding hydraulic pressure pump capacity Collaborative Control engine speed, thus it is inadequate to avoid the engine output caused because not considering the rate of pumping of the pumping oil cylinder that rate of pumping demand causes engine speed cannot meet in main hydraulic system of pump to require, engine falls speed, the problem such as flame-out, make the engine speed after regulating can meet the requirement of each system simultaneously, and, because final determined engine speed is actually the minimum engine speed that can meet each system requirements simultaneously, thus also can reach the effect improving engine capacity utilization factor, in addition, due to also by practical engine speeds and desired engine speed are compared, form the rotating speed that engine speed closed-loop control system regulates engine in real time, and, by actual rate of pumping and the rate of pumping desired by operation user are compared, form rate of pumping closed-loop control system and regulate rate of pumping etc. in real time, thus also can reach the control effects effect more accurately making control system.

Embodiment three:

The embodiment of the present invention three provides a kind of controller, and as shown in Figure 6, it can comprise receiving element 61, processing unit 62 and transmitting element 63 for the structural representation of controller described in the embodiment of the present invention three, described controller:

Described receiving element 61 can be used for receiving the jib rate signal that the jib speed control unit in the rate of pumping signal and described concrete pump vehicle control that the rate of pumping control device in concrete pump vehicle control sends sends; Wherein, described rate of pumping signal be generated by the rate of pumping of described rate of pumping control device desired by operation user with the rate of pumping signal that matches of rate of pumping desired by operation user; Described jib rate signal be generated by the jib responsiveness of described jib speed control unit desired by operation user with the jib rate signal that matches of jib responsiveness desired by operation user;

Described processing unit 62 can be used for the maximum pump discharge according to the hydraulic pump in described rate of pumping signal and main hydraulic system of pump, calculate the first engine speed meeting the rate of pumping of operation desired by user, and, determine the power that engine need export, and the second engine speed that the power that the power calculation that need export according to the engine determined and described engine need export matches, and, according to the maximum pump discharge of the hydraulic pump in described jib rate signal and jib support leg hydraulic system, calculate the trimotor rotating speed meeting the jib responsiveness of operation desired by user, and from described first engine speed, select rotating speed value the maximum as the 4th engine speed in described second engine speed and described trimotor rotating speed,

Described transmitting element 63 can be used for the engine rotational speed control apparatus described 4th engine speed sent in described concrete pump vehicle control, to be adjusted the rotating speed of engine according to described 4th engine speed received by described engine rotational speed control apparatus.

It should be noted that, because described first engine speed calculates according to the maximum pump discharge of the hydraulic pump in main hydraulic system of pump, therefore, this first engine speed can be the minimum engine speed meeting the rate of pumping of operation desired by user usually; In addition, because described trimotor rotating speed calculates according to the maximum pump discharge of the hydraulic pump in jib support leg hydraulic system, therefore, this trimotor rotating speed can be the minimum engine speed meeting the jib responsiveness of operation desired by user usually, and the embodiment of the present invention does not all repeat this.

That is, in technical scheme described in the embodiment of the present invention, controller can according to the rate of pumping operated desired by user, the jib responsiveness of operation desired by user, the power that engine need export and corresponding hydraulic pressure pump capacity Collaborative Control engine speed, thus it is inadequate to avoid the engine output caused because not considering the rate of pumping of the pumping oil cylinder that rate of pumping demand causes engine speed cannot meet in main hydraulic system of pump to require, engine falls speed, the problem such as flame-out, make the engine speed after regulating can meet the requirement of each system simultaneously, and, because final determined engine speed is actually the minimum engine speed that can meet each system requirements simultaneously, thus also can reach the effect improving engine capacity utilization factor.

Further, while described processing unit 62 is also used in and described 4th engine speed is sent to described engine rotational speed control apparatus or afterwards, according to the rate of pumping desired by described 4th engine speed and operation user, determine the hydraulic pressure pump capacity in main hydraulic system of pump, and, according to the jib responsiveness desired by described 4th engine speed and operation user, determine the hydraulic pressure pump capacity in jib support leg hydraulic system;

Described transmitting element 63 also can be used for the hydraulic pump discharge control device sent to by the hydraulic pressure pump capacity in the hydraulic pressure pump capacity in the main hydraulic system of pump determined and the jib support leg hydraulic system determined in described concrete pump vehicle control, with by described hydraulic pump discharge control device according to the hydraulic pressure pump capacity in the described main hydraulic system of pump received and the hydraulic pressure pump capacity in jib support leg hydraulic system, adjust the hydraulic pressure pump capacity in corresponding hydraulic system respectively.

Further, described receiving element 61 also can be used for the actual speed receiving the described engine that the engine speed detection device in described concrete pump vehicle control sends;

When described processing unit 62 is also used in and determines that the actual speed of described engine is less than described 4th engine speed, issued the first control signal being used to indicate described engine rotational speed control apparatus increase engine speed to described engine rotational speed control apparatus by described transmitting element 63; Or, when determining that the actual speed of described engine is greater than described 4th engine speed, issued the second control signal being used to indicate described engine rotational speed control apparatus reduction engine speed to described engine rotational speed control apparatus by described transmitting element 63;

Described transmitting element 63 also can be used for issuing to described engine rotational speed control apparatus being used to indicate the first control signal that described engine rotational speed control apparatus increases engine speed, to be increased the rotating speed of engine according to described first control signal received by described engine rotational speed control apparatus; Or, issue to described engine rotational speed control apparatus and be used to indicate the second control signal that described engine rotational speed control apparatus reduces engine speed, to be reduced the rotating speed of engine according to described second control signal received by described engine rotational speed control apparatus.

That is, the actual speed of the engine that described controller feeds back by engine speed detection device, judge the magnitude relationship between the actual speed of engine and described 4th engine speed, and issue corresponding rise or downward steering order according to judged result to described engine rotational speed control apparatus, thus the rotating speed of engine can be controlled in real time, make the rotating speed of the engine after regulating can meet the requirement of each system simultaneously, and, closed-loop control is defined between actual engine speed and the engine speed of expectation, thus the control effects of the controller of the embodiment of the present invention also can be made more accurate.

Further, described processing unit 62 also can be used for the actual rate of pumping of the pumping oil cylinder detected in main hydraulic system of pump, and when determining the rate of pumping that the actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump is less than desired by operation user, to be issued to described hydraulic pump discharge control device by described transmitting element 63 and being used to indicate the 3rd control signal that described hydraulic pump discharge control device increases the hydraulic pressure pump capacity in main hydraulic system of pump; Or, when determining the rate of pumping that the actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump is greater than desired by operation user, to be issued to described hydraulic pump discharge control device by described transmitting element 63 and being used to indicate the 4th control signal that described hydraulic pump discharge control device reduces the hydraulic pressure pump capacity in main hydraulic system of pump;

Described transmitting element 63 also can be used for issuing to described hydraulic pump discharge control device being used to indicate the 3rd control signal that described hydraulic pump discharge control device increases the hydraulic pressure pump capacity in main hydraulic system of pump, to be increased the hydraulic pressure pump capacity in main hydraulic system of pump according to described 3rd control signal received by described hydraulic pump discharge control device; Or, issue to described hydraulic pump discharge control device and be used to indicate the 4th control signal that described hydraulic pump discharge control device reduces the hydraulic pressure pump capacity in main hydraulic system of pump, to be reduced the hydraulic pressure pump capacity in main hydraulic system of pump according to described 4th control signal received by described hydraulic pump discharge control device.

That is, described controller can detect the actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump, and the actual rate of pumping of the pumping oil cylinder in the main hydraulic system of pump detected and the rate of pumping desired by operation user are compared, increase with the hydraulic pressure pump capacity controlled according to comparative result in main hydraulic system of pump or reduce, thus the closed-loop control that can define between actual rate of pumping and the rate of pumping of operation desired by user, and then make the control effects of the controller in the embodiment of the present invention more accurate.

Further, described processing unit 62 also can be used for the actual jib speed of each arm support oil cylinder detected in jib support leg hydraulic system, and when determining corresponding with the described arbitrary arm support oil cylinder jib responsiveness that the actual jib speed of arbitrary arm support oil cylinder is less than desired by operation user, to be issued to described hydraulic pump discharge control device by described transmitting element 63 and being used to indicate the 5th control signal that described hydraulic pump discharge control device increases the hydraulic pressure pump capacity in jib support leg hydraulic system; Or, when determining corresponding with the described arbitrary arm support oil cylinder jib responsiveness that the actual jib speed of arbitrary arm support oil cylinder is greater than desired by operation user, to be issued to described hydraulic pump discharge control device by described transmitting element 63 and being used to indicate the 6th control signal that described hydraulic pump discharge control device reduces the hydraulic pressure pump capacity in jib support leg hydraulic system;

Described transmitting element 63 also can be used for issuing to described hydraulic pump discharge control device being used to indicate the 5th control signal that described hydraulic pump discharge control device increases the hydraulic pressure pump capacity in jib support leg hydraulic system, with by described hydraulic pump discharge control device according to the hydraulic pressure pump capacity in the described 5th control signal increase jib support leg hydraulic system received; Or, issue to described hydraulic pump discharge control device and be used to indicate the 6th control signal that described hydraulic pump discharge control device reduces the hydraulic pressure pump capacity in jib support leg hydraulic system, with by described hydraulic pump discharge control device according to the hydraulic pressure pump capacity in the described 6th control signal reduction jib support leg hydraulic system received.

That is, described controller also can detect the actual jib speed of each arm support oil cylinder in jib support leg hydraulic system, and the actual jib speed of each arm support oil cylinder detected is compared with the jib responsiveness matched with corresponding arm support oil cylinder desired by operation user, so that according to comparative result, the hydraulic pressure pump capacity controlled in jib support leg hydraulic system increases or reduces, thus the closed-loop control between the actual jib speed that can define each arm support oil cylinder and the jib responsiveness matched with corresponding arm support oil cylinder desired by operation user, and then the control effects of the controller in the embodiment of the present invention can be made more accurate.

Further, it should be noted that, described processing unit 62 general power that specifically can be used for needed for the load of concrete mixer determines the power that corresponding described engine need export.In addition, it should be noted that, described controller can be arranged in the control system described in the embodiment of the present invention one usually, and, can in order to realize the control method described in the embodiment of the present invention two, the embodiment of the present invention does not all repeat this.

The embodiment of the present invention three provides a kind of controller that may correspond in concrete pump vehicle control described in the embodiment of the present invention one, in technical scheme described in the embodiment of the present invention, described controller can according to the rate of pumping operated desired by user, the jib responsiveness of operation desired by user, the power that engine need export and corresponding hydraulic pressure pump capacity Collaborative Control engine speed, thus it is inadequate to avoid the engine output caused because not considering the rate of pumping of the pumping oil cylinder that rate of pumping demand causes engine speed cannot meet in main hydraulic system of pump to require, engine falls speed, the problem such as flame-out, make the engine speed after regulating can meet the requirement of each system simultaneously, and, because final determined engine speed is actually the minimum engine speed that can meet each system requirements simultaneously, thus also can reach the effect improving engine capacity utilization factor, in addition, because described controller is also by comparing practical engine speeds and desired engine speed, form the rotating speed that engine speed closed-loop control system regulates engine in real time, and, by actual rate of pumping and the rate of pumping desired by operation user are compared, form rate of pumping closed-loop control system and regulate rate of pumping etc. in real time, thus also can reach the control effects effect more accurately making control system.

Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.

Claims

1. a concrete pump vehicle control, is characterized in that, comprises rate of pumping control device, jib speed control unit, controller and engine rotational speed control apparatus:

2. control system as claimed in claim 1, it is characterized in that, described control system also comprises hydraulic pump discharge control device:

Described controller, also for the rate of pumping desired by described 4th engine speed and operation user, determine the hydraulic pressure pump capacity in main hydraulic system of pump, and, according to the jib responsiveness desired by described 4th engine speed and operation user, determine the hydraulic pressure pump capacity in jib support leg hydraulic system, and the hydraulic pressure pump capacity in the hydraulic pressure pump capacity in the main hydraulic system of pump determined and the jib support leg hydraulic system determined is sent to described hydraulic pump discharge control device;

Described hydraulic pump discharge control device, for receiving the hydraulic pressure pump capacity in the main hydraulic system of pump of described controller transmission and the hydraulic pressure pump capacity in jib support leg hydraulic system, and according to the hydraulic pressure pump capacity in described main hydraulic system of pump and the hydraulic pressure pump capacity in jib support leg hydraulic system, adjust the hydraulic pressure pump capacity in corresponding hydraulic system respectively.

3. control system as claimed in claim 1 or 2, it is characterized in that, described control system also comprises engine speed detection device:

Described engine speed detection device, for detecting the actual speed of engine, and sends to described controller by the actual speed of the described engine detected;

Described controller, also for receiving the actual speed of the described engine that described engine speed detection device sends, and when determining that the actual speed of described engine is less than described 4th engine speed, issuing to described engine rotational speed control apparatus and being used to indicate the first control signal that described engine rotational speed control apparatus increases engine speed; Or, when determining that the actual speed of described engine is greater than described 4th engine speed, issuing to described engine rotational speed control apparatus and being used to indicate the second control signal that described engine rotational speed control apparatus reduces engine speed;

Described engine rotational speed control apparatus, also for receiving described first control signal that described controller sends, and increases the rotating speed of engine according to described first control signal; Or, also for receiving described second control signal that described controller sends, and reduce the rotating speed of engine according to described second control signal.

4. control system as claimed in claim 2, is characterized in that,

Described controller, also for detecting the actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump, and when determining the rate of pumping that the actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump is less than desired by operation user, issuing to described hydraulic pump discharge control device and being used to indicate the 3rd control signal that described hydraulic pump discharge control device increases the hydraulic pressure pump capacity in main hydraulic system of pump; Or, when determining the rate of pumping that the actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump is greater than desired by operation user, issuing to described hydraulic pump discharge control device and being used to indicate the 4th control signal that described hydraulic pump discharge control device reduces the hydraulic pressure pump capacity in main hydraulic system of pump;

Described hydraulic pump discharge control device, also for receiving described 3rd control signal that described controller sends, and increases the hydraulic pressure pump capacity in main hydraulic system of pump according to described 3rd control signal; Or, also for receiving described 4th control signal that described controller sends, and reduce the hydraulic pressure pump capacity in main hydraulic system of pump according to described 4th control signal.

5. control system as claimed in claim 2, is characterized in that,

Described controller, also for detecting the actual jib speed of each arm support oil cylinder in jib support leg hydraulic system, and when determining corresponding with the described arbitrary arm support oil cylinder jib responsiveness that the actual jib speed of arbitrary arm support oil cylinder is less than desired by operation user, issuing to described hydraulic pump discharge control device and being used to indicate the 5th control signal that described hydraulic pump discharge control device increases the hydraulic pressure pump capacity in jib support leg hydraulic system; Or, when determining corresponding with the described arbitrary arm support oil cylinder jib responsiveness that the actual jib speed of arbitrary arm support oil cylinder is greater than desired by operation user, issuing to described hydraulic pump discharge control device and being used to indicate the 6th control signal that described hydraulic pump discharge control device reduces the hydraulic pressure pump capacity in jib support leg hydraulic system;

Described hydraulic pump discharge control device, also for receiving described 5th control signal that described controller sends, and increases the hydraulic pressure pump capacity in jib support leg hydraulic system according to described 5th control signal; Or, also for receiving described 6th control signal that described controller sends, and reduce the hydraulic pressure pump capacity in jib support leg hydraulic system according to described 6th control signal.

6. control system as claimed in claim 1 or 2, is characterized in that,

Described controller, determines specifically for the general power needed for the load of concrete mixer the power that corresponding described engine need export.

7. a concrete mixer control method, it is characterized in that, described control method is applied in concrete pump vehicle control, and described concrete pump vehicle control comprises rate of pumping control device, jib speed control unit, controller and engine rotational speed control apparatus; Described control method comprises:

Described controller receives the rate of pumping signal that described rate of pumping control device sends, and according to the maximum pump discharge of the hydraulic pump in described rate of pumping signal and main hydraulic system of pump, calculate the first engine speed meeting the rate of pumping of operation desired by user, and, determine the power that engine need export, and the second engine speed that the power that the power calculation that need export according to the engine determined and described engine need export matches, and, receive the jib rate signal that described jib speed control unit sends, and according to the maximum pump discharge of the hydraulic pump in described jib rate signal and jib support leg hydraulic system, calculate the trimotor rotating speed meeting the jib responsiveness of operation desired by user, and from described first engine speed, select rotating speed value the maximum as the 4th engine speed in described second engine speed and described trimotor rotating speed, and, described 4th engine speed is sent to described engine rotational speed control apparatus, to be adjusted the rotating speed of engine according to described 4th engine speed received by described engine rotational speed control apparatus,

8. control method as claimed in claim 7, it is characterized in that, described concrete pump vehicle control also comprises hydraulic pump discharge control device; While described 4th engine speed is sent to described engine rotational speed control apparatus or afterwards, described control method also comprises:

According to the rate of pumping desired by described 4th engine speed and operation user, determine the hydraulic pressure pump capacity in main hydraulic system of pump, and, according to the jib responsiveness desired by described 4th engine speed and operation user, determine the hydraulic pressure pump capacity in jib support leg hydraulic system, and the hydraulic pressure pump capacity in the hydraulic pressure pump capacity in the main hydraulic system of pump determined and the jib support leg hydraulic system determined is sent to described hydraulic pump discharge control device, with by described hydraulic pump discharge control device according to the hydraulic pressure pump capacity in the described main hydraulic system of pump received and the hydraulic pressure pump capacity in jib support leg hydraulic system, adjust the hydraulic pressure pump capacity in corresponding hydraulic system respectively.

9. control method as claimed in claim 7 or 8, it is characterized in that, described concrete pump vehicle control also comprises the actual speed for detecting engine, and the actual speed of the described engine detected is sent to the engine speed detection device of described controller; Described control method also comprises:

10. control method as claimed in claim 8, it is characterized in that, described control method also comprises:

11. control methods as claimed in claim 8, it is characterized in that, described control method also comprises:

When determining corresponding with the described arbitrary arm support oil cylinder jib responsiveness that the actual jib speed of arbitrary arm support oil cylinder is greater than desired by operation user, issue to described hydraulic pump discharge control device and be used to indicate the 6th control signal that described hydraulic pump discharge control device reduces the hydraulic pressure pump capacity in jib support leg hydraulic system, with by described hydraulic pump discharge control device according to the hydraulic pressure pump capacity in the described 6th control signal reduction jib support leg hydraulic system received.

12. control methods as claimed in claim 7 or 8, is characterized in that, determine to comprise the power that engine need export:

General power needed for the load of concrete mixer determines the power that corresponding described engine need export.

13. 1 kinds of controllers, is characterized in that, comprising:

14. controllers as claimed in claim 13, is characterized in that,

Described processing unit, also for while described 4th engine speed is sent to described engine rotational speed control apparatus or afterwards, according to the rate of pumping desired by described 4th engine speed and operation user, determine the hydraulic pressure pump capacity in main hydraulic system of pump, and, according to the jib responsiveness desired by described 4th engine speed and operation user, determine the hydraulic pressure pump capacity in jib support leg hydraulic system;

Described transmitting element, also for the hydraulic pressure pump capacity in the hydraulic pressure pump capacity in the main hydraulic system of pump determined and the jib support leg hydraulic system determined being sent to the hydraulic pump discharge control device in described concrete pump vehicle control, with by described hydraulic pump discharge control device according to the hydraulic pressure pump capacity in the described main hydraulic system of pump received and the hydraulic pressure pump capacity in jib support leg hydraulic system, adjust the hydraulic pressure pump capacity in corresponding hydraulic system respectively.

15. controllers as described in claim 13 or 14, is characterized in that,

Described receiving element, also for receiving the actual speed of the described engine of the engine speed detection device transmission in described concrete pump vehicle control;

Described processing unit, also for when determining that the actual speed of described engine is less than described 4th engine speed, issued the first control signal being used to indicate described engine rotational speed control apparatus increase engine speed to described engine rotational speed control apparatus by described transmitting element; Or, when determining that the actual speed of described engine is greater than described 4th engine speed, issued the second control signal being used to indicate described engine rotational speed control apparatus reduction engine speed to described engine rotational speed control apparatus by described transmitting element;

Described transmitting element, also be used to indicate for issuing to described engine rotational speed control apparatus the first control signal that described engine rotational speed control apparatus increases engine speed, to be increased the rotating speed of engine according to described first control signal received by described engine rotational speed control apparatus; Or, issue to described engine rotational speed control apparatus and be used to indicate the second control signal that described engine rotational speed control apparatus reduces engine speed, to be reduced the rotating speed of engine according to described second control signal received by described engine rotational speed control apparatus.

16. controllers as claimed in claim 14, is characterized in that,

Described processing unit, also for detecting the actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump, and when determining the rate of pumping that the actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump is less than desired by operation user, to be issued to described hydraulic pump discharge control device by described transmitting element and being used to indicate the 3rd control signal that described hydraulic pump discharge control device increases the hydraulic pressure pump capacity in main hydraulic system of pump; Or, when determining the rate of pumping that the actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump is greater than desired by operation user, to be issued to described hydraulic pump discharge control device by described transmitting element and being used to indicate the 4th control signal that described hydraulic pump discharge control device reduces the hydraulic pressure pump capacity in main hydraulic system of pump;

Described transmitting element, also be used to indicate for issuing to described hydraulic pump discharge control device the 3rd control signal that described hydraulic pump discharge control device increases the hydraulic pressure pump capacity in main hydraulic system of pump, to be increased the hydraulic pressure pump capacity in main hydraulic system of pump according to described 3rd control signal received by described hydraulic pump discharge control device; Or, issue to described hydraulic pump discharge control device and be used to indicate the 4th control signal that described hydraulic pump discharge control device reduces the hydraulic pressure pump capacity in main hydraulic system of pump, to be reduced the hydraulic pressure pump capacity in main hydraulic system of pump according to described 4th control signal received by described hydraulic pump discharge control device.

17. controllers as claimed in claim 14, is characterized in that,

Described processing unit, also for detecting the actual jib speed of each arm support oil cylinder in jib support leg hydraulic system, and when determining corresponding with the described arbitrary arm support oil cylinder jib responsiveness that the actual jib speed of arbitrary arm support oil cylinder is less than desired by operation user, to be issued to described hydraulic pump discharge control device by described transmitting element and being used to indicate the 5th control signal that described hydraulic pump discharge control device increases the hydraulic pressure pump capacity in jib support leg hydraulic system; Or, when determining corresponding with the described arbitrary arm support oil cylinder jib responsiveness that the actual jib speed of arbitrary arm support oil cylinder is greater than desired by operation user, to be issued to described hydraulic pump discharge control device by described transmitting element and being used to indicate the 6th control signal that described hydraulic pump discharge control device reduces the hydraulic pressure pump capacity in jib support leg hydraulic system;

Described transmitting element, also be used to indicate for issuing to described hydraulic pump discharge control device the 5th control signal that described hydraulic pump discharge control device increases the hydraulic pressure pump capacity in jib support leg hydraulic system, with by described hydraulic pump discharge control device according to the hydraulic pressure pump capacity in the described 5th control signal increase jib support leg hydraulic system received; Or, issue to described hydraulic pump discharge control device and be used to indicate the 6th control signal that described hydraulic pump discharge control device reduces the hydraulic pressure pump capacity in jib support leg hydraulic system, with by described hydraulic pump discharge control device according to the hydraulic pressure pump capacity in the described 6th control signal reduction jib support leg hydraulic system received.

18. controllers as described in claim 13 or 14, is characterized in that,

Described processing unit, determines specifically for the general power needed for the load of concrete mixer the power that corresponding described engine need export.