CN105373147B

CN105373147B - Concrete pump truck control system, method and controller

Info

Publication number: CN105373147B
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: 2018-01-09
Anticipated expiration: 2034-08-26
Also published as: CN105373147A

Abstract

The invention discloses a concrete pump truck control system, a method and a controller, wherein the controller in the control system can cooperatively control the rotating speed of an engine according to the pumping speed expected by an operating user, the arm support action speed expected by the operating user, the power required to be output by the engine and the discharge capacity of a hydraulic pump, so that the problems of insufficient output power of the engine, engine stall, flameout and the like caused by the fact that the rotating speed of the engine cannot meet the pumping speed requirement of a pumping oil cylinder in a main pumping hydraulic system due to the fact that the pumping speed requirement is not considered are solved, the adjusted rotating speed of the engine can meet the requirements of various systems at the same time, and the finally determined rotating speed of the engine is the lowest rotating speed of the engine which can meet the requirements of various systems at the same time, so that the aim of improving the power utilization rate of the engine can be.

Description

Concrete pump truck control system, method and controller

Technical Field

The invention relates to the technical field of concrete pump trucks, in particular to a concrete pump truck control system, a concrete pump truck control method and a concrete pump truck control controller.

Background

The concrete pump truck is convenient and flexible to construct and is widely applied to modern construction. Specifically, a concrete pump truck is usually driven by a hydraulic system, and as shown in fig. 1, the hydraulic system of the concrete pump truck mainly includes a main pumping hydraulic system 11, a boom support leg hydraulic system 14, a distribution hydraulic system 12, a stirring hydraulic system 13, and other auxiliary hydraulic systems. Also, for any hydraulic system, a corresponding hydraulic pump and hydraulic rams (not shown in fig. 1) driven by the hydraulic pump may be included in the hydraulic system. For example, the main pumping hydraulic system 11 may include a hydraulic pump and a corresponding pumping cylinder (not shown in fig. 1), and the boom and leg hydraulic system 14 may include a hydraulic pump, one or more corresponding boom cylinders (not shown in fig. 1) for driving each section of the boom in the boom, and a driving cylinder for driving a plurality of legs to move, where the boom and the legs cannot move simultaneously, and when the boom is not yet deployed (and the main pumping hydraulic system is not yet operated), the legs may be controlled to move, and when the boom moves, the legs cannot move, and at this time, the hydraulic pump in the boom and leg hydraulic system 14 supplies oil to the boom. The hydraulic pumps in the hydraulic systems can be driven by the engine in the concrete pump truck through a transfer case, and the speed of the hydraulic pumps in the hydraulic systems is generally the same under normal conditions.

Specifically, in the hydraulic system of the concrete pump truck, two action speeds need to be controlled, one is the pumping speed of the pumping cylinder in the main pumping hydraulic system 11, and the other is the boom speed of each boom cylinder in the boom support leg hydraulic system 14. This is because:

for the main pumping hydraulic system 11, the concrete cylinder is pushed by the pumping cylinder to realize the concrete conveying, and different conveying speed requirements are met correspondingly under different construction conditions, so that an operator needs to adjust the corresponding conveying speed according to the construction working conditions. For the boom and leg hydraulic system 14, since it is responsible for the motions of the boom and the leg, and since each arm in the boom requires a stable motion speed, which cannot be fast or slow, and needs to meet the speed defined by the set safety standard, the motion speed of each arm in the boom must be correspondingly controlled. Further, since the operating speed of the corresponding hydraulic cylinder of the auxiliary hydraulic system such as the distribution hydraulic system 12 and the mixer hydraulic system 13 is related to the pumping speed and is variable depending on the pumping speed, it is not necessary to separately control the operating speed of the corresponding hydraulic cylinder.

Specifically, since the pumping speed of the pumping cylinder in the main pumping hydraulic system 11 depends on the flow rate of the hydraulic pump in the main pumping hydraulic system, i.e., the rotation speed and the displacement of the hydraulic pump in the main pumping hydraulic system 11; the boom speed of each boom cylinder in the boom support leg hydraulic system 14 depends on the flow rate supplied to the boom cylinder, and the flow rate of each boom cylinder is cooperatively controlled by the rotating speed and the discharge capacity of a hydraulic pump in the boom support leg hydraulic system 14 and a proportional multi-way valve for controlling the boom speed and the direction; furthermore, since the hydraulic pumps in the hydraulic systems can be driven by the engine in the concrete pump truck through a transfer case, the speed of the hydraulic pumps in the hydraulic systems is usually controlled by controlling the rotation speed of the engine, so as to control the pumping speed of the pumping cylinders in the main pumping hydraulic system 11 and the boom speed of the boom cylinders in the boom support hydraulic system 14.

Specifically, at present, the engine speed of a concrete pump truck is often determined by:

the first method is as follows: and calculating the rotating speed of the engine when the maximum flow required by the arm support is reached by calculating the maximum flow possibly required by the whole arm support. The engine speed is determined as the lowest speed of the engine when the concrete pump truck is working, and correspondingly, the actual speed of the engine when the concrete pump truck is working can be changed between the lowest speed and the maximum speed according to the required pumping speed.

It should be noted that when the first method is adopted to determine the engine speed of the concrete pump truck, the boom speed can reach the set value and simultaneously meet the corresponding pumping speed. However, since the lowest rotation speed of the engine is calculated according to the maximum flow rate that may be required by the whole boom, the power utilization rate is low, and the energy saving effect is not good. For example, in actual work, only a single-link arm may be operated, and only a slow operation may be performed, at this time, the flow rate required by the arm support is small, and therefore, the required engine speed is also small, and if the pumping speed is also required to be low at this time, and the minimum speed of the engine is still determined according to the maximum flow rate required by the arm support, the waste of engine power is undoubtedly caused, so that the energy saving effect is not good.

The second method comprises the following steps: the flow rate required by each section of arm in the arm support is calculated, and the corresponding engine rotating speed is calculated according to the flow rate required by each section of arm, so that the relationship between the flow rate required by the arm support and the engine rotating speed can be well coordinated.

However, although the second method may compensate for the shortage of the first method in terms of power waste to some extent, the determined engine speed may not meet the pumping speed requirement of the pumping cylinder in the main pumping hydraulic system because the pumping speed also needs to be controlled without being considered. Meanwhile, the output power of the engine is different at different rotating speeds, so that the output power of the engine is insufficient, and phenomena such as speed drop, flameout and the like can be caused.

In summary, the conventional method for determining the engine speed of the concrete pump truck is not good, and therefore, a new concrete pump truck control method is needed to solve the above problems.

Disclosure of Invention

The embodiment of the invention provides a concrete pump truck control system and a control method, which are used for solving the problem that the mode of determining the rotating speed of an engine of a concrete pump truck in the prior art is not good.

The embodiment of the invention provides a concrete pump truck control system, which comprises a pumping speed control device, an arm support speed control device, a controller and an engine rotating speed control device, wherein the arm support speed control device comprises:

the pumping speed control device is used for generating a pumping speed signal matched with the pumping speed expected by an operation user and sending the pumping speed signal to the controller;

the boom speed control device is used for generating a boom speed signal matched with the boom action speed expected by an operation user and sending the boom speed signal to the controller;

the controller is used for receiving the pumping speed signal sent by the pumping speed control device, calculating a first engine rotating speed meeting the pumping speed expected by an operating user according to the pumping speed signal and the maximum displacement of a hydraulic pump in a main pumping hydraulic system, determining the power required to be output by the engine, calculating a second engine rotating speed matched with the power required to be output by the engine according to the determined power required to be output by the engine, receiving the boom speed signal sent by the boom speed control device, calculating a third engine rotating speed meeting the boom action speed expected by the operating user according to the boom speed signal and the maximum displacement of the hydraulic pump in the boom support leg hydraulic system, and selecting the maximum rotating speed value from the first engine rotating speed, the second engine rotating speed and the third engine rotating speed as a fourth engine rotating speed, and sending said fourth engine speed to said engine speed control means;

and the engine rotating speed control device is used for receiving the fourth engine rotating speed sent by the controller and adjusting the rotating speed of the engine according to the fourth engine rotating speed.

Further, the embodiment of the invention also provides a concrete pump truck control method, which is applied to a concrete pump truck control system, wherein the concrete pump truck control system comprises a pumping speed control device, an arm support speed control device, a controller and an engine rotating speed control device; the control method comprises the following steps:

the controller receives the pumping speed signal sent by the pumping speed control device, calculates a first engine rotating speed meeting the pumping speed expected by an operating user according to the pumping speed signal and the maximum displacement of a hydraulic pump in a main pumping hydraulic system, determines the power required to be output by the engine, calculates a second engine rotating speed matched with the power required to be output by the engine according to the determined power required to be output by the engine, receives the boom speed signal sent by the boom speed control device, calculates a third engine rotating speed meeting the boom action speed expected by the operating user according to the boom speed signal and the maximum displacement of the hydraulic pump in the boom support leg hydraulic system, and selects the largest rotating speed value from the first engine rotating speed, the second engine rotating speed and the third engine rotating speed as a fourth engine rotating speed, sending the fourth engine speed to the engine speed control device, so that the engine speed control device adjusts the engine speed according to the received fourth engine speed;

wherein the pumping speed signal is a pumping speed signal which is generated by the pumping speed control device according to the pumping speed desired by the operation user and is matched with the pumping speed desired by the operation user; the boom speed signal is generated by the boom speed control device according to the boom action speed expected by the operation user and is matched with the boom action speed expected by the operation user.

Further, an embodiment of the present invention further provides a controller, including:

the receiving unit is used for receiving a pumping speed signal sent by a pumping speed control device in a concrete pump truck control system and an arm support speed signal sent by an arm support speed control device in the concrete pump truck control system; wherein the pumping speed signal is a pumping speed signal which is generated by the pumping speed control device according to the pumping speed desired by the operation user and is matched with the pumping speed desired by the operation user; the boom speed signal is generated by the boom speed control device according to the boom action speed expected by the operation user and is matched with the boom action speed expected by the operation user;

the processing unit is used for calculating a first engine rotating speed meeting the pumping speed expected by an operating user according to the pumping speed signal and the maximum displacement of a hydraulic pump in a main pumping hydraulic system, determining power required to be output by the engine, calculating a second engine rotating speed matched with the power required to be output by the engine according to the determined power required to be output by the engine, calculating a third engine rotating speed meeting the boom action speed expected by the operating user according to the boom speed signal and the maximum displacement of the hydraulic pump in a boom support hydraulic system, and selecting the maximum rotating speed value from the first engine rotating speed, the second engine rotating speed and the third engine rotating speed as a fourth engine rotating speed;

and the sending unit is used for sending the fourth engine rotating speed to an engine rotating speed control device in the concrete pump truck control system so that the engine rotating speed control device can adjust the rotating speed of the engine according to the received fourth engine rotating speed.

The invention has the following beneficial effects:

the embodiment of the invention provides a concrete pump truck control system, a concrete pump truck control method and a concrete pump truck control device, wherein a controller in the control system can receive a pumping speed signal which is sent by a pumping speed control device and is matched with a pumping speed expected by an operating user, calculate a first engine rotating speed which meets the pumping speed expected by the operating user by combining with the maximum discharge capacity of a hydraulic pump in a main pumping hydraulic system, determine power which is required to be output by an engine, calculate a second engine rotating speed which is matched with the power which is required to be output by the engine according to the determined power which is required to be output by the engine, receive an arm support speed signal which is sent by the arm support speed control device and is matched with an arm support action speed expected by the operating user, calculate a third engine rotating speed which meets the arm support action speed expected by the operating user by combining with the maximum discharge capacity of the hydraulic pump in an arm support leg hydraulic system, and selecting the one with the largest rotating speed value from the first rotating speed, the second rotating speed and the third rotating speed as a fourth rotating speed of the engine, and sending the fourth rotating speed of the engine to the rotating speed control device of the engine so that the rotating speed of the engine can be adjusted by the rotating speed control device of the engine according to the received fourth rotating speed of the engine. That is to say, in the technical solution according to the embodiment of the present invention, the controller in the concrete pump truck control system may cooperatively control the engine speed according to the pumping speed desired by the operating user, the boom operating speed desired by the operating user, the power to be output by the engine, and the displacement of the hydraulic pump, so as to avoid the problems of insufficient engine output power, engine stall, stalling, and the like caused by the fact that the engine speed cannot meet the pumping speed requirement of the pumping cylinder in the hydraulic system of the main pump due to the fact that the pumping speed requirement is not considered, so that the adjusted engine speed can simultaneously meet the requirements of each system, and since the finally determined engine speed is actually the lowest engine speed that can simultaneously meet the requirements of each system, the purpose of improving the engine power utilization rate can be achieved.

Drawings

FIG. 1 is a schematic diagram of a typical prior art hydraulic system;

fig. 2 is a schematic structural diagram of a concrete pump truck control system according to an embodiment of the present invention;

fig. 3 is another schematic structural diagram of a concrete pump truck control system according to an embodiment of the present invention;

fig. 4 is another schematic structural diagram of a concrete pump truck control system according to an embodiment of the present invention;

fig. 5 is a schematic flow chart illustrating a concrete pump truck control method according to a second embodiment of the present invention;

fig. 6 is a schematic structural diagram of a controller according to a third embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The first embodiment is as follows:

a first embodiment of the present invention provides a concrete pump truck control system, as shown in fig. 2, which is a schematic structural diagram of the control system in the first embodiment of the present invention, and the control system includes a pumping speed control device 21, an arm support speed control device 22, a controller 23, and an engine rotation speed control device 24:

the pumping speed control device 21 is used for generating a pumping speed signal matched with the pumping speed expected by an operation user and sending the pumping speed signal to the controller 23;

the boom speed control device 22 may be configured to generate a boom speed signal that matches a boom action speed expected by an operation user, and send the boom speed signal to the controller 23; the boom motion speed desired by the operation user may refer to a boom motion speed for any single-joint arm or multiple-joint arm or all joints of arms in the boom. In addition, the boom speed control device 22 may generally refer to a boom speed control handle, and when the boom system needs to work, an operation user may generate a boom speed signal matched with a boom action speed expected by the operation user by operating the boom speed control handle, which is not described in detail in the embodiments of the present invention;

the controller 23 is configured to receive the pumping speed signal sent by the pumping speed control device 21, calculate a first engine speed that meets a pumping speed desired by an operator according to the pumping speed signal and a maximum displacement of a hydraulic pump in a main pumping hydraulic system (specifically, the first engine speed may be a lowest engine speed that meets the pumping speed desired by the operator because the first engine speed is calculated according to the maximum displacement of the hydraulic pump in the main pumping hydraulic system), determine power required to be output by the engine, calculate a second engine speed that matches the power required to be output by the engine according to the determined power required to be output by the engine, receive the boom speed signal sent by the boom speed control device 22, and according to the boom speed signal and the maximum displacement of the hydraulic pump in the boom leg hydraulic system, calculating a third engine speed that satisfies the boom movement speed desired by the operator (specifically, the third engine speed may be a lowest engine speed that satisfies the boom movement speed desired by the operator because the third engine speed is calculated according to a maximum displacement of a hydraulic pump in the boom support leg hydraulic system), selecting a maximum rotation speed value from the first engine speed, the second engine speed, and the third engine speed as a fourth engine speed, and sending the fourth engine speed to the engine speed control device 24;

the engine speed control device 24 is configured to receive the fourth engine speed sent by the controller 23, and adjust the engine speed according to the fourth engine speed.

That is to say, in the technical solution of the embodiment of the present invention, the controller in the control system of the concrete pump truck can cooperatively control the engine speed according to the pumping speed desired by the operating user, the boom action speed desired by the operating user, the power to be output by the engine, and the displacement of the corresponding hydraulic pump, so as to avoid the problems of insufficient engine output power, engine stall, flameout, and the like caused by the fact that the engine speed cannot meet the pumping speed requirement of the pumping cylinder in the main pumping hydraulic system due to the fact that the pumping speed requirement is not considered, so that the adjusted engine speed can simultaneously meet the requirements of each system, and the finally determined engine speed is actually the lowest engine speed that can simultaneously meet the requirements of each system, thereby further achieving the effect of improving the engine power utilization rate.

Specifically, the controller 23 determines the power required to be output by the engine, and may specifically be implemented as: and determining the corresponding power required to be output by the engine according to the total power required by the load of the concrete pump truck. Accordingly, calculating a second engine speed matching the power required to be output by the engine according to the determined power required to be output by the engine may be implemented as: and calculating the appropriate engine speed required by the engine to output the determined corresponding power according to the determined power required to be output by the engine and the corresponding engine power and speed curve, and taking the appropriate engine speed as a second engine speed.

Further, it should be noted that, as shown in fig. 3, the control system may further include a hydraulic pump displacement control device 31:

the controller 23 may be further configured to determine, according to the fourth engine speed and a pumping speed expected by an operation user, a displacement of a hydraulic pump in the main pumping hydraulic system, determine, according to the fourth engine speed and an boom operating speed expected by the operation user, a displacement of a hydraulic pump in the boom support hydraulic system, and send the determined displacement of the hydraulic pump in the main pumping hydraulic system and the determined displacement of the hydraulic pump in the boom support hydraulic system to the hydraulic pump displacement control device 31;

the hydraulic pump displacement control device 31 may be configured to receive the displacement of the hydraulic pump in the main pumping hydraulic system and the displacement of the hydraulic pump in the boom support leg hydraulic system sent by the controller 23, and adjust the displacements of the hydraulic pumps in the corresponding hydraulic systems according to the displacements of the hydraulic pumps in the main pumping hydraulic system and the displacements of the hydraulic pumps in the boom support leg hydraulic system, respectively.

Further, it should be noted that, as shown in fig. 4, the control system may further include an engine speed detection device 41:

the engine speed detection means 41 may be configured to detect an actual engine speed and send the detected actual engine speed to the controller 23;

the controller 23 is further configured to receive the actual rotation speed of the engine sent by the engine rotation speed detection device 41, and issue a first control signal for instructing the engine rotation speed control device 24 to increase the engine rotation speed to the engine rotation speed control device 24 when it is determined that the actual rotation speed of the engine is less than the fourth engine rotation speed; or, when it is determined that the actual rotational speed of the engine is greater than the fourth engine rotational speed, issuing a second control signal for instructing the engine rotational speed control device 24 to decrease the engine rotational speed to the engine rotational speed control device 24;

the engine speed control device 24 is further configured to receive the first control signal sent by the controller 23, and increase the engine speed according to the first control signal; or, the controller 23 may be further configured to receive the second control signal sent by the controller, and reduce the rotation speed of the engine according to the second control signal.

That is to say, the controller 23 may determine the magnitude relationship between the actual rotational speed of the engine and the fourth rotational speed of the engine through the actual rotational speed of the engine fed back by the engine rotational speed detection device 41, and issue a corresponding up-regulation or down-regulation control instruction to the engine rotational speed control device 24 according to the determination result, so as to control the rotational speed of the engine in real time, so that the adjusted rotational speed of the engine can simultaneously meet the requirements of each system, and a closed-loop control is formed between the actual rotational speed of the engine and the expected rotational speed of the engine, so that the control effect of the control system according to the embodiment of the present invention is more accurate.

Further, the controller 23 may be further configured to detect an actual pumping speed of a pumping cylinder in the main pumping hydraulic system, and send a third control signal to the hydraulic pump displacement control device 31 for instructing the hydraulic pump displacement control device 31 to increase the displacement of the hydraulic pump in the main pumping hydraulic system when it is determined that the actual pumping speed of the pumping cylinder in the main pumping hydraulic system is less than the pumping speed expected by an operating user; or, when it is determined that the actual pumping speed of the pumping cylinder in the main pumping hydraulic system is greater than the pumping speed expected by an operating user, issuing a fourth control signal to the hydraulic pump displacement control device 31, where the fourth control signal is used for instructing the hydraulic pump displacement control device 31 to reduce the displacement of the hydraulic pump in the main pumping hydraulic system;

the hydraulic pump displacement control device 31 is further configured to receive the third control signal sent by the controller 23, and increase the displacement of the hydraulic pump in the main pumping hydraulic system according to the third control signal; or, the controller 23 is further configured to receive the fourth control signal sent by the controller, and decrease the displacement of the hydraulic pump in the main pumping hydraulic system according to the fourth control signal.

That is to say, the controller 23 may further detect an actual pumping speed of a pumping cylinder in the main pumping hydraulic system, and compare the detected actual pumping speed of the pumping cylinder in the main pumping hydraulic system with a pumping speed expected by an operating user, so as to control the displacement of the hydraulic pump in the main pumping hydraulic system to increase or decrease according to the comparison result, thereby forming a closed-loop control between the actual pumping speed and the pumping speed expected by the operating user, and further making the control effect of the control system in the embodiment of the present invention more accurate.

Further, the controller 23 may be further configured to detect an actual boom speed of each boom cylinder in the boom-leg hydraulic system, and issue a fifth control signal to the hydraulic pump displacement control device 31, where the fifth control signal is used to instruct the hydraulic pump displacement control device 31 to increase a displacement of a hydraulic pump in the boom-leg hydraulic system, when it is determined that the actual boom speed of any boom cylinder is less than a boom action speed, which is expected by an operation user, and corresponds to any boom cylinder; or when the actual boom speed of any boom cylinder is determined to be greater than the boom action speed which is expected by an operation user and corresponds to any boom cylinder, issuing a sixth control signal for instructing the hydraulic pump displacement control device 31 to reduce the displacement of a hydraulic pump in the boom support leg hydraulic system to the hydraulic pump displacement control device 31;

the hydraulic pump displacement control device 31 may also be configured to receive the fifth control signal sent by the controller 23, and increase the displacement of a hydraulic pump in the boom support leg hydraulic system according to the fifth control signal; or, the controller may be further configured to receive the sixth control signal sent by the controller 23, and reduce the displacement of a hydraulic pump in the boom support leg hydraulic system according to the sixth control signal.

That is to say, the controller 23 may further detect an actual boom speed of each boom cylinder in the boom-support hydraulic system, and compare the detected actual boom speed of each boom cylinder with a boom action speed that is expected by an operation user and matches with the corresponding boom cylinder, so as to control the displacement of the hydraulic pump in the boom-support hydraulic system to increase or decrease according to the comparison result, thereby forming a closed-loop control between the actual boom speed of each boom cylinder and the boom action speed that is expected by the operation user and matches with the corresponding boom cylinder, and further enabling the control effect of the control system in the embodiment of the present invention to be more accurate.

The embodiment of the invention provides a concrete pump truck control system, in the technical scheme of the embodiment of the invention, the controller in the concrete pump truck control system can cooperatively control the rotating speed of the engine according to the pumping speed expected by an operating user, the boom action speed expected by the operating user, the power required to be output by the engine and the displacement of the corresponding hydraulic pump, thereby avoiding the problems of insufficient output power of the engine, speed drop of the engine, flameout and the like caused by the fact that the rotating speed of the engine cannot meet the pumping speed requirement of a pumping oil cylinder in a main pumping hydraulic system because the pumping speed requirement is not considered, ensuring that the rotating speed of the adjusted engine can meet the requirements of all systems at the same time, the finally determined engine speed is the lowest engine speed which can meet the requirements of all systems at the same time, so that the effect of improving the power utilization rate of the engine can be achieved; in addition, the actual engine speed can be compared with the expected engine speed to form an engine speed closed-loop control system to adjust the rotating speed of the engine in real time, and the pumping speed can be adjusted in real time by comparing the actual pumping speed with the pumping speed expected by an operation user to form a pumping speed closed-loop control system, so that the effect of enabling the control effect of the control system to be more accurate can be achieved.

Example two:

the second embodiment of the invention provides a concrete pump truck control method which can be applied to a concrete pump truck control system comprising a pumping speed control device, an arm support speed control device, a controller and an engine rotating speed control device. As shown in fig. 5, which is a schematic flow chart of a control method according to a second embodiment of the present invention, the control method may include the following steps:

step 501: the controller receives the pumping speed signal sent by the pumping speed control device, calculates a first engine rotating speed meeting the pumping speed expected by an operation user according to the pumping speed signal and the maximum displacement of a hydraulic pump in a main pumping hydraulic system, and determining the power required to be output by the engine, calculating a second engine speed matched with the power required to be output by the engine according to the determined power required to be output by the engine, and receiving a boom speed signal sent by the boom speed control device, calculating a third engine rotating speed meeting the boom action speed expected by an operation user according to the boom speed signal and the maximum displacement of a hydraulic pump in a boom support leg hydraulic system, and selecting the one with the largest rotating speed value from the first rotating speed, the second rotating speed and the third rotating speed as a fourth rotating speed of the engine.

Wherein the pumping speed signal is a pumping speed signal which is generated by the pumping speed control device according to the pumping speed desired by the operation user and is matched with the pumping speed desired by the operation user; the boom speed signal is a boom speed signal which is generated by the boom speed control device according to the boom action speed expected by the operation user and is matched with the boom action speed expected by the operation user, and details of the embodiment of the invention are omitted.

It is further noted that, since the first engine speed is calculated according to the maximum displacement of the hydraulic pump in the main pumping hydraulic system, the first engine speed may be generally the lowest engine speed that meets the pumping speed desired by the operating user; in addition, since the third engine speed is calculated according to the maximum displacement of the hydraulic pump in the boom support leg hydraulic system, the third engine speed may be the lowest engine speed that meets the boom action speed desired by the operation user, which is not described in detail in the embodiment of the present invention.

Step 502: the controller sends the fourth engine speed to the engine speed control device, so that the engine speed control device adjusts the engine speed according to the received fourth engine speed.

Further, it should be noted that, since the concrete pump truck control system may further include a hydraulic pump displacement control device, the control method may further include, at the same time as or after the fourth engine speed is sent to the engine speed control device:

determining the displacement of a hydraulic pump in a main pumping hydraulic system according to the fourth engine speed and the pumping speed expected by an operating user, determining the displacement of a hydraulic pump in an arm support leg hydraulic system according to the fourth engine speed and the arm support action speed expected by the operating system, and sending the determined displacement of the hydraulic pump in the main pumping hydraulic system and the determined displacement of the hydraulic pump in the arm support leg hydraulic system to the hydraulic pump displacement control device, so that the hydraulic pump displacement control device respectively adjusts the displacement of the hydraulic pump in the corresponding hydraulic system according to the received displacement of the hydraulic pump in the main pumping hydraulic system and the received displacement of the hydraulic pump in the arm support leg hydraulic system.

Furthermore, it should be noted that, because the concrete pump truck control system may further include an engine speed detection device for detecting an actual speed of the engine and sending the detected actual speed of the engine to the controller; accordingly, the control method may further include:

receiving the actual rotating speed of the engine sent by the engine rotating speed detection device, and issuing a first control signal for instructing the engine rotating speed control device to increase the rotating speed of the engine to the engine rotating speed control device when the actual rotating speed of the engine is determined to be smaller than the fourth engine rotating speed, so that the engine rotating speed control device increases the rotating speed of the engine according to the received first control signal; or,

and when the actual rotating speed of the engine is determined to be greater than the fourth engine rotating speed, issuing a second control signal for instructing the engine rotating speed control device to reduce the rotating speed of the engine to the engine rotating speed control device, so that the engine rotating speed control device reduces the rotating speed of the engine according to the received second control signal.

That is to say, the controller may determine a magnitude relationship between the actual rotational speed of the engine and the fourth rotational speed of the engine through the actual rotational speed of the engine fed back by the engine rotational speed detection device, and issue a corresponding up-regulation or down-regulation control instruction to the engine rotational speed control device according to the determination result, so as to control the rotational speed of the engine in real time, so that the adjusted rotational speed of the engine can simultaneously meet the requirements of each system, and a closed-loop control is formed between the actual rotational speed of the engine and the expected rotational speed of the engine, so that the control effect of the control system according to the embodiment of the present invention is more accurate.

Further, it should be noted that the control method may further include:

detecting the actual pumping speed of a pumping oil cylinder in a main pumping hydraulic system, and when the actual pumping speed of the pumping oil cylinder in the main pumping hydraulic system is determined to be less than the pumping speed expected by an operation user, sending a third control signal for instructing the hydraulic pump displacement control device to increase the displacement of a hydraulic pump in the main pumping hydraulic system to the hydraulic pump displacement control device, so that the hydraulic pump displacement control device increases the displacement of the hydraulic pump in the main pumping hydraulic system according to the received third control signal; or,

when the actual pumping speed of the pumping oil cylinders in the main pumping hydraulic system is determined to be greater than the pumping speed expected by an operating user, a fourth control signal for instructing the hydraulic pump displacement control device to reduce the displacement of the hydraulic pump in the main pumping hydraulic system is sent to the hydraulic pump displacement control device, so that the hydraulic pump displacement control device reduces the displacement of the hydraulic pump in the main pumping hydraulic system according to the received fourth control signal.

That is to say, the controller may detect an actual pumping speed of a pumping cylinder in the main pumping hydraulic system, and compare the detected actual pumping speed of the pumping cylinder in the main pumping hydraulic system with a pumping speed expected by an operating user, so as to control the displacement of the hydraulic pump in the main pumping hydraulic system to increase or decrease according to a comparison result, thereby forming a closed-loop control between the actual pumping speed and the pumping speed expected by the operating user, and further enabling a control effect of the control system in the embodiment of the present invention to be more accurate.

Further, the control method may further include:

detecting the actual boom speed of each boom cylinder in the boom support leg hydraulic system, and issuing a fifth control signal for instructing the hydraulic pump displacement control device to increase the displacement of a hydraulic pump in the boom support leg hydraulic system when the actual boom speed of any boom cylinder is determined to be less than the boom action speed corresponding to any boom cylinder expected by an operation user, so that the hydraulic pump displacement control device increases the displacement of the hydraulic pump in the boom support leg hydraulic system according to the received fifth control signal; or,

when the actual boom speed of any boom cylinder is determined to be larger than the boom action speed which is expected by an operation user and corresponds to any boom cylinder, a sixth control signal for instructing the hydraulic pump displacement control device to reduce the displacement of a hydraulic pump in a boom support leg hydraulic system is sent to the hydraulic pump displacement control device, so that the hydraulic pump displacement control device reduces the displacement of the hydraulic pump in the boom support leg hydraulic system according to the received sixth control signal.

That is to say, the controller may further detect an actual boom speed of each boom cylinder in the boom support leg hydraulic system, and compare the detected actual boom speed of each boom cylinder with a boom action speed, which is expected by an operation user and is matched with the corresponding boom cylinder, to control the displacement of the hydraulic pump in the boom support leg hydraulic system to increase or decrease according to a comparison result, so that closed-loop control between the actual boom speed of each boom cylinder and the boom action speed, which is expected by the operation user and is matched with the corresponding boom cylinder, may be formed, and further, the control effect of the control system in the embodiment of the present invention may be more accurate.

In the second embodiment of the present invention, a concrete pump truck control method applicable to the first embodiment of the present invention is provided, and in the technical solution of the first embodiment of the present invention, the engine speed can be cooperatively controlled according to the pumping speed expected by an operating user, the boom operating speed expected by the operating user, the power that the engine needs to output, and the displacement of a corresponding hydraulic pump, so that the problems of insufficient engine output power, engine stall, flameout, and the like caused by the fact that the engine speed cannot meet the pumping speed requirement of a pumping cylinder in a hydraulic system of a main pumping system due to the fact that the pumping speed requirement is not considered are avoided, so that the adjusted engine speed can simultaneously meet the requirements of the systems, and the finally determined engine speed is actually the lowest engine speed that can simultaneously meet the requirements of the systems, thereby also can achieve the effect of improving the power utilization rate of the engine; in addition, the actual engine speed can be compared with the expected engine speed to form an engine speed closed-loop control system to adjust the rotating speed of the engine in real time, and the pumping speed can be adjusted in real time by comparing the actual pumping speed with the pumping speed expected by an operation user to form a pumping speed closed-loop control system, so that the effect of enabling the control effect of the control system to be more accurate can be achieved.

Example three:

a third embodiment of the present invention provides a controller, as shown in fig. 6, which is a schematic structural diagram of the controller in the third embodiment of the present invention, and the controller may include a receiving unit 61, a processing unit 62, and a transmitting unit 63:

the receiving unit 61 can be used for receiving a pumping speed signal sent by a pumping speed control device in a concrete pump truck control system and an arm support speed signal sent by an arm support speed control device in the concrete pump truck control system; wherein the pumping speed signal is a pumping speed signal which is generated by the pumping speed control device according to the pumping speed desired by the operation user and is matched with the pumping speed desired by the operation user; the boom speed signal is generated by the boom speed control device according to the boom action speed expected by the operation user and is matched with the boom action speed expected by the operation user;

the processing unit 62 may be configured to calculate, according to the pumping speed signal and a maximum displacement of a hydraulic pump in a main pumping hydraulic system, a first engine speed that meets a pumping speed desired by an operating user, determine power that the engine needs to output, calculate, according to the determined power that the engine needs to output, a second engine speed that matches the power that the engine needs to output, calculate, according to the boom speed signal and the maximum displacement of the hydraulic pump in the boom support leg hydraulic system, a third engine speed that meets an boom movement speed desired by the operating user, and select, as a fourth engine speed, a speed with a maximum rotation value from among the first engine speed, the second engine speed, and the third engine speed;

the sending unit 63 may be configured to send the fourth engine speed to an engine speed control device in the concrete pump truck control system, so that the engine speed control device adjusts the engine speed according to the received fourth engine speed.

It should be noted that, since the first engine speed is calculated according to the maximum displacement of the hydraulic pump in the main pumping hydraulic system, the first engine speed may be generally the lowest engine speed that meets the pumping speed desired by the operating user; in addition, since the third engine speed is calculated according to the maximum displacement of the hydraulic pump in the boom support leg hydraulic system, the third engine speed may generally be the lowest engine speed that meets the boom action speed desired by the operation user, which is not described in detail in the embodiments of the present invention.

That is to say, in the technical solution according to the embodiment of the present invention, the controller may cooperatively control the engine speed according to the pumping speed desired by the operating user, the boom operating speed desired by the operating user, the power to be output by the engine, and the displacement of the corresponding hydraulic pump, so as to avoid the problems of insufficient engine output power, engine stall, stalling, and the like caused by the fact that the engine speed cannot meet the pumping speed requirement of the pumping cylinder in the main pumping hydraulic system due to the fact that the pumping speed requirement is not considered, so that the adjusted engine speed can simultaneously meet the requirements of each system, and the finally determined engine speed is actually the lowest engine speed that can simultaneously meet the requirements of each system, thereby achieving the effect of improving the engine power utilization rate.

Further, the processing unit 62 may be further configured to, while or after the fourth engine speed is sent to the engine speed control device, determine, according to the fourth engine speed and a pumping speed desired by an operating user, a displacement of a hydraulic pump in a main pumping hydraulic system, and determine, according to the fourth engine speed and a boom action speed desired by the operating user, a displacement of a hydraulic pump in a boom leg hydraulic system;

the sending unit 63 may also be configured to send the determined displacement of the hydraulic pump in the main pumping hydraulic system and the determined displacement of the hydraulic pump in the boom support hydraulic system to a hydraulic pump displacement control device in the concrete pump truck control system, so that the hydraulic pump displacement control device respectively adjusts the displacement of the hydraulic pump in the corresponding hydraulic system according to the received displacement of the hydraulic pump in the main pumping hydraulic system and the received displacement of the hydraulic pump in the boom support hydraulic system.

Further, the receiving unit 61 may also be configured to receive the actual rotation speed of the engine sent by an engine rotation speed detecting device in the concrete pump truck control system;

the processing unit 62 is further configured to issue a first control signal for instructing the engine speed control device to increase the engine speed to the engine speed control device through the sending unit 63 when it is determined that the actual speed of the engine is less than the fourth engine speed; or, when it is determined that the actual rotation speed of the engine is greater than the fourth engine rotation speed, issuing a second control signal for instructing the engine rotation speed control device to reduce the engine rotation speed to the engine rotation speed control device through the sending unit 63;

the sending unit 63 may be further configured to issue a first control signal to the engine speed control device, where the first control signal is used to instruct the engine speed control device to increase the engine speed, so that the engine speed control device increases the engine speed according to the received first control signal; or issuing a second control signal for instructing the engine speed control device to reduce the engine speed to the engine speed control device, so that the engine speed control device reduces the engine speed according to the received second control signal.

That is to say, the controller may determine a magnitude relationship between the actual rotational speed of the engine and the fourth rotational speed of the engine through the actual rotational speed of the engine fed back by the engine rotational speed detection device, and issue a corresponding up-regulation or down-regulation control instruction to the engine rotational speed control device according to the determination result, so as to control the rotational speed of the engine in real time, so that the adjusted rotational speed of the engine can simultaneously meet the requirements of each system, and a closed-loop control is formed between the actual rotational speed of the engine and the expected rotational speed of the engine, so that the control effect of the controller according to the embodiment of the present invention is more accurate.

Further, the processing unit 62 may be further configured to detect an actual pumping speed of a pumping cylinder in the main pumping hydraulic system, and issue, by the sending unit 63, a third control signal to the hydraulic pump displacement control device for instructing the hydraulic pump displacement control device to increase the displacement of the hydraulic pump in the main pumping hydraulic system when it is determined that the actual pumping speed of the pumping cylinder in the main pumping hydraulic system is less than a pumping speed desired by an operating user; or, when it is determined that the actual pumping speed of the pumping cylinder in the main pumping hydraulic system is greater than the pumping speed expected by an operating user, issuing a fourth control signal for instructing the hydraulic pump displacement control device to reduce the displacement of the hydraulic pump in the main pumping hydraulic system to the hydraulic pump displacement control device through the sending unit 63;

the sending unit 63 is further configured to issue a third control signal to the hydraulic pump displacement control device, where the third control signal is used to instruct the hydraulic pump displacement control device to increase the displacement of the hydraulic pump in the main pumping hydraulic system, so that the hydraulic pump displacement control device increases the displacement of the hydraulic pump in the main pumping hydraulic system according to the received third control signal; or issuing a fourth control signal for instructing the hydraulic pump displacement control device to reduce the displacement of the hydraulic pump in the main pumping hydraulic system to the hydraulic pump displacement control device, so that the hydraulic pump displacement control device reduces the displacement of the hydraulic pump in the main pumping hydraulic system according to the received fourth control signal.

That is to say, the controller may detect an actual pumping speed of a pumping cylinder in the main pumping hydraulic system, and compare the detected actual pumping speed of the pumping cylinder in the main pumping hydraulic system with a pumping speed expected by an operating user, so as to control the displacement of the hydraulic pump in the main pumping hydraulic system to increase or decrease according to a comparison result, thereby forming a closed-loop control between the actual pumping speed and the pumping speed expected by the operating user, and further enabling a control effect of the controller in the embodiment of the present invention to be more accurate.

Further, the processing unit 62 may be further configured to detect an actual boom speed of each boom cylinder in the boom-leg hydraulic system, and issue a fifth control signal, which is used to instruct the hydraulic pump displacement control device to increase a displacement of a hydraulic pump in the boom-leg hydraulic system, to the hydraulic pump displacement control device through the sending unit 63 when it is determined that the actual boom speed of any boom cylinder is less than a boom action speed, which is expected by an operation user and corresponds to any boom cylinder; or when it is determined that the actual boom speed of any boom cylinder is greater than the boom action speed corresponding to any boom cylinder expected by an operation user, issuing a sixth control signal for instructing the hydraulic pump displacement control device to reduce the displacement of a hydraulic pump in a boom support leg hydraulic system to the hydraulic pump displacement control device through the sending unit 63;

the sending unit 63 may also be configured to issue a fifth control signal to the hydraulic pump displacement control device, where the fifth control signal is used to instruct the hydraulic pump displacement control device to increase the displacement of the hydraulic pump in the boom support leg hydraulic system, so that the hydraulic pump displacement control device increases the displacement of the hydraulic pump in the boom support leg hydraulic system according to the received fifth control signal; or issuing a sixth control signal for indicating the hydraulic pump displacement control device to reduce the displacement of the hydraulic pump in the boom support leg hydraulic system to the hydraulic pump displacement control device, so that the hydraulic pump displacement control device reduces the displacement of the hydraulic pump in the boom support leg hydraulic system according to the received sixth control signal.

That is to say, the controller may further detect an actual boom speed of each boom cylinder in the boom support leg hydraulic system, and compare the detected actual boom speed of each boom cylinder with a boom action speed, which is expected by an operation user and is matched with the corresponding boom cylinder, to control the displacement of the hydraulic pump in the boom support leg hydraulic system to increase or decrease according to a comparison result, so that closed-loop control between the actual boom speed of each boom cylinder and the boom action speed, which is expected by the operation user and is matched with the corresponding boom cylinder, may be formed, and further, the control effect of the controller in the embodiment of the present invention may be more accurate.

Further, it should be noted that the processing unit 62 is specifically configured to determine the power required to be output by the corresponding engine according to the total power required by the load of the concrete pump truck. In addition, it should be noted that the controller may be generally disposed in the control system described in the first embodiment of the present invention, and may be configured to implement the control method described in the second embodiment of the present invention, which is not described in detail in this embodiment of the present invention.

In the technical solution of the first embodiment of the present invention, the controller may cooperatively control the engine speed according to the pumping speed expected by an operating user, the boom operating speed expected by the operating user, the power required to be output by the engine and the displacement of the corresponding hydraulic pump, so as to avoid the problems of insufficient engine output power, engine stall, flameout and the like caused by the fact that the engine speed cannot meet the pumping speed requirement of a pumping cylinder in a main pumping hydraulic system due to the fact that the pumping speed requirement is not considered, so that the adjusted engine speed can simultaneously meet the requirements of the systems, and the finally determined engine speed is actually the lowest engine speed capable of simultaneously meeting the requirements of the systems, thereby also can achieve the effect of improving the power utilization rate of the engine; in addition, the controller can also form an engine rotating speed closed-loop control system to adjust the rotating speed of the engine in real time by comparing the actual rotating speed of the engine with the expected rotating speed of the engine, and can form a pumping speed closed-loop control system to adjust the pumping speed in real time by comparing the actual pumping speed with the pumping speed expected by an operation user, so that the effect of enabling the control effect of the control system to be more accurate can be achieved.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. A concrete pump truck control system is characterized by comprising a pumping speed control device, an arm support speed control device, a controller and an engine rotating speed control device:

2. The control system of claim 1, further comprising a hydraulic pump displacement control device:

the controller is further configured to determine the displacement of a hydraulic pump in the main pumping hydraulic system according to the fourth engine speed and the pumping speed expected by the operating user, determine the displacement of a hydraulic pump in the boom support leg hydraulic system according to the fourth engine speed and the boom action speed expected by the operating user, and send the determined displacement of the hydraulic pump in the main pumping hydraulic system and the determined displacement of the hydraulic pump in the boom support leg hydraulic system to the hydraulic pump displacement control device;

the hydraulic pump displacement control device is used for receiving the displacement of a hydraulic pump in a main pumping hydraulic system and the displacement of a hydraulic pump in an arm support leg hydraulic system sent by the controller, and respectively adjusting the displacement of the hydraulic pump in the corresponding hydraulic system according to the displacement of the hydraulic pump in the main pumping hydraulic system and the displacement of the hydraulic pump in the arm support leg hydraulic system.

3. The control system according to claim 1 or 2, characterized in that the control system further comprises engine speed detection means:

the engine rotating speed detection device is used for detecting the actual rotating speed of the engine and sending the detected actual rotating speed of the engine to the controller;

the controller is further configured to receive the actual rotation speed of the engine sent by the engine rotation speed detection device, and issue a first control signal for instructing the engine rotation speed control device to increase the engine rotation speed to the engine rotation speed control device when it is determined that the actual rotation speed of the engine is less than the fourth engine rotation speed; or issuing a second control signal for instructing the engine speed control device to reduce the engine speed to the engine speed control device when the actual speed of the engine is determined to be greater than the fourth engine speed;

the engine rotating speed control device is also used for receiving the first control signal sent by the controller and increasing the rotating speed of the engine according to the first control signal; or, the controller is further configured to receive the second control signal sent by the controller, and reduce the rotation speed of the engine according to the second control signal.

4. The control system of claim 2,

the controller is further used for detecting the actual pumping speed of the pumping oil cylinders in the main pumping hydraulic system and sending a third control signal for instructing the hydraulic pump displacement control device to increase the displacement of the hydraulic pumps in the main pumping hydraulic system when the actual pumping speed of the pumping oil cylinders in the main pumping hydraulic system is determined to be less than the pumping speed expected by an operation user; or when the actual pumping speed of a pumping oil cylinder in the main pumping hydraulic system is determined to be greater than the pumping speed expected by an operation user, issuing a fourth control signal for instructing the hydraulic pump displacement control device to reduce the displacement of a hydraulic pump in the main pumping hydraulic system to the hydraulic pump displacement control device;

the hydraulic pump displacement control device is further used for receiving the third control signal sent by the controller and increasing the displacement of a hydraulic pump in a main pumping hydraulic system according to the third control signal; or, the controller is further configured to receive the fourth control signal sent by the controller, and reduce the displacement of a hydraulic pump in the main pumping hydraulic system according to the fourth control signal.

5. The control system of claim 2,

the controller is further configured to detect an actual boom speed of each boom cylinder in the boom and leg hydraulic system, and issue a fifth control signal to the hydraulic pump displacement control device to instruct the hydraulic pump displacement control device to increase a displacement of a hydraulic pump in the boom and leg hydraulic system when it is determined that the actual boom speed of any boom cylinder is less than a boom action speed corresponding to any boom cylinder expected by an operation user; or when the actual boom speed of any boom cylinder is determined to be greater than the boom action speed which is expected by an operation user and corresponds to any boom cylinder, issuing a sixth control signal for indicating the hydraulic pump displacement control device to reduce the displacement of a hydraulic pump in a boom support leg hydraulic system to the hydraulic pump displacement control device;

the hydraulic pump displacement control device is also used for receiving the fifth control signal sent by the controller and increasing the displacement of a hydraulic pump in the boom support leg hydraulic system according to the fifth control signal; or, the controller is further configured to receive the sixth control signal sent by the controller, and reduce the displacement of a hydraulic pump in the boom support leg hydraulic system according to the sixth control signal.

6. The control system according to claim 1 or 2,

the controller is specifically used for determining the corresponding power required to be output by the engine according to the total power required by the load of the concrete pump truck.

7. A control method of a concrete pump truck is characterized in that the control method is applied to a control system of the concrete pump truck, and the control system of the concrete pump truck comprises a pumping speed control device, an arm support speed control device, a controller and an engine rotating speed control device; the control method comprises the following steps:

the controller receives a pumping speed signal sent by the pumping speed control device, and calculates a first engine rotating speed meeting the pumping speed expected by an operation user according to the pumping speed signal and the maximum discharge capacity of a hydraulic pump in a main pumping hydraulic system; determining the power required to be output by the engine, and calculating a second engine speed matched with the power required to be output by the engine according to the determined power required to be output by the engine; receiving a boom speed signal sent by the boom speed control device, calculating a third engine rotating speed meeting the boom action speed expected by an operation user according to the boom speed signal and the maximum displacement of a hydraulic pump in a boom support leg hydraulic system, selecting the maximum rotating speed value from the first engine rotating speed, the second engine rotating speed and the third engine rotating speed as a fourth engine rotating speed, and sending the fourth engine rotating speed to the engine rotating speed control device so that the engine rotating speed control device adjusts the rotating speed of an engine according to the received fourth engine rotating speed;

8. The control method as set forth in claim 7, wherein the concrete pump truck control system further includes a hydraulic pump displacement control device; simultaneously with or after the fourth engine speed is sent to the engine speed control device, the control method further includes:

determining the displacement of a hydraulic pump in a main pumping hydraulic system according to the fourth engine speed and the pumping speed expected by an operating user, determining the displacement of a hydraulic pump in an arm support leg hydraulic system according to the fourth engine speed and the arm support action speed expected by the operating user, and sending the determined displacement of the hydraulic pump in the main pumping hydraulic system and the determined displacement of the hydraulic pump in the arm support leg hydraulic system to the hydraulic pump displacement control device, so that the hydraulic pump displacement control device respectively adjusts the displacement of the hydraulic pump in the corresponding hydraulic system according to the received displacement of the hydraulic pump in the main pumping hydraulic system and the received displacement of the hydraulic pump in the arm support leg hydraulic system.

9. The control method according to claim 7 or 8, wherein the concrete pump truck control system further includes engine speed detection means for detecting an actual speed of an engine and sending the detected actual speed of the engine to the controller; the control method further comprises the following steps:

10. The control method according to claim 8, characterized by further comprising:

11. The control method according to claim 8, characterized by further comprising:

when the actual boom speed of any boom cylinder is determined to be greater than the boom action speed which is expected by an operation user and corresponds to any boom cylinder, a sixth control signal for instructing the hydraulic pump displacement control device to reduce the displacement of a hydraulic pump in the boom support leg hydraulic system is sent to the hydraulic pump displacement control device, so that the hydraulic pump displacement control device reduces the displacement of the hydraulic pump in the boom support leg hydraulic system according to the received sixth control signal.

12. The control method according to claim 7 or 8, wherein determining the power to be output by the engine comprises:

and determining the corresponding power required to be output by the engine according to the total power required by the load of the concrete pump truck.

13. A controller, comprising:

14. The controller of claim 13,

the processing unit is further configured to determine, while or after the fourth engine speed is sent to the engine speed control device, a displacement of a hydraulic pump in a main pumping hydraulic system according to the fourth engine speed and a pumping speed expected by an operating user, and determine a displacement of a hydraulic pump in an arm support leg hydraulic system according to the fourth engine speed and an arm support action speed expected by the operating user;

the sending unit is further configured to send the determined discharge capacity of the hydraulic pump in the main pumping hydraulic system and the determined discharge capacity of the hydraulic pump in the boom support hydraulic system to a hydraulic pump discharge capacity control device in the concrete pump truck control system, so that the hydraulic pump discharge capacity control device respectively adjusts the discharge capacities of the hydraulic pumps in the corresponding hydraulic systems according to the received discharge capacities of the hydraulic pumps in the main pumping hydraulic system and the hydraulic pumps in the boom support hydraulic system.

15. The controller according to claim 13 or 14,

the receiving unit is also used for receiving the actual rotating speed of the engine sent by an engine rotating speed detection device in the concrete pump truck control system;

the processing unit is further configured to issue a first control signal for instructing the engine speed control device to increase the engine speed to the engine speed control device through the sending unit when it is determined that the actual speed of the engine is less than the fourth engine speed; or when the actual rotating speed of the engine is determined to be greater than the fourth engine rotating speed, issuing a second control signal for indicating the engine rotating speed control device to reduce the engine rotating speed to the engine rotating speed control device through the sending unit;

the sending unit is further configured to issue a first control signal to the engine speed control device, where the first control signal is used to instruct the engine speed control device to increase the engine speed, so that the engine speed control device increases the engine speed according to the received first control signal; or issuing a second control signal for instructing the engine speed control device to reduce the engine speed to the engine speed control device, so that the engine speed control device reduces the engine speed according to the received second control signal.

16. The controller of claim 14,

the processing unit is further used for detecting the actual pumping speed of the pumping oil cylinders in the main pumping hydraulic system, and when the actual pumping speed of the pumping oil cylinders in the main pumping hydraulic system is determined to be smaller than the pumping speed expected by an operation user, sending a third control signal for instructing the hydraulic pump displacement control device to increase the displacement of the hydraulic pump in the main pumping hydraulic system to the hydraulic pump displacement control device through the sending unit; or when the actual pumping speed of a pumping oil cylinder in the main pumping hydraulic system is determined to be greater than the pumping speed expected by an operation user, issuing a fourth control signal for instructing the hydraulic pump displacement control device to reduce the displacement of a hydraulic pump in the main pumping hydraulic system to the hydraulic pump displacement control device through the sending unit;

the sending unit is further configured to issue a third control signal to the hydraulic pump displacement control device, where the third control signal is used to instruct the hydraulic pump displacement control device to increase the displacement of the hydraulic pump in the main pumping hydraulic system, so that the hydraulic pump displacement control device increases the displacement of the hydraulic pump in the main pumping hydraulic system according to the received third control signal; or issuing a fourth control signal for instructing the hydraulic pump displacement control device to reduce the displacement of the hydraulic pump in the main pumping hydraulic system to the hydraulic pump displacement control device, so that the hydraulic pump displacement control device reduces the displacement of the hydraulic pump in the main pumping hydraulic system according to the received fourth control signal.

17. The controller of claim 14,

the processing unit is further configured to detect an actual boom speed of each boom cylinder in the boom support leg hydraulic system, and issue a fifth control signal for instructing the hydraulic pump displacement control device to increase the displacement of a hydraulic pump in the boom support leg hydraulic system to the hydraulic pump displacement control device through the sending unit when it is determined that the actual boom speed of any boom cylinder is less than a boom action speed corresponding to any boom cylinder expected by an operation user; or when the actual boom speed of any boom cylinder is determined to be greater than the boom action speed which is expected by an operation user and corresponds to any boom cylinder, issuing a sixth control signal for indicating the hydraulic pump displacement control device to reduce the displacement of a hydraulic pump in a boom support leg hydraulic system to the hydraulic pump displacement control device through the sending unit;

the sending unit is further configured to issue a fifth control signal to the hydraulic pump displacement control device, where the fifth control signal is used to instruct the hydraulic pump displacement control device to increase the displacement of a hydraulic pump in the boom support leg hydraulic system, so that the hydraulic pump displacement control device increases the displacement of the hydraulic pump in the boom support leg hydraulic system according to the received fifth control signal; or issuing a sixth control signal for indicating the hydraulic pump displacement control device to reduce the displacement of the hydraulic pump in the boom support leg hydraulic system to the hydraulic pump displacement control device, so that the hydraulic pump displacement control device reduces the displacement of the hydraulic pump in the boom support leg hydraulic system according to the received sixth control signal.

18. The controller according to claim 13 or 14,

the processing unit is specifically used for determining the corresponding power required to be output by the engine according to the total power required by the load of the concrete pump truck.