CN105373147B - A kind of concrete pump vehicle control, method and controller - Google Patents

A kind of concrete pump vehicle control, method and controller Download PDF

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Publication number
CN105373147B
CN105373147B CN201410424427.4A CN201410424427A CN105373147B CN 105373147 B CN105373147 B CN 105373147B CN 201410424427 A CN201410424427 A CN 201410424427A CN 105373147 B CN105373147 B CN 105373147B
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engine
speed
arm support
pump
hydraulic pump
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CN105373147A (en
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李沛林
高荣芝
郭岗
吴德志
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Abstract

The invention discloses a kind of concrete pump vehicle control, method and controller, controller in the control system can be according to the operation desired rate of pumping of user, operate the desired arm support responsiveness of user, the power and the discharge capacity Collaborative Control engine speed of hydraulic pump that engine need to export, avoid inadequate because not accounting for engine output caused by rate of pumping demand causes engine speed can not meet the rate of pumping requirement for pumping oil cylinder in main hydraulic system of pump, engine falls speed, the problems such as flame-out, the engine speed after adjusting is enabled to meet the requirement of each system simultaneously, and, because final identified engine speed is actually that can meet the minimum engine speed of each system requirements simultaneously, it thus also can reach the purpose for improving engine power utilization rate.

Description

A kind of concrete pump vehicle control, method and controller
Technical field
The present invention relates to concrete mixer technical field, more particularly to a kind of concrete pump vehicle control, method and control Device processed.
Background technology
Concrete mixer due to it is easy for construction flexibly, be widely used in modern construction.Specifically, concrete mixer is usual Driven using hydraulic system, as shown in figure 1, its hydraulic system mainly may include main hydraulic system of pump 11, arm support supporting leg hydraulic pressure System 14 and distribution hydraulic system 12, stirring hydraulic system 13 and other auxiliary hydraulic systems.Also, it is directed to any hydraulic pressure System, it may include corresponding hydraulic pump and the hydraulic jack (not shown in figure 1) by hydraulic pump drive in the hydraulic system. For example may include a hydraulic pump and corresponding pumping oil cylinder (not shown in figure 1) in the main hydraulic system of pump 11, it is described It may include a hydraulic pump, corresponding one or more arms for being used to drive each joint arm in arm support in arm support support leg hydraulic system 14 The drive cylinder of frame oil cylinder (not shown in figure 1) and the multiple leg motions of driving, wherein, arm support and supporting leg can not same lucks It is dynamic, when arm support not yet deploys (now main hydraulic system of pump also not yet works), leg motion is now can control, when arm support is transported When dynamic, supporting leg can not move, and now the hydraulic pump in arm support support leg hydraulic system 14 is arm support fuel feeding.Wherein, each hydraulic system In hydraulic pump can be driven by the engine in concrete mixer by a transfer case, and, it is generally the case that each hydraulic system In hydraulic pump speed it is typically identical.
Specifically, in concrete pump vehicle hydraulic system, two responsivenesses need to control, one is main pumps hydraulic In system 11 pumping oil cylinder rate of pumping, one be each arm support oil cylinder in arm support support leg hydraulic system 14 arm support speed Degree.Because：
For main hydraulic system of pump 11, it is to realize the conveying of concrete by pumping oil cylinder pushing concrete cylinder , also, under different execution conditions, different transporting velocity requirements is corresponding with, therefore, operating personnel need to be according to construction work Condition adjusts corresponding transporting velocity.And for arm support support leg hydraulic system 14, because it is responsible for the action of arm support and supporting leg, Also, because each joint arm in arm support requires that responsiveness is stable, it is impossible to it is sometimes fast and sometimes slow, while also need to meet setting safety post The speed that standard is limited, therefore, it is necessary to accordingly be controlled the responsiveness of each joint arm in arm support.Further, due to for Distribute for hydraulic system 12 and the stirring grade auxiliary hydraulic system of hydraulic system 13, the responsiveness of its corresponding hydraulic jack It is related to rate of pumping, can change with rate of pumping, it is therefore not necessary to be distinguished to the responsiveness of its corresponding hydraulic jack Control.
Specifically, because the rate of pumping of the pumping oil cylinder in main hydraulic system of pump 11 depends on main hydraulic system of pump In hydraulic pump flow, i.e., the rotating speed and discharge capacity of the hydraulic pump in main hydraulic system of pump 11；Arm support support leg hydraulic system 14 In the arm support speed of each arm support oil cylinder depend on the flow of supply arm support oil cylinder, and the flow of each arm support oil cylinder is by arm support supporting leg Rotating speed, discharge capacity and the control arm support speed and the proportional multi-way valve Collaborative Control in direction of hydraulic pump in hydraulic system 14；Furthermore Because the hydraulic pump in each hydraulic system can be driven by the engine in concrete mixer by a transfer case, therefore, often at present Reach the speed of the hydraulic pump in each hydraulic system of control by controlling the rotating speed of engine, and then control main pumps hydraulic system The rate of pumping of pumping oil cylinder in system 11, and the mesh of the arm support speed of each arm support oil cylinder in arm support support leg hydraulic system 14 's.
Specifically, at present, the engine speed of concrete mixer is determined usually through in the following manner：
Mode one：The maximum stream flow that may be needed by calculating whole arm support, reach maximum stream flow needed for arm support to calculate When engine rotating speed.This engine speed is decided to be the minimum speed of engine when concrete mixer works, correspondingly, The actual speed of engine when concrete mixer works then can be according to required rate of pumping in minimum speed and maximum (top) speed Between change.
It should be noted that when using which one to determine the engine speed of concrete mixer, can cause Arm support speed meets corresponding rate of pumping while reaching setting value.But due to which one be can according to whole arm support The maximum stream flow that can be needed calculates the minimum speed of engine so that power utilization is relatively low, energy-saving effect not It is good.For example, in real work, may there was only the action of single-unit arm, and may act at a slow speed, now, be flowed needed for arm support Very little is measured, therefore, the rotating speed of required engine also very little, if now rate of pumping also requires relatively low, and engine is minimum Still the maximum stream flow as needed for arm support determines rotating speed, then can undoubtedly cause the waste of engine power so that energy-saving effect is simultaneously It is bad.
Mode two：Each joint arm calculated in arm support corresponds to required flow, and according to each joint arm correspond to required flow come Corresponding engine speed is calculated, so as to preferably coordinate the relation needed for arm support between flow and engine speed.
But although which two can to a certain extent in the power dissipation of compensating mode one deficiency, due to it simultaneously Do not account for rate of pumping to be also required to control, so as to cause identified engine speed possibly can not meet main pumps hydraulic The rate of pumping requirement of pumping oil cylinder in system.Simultaneously as the power output of engine is also different under different rotating speeds, so as to It is also possible to cause engine output inadequate, phenomena such as causing to fall speed, stop working.
In summary, the existing mode of engine speed for determining concrete mixer and bad, therefore, needs offer one badly The new concrete mixer control method of kind, to solve above-mentioned each problem.
The content of the invention
The embodiments of the invention provide a kind of concrete pump vehicle control and control method, to solve prior art Present in determine concrete mixer engine speed mode and it is bad the problem of.
The embodiments of the invention provide a kind of concrete pump vehicle control, including rate of pumping control device, arm support speed Spend control device, controller and engine rotational speed control apparatus：
The rate of pumping control device, the pumping speed to match for generating and operating the desired rate of pumping of user Signal is spent, and the rate of pumping signal is sent to the controller；
The arm support speed control unit, the arm to match for generating and operating the desired arm support responsiveness of user Frame rate signal, and the arm support rate signal is sent to the controller；
The controller, the rate of pumping signal sent for receiving the rate of pumping control device, and according to The maximum pump discharge of the rate of pumping signal and the hydraulic pump in main hydraulic system of pump, calculate and meet desired by operation user Rate of pumping the first engine speed, and, determine the power that engine need to export, and need according to the engine of determination defeated The second engine speed that the power calculation gone out matches with the power that the engine need to export, and, receive the arm support The arm support rate signal that speed control unit is sent, and according to the arm support rate signal and arm support support leg hydraulic system In hydraulic pump maximum pump discharge, calculate meet operation the desired arm support responsiveness of user trimotor rotating speed, and Rotating speed value is selected from first engine speed, second engine speed and the trimotor rotating speed most Big person as the 4th engine speed, and, the 4th engine speed is sent to the engine rotational speed control apparatus；
The engine rotational speed control apparatus, the 4th engine speed sent for receiving the controller, and The rotating speed of engine is adjusted according to the 4th engine speed.
Further, the embodiment of the present invention additionally provides a kind of concrete mixer control method, the control method application In concrete pump vehicle control, the concrete pump vehicle control includes rate of pumping control device, arm support speed control Device, controller and engine rotational speed control apparatus processed；The control method includes：
The controller receives the rate of pumping signal that the rate of pumping control device is sent, and according to the pump The maximum pump discharge of rate signal and the hydraulic pump in main hydraulic system of pump is sent, calculates and meets the operation desired pumping of user First engine speed of speed, and, determine the power that engine need to export, and the work(that need to be exported according to the engine of determination Rate calculates the second engine speed that the power that need to be exported with the engine matches, and, receive the arm support speed control The arm support rate signal that device processed is sent, and the liquid in the arm support rate signal and arm support support leg hydraulic system The maximum pump discharge of press pump, the trimotor rotating speed for meeting the operation desired arm support responsiveness of user is calculated, and from described Rotating speed value the maximum is selected to make in first engine speed, second engine speed and the trimotor rotating speed For the 4th engine speed, and, the 4th engine speed is sent to the engine rotational speed control apparatus, with by institute State the rotating speed that engine rotational speed control apparatus adjusts engine according to the 4th engine speed received；
Wherein, the rate of pumping signal is according to the operation desired pumping of user by the rate of pumping control device The rate of pumping signal to match with the operation desired rate of pumping of user that speed is generated；The arm support rate signal is By the arm support speed control unit according to operation the desired arm support responsiveness of user generated with operate user's institute's phase The arm support rate signal that the arm support responsiveness of prestige matches.
Further, the embodiment of the present invention additionally provides a kind of controller, including：
Receiving unit, for receiving the rate of pumping of the transmission of the rate of pumping control device in concrete pump vehicle control The arm support rate signal that arm support speed control unit in signal and the concrete pump vehicle control is sent；Wherein, institute State rate of pumping signal be by the rate of pumping control device according to operation the desired rate of pumping of user generated with The rate of pumping signal that the operation desired rate of pumping of user matches；The arm support rate signal is by the arm support speed What control device was generated according to the operation desired arm support responsiveness of user acts speed with the desired arm support of operation user Spend the arm support rate signal to match；
Processing unit, the maximum row for the hydraulic pump in the rate of pumping signal and main hydraulic system of pump Amount, the first engine speed for meeting the operation desired rate of pumping of user is calculated, and, determine the work(that engine need to export Rate, and second starting of matching of the power that need to be exported with the engine of the power calculation that need to be exported according to the engine of determination Machine rotating speed, and, the maximum pump discharge of the hydraulic pump in the arm support rate signal and arm support support leg hydraulic system, calculate Meet the trimotor rotating speed of the operation desired arm support responsiveness of user, and from first engine speed, described Rotating speed value the maximum is selected in second engine speed and the trimotor rotating speed as the 4th engine speed；
Transmitting element, start for the 4th engine speed to be sent in the concrete pump vehicle control Machine revolution speed control device, to adjust hair according to the 4th engine speed received by the engine rotational speed control apparatus The rotating speed of motivation.
The present invention has the beneficial effect that：
The embodiments of the invention provide a kind of concrete pump vehicle control, method and controller, in the control system Controller can receive rate of pumping control device transmission with operation the desired rate of pumping of user match pumping speed Signal is spent, and combines the maximum pump discharge of the hydraulic pump in main hydraulic system of pump, calculates and meets the operation desired pumping of user First engine speed of speed, and, determine the power that engine need to export, and the work(that need to be exported according to the engine of determination Rate calculates the second engine speed that the power that need to be exported with the engine matches, and, receive arm support speed control dress The arm support rate signal to match with the operation desired arm support responsiveness of user of transmission is put, and combines arm support supporting leg hydraulic pressure The maximum pump discharge of hydraulic pump in system, calculate and meet that the trimotor of the operation desired arm support responsiveness of user turns Speed, and select rotating speed from first engine speed, second engine speed and the trimotor rotating speed Value the maximum as the 4th engine speed, and, the 4th engine speed is sent to the engine speed control Device processed, to adjust turning for engine according to the 4th engine speed received by the engine rotational speed control apparatus Speed.That is, in technical scheme described in the embodiment of the present invention, the controller in concrete pump vehicle control can be according to behaviour Make power and liquid that the desired rate of pumping of user, the desired arm support responsiveness of operation user, engine need to export The discharge capacity Collaborative Control engine speed of press pump, avoid does not cause engine speed not expire because accounting for rate of pumping demand Engine output caused by the rate of pumping requirement of pumping oil cylinder in the main hydraulic system of pump of foot is inadequate, engine falls The problems such as fast, flame-out so that the engine speed after regulation can meet the requirement of each system simultaneously, also, by final institute The engine speed of determination is actually that can meet the minimum engine speed of each system requirements simultaneously, thus also can reach and carry The purpose of high engine power utilization rate.
Brief description of the drawings
Fig. 1 show the structural representation of typical hydraulic system in the prior art；
Fig. 2 show a kind of structural representation of concrete pump vehicle control in the embodiment of the present invention one；
Fig. 3 show a kind of another structural representation of concrete pump vehicle control in the embodiment of the present invention one；
Fig. 4 show a kind of another structural representation of concrete pump vehicle control in the embodiment of the present invention one；
Fig. 5 show a kind of schematic flow sheet of concrete mixer control method in the embodiment of the present invention two；
Fig. 6 show a kind of structural representation of controller in the embodiment of the present invention three.
Embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, the present invention is made below in conjunction with accompanying drawing into One step it is described in detail, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole implementation Example.Based on the embodiment in the present invention, what those of ordinary skill in the art were obtained under the premise of creative work is not made All other embodiment, belongs 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 Fig. 2 it is the embodiment of the present invention The structural representation of control system described in one, the control system include rate of pumping control device 21, arm support speed control Device 22, controller 23 and engine rotational speed control apparatus 24：
The rate of pumping control device 21 can be used for generating and operating the pump that the desired rate of pumping of user matches Rate signal is sent, and the rate of pumping signal is sent to the controller 23；
The arm support speed control unit 22 can be used for generating and operating the desired arm support responsiveness of user and match Arm support rate signal, and the arm support rate signal is sent to the controller 23；Wherein, the desired arm of user is operated Frame responsiveness may refer to the arm support responsiveness for any single-unit arm or single oil cylinder or all joint arms being directed in arm support.Separately Outside, the arm support speed control unit 22 generally may refer to arm support speed control handle, when needing boom system to work, behaviour Make user to generate with operating the desired arm support responsiveness phase of user by way of operating arm support speed control handle The arm support rate signal matched somebody with somebody, the embodiment of the present invention are not repeated this；
The controller 23 can be used for receiving the rate of pumping signal that the rate of pumping control device 21 is sent, and The maximum pump discharge of hydraulic pump in the rate of pumping signal and main hydraulic system of pump, calculate and meet operation user institute Desired rate of pumping the first engine speed (specifically, by thus according to the hydraulic pump in main hydraulic system of pump most The first engine speed that huge discharge is calculated, therefore, first engine speed generally can be desired by satisfaction operation user Rate of pumping minimum engine speed), and, determine the power that engine need to export, and according to the engine need of determination The second engine speed that the power calculation of output matches with the power that the engine need to export, and, receive the arm The arm support rate signal that frame speed control unit 22 is sent, and according to the arm support rate signal and arm support supporting leg hydraulic pressure The maximum pump discharge of hydraulic pump in system, calculate the trimotor rotating speed for meeting the operation desired arm support responsiveness of user (specifically, by the trimotor rotating speed calculated thus according to the maximum pump discharge of the hydraulic pump in arm support support leg hydraulic system, Therefore, the trimotor rotating speed, which generally can be, meets that the minimum engine of the operation desired arm support responsiveness of user turns Speed), and select rotating speed from first engine speed, second engine speed and the trimotor rotating speed Value the maximum as the 4th engine speed, and, the 4th engine speed is sent to the engine speed control Device 24 processed；
The engine rotational speed control apparatus 24 can be used for receiving the 4th engine turn that the controller 23 is sent Speed, and according to the rotating speed of the 4th engine speed adjustment engine.
That is, in technical scheme described in the embodiment of the present invention, the controller in concrete pump vehicle control can The power that need to be exported according to the desired rate of pumping of operation user, the desired arm support responsiveness of operation user, engine And the discharge capacity Collaborative Control engine speed of corresponding hydraulic pump, do not cause to send out because accounting for rate of pumping demand so as to avoid Motivation rotating speed can not meet engine output work caused by the rate of pumping requirement of the pumping oil cylinder in main hydraulic system of pump The problems such as rate is inadequate, engine falls speed, flame-out so that the engine speed after regulation can meet the requirement of each system simultaneously, Also, because final identified engine speed is actually that can meet the minimum engine turn of each system requirements simultaneously Speed, so as to also can reach the effect for improving engine power utilization rate.
Specifically, the controller 23 determines the power that engine need to export, and can specifically be embodied as：According to concrete mixer Load needed for general power determine the power that the corresponding engine need to export.Correspondingly, according to the engine need of determination The second engine speed that the power calculation of output matches with the power that the engine need to export, can be embodied as：According to true The power and corresponding engine power speed curves that fixed engine need to export, calculate the corresponding work(that engine output determines Suitable engine speed needed for rate, and using the suitable engine speed as the second engine speed.
Further, it is necessary to which explanation, is filled as shown in figure 3, the control system may also include hydraulic pump discharge control Put 31：
The controller 23 can be additionally used according to the 4th engine speed and the desired pumping speed of operation user Degree, the discharge capacity of the hydraulic pump in main hydraulic system of pump is determined, and, according to the 4th engine speed and operation user Desired arm support responsiveness, determines the discharge capacity of the hydraulic pump in arm support support leg hydraulic system, and by the main pump liquor charging of determination The discharge capacity of hydraulic pump in pressure system and the discharge capacity of the hydraulic pump in the arm support support leg hydraulic system of determination are sent to the liquid Pump displacement control device 31；
The hydraulic pump discharge control device 31 can be used for receiving in the main hydraulic system of pump that the controller 23 is sent The discharge capacity of hydraulic pump and the discharge capacity of the hydraulic pump in arm support support leg hydraulic system, and according in the main hydraulic system of pump The discharge capacity of hydraulic pump and the discharge capacity of the hydraulic pump in arm support support leg hydraulic system, respectively corresponding to adjustment in hydraulic system The discharge capacity of hydraulic pump.
Further, it is necessary to which explanation, is filled as shown in figure 4, the control system may also include engine speed detection Put 41：
The engine speed detection device 41 can be used for the actual speed of detection engine, and the hair that will be detected The actual speed of motivation is sent to the controller 23；
The controller 23 can be additionally used in the reality for receiving the engine that the engine speed detection device 41 is sent Border rotating speed, and when it is determined that the actual speed of the engine is less than four engine speed, to the engine speed Control device 24 is issued for indicating that the engine rotational speed control apparatus 24 increases the first control signal of engine speed；Or Person, when it is determined that the actual speed of the engine is more than four engine speed, filled to the control of engine speed 24 are put to issue for indicating that the engine rotational speed control apparatus 24 reduces the second control signal of engine speed；
The engine rotational speed control apparatus 24 can also be used to receive the first control letter that the controller 23 is sent Number, and according to the rotating speed of first control signal increase engine；Or, it may also be used for receive what the controller 23 was sent Second control signal, and according to the rotating speed of second control signal reduction engine.
That is, the reality for the engine that the controller 23 can be fed back by engine speed detection device 41 turns Speed, judges the magnitude relationship between the actual speed of engine and the 4th engine speed, and according to judged result to institute State engine rotational speed control apparatus 24 to issue corresponding up-regulation or lower control instruction, so as to control turning for engine in real time Speed so that the rotating speed of the engine after regulation can meet the requirement of each system, also, actual engine speed and phase simultaneously Closed-loop control is formd between the engine speed of prestige, so as to also may be such that the control effect of the control system of the embodiment of the present invention It is more accurate.
Further, the actual pumping for the pumping oil cylinder that the controller 23 can also be used to detect in main hydraulic system of pump Speed, and it is determined that the actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump is desired less than operation user described During rate of pumping, issued to the hydraulic pump discharge control device 31 for indicating that the hydraulic pump discharge control device 31 increases 3rd control signal of the discharge capacity of the hydraulic pump in main hydraulic system of pump；Or it is determined that pump in main hydraulic system of pump When sending the actual rate of pumping of oil cylinder to be more than the operation desired rate of pumping of user, control and fill to the hydraulic pump discharge 31 are put to issue for indicating that the hydraulic pump discharge control device 31 reduces the discharge capacity of the hydraulic pump in main hydraulic system of pump 4th control signal；
The hydraulic pump discharge control device 31 can also be used to receive the 3rd control letter that the controller 23 is sent Number, and the discharge capacity of the hydraulic pump in the main hydraulic system of pump of the 3rd control signal increase；Or it is additionally operable to receive institute The 4th control signal of the transmission of controller 23 is stated, and is reduced according to the 4th control signal in main hydraulic system of pump The discharge capacity of hydraulic pump.
That is, the controller 23 also can detect the actual pumping speed of the pumping oil cylinder in main hydraulic system of pump Degree, and by the actual rate of pumping of the pumping oil cylinder in the main hydraulic system of pump detected with operating the desired pumping of user Speed is compared, to be controlled the discharge capacity of the hydraulic pump in main hydraulic system of pump to increase or reduce according to comparative result, from And actual rate of pumping can be formd and operate the closed-loop control between the desired rate of pumping of user, and then cause the present invention The control effect of control system in embodiment is more accurate.
Further, the controller 23 can be additionally used in the reality for detecting each arm support oil cylinder in arm support support leg hydraulic system Arm support speed, and it is determined that the actual arm support speed of any arm support oil cylinder to be less than operation user desired with any arm support During the corresponding arm support responsiveness of oil cylinder, issued to the hydraulic pump discharge control device 31 for indicating that the hydraulic pump is arranged Amount control device 31 increases the 5th control signal of the discharge capacity of the hydraulic pump in arm support support leg hydraulic system；Or it is determined that appointing The actual arm support speed of one arm support oil cylinder is more than the operation desired arm support corresponding with any arm support oil cylinder of user and moved When making speed, issued to the hydraulic pump discharge control device 31 for indicating that the hydraulic pump discharge control device 31 reduces arm 6th control signal of the discharge capacity of the hydraulic pump in frame support leg hydraulic system；
The hydraulic pump discharge control device 31 can also be used to receive the 5th control letter that the controller 23 is sent Number, and the discharge capacity of the hydraulic pump in the 5th control signal increase arm support support leg hydraulic system；Or, it may also be used for connect The 6th control signal that the controller 23 is sent is received, and arm support supporting leg hydraulic pressure system is reduced according to the 6th control signal The discharge capacity of hydraulic pump in system.
That is, the actual arm support of each arm support oil cylinder in the also detectable arm support support leg hydraulic system of the controller 23 Speed, and the actual arm support speed of each arm support oil cylinder detected is desired with corresponding arm support oil cylinder phase with operation user The arm support responsiveness of matching is compared, to control the discharge capacity of the hydraulic pump in arm support support leg hydraulic system according to comparative result Increase or reduce, it is desired with corresponding arm with operating user so as to form the actual arm support speed of each arm support oil cylinder Closed-loop control between the arm support responsiveness that frame oil cylinder matches, and then may be such that the control system in the embodiment of the present invention Control effect is more accurate.
The present invention implements one and provides a kind of concrete pump vehicle control, in technical scheme described in the embodiment of the present invention In, the controller in concrete pump vehicle control can be according to desired by the desired rate of pumping of operation user, operation user Arm support responsiveness, the discharge capacity Collaborative Control engine speed of the power that engine need to export and corresponding hydraulic pump, so as to Avoid does not cause engine speed can not meet the pumping oil cylinder in main hydraulic system of pump because accounting for rate of pumping demand Rate of pumping requirement caused by engine output not enough, engine fall speed, it is flame-out the problems such as so that the hair after regulation Motivation rotating speed can meet the requirement of each system simultaneously, also, due to engine speed determined by final be actually can Meet the minimum engine speed of each system requirements simultaneously, so as to also can reach the effect for improving engine power utilization rate；Separately Outside, due to can also by by practical engine speeds compared with desired engine speed, formed engine speed closed loop control System processed to adjust the rotating speed of engine in real time, and, can be by by actual rate of pumping and the operation desired pumping of user Speed is compared, and forms rate of pumping closed-loop control system to adjust rate of pumping etc. in real time, so as to also can reach so that controlling The control effect of system processed more accurately effect.
Embodiment two：
The embodiment of the present invention two provides a kind of concrete mixer control method, can be applied to institute in the embodiment of the present invention one That states includes the concrete of rate of pumping control device, arm support speed control unit, controller and engine rotational speed control apparatus In pump truck control system.As shown in figure 5, it is the schematic flow sheet of control method described in the embodiment of the present invention two, the control Method may include following steps：
Step 501：Controller receives the rate of pumping signal that the rate of pumping control device is sent, and according to the pump The maximum pump discharge of rate signal and the hydraulic pump in main hydraulic system of pump is sent, calculates and meets the operation desired pumping of user First engine speed of speed, and, determine the power that engine need to export, and the work(that need to be exported according to the engine of determination Rate calculates the second engine speed that the power that need to be exported with the engine matches, and, receive the arm support speed control The arm support rate signal that device processed is sent, and the hydraulic pump in the arm support rate signal and arm support support leg hydraulic system Maximum pump discharge, calculate the trimotor rotating speed for meeting the operation desired arm support responsiveness of user, and from described first Rotating speed value the maximum is selected to be used as the in engine speed, second engine speed and the trimotor rotating speed Four engine speed.
Wherein, the rate of pumping signal is according to the operation desired pumping of user by the rate of pumping control device The rate of pumping signal to match with the operation desired rate of pumping of user that speed is generated；The arm support rate signal is By the arm support speed control unit according to operation the desired arm support responsiveness of user generated with operate user's institute's phase The arm support rate signal that the arm support responsiveness of prestige matches, the embodiment of the present invention are not repeated this.
Explanation is needed further exist for, because first engine speed is the hydraulic pressure in main hydraulic system of pump What the maximum pump discharge of pump was calculated, therefore, first engine speed generally can be the desired pumping speed of satisfaction operation user The minimum engine speed of degree；Further, since the trimotor rotating speed is the hydraulic pressure in arm support support leg hydraulic system What the maximum pump discharge of pump was calculated, therefore, the trimotor rotating speed generally can be the satisfaction operation desired arm support of user and move Make the minimum engine speed of speed, the embodiment of the present invention is not also repeated this.
Step 502：4th engine speed is sent to the engine rotational speed control apparatus by controller, with by institute State the rotating speed that engine rotational speed control apparatus adjusts engine according to the 4th engine speed received.
That is, in technical scheme described in the embodiment of the present invention, the controller in concrete pump vehicle control can The power that need to be exported according to the desired rate of pumping of operation user, the desired arm support responsiveness of operation user, engine And the discharge capacity Collaborative Control engine speed of corresponding hydraulic pump, do not cause to send out because accounting for rate of pumping demand so as to avoid Motivation rotating speed can not meet engine output work caused by the rate of pumping requirement of the pumping oil cylinder in main hydraulic system of pump The problems such as rate is inadequate, engine falls speed, flame-out so that the engine speed after regulation can meet the requirement of each system simultaneously, Also, because final identified engine speed is actually that can meet the minimum engine turn of each system requirements simultaneously Speed, so as to also can reach the effect for improving engine power utilization rate.
Further, it is necessary to illustrate, because the concrete pump vehicle control may also include hydraulic pump discharge control Device processed, therefore, while the 4th engine speed is sent into the engine rotational speed control apparatus or afterwards, institute Control method is stated to may also include：
According to the 4th engine speed and the operation desired rate of pumping of user, main hydraulic system of pump is determined In hydraulic pump discharge capacity, and, according to the 4th engine speed and the desired arm support responsiveness of operating system, Determine the discharge capacity of the hydraulic pump in arm support support leg hydraulic system, and by the discharge capacity of the hydraulic pump in the main hydraulic system of pump of determination And the discharge capacity of the hydraulic pump in the arm support support leg hydraulic system determined is sent to the hydraulic pump discharge control device, with by institute State the discharge capacity and arm support branch of hydraulic pump of the hydraulic pump discharge control device in the main hydraulic system of pump received The discharge capacity of the discharge capacity of hydraulic pump in leg hydraulic system, the respectively hydraulic pump in hydraulic system corresponding to adjustment.
Further, it is necessary to which explanation, starts because the concrete pump vehicle control may also include for detection The actual speed of machine, and by the actual speed of the engine detected be sent to the controller engine speed detect Device；Therefore, the control method may also include：
The actual speed for the engine that the engine speed detection device is sent is received, and it is determined that described start When the actual speed of machine is less than four engine speed, issued to the engine rotational speed control apparatus described for indicating Engine rotational speed control apparatus increase engine speed the first control signal, with by the engine rotational speed control apparatus according to The rotating speed of first control signal increase engine received；Or
When it is determined that the actual speed of the engine is more than four engine speed, to the engine speed control Device processed is issued for indicating that the engine rotational speed control apparatus reduces the second control signal of engine speed, with by described Engine rotational speed control apparatus reduces the rotating speed of engine according to second control signal received.
That is, the actual speed for the engine that the controller can be fed back by engine speed detection device, sentences Magnitude relationship between the actual speed and the 4th engine speed of disconnected engine, and started according to judged result to described Machine revolution speed control device issues corresponding up-regulation or lowers control instruction, so as to control the rotating speed of engine in real time so that adjust The rotating speed of engine after section can meet the requirement of each system simultaneously, also, actual engine speed is started with desired Closed-loop control is formd between machine rotating speed, so as to also may be such that the control effect of the control system of the embodiment of the present invention is more smart It is accurate.
Further, it is necessary to which explanation, the control method may also include：
The actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump is detected, and it is determined that in main hydraulic system of pump The actual rate of pumping of pumping oil cylinder when being less than the operation desired rate of pumping of user, control and fill to the hydraulic pump discharge Put and issue for indicating that the hydraulic pump discharge control device increases the 3rd of the discharge capacity of the hydraulic pump in main hydraulic system of pump Control signal, to increase main pumps hydraulic according to the 3rd control signal received by the hydraulic pump discharge control device The discharge capacity of hydraulic pump in system；Or
It is determined that the actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump is more than the operation desired pump of user When sending speed, issue to the hydraulic pump discharge control device and sent for indicating that the hydraulic pump discharge control device reduces main pump 4th control signal of the discharge capacity of the hydraulic pump in hydraulic system, with by the hydraulic pump discharge control device according to receiving 4th control signal reduces the discharge capacity of the hydraulic pump in main hydraulic system of pump.
That is, the controller can detect the actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump, and By the actual rate of pumping of the pumping oil cylinder in the main hydraulic system of pump detected and the operation desired rate of pumping of user It is compared, to be controlled the discharge capacity of the hydraulic pump in main hydraulic system of pump to increase or reduce according to comparative result, so as to Form actual rate of pumping and operate the closed-loop control between the desired rate of pumping of user, and then the present invention is implemented The control effect of control system in example is more accurate.
Further, the control method may also include：
The actual arm support speed of each arm support oil cylinder in arm support support leg hydraulic system is detected, and it is determined that any arm support oil cylinder Actual arm support speed when being less than desired corresponding with any arm support oil cylinder arm support responsiveness of operation user, to The hydraulic pump discharge control device is issued for indicating the hydraulic pump discharge control device increase arm support support leg hydraulic system In hydraulic pump discharge capacity the 5th control signal, with by the hydraulic pump discharge control device according to the described 5th received The discharge capacity of hydraulic pump in control signal increase arm support support leg hydraulic system；Or
It is determined that the actual arm support speed of any arm support oil cylinder is desired more than operation user oily with any arm support During the corresponding arm support responsiveness of cylinder, issued to the hydraulic pump discharge control device for indicating the hydraulic pump discharge control Device processed reduces the 6th control signal of the defeated discharge capacity of hydraulic pump in arm support support leg hydraulic system, with by the hydraulic pump discharge Control device reduces the discharge capacity of the hydraulic pump in arm support support leg hydraulic system according to the 6th control signal received.
That is, the actual arm support speed of each arm support oil cylinder in the also detectable arm support support leg hydraulic system of the controller Degree, and the actual arm support speed of each arm support oil cylinder detected is desired with corresponding arm support oil cylinder phase with operating user The arm support responsiveness matched somebody with somebody is compared, to be controlled the discharge capacity of the hydraulic pump in arm support support leg hydraulic system to increase according to comparative result It is big or reduce, it is desired with corresponding arm support with operating user so as to form the actual arm support speed of each arm support oil cylinder Closed-loop control between the arm support responsiveness that oil cylinder matches, and then may be such that the control of the control system in the embodiment of the present invention Effect processed is more accurate.
The embodiment of the present invention two provides one kind and is applicable to the control of concrete mixer described in the embodiment of the present invention one system The concrete mixer control method of system, can be according to the operation desired pump of user in technical scheme described in the embodiment of the present invention Send the discharge capacity association of speed, the desired arm support responsiveness of operation user, the power that engine need to export and corresponding hydraulic pump With control engine speed, do not cause engine speed can not meet that main pump is sent because accounting for rate of pumping demand so as to avoid Pumping oil cylinder in hydraulic system rate of pumping requirement caused by engine output not enough, engine fall it is fast, flame-out The problems such as so that the engine speed after regulation can meet the requirement of each system simultaneously, also, due to final identified hair Motivation rotating speed is actually the minimum engine speed that can meet each system requirements simultaneously, so as to also can reach raising engine The effect of power utilization；Further, since can also by by practical engine speeds compared with desired engine speed, shape Come to adjust the rotating speed of engine in real time into engine speed closed-loop control system, and, can be by by actual rate of pumping and behaviour Make the desired rate of pumping of user to be compared, form rate of pumping closed-loop control system to adjust rate of pumping etc. in real time, So as to also can reach the control effect more accurately effect for causing control system.
Embodiment three：
The embodiment of the present invention three provides a kind of controller, as shown in fig. 6, it is to be controlled described in the embodiment of the present invention three The structural representation of device, the controller may include receiving unit 61, processing unit 62 and transmitting element 63：
What the rate of pumping control device that the receiving unit 61 can be used for receiving in concrete pump vehicle control was sent The arm support rate signal that arm support speed control unit in rate of pumping signal and the concrete pump vehicle control is sent； Wherein, the rate of pumping signal is to be given birth to by the rate of pumping control device according to the operation desired rate of pumping of user Into with the rate of pumping signal that matches of the operation desired rate of pumping of user；The arm support rate signal is by the arm Frame speed control unit according to operation the desired arm support responsiveness of user generated with operate the desired arm support of user The arm support rate signal that responsiveness matches；
The processing unit 62 can be used for the hydraulic pump in the rate of pumping signal and main hydraulic system of pump Maximum pump discharge, calculate meet operation the desired rate of pumping of user the first engine speed, and, determine engine need The power of output, and the power calculation that need to be exported according to the engine of determination and the engine power that need to export matches Second engine speed, and, the maximum of the hydraulic pump in the arm support rate signal and arm support support leg hydraulic system Discharge capacity, the trimotor rotating speed for meeting the operation desired arm support responsiveness of user is calculated, and from first engine Rotating speed value the maximum is selected to start as the 4th in rotating speed, second engine speed and the trimotor rotating speed Machine rotating speed；
The transmitting element 63 can be used for the 4th engine speed being sent to the concrete pump vehicle control In engine rotational speed control apparatus, with by the engine rotational speed control apparatus according to the 4th engine received turn Velocity modulation is haircuted the rotating speed of motivation.
It should be noted that due to first engine speed be hydraulic pump in main hydraulic system of pump most What huge discharge was calculated, therefore, first engine speed generally can be the desired rate of pumping of satisfaction operation user most Low engine speed；Further, since the trimotor rotating speed be hydraulic pump in arm support support leg hydraulic system most What huge discharge was calculated, therefore, the trimotor rotating speed generally can be the satisfaction operation desired arm support responsiveness of user Minimum engine speed, the embodiment of the present invention do not repeated this.
That is, in technical scheme described in the embodiment of the present invention, controller can be according to the operation desired pump of user Send the discharge capacity association of speed, the desired arm support responsiveness of operation user, the power that engine need to export and corresponding hydraulic pump With control engine speed, do not cause engine speed can not meet that main pump is sent because accounting for rate of pumping demand so as to avoid Pumping oil cylinder in hydraulic system rate of pumping requirement caused by engine output not enough, engine fall it is fast, flame-out The problems such as so that the engine speed after regulation can meet the requirement of each system simultaneously, also, due to final identified hair Motivation rotating speed is actually the minimum engine speed that can meet each system requirements simultaneously, so as to also can reach raising engine The effect of power utilization.
Further, the processing unit 62 can also be used to the 4th engine speed being sent to the engine While revolution speed control device or afterwards, according to the 4th engine speed and the desired rate of pumping of user is operated, The discharge capacity of the hydraulic pump in main hydraulic system of pump is determined, and, according to the 4th engine speed and operation user institute Desired arm support responsiveness, determine the discharge capacity of the hydraulic pump in arm support support leg hydraulic system；
The discharge capacity for the hydraulic pump that the transmitting element 63 can be additionally used in the main hydraulic system of pump by determination and determination Arm support support leg hydraulic system in the discharge capacity of hydraulic pump be sent to hydraulic pump discharge in the concrete pump vehicle control Control device, with the hydraulic pump by the hydraulic pump discharge control device in the main hydraulic system of pump received The row of the discharge capacity of discharge capacity and the hydraulic pump in arm support support leg hydraulic system, the respectively hydraulic pump in hydraulic system corresponding to adjustment Amount.
Further, the engine that the receiving unit 61 can also be used to receive in the concrete pump vehicle control turns The actual speed for the engine that speed detector is sent；
The processing unit 62 can be additionally used in it is determined that the actual speed of the engine turns less than the 4th engine When fast, issued by the transmitting element 63 to the engine rotational speed control apparatus for indicating the control of engine speed Device increases the first control signal of engine speed；Or it is determined that the actual speed of the engine is more than the described 4th During engine speed, issued by the transmitting element 63 to the engine rotational speed control apparatus for indicating the engine Revolution speed control device reduces the second control signal of engine speed；
The transmitting element 63 can also be used to issue for indicating the engine to the engine rotational speed control apparatus Revolution speed control device increases the first control signal of engine speed, with by the engine rotational speed control apparatus according to receiving First control signal increase engine rotating speed；Or issued to the engine rotational speed control apparatus for indicating The engine rotational speed control apparatus reduces the second control signal of engine speed, with by the engine rotational speed control apparatus Reduce the rotating speed of engine according to second control signal received.
That is, the actual speed for the engine that the controller can be fed back by engine speed detection device, sentences Magnitude relationship between the actual speed and the 4th engine speed of disconnected engine, and started according to judged result to described Machine revolution speed control device issues corresponding up-regulation or lowers control instruction, so as to control the rotating speed of engine in real time so that adjust The rotating speed of engine after section can meet the requirement of each system simultaneously, also, actual engine speed is started with desired Closed-loop control is formd between machine rotating speed, so as to also may be such that the control effect of the controller of the embodiment of the present invention is more accurate.
Further, the actual pump for the pumping oil cylinder that the processing unit 62 can also be used to detect in main hydraulic system of pump Speed is sent, and it is determined that the actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump is less than the operation desired pump of user When sending speed, issued by the transmitting element 63 to the hydraulic pump discharge control device for indicating the hydraulic pump discharge Control device increases the 3rd control signal of the discharge capacity of the hydraulic pump in main hydraulic system of pump；Or it is determined that main pump liquor charging When the actual rate of pumping of pumping oil cylinder in pressure system is more than operation user's desired rate of pumping, pass through it is described send it is single Member 63 is issued for indicating that the hydraulic pump discharge control device reduces main pumps hydraulic to the hydraulic pump discharge control device 4th control signal of the discharge capacity of the hydraulic pump in system；
The transmitting element 63 can also be used to issue for indicating the hydraulic pump to the hydraulic pump discharge control device Displacement control device increases the 3rd control signal of the discharge capacity of the hydraulic pump in main hydraulic system of pump, to be arranged by the hydraulic pump Amount control device increases the discharge capacity of the hydraulic pump in main hydraulic system of pump according to the 3rd control signal received；Or Person, issued to the hydraulic pump discharge control device for indicating that the hydraulic pump discharge control device reduces main pumps hydraulic system 4th control signal of the discharge capacity of the hydraulic pump in system, with by the hydraulic pump discharge control device according to described received Four control signals reduce the discharge capacity of the hydraulic pump in main hydraulic system of pump.
That is, the controller can detect the actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump, and By the actual rate of pumping of the pumping oil cylinder in the main hydraulic system of pump detected and the operation desired rate of pumping of user It is compared, to be controlled the discharge capacity of the hydraulic pump in main hydraulic system of pump to increase or reduce according to comparative result, so as to Form actual rate of pumping and operate the closed-loop control between the desired rate of pumping of user, and then the present invention is implemented The control effect of controller in example is more accurate.
Further, the processing unit 62 can be additionally used in the reality for detecting each arm support oil cylinder in arm support support leg hydraulic system Border arm support speed, and it is determined that the actual arm support speed of any arm support oil cylinder to be less than operation user desired with any arm During the corresponding arm support responsiveness of frame oil cylinder, by the transmitting element 63 to hair under the hydraulic pump discharge control device In the 5th control letter of the discharge capacity for indicating the hydraulic pump in the hydraulic pump discharge control device increase arm support support leg hydraulic system Number；Or it is determined that the actual arm support speed of any arm support oil cylinder is desired more than operation user oily with any arm support During the corresponding arm support responsiveness of cylinder, issued by the transmitting element 63 to the hydraulic pump discharge control device for referring to Show that the hydraulic pump discharge control device reduces the 6th control signal of the discharge capacity of the hydraulic pump in arm support support leg hydraulic system；
The transmitting element 63 can also be used to issue for indicating the hydraulic pump to the hydraulic pump discharge control device 5th control signal of the discharge capacity of the hydraulic pump in displacement control device increase arm support support leg hydraulic system, with by the hydraulic pump The discharge capacity of hydraulic pump of the displacement control device in the 5th control signal increase arm support support leg hydraulic system received； Or issued to the hydraulic pump discharge control device for indicating that the hydraulic pump discharge control device reduces arm support supporting leg liquid 6th control signal of the discharge capacity of the hydraulic pump in pressure system, with by the hydraulic pump discharge control device according to the institute received State the discharge capacity that the 6th control signal reduces the hydraulic pump in arm support support leg hydraulic system.
That is, the actual arm support speed of each arm support oil cylinder in the also detectable arm support support leg hydraulic system of the controller Degree, and the actual arm support speed of each arm support oil cylinder detected is desired with corresponding arm support oil cylinder phase with operating user The arm support responsiveness matched somebody with somebody is compared, to be controlled the discharge capacity of the hydraulic pump in arm support support leg hydraulic system to increase according to comparative result It is big or reduce, it is desired with corresponding arm support with operating user so as to form the actual arm support speed of each arm support oil cylinder Closed-loop control between the arm support responsiveness that oil cylinder matches, and then may be such that the control of the controller in the embodiment of the present invention Effect is more accurate.
Further, it is necessary to which explanation, the processing unit 62 are particularly used in the load institute according to concrete mixer The general power needed determines the power that the corresponding engine need to export.In addition, it is necessary to explanation, the controller generally may be used It is arranged in the control system described in the embodiment of the present invention one, also, can be used to realize described in the embodiment of the present invention two Control method, the embodiment of the present invention are not repeated this.
The embodiment of the present invention three provides one kind and may correspond to the control of concrete mixer described in the embodiment of the present invention one system The controller of system, in technical scheme described in the embodiment of the present invention, the controller can be according to the operation desired pumping of user Speed, the discharge capacity collaboration for operating the desired arm support responsiveness of user, the power that engine need to export and corresponding hydraulic pump Engine speed is controlled, does not cause engine speed can not meet main pump liquor charging because accounting for rate of pumping demand so as to avoid Engine output caused by the rate of pumping requirement of pumping oil cylinder in pressure system is inadequate, engine falls speed, flame-out etc. Problem so that the engine speed after regulation can meet the requirement of each system simultaneously, also, start due to finally identified Machine rotating speed is actually the minimum engine speed that can meet each system requirements simultaneously, and engine work(is improved so as to also can reach The effect of rate utilization rate；Further, since the controller can also be by the way that practical engine speeds and desired engine speed be entered Row compares, and forms the rotating speed that engine speed closed-loop control system to adjust engine in real time, and, can be by by actual pumping Speed forms rate of pumping closed-loop control system to adjust pumping in real time compared with operating the desired rate of pumping of user Speed etc., so as to also can reach the control effect more accurately effect for causing control system.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention God and scope.So, if these modifications and variations of the present invention belong to the scope of the claims in the present invention and its equivalent technologies Within, then the present invention is also intended to comprising including these changes and modification.

Claims (18)

1. a kind of concrete pump vehicle control, it is characterised in that filled including rate of pumping control device, arm support speed control Put, controller and engine rotational speed control apparatus：
The rate of pumping control device, the rate of pumping letter to match for generating and operating the desired rate of pumping of user Number, and the rate of pumping signal is sent to the controller；
The arm support speed control unit, the arm support speed to match for generating and operating the desired arm support responsiveness of user Signal is spent, and the arm support rate signal is sent to the controller；
The controller, the rate of pumping signal sent for receiving the rate of pumping control device, and according to described The maximum pump discharge of rate of pumping signal and the hydraulic pump in main hydraulic system of pump, calculate and meet the operation desired pump of user The first engine speed of speed is sent, and, the power that engine need to export is determined, and need to be exported according to the engine of determination The second engine speed that power calculation matches with the power that the engine need to export, and, receive the arm support speed The arm support rate signal that control device is sent, and according in the arm support rate signal and arm support support leg hydraulic system The maximum pump discharge of hydraulic pump, the trimotor rotating speed for meeting the operation desired arm support responsiveness of user is calculated, and from institute State selection rotating speed value the maximum in the first engine speed, second engine speed and the trimotor rotating speed As the 4th engine speed, and, the 4th engine speed is sent to the engine rotational speed control apparatus；
The engine rotational speed control apparatus, the 4th engine speed sent for receiving the controller, and according to The rotating speed of the 4th engine speed adjustment engine.
2. control system as claimed in claim 1, it is characterised in that the control system also includes hydraulic pump discharge control dress Put：
The controller, it is additionally operable to according to the 4th engine speed and the operation desired rate of pumping of user, it is determined that The discharge capacity of hydraulic pump in main hydraulic system of pump, and, according to desired by the 4th engine speed and operation user Arm support responsiveness, determine the discharge capacity of the hydraulic pump in arm support support leg hydraulic system, and by the main hydraulic system of pump of determination In the discharge capacity of hydraulic pump and the discharge capacity of the hydraulic pump in the arm support support leg hydraulic system of determination be sent to hydraulic pump row Amount control device；
The hydraulic pump discharge control device, hydraulic pump in the main hydraulic system of pump sent for receiving the controller The discharge capacity of discharge capacity and the hydraulic pump in arm support support leg hydraulic system, and the hydraulic pump in the main hydraulic system of pump The row of the discharge capacity of discharge capacity and the hydraulic pump in arm support support leg hydraulic system, the respectively hydraulic pump in hydraulic system corresponding to adjustment Amount.
3. control system as claimed in claim 1 or 2, it is characterised in that the control system also includes engine speed and examined Survey device：
The engine speed detection device, for detecting the actual speed of engine, and by the engine detected Actual speed is sent to the controller；
The controller, it is additionally operable to receive the actual speed for the engine that the engine speed detection device is sent, and When it is determined that the actual speed of the engine is less than four engine speed, under the engine rotational speed control apparatus Hair is in the first control signal for indicating the engine rotational speed control apparatus increase engine speed；Or it is determined that described When the actual speed of engine is more than four engine speed, issued to the engine rotational speed control apparatus for indicating The engine rotational speed control apparatus reduces the second control signal of engine speed；
The engine rotational speed control apparatus, is additionally operable to receive first control signal that the controller is sent, and according to The rotating speed of the first control signal increase engine；Or it is additionally operable to receive second control that the controller is sent Signal, and according to the rotating speed of second control signal reduction engine.
4. control system as claimed in claim 2, it is characterised in that
The controller, the actual rate of pumping for the pumping oil cylinder for being additionally operable to detect in main hydraulic system of pump, and it is determined that main When the actual rate of pumping of pumping oil cylinder in hydraulic system of pump is less than operation user's desired rate of pumping, to the liquid Pump displacement control device is issued for indicating that the hydraulic pump discharge control device increases the hydraulic pressure in main hydraulic system of pump 3rd control signal of the discharge capacity of pump；Or it is determined that the actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump is big When operation user desired rate of pumping, issued to the hydraulic pump discharge control device for indicating that the hydraulic pump is arranged Amount control device reduces the 4th control signal of the discharge capacity of the hydraulic pump in main hydraulic system of pump；
The hydraulic pump discharge control device, is additionally operable to receive the 3rd control signal that the controller is sent, and according to 3rd control signal increases the discharge capacity of the hydraulic pump in main hydraulic system of pump；Or it is additionally operable to receive the controller The 4th control signal sent, and the row of the hydraulic pump in the main hydraulic system of pump of the 4th control signal reduction Amount.
5. control system as claimed in claim 2, it is characterised in that
The controller, it is additionally operable to detect the actual arm support speed of each arm support oil cylinder in arm support support leg hydraulic system, and true The actual arm support speed of fixed any arm support oil cylinder is less than the operation desired arm corresponding with any arm support oil cylinder of user During frame responsiveness, issued to the hydraulic pump discharge control device for indicating that the hydraulic pump discharge control device increases arm 5th control signal of the discharge capacity of the hydraulic pump in frame support leg hydraulic system；Or it is determined that the actual arm of any arm support oil cylinder When frame speed is more than operation user desired corresponding with any arm support oil cylinder arm support responsiveness, to the hydraulic pressure Pumpage control device is issued for indicating that the hydraulic pump discharge control device reduces the hydraulic pressure in arm support support leg hydraulic system 6th control signal of the discharge capacity of pump；
The hydraulic pump discharge control device, is additionally operable to receive the 5th control signal that the controller is sent, and according to The discharge capacity of hydraulic pump in the 5th control signal increase arm support support leg hydraulic system；Or it is additionally operable to receive the control The 6th control signal that device is sent, and the hydraulic pump in arm support support leg hydraulic system is reduced according to the 6th control signal Discharge capacity.
6. control system as claimed in claim 1 or 2, it is characterised in that
The controller, the corresponding engine need are determined specifically for the general power needed for the load according to concrete mixer The power of output.
7. a kind of concrete mixer control method, it is characterised in that the control method is applied to concrete pump vehicle control In, the concrete pump vehicle control includes rate of pumping control device, arm support speed control unit, controller and engine Revolution speed control device；The control method includes：
The controller receives the rate of pumping signal that the rate of pumping control device is sent, and is believed according to the rate of pumping Number and hydraulic pump in main hydraulic system of pump maximum pump discharge, calculate and meet the of the operation desired rate of pumping of user One engine speed；And determine the power that engine need to export, and the power calculation that need to be exported according to the engine of determination with The second engine speed that the power that the engine need to export matches；And receive the arm support speed control unit hair The arm support rate signal sent, and the maximum row of the hydraulic pump in the arm support rate signal and arm support support leg hydraulic system Amount, the trimotor rotating speed for meeting the operation desired arm support responsiveness of user is calculated, and turned from first engine Rotating speed value the maximum is selected in fast, described second engine speed and the trimotor rotating speed as the 4th engine Rotating speed, and, the 4th engine speed is sent to the engine rotational speed control apparatus, with by the engine speed Control device adjusts the rotating speed of engine according to the 4th engine speed received；
Wherein, the rate of pumping signal is according to the operation desired rate of pumping of user by the rate of pumping control device The rate of pumping signal to match with the operation desired rate of pumping of user generated；The arm support rate signal is by institute State arm support speed control unit according to operation the desired arm support responsiveness of user generated with operation user it is desired The arm support rate signal that arm support responsiveness matches.
8. control method as claimed in claim 7, it is characterised in that the concrete pump vehicle control also includes hydraulic pump Displacement control device；While the 4th engine speed is sent into the engine rotational speed control apparatus or afterwards, The control method also includes：
According to the 4th engine speed and the operation desired rate of pumping of user, determine in main hydraulic system of pump The discharge capacity of hydraulic pump, and, according to the 4th engine speed and the operation desired arm support responsiveness of user, it is determined that The discharge capacity of hydraulic pump in arm support support leg hydraulic system, and by the discharge capacity of the hydraulic pump in the main hydraulic system of pump of determination and The discharge capacity of hydraulic pump in the arm support support leg hydraulic system of determination is sent to the hydraulic pump discharge control device, with by the liquid The discharge capacity and arm support supporting leg liquid of hydraulic pump of the pump displacement control device in the main hydraulic system of pump received The discharge capacity of the discharge capacity of hydraulic pump in pressure system, the respectively hydraulic pump in hydraulic system corresponding to adjustment.
9. control method as claimed in claim 7 or 8, it is characterised in that the concrete pump vehicle control also includes using In the actual speed of detection engine, and the actual speed of the engine detected is sent to starting for the controller Tachometer；The control method also includes：
Receive the actual speed for the engine that the engine speed detection device is sent, and it is determined that the engine When actual speed is less than four engine speed, issued to the engine rotational speed control apparatus for indicating described start Machine revolution speed control device increase engine speed the first control signal, with by the engine rotational speed control apparatus according to reception The rotating speed of first control signal increase engine arrived；Or
When it is determined that the actual speed of the engine is more than four engine speed, filled to the control of engine speed Put and issue for indicating that the engine rotational speed control apparatus reduces the second control signal of engine speed, to be started by described Machine revolution speed control device reduces the rotating speed of engine according to second control signal received.
10. control method as claimed in claim 8, it is characterised in that the control method also includes：
The actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump is detected, and it is determined that pump in main hydraulic system of pump When sending the actual rate of pumping of oil cylinder to be less than the operation desired rate of pumping of user, under the hydraulic pump discharge control device Hair is in the 3rd control of the discharge capacity for indicating the hydraulic pump in the main hydraulic system of pump of the hydraulic pump discharge control device increase Signal, to increase main hydraulic system of pump according to the 3rd control signal received by the hydraulic pump discharge control device In hydraulic pump discharge capacity；Or
It is determined that the actual rate of pumping of the pumping oil cylinder in main hydraulic system of pump is more than the desired pumping speed of operation user When spending, issued to the hydraulic pump discharge control device for indicating that the hydraulic pump discharge control device reduces main pumps hydraulic 4th control signal of the discharge capacity of the hydraulic pump in system, with as the hydraulic pump discharge control device according to receiving 4th control signal reduces the discharge capacity of the hydraulic pump in main hydraulic system of pump.
11. control method as claimed in claim 8, it is characterised in that the control method also includes：
The actual arm support speed of each arm support oil cylinder in arm support support leg hydraulic system is detected, and it is determined that the reality of any arm support oil cylinder When border arm support speed is less than operation user desired corresponding with any arm support oil cylinder arm support responsiveness, to described Hydraulic pump discharge control device is issued for indicating in the hydraulic pump discharge control device increase arm support support leg hydraulic system 5th control signal of the discharge capacity of hydraulic pump, to be controlled by the hydraulic pump discharge control device according to the receive the described 5th The discharge capacity of hydraulic pump in signal increase arm support support leg hydraulic system；Or
It is determined that the actual arm support speed of any arm support oil cylinder to be more than operation user desired with any arm support oil cylinder phase During corresponding arm support responsiveness, issued to the hydraulic pump discharge control device for indicating the hydraulic pump discharge control dress The 6th control signal of the discharge capacity for reducing the hydraulic pump in arm support support leg hydraulic system is put, is filled with being controlled by the hydraulic pump discharge Put the discharge capacity of the hydraulic pump reduced according to the 6th control signal received in arm support support leg hydraulic system.
12. control method as claimed in claim 7 or 8, it is characterised in that the power that engine need to export is determined, including：
General power according to needed for the load of concrete mixer determines the power that the corresponding engine need to export.
A kind of 13. controller, it is characterised in that including：
Receiving unit, for receiving the rate of pumping signal of the transmission of the rate of pumping control device in concrete pump vehicle control And the arm support rate signal that the arm support speed control unit in the concrete pump vehicle control is sent；Wherein, the pump Send rate signal be by the rate of pumping control device according to operation the desired rate of pumping of user generated with operation The rate of pumping signal that the desired rate of pumping of user matches；The arm support rate signal is by the arm support speed control Device according to operation the desired arm support responsiveness of user generated with operate the desired arm support responsiveness phase of user The arm support rate signal of matching；
Processing unit, for the maximum pump discharge of the hydraulic pump in the rate of pumping signal and main hydraulic system of pump, The first engine speed for meeting the operation desired rate of pumping of user is calculated, and, the power that engine need to export is determined, And the second engine that the power calculation that need to be exported according to the engine of determination matches with the power that the engine need to export Rotating speed, and, the maximum pump discharge of the hydraulic pump in the arm support rate signal and arm support support leg hydraulic system, calculate full The trimotor rotating speed of the foot operation desired arm support responsiveness of user, and from first engine speed, described the Rotating speed value the maximum is selected in engine with two rotating speed and the trimotor rotating speed as the 4th engine speed；
Transmitting element, the engine for being sent to the 4th engine speed in the concrete pump vehicle control turn Velocity control device, to adjust engine according to the 4th engine speed received by the engine rotational speed control apparatus Rotating speed.
14. controller as claimed in claim 13, it is characterised in that
The processing unit, it is additionally operable to the 4th engine speed being sent to the same of the engine rotational speed control apparatus When or afterwards, according to the 4th engine speed and operation the desired rate of pumping of user, determine main pumps hydraulic system The discharge capacity of hydraulic pump in system, and, speed is acted according to the 4th engine speed and the desired arm support of operation user Degree, determine the discharge capacity of the hydraulic pump in arm support support leg hydraulic system；
The transmitting element, the discharge capacity of hydraulic pump and the arm support branch of determination being additionally operable in the main hydraulic system of pump by determination The discharge capacity of hydraulic pump in leg hydraulic system is sent to the hydraulic pump discharge control device in the concrete pump vehicle control, With the discharge capacity of the hydraulic pump by the hydraulic pump discharge control device in the main hydraulic system of pump received and The discharge capacity of the discharge capacity of hydraulic pump in arm support support leg hydraulic system, the respectively hydraulic pump in hydraulic system corresponding to adjustment.
15. the controller as described in claim 13 or 14, it is characterised in that
The receiving unit, it is additionally operable to receive what the engine speed detection device in the concrete pump vehicle control was sent The actual speed of the engine；
The processing unit, it is additionally operable to when it is determined that the actual speed of the engine is less than four engine speed, leads to The transmitting element is crossed to issue for indicating that the engine rotational speed control apparatus increases to the engine rotational speed control apparatus First control signal of engine speed；Or it is determined that the actual speed of the engine turns more than the 4th engine When fast, issued by the transmitting element to the engine rotational speed control apparatus for indicating that the control of engine speed fills Put the second control signal for reducing engine speed；
The transmitting element, it is additionally operable to issue for indicating the control of engine speed to the engine rotational speed control apparatus Device increases the first control signal of engine speed, with by the engine rotational speed control apparatus according to described the received One control signal increases the rotating speed of engine；Or issued to the engine rotational speed control apparatus for indicating described start Machine revolution speed control device reduce engine speed the second control signal, with by the engine rotational speed control apparatus according to reception Second control signal arrived reduces the rotating speed of engine.
16. controller as claimed in claim 14, it is characterised in that
The processing unit, be additionally operable to detect in main hydraulic system of pump pumping oil cylinder actual rate of pumping, and it is determined that When the actual rate of pumping of pumping oil cylinder in main hydraulic system of pump is less than operation user's desired rate of pumping, pass through institute Transmitting element is stated to issue for indicating that the hydraulic pump discharge control device increases main pump to the hydraulic pump discharge control device Send the 3rd control signal of the discharge capacity of the hydraulic pump in hydraulic system；Or it is determined that the pumping in main hydraulic system of pump is oily When the actual rate of pumping of cylinder is more than operation user's desired rate of pumping, arranged by the transmitting element to the hydraulic pump Amount control device is issued for indicating that the hydraulic pump discharge control device reduces the row of the hydraulic pump in main hydraulic system of pump 4th control signal of amount；
The transmitting element, it is additionally operable to issue for indicating the hydraulic pump discharge control to the hydraulic pump discharge control device Device increases the 3rd control signal of the discharge capacity of the hydraulic pump in main hydraulic system of pump, is filled with being controlled by the hydraulic pump discharge Put the discharge capacity of the hydraulic pump increased according to the 3rd control signal received in main hydraulic system of pump；Or to described Hydraulic pump discharge control device is issued for indicating that the hydraulic pump discharge control device reduces the liquid in main hydraulic system of pump 4th control signal of the discharge capacity of press pump, to be believed by the hydraulic pump discharge control device according to the 4th control received Number reduce the discharge capacity of the hydraulic pump in main hydraulic system of pump.
17. controller as claimed in claim 14, it is characterised in that
The processing unit, the actual arm support speed for each arm support oil cylinder being additionally operable in detection arm support support leg hydraulic system, and Determine that the actual arm support speed of any arm support oil cylinder is desired corresponding with any arm support oil cylinder less than operation user During arm support responsiveness, issued by the transmitting element to the hydraulic pump discharge control device for indicating the hydraulic pump 5th control signal of the discharge capacity of the hydraulic pump in displacement control device increase arm support support leg hydraulic system；Or it is determined that appointing The actual arm support speed of one arm support oil cylinder is more than the operation desired arm support corresponding with any arm support oil cylinder of user and moved When making speed, issued by the transmitting element to the hydraulic pump discharge control device for indicating the hydraulic pump discharge control Device processed reduces the 6th control signal of the discharge capacity of the hydraulic pump in arm support support leg hydraulic system；
The transmitting element, it is additionally operable to issue for indicating the hydraulic pump discharge control to the hydraulic pump discharge control device 5th control signal of the discharge capacity of the hydraulic pump in device increase arm support support leg hydraulic system, to be controlled by the hydraulic pump discharge The discharge capacity of hydraulic pump of the device in the 5th control signal increase arm support support leg hydraulic system received；Or to The hydraulic pump discharge control device is issued for indicating that the hydraulic pump discharge control device reduces arm support support leg hydraulic system In hydraulic pump discharge capacity the 6th control signal, with by the hydraulic pump discharge control device according to the described 6th received Control signal reduces the discharge capacity of the hydraulic pump in arm support support leg hydraulic system.
18. the controller as described in claim 13 or 14, it is characterised in that
The processing unit, the corresponding engine is determined specifically for the general power needed for the load according to concrete mixer The power that need to be exported.
CN201410424427.4A 2014-08-26 2014-08-26 A kind of concrete pump vehicle control, method and controller Active CN105373147B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102297182A (en) * 2011-08-10 2011-12-28 长沙中联重工科技发展股份有限公司 Control methods of hydraulic system and concrete pump truck
CN102312827A (en) * 2010-06-30 2012-01-11 中集车辆（集团）有限公司 Concrete pump and pumping control device and pumping control method thereof
CN102878152A (en) * 2012-10-12 2013-01-16 中联重科股份有限公司 Hydraulic system and method and device for controlling power of hydraulic system
CN103015725A (en) * 2012-12-05 2013-04-03 中联重科股份有限公司 Boom hydraulic system, control method thereof, boom system and concrete pumping equipment
CN103557151A (en) * 2013-11-15 2014-02-05 中联重科股份有限公司 Method and device for controlling discharge capacity of shunt-wound variable pumps, and concrete pumping equipment
EP2728148A1 (en) * 2011-06-28 2014-05-07 Hunan Sany Intelligent Control Equipment Co., Ltd. Engine speed control method, control system and jib-type engineering machine

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102312827A (en) * 2010-06-30 2012-01-11 中集车辆（集团）有限公司 Concrete pump and pumping control device and pumping control method thereof
EP2728148A1 (en) * 2011-06-28 2014-05-07 Hunan Sany Intelligent Control Equipment Co., Ltd. Engine speed control method, control system and jib-type engineering machine
CN102297182A (en) * 2011-08-10 2011-12-28 长沙中联重工科技发展股份有限公司 Control methods of hydraulic system and concrete pump truck
CN102878152A (en) * 2012-10-12 2013-01-16 中联重科股份有限公司 Hydraulic system and method and device for controlling power of hydraulic system
CN103015725A (en) * 2012-12-05 2013-04-03 中联重科股份有限公司 Boom hydraulic system, control method thereof, boom system and concrete pumping equipment
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