CN112412726B - Pumping system control method of vehicle, pumping system and vehicle - Google Patents
Pumping system control method of vehicle, pumping system and vehicle Download PDFInfo
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- CN112412726B CN112412726B CN201910777567.2A CN201910777567A CN112412726B CN 112412726 B CN112412726 B CN 112412726B CN 201910777567 A CN201910777567 A CN 201910777567A CN 112412726 B CN112412726 B CN 112412726B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B9/00—Piston machines or pumps characterised by the driving or driven means to or from their working members
- F04B9/08—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid
- F04B9/10—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid
- F04B9/109—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid having plural pumping chambers
- F04B9/111—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid having plural pumping chambers with two mechanically connected pumping members
- F04B9/113—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid having plural pumping chambers with two mechanically connected pumping members reciprocating movement of the pumping members being obtained by a double-acting liquid motor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
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- Reciprocating Pumps (AREA)
Abstract
The invention discloses a pumping system control method of a vehicle, a pumping system and the vehicle. The pumping system comprises two main oil cylinders, two conveying cylinders, two concrete pistons, a hopper and an S pipe, and the control method of the pumping system of the vehicle comprises the following steps: detecting whether the first concrete piston moves to a target position along a first direction; if yes, controlling the reversing of the S pipe after delaying first preset time, wherein the first preset time is the time when the first concrete piston moves from the target position to the end position along the first direction; and after delaying a second preset time, controlling the first concrete piston to move along a second direction, wherein the first direction is opposite to the second direction, and the second preset time is the reversing time of the S pipe. The control method of the pumping system of the vehicle can effectively improve the pumping efficiency of the pumping system.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a pumping system control method of a vehicle, a pumping system and the vehicle.
Background
The pumping system, such as the pumping system on a pump truck, is generally provided with two main oil cylinders, two conveying cylinders, a hopper, an S pipe and two concrete pistons, wherein piston rods of the main oil cylinders are connected with the concrete pistons, the concrete pistons can slide in the conveying cylinders, and the main oil cylinders are driven by a hydraulic system on the pumping system. The operation process of the pumping system is as follows: the main pump drives a main oil cylinder, and the main oil cylinder drives a concrete piston to reciprocate in the conveying cylinder. When the concrete piston moves in the direction far away from the hopper 3, the conveying cylinder sucks materials (concrete and the like) from the hopper, when the concrete piston reaches the end part of the conveying cylinder, the concrete piston moves in the reverse direction, and the materials in the conveying cylinder are pumped out through the S pipe. The two side concrete pistons reciprocate to continuously convey materials out.
The following technical problems exist: due to the influence of factors such as the response time difference of the system for driving the S pipe and the concrete piston, the S pipe is often not in place, the concrete piston starts to feed or suck the materials, so that part of the materials sucked into the concrete piston from the hopper does not enter the material pipeline and enters the hopper again, the material flow loss is caused, and the pumping efficiency of the pumping system is influenced.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art described above.
To this end, a first object of the present invention is to propose a pumping system control method of a vehicle. The method can effectively improve the pumping efficiency of the pumping system.
A second object of the invention is to propose a pumping system for a vehicle.
A third object of the invention is to propose a vehicle.
A fourth object of the invention is to propose a computer-readable storage medium.
In order to achieve the above object, a first aspect of the present invention discloses a method for controlling a pumping system of a vehicle, the pumping system including two master cylinders, two delivery cylinders, two concrete pistons, a hopper, and an S-pipe, the method including: detecting whether the first concrete piston moves to a target position along a first direction; if yes, controlling the reversing of the S pipe after delaying first preset time, wherein the first preset time is the time when the first concrete piston moves from the target position to the end position along the first direction; and after delaying a second preset time, controlling the first concrete piston to move along a second direction, wherein the first direction is opposite to the second direction, and the second preset time is the reversing time of the S pipe.
According to the control method of the pumping system of the vehicle, the reversing time of the S pipe in the pumping system can be accurately controlled, so that the loss of materials conveyed by the conveying cylinder is avoided, and the pumping efficiency of the pumping system is improved.
In some examples, when the first concrete piston moves in the first direction to the target position, further comprising: controlling the pumping displacement of a pumping system for driving a first main oil cylinder to be reduced from an initial displacement so as to reduce the movement speed of the first concrete piston to a target speed, wherein the first main oil cylinder is used for driving the first concrete piston; and determining the first preset time according to the target speed and the distance between the target position and the end position.
In some examples, the pumping displacement of the pumping system is controlled to return to the initial displacement when the first concrete piston is controlled to reverse.
In some examples, further comprising: and before the first concrete piston moves to the target position, controlling the first concrete piston to continuously or discontinuously run at a reduced speed for one or more times until the target position is reached.
The second aspect of the present invention discloses a pumping system of a vehicle, the pumping system comprising two master cylinders, two delivery cylinders, two concrete pistons, a hopper and an S-pipe, the pumping system further comprising: the detection module is used for detecting whether the first concrete piston moves to a target position along a first direction; the control module is used for starting timing when the detection module detects that the first concrete piston moves to a target position along the first direction, controlling the reversing of the S pipe when the timing reaches a first preset time, further delaying a second preset time when the reversing of the S pipe is controlled, and controlling the first concrete piston to move along a second direction when the second preset time is reached, wherein the first direction is opposite to the second direction, the first preset time is the time when the first concrete piston moves from the target position to an end position along the first direction, and the second preset time is the reversing time of the S pipe.
According to the pumping system of the vehicle, the reversing time of the S pipe can be accurately controlled, so that the loss of materials conveyed by the conveying cylinder is avoided, and the pumping efficiency of the pumping system is improved.
In some examples, the control module is further configured to control a pumping displacement of a pumping system driving a first master cylinder to be reduced from an initial displacement when the first concrete piston moves to the target position in the first direction, so that a movement speed of the first concrete piston is reduced to a target speed, wherein the first master cylinder is configured to drive the first concrete piston, and the first predetermined time is determined according to the target speed and a distance between the target position and the end position.
In some examples, the control module is further configured to control the pumping displacement of the pumping system to return to the initial displacement when the first concrete piston is controlled to reverse.
In some examples, the control module is further configured to control the first concrete piston to continuously or intermittently decelerate one or more times until the target position is reached before the first concrete piston moves to the target position.
A third aspect of the invention discloses a vehicle, characterized by comprising: the pumping system of a vehicle according to the second aspect described above. The reversing time of the S pipe in the pumping system can be accurately controlled by the vehicle, so that the loss of materials conveyed by the conveying cylinder is avoided, and the material pumping efficiency of the pump truck is improved.
A fourth aspect of the invention discloses a computer-readable storage medium on which a pumping system control program of a vehicle is stored, which when executed by a processor, implements the pumping system control method of the vehicle according to the first aspect described above.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic illustration of a pumping system of a vehicle according to one embodiment of the present invention;
FIG. 2 is a cross-sectional view of a pumping system of the vehicle of one embodiment of the present invention;
FIG. 3 is a flow chart of a pumping system control method of a vehicle according to one embodiment of the invention;
fig. 4 is a flowchart of a pumping system control method of a vehicle according to another embodiment of the present invention.
Fig. 5 is a block diagram of a pumping system of a vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
The following describes a pumping system control method of a vehicle, a pumping system and a vehicle according to an embodiment of the invention with reference to the accompanying drawings.
Before describing a pumping system control method of a vehicle according to an embodiment of the present invention, a pumping system of a vehicle, as shown in fig. 1 and 2, including two master cylinders, will be described first: two master cylinder 1, two delivery cylinder, promptly: two delivery cylinders 2, two concrete pistons, namely: two concrete pistons 5, a hopper 3 and an S pipe 4.
The piston rod of the main oil cylinder 1 is connected with a concrete piston 5, the concrete piston 5 can slide in the conveying cylinder 2, and the main oil cylinder 1 is driven by a hydraulic system on a pumping system. The working process of the pumping system is as follows: a main pump (not shown in fig. 1 and 2) drives a main oil cylinder 1, and the main oil cylinder 1 drives a concrete piston 5 to reciprocate in a conveying cylinder 2. When the concrete piston 5 moves away from the hopper 3, the conveying cylinder 2 sucks in the material (such as concrete) from the hopper 3, and when the concrete piston 5 reaches the end of the conveying cylinder (i.e., the end position of the corresponding side), the concrete piston 5 moves in the reverse direction, and the material in the conveying cylinder 2 is pumped out through the S pipe 4. The concrete pistons 5 on both sides reciprocate and run in a staggered manner, namely: the movement directions of the concrete piston 5 on one side and the concrete piston 5 on the other side are opposite and synchronous, namely: when the concrete piston 5 on one side moves to the end position on one side, the concrete piston 5 on the other side just moves to the end position on the other side, and materials are continuously conveyed out of the S pipe 4 through the reciprocating motion of the concrete piston 5 on one side and the concrete piston 5 on the other side.
FIG. 3 is a flow chart of a pumping system control method of a vehicle according to one embodiment of the present invention. As shown in fig. 3, a pumping system control method of a vehicle according to one embodiment of the present invention includes the steps of:
s301: whether the first concrete piston moves to the target position along the first direction is detected.
As shown in fig. 2, the concrete piston 5 located at the upper side is taken as a first concrete piston, the right side is taken as a first direction, and the position 6 is taken as a target position. It is determined that the first concrete piston has moved in the first direction to the target position when the left side of the piston rod moves to position 6.
In a specific example, whether the first concrete piston moves to the target position along the first direction or not can be detected by a position sensor, for example, two upper and lower position sensors disposed at the position 6. Because the number of the concrete pistons is two, the upper position sensor and the lower position sensor can respectively detect the positions of the two concrete pistons. The upper and lower position sensors may be defined as a first position sensor and a second position sensor.
S302: if yes, after delaying for a first preset time, controlling the S pipe to reverse.
In a specific example, the first predetermined time is a time for the first concrete piston to move from the target position to the end position in the first direction.
For example: according to the target position and the end position, the distance between the target position and the end position can be obtained in advance, and further, according to the speed for driving the first concrete piston to move and the distance, the time for the first concrete piston to move from the target position to the end position along the first direction can be obtained, namely: the first predetermined time.
It can be seen that the first predetermined time is related to the speed of the first concrete piston movement.
Specifically, the relation 5 between the first predetermined time and the speed at which the first concrete piston moves can be derived by the following equations 1 to 4. Wherein, formula 1 to formula 4 are as follows:
equation 1: t = L/v;
equation 2: v = Q/A;
equation 3: q = nq;
equation 4: q = Ki.
From the above equations 1 to 4, the relationship 5 between the first predetermined time and the speed of the first concrete piston motion is derived as follows:
relation 5: t = L/v = LA/nKi.
Wherein t is the running time of the first concrete piston, L is the running distance of the first concrete piston, v is the moving speed of the first concrete piston, Q is the flow, A is the sectional area of the main oil cylinder, n is the rotating speed of the main oil pump, K is a constant coefficient between the displacement and the control current, and i is the control current of the control system.
As can be seen from the above formulas 1 to 4, the displacement q of the main oil pump is directly proportional to the control current i of the external control system, and the displacement q of the main oil pump is determined by the swing angle of the swash plate of the internal structure of the main oil pump, so that the control current i can control the swing angle of the swash plate, and further, the displacement q of the main oil pump can be controlled.
As can be seen from the relation 5, when the values n, K, a, L, and i are constant, the piston operation time t is constant, and therefore, the time for the first concrete piston to move from the target position to the end position in the first direction, that is, the time for the first concrete piston to move from the target position to the end position can be obtained according to the speed for driving the first concrete piston to move and the distance: the first predetermined time.
In order to enable the first concrete piston to stop at the end position with accuracy, so as to obtain the accurate first predetermined time, in an embodiment of the present invention, as shown in fig. 4, when the first concrete piston moves to the target position along the first direction, the method further includes: controlling the pumping displacement of a pumping system for driving a first master cylinder to be reduced from an initial displacement so as to reduce the movement speed of the first concrete piston to a target speed, wherein the first master cylinder is used for driving the first concrete piston, namely: reducing the movement speed of the first concrete piston to a target speed; a first predetermined time is determined based on the target speed and the distance of the target position from the end position.
As shown in fig. 4, when the first concrete piston moves to the target position, namely: at position 6 (e.g., as detected by the first position sensor or the second position sensor), the control system immediately commands a decrease in the control current i1 without changing the current main pump speed n, at which time the main pump displacement is also decreased to K1% of the maximum displacement. If the maximum displacement of the pumping system is qm, the displacement of K1% of the changed displacement is K1% qm.
Further, the target location may be set at a number of different locations, such as: position 7 to the other two position sensors. Namely: before reaching the position 7, n, K, A and i1 are constant values, and the piston running speed v1 is a constant value; meanwhile, L1 is constant, so the movement time t1 is constant.
Further, when the first concrete piston moves to the position 7 (for example, detected by the third position sensor or the fourth position sensor), the control system immediately sends a command to reduce the control current i under the condition that the current main pump rotating speed n is not changed, and the displacement of the main pump is reduced to K2% of the maximum displacement. If the maximum displacement is qm, the displacement of K2% of the changed flow is K2% qm, and before the piston reaches the end point (namely, the end point position), n, K, A and i2 are constant values, and the piston running speed v2 is a constant value; meanwhile, L2 is constant, so the movement time t2 is constant.
In the above description, the purpose of performing two decelerations may be to stop the first concrete piston more accurately to the end position. Thus, a more accurate first predetermined time can be obtained.
Further, in a specific example of the present invention, the method further includes: and controlling the first concrete piston to continuously or discontinuously run at a reduced speed for one or more times until the target position is reached before the first concrete piston moves to the target position. For example: the first concrete piston is controlled to perform deceleration operation at a preset place before the target position is reached, the deceleration operation can be performed once, of course, multiple continuous decelerations can be performed according to needs, and multiple intermittent decelerations can be performed, so that the control until the first concrete piston moves is facilitated, for example, the control until the first concrete piston moves to the end position is facilitated.
S303: and after delaying for a second preset time, controlling the first concrete piston to move along a second direction, wherein the first direction is opposite to the second direction.
Wherein, the second predetermined time is the reversing time of the S pipe, namely: the time required for the S-pipe to switch from the delivery cylinder aligned on one side to the delivery cylinder aligned on the other side.
Referring to fig. 4, after t2ms (i.e. a first predetermined time) after the first concrete piston moves to the position 7, the control system sends out a reversing command of the S-pipe 4, the S-pipe 4 is reversed, and at this time, the stroke of the upper conveying cylinder 2 is completely finished. And (t 2+ N1) ms after the first concrete piston moves to the position 7, the control system sends a reversing instruction to the first concrete piston, the displacement of the main pump is switched to the original displacement qm, and the S pipe 4 is reversed to the other side conveying cylinder 2 and is completely aligned with the conveying cylinder 2.
The time N1 (i.e. the second predetermined time) is the time difference between the first concrete piston and the S pipe 4, and is determined by the physical structures of the first concrete piston and the S pipe 4.
According to the control method of the pumping system of the vehicle, the reversing time of the S pipe in the pumping system can be accurately controlled, so that the loss of materials conveyed by the conveying cylinder is avoided, and the pumping efficiency of the pumping system is improved.
In addition, the method further comprises: and when the first concrete piston is controlled to reverse, controlling the pumping displacement of the pumping system to return to the initial displacement. Thus, the working efficiency of the pumping system of the vehicle is further ensured.
It should be noted that the position of the concrete piston can be detected at different positions according to the embodiment of the present invention, for example, at position 8, position 9, position 10 and position 11 in fig. 2.
Fig. 5 is a block diagram of a pumping system of a vehicle according to an embodiment of the present invention. As shown in fig. 5, in conjunction with fig. 1 and 2, the pumping system 500 further comprises: a detection module 510 and a control module 520.
The detecting module 510 is configured to detect whether the first concrete piston moves to a target position along a first direction. The control module 520 is configured to start timing when the detection module 510 detects that the first concrete piston moves to a target position along the first direction, control the S-tube to reverse when the timing reaches a first predetermined time, further delay a second predetermined time when the timing reaches the second predetermined time, and control the first concrete piston to move along a second direction when the timing reaches the first predetermined time, where the first direction is opposite to the second direction, the first predetermined time is a time when the first concrete piston moves from the target position to an end position along the first direction, and the second predetermined time is a reversing time of the S-tube.
In an embodiment of the present invention, the control module 520 is further configured to control a pumping displacement of a pumping system driving a first master cylinder to be decreased from an initial displacement when the first concrete piston moves to the target position in the first direction, so as to decrease a moving speed of the first concrete piston to a target speed, wherein the first master cylinder is configured to drive the first concrete piston, and the first predetermined time is determined according to the target speed and a distance between the target position and the end position.
In an embodiment of the present invention, the control module 520 is further configured to control the pumping capacity of the pumping system to return to the initial capacity when the first concrete piston is controlled to reverse.
In one embodiment of the present invention, the control module 520 is further configured to control the first concrete piston to continuously or intermittently decelerate one or more times until the target position is reached before the first concrete piston moves to the target position.
According to the pumping system of the vehicle, the reversing time of the S pipe can be accurately controlled, so that the loss of materials conveyed by the conveying cylinder is avoided, and the pumping efficiency of the pumping system is improved.
It should be noted that the specific implementation manner of the pumping system of the vehicle in the embodiment of the present invention is similar to the specific implementation manner of the pumping system control method of the vehicle in the embodiment of the present invention, and please refer to the description of the method portion specifically, which is not described herein again.
Further, an embodiment of the present invention discloses a vehicle, including: a pumping system for a vehicle according to any one of the embodiments described above. The vehicle is for example a pump truck. The reversing time of the S pipe in the pumping system can be accurately controlled by the vehicle, so that the loss of materials conveyed by the conveying cylinder is avoided, and the material pumping efficiency of the pump truck is improved.
In addition, other configurations and functions of the vehicle according to the embodiment of the present invention are known to those skilled in the art, and will not be described herein.
Further, an embodiment of the present invention discloses a computer-readable storage medium on which a pumping system control program of a vehicle is stored, which when executed by a processor implements a pumping system control method of a vehicle according to the above-described embodiment.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
In the description of the present invention, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" are used in a broad sense, and may be, for example, mechanically or electrically connected, or may be connected by two elements, directly or indirectly through an intermediate medium, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (8)
1. A control method of a pumping system of a vehicle, wherein the pumping system comprises two master cylinders, two delivery cylinders, two concrete pistons, a hopper and an S pipe, and the method comprises the following steps:
detecting whether the first concrete piston moves to a target position along a first direction;
if yes, controlling the reversing of the S pipe after delaying first preset time, wherein the first preset time is the time when the first concrete piston moves from the target position to the end position along the first direction;
after delaying a second preset time, controlling the first concrete piston to move along a second direction, wherein the first direction is opposite to the second direction, and the second preset time is the reversing time of the S pipe;
when the first concrete piston moves to the target position along the first direction, the method further comprises the following steps:
controlling the pumping displacement of a pumping system for driving a first main oil cylinder to be reduced from an initial displacement so as to reduce the movement speed of the first concrete piston to a target speed, wherein the first main oil cylinder is used for driving the first concrete piston;
determining the first preset time according to the target speed and the distance between the target position and the end position;
the target speed is calculated by the following relation:
v＝nKi/A；
the first predetermined time is calculated by the following relation:
t＝LA/nKi；
wherein L is the running distance of the first concrete piston, A is the sectional area of the main oil cylinder, n is the rotating speed of the main oil pump, K is a constant coefficient between the displacement and the control current, and i is the control current of the control system.
2. The pumping system control method of a vehicle according to claim 1, characterized by further comprising:
and when the first concrete piston is controlled to reverse, controlling the pumping displacement of the pumping system to return to the initial displacement.
3. The pumping system control method of a vehicle according to claim 1 or 2, characterized by further comprising:
and before the first concrete piston moves to the target position, controlling the first concrete piston to continuously or discontinuously run at a reduced speed for one or more times until the target position is reached.
4. A pumping system of a vehicle, the pumping system comprising two master cylinders, two delivery cylinders, two concrete pistons, a hopper, and an S-pipe, the pumping system further comprising:
the detection module is used for detecting whether the first concrete piston moves to a target position along a first direction;
the control module is used for starting timing when the detection module detects that the first concrete piston moves to a target position along the first direction, controlling the reversing of the S pipe when the timing reaches a first preset time, further delaying a second preset time when the reversing of the S pipe is controlled, and controlling the first concrete piston to move along a second direction when the second preset time is reached, wherein the first direction is opposite to the second direction, the first preset time is the time when the first concrete piston moves from the target position to an end position along the first direction, and the second preset time is the reversing time of the S pipe;
the control module is further used for controlling the pumping displacement of a pumping system for driving a first main oil cylinder to be reduced from an initial displacement when the first concrete piston moves to the target position along the first direction, so that the movement speed of the first concrete piston is reduced to a target speed, wherein the first main oil cylinder is used for driving the first concrete piston, and determining the first preset time according to the target speed and the distance between the target position and the end position;
the target speed is calculated by the following relation:
v＝nKi/A；
the first predetermined time is calculated by the following relation:
t＝LA/nKi；
wherein L is the running distance of the first concrete piston, A is the sectional area of the main oil cylinder, n is the rotating speed of the main oil pump, K is a constant coefficient between the displacement and the control current, and i is the control current of the control system.
5. The pumping system of the vehicle of claim 4, wherein the control module is further configured to control a pumping displacement of the pumping system to return to the initial displacement when the first concrete piston is controlled to reverse.
6. The pumping system of a vehicle of claim 4 or 5, wherein the control module is further configured to control the first concrete piston to continuously or intermittently decelerate one or more times until the target position is reached before the first concrete piston moves to the target position.
7. A vehicle, characterized by comprising: a pumping system for a vehicle according to any of claims 4 to 5.
8. A computer-readable storage medium on which a pumping system control program of a vehicle is stored, characterized in that the pumping system control program of the vehicle implements a pumping system control method of a vehicle according to any one of claims 1 to 3 when executed by a processor.
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| CN203430755U (en) * | 2013-08-22 | 2014-02-12 | 徐州徐工施维英机械有限公司 | Concrete pump reversing system |
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| CN102410184B (en) * | 2011-09-09 | 2012-12-26 | 中联重科股份有限公司 | Pumping reversing control method, device and system for pumping device |
| CN203272093U (en) * | 2013-05-13 | 2013-11-06 | 飞翼股份有限公司 | Piston type industrial pump pumping oil cylinder reversing buffering system |
| CN103267008B (en) * | 2013-05-13 | 2015-07-01 | 飞翼股份有限公司 | Piston type industrial pump pumping oil cylinder reversing buffer system and control method thereof |
| CN103603843B (en) * | 2013-12-04 | 2017-01-11 | 三一汽车制造有限公司 | Oil cylinder control system, oil cylinder control method and pumping machine |
| CN104196692B (en) * | 2014-07-15 | 2017-01-18 | 三一汽车制造有限公司 | Pumping equipment, pumping system and reversing control device and method of pumping system |
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