CN113696341A - Mixing drum rotating speed control method and device and mixing truck - Google Patents
Mixing drum rotating speed control method and device and mixing truck Download PDFInfo
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- CN113696341A CN113696341A CN202110968795.5A CN202110968795A CN113696341A CN 113696341 A CN113696341 A CN 113696341A CN 202110968795 A CN202110968795 A CN 202110968795A CN 113696341 A CN113696341 A CN 113696341A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/42—Apparatus specially adapted for being mounted on vehicles with provision for mixing during transport
- B28C5/4203—Details; Accessories
- B28C5/4206—Control apparatus; Drive systems, e.g. coupled to the vehicle drive-system
- B28C5/422—Controlling or measuring devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/42—Apparatus specially adapted for being mounted on vehicles with provision for mixing during transport
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/42—Apparatus specially adapted for being mounted on vehicles with provision for mixing during transport
- B28C5/4203—Details; Accessories
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- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Preparation Of Clay, And Manufacture Of Mixtures Containing Clay Or Cement (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention provides a method and a device for controlling the rotating speed of a mixing drum and a mixing truck, wherein the method comprises the following steps: acquiring the current rotating speed of a driving motor of the mixing drum; determining a current speed reduction gear and set maintaining time corresponding to the current speed reduction gear based on the current rotating speed and the speed reduction gear table, and carrying out gear-by-gear speed reduction control on the mixing drum driving motor; the deceleration gear table comprises a plurality of deceleration gears which are arranged in a descending manner according to the control rotating speed and a set maintaining time corresponding to each deceleration gear. The method, the device and the mixer truck provided by the invention have the advantages that the rotating speed of the mixing drum is continuously controlled, the discharging phenomenon caused by instantaneous reversal due to inertia is avoided, the reversal impact force is avoided to the maximum extent, the driving discomfort is relieved, and the driving experience of a driver is improved.
Description
Technical Field
The invention relates to the technical field of mechanical engineering, in particular to a method and a device for controlling the rotating speed of a mixing drum and a mixing truck.
Background
At present, the rotation speed change of the stirring cylinder arranged on the electric stirring vehicle is realized by controlling the speed regulation of an upper motor by a Vehicle Control Unit (VCU). When the mixing drum is in the operation process, if a driver directly closes the loading power take-off switch or disconnects the key switch, the VCU controls the loading motor to decelerate, and when the rotating speed of the loading motor is reduced to a set value, the VCU controls the zero torque of the loading motor.
Among the prior art, when the churn load capacity is great, if the driver directly closes the facial make-up power take-off switch or break off the key switch, then after the churn rotational speed drops to zero, can be because the instantaneous reversal operation condition appears in the effect of inertial force, can cause the churn to overturn to the state of unloading by the feeding state on the one hand, make the concrete flow, on the other hand can cause uncomfortable driving experience for the driver because the instantaneous reversal impact force of churn.
Disclosure of Invention
The invention provides a method and a device for controlling the rotating speed of a mixing drum and a mixer truck, and aims to solve the technical problems that the control of the rotating speed of the mixing drum in the prior art is easy to reverse, so that concrete flows out, and the driving experience of a driver is low.
The invention provides a method for controlling the rotating speed of a mixing drum, which comprises the following steps:
acquiring the current rotating speed of a driving motor of the mixing drum;
determining a current speed reduction gear and set maintaining time corresponding to the current speed reduction gear based on the current rotating speed and the speed reduction gear table, and carrying out gear-by-gear speed reduction control on the mixing drum driving motor;
the deceleration gear table comprises a plurality of deceleration gears which are arranged in a descending manner according to the control rotating speed and a set maintaining time corresponding to each deceleration gear.
According to the method for controlling the rotating speed of the mixing drum, the step-by-step speed reduction control of the driving motor of the mixing drum comprises the following steps:
based on the current speed reduction gear, performing speed reduction control on the mixing drum driving motor in a rotating speed control mode or a torque control mode;
and when the maintaining time of the current deceleration gear reaches the set maintaining time corresponding to the current deceleration gear, performing deceleration control on the mixing drum driving motor based on the next deceleration gear of the current deceleration gear and the set maintaining time corresponding to the next deceleration gear.
According to the method for controlling the rotating speed of the mixing drum, the speed reduction gear is determined based on the following steps:
determining the highest control rotating speed, the lowest control rotating speed, the first rotating speed gear-shifting interval and the second rotating speed gear-shifting interval corresponding to the speed reduction gear table; the first control rotating speed is less than the highest control rotating speed and greater than the lowest control rotating speed; the second speed step interval is less than the first speed step interval;
dividing a rotating speed control interval between the highest control rotating speed and the first control rotating speed based on the first rotating speed gear-shifting interval to obtain a plurality of high-speed reduction gears;
dividing a rotating speed control interval between the first control rotating speed and the lowest control rotating speed based on a second rotating speed grading interval to obtain a plurality of low-speed deceleration gears;
determining a reduction gear in the reduction gear table based on the plurality of high-speed reduction gears and the plurality of low-speed reduction gears.
According to the method for controlling the rotating speed of the mixing drum, the highest control rotating speed is the maximum rotating speed of a driving motor of the mixing drum, and the lowest control rotating speed is zero rotating speed.
According to the method for controlling the rotating speed of the mixing drum, the set maintaining time corresponding to the low-speed reduction gear is longer than the set maintaining time corresponding to the high-speed reduction gear.
According to the method for controlling the rotating speed of the mixing drum, provided by the invention, the sum of the set maintaining time corresponding to each deceleration gear in the deceleration gear table is determined based on the whole vehicle power-off time of the mixing truck.
The invention provides a mixing drum rotating speed control device, comprising:
the acquisition unit is used for acquiring the current rotating speed of the driving motor of the mixing drum;
the control unit is used for determining a current speed reduction gear and set maintaining time corresponding to the current speed reduction gear based on the current rotating speed and the speed reduction gear table, and carrying out gear-by-gear speed reduction control on the mixing drum driving motor;
the deceleration gear table comprises a plurality of deceleration gears which are arranged in a descending manner according to the control rotating speed and a set maintaining time corresponding to each deceleration gear.
The invention provides a mixer truck which comprises a mixing drum rotating speed control device.
The invention provides electronic equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor realizes the steps of the mixing drum rotating speed control method when executing the program.
The invention provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the mixing drum rotational speed control method.
According to the method and the device for controlling the rotating speed of the mixing drum and the mixing truck, the set maintaining time corresponding to the current speed reduction gear and the current speed reduction gear is determined according to the current rotating speed and the speed reduction gear table, the speed reduction control is carried out on the driving motor of the mixing drum step by step, the speed reduction gear table comprises a plurality of speed reduction gears which are arranged in a descending manner according to the control rotating speed, and the set maintaining time corresponding to each speed reduction gear.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for controlling the rotation speed of a mixing drum according to the present invention;
FIG. 2 is a schematic diagram of a truck mounted speed control system according to the present invention;
FIG. 3 is a schematic structural diagram of a device for controlling the rotation speed of a mixing drum according to the present invention;
fig. 4 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Mixer trucks are specialized trucks used to transport concrete for construction, and all trucks have a cylindrical mixing drum to carry the mixed concrete. The mixing drum can be always kept to rotate in the transportation process so as to ensure that the carried concrete can not be solidified.
Fig. 1 is a schematic flow chart of a method for controlling the rotation speed of a mixing drum according to the present invention, as shown in fig. 1, the method includes:
and step 110, acquiring the current rotating speed of the driving motor of the mixing drum.
Specifically, the mixing drum is connected with a mixing drum driving motor through a gearbox. The mixing drum is driven by a mixing drum driving motor, and the rotating speed of the mixing drum can be obtained through the gear ratio of the gearbox and the rotating speed of the mixing drum driving motor. The control of the rotating speed of the mixing drum is to control the rotating speed of a driving motor of the mixing drum. The mixer drum drive motor is also referred to as a top-mounted motor.
The method for controlling the rotating speed of the mixing drum is suitable for a fuel-driven mixing truck and is also suitable for a power battery-driven electric mixing truck. For an electric mixer truck, when a mixing drum is in the running process, if a driver directly closes an upper power take-off switch or disconnects a key switch, a VCU controls an upper motor to decelerate the mixing drum until the mixing drum stops rotating.
When the rotating speed of the mixing drum is controlled, the current rotating speed of the driving motor of the mixing drum is acquired. The current rotating speed refers to the rotating speed of the stirring drum driving motor at the current moment.
the deceleration gear table comprises a plurality of deceleration gears which are arranged in a descending manner according to the control rotating speed and a set maintaining time corresponding to each deceleration gear.
Specifically, because substances such as concrete and the like may be loaded in the mixing drum, if the loading capacity of the concrete is small, the rotation speed of the mixing drum gradually stops after being reduced to a set value; if the load capacity of concrete is more, when the rotational speed of churn can drop to zero rotational speed, the concrete in the churn was more this moment, because inertial effect can lead to the churn to appear transient reversal phenomenon for the churn switches to the state of unloading from the feeding state, makes the concrete flow out, and produces the reversal impact force, causes the trucd mixer vibrations, causes uncomfortable driving experience for the driver.
A downshift gear table may be developed. The deceleration gear table comprises a plurality of deceleration gears, and a control rotating speed and a set maintaining time corresponding to each deceleration gear. The control of the rotating speed is that when any speed reduction gear is adopted to control the rotating speed of the mixing drum driving motor, the mixing drum driving motor rotates. The control rotation speed may be a rotation speed value, such as 200 revolutions per minute (rmp), or may be a rotation speed interval, such as 150 and 200 revolutions per minute (rmp). The maintaining time is set as the continuous control time of any speed reducing gear when the speed of the mixing drum driving motor is controlled by adopting the speed reducing gear. For example, when the rotation speed control is performed using a certain reduction gear, if the set maintenance time of the reduction gear is 1 minute, it means that the continuous control time is 1 minute in the reduction gear control.
Each deceleration gear in the deceleration gear table can be set in a descending mode according to the control rotating speed. For example, N deceleration gears may be set, where N is a positive integer, Gear1, Gear2, …, Gear (N-1), and Gear, and the relationship of the control rotation speed corresponding to each deceleration Gear is Gear1> Gear2> … > Gear (N-1) > Gear.
According to the current rotating speed of the mixing drum driving motor, the corresponding speed reduction gear can be determined, then the speed reduction control is carried out on the mixing drum driving motor step by step according to the set maintaining time corresponding to the speed reduction gear, so that the rotating speed of the mixing drum driving motor can be gradually reduced, the mixing process of concrete in the mixing drum is a continuous reducing process, and instantaneous reversal can not be generated due to inertia.
When the gear-by-gear speed reduction is carried out, the gear-by-gear speed reduction can be carried out when a driver closes the upper power take-off switch or the key switch, or can be carried out after the rotating speed of the stirring drum driving motor is lower than the set rotating speed, and the set rotating speed can be set according to the actual condition.
According to the method for controlling the rotating speed of the mixing drum, the set maintaining time corresponding to the current speed reduction gear and the current speed reduction gear is determined according to the current rotating speed and the speed reduction gear table, gear-by-gear speed reduction control is carried out on the driving motor of the mixing drum, the speed reduction gear table comprises a plurality of speed reduction gears which are arranged in a descending manner according to the size of the control rotating speed, and the set maintaining time corresponding to each speed reduction gear.
Based on the above embodiment, step 120 includes:
based on the current speed reduction gear, a rotating speed control mode or a torque control mode is adopted to carry out speed reduction control on the driving motor of the mixing drum;
and when the maintaining time of the current deceleration gear reaches the set maintaining time corresponding to the current deceleration gear, performing deceleration control on the driving motor of the mixing drum based on the next deceleration gear of the current deceleration gear and the set maintaining time corresponding to the next deceleration gear.
Specifically, when the speed reduction control is performed on the mixing drum driving motor by using the current speed reduction gear, a rotation speed control mode or a torque control mode can be adopted.
The target physical quantity of the rotation speed control mode is the rotation speed of the mixing drum driving motor. The rotating speed control mode is closed-loop control by taking the rotating speed of the stirring drum driving motor as an actual value, and has the characteristics of high control precision and the like.
The target physical quantity of the torque control system is an output torque for controlling the mixer drum drive motor. The concrete loading capacity is large, the rotation speed control mode is likely to be large, so that the rotation speed control is invalid or the equipment damage is likely to be caused by forcibly controlling the rotation speed due to the fact that the rotation inertia is large, the mode can be switched to the torque control mode at the moment, the rotation speed is changed by controlling the change of the torque, the equipment damage can be effectively avoided, the service life of the equipment is prolonged, and the like.
When the maintaining time of the current speed reduction gear reaches the set maintaining time corresponding to the current speed reduction gear, the rotating speed of the mixing drum driving motor is reduced, the current speed reduction gear can be switched to the next speed reduction gear, the speed reduction control is carried out on the mixing drum driving motor according to the set maintaining time corresponding to the next speed reduction gear, the rotating speed of the mixing drum is continuously reduced, and the steps are repeated until the rotating speed of the mixing drum driving motor is reduced to zero.
In any of the embodiments described above, the reduction gear is determined based on the steps of:
determining the highest control rotating speed, the lowest control rotating speed, the first rotating speed gear-shifting interval and the second rotating speed gear-shifting interval corresponding to the speed reduction gear table; the first control rotating speed is less than the highest control rotating speed and greater than the lowest control rotating speed; the second speed step interval is smaller than the first speed step interval;
dividing a rotating speed control interval between the highest control rotating speed and the first control rotating speed based on the first rotating speed gear-dividing interval to obtain a plurality of high-speed reduction gears;
dividing a rotating speed control interval between the first control rotating speed and the lowest control rotating speed based on the second rotating speed grading interval to obtain a plurality of low-speed reduction gears;
a reduction gear in the reduction gear table is determined based on the plurality of high-speed reduction gears and the plurality of low-speed reduction gears.
Specifically, in order to improve the effect of the gear-by-gear deceleration, the number of deceleration gears may be set. The gear shifting principle can be that when the rotating speed of the mixing drum driving motor is high, some gears can be divided less, and when the rotating speed of the mixing drum driving motor is low, some gears can be divided more. By the division, when the rotating speed of the mixing drum driving motor is reduced, finer control can be achieved, so that the rotating speed control of the mixing drum is smoother, and the reverse impact force is reduced to the maximum extent.
First, the highest control rotation speed and the lowest control rotation speed corresponding to the deceleration gear table are determined. The first control rotation speed may be determined between a highest control rotation speed and a lowest control rotation speed according to the rotation speed characteristics of the agitating drum driving motor. The first control rotation speed is used to divide the entire rotation speed control section into a high speed control section and a low speed control section. Furthermore, a first and a second speed step interval are determined. The rotating speed grading interval is a rotating speed control interval unit. The first speed-shifting interval is used for shifting the high-speed control interval, and the second speed-shifting interval is used for shifting the low-speed control interval. The second speed step interval may be set to be smaller than the first speed step interval. For example, the first speed step interval may be 50 rpm, and the high-speed control interval may be divided into intervals according to the change of the speed of 50 rpm, such as 550-; the second rotation speed step interval may be 20 rpm, and the low speed control interval may be divided into two intervals according to the rotation speed change of 20 rpm, such as 200-.
Secondly, dividing a rotating speed control interval between the highest control rotating speed and the first control rotating speed according to the first rotating speed gear-shifting interval to obtain a plurality of high-speed reduction gears; and dividing a rotating speed control interval between the first control rotating speed and the lowest control rotating speed according to the second rotating speed grading interval to obtain a plurality of low-speed reduction gears. Because the second rotating speed gear-shifting interval is smaller than the first rotating speed gear-shifting interval, the distribution of the low-speed reduction gears corresponding to the low-speed control interval is dense, and the distribution of the low-speed reduction gears corresponding to the low-speed control interval is sparse.
And finally, determining the deceleration gear in the deceleration gear table according to the obtained multiple high-speed deceleration gears and multiple low-speed deceleration gears.
Based on any one of the above embodiments, the highest control rotation speed is the maximum rotation speed of the mixing drum driving motor, and the lowest control rotation speed is the zero rotation speed.
Specifically, in order to effectively control the rotation speed of the mixing drum, the control range of the speed reduction gear can be reasonably set. The maximum rotating speed of the driving motor of the mixing drum can be set to be the highest control rotating speed corresponding to the speed reduction gear table, and the zero rotating speed can be set to be the lowest control rotating speed corresponding to the speed reduction gear table.
Based on any embodiment, the set maintaining time corresponding to the low-speed deceleration gear is longer than the set maintaining time corresponding to the high-speed deceleration gear.
Specifically, in order to further improve the rotation speed control effect, it is also possible to set the set maintenance time for each deceleration shift.
The mixing drum has a large rotational inertia when it is loaded with a large amount of concrete. Therefore, in order to achieve a smooth reduction in the rotation speed, the set holding time corresponding to the low-speed reduction gear can be appropriately extended with respect to the set holding time corresponding to the high-speed reduction gear, so that the rotation speed of the mixer drum drive motor changes as smoothly as possible at a low speed, thereby improving the speed reduction effect in the low-speed control section. The specific prolonged time can be determined according to actual conditions.
Based on any embodiment, the sum of the set maintaining time corresponding to each deceleration gear in the deceleration gear table is determined based on the whole vehicle power-off time of the mixer vehicle.
Specifically, the power-off time of the whole vehicle is the time that the VCU continues to control after the key switch is turned off by the driver. The power-off time of the whole mixer truck cannot be too long, otherwise, the electric energy in a power battery or a storage battery in the mixer truck can be exhausted, and the restart of the mixer truck is influenced. Therefore, the set maintaining time corresponding to each deceleration gear in the deceleration gear table can be determined according to the whole vehicle power-off time of the mixer truck.
For example, the sum of the set maintaining time corresponding to each deceleration gear can be set to be not greater than the power-off time of the whole vehicle, and then the set maintaining time corresponding to each deceleration gear is set independently according to actual conditions.
Based on any of the above embodiments, fig. 2 is a schematic diagram of a system for controlling a rotation speed installed on a mixer truck according to the present invention, and as shown in fig. 2, the system includes a Vehicle Control Unit (VCU), an installed motor controller, a power supply device, an installed motor, and a mixing drum.
The vehicle control unit is used for acquiring signals of an accelerator and a brake pedal in a cab, signals sent by a control panel in the cab, control signals sent by an electric control handle outside the cab, gear signals of a gearbox, hand brake signals, vehicle speed signals and the like, determining control instructions for controlling the rotating speed, the torque and the rotating direction of a motor of the upper motor according to the control logic of the upper motor, and sending the control instructions to the upper motor controller.
The upper motor controller is used for acquiring a power supply of the upper motor from the power supply device and controlling the upper motor according to a control instruction sent by the vehicle control unit.
The upper motor is directly driven by the gearbox or is in hydraulic connection with the mixing drum to drive the mixing drum to accelerate or decelerate.
The specific control mode comprises the following steps:
(1) mixing drum acceleration control
After the upper mixing drum is started, the VCU regulates the speed of the motor in a motor rotating speed control (or motor torque control) mode, and further realizes the acceleration operation of the mixing drum.
(2) Churn deceleration control
When the mixing drum is in the running process, if a driver turns off the upper power take-off switch or turns off the key, the mixing drum gradually stops running; in the whole speed reduction process, the VCU can control the upper motor to carry out the operation of 'gear shifting speed reduction' (the speed reduction can adopt a motor rotating speed control or torque control mode), when the rotating speed of the upper motor is less than a certain set value, the VCU can control the motor to carry out zero torque control, and the operation of 'gear shifting speed reduction' is as follows:
1) dividing the whole speed reduction process of reducing the maximum rotation speed of the mixing drum to zero rotation speed into N gears, wherein N is a positive integer and is Gear1, Gear2, Gear3, …, Gear (N-1) and Gear N, and the rotation speed relationship corresponding to each Gear is Gear1> Gear2> … > Gear (N-1) > Gear N, namely Gear1 corresponds to the maximum rotation speed of the mixing drum (namely the maximum rotation speed of the motor), and Gear N corresponds to the zero rotation speed of the mixing drum (namely the zero rotation speed of the motor);
the principle of grading: when the motor rotating speed is low (such as the motor rotating speed is less than 100rpm), the gears can be densely divided, and conversely, when the motor rotating speed is high, the gears can be less;
2) when the rotating speed of the motor is reduced to the rotating speed corresponding to each gear, the rotating speed of the gear needs to be maintained for a certain time T (T is a standard quantity); the time T for maintaining the rotating speed under each gear can be determined according to actual requirements; the low gear setting time is recommended to be long, the high gear setting time is recommended to be short, the maintaining time of a certain gear or certain gears can be 0, but the general principle is that the sum of the rotating speed maintaining time in each gear cannot be too long, and if the sum is too long, the power-off time of the whole vehicle is longer after a driver closes a key;
3) when the rotating speed of the motor is reduced to Gear (N-1) and the maintaining time of the motor at the Gear meets the requirement, the VCU controls the motor to have zero torque, namely, the VCU enters the Gear GearN, the motor exits from the speed regulation control, and the motor slowly reduces the speed by means of friction resistance.
According to the system for controlling the rotating speed of the upper mixer truck, provided by the embodiment of the invention, when the upper mixer drum is in the running process, if a driver directly turns off the upper power take-off switch or turns off the key switch, the control system can ensure that the mixer drum does not have large reverse rotation to cause unloading operation, and simultaneously, the reverse rotation impact force is reduced to the maximum extent, and the driving discomfort is relieved.
Based on any of the above embodiments, fig. 3 is a schematic structural diagram of a device for controlling a rotation speed of a mixing drum according to the present invention, as shown in fig. 3, the device includes:
an obtaining unit 310, configured to obtain a current rotation speed of a driving motor of the mixing drum;
the control unit 320 is used for determining a current speed reduction gear and a set maintaining time corresponding to the current speed reduction gear based on the current rotating speed and the speed reduction gear table, and performing gear-by-gear speed reduction control on the driving motor of the mixing drum;
the deceleration gear table comprises a plurality of deceleration gears which are arranged in a descending manner according to the control rotating speed and a set maintaining time corresponding to each deceleration gear.
According to the mixing drum rotating speed control device provided by the embodiment of the invention, the set maintaining time corresponding to the current speed reduction gear and the current speed reduction gear is determined according to the current rotating speed and the speed reduction gear table, the speed reduction control is carried out on the mixing drum driving motor in a gear-by-gear manner, the speed reduction gear table comprises a plurality of speed reduction gears which are arranged in a descending manner according to the control rotating speed, and the set maintaining time corresponding to each speed reduction gear.
Based on any of the above embodiments, the control unit 320 is configured to:
based on the current speed reduction gear, a rotating speed control mode or a torque control mode is adopted to carry out speed reduction control on the driving motor of the mixing drum;
and when the maintaining time of the current deceleration gear reaches the set maintaining time corresponding to the current deceleration gear, performing deceleration control on the driving motor of the mixing drum based on the next deceleration gear of the current deceleration gear and the set maintaining time corresponding to the next deceleration gear.
Based on any embodiment above, still include:
the gear determining unit is used for determining the highest control rotating speed, the lowest control rotating speed, the first rotating speed gear-shifting interval and the second rotating speed gear-shifting interval corresponding to the speed reduction gear table; the first control rotating speed is less than the highest control rotating speed and greater than the lowest control rotating speed; the second speed step interval is smaller than the first speed step interval;
dividing a rotating speed control interval between the highest control rotating speed and the first control rotating speed based on the first rotating speed gear-dividing interval to obtain a plurality of high-speed reduction gears;
dividing a rotating speed control interval between the first control rotating speed and the lowest control rotating speed based on the second rotating speed grading interval to obtain a plurality of low-speed reduction gears;
a reduction gear in the reduction gear table is determined based on the plurality of high-speed reduction gears and the plurality of low-speed reduction gears.
Based on any one of the above embodiments, the highest control rotation speed is the maximum rotation speed of the mixing drum driving motor, and the lowest control rotation speed is the zero rotation speed.
Based on any embodiment, the set maintaining time corresponding to the low-speed deceleration gear is longer than the set maintaining time corresponding to the high-speed deceleration gear.
Based on any embodiment, the sum of the set maintaining time corresponding to each deceleration gear in the deceleration gear table is determined based on the whole vehicle power-off time of the mixer vehicle.
Based on any one of the embodiments, an embodiment of the present invention provides a mixer truck, including the above mixing drum rotation speed control device.
Specifically, the mixer truck in the embodiment of the present invention may be a fuel-driven mixer truck, and may also be an electric mixer truck driven by a power battery.
Based on any of the above embodiments, fig. 4 is a schematic structural diagram of an electronic device provided by the present invention, and as shown in fig. 4, the electronic device may include: a Processor (Processor)410, a communication Interface (communication Interface)420, a Memory (Memory)430 and a communication Bus (communication Bus)440, wherein the Processor 410, the communication Interface 420 and the Memory 430 are communicated with each other via the communication Bus 440. The processor 410 may call logical commands in the memory 430 to perform the following method:
acquiring the current rotating speed of a driving motor of the mixing drum; determining a current speed reduction gear and set maintaining time corresponding to the current speed reduction gear based on the current rotating speed and the speed reduction gear table, and carrying out gear-by-gear speed reduction control on a driving motor of the mixing drum; the deceleration gear table comprises a plurality of deceleration gears which are arranged in a descending manner according to the control rotating speed and a set maintaining time corresponding to each deceleration gear.
In addition, the logic commands in the memory 430 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic commands are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of commands for enabling a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The processor in the electronic device provided in the embodiment of the present invention may call a logic instruction in the memory to implement the method, and the specific implementation manner of the method is consistent with the implementation manner of the method, and the same beneficial effects may be achieved, which is not described herein again.
Embodiments of the present invention further provide a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the method provided in the foregoing embodiments when executed by a processor, and the method includes:
acquiring the current rotating speed of a driving motor of the mixing drum; determining a current speed reduction gear and set maintaining time corresponding to the current speed reduction gear based on the current rotating speed and the speed reduction gear table, and carrying out gear-by-gear speed reduction control on a driving motor of the mixing drum; the deceleration gear table comprises a plurality of deceleration gears which are arranged in a descending manner according to the control rotating speed and a set maintaining time corresponding to each deceleration gear.
When the computer program stored on the non-transitory computer readable storage medium provided in the embodiments of the present invention is executed, the method is implemented, and the specific implementation manner of the method is consistent with the implementation manner of the method, and the same beneficial effects can be achieved, which is not described herein again.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes commands for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for controlling the rotation speed of a mixing drum is characterized by comprising the following steps:
acquiring the current rotating speed of a driving motor of the mixing drum;
determining a current speed reduction gear and set maintaining time corresponding to the current speed reduction gear based on the current rotating speed and the speed reduction gear table, and carrying out gear-by-gear speed reduction control on the mixing drum driving motor;
the deceleration gear table comprises a plurality of deceleration gears which are arranged in a descending manner according to the control rotating speed and a set maintaining time corresponding to each deceleration gear.
2. The method for controlling the rotation speed of a mixing drum according to claim 1, wherein the step-by-step deceleration control of the mixing drum drive motor comprises:
based on the current speed reduction gear, performing speed reduction control on the mixing drum driving motor in a rotating speed control mode or a torque control mode;
and when the maintaining time of the current deceleration gear reaches the set maintaining time corresponding to the current deceleration gear, performing deceleration control on the mixing drum driving motor based on the next deceleration gear of the current deceleration gear and the set maintaining time corresponding to the next deceleration gear.
3. The method of controlling the rotational speed of a mixing drum according to claim 1, wherein the deceleration position is determined based on the steps of:
determining the highest control rotating speed, the lowest control rotating speed, the first rotating speed gear-shifting interval and the second rotating speed gear-shifting interval corresponding to the speed reduction gear table; the first control rotating speed is less than the highest control rotating speed and greater than the lowest control rotating speed; the second speed step interval is less than the first speed step interval;
dividing a rotating speed control interval between the highest control rotating speed and the first control rotating speed based on the first rotating speed gear-shifting interval to obtain a plurality of high-speed reduction gears;
dividing a rotating speed control interval between the first control rotating speed and the lowest control rotating speed based on a second rotating speed grading interval to obtain a plurality of low-speed deceleration gears;
determining a reduction gear in the reduction gear table based on the plurality of high-speed reduction gears and the plurality of low-speed reduction gears.
4. The method of claim 3, wherein the maximum control speed is a maximum speed of the mixer drum drive motor, and the minimum control speed is zero speed.
5. The method according to claim 3, wherein the set holding time corresponding to the low-speed reduction gear is longer than the set holding time corresponding to the high-speed reduction gear.
6. The method for controlling the rotation speed of a mixing drum according to any one of claims 1 to 5, wherein the sum of the set maintaining time corresponding to each deceleration gear in the deceleration gear table is determined based on the total vehicle power-off time of the mixer vehicle.
7. A mixing drum rotation speed control device is characterized by comprising:
the acquisition unit is used for acquiring the current rotating speed of the driving motor of the mixing drum;
the control unit is used for determining a current speed reduction gear and set maintaining time corresponding to the current speed reduction gear based on the current rotating speed and the speed reduction gear table, and carrying out gear-by-gear speed reduction control on the mixing drum driving motor;
the deceleration gear table comprises a plurality of deceleration gears which are arranged in a descending manner according to the control rotating speed and a set maintaining time corresponding to each deceleration gear.
8. A mixer truck comprising the mixing drum rotation speed control device according to claim 7.
9. An electronic device comprising a memory, a processor and a computer program stored on said memory and executable on said processor, characterized in that said processor implements the steps of the method for controlling the speed of rotation of a mixing drum according to any one of claims 1 to 6 when said program is executed by said processor.
10. A non-transitory computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the method for controlling the speed of a mixing drum according to any one of claims 1 to 6.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110968795.5A CN113696341B (en) | 2021-08-23 | 2021-08-23 | Mixing drum rotating speed control method and device and mixing truck |
| PCT/CN2022/105878 WO2023024751A1 (en) | 2021-08-23 | 2022-07-15 | Mixing drum rotational speed control method and apparatus, and mixer truck |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110968795.5A CN113696341B (en) | 2021-08-23 | 2021-08-23 | Mixing drum rotating speed control method and device and mixing truck |
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| CN113696341A true CN113696341A (en) | 2021-11-26 |
| CN113696341B CN113696341B (en) | 2022-12-02 |
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| WO (1) | WO2023024751A1 (en) |
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| CN114953189A (en) * | 2022-05-31 | 2022-08-30 | 三一电动车科技有限公司 | Method and device for controlling rotation speed of mixing drum, mixing drum and operation machine |
| CN115416160A (en) * | 2022-09-23 | 2022-12-02 | 湖南三一智能控制设备有限公司 | Mixing drum steering identification method and device and mixing truck |
| WO2023024751A1 (en) * | 2021-08-23 | 2023-03-02 | 三一汽车制造有限公司 | Mixing drum rotational speed control method and apparatus, and mixer truck |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN113696341B (en) | 2022-12-02 |
| WO2023024751A1 (en) | 2023-03-02 |
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