CN113787618B - 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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- CN113787618B CN113787618B CN202110968791.7A CN202110968791A CN113787618B CN 113787618 B CN113787618 B CN 113787618B CN 202110968791 A CN202110968791 A CN 202110968791A CN 113787618 B CN113787618 B CN 113787618B
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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
- B28C5/4203—Details; Accessories
- B28C5/4206—Control apparatus; Drive systems, e.g. coupled to the vehicle drive-system
- B28C5/421—Drives
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 power take-off switch state and the key switch state of the mixer truck; if the upper power take-off switch is turned off and the key switch is turned on, performing speed reduction control on the mixing drum driving motor and acquiring the current rotating speed of the mixing drum driving motor; and if the current rotating speed of the mixing drum driving motor is less than a first rotating speed set value, continuously adopting zero rotating speed control on the mixing drum driving motor. The method, the device and the mixer truck provided by the invention have the advantages that the unloading phenomenon caused by instantaneous reversal generated by inertia can be 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 a mixing drum arranged on an electric mixer truck 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 loading 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 action of inertia 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 power take-off switch state and the key switch state of the mixer truck;
if the upper power take-off switch is turned off and the key switch is turned on, performing speed reduction control on the mixing drum driving motor and acquiring the current rotating speed of the mixing drum driving motor;
and if the current rotating speed of the mixing drum driving motor is less than a first rotating speed set value, continuously adopting zero rotating speed control on the mixing drum driving motor.
According to the method for controlling the rotating speed of the mixing drum provided by the invention, the method for controlling the rotating speed of the mixing drum comprises the following steps:
and if the duration time that the current rotating speed of the mixing drum driving motor is less than the first rotating speed set value is longer than the first set time, adopting zero-torque control on the mixing drum driving motor.
According to the rotating speed control method of the mixing drum, the upper-mounted power take-off switch is used for indicating that an upper-mounted system of the mixing truck is controllable;
when the upper power take-off switch is turned on, the mixing drum driving motor controls the mixing drum to start rotating, and when the upper power take-off switch is turned off, the mixing drum driving motor controls the mixing drum to stop rotating.
According to the method for controlling the rotating speed of the mixing drum, the method for acquiring the power-on and power-off state and the key-on and power-off state of the mixer truck comprises the following steps:
if the key switch is turned off, performing speed reduction control on the mixing drum driving motor, and acquiring the current rotating speed of the mixing drum driving motor;
if the current rotating speed of the mixing drum driving motor is less than a second rotating speed set value, adopting zero-torque control on the mixing drum driving motor, and carrying out reverse rotation detection on the mixing drum driving motor;
if the mixing drum driving motor is detected to be reversely rotated within a second set time and the reverse rotation speed is greater than a third rotating speed set value, continuing to perform speed reduction control on the mixing drum driving motor until the mixing drum driving motor meets preset conditions, and executing power-off operation of a controller;
the preset condition is that the duration time that the rotating speed of the mixing drum driving motor is smaller than a second rotating speed set value after the mixing drum driving motor rotates reversely is longer than a second set time, or the deceleration control time of the mixing drum driving motor after the mixing drum driving motor rotates reversely is longer than a third set time.
According to the method for controlling the rotation speed of the mixing drum provided by the invention, the step of detecting the reverse rotation of the mixing drum driving motor comprises the following steps:
and if the reverse rotation of the stirring drum driving motor is not detected within a second set time, executing the power-down operation of the controller.
According to the method for controlling the rotation speed of the mixing drum provided by the invention, the speed reduction control of the driving motor of the mixing drum comprises the following steps:
and carrying out speed reduction control on the stirring drum driving motor by adopting a rotating speed control mode or a torque control mode.
The invention provides a mixing drum rotating speed control device, comprising:
the acquisition unit is used for acquiring the power take-off switch state and the key switch state of the mixer truck;
the speed reduction unit is used for carrying out speed reduction control on the mixing drum driving motor and acquiring the current rotating speed of the mixing drum driving motor if the upper power take-off switch is turned off and the key switch is turned on;
and the first control unit is used for continuously adopting zero rotating speed control on the stirring drum driving motor if the current rotating speed of the stirring drum driving motor is less than a first rotating speed set value.
The invention provides a mixer truck, which comprises a memory and a computer program which is stored on the memory and can run on a controller, wherein the controller realizes the steps of the mixing drum rotating speed control method when executing the program.
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 mixing drum rotating speed control method, the mixing drum rotating speed control device and the mixing truck, if the upper loading power take-off switch of the mixing truck is detected to be turned off and the key switch is turned on, the speed reduction control is performed on the mixing drum driving motor, the current rotating speed of the mixing drum driving motor is obtained, if the current rotating speed of the mixing drum driving motor is smaller than the first rotating speed set value, the zero rotating speed control is continuously adopted on the mixing drum driving motor, when the upper loading power take-off switch is turned off, the phenomenon of discharging caused by instantaneous reversal due to inertia is avoided through the continuous zero rotating speed control on the mixing drum driving motor, the reversal impact force is avoided to the maximum extent, the driving discomfort is relieved, and the driving experience of a driver is improved.
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 cylindrical mixing drums are installed on trucks to carry 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 110, acquiring the power take-off switch state and the key switch state of the mixer truck.
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 rotation speed of the mixing drum is to control the rotation speed of a driving motor of the mixing drum. The mixer drum drive motor is also referred to as a top-mounted motor. For example, in the case of an electric mixer truck, if a driver turns off a loading power take-off switch or turns off a key switch while a mixing drum is in operation, a VCU controls a loading motor to decelerate the mixing drum until the mixing drum stops rotating.
The power take-off switch is formed by combining a gear box, a clutch and a controller, is connected with a low-gear or an output shaft of an auxiliary box of the gear box, and outputs power to an external working device. The upper loading power take-off switch is used for indicating that an upper loading system of the mixing truck is controllable, when the upper loading power take-off switch is turned on, the mixing drum driving motor controls the mixing drum to start rotating, and when the upper loading power take-off switch is turned off, the mixing drum driving motor controls the mixing drum to stop rotating. The key switch is a main power switch of a vehicle cab, and is used for switching on the power of each system on the mixer truck when the key switch is turned on and switching off the power of each system on the mixer truck when the key switch is turned off.
And step 120, if the upper power take-off switch is turned off and the key switch is turned on, performing speed reduction control on the mixing drum driving motor, and acquiring the current rotating speed of the mixing drum driving motor.
Specifically, when the power take-off switch of the mixer truck is turned off and the key switch is turned on, the drive motor of the mixer truck needs to be controlled to perform speed reduction control, so that the mixing drum can be gradually stopped to rotate. In the process of speed reduction control, the current rotating speed of the mixing drum driving motor needs to be acquired. The current rotating speed refers to the rotating speed of the stirring drum driving motor at the current moment.
And step 130, if the current rotating speed of the mixing drum driving motor is less than the first rotating speed set value, continuously adopting zero rotating speed control on the mixing drum driving motor.
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.
Therefore, the current rotating speed of the mixing drum driving motor can be obtained in real time in the process that the rotating speed of the mixing drum driving motor gradually decreases. If the current rotating speed is less than the first rotating speed set value, the rotating speed of the driving motor of the mixing drum is already small, namely the rotating speed of the mixing drum is also already small, the rotating energy of the mixing drum is further weakened, the rotating speed locking operation can be carried out, and therefore reverse rotation is avoided. The first speed set point may be set as desired, for example, the first speed set point may be set to 50 revolutions per minute (rpm).
The zero rotation speed control means that the rotation speed of the motor is kept at zero by controlling the torque and the rotation speed of the motor. At the moment, the zero rotating speed control can be continuously adopted for the mixing drum driving motor in a rotating speed control or torque control mode, so that the mixing drum driving motor is always kept in a zero rotating speed state, namely the mixing drum is forcibly kept stable through the motor and does not rotate.
According to the mixing drum rotating speed control method provided by the embodiment of the invention, if the upper loading power take-off switch of the mixing truck is detected to be turned off and the key switch is turned on, the speed reduction control is carried out on the mixing drum driving motor, the current rotating speed of the mixing drum driving motor is obtained, if the current rotating speed of the mixing drum driving motor is smaller than the first rotating speed set value, the zero rotating speed control is continuously adopted for the mixing drum driving motor, when the upper loading power take-off switch is turned off, the discharging phenomenon caused by instantaneous reversal due to inertia can not occur, the reversal impact force is avoided to the maximum extent, the driving discomfort is relieved, and the driving experience of a driver is improved.
Based on the above embodiment, step 120 further includes:
and if the duration time that the current rotating speed of the mixing drum driving motor is less than the first rotating speed set value is longer than the first set time, adopting zero-torque control on the mixing drum driving motor.
Specifically, the zero torque control is to control the output torque of the motor to be zero, and to naturally reduce the rotational speed of the motor by consuming rotational energy depending on friction or the like.
The first set time may be set as desired, for example, 20 seconds. If the duration time that the current rotating speed of the mixing drum driving motor is smaller than the first rotating speed set value is longer than the first set time, the rotating energy of the mixing drum is small enough, the possibility that reverse rotation can occur is low, and at the moment, zero-torque control can be adopted, so that the rotating speed of the mixing drum driving motor is gradually reduced until the rotating speed is reduced to zero. Through the mode of zero torque control, be favorable to practicing thrift the energy consumption of trucd mixer.
Based on any one of the embodiments, the loading power take-off switch is used for indicating that a loading system of the mixer truck is controllable;
when the upper loading power take-off switch is turned on, the mixing drum driving motor controls the mixing drum to start rotating, and when the upper loading power take-off switch is turned off, the mixing drum driving motor controls the mixing drum to stop rotating.
Specifically, when the upper loading force taking switch is turned on, the mixing drum driving motor controls the mixing drum to start rotating, and after the mixing drum starts accelerating to a set rotating speed, for example, 1 minute of rotation of the mixing drum, 500 minutes of rotation of the mixing drum driving motor, the mixing drum is in a working state; when the upper loading force taking switch is turned off, the mixing drum driving motor controls the mixing drum to stop rotating, and after the speed is reduced to zero, the mixing drum is out of the working state.
Based on any of the above embodiments, step 110 then includes:
if the key switch is turned off, performing speed reduction control on the mixing drum driving motor, and acquiring the current rotating speed of the mixing drum driving motor;
if the current rotating speed of the mixing drum driving motor is less than the second rotating speed set value, adopting zero-torque control on the mixing drum driving motor, and carrying out reverse rotation detection on the mixing drum driving motor;
if the mixing drum driving motor is detected to be reversely rotated within the second set time and the reverse rotation speed is greater than the third rotating speed set value, continuing to perform speed reduction control on the mixing drum driving motor until the mixing drum driving motor meets the preset condition, and executing power-off operation of the controller;
the preset condition is that the duration time that the rotating speed of the mixing drum driving motor is smaller than the second rotating speed set value after the mixing drum driving motor rotates reversely is longer than the second set time, or the deceleration control time of the mixing drum driving motor after the stirring drum driving motor rotates reversely is longer than the third set time.
Specifically, if the key switch is detected to be off, indicating that power is about to be shut down throughout the truck mixer, the controller VCU will also be powered down. At this time, the motor cannot continue to forcibly keep the mixing drum stable.
After detecting that the key switch is turned off, the controller immediately controls the stirring drum driving motor to decelerate the stirring drum.
If the current rotating speed of the mixing drum driving motor is smaller than the second rotating speed set value, the rotating speed of the mixing drum driving motor is small, namely the rotating speed of the mixing drum is also small, and further the rotating energy of the mixing drum is weakened, the zero-torque control is adopted for the mixing drum driving motor, and the reverse rotation detection is carried out on the mixing drum driving motor. The second speed setting may be set according to actual needs, for example, the second speed setting may be set to 50 revolutions per minute (rpm).
If the fact that the mixing drum driving motor rotates reversely and the reverse rotation speed is larger than the third rotating speed set value is detected within the second set time, the fact that the rotating energy of the mixing drum can still cause the mixing drum to rotate reversely is indicated, speed reduction control is continuously conducted on the mixing drum driving motor until the mixing drum driving motor meets the preset conditions, and power-off operation of the controller is conducted. The third speed setting may be set according to actual needs, for example, the third speed setting may be set to 150 revolutions per minute (rpm).
The preset condition is used for judging whether the power-off operation of the controller is met. If the preset condition is met, the rotating energy of the mixing drum is not enough to cause reverse rotation, and the power-off operation can be normally executed. The preset condition is that the duration of the rotating speed of the mixing drum driving motor which is lower than the second rotating speed set value after the reverse rotation is longer than the second set time, or the deceleration control time of the mixing drum driving motor which is lower than the third set time after the reverse rotation is longer than the third set time.
The second setting time may be set as needed, for example, 2 seconds. The third setting time may be set as needed, for example, 5 seconds.
Based on any one of the above embodiments, the method for detecting reverse rotation of the driving motor of the mixing drum includes:
and if the reverse rotation of the stirring drum driving motor is not detected within the second set time, executing the power-down operation of the controller.
Specifically, if the reverse rotation of the mixer drum driving motor is not detected within the second set time, it indicates that the rotation energy of the mixer drum does not cause the reverse rotation, and the controller power-off operation can be normally performed.
Based on any one of the above embodiments, the speed reduction control of the mixer drum drive motor includes:
and 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.
Specifically, the target physical quantity of the rotation speed control manner is the rotation speed of the drum drive 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.
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 rotating speed control method specifically comprises the following steps:
1. after the upper mixing drum is started, the VCU regulates the speed of the motor in any mode of motor speed control or motor torque control, and further normal acceleration and deceleration operation of the mixing drum is realized;
2. when the mixing drum is in operation, if the driver only turns off the upper power take-off switch (at this time, the key is not turned off), the VCU controls the upper motor to perform a speed reduction operation (a motor speed control mode or a torque control mode may be adopted), and when the rotating speed of the upper motor is less than a certain set value N1 (a set value, for example, N1=50 rpm), the VCU may have the following two different control modes:
a) When the rotating speed of the upper motor is reduced below a set value and the duration time exceeds T1 (T1 is the set value, such as T1=20 seconds), the VCU sends a zero-torque control instruction to the upper motor, namely the motor is in a follow-up state;
b) The VCU can always control the upper motor to be in a zero rotating speed state, and the control can be realized in a motor rotating speed control or torque control mode;
if the driver suddenly closes the key switch when the step 2 operation is executed, the 3 rd operation process is entered;
3. when the mixing drum is in the running process, if a driver directly closes the key, the VCU controls the upper motor to perform speed reduction operation (a motor speed control mode or a torque control mode can be adopted); when the speed of the upper motor is less than a set value N2 (e.g., N2=50 rpm), the VCU first performs zero-torque control on the motor, and then performs the following operations:
a) Judging whether the motor rotating speed is reversed or not within a certain time T2 (T2 is a set value, such as T2=2 seconds) and whether the motor reverse rotating speed exceeds N3 (the set value, such as N3=150 rpm) or not;
b) If not, the VCU can normally execute power-off operation;
c) If the VCU exists, the VCU can continue to carry out speed reduction control on the upper-mounted motor (realized by a motor speed control mode or a torque control mode), and when the rotating speed of the motor is less than a set value (a set value, such as 50 rpm) for a time period of T2 or the total speed regulation exceeds a set time T3 (T3 is a set value, such as T3=5 seconds), the VCU can execute normal power-off operation.
According to the upper-loading rotating speed control system provided by the embodiment of the invention, when the upper-loading mixing drum is in the running process, if a driver directly turns off the upper-loading power take-off switch or turns off the key switch, the control system can ensure that the mixing 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 acquiring unit 310, configured to acquire an upper power take-off switch state and a key switch state of the mixer truck;
the speed reduction unit 320 is used for carrying out speed reduction control on the mixing drum driving motor and acquiring the current rotating speed of the mixing drum driving motor if the upper power take-off switch is turned off and the key switch is turned on;
the first control unit 330 is configured to continuously adopt zero-rotation-speed control on the churn drive motor if the current rotation speed of the churn drive motor is less than the first rotation speed set value.
According to the mixing drum rotating speed control device provided by the embodiment of the invention, if the upper loading power take-off switch of the mixing truck is detected to be turned off and the key switch is turned on, the speed reduction control is carried out on the mixing drum driving motor, the current rotating speed of the mixing drum driving motor is obtained, if the current rotating speed of the mixing drum driving motor is smaller than the first rotating speed set value, the zero rotating speed control is continuously adopted for the mixing drum driving motor, when the upper loading power take-off switch is turned off, the discharging phenomenon caused by instantaneous reversal due to inertia can not occur, the reversal impact force is avoided to the maximum extent, the driving discomfort is relieved, and the driving experience of a driver is improved.
Based on any one of the above embodiments, the method further comprises:
and the second control unit is used for adopting zero-torque control on the mixing drum driving motor if the duration of the current rotating speed of the mixing drum driving motor which is less than the first rotating speed set value is longer than the first set time.
Based on any one of the embodiments, the loading power take-off switch is used for indicating that a loading system of the mixer truck is controllable;
when the upper loading power take-off switch is turned on, the mixing drum driving motor controls the mixing drum to start rotating, and when the upper loading power take-off switch is turned off, the mixing drum driving motor controls the mixing drum to stop rotating.
Based on any embodiment above, still include:
the reverse rotation control unit is used for performing speed reduction control on the mixing drum driving motor and acquiring the current rotating speed of the mixing drum driving motor if the key switch is turned off;
if the current rotating speed of the mixing drum driving motor is less than the second rotating speed set value, adopting zero-torque control on the mixing drum driving motor, and carrying out reverse rotation detection on the mixing drum driving motor;
if the mixing drum driving motor is detected to be reversely rotated within the second set time and the reverse rotation speed is greater than the third rotating speed set value, continuing to perform speed reduction control on the mixing drum driving motor until the mixing drum driving motor meets the preset condition, and executing power-off operation of the controller;
the preset condition is that the duration time that the rotating speed of the mixing drum driving motor is smaller than the second rotating speed set value after the mixing drum driving motor rotates reversely is longer than the second set time, or the deceleration control time of the mixing drum driving motor after the stirring drum driving motor rotates reversely is longer than the third set time.
Based on any embodiment above, the inversion control unit is further configured to:
and if the reverse rotation of the stirring drum driving motor is not detected within the second set time, executing the power-down operation of the controller.
Based on any of the embodiments above, the speed reduction unit is configured to:
and a rotating speed control mode or a torque control mode is adopted to carry out speed reduction control on the stirring drum driving motor.
Based on any one of the embodiments, the embodiment of the invention provides a mixer truck, which comprises a memory and a computer program stored on the memory and capable of running on a controller, wherein the controller implements the steps of the mixing drum rotating speed control method when executing the program.
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 power take-off switch state and the key switch state of the mixer truck; if the upper power take-off switch is turned off and the key switch is turned on, performing speed reduction control on the mixing drum driving motor and acquiring the current rotating speed of the mixing drum driving motor; and if the current rotating speed of the mixing drum driving motor is less than the first rotating speed set value, continuously adopting zero rotating speed control on the mixing drum driving motor.
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 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 power take-off switch state and the key switch state of the mixer truck; if the upper power take-off switch is turned off and the key switch is turned on, carrying out speed reduction control on the driving motor of the mixing drum and acquiring the current rotating speed of the driving motor of the mixing drum; and if the current rotating speed of the mixing drum driving motor is less than the first rotating speed set value, continuously adopting zero rotating speed control on the mixing drum driving motor.
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 this 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 (9)
1. A method for controlling the rotation speed of a mixing drum is characterized by comprising the following steps:
acquiring the power take-off switch state and the key switch state of the mixer truck;
if the upper power take-off switch is turned off and the key switch is turned on, carrying out speed reduction control on the mixing drum driving motor and acquiring the current rotating speed of the mixing drum driving motor;
if the current rotating speed of the mixing drum driving motor is smaller than a first rotating speed set value, continuously adopting zero rotating speed control on the mixing drum driving motor;
wherein, after the last power of getting of acquireing the trucd mixer state and key switch state, still include:
if the key switch is turned off, performing speed reduction control on the mixing drum driving motor, and acquiring the current rotating speed of the mixing drum driving motor;
if the current rotating speed of the mixing drum driving motor is smaller than a second rotating speed set value, adopting zero-torque control on the mixing drum driving motor, and carrying out reverse rotation detection on the mixing drum driving motor;
if the mixing drum driving motor is detected to be reversely rotated within a second set time and the reverse rotation speed is greater than a third rotating speed set value, continuing to perform speed reduction control on the mixing drum driving motor until the mixing drum driving motor meets preset conditions, and executing power-off operation of a controller;
the preset condition is that the duration time that the rotating speed of the mixing drum driving motor is smaller than a second rotating speed set value after the mixing drum driving motor rotates reversely is longer than a second set time, or the deceleration control time of the mixing drum driving motor after the mixing drum driving motor rotates reversely is longer than a third set time.
2. The method for controlling the rotation speed of the mixing drum according to claim 1, wherein the obtaining of the current rotation speed of the mixing drum driving motor further comprises:
and if the duration time that the current rotating speed of the mixing drum driving motor is less than the first rotating speed set value is longer than the first set time, adopting zero-torque control on the mixing drum driving motor.
3. The method for controlling the rotation speed of a mixing drum according to claim 1, wherein the loading power take-off switch is used for indicating that a loading system of the mixing truck is controllable;
when the upper power take-off switch is turned on, the mixing drum driving motor controls the mixing drum to start rotating, and when the upper power take-off switch is turned off, the mixing drum driving motor controls the mixing drum to stop rotating.
4. The method of controlling the rotational speed of a mixer drum according to claim 1, wherein the detecting of the reverse rotation of the mixer drum drive motor comprises:
and if the reverse rotation of the stirring drum driving motor is not detected within a second set time, executing the power-down operation of the controller.
5. The method for controlling the rotation speed of a mixing drum according to any one of claims 1 to 4, wherein the speed reduction control of the mixing drum drive motor comprises:
and carrying out speed reduction control on the stirring drum driving motor by adopting a rotating speed control mode or a torque control mode.
6. A mixing drum rotation speed control device is characterized by comprising:
the acquisition unit is used for acquiring the power take-off switch state and the key switch state of the mixer truck;
the speed reduction unit is used for carrying out speed reduction control on the mixing drum driving motor and acquiring the current rotating speed of the mixing drum driving motor if the upper power take-off switch is turned off and the key switch is turned on;
the first control unit is used for continuously adopting zero-rotation-speed control on the mixing drum driving motor if the current rotation speed of the mixing drum driving motor is less than a first rotation speed set value;
the reverse rotation control unit is used for performing speed reduction control on the mixing drum driving motor and acquiring the current rotating speed of the mixing drum driving motor if the key switch is turned off;
if the current rotating speed of the mixing drum driving motor is smaller than a second rotating speed set value, adopting zero-torque control on the mixing drum driving motor, and carrying out reverse rotation detection on the mixing drum driving motor;
if the mixing drum driving motor is detected to be reversely rotated within a second set time and the reverse rotation speed is greater than a third rotating speed set value, continuing to perform speed reduction control on the mixing drum driving motor until the mixing drum driving motor meets preset conditions, and executing power-off operation of a controller;
the preset condition is that the duration time that the rotating speed of the mixing drum driving motor is smaller than the second rotating speed set value after the mixing drum driving motor rotates reversely is longer than the second set time, or the deceleration control time of the mixing drum driving motor after the mixing drum driving motor rotates reversely is longer than the third set time.
7. A mixer truck comprising a memory and a computer program stored on said memory and executable on said controller, said controller implementing the steps of the method of controlling the speed of rotation of a mixing drum according to any one of claims 1 to 5 when executing said program.
8. 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 5 when said program is executed by said processor.
9. 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 5.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110968791.7A CN113787618B (en) | 2021-08-23 | 2021-08-23 | Mixing drum rotating speed control method and device and mixing truck |
| PCT/CN2022/105877 WO2023024750A1 (en) | 2021-08-23 | 2022-07-15 | Mixing drum rotation speed control method and apparatus, and mixer truck |
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| CN202110968791.7A CN113787618B (en) | 2021-08-23 | 2021-08-23 | Mixing drum rotating speed control method and device and mixing truck |
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| CN113787618B (en) * | 2021-08-23 | 2023-01-31 | 三一汽车制造有限公司 | Mixing drum rotating speed control method and device and mixing truck |
| CN114505954A (en) * | 2022-02-15 | 2022-05-17 | 安徽华菱汽车有限公司 | Mixer truck control method, device and medium thereof |
| CN114953189B (en) * | 2022-05-31 | 2023-09-15 | 三一电动车科技有限公司 | Rotation speed control method and device of stirring cylinder, stirring cylinder and operation machine |
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| CN113787618A (en) | 2021-12-14 |
| WO2023024750A1 (en) | 2023-03-02 |
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