CN118024412A - Mixer truck control method and device, mixer truck and storage medium - Google Patents

Mixer truck control method and device, mixer truck and storage medium Download PDF

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Publication number
CN118024412A
CN118024412A CN202410384017.5A CN202410384017A CN118024412A CN 118024412 A CN118024412 A CN 118024412A CN 202410384017 A CN202410384017 A CN 202410384017A CN 118024412 A CN118024412 A CN 118024412A
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CN
China
Prior art keywords
speed
driving motor
gear
signal
preset
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202410384017.5A
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Chinese (zh)
Inventor
魏文义
田娟
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Hebei Changzheng Automobile Manufacturing Co ltd
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Hebei Changzheng Automobile Manufacturing Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Hebei Changzheng Automobile Manufacturing Co ltd filed Critical Hebei Changzheng Automobile Manufacturing Co ltd
Priority to CN202410384017.5A priority Critical patent/CN118024412A/en
Publication of CN118024412A publication Critical patent/CN118024412A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • 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
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Preparation Of Clay, And Manufacture Of Mixtures Containing Clay Or Cement (AREA)

Abstract

The application provides a mixer truck control method, a mixer truck control device, a mixer truck and a storage medium, wherein the mixer truck control method comprises the following steps: in the process of braking the mixer truck, the rotating speed of the driving motor and the running speed of the mixer truck are obtained. If the rotating speed of the driving motor is smaller than the first preset rotating speed and the running speed of the stirring truck is smaller than the preset speed, the braking energy recovery function is closed, the load of the driving motor is slowed down, and the speed of the reduction of the rotating speed of the driving motor is reduced. Meanwhile, the gearbox is controlled to be switched to neutral gear, so that the driving motor is disconnected from the main transmission shaft, the driving motor does not drive the mixer truck any more, and only the mixer tank connected with the driving motor can be driven. Simultaneously, the driving motor is controlled to rotate at a second preset rotating speed, so that the driving motor drives the stirring tank to rotate at a proper rotating speed, the rotating requirement of the stirring tank can be met, and meanwhile, the energy consumption of the driving motor is reduced as much as possible, so that the energy consumption of the stirring vehicle is reduced.

Description

Mixer truck control method and device, mixer truck and storage medium
Technical Field
The application belongs to the technical field of mixer trucks, and particularly relates to a mixer truck control method and device, a mixer truck and a storage medium.
Background
The concrete mixer truck is simply called mixer truck, and is a special vehicle widely applied to engineering and building industries. During transportation of the mixer truck, a parking wait may be required, for example, before encountering a red light or unloading. However, the agitator tank needs to be kept rotating during waiting to ensure proper operation of the agitation system. In order to reduce the electric energy consumption, the prior patent adopts a chassis driving motor to drive the mixer truck and the mixing tank. However, when the existing pure electric mixer truck is in a parking waiting state, the chassis driving motor stops rotating, so that the mixing tank also stops rotating, and the normal operation of the mixing system is affected.
Disclosure of Invention
The embodiment of the application provides a method and a device for controlling a stirring truck, the stirring truck and a storage medium, which can solve the problem that the normal operation of a stirring system is affected by stopping rotation of a stirring tank when a pure electric stirring truck waits for stopping.
In a first aspect, an embodiment of the present application provides a method for controlling a mixer truck, including:
In the process of braking a mixer truck, acquiring the rotating speed of a driving motor and the running speed of the mixer truck;
If the rotating speed of the driving motor is smaller than a first preset rotating speed and the running speed of the stirring truck is smaller than a preset speed, the braking energy recovery function is closed, the gearbox is controlled to be switched to a neutral gear, and the driving motor is controlled to rotate at a second preset rotating speed; wherein the second preset rotational speed is greater than or equal to the first preset rotational speed.
In a possible implementation manner of the first aspect, the method for controlling a mixer truck further includes:
When the rotating speed of the driving motor is smaller than a first preset rotating speed and the running speed of the stirring truck is smaller than a preset speed, if at least one of the first condition, the second condition and the third condition is met, the braking energy recovery function is kept closed, the gear of the gearbox is controlled to be kept at a neutral gear, and the driving motor is controlled to be kept to rotate at a second preset rotating speed; the first condition is that a brake pedal signal changes, the second condition is that a parking brake signal changes, and the third condition is that the position of a gear shifter in the gearbox changes.
In a possible implementation manner of the first aspect, the method for controlling a mixer truck further includes:
And when the parking signal is not released, if the accelerator signal is received, regulating the rotating speed of the driving motor according to the accelerator signal.
In a possible implementation manner of the first aspect, the method for controlling a mixer truck further includes:
When the parking signal is released, if an accelerator signal is received, the gearbox is controlled to be switched to a driving gear, and the rotating speed of the driving motor is regulated according to the accelerator signal.
In a possible implementation manner of the first aspect, the method for controlling a mixer truck further includes:
And when the opening of the brake pedal is larger than the preset opening and the running speed of the stirring truck is larger than the preset speed, starting the braking energy recovery function.
In a possible implementation manner of the first aspect, the method for controlling a mixer truck further includes:
When a gear control signal is received, controlling the gearbox to switch gears according to the gear control signal;
And when the gear control signal is not received, adjusting the gear of the gearbox according to the position of the gear shifter in the gearbox.
In a possible implementation manner of the first aspect, the gear control signal includes a neutral gear signal and a driving gear signal;
when receiving the gear control signal, controlling the gearbox to switch gears according to the gear control signal, including:
When the neutral signal is received, controlling the gearbox to switch to neutral according to the neutral signal;
And when the driving gear signal is received, controlling the gearbox to switch to the driving gear according to the driving gear signal.
In a second aspect, an embodiment of the present application provides a mixer truck control apparatus, including:
the acquisition module is used for acquiring the rotating speed of the driving motor and the running speed of the mixer truck in the process of braking the mixer truck;
the first control module is used for closing the braking energy recovery function, controlling the gearbox to switch to a neutral gear and controlling the driving motor to rotate at a second preset rotating speed if the rotating speed of the driving motor is smaller than a first preset rotating speed and the running speed of the stirring vehicle is smaller than a preset speed; wherein the second preset rotational speed is greater than or equal to the first preset rotational speed.
In a third aspect, an embodiment of the present application provides a mixer truck comprising a processor, a memory and a computer program stored in the memory and executable on the processor, the processor implementing the method according to any one of the first aspects when executing the computer program.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium storing a computer program which, when executed by a processor, implements a method according to any one of the first aspects.
Compared with the prior art, the embodiment of the application has the beneficial effects that:
In the process of the stirring truck braking, namely in the process of stopping the stirring truck, the existing stirring truck control system starts a braking energy recovery function, so that the running speed of the stirring truck is accelerated and reduced, the rotating speed of the driving motor is also accelerated and reduced until the stirring truck is completely stopped, the driving motor stops rotating, and finally the stirring truck is stopped. In the method for controlling the mixer truck, the rotating speed of the driving motor and the running speed of the mixer truck can be monitored in the process of braking the mixer truck, and the rotating speed of the driving motor and the running speed of the mixer truck can be obtained in real time so as to know the current running state parameters of the mixer truck. Because the corresponding relation exists between the rotating speed of the stirring tank and the rotating speed of the driving motor, and the corresponding relation exists between the rotating speed of the driving motor and the running speed of the stirring truck, the running state of the stirring truck and the rotating state of the stirring tank can be determined by judging the relation between the rotating speed of the driving motor and the first preset rotating speed and the relation between the running speed of the stirring truck and the preset speed. The first preset rotating speed is the rotating speed of the driving motor corresponding to the lowest allowable rotating speed of the stirring tank. Therefore, when the rotation speed of the driving motor is smaller than the first preset rotation speed and the running speed of the stirring truck is smaller than the preset speed, the condition that the rotation speed of the driving motor reaches the rotation speed corresponding to the lowest rotation speed allowed by the stirring tank and the running speed of the stirring truck reaches the speed corresponding to the rotation speed of the driving motor is indicated, at the moment, the rotation speed of the driving motor is relatively low, the running speed of the stirring truck is relatively low, the braking energy recovery function is closed, the load of the driving motor is reduced, and the speed of the driving motor for reducing the rotation speed is reduced. Meanwhile, the gearbox is controlled to be switched to neutral gear, so that the driving motor is disconnected from the main transmission shaft and is not used for driving the mixer truck any more, and the driving motor can only drive the mixer tank connected with the mixer truck. Meanwhile, the driving motor is controlled to rotate at a second preset rotating speed, wherein the second preset rotating speed is larger than or equal to the first preset rotating speed, so that the driving motor drives the stirring tank to rotate at a proper rotating speed, the rotating requirement of the stirring tank can be met, and meanwhile, the energy consumption of the driving motor is reduced as much as possible, so that the energy consumption of the stirring vehicle is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic block diagram of a prior art truck mixer control system;
FIG. 2 is a schematic flow chart of a method for controlling a mixer truck according to an embodiment of the application;
FIG. 3 is a schematic flow chart of a method for controlling a mixer truck according to another embodiment of the application;
FIG. 4 is a schematic diagram of a method for controlling a transmission according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a transmission control method according to another embodiment of the present application;
FIG. 6 is a schematic diagram of a transmission control method according to another embodiment of the present application;
FIG. 7 is a schematic diagram of a control device for a mixer truck according to an embodiment of the present application;
Fig. 8 is a schematic structural diagram of a mixer truck according to an embodiment of the application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in the present description and the appended claims, the term "if" may be interpreted in context as "when …" or "once" or "in response to a determination" or "in response to detection. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
The concrete mixer truck is simply called mixer truck, and is a special vehicle widely applied to engineering and building industries. During transportation of the mixer truck, a parking wait may be required, for example, before encountering a red light or unloading. However, the agitator tank needs to be kept rotating during waiting to ensure proper operation of the agitation system. In order to reduce the electric energy consumption, the prior patent adopts a chassis driving motor to drive the mixer truck and the mixing tank. However, when the existing pure electric mixer truck is in a parking waiting state, the chassis driving motor stops rotating, so that the mixing tank also stops rotating, and the normal operation of the mixing system is affected.
Based on the problems, the embodiment of the application provides a mixer truck control method. As shown in fig. 1, the existing mixer truck control system mainly comprises a driving motor, a bidirectional hydraulic pump, two electromagnetic valves (a first electromagnetic valve and a second electromagnetic valve), two one-way valves (a first one-way valve and a second one-way valve), a reversing valve, a hydraulic motor, a hydraulic oil tank, a mixer truck executing mechanism and the like. The driving motor is connected with the bidirectional hydraulic pump through an output shaft, hydraulic oil flows under the control of the electromagnetic valve and the one-way valve, and enters the first oil port of the reversing valve. According to the forward rotation or the reverse rotation of the driving motor, the control system ensures that hydraulic oil flows through the bidirectional hydraulic pump by correspondingly opening the first electromagnetic valve or the second electromagnetic valve. The reversing valve is used for controlling the forward rotation or the reverse rotation of the hydraulic motor according to gear switching, so as to drive the stirring tank executing mechanism to rotate. The system structural design ensures that the rotation direction of the driving motor does not influence the rotation direction of the stirring tank, and a user can control the direction of the stirring tank according to requirements, and meanwhile, the use of the driving motor is reduced, namely, the driving motor is adopted for driving the stirring truck and the stirring tank, so that the cost is reduced.
In the process of the stirring truck braking, namely in the process of stopping the stirring truck, the existing stirring truck control system starts a braking energy recovery function, so that the running speed of the stirring truck is accelerated and reduced, the rotating speed of the driving motor is also accelerated and reduced until the stirring truck is completely stopped, the driving motor stops rotating, and finally the stirring truck is stopped.
In the method for controlling the mixer truck, the rotating speed of the driving motor and the running speed of the mixer truck can be monitored in the process of braking the mixer truck, and the rotating speed of the driving motor and the running speed of the mixer truck can be obtained in real time so as to know the current running state parameters of the mixer truck. Because the corresponding relation exists between the rotating speed of the stirring tank and the rotating speed of the driving motor, and the corresponding relation exists between the rotating speed of the driving motor and the running speed of the stirring truck, the running state of the stirring truck and the rotating state of the stirring tank can be determined by judging the relation between the rotating speed of the driving motor and the first preset rotating speed and the relation between the running speed of the stirring truck and the preset speed. The first preset rotating speed is the rotating speed of the driving motor corresponding to the lowest allowable rotating speed of the stirring tank. Therefore, when the rotation speed of the driving motor is smaller than the first preset rotation speed and the running speed of the stirring truck is smaller than the preset speed, the condition that the rotation speed of the driving motor reaches the rotation speed corresponding to the lowest rotation speed allowed by the stirring tank and the running speed of the stirring truck reaches the speed corresponding to the rotation speed of the driving motor is indicated, at the moment, the rotation speed of the driving motor is relatively low, the running speed of the stirring truck is relatively low, the braking energy recovery function is closed, the load of the driving motor is reduced, and the speed of the driving motor for reducing the rotation speed is reduced. Meanwhile, the gearbox is controlled to be switched to neutral gear, so that the driving motor is disconnected from the main transmission shaft and is not used for driving the mixer truck any more, and the driving motor can only drive the mixer tank connected with the mixer truck. Meanwhile, the driving motor is controlled to rotate at a second preset rotating speed, wherein the second preset rotating speed is larger than or equal to the first preset rotating speed, so that the driving motor drives the stirring tank to rotate at a proper rotating speed, the rotating requirement of the stirring tank can be met, and meanwhile, the energy consumption of the driving motor is reduced as much as possible, so that the energy consumption of the stirring vehicle is reduced.
In order to illustrate the technical scheme of the application, the following description is made by specific examples.
Fig. 2 shows a flowchart of a control method of a mixer truck according to an embodiment of the application. Referring to fig. 2, the mixer truck control method includes steps S101 to S102.
Step S101, acquiring the rotating speed of a driving motor and the running speed of the mixer truck in the process of braking the mixer truck.
Specifically, the designer can install the speed sensor on the driving motor of the mixer truck in advance, install speed sensor on the drive mechanism or the transmission system of the mixer truck, can acquire the speed of the driving motor and the running speed of the mixer truck through speed sensor and speed sensor. In the process of braking the mixer truck, the condition that the mixer truck is about to stop or is stopped is indicated, the rotating speed of the driving motor and the running speed of the mixer truck can be monitored, and the rotating speed of the driving motor and the running speed of the mixer truck are obtained in real time so as to know the current running state parameters of the mixer truck. Because the corresponding relation exists between the rotating speed of the stirring tank and the rotating speed of the driving motor, and the corresponding relation exists between the rotating speed of the driving motor and the running speed of the stirring vehicle, the rotating speed of the driving motor and the running speed of the stirring vehicle are obtained, and the rotating speed of the driving motor and the running speed of the stirring vehicle are analyzed and processed. For example, parameters such as a preset rotating speed and a preset speed can be set, the rotating speed is compared with the preset rotating speed, the running speed is compared with the preset speed, and the control system can determine the rotating state of the stirring tank and the control strategy for driving the stirring tank according to the comparison result so as to ensure the normal operation of the stirring system.
It should be noted that the rotation speed of the driving motor and the running speed of the mixer truck may also be obtained by other means, for example, the rotation speed of the driving motor and the running speed of the mixer truck may be obtained by on-board integrated sensors (for example, an inertial measurement unit, a camera, etc.). In addition to the above examples, the rotational speed of the drive motor and the travel speed of the mixer truck may be obtained by other means, and the specific means of obtaining the rotational speed of the drive motor and the travel speed of the mixer truck are not limited herein.
Step S102, if the rotation speed of the driving motor is smaller than the first preset rotation speed and the running speed of the mixer truck is smaller than the preset speed, the braking energy recovery function is closed, the gearbox is controlled to be switched to the neutral gear, and the driving motor is controlled to rotate at the second preset rotation speed. Wherein the second preset rotational speed is greater than or equal to the first preset rotational speed.
Specifically, the designer may preset the minimum allowable rotation speed of the stirring tank, at this time, set the rotation speed of the driving motor corresponding to the minimum allowable rotation speed of the stirring tank as the first preset rotation speed, and set the running speed corresponding to the first preset rotation speed as the preset speed. The driving state of the mixer truck and the rotation state of the mixing tank can be determined by judging the relation between the rotation speed of the driving motor and the first preset rotation speed and the relation between the driving speed of the mixer truck and the preset speed. The first preset rotating speed is the rotating speed of the driving motor corresponding to the lowest allowable rotating speed of the stirring tank. Therefore, when the rotation speed of the driving motor is smaller than the first preset rotation speed and the running speed of the stirring truck is smaller than the preset speed, the condition that the rotation speed of the driving motor reaches the rotation speed corresponding to the lowest rotation speed allowed by the stirring tank and the running speed of the stirring truck reaches the speed corresponding to the rotation speed of the driving motor is indicated, at the moment, the rotation speed of the driving motor is relatively low, the running speed of the stirring truck is relatively low, the braking energy recovery function is closed, the load of the driving motor is reduced, and the speed of the driving motor for reducing the rotation speed is reduced. Meanwhile, the gearbox is controlled to be switched to neutral gear, so that the driving motor is disconnected from the main transmission shaft and is not used for driving the mixer truck any more, and the driving motor can only drive the mixer tank connected with the mixer truck. Meanwhile, the driving motor is controlled to rotate at a second preset rotating speed, wherein the second preset rotating speed is larger than or equal to the first preset rotating speed, so that the driving motor drives the stirring tank to rotate at a proper rotating speed, the rotating requirement of the stirring tank can be met, and meanwhile, the energy consumption of the driving motor is reduced as much as possible, so that the energy consumption of the stirring vehicle is reduced.
The first preset rotation speed is the rotation speed of the driving motor corresponding to the lowest rotation speed allowed by the stirring tank. Therefore, the second preset rotating speed is set to be larger than or equal to the first preset rotating speed, so that the driving motor rotates at the second preset rotating speed, the rotation of the stirring tank is ensured, the stirring vehicle can be ensured to work under lower power consumption, and the energy consumption is reduced.
If the first preset rotation speed is set to N, the preset speed is set to N, and the minimum allowable rotation speed of the corresponding stirring tank is set to a. When the rotating speed of the driving motor is smaller than N and the running speed of the stirring truck is smaller than N, the braking energy recovery function is closed, the gearbox is controlled to be switched to neutral gear, and the driving motor is controlled to rotate at a second preset rotating speed. Wherein the second preset rotational speed is greater than or equal to n.
For example, the designer may set the first preset rotational speed and the specific value of the preset speed according to the actual situation. For example, the first preset rotational speed N of the driving motor may be set to 600r/min, the preset rotational speed N may be set to 15km/h, at this time, the rotational speed a of the corresponding stirring tank is deduced to be 3r/min, and the second preset rotational speed may be set to 600r/min or 650r/min or other rotational speeds.
Since the transmission is an automatic transmission, the transmission is controlled by the control system. The control system controls the gearbox to be shifted to neutral, i.e. only the internal automatic control gear of the gearbox is shifted to neutral, without changing the position of the shifter in the gearbox. The gear shifter in the gearbox is not changed while the gearbox is controlled to be switched to neutral gear, so that the driving habit of a driver is not influenced, and the normal running of the mixer truck is ensured. For example, if the position of the shifter in the transmission is in the drive range, then if a signal is received to control the transmission to shift to neutral, the internal automatic control range of the transmission will shift to neutral, with the position of the shifter in the transmission still in the drive range.
In some embodiments, the second preset rotational speed may be further defined, for example, the second preset rotational speed is greater than or equal to the first preset rotational speed, and the second preset rotational speed is less than the third preset rotational speed.
Specifically, the rotation speed of the driving motor (the second preset rotation speed) is within the first preset rotation speed and the third preset rotation speed, that is, the rotation speed of the driving motor is controlled to be greater than or equal to the first preset rotation speed, and the rotation speed is required to be smaller than the third preset rotation speed. The rotation speed of the driving motor is set within a proper range, so that the stirring tank is driven to rotate at a stable rotation speed. The stirring tank can meet the rotation requirement of the stirring tank, simultaneously reduces energy consumption as much as possible, and improves the efficiency and performance of the stirring truck.
In some embodiments, the truck control method further comprises step S103.
Step S103, when the rotating speed of the driving motor is smaller than a first preset rotating speed and the running speed of the mixer truck is smaller than a preset speed, if at least one of the first condition, the second condition and the third condition is met, the braking energy recovery function is kept closed, the gear of the gearbox is controlled to be kept at a neutral gear, and the driving motor is controlled to be kept to rotate at a second preset rotating speed; the first condition is that a brake pedal signal changes, the second condition is that a parking brake signal changes, and the third condition is that the position of a gear shifter in the gearbox changes.
Specifically, when the rotation speed of the driving motor is smaller than the first preset rotation speed and the running speed of the mixer truck is smaller than the preset speed, the condition indicates that the rotation speed of the driving motor reaches the rotation speed corresponding to the lowest rotation speed allowed by the mixer truck and the running speed of the mixer truck reaches the speed corresponding to the rotation speed of the driving motor, at the moment, the rotation speed of the driving motor is relatively low, the running speed of the mixer truck is relatively small, the braking energy recovery function is closed, the load of the driving motor is slowed down, and the speed of the driving motor for reducing the rotation speed is reduced. Meanwhile, the gearbox is controlled to be switched to neutral gear, so that the driving motor is disconnected from the main transmission shaft and is not used for driving the mixer truck any more, and the driving motor can only drive the mixer tank connected with the mixer truck. Simultaneously, the driving motor is controlled to rotate at a second preset rotating speed, so that the driving motor drives the stirring tank to rotate at a proper rotating speed, the rotating requirement of the stirring tank can be met, and meanwhile, the energy consumption of the driving motor is reduced as much as possible, so that the energy consumption of the stirring vehicle is reduced. Since the gear of the gearbox is in neutral, the operating state of the truck is not affected even if at least one of the brake pedal signal, the park signal and the position of the gear shifter in the gearbox is changed. This means that, in the case where the rotational speed of the drive motor is smaller than the first preset rotational speed and the running speed of the mixer truck is smaller than the preset speed, the braking energy recovery function is turned off, the gear of the transmission is controlled to be in neutral, the drive motor is controlled to rotate at the second preset rotational speed, this state is maintained at all times, and stability and continuity of the mixing system are ensured without being affected by a change in the brake pedal signal (for example, a change in the pedal opening), a change in the parking brake signal (for example, a change in the handbrake from inactive to active or from active to inactive) and a change in the position of the gear selector in the transmission (for example, a change in the position neutral position of the gear selector in the transmission to the running gear position or a change in the position neutral position from the running gear).
In some embodiments, the truck control method further comprises step S104.
Step S104, when the parking signal is not released, if the accelerator signal is received, the rotating speed of the driving motor is adjusted according to the accelerator signal.
Specifically, the absence of the parking signal indicates that the truck is still in a parked state, i.e., the hand brake or other parking mechanism (foot brake) is still activated, and the truck is in a parked state and is not traveling. When the mixer truck is in a parking state, if an accelerator signal is received, namely, a driver presses an accelerator pedal, the driver hopes to accelerate the rotation speed of the mixer truck. Therefore, when the parking signal is not released, if the accelerator signal is received, the rotation speed of the driving motor is adjusted according to the accelerator signal, so that the rotation speed of the driving motor is increased, and the rotation speed of the stirring tank is increased.
It should be noted that the accelerator signal may include an accelerator pedal opening. The rotation speed of the driving motor has a certain corresponding relation with the intensity of an accelerator signal (the opening degree of an accelerator pedal), the rotation speed of the driving motor is changed from the fixed second preset rotation speed to the idle rotation speed which is regulated by the accelerator signal, and the larger the opening degree of the accelerator pedal is, the larger the rotation speed of the driving motor is, so that the rotation speed of the stirring tank is driven to be larger, and the rotation speed of the stirring tank is ensured.
In some embodiments, the truck control method further comprises step S105.
Step S105, when the parking signal is released and the accelerator signal is received, the transmission is controlled to be switched to the driving gear, and the rotation speed of the driving motor is adjusted according to the accelerator signal.
Specifically, the parking signal release indicates that the truck has released the parking state, and at this time, if the accelerator signal is received, it indicates that the driver is ready to drive the truck for traveling. At the moment, the gearbox is controlled to be switched to a driving gear, and the rotating speed of the driving motor is regulated according to the accelerator signal, so that the mixer truck can normally drive.
In some embodiments, the truck control method further comprises step S106.
Step S106, when the opening degree of the brake pedal is larger than the preset opening degree and the running speed of the mixer truck is larger than the preset speed, the braking energy recovery function is started.
Specifically, the opening degree of the brake pedal can represent the degree of braking of the driver, and when the opening degree of the brake pedal is larger than the preset opening degree, the driver is indicated to increase the braking force, and the driving speed of the mixer truck is expected to be reduced rapidly. The speed of the truck is greater than the preset speed, indicating that the current speed of the truck is relatively high. Therefore, when the opening degree of the brake pedal is larger than the preset opening degree and the running speed of the mixer truck is larger than the preset speed, the brake energy recovery function is started, kinetic energy generated in the running process of the mixer truck is converted into electric energy to be stored, energy recovery is achieved, and the energy consumption of the whole mixer truck is improved. Meanwhile, the running speed of the mixer truck is reduced rapidly by starting the braking energy recovery function.
In some embodiments, as shown in fig. 3, the method of controlling a mixer truck further includes steps S107 to S108.
Step S107, when a gear control signal is received, the transmission is controlled to shift gears according to the gear control signal.
Specifically, when the gear control signal is received by the gear box controller, the gear box controller may adjust the gear of the gear box according to the gear control signal, so that the gear of the gear box is switched to the gear corresponding to the gear control signal. It follows that the gear of the gearbox can be changed in accordance with the gear control signal.
The gear control signals mainly comprise a neutral gear signal and a driving gear signal, the neutral gear signal can enable the gearbox to be switched to the neutral gear, and the driving gear signal can enable the gearbox to be switched to the driving gear. The neutral signal and the driving signal thus correspond to two states of great importance in the operation of the mixer truck, and are also related to the rotational speed of the drive motor and the driving speed of the mixer truck. Therefore, the neutral signal and the driving gear signal are used as main control signals of the gear control signals in the application.
In some embodiments, step S107 may further include step S1071 and step S1072.
Step S1071, when a neutral signal is received, the transmission is controlled to be shifted to neutral according to the neutral signal.
Specifically, as shown in fig. 4, when the transmission controller receives the neutral signal, the transmission is shifted to neutral according to the neutral signal, and at this time, the position of the shifter in the transmission is not changed. Specifically, as shown in fig. 4 (a), the position of the shifter in the transmission (i.e., the position where the shift lever is connected) is in D-range (drive range), and at this time, if the transmission controller receives a neutral signal, the transmission controller shifts the transmission to neutral according to the neutral signal. As shown in fig. 4 (b), the position of the shifter in the transmission is in N (neutral), at which time, if the transmission controller receives a neutral signal, the transmission controller keeps the gear of the transmission in neutral according to the neutral signal.
Thus, it can be shown that in the control method of the mixer truck, when a neutral gear signal is input to the gearbox controller, the gear of the gearbox is changed. The gear of the gearbox is independent of the position of the gear shifter in the gearbox, i.e. the neutral signal has a higher priority than the gear shifter in the gearbox.
Step S1072, when the driving range signal is received, the transmission is controlled to shift to the driving range according to the driving range signal.
Specifically, as shown in fig. 5, when the transmission controller receives the driving range signal, the transmission is shifted to the driving range according to the driving range signal, and at this time, the position of the shifter in the transmission is not changed. Specifically, as shown in fig. 5 (a), the position of the shifter in the transmission is in D-range (driving range), and at this time, when the transmission controller receives the driving range signal, the transmission controller keeps the gear of the transmission in the driving range according to the driving range signal. As shown in fig. 5 (b), the position of the shifter in the transmission is in N (neutral), and at this time, if the transmission controller receives a drive range signal, the transmission controller shifts the gear of the transmission to the drive range according to the drive range signal.
Thus, it can be shown that the control method of the mixer truck in the application changes the gear of the gearbox when a driving gear signal is input to the gearbox controller. The gear of the gearbox is independent of the position of the gear shifter in the gearbox, i.e. the driving gear signal has a higher priority than the gear shifter in the gearbox.
Step S108, when the gear control signal is not received, the gear of the transmission is adjusted according to the position of the shifter in the transmission.
Specifically, as shown in fig. 6, when the transmission controller does not receive a gear control signal, the gear of the transmission is determined by the position of the shifter in the transmission. For example, as shown in fig. 6 (a), when the position of the shifter in the transmission is in D (driving range), the gear of the transmission is the driving range. As shown in fig. 6 (b), if the position of the shifter in the transmission is in N (neutral), the gear of the transmission is neutral.
In summary, when the transmission controller receives the neutral signal, the transmission is shifted to the neutral according to the neutral signal, and when the transmission controller receives the driving signal, the transmission is shifted to the driving according to the driving signal. In this process, the position of the shifter in the gearbox is not changed. When the gear control signal (a neutral gear signal and a driving gear signal) is not received by the gearbox, the gear of the gearbox is the position of the gear shifter in the gearbox. Thus, it can be shown that in the control method of the mixer truck, when a neutral gear signal or a driving gear signal is input to the gearbox controller, the gear of the gearbox is changed. The gear of the gearbox is independent of the position of the gear shifter in the gearbox, i.e. the neutral signal and the driving gear signal each have a higher priority than the gear shifter in the gearbox.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.
Fig. 7 shows a schematic structural diagram of a control device for a mixer truck according to an embodiment of the present application. Referring to fig. 7, the mixer truck control apparatus includes:
An obtaining module 71, configured to obtain a rotation speed of a driving motor and a running speed of the mixer truck during a braking process of the mixer truck;
the first control module 72 is configured to close the braking energy recovery function, control the gearbox to switch to a neutral gear, and control the driving motor to rotate at a second preset rotational speed if the rotational speed of the driving motor is less than a first preset rotational speed and the driving speed of the mixer truck is less than a preset speed; wherein the second preset rotational speed is greater than or equal to the first preset rotational speed.
In one embodiment of the present application, the mixer truck control apparatus further comprises:
The second control module is used for keeping the brake energy recovery function closed, controlling the gear of the gearbox to be kept in neutral gear and controlling the driving motor to keep rotating at a second preset rotating speed when at least one of a first condition, a second condition and a third condition is met under the condition that the rotating speed of the driving motor is smaller than a first preset rotating speed and the running speed of the stirring vehicle is smaller than the preset rotating speed; the first condition is that a brake pedal signal changes, the second condition is that a parking brake signal changes, and the third condition is that the position of a gear shifter in the gearbox changes.
In one embodiment of the present application, the mixer truck control apparatus further comprises:
And the third control module is used for adjusting the rotating speed of the driving motor according to the accelerator signal when the accelerator signal is received when the parking signal is not released.
In one embodiment of the present application, the mixer truck control apparatus further comprises:
and the fourth control module is used for controlling the gearbox to be switched to a driving gear when the parking signal is released and receiving the accelerator signal, and adjusting the rotating speed of the driving motor according to the accelerator signal.
In one embodiment of the present application, the mixer truck control apparatus further comprises:
and the fifth control module is used for starting the braking energy recovery function when the opening degree of the brake pedal is larger than the preset opening degree and the running speed of the stirring vehicle is larger than the preset speed.
In one embodiment of the present application, the mixer truck control apparatus further comprises:
The sixth control module is used for controlling the gearbox to switch gears according to the gear control signal when the gear control signal is received;
And the seventh control module is used for adjusting the gear of the gearbox according to the position of the gear shifter in the gearbox when the gear control signal is not received.
In one embodiment of the present application, the gear control signal includes a neutral gear signal and a driving gear signal, and the sixth control module is further configured to:
When the neutral signal is received, controlling the gearbox to switch to neutral according to the neutral signal;
And when the driving gear signal is received, controlling the gearbox to switch to the driving gear according to the driving gear signal.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Fig. 8 is a schematic structural diagram of a mixer truck according to an embodiment of the present application. As shown in fig. 8, the truck 8 of this embodiment may include: at least one processor 80 (only one processor 80 is shown in fig. 8), a memory 81 and a computer program 82 stored in the memory 81 and executable on the at least one processor 80, which processor 80, when executing the computer program 82, implements the steps of any of the various method embodiments described above, e.g. steps S101 to S102 in the embodiment shown in fig. 2. Or the processor 80, when executing the computer program 82, performs the functions of the modules/units of the apparatus embodiments described above, such as the functions of the modules 71 to 72 shown in fig. 7.
By way of example, the computer program 82 may be partitioned into one or more modules/units that are stored in the memory 81 and executed by the processor 80 to complete the present invention. The one or more modules/units may be a series of instruction segments of computer program 82 capable of performing a specific function, for describing the execution of computer program 82 in truck 8.
The Processor 80 may be a central processing unit (Central Processing Unit, CPU), the Processor 80 may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL processors, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 81 may in some embodiments be an internal storage unit of the truck 8, such as a hard disk or memory of the truck 8. The memory 81 may in other embodiments also be an external storage device of the truck 8, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD) or the like, which are provided on the truck 8. Further, the memory 81 may also include both an internal memory unit and an external memory device of the truck 8. The memory 81 is used for storing an operating system, application programs, boot Loader (Boot Loader), data, other programs, etc., such as program codes of the computer program 82. The memory 81 may also be used to temporarily store data that has been output or is to be output.
Embodiments of the present application also provide a computer readable storage medium storing a computer program 82, which computer program 82, when executed by a processor 80, implements steps that may be implemented in the various method embodiments described above.
Embodiments of the present application provide a computer program product that, when run on a truck mixer, causes the truck mixer to perform steps that may be performed in the various method embodiments described above.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above-described embodiments, and may be implemented by instructing the relevant hardware by means of a computer program 82, where the computer program 82 may be stored in a computer-readable storage medium, and where the computer program 82, when executed by the processor 80, may implement the steps of the method embodiments described above. The computer program 82 comprises computer program code, which may be in the form of source code, object code, executable files, or some intermediate form, among others. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a terminal device, a recording medium, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other manners. For example, the apparatus/network device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown 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 units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims (10)

1. A method of controlling a mixer truck, comprising:
In the process of braking a mixer truck, acquiring the rotating speed of a driving motor and the running speed of the mixer truck;
If the rotating speed of the driving motor is smaller than a first preset rotating speed and the running speed of the stirring truck is smaller than a preset speed, the braking energy recovery function is closed, the gearbox is controlled to be switched to a neutral gear, and the driving motor is controlled to rotate at a second preset rotating speed; wherein the second preset rotational speed is greater than or equal to the first preset rotational speed.
2. The truck control method of claim 1, further comprising:
When the rotating speed of the driving motor is smaller than a first preset rotating speed and the running speed of the stirring truck is smaller than a preset speed, if at least one of the first condition, the second condition and the third condition is met, the braking energy recovery function is kept closed, the gear of the gearbox is controlled to be kept at a neutral gear, and the driving motor is controlled to be kept to rotate at a second preset rotating speed; the first condition is that a brake pedal signal changes, the second condition is that a parking brake signal changes, and the third condition is that the position of a gear shifter in the gearbox changes.
3. The truck control method of claim 1, further comprising:
And when the parking signal is not released, if the accelerator signal is received, regulating the rotating speed of the driving motor according to the accelerator signal.
4. The truck control method of claim 1, further comprising:
When the parking signal is released, if an accelerator signal is received, the gearbox is controlled to be switched to a driving gear, and the rotating speed of the driving motor is regulated according to the accelerator signal.
5. The truck control method of claim 1, further comprising:
And when the opening of the brake pedal is larger than the preset opening and the running speed of the stirring truck is larger than the preset speed, starting the braking energy recovery function.
6. The truck control method of claim 1, further comprising:
When a gear control signal is received, controlling the gearbox to switch gears according to the gear control signal;
And when the gear control signal is not received, adjusting the gear of the gearbox according to the position of the gear shifter in the gearbox.
7. The method of claim 6, wherein the gear control signal comprises a neutral signal and a drive gear signal;
when receiving the gear control signal, controlling the gearbox to switch gears according to the gear control signal, including:
When the neutral signal is received, controlling the gearbox to switch to neutral according to the neutral signal;
And when the driving gear signal is received, controlling the gearbox to switch to the driving gear according to the driving gear signal.
8. A mixer truck control apparatus comprising:
the acquisition module is used for acquiring the rotating speed of the driving motor and the running speed of the mixer truck in the process of braking the mixer truck;
the first control module is used for closing the braking energy recovery function, controlling the gearbox to switch to a neutral gear and controlling the driving motor to rotate at a second preset rotating speed if the rotating speed of the driving motor is smaller than a first preset rotating speed and the running speed of the stirring vehicle is smaller than a preset speed; wherein the second preset rotational speed is greater than or equal to the first preset rotational speed.
9. A mixer truck comprising a processor, a memory and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1-7 when executing the computer program.
10. A computer readable storage medium storing a computer program, which when executed by a processor implements the method according to any one of claims 1-7.
CN202410384017.5A 2024-04-01 2024-04-01 Mixer truck control method and device, mixer truck and storage medium Pending CN118024412A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202410384017.5A CN118024412A (en) 2024-04-01 2024-04-01 Mixer truck control method and device, mixer truck and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202410384017.5A CN118024412A (en) 2024-04-01 2024-04-01 Mixer truck control method and device, mixer truck and storage medium

Publications (1)

Publication Number Publication Date
CN118024412A true CN118024412A (en) 2024-05-14

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Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
CN (1) CN118024412A (en)

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