WO2023024750A1 - 搅拌筒转速控制方法、装置和搅拌车 - Google Patents
搅拌筒转速控制方法、装置和搅拌车 Download PDFInfo
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- WO2023024750A1 WO2023024750A1 PCT/CN2022/105877 CN2022105877W WO2023024750A1 WO 2023024750 A1 WO2023024750 A1 WO 2023024750A1 CN 2022105877 W CN2022105877 W CN 2022105877W WO 2023024750 A1 WO2023024750 A1 WO 2023024750A1
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- mixing drum
- driving motor
- speed
- rotational speed
- control
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- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000004590 computer program Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 7
- 238000003756 stirring Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
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- 230000007423 decrease Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000005540 biological transmission Effects 0.000 description 1
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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
Definitions
- the present application relates to the technical field of mechanical engineering, in particular to a method and device for controlling the rotational speed of a mixing drum and a mixing truck.
- the speed change of the upper-mounted mixing drum of the electric mixer truck is realized by controlling the speed of the upper-mounted motor through the vehicle controller (VCU).
- VCU vehicle controller
- the VCU When the mixing drum is running, if the driver directly turns off the bodywork power switch or disconnects the key switch, the VCU will control the bodywork motor to decelerate. When the speed of the bodywork motor drops to the set value, the VCU will zero the bodywork motor. Torque control.
- the present application provides a mixing drum speed control method, device and mixer truck, which are used to solve the technical problems in the prior art that the speed control of the mixing drum is easily reversed, causing concrete to flow out, and at the same time making the driver's driving experience low.
- the application provides a method for controlling the speed of a mixing drum, including:
- the zero rotational speed control of the mixing drum driving motor is continuously adopted.
- the acquisition of the current rotational speed of the driving motor of the mixing drum further includes:
- the bodywork power take-off switch is used to indicate that the bodywork system of the mixer truck is controllable
- the mixing drum drive motor controls the stirring drum to start rotating
- the mixing drum drive motor controls the stirring drum to stop rotating
- the acquisition of the state of the power take-off switch and the state of the key switch on the top of the mixer truck includes:
- the deceleration control of the driving motor of the mixing drum will continue until the driving of the mixing drum When the motor meets the preset conditions, the controller is powered off;
- the preset condition is that the rotation speed of the mixing drum driving motor is lower than the second speed setting value for a duration longer than the second setting time after the rotation of the mixing drum driving motor occurs, or the deceleration control of the mixing drum driving motor after the rotation occurs
- the time is greater than the third set time.
- the reverse detection of the driving motor of the mixing drum is performed, and then includes:
- the controller If it is not detected that the driving motor of the mixing drum reverses within the second set time, the controller is powered off.
- the deceleration control of the driving motor of the mixing drum includes:
- the speed control mode or the torque control mode is adopted to perform deceleration control on the driving motor of the mixing drum.
- the application provides a mixing drum speed control device, including:
- the acquiring unit is used to acquire the power take-off switch status and the key switch status of the mixer truck;
- a deceleration unit configured to perform deceleration control on the driving motor of the mixing drum and obtain the current rotational speed of the driving motor of the mixing drum if the bodywork power take-off switch is turned off and the key switch is turned on;
- the first control unit is configured to continuously control the driving motor of the mixing drum at zero speed if the current rotating speed of the driving motor of the mixing drum is lower than a first set value of rotating speed.
- the present application provides a mixer truck, including a memory, and a computer program stored in the memory and operable on the controller, when the controller executes the program, the steps of the method for controlling the speed of the mixing drum are realized .
- the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor.
- the processor executes the program, the method for controlling the rotational speed of the mixing drum is implemented. A step of.
- the present application provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method for controlling the rotational speed of the mixing drum are implemented.
- the mixing drum speed control method, device and mixer truck provided by this application, if it is detected that the power take-off switch on the top of the mixer truck is turned off and the key switch is turned on, then the driving motor of the mixing drum is decelerated and controlled, and the current speed of the driving motor of the mixing drum is obtained. , if the current rotational speed of the mixing drum driving motor is less than the first rotational speed setting value, the zero speed control of the mixing drum driving motor will be continuously adopted. The unloading phenomenon will occur due to the momentary reversal caused by inertia, which avoids the reverse impact to the greatest extent, reduces the driving discomfort, and improves the driver's driving experience.
- Fig. 1 is the schematic flow sheet of the method for controlling the rotating speed of the mixing drum provided by the present application
- Fig. 2 is the schematic diagram of the speed control system on the mixer truck provided by the application;
- Fig. 3 is the structural representation of the rotating speed control device of the mixing drum provided by the present application.
- FIG. 4 is a schematic structural diagram of an electronic device provided by the present application.
- the mixer truck is a special truck used to transport concrete for construction.
- the truck is equipped with a cylindrical mixing drum to carry the mixed concrete. During transportation, the mixing drum will always be kept rotating to ensure that the carried concrete will not solidify.
- Fig. 1 is the schematic flow sheet of the mixing drum rotational speed control method that the present application provides, as shown in Fig. 1, this method comprises:
- Step 110 acquiring the power take-off switch state and the key switch state of the mixer truck.
- the mixing drum is connected with the driving motor of the mixing drum through a gearbox.
- the mixing drum is driven by the driving motor of the mixing drum, and the rotating speed of the mixing drum can be obtained through the gear ratio of the gearbox and the rotating speed of the driving motor of the mixing drum.
- Controlling the rotating speed of the mixing drum is to control the rotating speed of the driving motor of the mixing drum.
- the mixer drum drive motor is also known as the bodywork motor. For example, for an electric mixer truck, when the mixer drum is in operation, if the driver turns off the power take-off switch of the bodywork or disconnects the key switch, the VCU generally controls the bodywork motor to slow down the mixer drum until the mixer drum stops rotating.
- the power take-off switch is composed of a gearbox, a clutch, and a controller. It is connected with the low gear of the gearbox or the output shaft of the auxiliary box, and outputs the power to the external working device.
- the power take-off switch of the top is used to indicate that the top system of the mixer truck is controllable.
- the power take-off switch of the top is turned on, the driving motor of the mixing drum controls the rotation of the mixing drum.
- the power take-off switch of the top is turned off, the driving motor of the mixing drum controls the stirring. Drum stops spinning.
- the key switch is the main power switch of the vehicle cab. When it is turned on, it turns on the power of each system on the mixer truck, and when it is turned off, it cuts off the power of each system on the mixer truck.
- Step 120 if the bodywork power take-off switch is turned off and the key switch is turned on, perform deceleration control on the driving motor of the mixing drum, and obtain the current speed of the driving motor of the mixing drum.
- the current rotation speed refers to the rotation speed of the mixing drum drive motor at the current moment.
- Step 130 if the current rotational speed of the mixing drum driving motor is lower than the first rotational speed setting value, continue to control the mixing drum driving motor at zero rotational speed.
- the mixing drum may be loaded with concrete and other substances, if the loading of concrete is small, the rotating speed of the mixing drum will gradually stop after falling to the set value; if the loading of concrete is large, the rotating speed of the mixing drum will When the rotation speed drops to zero, there is more concrete in the mixing drum at this time. Due to the effect of inertia, the mixing drum will reverse instantaneously, making the mixing drum switch from the feeding state to the unloading state, so that the concrete will flow out. And produce a reverse impact force, causing the mixer truck to vibrate, causing an uncomfortable driving experience for the driver.
- the current rotating speed of the driving motor of the mixing drum can be obtained in real time during the process of gradually decreasing the rotating speed of the driving motor of the mixing drum. If the current rotational speed is less than the first rotational speed setting value, it indicates that the rotational speed of the mixing drum drive motor is already very small, that is, the rotational speed of the mixing drum is already very small, which further indicates that the rotational energy of the mixing drum has been weakened, and the rotational speed lock operation can be performed to avoid produces a reversal.
- the first rotational speed setting value can be set according to actual needs, for example, the first rotational speed setting value can be set to 50 revolutions per minute (rpm).
- Zero speed control refers to keeping the speed at zero by controlling the torque and speed of the motor.
- the speed control or torque control can be used to continuously control the driving motor of the mixing drum at zero speed, so that the driving motor of the mixing drum remains at zero speed, which is equivalent to forcing the motor to keep the mixing drum stable and does not rotate.
- the driving motor of the mixing drum is decelerated and controlled, and the current rotating speed of the driving motor of the mixing drum is obtained. If the current rotational speed of the drum driving motor is less than the first rotational speed setting value, the driving motor of the mixing drum will be continuously controlled at zero speed. Instantaneous reversal leads to unloading phenomenon, which avoids the reverse impact to the greatest extent, reduces driving discomfort, and improves the driving experience of the driver.
- step 120 it also includes:
- zero-torque control refers to controlling the output torque of the motor to zero, relying on frictional force to consume rotational energy, so that the speed of the motor naturally decreases.
- the first setting time can be set as required, for example, 20 seconds. If the current rotational speed of the mixing drum drive motor is less than the first rotational speed setting value and the duration is longer than the first setting time, it indicates that the rotational energy of the mixing drum is small enough, and the possibility of reverse rotation is very small. At this time, you can The zero torque control is adopted, so that the rotating speed of the mixing drum driving motor decreases gradually until it is reduced to zero. Through the zero torque control method, it is beneficial to save the energy consumption of the mixer truck.
- the bodywork power take-off switch is used to indicate that the bodywork system of the mixer truck is controllable
- the agitating drum drive motor controls the agitating drum to start rotating
- the power take-off switch of the bodywork is turned off
- the agitating drum driving motor controls the agitating drum to stop rotating
- the driving motor of the mixing drum controls the starting rotation of the mixing drum, and starts to accelerate to the set speed. state; when the power take-off switch of the bodywork is turned off, the mixing drum drive motor controls the mixing drum to stop rotating, and after it starts to decelerate to zero speed, the mixing drum exits the working state.
- step 110 includes:
- the deceleration control is performed on the driving motor of the mixing drum, and the current speed of the driving motor of the mixing drum is obtained;
- the mixing drum driving motor If the current rotational speed of the mixing drum driving motor is less than the second rotational speed setting value, then adopt zero-torque control to the mixing drum driving motor, and perform reverse detection on the mixing drum driving motor;
- the preset condition is that the duration of the rotation speed of the mixing drum driving motor being lower than the second speed setting value after the reverse rotation occurs is greater than the second setting time, or the deceleration control time of the mixing drum driving motor after the reverse rotation occurs is greater than the third setting time.
- the controller VCU will also perform a power-off operation. At this point, it is no longer possible to force the mixer drum to stabilize by the motor.
- the controller After detecting that the key switch is turned off, the controller immediately controls the driving motor of the mixing drum to decelerate the mixing drum.
- the second rotational speed setting value can be set according to actual needs, for example, the second rotational speed setting value can be set to 50 revolutions per minute (rpm).
- the third rotational speed setting value can be set according to actual needs, for example, the third rotational speed setting value can be set to 150 revolutions per minute (rpm).
- the preset condition is used to judge whether the power-off operation of the controller is satisfied. If the preset conditions are met, it means that the rotational energy of the mixing drum is not enough to cause the reverse, and the power-off operation can be performed normally.
- the preset condition is that the duration of the rotation speed of the mixing drum driving motor being lower than the second speed setting value after the reverse rotation occurs is greater than the second setting time, or the deceleration control time of the mixing drum driving motor after the reverse rotation occurs is longer than the third setting time.
- the second setting time can be set as required, for example, 2 seconds.
- the third setting time can be set as required, for example, 5 seconds.
- the reverse detection of the mixing drum drive motor is performed, and then includes:
- the controller If it is not detected that the driving motor of the mixing drum reverses within the second set time, the controller is powered off.
- the deceleration control of the mixing drum drive motor includes:
- the speed control mode or torque control mode is adopted to control the deceleration of the mixing drum drive motor.
- the target physical quantity of the rotational speed control mode is the rotational speed of the driving motor of the mixing drum.
- the rotational speed control method uses the rotational speed of the mixing drum drive motor as the actual value for closed-loop control, which has the characteristics of high control precision.
- the target physical quantity of the torque control method is to control the output torque of the drive motor of the mixing drum. Because only the speed control method is used when the concrete load is large, the rotational inertia may be large and the speed control may fail or the equipment may be damaged if the speed is forcibly controlled. At this time, the torque control method can be switched to control the torque change. Changing the speed can effectively avoid damage to the equipment and improve the service life of the equipment.
- Fig. 2 is a schematic diagram of the top-mounted speed control system of the mixer truck provided by the present application.
- the system includes a vehicle controller (VCU), a top-mounted motor controller, a power supply device, Motor and mixing drum.
- VCU vehicle controller
- Motor Motor and mixing drum.
- the vehicle controller is used to obtain signals from the accelerator and brake pedals in the cab, signals from the control panel in the cab, control signals from the electric control handle outside the cab, transmission gear signals, handbrake signals, and vehicle speed signals, etc.
- the motor control logic determines the control commands such as motor speed, motor torque and rotation direction for controlling the bodywork motor, and sends them to the bodywork motor controller.
- the bodywork motor controller is used to obtain the power supply of the bodywork motor from the power supply device, and control the bodywork motor according to the control instructions sent by the vehicle controller.
- the bodywork motor is directly connected to the mixing drum through the direct drive of the gearbox or hydraulic connection, and drives the mixing drum to accelerate or decelerate.
- the speed control method is as follows:
- the VCU adjusts the speed of the motor through either the motor speed control or the motor torque control, thereby realizing the normal acceleration and deceleration operation of the mixing drum;
- the VCU will send a zero-torque control command to the bodywork motor, that is, the motor is in the state of random rotation
- the VCU will always control the bodywork motor to be in a zero-speed state, which can be realized by motor speed control or torque control;
- the VCU can perform power-off operation normally
- the VCU can perform a normal power-off operation.
- the bodywork speed control system provided in the embodiment of this application, when the bodywork mixing drum is in operation, if the driver directly turns off the power take-off switch of the bodywork or disconnects the key switch, the control system can ensure that the mixing drum will not reverse significantly Leading to unloading operations, while also minimizing reverse impact and reducing ride discomfort.
- Fig. 3 is a schematic structural diagram of the mixing drum speed control device provided by the present application. As shown in Fig. 3, the device includes:
- the acquiring unit 310 is used to acquire the power take-off switch state and the key switch state of the mixer truck;
- the deceleration unit 320 is used to perform deceleration control on the driving motor of the mixing drum and obtain the current speed of the driving motor of the mixing drum if the power take-off switch of the bodywork is turned off and the key switch is turned on;
- the first control unit 330 is configured to continuously control the driving motor of the mixing drum at zero speed if the current rotating speed of the driving motor of the mixing drum is lower than the first set value of rotating speed.
- the mixing drum speed control device detects that the power switch on the top of the mixer truck is turned off and the key switch is turned on. If the current rotational speed of the drum driving motor is less than the first rotational speed setting value, the driving motor of the mixing drum will be continuously controlled at zero speed. Instantaneous reversal leads to unloading phenomenon, which avoids the reverse impact to the greatest extent, reduces driving discomfort, and improves the driving experience of the driver.
- the second control unit is configured to adopt zero-torque control for the driving motor of the mixing drum if the current rotating speed of the driving motor of the mixing drum is lower than the first rotating speed setting value for a duration longer than the first setting time.
- the bodywork power take-off switch is used to indicate that the bodywork system of the mixer truck is controllable
- the agitating drum drive motor controls the agitating drum to start rotating
- the power take-off switch of the bodywork is turned off
- the agitating drum driving motor controls the agitating drum to stop rotating
- the reverse control unit is used to decelerate the mixer drum drive motor and obtain the current speed of the mixer drum drive motor if the key switch is turned off;
- the mixing drum driving motor If the current rotational speed of the mixing drum driving motor is less than the second rotational speed setting value, then adopt zero-torque control to the mixing drum driving motor, and perform reverse detection on the mixing drum driving motor;
- the preset condition is that the duration of the rotation speed of the mixing drum driving motor being lower than the second speed setting value after the reverse rotation occurs is greater than the second setting time, or the deceleration control time of the mixing drum driving motor after the reverse rotation occurs is greater than the third setting time.
- the inversion control unit is also used for:
- the controller If it is not detected that the driving motor of the mixing drum reverses within the second set time, the controller is powered off.
- the deceleration unit is used for:
- the speed control mode or torque control mode is adopted to control the deceleration of the mixing drum drive motor.
- the embodiment of the present application provides a mixer truck, including a memory, and a computer program stored in the memory and operable on the controller.
- the controller executes the program, the steps of the above method for controlling the speed of the mixing drum are realized. .
- the mixer truck in the embodiment of the present application may be a fuel-driven mixer truck, or may be an electric mixer truck driven by a power battery.
- FIG. 4 is a schematic structural diagram of an electronic device provided by the present application.
- the electronic device may include: a processor (Processor) 410, a communication interface (Communications Interface) 420, a memory ) 430 and a communication bus (Communications Bus) 440, wherein, the processor 410, the communication interface 420, and the memory 430 complete mutual communication through the communication bus 440.
- Processor 410 can invoke logic commands in memory 430 to perform the following methods:
- the above logic commands in the memory 430 may be implemented in the form of software function units and when sold or used as an independent product, they may be stored in a computer-readable storage medium.
- the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several commands are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
- the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. .
- the processor in the electronic device provided by the embodiment of the present application can call the logic instruction in the memory to implement the above method, and its specific implementation mode is consistent with the above method implementation mode, and can achieve the same beneficial effect, and will not be repeated here.
- An embodiment of the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it is implemented to perform the methods provided by the above-mentioned embodiments, for example, including:
- the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative effort.
- each implementation can be implemented by means of software plus a necessary general hardware platform, and of course also by hardware.
- the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic Disc, CD, etc., including several commands to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods described in various embodiments or some parts of the embodiments.
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Abstract
本申请提供一种搅拌筒转速控制方法、装置和搅拌车，其中方法包括：获取搅拌车的上装取力开关状态和钥匙开关状态；若所述上装取力开关关闭且所述钥匙开关打开，则对搅拌筒驱动电机进行减速控制，并获取搅拌筒驱动电机的当前转速；若所述搅拌筒驱动电机的当前转速小于第一转速设定值，则持续对所述搅拌筒驱动电机采用零转速控制。本申请提供的方法、装置和搅拌车，不会因为惯性产生瞬间反转而导致出现卸料现象，最大限度地避免了产生反转冲击力，减缓了驾驶不舒适感，提高了驾驶员的驾驶体验。
Description
相关申请的交叉引用
本申请要求于2021年8月23日提交的申请号为2021109687917，发明名称为“搅拌筒转速控制方法、装置和搅拌车”的中国专利申请的优先权，其通过引用方式全部并入本文。
本申请涉及机械工程技术领域，尤其涉及一种搅拌筒转速控制方法、装置和搅拌车。
目前，电动搅拌车上装搅拌筒的转速变化是通过整车控制器(VCU)控制上装电机调速的方式实现的。当搅拌筒处于运行过程中，如果驾驶员直接关闭上装取力开关或者断开钥匙开关，那么VCU会控制上装电机进行减速，当上装电机转速降到设定值之后，VCU便对上装电机进行零扭矩控制。
现有技术中，当搅拌筒装载量较大时，如果驾驶员直接关闭上装取力开关或者断开钥匙开关，那么当搅拌筒转速降到零之后，会由于惯性力作用出现瞬间的反转运行情况，一方面会造成搅拌筒由进料状态反转到卸料状态，使混凝土流出，另一方面会由于搅拌筒瞬间的反转冲击力给驾驶员造成不舒适的驾驶体验。
发明内容
本申请提供一种搅拌筒转速控制方法、装置和搅拌车，用于解决现有技术中搅拌筒控制转速控制容易出现反转，使混凝土流出，同时使得驾驶员驾驶体验低的技术问题。
本申请提供一种搅拌筒转速控制方法，包括：
获取搅拌车的上装取力开关状态和钥匙开关状态；
若所述上装取力开关关闭且所述钥匙开关打开，则对搅拌筒驱动电机 进行减速控制，并获取搅拌筒驱动电机的当前转速；
若所述搅拌筒驱动电机的当前转速小于第一转速设定值，则持续对所述搅拌筒驱动电机采用零转速控制。
根据本申请提供的搅拌筒转速控制方法，所述获取搅拌筒驱动电机的当前转速，之后还包括：
若所述搅拌筒驱动电机的当前转速小于第一转速设定值的持续时间大于第一设定时间，则对所述搅拌筒驱动电机采用零转矩控制。
根据本申请提供的搅拌筒转速控制方法，所述上装取力开关用于指示所述搅拌车的上装系统可控；
当所述上装取力开关打开时所述搅拌筒驱动电机控制所述搅拌筒启动旋转，当所述上装取力开关关闭时所述搅拌筒驱动电机控制所述搅拌筒停止旋转。
根据本申请提供的搅拌筒转速控制方法，所述获取搅拌车的上装取力开关状态和钥匙开关状态，之后包括：
若所述钥匙开关关闭，则对搅拌筒驱动电机进行减速控制，并获取搅拌筒驱动电机的当前转速；
若所述搅拌筒驱动电机的当前转速小于第二转速设定值，则对所述搅拌筒驱动电机采用零转矩控制，并对所述搅拌筒驱动电机进行反转检测；
若在第二设定时间内检测到所述搅拌筒驱动电机发生反转且反转速度大于第三转速设定值，则继续对所述搅拌筒驱动电机进行减速控制，直至所述搅拌筒驱动电机满足预设条件时执行控制器下电操作；
其中，所述预设条件为所述搅拌筒驱动电机发生反转后转速小于第二转速设定值的持续时间大于第二设定时间，或者发生反转后所述搅拌筒驱动电机的减速控制时间大于第三设定时间。
根据本申请提供的搅拌筒转速控制方法，所述对所述搅拌筒驱动电机进行反转检测，之后包括：
若在第二设定时间内未检测到所述搅拌筒驱动电机发生反转，则执行控制器下电操作。
根据本申请提供的搅拌筒转速控制方法，所述对搅拌筒驱动电机进行减速控制，包括：
采用转速控制方式或者转矩控制方式对所述搅拌筒驱动电机进行减速控制。
本申请提供一种搅拌筒转速控制装置，包括：
获取单元，用于获取搅拌车的上装取力开关状态和钥匙开关状态；
减速单元，用于若所述上装取力开关关闭且所述钥匙开关打开，则对搅拌筒驱动电机进行减速控制，并获取搅拌筒驱动电机的当前转速；
第一控制单元，用于若所述搅拌筒驱动电机的当前转速小于第一转速设定值，则持续对所述搅拌筒驱动电机采用零转速控制。
本申请提供一种搅拌车，包括存储器、及存储在所述存储器上并可在所述控制器上运行的计算机程序，所述控制器执行所述程序时实现所述搅拌筒转速控制方法的步骤。
本申请提供一种电子设备，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述程序时实现所述搅拌筒转速控制方法的步骤。
本申请提供一种非暂态计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现所述搅拌筒转速控制方法的步骤。
本申请提供的搅拌筒转速控制方法、装置和搅拌车，若检测到搅拌车的上装取力开关关闭且钥匙开关打开，则对搅拌筒驱动电机进行减速控制，并获取搅拌筒驱动电机的当前转速，若搅拌筒驱动电机的当前转速小于第一转速设定值，则持续对搅拌筒驱动电机采用零转速控制，在上装取力开关关闭时，通过持续对搅拌筒驱动电机采用零转速控制，不会因为惯性产生瞬间反转而导致出现卸料现象，最大限度地避免了产生反转冲击力，减缓了驾驶不舒适感，提高了驾驶员的驾驶体验。
为了更清楚地说明本申请或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请提供的搅拌筒转速控制方法的流程示意图；
图2为本申请提供的搅拌车上装转速控制系统的原理图；
图3为本申请提供的搅拌筒转速控制装置的结构示意图；
图4为本申请提供的电子设备的结构示意图。
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请中的附图，对本申请中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
搅拌车是用来运送建筑用混凝土的专用卡车，卡车上都装置有圆筒型的搅拌筒以运载混合后的混凝土。在运输过程中会始终保持搅拌筒转动，以保证所运载的混凝土不会凝固。
图1为本申请提供的搅拌筒转速控制方法的流程示意图，如图1所示，该方法包括：
步骤110，获取搅拌车的上装取力开关状态和钥匙开关状态。
具体地，搅拌筒通过变速箱与搅拌筒驱动电机连接。搅拌筒是由搅拌筒驱动电机驱动的，可以通过变速箱的变速比，以及搅拌筒驱动电机的转速，得到搅拌筒的转速。对搅拌筒转速进行控制就是对搅拌筒驱动电机的转速进行控制。搅拌筒驱动电机也被称为上装电机。例如，对于电动搅拌车，当搅拌筒处于运行过程中，如果驾驶员关闭上装取力开关或者断开钥匙开关时，一般由VCU控制上装电机对搅拌筒进行减速，直至搅拌筒停止转动。
取力开关，由齿轮箱、离合器、控制器组合而成，与变速箱低档齿轮或副箱输出轴连接，将动力输出至外部工作装置。本申请实施例中上装取力开关用于指示搅拌车的上装系统可控，当上装取力开关打开时搅拌筒驱动电机控制搅拌筒启动旋转，当上装取力开关关闭时搅拌筒驱动电机控制搅拌筒停止旋转。钥匙开关为车辆驾驶室的总电源开关，打开时接通搅拌车上的各个系统的电源，关闭时切断搅拌车上的各个系统的电源。
步骤120，若上装取力开关关闭且钥匙开关打开，则对搅拌筒驱动电 机进行减速控制，并获取搅拌筒驱动电机的当前转速。
具体地，搅拌车的上装取力开关关闭且钥匙开关打开时，需要控制搅拌车驱动电机进行减速控制，使得搅拌筒能够逐渐停止转动。在减速控制的过程中，需要获取搅拌筒驱动电机的当前转速。当前转速是指搅拌筒驱动电机在当前时刻的转速。
步骤130，若搅拌筒驱动电机的当前转速小于第一转速设定值，则持续对搅拌筒驱动电机采用零转速控制。
具体地，由于搅拌筒内可能装载有混凝土等物质，若混凝土的装载量较少，搅拌筒的转速降到设定值之后，会逐渐停止转动；若混凝土的装载量较多，搅拌筒的转速会下降到零转速时，此时搅拌筒内的混凝土较多，由于惯性的作用，会导致搅拌筒出现瞬间的反转现象，使得搅拌筒从进料状态切换至卸料状态，使得混凝土流出，并产生反转冲击力，造成搅拌车震动，给驾驶员造成不舒服的驾驶体验。
因此，可以在搅拌筒驱动电机的转速逐渐下降的过程中，实时获取搅拌筒驱动电机的当前转速。如果当前转速小于第一转速设定值，表明搅拌筒驱动电机的转速已经很小，即搅拌筒的转速也已经很小，进一步表明搅拌筒的转动能量已经减弱，可以进行转速锁定操作，从而避免产生反转。第一转速设定值可以根据实际需要进行设置，例如，第一转速设定值可以设置为50转每分(rpm)。
零转速控制是指通过控制电机的转矩和转速，使其转速保持为零。此时，可以通过转速控制或者转矩控制的方式，持续对搅拌筒驱动电机采用零转速控制，使搅拌筒驱动电机一直保持零转速状态，相当于通过电机强制保持搅拌筒稳定，不发生转动。
本申请实施例提供的搅拌筒转速控制方法，若检测到搅拌车的上装取力开关关闭且钥匙开关打开，则对搅拌筒驱动电机进行减速控制，并获取搅拌筒驱动电机的当前转速，若搅拌筒驱动电机的当前转速小于第一转速设定值，则持续对搅拌筒驱动电机采用零转速控制，在上装取力开关关闭时，通过持续对搅拌筒驱动电机采用零转速控制，不会因为惯性产生瞬间反转而导致出现卸料现象，最大限度地避免了产生反转冲击力，减缓了驾驶不舒适感，提高了驾驶员的驾驶体验。
基于上述实施例，步骤120之后还包括：
若搅拌筒驱动电机的当前转速小于第一转速设定值的持续时间大于第一设定时间，则对搅拌筒驱动电机采用零转矩控制。
具体地，零转矩控制是指控制电机的输出转矩为零，依靠摩擦力等消耗转动能量，使电机的转速自然降速。
第一设定时间可以根据需要进行设置，例如20秒。如果搅拌筒驱动电机的当前转速小于第一转速设定值的持续时间大于第一设定时间，则表明搅拌筒的转动能量已经足够小，能够发生反转的可能性很小，此时，可以采用零转矩控制，使得搅拌筒驱动电机的转速逐渐下降，直至减小为零。通过零转矩控制的方式，有利于节约搅拌车的能量消耗。
基于上述任一实施例，上装取力开关用于指示搅拌车的上装系统可控；
当上装取力开关打开时搅拌筒驱动电机控制搅拌筒启动旋转，当上装取力开关关闭时搅拌筒驱动电机控制搅拌筒停止旋转。
具体地，当上装取力开关打开时，搅拌筒驱动电机控制搅拌筒启动旋转，开始加速至设定转速后，例如搅拌筒1转每分，搅拌筒驱动电机500转每分，搅拌筒进行工作状态；当上装取力开关关闭时，搅拌筒驱动电机控制搅拌筒停止旋转，开始减速至零转速后，搅拌筒退出工作状态。
基于上述任一实施例，步骤110之后包括：
若钥匙开关关闭，则对搅拌筒驱动电机进行减速控制，并获取搅拌筒驱动电机的当前转速；
若搅拌筒驱动电机的当前转速小于第二转速设定值，则对搅拌筒驱动电机采用零转矩控制，并对搅拌筒驱动电机进行反转检测；
若在第二设定时间内检测到搅拌筒驱动电机发生反转且反转速度大于第三转速设定值，则继续对搅拌筒驱动电机进行减速控制，直至搅拌筒驱动电机满足预设条件时执行控制器下电操作；
其中，预设条件为搅拌筒驱动电机发生反转后转速小于第二转速设定值的持续时间大于第二设定时间，或者发生反转后搅拌筒驱动电机的减速控制时间大于第三设定时间。
具体地，如果检测到钥匙开关关闭，则表明整个搅拌车上的电源即将关闭，控制器VCU也将进行下电操作。此时，将无法继续通过电机强制 保持搅拌筒稳定。
检测到钥匙开关关闭后，控制器立即控制搅拌筒驱动电机对搅拌筒进行减速。
若搅拌筒驱动电机的当前转速小于第二转速设定值，表明搅拌筒驱动电机的转速已经很小，即搅拌筒的转速也已经很小，进一步表明搅拌筒的转动能量已经减弱，则对搅拌筒驱动电机采用零转矩控制，并对搅拌筒驱动电机进行反转检测。第二转速设定值可以根据实际需要进行设置，例如，第二转速设定值可以设置为50转每分(rpm)。
如果在第二设定时间内检测到搅拌筒驱动电机发生反转且反转速度大于第三转速设定值，表明搅拌筒的转动能量依然能够造成搅拌筒反转，则继续对搅拌筒驱动电机进行减速控制，直至搅拌筒驱动电机满足预设条件时执行控制器下电操作。第三转速设定值可以根据实际需要进行设置，例如，第三转速设定值可以设置为150转每分(rpm)。
预设条件用于对是否满足控制器下电操作进行判断。满足预设条件，则表明搅拌筒的转动能量不足以造成反转，可以正常执行下电操作。预设条件为搅拌筒驱动电机发生反转后转速小于第二转速设定值的持续时间大于第二设定时间，或者发生反转后搅拌筒驱动电机的减速控制时间大于第三设定时间。
第二设定时间可以根据需要进行设置，例如2秒。第三设定时间可以根据需要进行设置，例如5秒。
基于上述任一实施例，对搅拌筒驱动电机进行反转检测，之后包括：
若在第二设定时间内未检测到搅拌筒驱动电机发生反转，则执行控制器下电操作。
具体地，如果在第二设定时间内未检测到搅拌筒驱动电机发生反转，则表明搅拌筒的转动能量不会造成反转，可以正常执行控制器下电操作。
基于上述任一实施例，对搅拌筒驱动电机进行减速控制，包括：
采用转速控制方式或者转矩控制方式对搅拌筒驱动电机进行减速控制。
具体地，转速控制方式的目标物理量为搅拌筒驱动电机的转速。转速控制方式是以搅拌筒驱动电机的转速为实际值进行闭环控制，具有控制精 度高等特点。
转矩控制方式的目标物理量为控制搅拌筒驱动电机的输出转矩。由于仅采用转速控制方式在混凝土装载量较大时，可能出现转动惯性较大导致转速控制失效或者强行控制转速可能造成设备损伤，此时可以切换为转矩控制方式，通过控制转矩的变化来改变转速，能够有效地避免损伤设备，提高设备的使用寿命等特点。
基于上述任一实施例，图2为本申请提供的搅拌车上装转速控制系统的原理图，如图2所示，该系统包括整车控制器(VCU)、上装电机控制器、供电装置、上装电机和搅拌筒。
其中，整车控制器用于获取驾驶室油门和制动踏板信号、驾驶室控制面板发出的信号、驾驶室外电控手柄发出的控制信号、变速箱档位信号、手刹信号和车速信号等，根据上装电机控制逻辑，确定控制上装电机的电机转速、电机转矩和旋转方向等控制指令，并将其发送至上装电机控制器。
上装电机控制器用于从供电装置获取上装电机的动力电源，根据整车控制器发送的控制指令，对上装电机进行控制。
上装电机通过变速箱直驱或者液压连接的方式，与搅拌筒直接连接，驱动搅拌筒进行加速或者减速。
转速控制方法具体如下：
1.上装搅拌筒启动后，VCU通过电机转速控制或者电机转矩控制中任一方式对电机进行调速，进而实现搅拌筒正常加减速操作；
2.当搅拌筒处于运行过程中，如果驾驶员仅关闭上装取力开关(此时未关闭钥匙)，VCU会控制上装电机进行减速操作(可采用电机转速控或者转矩控方式)，当上装电机转速小于某一设定值N1(设定值，如N1＝50rpm)后，VCU可以有以下两种不同控制方式：
a)当上装电机转速降至设定值以下且持续时间超过T1(T1为设定值，如T1＝20秒)后，VCU会给上装电机发送零扭矩控制指令，即电机处于随转状态；
b)VCU会一直控制上装电机处于零转速状态，可通过电机转速控或者转矩控方式实现；
如果在执行第2步操作的时候，驾驶员突然关闭钥匙开关，则会进入 第3步操作流程；
3.当搅拌筒处于运行过程中，如果驾驶员直接关闭钥匙，VCU会控制上装电机进行减速操作(可采用电机转速控或者转矩控方式)；当上装电机转速小于某一设定值N2(设定值，如N2＝50rpm)后，VCU首先会对电机进行零扭矩控制，然后执行以下操作：
a)判断一定时间T2(T2为设定值，如T2＝2秒)内，电机转速是否存在反转且电机反转转速超过N3(设定值，如N3＝150rpm)的情况；
b)如果不存在，VCU可正常执行下电操作；
c)如果存在，VCU会继续对上装电机进行减速控制(通过电机转速控或者转矩控方式实现)，当电机转速持续T2时间小于设定值(设定值，如50rpm)或者总调速超过设定时间T3(T3为设定值，如T3＝5秒)时，则VCU可执行正常下电操作。
本申请实施例提供的上装转速控制系统，当上装搅拌筒处于运行过程中，如果驾驶员直接关闭上装取力开关或者断开钥匙开关，该控制系统可以保证搅拌筒不会有较大的反转导致卸料操作，同时也最大限度地降低反转冲击力，减缓驾驶不舒适感。
基于上述任一实施例，图3为本申请提供的搅拌筒转速控制装置的结构示意图，如图3所示，该装置包括：
获取单元310，用于获取搅拌车的上装取力开关状态和钥匙开关状态；
减速单元320，用于若上装取力开关关闭且钥匙开关打开，则对搅拌筒驱动电机进行减速控制，并获取搅拌筒驱动电机的当前转速；
第一控制单元330，用于若搅拌筒驱动电机的当前转速小于第一转速设定值，则持续对搅拌筒驱动电机采用零转速控制。
本申请实施例提供的搅拌筒转速控制装置，若检测到搅拌车的上装取力开关关闭且钥匙开关打开，则对搅拌筒驱动电机进行减速控制，并获取搅拌筒驱动电机的当前转速，若搅拌筒驱动电机的当前转速小于第一转速设定值，则持续对搅拌筒驱动电机采用零转速控制，在上装取力开关关闭时，通过持续对搅拌筒驱动电机采用零转速控制，不会因为惯性产生瞬间反转而导致出现卸料现象，最大限度地避免了产生反转冲击力，减缓了驾驶不舒适感，提高了驾驶员的驾驶体验。
基于上述任一实施例，还包括：
第二控制单元，用于若搅拌筒驱动电机的当前转速小于第一转速设定值的持续时间大于第一设定时间，则对搅拌筒驱动电机采用零转矩控制。
基于上述任一实施例，上装取力开关用于指示搅拌车的上装系统可控；
当上装取力开关打开时搅拌筒驱动电机控制搅拌筒启动旋转，当上装取力开关关闭时搅拌筒驱动电机控制搅拌筒停止旋转。
基于上述任一实施例，还包括：
反转控制单元，用于若钥匙开关关闭，则对搅拌筒驱动电机进行减速控制，并获取搅拌筒驱动电机的当前转速；
若搅拌筒驱动电机的当前转速小于第二转速设定值，则对搅拌筒驱动电机采用零转矩控制，并对搅拌筒驱动电机进行反转检测；
若在第二设定时间内检测到搅拌筒驱动电机发生反转且反转速度大于第三转速设定值，则继续对搅拌筒驱动电机进行减速控制，直至搅拌筒驱动电机满足预设条件时执行控制器下电操作；
其中，预设条件为搅拌筒驱动电机发生反转后转速小于第二转速设定值的持续时间大于第二设定时间，或者发生反转后搅拌筒驱动电机的减速控制时间大于第三设定时间。
基于上述任一实施例，反转控制单元还用于：
若在第二设定时间内未检测到搅拌筒驱动电机发生反转，则执行控制器下电操作。
基于上述任一实施例，减速单元用于：
采用转速控制方式或者转矩控制方式对搅拌筒驱动电机进行减速控制。
基于上述任一实施例，本申请实施例提供一种搅拌车，包括存储器、及存储在存储器上并可在控制器上运行的计算机程序，控制器执行程序时实现上述拌筒转速控制方法的步骤。
具体地，本申请实施例中的搅拌车可以为燃油驱动的搅拌车，也可以为动力电池驱动的电动搅拌车。
基于上述任一实施例，图4为本申请提供的电子设备的结构示意图，如图4所示，该电子设备可以包括：处理器(Processor)410、通信接口 (Communications Interface)420、存储器(Memory)430和通信总线(Communications Bus)440，其中，处理器410，通信接口420，存储器430通过通信总线440完成相互间的通信。处理器410可以调用存储器430中的逻辑命令，以执行如下方法：
获取搅拌车的上装取力开关状态和钥匙开关状态；若上装取力开关关闭且钥匙开关打开，则对搅拌筒驱动电机进行减速控制，并获取搅拌筒驱动电机的当前转速；若搅拌筒驱动电机的当前转速小于第一转速设定值，则持续对搅拌筒驱动电机采用零转速控制。
此外，上述的存储器430中的逻辑命令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干命令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
本申请实施例提供的电子设备中的处理器可以调用存储器中的逻辑指令，实现上述方法，其具体的实施方式与前述方法实施方式一致，且可以达到相同的有益效果，此处不再赘述。
本申请实施例还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现以执行上述各实施例提供的方法，例如包括：
获取搅拌车的上装取力开关状态和钥匙开关状态；若上装取力开关关闭且钥匙开关打开，则对搅拌筒驱动电机进行减速控制，并获取搅拌筒驱动电机的当前转速；若搅拌筒驱动电机的当前转速小于第一转速设定值，则持续对搅拌筒驱动电机采用零转速控制。
本申请实施例提供的非暂态计算机可读存储介质上存储的计算机程序被执行时，实现上述方法，其具体的实施方式与前述方法实施方式一致，且可以达到相同的有益效果，此处不再赘述。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干命令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。
Claims (10)
- 一种搅拌筒转速控制方法，包括：获取搅拌车的上装取力开关状态和钥匙开关状态；若所述上装取力开关关闭且所述钥匙开关打开，则对搅拌筒驱动电机进行减速控制，并获取搅拌筒驱动电机的当前转速；若所述搅拌筒驱动电机的当前转速小于第一转速设定值，则持续对所述搅拌筒驱动电机采用零转速控制。
- 根据权利要求1所述的搅拌筒转速控制方法，其中，所述获取搅拌筒驱动电机的当前转速，之后还包括：若所述搅拌筒驱动电机的当前转速小于第一转速设定值的持续时间大于第一设定时间，则对所述搅拌筒驱动电机采用零转矩控制。
- 根据权利要求1所述的搅拌筒转速控制方法，其中，所述上装取力开关用于指示所述搅拌车的上装系统可控；当所述上装取力开关打开时所述搅拌筒驱动电机控制所述搅拌筒启动旋转，当所述上装取力开关关闭时所述搅拌筒驱动电机控制所述搅拌筒停止旋转。
- 根据权利要求1所述的搅拌筒转速控制方法，其中，所述获取搅拌车的上装取力开关状态和钥匙开关状态，之后包括：若所述钥匙开关关闭，则对搅拌筒驱动电机进行减速控制，并获取搅拌筒驱动电机的当前转速；若所述搅拌筒驱动电机的当前转速小于第二转速设定值，则对所述搅拌筒驱动电机采用零转矩控制，并对所述搅拌筒驱动电机进行反转检测；若在第二设定时间内检测到所述搅拌筒驱动电机发生反转且反转速度大于第三转速设定值，则继续对所述搅拌筒驱动电机进行减速控制，直至所述搅拌筒驱动电机满足预设条件时执行控制器下电操作；其中，所述预设条件为所述搅拌筒驱动电机发生反转后转速小于第二转速设定值的持续时间大于第二设定时间，或者发生反转后所述搅拌筒驱动电机的减速控制时间大于第三设定时间。
- 根据权利要求4所述的搅拌筒转速控制方法，其中，所述对所述搅拌筒驱动电机进行反转检测，之后包括：若在第二设定时间内未检测到所述搅拌筒驱动电机发生反转，则执行控制器下电操作。
- 根据权利要求1至5任一项所述的搅拌筒转速控制方法，其中，所述对搅拌筒驱动电机进行减速控制，包括：采用转速控制方式或者转矩控制方式对所述搅拌筒驱动电机进行减速控制。
- 一种搅拌筒转速控制装置，包括：获取单元，用于获取搅拌车的上装取力开关状态和钥匙开关状态；减速单元，用于若所述上装取力开关关闭且所述钥匙开关打开，则对搅拌筒驱动电机进行减速控制，并获取搅拌筒驱动电机的当前转速；第一控制单元，用于若所述搅拌筒驱动电机的当前转速小于第一转速设定值，则持续对所述搅拌筒驱动电机采用零转速控制。
- 一种搅拌车，包括存储器、及存储在所述存储器上并可在所述控制器上运行的计算机程序，所述控制器执行所述程序时实现如权利要求1至6任一项所述搅拌筒转速控制方法的步骤。
- 一种电子设备，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，其中，所述处理器执行所述程序时实现如权利要求1至6任一项所述搅拌筒转速控制方法的步骤。
- 一种非暂态计算机可读存储介质，其上存储有计算机程序，其中，所述计算机程序被处理器执行时实现如权利要求1至6任一项所述搅拌筒转速控制方法的步骤。
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| CN110864107A (zh) * | 2019-11-28 | 2020-03-06 | 安徽江淮汽车集团股份有限公司 | 车辆的控制方法、装置及计算机可读存储介质 |
| CN112060342A (zh) * | 2020-09-21 | 2020-12-11 | 中联重科股份有限公司 | 搅拌筒转速控制方法、系统及搅拌运输车 |
| CN112549312A (zh) * | 2020-12-13 | 2021-03-26 | 江苏奥新新能源汽车有限公司 | 一种纯电动混泥土搅拌车上装驱动系统及其控制方法 |
| CN112848919A (zh) * | 2021-01-25 | 2021-05-28 | 奇瑞新能源汽车股份有限公司 | 电动汽车的下电方法、装置及电动汽车 |
| CN113183742A (zh) * | 2021-04-29 | 2021-07-30 | 吉林大学 | 一种节能混凝土搅拌车驱动系统及其控制方法 |
| CN113787618A (zh) * | 2021-08-23 | 2021-12-14 | 三一汽车制造有限公司 | 搅拌筒转速控制方法、装置和搅拌车 |
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| EP4375036A1 (en) | 2024-05-29 |
| CN113787618B (zh) | 2023-01-31 |
| CN113787618A (zh) | 2021-12-14 |
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