Variable load energy-saving control method for hybrid power mixer truck

Abstract

The invention relates to a hybrid power mixer truck variable load energy-saving control method which comprises the following steps: S101, acquiring working information of a driving motor system and an upper motor, and determining the working state of the mixer truck in combination with driving data of the mixer truck; s102, acquiring the load condition of the stirring tank in real time, and adjusting the rotating speed of the upper motor to enable the upper motor to be in a motor efficient area; s103, acquiring the SOC condition of the battery of the hybrid power mixer truck, and predicting the working time according to the power required by the working state; and S104, the start-stop state of the engine is adjusted, and energy-saving control over the hybrid power mixer truck is achieved. According to the variable-load energy-saving control method for the hybrid power mixer truck, the working state of the hybrid power mixer truck is defined, start-stop and power output characteristics of an engine are adjusted, in principle, the system efficiency is maximized as much as possible, and a battery pack of the mixer truck outputs preferentially, so that the purpose of saving energy of the hybrid power mixer truck is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of energy-saving control methods, in particular to a variable load energy-saving control method for a hybrid power mixer truck. Background Art

[0002] With the continuous expansion of infrastructure construction, supporting engineering vehicles are facing the need for further technical upgrades. The drive system of the traditional mixer truck mixing tank consists of an engine, a power take-off, a hydraulic system, a reducer, a mixing tank, etc. This drive mode relies on the power provided by the main engine and cannot work independently. Therefore, during the loading, waiting, and unloading process of the traditional mixer truck, in order to prevent the concrete from solidifying, the engine needs to run to provide hydraulic driving force to keep the tank running. The engine needs to work at idle speed for a long time, accounting for more than 60% of its total working time, resulting in the shortcomings of high engine fuel consumption, incomplete combustion, and poor emissions.

[0003] Later, after people's continuous exploration, Yutong Commercial Vehicle Co., Ltd. developed a mixing tank control method, control system and mixing truck, with the publication number CN117885214A. The system mainly consists of a mixing tank, an electric drive system, a top controller and a control panel. The technical implementation method is as follows: the new mixing tank shaking control enriches the mixing tank function. After starting the shaking tank control, the mixing tank is allowed to circulate back and forth continuously at the set speed within the set height range, so that the mixing material deposited at the bottom is dispersed in the continuous shaking, thereby ensuring the uniform mixing of all the mixing materials in the mixing tank, solving the problem of uneven mixing caused by the sinking of the mixing tank, improving the mixing quality, and solving the problem of unclean internal cleaning; the automatic shaking tank method does not require the operator to operate continuously on site, and only needs to set the speed to automatically control the shaking tank, making the control faster and more convenient to use; the speed inheritance method does not need to set two speeds, so that when any speed is set, it will alternately run forward and reverse at the set speed during the automatic shaking tank process, further simplifying the complexity of use. The above structure only adopts the method of adding a shaking tank for control, which has nothing to do with the energy management and energy-saving control of the entire vehicle, and still does not achieve a good energy-saving effect. Summary of the invention

[0004] The technical problem to be solved by the present invention is: in order to solve the problems existing in the above-mentioned background technology, a variable load energy-saving control method for a hybrid mixer truck is provided, which automatically adjusts the power output characteristics according to the change of load to achieve energy-saving control.

[0005] The technical solution adopted by the present invention to solve its technical problems is: a variable load energy-saving control method for a hybrid power mixer truck, comprising the following steps: S101, obtaining the working information of the drive motor system and the upper motor, and determining the working state of the mixer truck in combination with the driving data of the mixer truck; S102, obtaining the load condition of the mixing tank in real time, and adjusting the speed of the upper motor to make the upper motor in the motor high-efficiency area; S103, obtaining the SOC condition of the battery of the hybrid power mixer truck, and predicting the working time according to the power required for the working state; S104, adjusting the start and stop state of the engine to achieve energy-saving control of the hybrid power mixer truck.

[0006] It is further defined that in the above technical scheme, the working states in S101 include: when the speed of the hybrid concrete mixer truck is 0, the upper motor is in the feeding state, and the power of the main drive motor is 0, the hybrid concrete mixer truck is in the stirring and feeding state; when the speed of the hybrid concrete mixer truck is greater than 0, the upper motor is in the stirring state, and the output power of the main drive motor is greater than 0, the hybrid concrete mixer truck is in the stirring and transporting state; when the speed of the hybrid concrete mixer truck is 0, the upper motor is in the stirring state, and the power of the main drive motor is 0, the hybrid concrete mixer truck is in the parking stirring state; when the speed of the hybrid concrete mixer truck is 0, the upper motor is in the unloading state, and the power of the main drive motor is 0, the hybrid concrete mixer truck is in the stirring and unloading state.

[0007] It is further defined that in the above technical solution, the real-time acquisition of the load condition of the mixing tank in S102 and the adjustment of the upper motor speed so that the upper motor is in the motor high efficiency area include: setting the upper motor speed in the mixing and feeding state to n1, the upper motor speed in the mixing and transporting state to n2, the upper motor speed in the parking mixing state to n3, and the upper motor speed in the mixing and unloading state to n4. The speeds in the mixing and feeding and mixing and unloading states are the optimal speeds in the corresponding working states. Set the no-load mass of the mixing tank to m0, the chassis mass of the hybrid mixer truck to M, and the initial upper motor torque to T0. Set the mixing and feeding state time to t1, the mixing and transporting state time to t2, the parking mixing state time to t3, and the mixing and unloading state time to t4;

[0008] When in the stirring and feeding state, the upper load calculation formula is as follows Among them, t k is the current feeding time, t k Load during the mixing and feeding process at the moment; u j is the feed rate;

[0009] The torque calculation formula provided by the upper motor is as follows: in, The torque of the upper motor during the mixing and feeding process;

[0010] During the mixing and feeding process, considering the torque change and efficiency requirements, the load is divided into three intervals: light load, medium load, and full load, and the torque is divided into T Light 、T Medium 、T Heavy Three stages:

[0011] The load gears in the mixing and feeding process are distinguished as follows: When , the upper load is defined as light load; when When , the upper load is defined as medium load; when When , define the upper load as heavy load;

[0012] Combined with the current load range of the upper motor, the speed n1 during the mixing and feeding process is distinguished into the light load speed n 1L , medium load speed n 1M , heavy load speed n 1H , uniformly represented by n1, obviously, the specific value of the data corresponds to the above load range one by one;

[0013] During the mixing and feeding process, the power required by the upper motor is calculated as follows: Among them, P j The power required for the upper motor;

[0014] When in the mixing and unloading state, the upper load calculation formula is as follows: m=m0+u j t1; where t h is the current unloading time, t h The loading load during the mixing and unloading process at the moment; u x is the unloading rate; m is the upper load after the stirring and feeding process is completed;

[0015] The torque calculation formula provided by the upper motor is as follows: in, is the torque of the upper motor during the stirring and unloading process; T is the torque of the upper motor after the stirring and feeding process is completed;

[0016] The load gears in the mixing and unloading process are distinguished as follows: When , the upper load is defined as light load; when When , the upper load is defined as medium load; when When , define the upper load as heavy load;

[0017] Combined with the current load range of the upper motor, the speed n1 during the mixing and feeding process is distinguished into the light load speed n 4L , medium load speed n 4M , heavy load speed n 4H, uniformly represented by n4, obviously, the specific value of the data corresponds to the above load range one by one;

[0018] During the mixing and unloading process, the power required by the upper motor is calculated as follows: Among them, P x The power required for the upper motor;

[0019] When the hybrid concrete mixer truck is in the mixing and transporting state, the power calculation formula required by the upper motor is as follows: Among them, P y n is the power required by the upper motor in the mixing and transporting state; n2 is the speed of the upper motor in the mixing and transporting state;

[0020] It is necessary to calculate the required power of the hybrid concrete mixer truck. According to the main road conditions of the concrete mixer truck, the required power calculation formula of the hybrid concrete mixer truck (excluding the upper system) is as follows: G = (M + m) g, where f is the rolling resistance coefficient; C D is the air resistance coefficient; A is the windward area of ​​the mixer truck; i is the road slope;

[0021] The power demand calculation formula of the hybrid mixer truck during mixing transportation is as follows: P = P y +P0, where P is the power required by the mixer truck during mixing transportation;

[0022] When the hybrid concrete mixer truck is in the parking mixing state, the power calculation formula required by the upper motor is as follows: Among them, P t The power required by the upper motor when the machine is in the stopped stirring state.

[0023] It is further defined that in the above technical solution, the S103 of obtaining the SOC of the battery of the hybrid mixer truck and predicting the working time according to the power required for the working state includes obtaining the SOC of the battery of the current hybrid mixer truck and predicting the working time of the battery of the hybrid mixer truck in the working state according to the power required for the working state;

[0024] Calculate the working time of the battery in each working state;

[0025] Assuming the rated working voltage of the hybrid mixer truck battery is U and the battery capacity is Ah, when the hybrid mixer truck is in the mixing and feeding state, the battery working time calculation formula is as follows: Among them, I a is the working current of the battery in the stirring feeding state, t a The working time of the battery in the stirring and feeding state;

[0026] After the stirring feeding state ends, obtain the current state of charge of the battery and set it as SOC1.

[0027] When the hybrid mixer truck is in the stirring and transporting state, the calculation formula for the working time of the battery is as follows:

[0028] Among them, I b is the working current of the battery in the stirring and transporting state, and t b is the available working time of the battery in the stirring and transporting state;

[0029] After the stirring and transporting state ends, obtain the current state of charge of the battery and set it as SOC2;

[0030] When the hybrid mixer truck is in the parking and stirring state, the calculation formula for the working time of the battery is as follows: I c is the working current of the battery in the parking and stirring state, and t c is the available working time of the battery in the parking and stirring state;

[0031] After the parking and stirring state ends, obtain the current state of charge of the battery and set it as SOC3;

[0032] When the hybrid mixer truck is in the stirring and discharging state, the calculation formula for the working time of the battery is as follows:

[0033] Among them, I d is the working current of the battery in the stirring and loading state, and t d is the available working time of the battery in the stirring and loading state.

[0034] Further limited, in the above technical solution, adjusting the start-stop state of the engine in S104 to achieve energy-saving control of the hybrid mixer truck includes comparing the working time of the hybrid mixer truck in each state with the available working time of the battery, and judging whether the power provided by the battery can meet the power demand in the working state. If it cannot be met, start the engine of the hybrid mixer truck to charge the battery until all the working states of the mixer truck end.

[0035] Further limited, in the above technical solution, the rule for judging whether the power provided by the battery can meet the power demand in the working state is as follows: During the stirring and feeding process: t a >t1, only the battery works; t a <t1, the engine starts to charge the battery; During the stirring and transporting process: t b >t2, only the battery works; t b <t2, the engine starts to charge the battery; During the parking and stirring process: t c> t3, only the battery works; t c < t3, the engine starts and charges the battery; where t3 is the time required for the parking stirring process; during the stirring and discharging process: t d > t4, only the battery works; t d < t4, the engine starts and charges the battery.

[0036] The beneficial effects of the present invention are as follows: A variable-load energy-saving control method for a hybrid mixer truck proposed by the present invention can adjust the start-stop and power output characteristics of the engine based on factors such as different working states of the hybrid mixer truck, different loads of the mixing tank, and the existing battery power. In principle, it maximizes the system efficiency as much as possible and gives priority to the output of the battery pack of the mixer truck, so as to achieve the purpose of energy saving for the hybrid mixer truck. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0038] Figure 1 It is a flowchart of a variable-load energy-saving control method for a hybrid mixer truck provided by an embodiment of the present invention;

[0039] Figure 2 It is the main power transmission structure of the hybrid mixer truck defined by an embodiment of the present invention;

[0040] Figure 3 It is a working process of a hybrid mixer truck provided by an embodiment of the present invention and a mass change curve of the mixer truck's upper equipment;

[0041] Figure 4 It is a schematic diagram of the upper equipment motor efficiency and torque change curves of a hybrid mixer truck provided by an embodiment of the present invention under specific working conditions. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clear, the following further details the present invention with reference to the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not used to limit the present invention.

[0043] See Figure 1-4The method is a variable load energy-saving control method for a hybrid concrete mixer truck, comprising the following steps: S101, obtaining the working information of the drive motor system and the upper motor, and determining the working state of the concrete mixer truck in combination with the driving data of the concrete mixer truck; S102, obtaining the load condition of the mixing tank in real time, and adjusting the speed of the upper motor so that the upper motor is in the motor high efficiency area; S103, obtaining the SOC condition of the battery of the hybrid concrete mixer truck, and predicting the working time according to the power required for the working state; S104, adjusting the start and stop state of the engine to achieve energy-saving control of the hybrid concrete mixer truck.

[0044] Among them, the working states in S101 include: when the speed of the hybrid concrete mixer truck is 0, the upper motor is in the feeding state, and the power of the main drive motor is 0, the hybrid concrete mixer truck is in the stirring and feeding state; when the speed of the hybrid concrete mixer truck is greater than 0, the upper motor is in the stirring state, and the output power of the main drive motor is greater than 0, the hybrid concrete mixer truck is in the stirring and transporting state; when the speed of the hybrid concrete mixer truck is 0, the upper motor is in the stirring state, and the power of the main drive motor is 0, the hybrid concrete mixer truck is in the parking stirring state; when the speed of the hybrid concrete mixer truck is 0, the upper motor is in the unloading state, and the power of the main drive motor is 0, the hybrid concrete mixer truck is in the stirring and unloading state.

[0045] In S102, the load condition of the mixing tank is obtained in real time, and the speed of the upper motor is adjusted so that the upper motor is in the motor high efficiency area, including: setting the speed of the upper motor in the mixing and feeding state to n1, the speed of the upper motor in the mixing and transporting state to n2, the speed of the upper motor in the parking mixing state to n3, and the speed of the upper motor in the mixing and unloading state to n4. The speeds in the mixing and feeding and mixing and unloading states are the optimal speeds in the corresponding working states. Set the unloaded mass of the mixing tank to m0, the chassis mass of the hybrid mixer truck to M, and the initial upper motor torque to T0. Set the mixing and feeding state time to t1, the mixing and transporting state time to t2, the parking mixing state time to t3, and the mixing and unloading state time to t4;

[0046] When in the stirring and feeding state, the upper load calculation formula is as follows Among them, t k is the current feeding time, t k Load during the mixing and feeding process; u j is the feed rate;

[0047] The torque calculation formula provided by the upper motor is as follows: in, The torque of the upper motor during the mixing and feeding process;

[0048] During the mixing and feeding process, considering the torque change and efficiency requirements, the load is divided into three intervals: light load, medium load, and full load, and the torque is divided into T Light 、T Medium 、T Heavy Three stages:

[0049] The load gears in the mixing and feeding process are distinguished as follows: When the upper load is defined as light load; when When , the upper load is defined as medium load; when When , define the upper load as heavy load;

[0050] Combined with the current load range of the upper motor, the speed n1 during the mixing and feeding process is distinguished into the light load speed n 1L , medium load speed n 1M , heavy load speed n 1H , uniformly represented by n1, obviously, the specific value of the data corresponds to the above load range one by one;

[0051] During the mixing and feeding process, the power required by the upper motor is calculated as follows: Among them, P j The power required for the upper motor;

[0052] When in the mixing and unloading state, the upper load calculation formula is as follows: m=m0+u j t1; where t h is the current unloading time, t h The loading load during the mixing and unloading process at the moment; u x is the unloading rate; m is the upper load after the stirring and feeding process is completed;

[0053] The torque calculation formula provided by the upper motor is as follows: in, is the torque of the upper motor during the stirring and unloading process; T is the torque of the upper motor after the stirring and feeding process is completed;

[0054] The load gears in the mixing and unloading process are distinguished as follows: t When the upper load is defined as light load; when When , the upper load is defined as medium load; when When , define the upper load as heavy load;

[0055] Combined with the current load range of the upper motor, the speed n1 during the mixing and feeding process is distinguished into the light load speed n 4L , medium load speed n 4M , heavy load speed n 4H, uniformly represented by n4, obviously, the specific value of the data corresponds to the above load range one by one;

[0056] During the mixing and unloading process, the power required by the upper motor is calculated as follows: Among them, P x The power required for the upper motor;

[0057] When the hybrid concrete mixer truck is in the mixing and transporting state, the power calculation formula required by the upper motor is as follows: Among them, P y n is the power required by the upper motor in the mixing and transporting state; n2 is the speed of the upper motor in the mixing and transporting state;

[0058] It is necessary to calculate the required power of the hybrid concrete mixer truck. According to the main road conditions of the concrete mixer truck, the required power calculation formula of the hybrid concrete mixer truck (excluding the upper system) is as follows: G = (M + m) g, where f is the rolling resistance coefficient; C D is the air resistance coefficient; A is the windward area of ​​the mixer truck; i is the road slope;

[0059] The power demand calculation formula of the hybrid mixer truck during mixing transportation is as follows: P = P y +P0, where P is the power required by the mixer truck during mixing transportation;

[0060] When the hybrid concrete mixer truck is in the parking mixing state, the power calculation formula required by the upper motor is as follows: Among them, P t The power required by the upper motor when the machine is in the stopped stirring state.

[0061] In step S103, the SOC of the battery of the hybrid mixer truck is obtained, and the working time is predicted according to the power required in the working state, including obtaining the current SOC of the battery of the hybrid mixer truck, and predicting the working time of the battery of the hybrid mixer truck in the working state according to the power required in the working state;

[0062] Calculate the working time of the battery in each working state;

[0063] Assuming the rated working voltage of the hybrid mixer truck battery is U and the battery capacity is Ah, when the hybrid mixer truck is in the mixing and feeding state, the battery working time calculation formula is as follows: Among them, I a is the working current of the battery in the stirring feeding state, t a The working time of the battery in the stirring and feeding state;

[0064] After the stirring feeding state ends, obtain the current state of charge of the battery and set it as SOC1.

[0065] When the hybrid mixer truck is in the stirring and transporting state, the calculation formula for the working time of the battery is as follows:

[0066] Among them, I b is the working current of the battery in the stirring and transporting state, and t b is the available working time of the battery in the stirring and transporting state;

[0067] After the stirring and transporting state ends, obtain the current state of charge of the battery and set it as SOC2;

[0068] When the hybrid mixer truck is in the parking and stirring state, the calculation formula for the working time of the battery is as follows: I c is the working current of the battery in the parking and stirring state, and t c is the available working time of the battery in the parking and stirring state;

[0069] After the parking and stirring state ends, obtain the current state of charge of the battery and set it as SOC3;

[0070] When the hybrid mixer truck is in the stirring and discharging state, the calculation formula for the working time of the battery is as follows:

[0071] Among them, I d is the working current of the battery in the stirring and loading state, and t d is the available working time of the battery in the stirring and loading state.

[0072] Adjusting the start-stop state of the engine in S104 to achieve energy-saving control of the hybrid mixer truck includes judging whether the power provided by the battery can meet the power demand in the working state by comparing the working time of the hybrid mixer truck in each state and the available working time of the battery. If it cannot be met, start the engine of the hybrid mixer truck to charge the battery until the entire working state of the mixer truck ends.

[0073] The rule for judging whether the power provided by the battery can meet the power demand in the working state is as follows: During the stirring and feeding process: t a > t1, only the battery works; t a < t1, the engine starts to charge the battery; During the stirring and transporting process: t b > t2, only the battery works; t b < t2, the engine starts to charge the battery; During the parking and stirring process: t c > t3, only the battery works; t c<t3, the engine starts to charge the battery; where t3 is the time required for the parking and mixing process; during the mixing and discharging process: t d >t4, only the battery works; t d <t4, the engine starts to charge the battery.

[0074] The variable-load energy-saving control method of the hybrid mixing truck of the present application includes determining the working state of the key power system of the hybrid mixing truck, and the system is used to drive the running of the hybrid mixing truck and the operation of the upper-mounted equipment; determining the working state of the hybrid mixing truck according to the working information and the driving data of the hybrid mixing truck; obtaining the SOC value of the power battery pack of the current hybrid mixing truck, and combining the working state of the hybrid mixing truck to predict the working time of the battery of the hybrid mixing truck in the working state; based on the working time of the battery, combining the working state of the hybrid mixing truck, adjusting the start-stop and power output characteristics of the engine of the hybrid mixing truck; the multiple operating parts include the main drive motor system and the upper-mounted motor; the working state of the hybrid mixing truck includes one of the mixing and feeding state, the mixing and transporting state, the parking and mixing state, and the mixing and discharging state.

[0075] Obtain the SOC value of the battery pack of the current hybrid mixing truck, combine the working state of the hybrid mixing truck, predict the available working time of the battery of the hybrid mixing truck in the working state, and construct the task plane of the hybrid mixing truck, specifically including: when the working state of the hybrid mixing truck is in the mixing and feeding state, obtain the current load of the mixing tank in real time, predict the load situation at the next moment according to the current load, calculate the power required by the upper-mounted motor in the mixing and feeding state, and combine the power that the battery of the hybrid mixing truck can provide to calculate the time that the mixing and feeding state can be maintained; or

[0076] When the working state of the hybrid mixing truck is in the mixing and transporting state, obtain the current load situation, calculate the power demand of the hybrid mixing truck in combination with the road condition information, and combine the power that the battery of the hybrid mixing truck can provide to calculate the time that the mixing and transporting state can be maintained;

[0077] When the working state of the hybrid mixing truck is in the parking and mixing state, obtain the current load situation, calculate the power required for the parking and mixing state, and combine the power that the battery of the hybrid mixing truck can provide to calculate the time that the parking and mixing state can be maintained;

[0078] When the working state of the hybrid mixing truck is in the mixing and discharging state, obtain the current load of the mixing tank in real time, predict the load change according to the current load, calculate the power required by the upper-mounted motor in the mixing and feeding state, and combine the power that the battery pack of the hybrid mixing truck can provide to calculate the time that the mixing and feeding state can be maintained.

[0079] Based on the working time prediction of the power battery pack SOC and combined with the working status of the hybrid concrete mixer truck, the working mode of the hybrid concrete mixer truck, the start / stop / generation power of the engine and the power output of the upper motor are adjusted, specifically including: when the working time of the battery is not greater than the time required for the working status of the hybrid concrete mixer truck, the engine of the hybrid concrete mixer truck is started, the charging power and the engine output power are calculated according to the predicted mission plane of the concrete mixer truck, and the battery of the hybrid concrete mixer truck is charged.

[0080] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A variable load energy-saving control method for a hybrid mixer truck, characterized in that: The method comprises the following steps: S101, obtaining the working information of the driving motor system and the upper motor, and determining the working state of the mixer truck in combination with the driving data of the mixer truck; S102, obtaining the load of the mixing tank in real time, and adjusting the speed of the upper motor so that the upper motor is in the motor high efficiency area; S103, obtaining the SOC of the battery of the hybrid mixer truck, and predicting the working time according to the power required for the working state; S104, adjusting the start and stop state of the engine to realize energy-saving control of the hybrid mixer truck.

2. A hybrid power mixer truck variable load energy-saving control method as claimed in claim 1, characterized in that: The working states in the S101 include: when the speed of the hybrid concrete mixer truck is 0, the upper motor is in the feeding state, and the power of the main drive motor is 0, the hybrid concrete mixer truck is in the stirring and feeding state; when the speed of the hybrid concrete mixer truck is greater than 0, the upper motor is in the stirring state, and the output power of the main drive motor is greater than 0, the hybrid concrete mixer truck is in the stirring and transporting state; when the speed of the hybrid concrete mixer truck is 0, the upper motor is in the stirring state, and the power of the main drive motor is 0, the hybrid concrete mixer truck is in the parking stirring state; when the speed of the hybrid concrete mixer truck is 0, the upper motor is in the unloading state, and the power of the main drive motor is 0, the hybrid concrete mixer truck is in the stirring and unloading state.

3. A hybrid power mixer truck variable load energy-saving control method as claimed in claim 1, characterized in that: The S102 described herein acquires the load condition of the mixing tank in real time, and adjusts the speed of the upper motor so that the upper motor is in the motor high efficiency area, including: setting the speed of the upper motor in the mixing and feeding state to n1, the speed of the upper motor in the mixing and transporting state to n2, the speed of the upper motor in the parking mixing state to n3, and the speed of the upper motor in the mixing and unloading state to n4. The speeds in the mixing and feeding and mixing and unloading states are the optimal speeds in the corresponding working states. Set the no-load mass of the mixing tank to m0, the chassis mass of the hybrid mixer truck to M, and the initial upper motor torque to T0. Set the mixing and feeding state time to t1, the mixing and transporting state time to t2, the parking mixing state time to t3, and the mixing and unloading state time to t4; When in the stirring and feeding state, the upper load calculation formula is as follows Among them, t k is the current feeding time, t k Load during the mixing and feeding process; u j is the feed rate; The torque calculation formula provided by the upper motor is as follows: in, The torque of the upper motor during the mixing and feeding process; During the mixing and feeding process, considering the torque change and efficiency requirements, the load is divided into three intervals: light load, medium load, and full load, and the torque is divided into T Light 、T Medium 、T Heavy Three stages: The load gears in the mixing and feeding process are distinguished as follows: When the upper load is defined as light load; when When , the upper load is defined as medium load; when When , define the upper load as heavy load; Combined with the current load range of the upper motor, the speed n1 during the mixing and feeding process is distinguished into the light load speed n 1L , medium load speed n 1M , heavy load speed n 1H , uniformly represented by n1, obviously, the specific value of the data corresponds to the above load range one by one; During the mixing and feeding process, the power required by the upper motor is calculated as follows: Among them, P j The power required for the upper motor; When in the mixing and unloading state, the upper load calculation formula is as follows: m=m0+u j t1; where t h is the current unloading time, t h The loading load during the mixing and unloading process at the moment; u x is the unloading rate; m is the upper load after the stirring and feeding process is completed; The torque calculation formula provided by the upper motor is as follows: in, is the torque of the upper motor during the stirring and unloading process; T is the torque of the upper motor after the stirring and feeding process is completed; The load gears in the mixing and unloading process are distinguished as follows: When the upper load is defined as light load; when When , the upper load is defined as medium load; when When , define the upper load as heavy load; Combined with the current load range of the upper motor, the speed n1 during the mixing and feeding process is distinguished into the light load speed n 4L , medium load speed n 4M , heavy load speed n 4H , uniformly represented by n4, obviously, the specific value of the data corresponds to the above load range one by one; During the mixing and unloading process, the power required by the upper motor is calculated as follows: Among them, P x The power required for the upper motor; When the hybrid concrete mixer truck is in the mixing and transporting state, the power calculation formula required by the upper motor is as follows: Among them, P y n is the power required by the upper motor in the mixing and transporting state; n2 is the speed of the upper motor in the mixing and transporting state; It is necessary to calculate the required power of the hybrid concrete mixer truck. According to the main road conditions of the concrete mixer truck, the required power calculation formula of the hybrid concrete mixer truck (excluding the upper system) is as follows: Where, f is the rolling resistance coefficient; C D is the air resistance coefficient; A is the windward area of ​​the mixer truck; i is the road slope; The power demand calculation formula of the hybrid mixer truck during mixing transportation is as follows: P = P y +P0, where P is the power required by the mixer truck during mixing transportation; When the hybrid concrete mixer truck is in the parking mixing state, the power calculation formula required by the upper motor is as follows: Among them, P t The power required by the upper motor when the machine is in the stopped stirring state.

4. A hybrid power mixer truck variable load energy-saving control method as claimed in claim 1, characterized in that: The S103 described above obtains the SOC of the battery of the hybrid mixer truck, and predicts the working time according to the power required for the working state, including obtaining the current SOC of the battery of the hybrid mixer truck, and predicting the working time of the battery of the hybrid mixer truck in the working state according to the power required for the working state; Calculate the working time of the battery in each working state; Assuming the rated working voltage of the hybrid mixer truck battery is U and the battery capacity is Ah, when the hybrid mixer truck is in the mixing and feeding state, the battery working time calculation formula is as follows: Among them, I a is the working current of the battery in the stirring feeding state, t a The working time of the battery in the stirring and feeding state; When the stirring and feeding state is completed, the current state of charge of the battery is obtained and set to SOC1. When the hybrid mixer truck is in the mixing and transportation state, the battery working time calculation formula is as follows: Among them, I b is the working current of the battery in the stirring transport state, t b The working time of the battery in the stirring and transporting state; When the stirring and transporting state is finished, the current state of charge of the battery is obtained and set as SOC2; When the hybrid mixer truck is in the parking mixing state, the battery working time calculation formula is as follows: I c is the working current of the battery in the parking and stirring state, t c The working time of the battery in the parking and stirring state; When the parking and stirring state ends, the current state of charge of the battery is obtained and set to SOC3; When the hybrid mixer truck is in the mixing and unloading state, the battery working time calculation formula is as follows: Among them, I d is the working current of the battery in the stirring and feeding state, t d It is the working time of the battery in stirring and feeding state.

5. A hybrid power mixer truck variable load energy-saving control method as claimed in claim 1, characterized in that: The start and stop states of the engine are adjusted in S104 to achieve energy-saving control of the hybrid concrete mixer truck, including comparing the working time of the hybrid concrete mixer truck in various states with the working time of the battery, and judging whether the power that can be provided by the battery meets the power demand in the working state. If not, starting the engine of the hybrid concrete mixer truck to charge the battery until all working states of the concrete mixer truck are completed.

6. A hybrid power mixer truck variable load energy-saving control method as claimed in claim 5, characterized in that: The rule for judging whether the power that the battery can provide meets the power demand in the working state is as follows: During the stirring and feeding process: t a > t1, only the battery works; t a < t1, the engine starts to charge the battery; During the mixing and transportation process: t b > t2, only the battery works; t b < t2, the engine starts and charges the battery; During the parking and stirring process: t c > t3, only the battery works; t c < t3, the engine starts to charge the battery; where t3 is the time required for the parking and stirring process; During the stirring and discharging process: t d > t4, only the battery works; t d < t4, the engine starts and charges the battery.

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