Garbage truck rotating speed control method and garbage truck

Abstract

The invention discloses a garbage truck rotating speed control method and a garbage truck, and relates to the field of garbage trucks. The garbage truck rotating speed control method comprises the steps that an oil pump motor is controlled to run at a set idle speed; whether the target action instruction is received or not is judged, and if the target action instruction is received, the oil pump motor is controlled to run at the corresponding target rotating speed from the set idle speed; if the target action instruction is not received, the oil pump motor is controlled to maintain set idling operation, and meanwhile the accumulated time when the target action instruction is not received is counted; and controlling the oil pump motor to stop rotating when the cumulative time of not receiving the target action instruction exceeds the set duration. According to the garbage truck rotating speed control method, the starting current can be reduced, and the working stability of the garbage truck is improved.

Description

Technical Field

[0001] This invention relates to the field of garbage truck technology, and more specifically, to a garbage truck speed control method and a garbage truck. Background Technology

[0002] Currently, most pure electric compression garbage trucks on the market use electric motors to drive hydraulic oil pumps. By controlling multi-way valves to switch hydraulic oil circuits, they supply oil to different actuators to complete various operating actions, including scraper opening, sliding plate descending, scraper closing, sliding plate ascending, and bin lifting and unloading in the loading mode, and hook opening, loader lifting, pusher pushing out, pusher retracting, loader lowering, and hook locking in the unloading mode.

[0003] In the existing technology, the starting current surge of this type of compressed garbage truck is large each time it performs an operation, which causes the motor windings to heat up severely and the temperature rises rapidly in a short period of time, which may even lead to shutdown in severe cases. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, this invention proposes a garbage truck speed control method that can reduce starting current and improve the stability of garbage truck operation.

[0005] Another objective of this invention is to provide a garbage truck that features low starting current and higher safety.

[0006] An embodiment of the present invention provides a technical solution: A method for controlling the rotational speed of a garbage truck, applied to a garbage truck, wherein the garbage truck has a multi-way valve, several working cylinders, a hydraulic pump, and a pump motor, the pump motor driving the hydraulic pump, and the multi-way valve fluidly connected to the several working cylinders and the hydraulic pump; the garbage truck has an upper-body working mode, in which the several working cylinders perform target actions under the drive of the hydraulic pump; the garbage truck rotational speed control method includes: Control the oil pump motor to operate at a set idle speed; Determine whether a target action command has been received. If the target action command is received, control the oil pump motor to increase from the set idle speed to the corresponding target speed. If the target action command is not received, the oil pump motor is controlled to maintain the set idle speed, and the cumulative time of not receiving the target action command is counted. When the cumulative time without receiving the target action command exceeds a set duration, the oil pump motor is controlled to stop rotating.

[0007] In an optional implementation, the upper structure working mode includes a feeding mode, and the garbage truck speed control method further includes: In the feeding mode, when outputting a target action command to the multi-way valve, the target speed of the oil pump motor is set according to the oil inlet chamber volume of the working cylinder corresponding to the target action command, the action duration corresponding to the target action command, and the displacement of the hydraulic oil pump.

[0008] In an optional implementation, the step of setting the target speed of the oil pump motor based on the oil inlet chamber volume of the working cylinder corresponding to the target action command, the action duration corresponding to the target action command, and the displacement of the hydraulic oil pump includes: The target speed of the oil pump motor is set according to the formula n=V*B / (T*P*μ); Wherein, n is the target speed of the oil pump motor, V is the oil inlet volume of the working cylinder corresponding to the target action command, B is the speed ratio between the oil pump motor and the hydraulic oil pump, T is the action duration corresponding to the target action command, P is the displacement of the hydraulic oil pump, and μ is the working efficiency of the hydraulic oil pump.

[0009] In an optional implementation, in the feeding mode, when outputting a target action command to the multi-way valve, the step of setting the target speed of the oil pump motor according to the oil inlet chamber volume of the working cylinder corresponding to the target action command, the action duration corresponding to the target action command, and the displacement of the hydraulic oil pump includes: In the feeding mode, when a compression cycle signal is received, a scraper opening command is output to the multi-way valve, and the oil pump motor is controlled to run at a first target speed n1=V1*B / (T1*P *μ), where V1 is the volume of the oil inlet chamber corresponding to the opening action of the scraper cylinder, B is the speed ratio of the oil pump motor to the hydraulic oil pump, T1 is the opening action duration of the scraper, P is the displacement of the hydraulic oil pump, and μ is the working efficiency of the hydraulic oil pump. When the scraper opens to the position or reaches the opening action duration, a sliding plate downward command is output to the multi-way valve, and the oil pump motor is controlled to run at the second target speed n2=V2*B / (T2*P *μ). After a first preset time delay, a scraper stop command is output to the multi-way valve, where V2 is the oil inlet chamber volume of the sliding plate cylinder corresponding to the downward action, and T2 is the downward action duration of the sliding plate. When the slide plate descends to the designated position or reaches the specified descent action duration, a slide plate stop command and a scraper closing command are output to the multi-way valve, and the oil pump motor is controlled to run at the third target speed n3=V3*B / (T3*P *μ), where V3 is the oil inlet volume of the scraper cylinder corresponding to the closing action, and T3 is the closing action duration of the scraper. When the scraper is closed in place or reaches the closing action duration, a scraper stop command and a slide plate upward command are output to the multi-way valve, and the oil pump motor is controlled to run at the fourth target speed n4=V4*B / (T4*P ​​*μ), where V4 is the oil inlet chamber volume of the slide plate cylinder corresponding to the upward action, and T4 is the upward action duration of the slide plate. When the skateboard reaches the upper position or reaches the upper movement duration, a skateboard stop command is output to the multi-way valve; And it satisfies that the first target speed is less than any one of the second target speed, the third target speed, and the fourth target speed.

[0010] In an optional implementation, in the feeding mode, when outputting a target action command to the multi-way valve, the step of setting the target speed of the oil pump motor according to the oil inlet chamber volume of the working cylinder corresponding to the target action command, the action duration corresponding to the target action command, and the displacement of the hydraulic oil pump includes: In the feeding mode, when a bucket lifting control signal is received, a bucket lifting action command is output to the multi-way valve, and the oil pump motor is controlled to run at the fifth target speed n5=V5*B / (T5*P*μ), where V5 is the volume of the oil inlet chamber corresponding to the bucket lifting action of the bucket lifting cylinder, and T5 is the duration of the bucket lifting action. In the feeding mode, when the unloading control signal is received, the unloading action command is output to the multi-way valve, and the oil pump motor is controlled to run at the sixth target speed n6=V6*B / (T6*P*μ), where V6 is the volume of the oil inlet chamber corresponding to the unloading action of the lifting cylinder, and T5 is the duration of the unloading action.

[0011] In an optional implementation, the upper structure working mode includes a loading mode, and the step of controlling the oil pump motor to maintain a set idle speed and simultaneously counting the cumulative time of not receiving the target action command if the target action command is not received includes: In the feeding mode, if the target action command is not received, the oil pump motor is controlled to run at a seventh target speed, wherein the seventh target speed is less than or equal to the minimum target speed when the target action is performed in the feeding mode.

[0012] In an optional implementation, the upper structure working mode further includes an unloading mode, and the garbage truck speed control method further includes: In the unloading mode, when the multi-way valve is output with a pusher push command, a pusher retraction command, a filler lifting command, or a lock hook opening command, the oil pump motor is controlled to run at an eighth target speed; the eighth target speed is equal to the maximum target speed when the target action is performed in the loading mode. In the unloading mode, when the loader descent command or the hook locking command is output to the multi-way valve, the oil pump motor is controlled to run at the ninth target speed. The ninth target speed is less than the eighth target speed and less than or equal to the minimum target speed when the target action is performed in the feeding mode.

[0013] In an optional implementation, the step of controlling the oil pump motor to maintain a set idle speed and simultaneously counting the cumulative time of not receiving the target action command if the target action command is not received further includes: In the unloading mode, if the target action command is not received, the oil pump motor is controlled to run at the tenth target speed, wherein the tenth target speed is less than or equal to the ninth target speed.

[0014] In an optional implementation, the upper structure working mode further includes a maintenance mode, and the step of controlling the oil pump motor to maintain a set idle speed and simultaneously counting the cumulative time of not receiving the target action command if the target action command is not received further includes: In the maintenance mode, if the target action command is not received, the oil pump motor is controlled to run at the eleventh target speed, wherein the eleventh target speed is less than or equal to the minimum target speed when the target action is performed in the maintenance mode.

[0015] An embodiment of the present invention also provides a garbage truck, including a superstructure control device. The superstructure control device includes a controller, a PLC, an ECU, and a VCU electronic control unit. The superstructure control device is used to execute the aforementioned garbage truck speed control method, the garbage truck speed control method including: Control the oil pump motor to operate at a set idle speed; Determine whether a target action command has been received. If the target action command is received, control the oil pump motor to increase from the set idle speed to the corresponding target speed. If the target action command is not received, the oil pump motor is controlled to maintain the set idle speed, and the cumulative time of not receiving the target action command is counted. When the cumulative time without receiving the target action command exceeds a set duration, the oil pump motor is controlled to stop rotating.

[0016] Compared to existing technologies, the garbage truck speed control method provided by this invention allows the oil pump motor to accelerate from a certain speed to the corresponding operating speed when the superstructure performs the target action. This reduces the initial torque requirement of the oil pump motor, minimizes current surges, and ensures smoother control with less temperature rise. This reduces the risk of oil pump shutdown due to overcurrent or overheating, thus improving the stability and reliability of the garbage truck operation. Furthermore, if the superstructure has no output action for more than a set time, the oil pump motor is automatically shut down, achieving energy saving and consumption reduction. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as limiting the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart of a garbage truck speed control method provided in an embodiment of the present invention; Figure 2 for Figure 1 A flowchart of a sub-step of step S103; Figure 3 Another flowchart of a garbage truck speed control method provided for an embodiment of the present invention; Figure 4 for Figure 3 A flowchart of a sub-step of step S105. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0021] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0022] In the description of this invention, it should be understood that the terms "upper," "lower," "inner," "outer," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used to facilitate the description of this invention and to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0023] Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0024] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, terms such as "set" and "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0025] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0026] Example This embodiment provides a method for controlling the rotational speed of a garbage truck, applied to a garbage truck. The garbage truck includes a pusher mechanism installed inside the truck body as a component for unloading; a feeding mechanism installed at the rear of the truck body to pour garbage from the garbage bin into the loader hopper, the loader mechanism being a component for compressing and reducing the volume of garbage, the compression mechanism on the loader compressing the garbage and loading it into the garbage bin through the rotation of scrapers and the sliding motion of slide plates; and a loader locking mechanism at the bottom of the truck body to ensure reliable locking of the loader.

[0027] The garbage truck is equipped with a controller, multi-way valve, multiple working cylinders, a hydraulic pump and pump motor, and features a superstructure working mode, including a loading mode, an unloading mode, and a maintenance mode. In loading mode, the bucket lifting mechanism lifts the garbage bin to empty it into the loader. After emptying, the lifting mechanism unloads the garbage bin. Once the loader is filled with garbage, the compression cycle is activated, executing steps 1 through 4 sequentially. Step 1: The scraper opens, preparing for the dumping of loose garbage. Step 2: The sliding plate descends: The sliding plate moves the scraper downwards together. After a first preset time, the scraper opens and stops, while the sliding plate continues to descend. Step 3: The scraper closes: The scraper rotates forward to further compact the garbage. Step 4: The sliding plate ascends: After the scraper closes, it moves upwards with the sliding plate, compacting the garbage into the garbage bin.

[0028] When unloading, the garbage truck first raises the loader to open the rear of the garbage container. Then, the pusher at the front of the garbage container moves horizontally towards the rear of the garbage container to push out the garbage. Finally, the loader is lowered and the locking hook is tightened.

[0029] Please see Figure 1 , Figure 1 The diagram shown is a flowchart of one embodiment of a garbage truck speed control method. This method can reduce starting current and improve the stability of garbage truck operation. Specifically, the garbage truck speed control method may include: Step S101: Control the oil pump motor to run at the set idle speed.

[0030] It should be noted that the idle speed settings for the loading mode, unloading mode, and maintenance mode can be different.

[0031] Step S102: Determine whether a target action command has been received. If a target action command has been received, control the oil pump motor to increase from the set idle speed to the corresponding target speed.

[0032] In step S103, if no target action command is received, the oil pump motor is controlled to maintain the set idle speed, and the cumulative time of not receiving the target action command is counted.

[0033] Please see Figure 2 , Figure 2 The diagram shown is a flowchart of one sub-step of step S103. Step S103 may include the following sub-steps: Sub-step S1031: In the feeding mode, if no target action command is received, the oil pump motor is controlled to run at the seventh target speed, wherein the seventh target speed is less than or equal to the minimum target speed when the target action is executed in the feeding mode.

[0034] In loading mode, if the scraper mechanism, sliding plate mechanism, and bucket lifting mechanism do not operate within a preset time period, the oil pump motor is controlled to run at the seventh target speed. This ensures that when no action is performed for a short period, the oil pump motor idles at a higher speed, preventing the oil pump motor from starting from a stopped state when action is required, thus avoiding a starting current surge. Furthermore, the seventh target speed is set to be less than or equal to the minimum target speed for performing the target action, ensuring that the garbage truck's operating speed is lower when not in operation than when in operation, thereby reducing energy consumption.

[0035] In sub-step S1032, if no target action command is received in unloading mode, the oil pump motor is controlled to run at the tenth target speed, wherein the tenth target speed is less than or equal to the ninth target speed.

[0036] In unloading mode, if neither the pusher mechanism nor the loader mechanism operates within a preset time period, the oil pump motor is controlled to run at the tenth target speed. This ensures that the oil pump motor idles at a lower speed when no action is performed for a short period, preventing the oil pump motor from starting from a stopped state and causing a starting current surge when action is required. Furthermore, setting the tenth target speed to be less than or equal to the ninth target speed ensures that the garbage truck's operating speed is lower when not in operation than when in operation, thereby reducing energy consumption.

[0037] Sub-step S1033: In maintenance mode, if no target action command is received, the oil pump motor is controlled to run at the eleventh target speed, wherein the eleventh target speed is less than or equal to the minimum target speed when the target action is executed in maintenance mode.

[0038] It should be noted that in maintenance mode, all actions are manually controlled by the operator. This means that any action in either the loading or unloading mode can be executed independently under the operator's control. In maintenance mode, the eleventh target speed is less than or equal to the minimum target speed for executing the target action. This means that when no action is performed for a short period, the oil pump motor idles at a lower speed, thus preventing the oil pump motor from starting from a stopped state when an action is needed, which could cause a starting current surge.

[0039] Please continue reading. Figure 1 The garbage truck speed control method provided in this embodiment may further include: Step S104: When the cumulative time for not receiving the target action command exceeds the set duration, control the oil pump motor to stop rotating.

[0040] If the target command is not output within the set time, it is determined that the garbage truck is not working, and the oil pump motor is controlled to stop to reduce energy consumption.

[0041] Please see Figure 3 , Figure 3The diagram shown is another flowchart of the garbage truck speed control method provided in this embodiment. This speed control method can dynamically adjust the target speed of the oil pump motor according to the different actions to be performed, reducing energy consumption and impact noise. Specifically, the garbage truck speed control method may include: Step S105: In the feeding mode, when outputting the target action command to the multi-way valve, the target speed of the oil pump motor is set according to the oil inlet chamber volume of the working cylinder corresponding to the target action command, the action duration corresponding to the target action command, and the hydraulic pump displacement.

[0042] Understandably, the actions performed in the feeding mode include scraper opening, slide descending, scraper closing, slide ascending, bucket lifting, and bucket unloading. The corresponding action commands are scraper opening command, slide descending command, scraper closing command, slide ascending command, bucket lifting command, and bucket unloading command. The target action command can be one of multiple action commands.

[0043] For example, when a scraper opening command needs to be executed, a scraper opening command is output to the multi-way valve. Based on the oil inlet chamber volume of the scraper cylinder corresponding to the scraper opening command, the opening duration corresponding to the scraper opening command, and the hydraulic pump displacement, the target speed of the oil pump motor is set.

[0044] It should be noted that the oil inlet chamber volume of the working cylinder corresponding to the target action command refers to the volume of the chamber into which hydraulic oil is input when the working cylinder performs the action corresponding to the target action command.

[0045] For example, when the scraper opens, the piston rod of the scraper cylinder needs to retract, and the oil inlet chamber of the scraper cylinder is the rod chamber. At this time, the target speed of the oil pump motor is set according to the maximum volume of the rod chamber of the scraper cylinder. When the scraper closes, the piston rod of the scraper cylinder needs to extend, and the oil inlet chamber of the scraper cylinder is the rodless chamber. At this time, the speed of the oil pump motor is set according to the maximum volume of the rodless chamber of the scraper cylinder.

[0046] In this embodiment, the target speed of the oil pump motor is specifically set according to the following formula: n = V * B / (T * P * μ), where n is the target speed of the oil pump motor, V is the oil inlet volume of the working cylinder corresponding to the target action command, B is the speed ratio between the oil pump motor and the hydraulic oil pump, T is the action duration corresponding to the target action command, P is the displacement of the hydraulic oil pump, and μ is the working efficiency of the hydraulic oil pump.

[0047] It should be noted that T is a system setting value, and the value of T varies depending on the action command. V, B, P, and μ are all parameters that can be directly read.

[0048] Please see Figure 4 , Figure 4 As shown Figure 3 A flowchart of a sub-step of step S105, wherein step S105 may include the following sub-steps: In sub-step S1051, in the feeding mode, when a compression cycle signal is received, a scraper opening command is output to the multi-way valve, and the oil pump motor is controlled to run at the first target speed n1=V1*B / (T1*P *μ).

[0049] Where V1 is the volume of the oil inlet chamber corresponding to the opening action of the scraper cylinder, B is the speed ratio between the oil pump motor and the hydraulic oil pump, T1 is the opening action duration of the scraper, P is the displacement of the hydraulic oil pump, and μ is the working efficiency of the hydraulic oil pump.

[0050] In the feeding mode, when operating the compression cycle, the scraper opening action is executed first. The controller outputs a scraper opening command to the multi-way valve. The multi-way valve actuates to connect the scraper cylinder to the hydraulic circuit, and the hydraulic oil output by the hydraulic pump flows into the rod chamber of the scraper cylinder. The hydraulic oil in the rodless chamber of the scraper cylinder flows back through the hydraulic circuit.

[0051] In this case, controlling the oil pump motor to run at the first target speed n1=V1*B / (T1*P*μ) can ensure that when the opening action duration is reached, the volume of hydraulic oil flowing into the rod chamber reaches the maximum volume of the rod chamber, matching the requirements of the scraper opening action and avoiding energy waste or incomplete action.

[0052] In sub-step S1052, when the scraper is in position or the opening action duration is reached, a sliding plate downward command is output to the multi-way valve, and the oil pump motor is controlled to run at the second target speed n2=V2*B / (T2*P *μ), and a scraper stop command is output to the multi-way valve after a first preset time delay.

[0053] Where V2 is the volume of the oil inlet chamber of the slide cylinder corresponding to the downward motion, and T2 is the duration of the downward motion of the slide.

[0054] In practical applications, the scraper status can be detected by configuring sensors. In this embodiment, when the scraper opening action reaches the opening action duration, a sliding plate downward command is output to the multi-way valve.

[0055] Preferably, the first preset duration in this embodiment is 0.5s. In other words, when the scraper is fully opened or the opening action duration is reached, a sliding plate downward command is output to the multi-way valve to control the oil pump motor to run at the second target speed n2=V2*B / (T2*P *μ), and after 0.5s, a scraper stop command is output to the multi-way valve, so as to realize the simultaneous action of scraper opening and sliding plate downward, which can realize hydraulic diversion and reduce mechanical impact noise when the scraper opens.

[0056] Understandably, after the multi-way valve outputs the sliding plate downward command, the multi-way valve actuates to connect the sliding plate cylinder to the hydraulic circuit. During the downward movement of the sliding plate, oil enters the rod chamber of the sliding plate cylinder, and the hydraulic oil in the rodless chamber flows back through the hydraulic circuit.

[0057] After the multi-way valve outputs a scraper stop command, the multi-way valve activates to disconnect the scraper cylinder from the hydraulic circuit.

[0058] In sub-step S1053, when the slide plate has descended to the designated position or reached the required descending action duration, a slide plate stop command and a scraper closure command are output to the multi-way valve, and the oil pump motor is controlled to run at the third target speed n3=V3*B / (T3*P *μ).

[0059] Where V3 is the volume of the oil inlet chamber corresponding to the closing action of the scraper cylinder, and T3 is the closing action duration of the scraper.

[0060] Similarly, the position of the skateboard can be detected by configuring sensors. In this embodiment, when the skateboard's downward movement reaches the required duration, a skateboard stop command and a scraper closure command are output to the multi-way valve.

[0061] After a stop command is sent to the multi-way valve, the multi-way valve activates to disconnect the slide plate cylinder from the hydraulic circuit. After a scraper closing command is sent to the multi-way valve, the multi-way valve activates to connect the scraper cylinder to the hydraulic circuit, allowing oil to enter the rodless chamber of the scraper cylinder, while the hydraulic oil in the rod chamber flows back through the hydraulic circuit.

[0062] In sub-step S1054, when the scraper is closed in place or reaches the closing action duration, a scraper stop command and a slide plate upward command are output to the multi-way valve, and the oil pump motor is controlled to run at the fourth target speed n4=V4*B / (T4*P ​​*μ).

[0063] Wherein, V4 is the oil inlet volume of the slide cylinder corresponding to the upward movement, and T4 is the upward movement duration of the slide.

[0064] After a scraper stop command is sent to the multi-way valve, the multi-way valve actuates to disconnect the scraper cylinder from the hydraulic circuit. After a slide plate upward command is sent to the multi-way valve, the multi-way valve actuates to connect the slide plate cylinder to the hydraulic circuit, allowing oil to enter the rodless chamber of the slide plate cylinder, while the hydraulic oil in the rod chamber flows back through the hydraulic circuit.

[0065] Sub-step S1055: When the slide plate reaches the upper position or reaches the upper movement duration, output a slide plate stop command to the multi-way valve.

[0066] Furthermore, in this embodiment, the first target speed is less than any one of the second, third, or fourth target speeds. In other words, the oil pump motor speed when the scraper opens is set to the minimum speed for the following reasons: When the scraper opens, oil enters the small cavity. Due to the small area of ​​the oil inlet cavity, the scraper cylinder opens quickly with the same amount of oil, which can easily cause impact, collision, or noise. At the same time, due to the small area of ​​the oil inlet cavity, the fluid flow rate in the multi-way valve is fast with the same amount of oil, which can easily produce abnormal noise due to excessive oil flow. Therefore, reducing the oil pump motor speed reduces the flow rate into the hydraulic pump, thereby reducing the scraper opening speed and thus reducing impact and noise during the scraper opening process.

[0067] It should be noted that if only a single compression loop is performed, the process ends after sub-step S1055. If multiple compression loops are performed, sub-steps S1051 to S1055 can be repeated after sub-step S1055 ends.

[0068] In sub-step S1056, in the feeding mode, when the bucket lifting control signal is received, the bucket lifting action command is output to the multi-way valve, and the oil pump motor is controlled to run at the fifth target speed n5=V5*B / (T5*P*μ).

[0069] Where V5 is the volume of the oil inlet chamber corresponding to the bucket lifting action of the bucket lifting cylinder, and T5 is the duration of the bucket lifting action.

[0070] In sub-step S1057, in the feeding mode, when the unloading control signal is received, the unloading action command is output to the multi-way valve, and the oil pump motor is controlled to run at the sixth target speed n6=V6*B / (T6*P*μ).

[0071] Where V6 is the volume of the oil inlet chamber corresponding to the unloading action of the bucket lifting cylinder, and T5 is the duration of the unloading action.

[0072] It should be noted that the actions of lifting and unloading the bucket are manually controlled by the operator. Sub-step S1056 can be executed at any time from sub-step S1051 to sub-step S1055, and sub-step S1057 is executed after sub-step S1056.

[0073] Please continue reading. Figure 1 The garbage truck speed control method provided in this embodiment may further include: In step S106, when outputting a pusher push command, a pusher retraction command, a filler lifting command, or a lock hook opening command to the multi-way valve in unloading mode, the oil pump motor is controlled to run at the eighth target speed; the eighth target speed is equal to the maximum target speed when the target action is performed in loading mode.

[0074] Understandably, in unloading mode, when outputting pusher push command, pusher retraction command, loader lifting command, or hook opening command to the multi-way valve, these actions have a large load and a high power requirement. Therefore, the oil pump motor is controlled to run at the eighth target speed, which is equal to the maximum target speed when performing the target action in the feeding mode. That is, it runs at a higher speed to meet the load requirements.

[0075] In step S107, when outputting a loader descent command or a hook locking command to the multi-way valve in unloading mode, the oil pump motor is controlled to run at the ninth target speed. The ninth target speed is less than the eighth target speed and less than or equal to the minimum target speed when performing the target action in loading mode.

[0076] Understandably, in unloading mode, when outputting the loader descent command or the hook locking command to the multi-way valve, since the oil inlet area of ​​the loader descent is smaller than the oil inlet area of ​​the loader descent, in order to control the loader descent speed and reduce impact, the oil pump motor is controlled to run at the ninth target speed, which is lower than the eighth target speed. Furthermore, the load for executing the loader descent or hook locking action is relatively small, so the ninth target speed is controlled to be less than or equal to the minimum target speed when executing the target action in the feeding mode, in order to reduce energy consumption.

[0077] Additionally, it should be noted that in this embodiment, the speed change of the oil pump motor follows a ramp function, meaning that the speed of the oil pump motor changes at a constant rate per unit time until the target speed is reached, thus achieving a smooth change in the speed of the oil pump motor and reducing mechanical stress.

[0078] In summary, the garbage truck speed control method provided in this embodiment can reduce the starting current, improve the stability of garbage truck operation, and dynamically adjust the target speed of the oil pump motor according to the different actions to be performed, thereby reducing energy consumption and impact noise.

[0079] In addition, this embodiment also provides a garbage truck, including a superstructure control device, which includes a controller, a PLC, an ECU, and a VCU electronic control unit. The superstructure control device is used to execute the aforementioned garbage truck speed control method.

[0080] Benefiting from the advantages of this garbage truck speed control method, the garbage truck provided in this embodiment has the characteristics of lower starting current, higher stability, and lower energy consumption and noise.

[0081] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for controlling the rotational speed of a garbage truck, applied to a garbage truck, characterized in that, The garbage truck has a multi-way valve, several working cylinders, a hydraulic pump, and a pump motor. The pump motor drives the hydraulic pump. The multi-way valve is fluidly connected to the several working cylinders and the hydraulic pump. The garbage truck has a superstructure working mode. In the superstructure working mode, the several working cylinders perform target actions under the drive of the hydraulic pump. The garbage truck speed control method includes: Control the oil pump motor to operate at a set idle speed; Determine whether a target action command has been received. If the target action command is received, control the oil pump motor to increase from the set idle speed to the corresponding target speed. If the target action command is not received, the oil pump motor is controlled to maintain the set idle speed, and the cumulative time of not receiving the target action command is counted. When the cumulative time without receiving the target action command exceeds a set duration, the oil pump motor is controlled to stop rotating.

2. The garbage truck speed control method according to claim 1, characterized in that, The upper structure working mode includes a loading mode, and the garbage truck speed control method further includes: In the feeding mode, when outputting a target action command to the multi-way valve, the target speed of the oil pump motor is set according to the oil inlet chamber volume of the working cylinder corresponding to the target action command, the action duration corresponding to the target action command, and the displacement of the hydraulic oil pump.

3. The garbage truck speed control method according to claim 2, characterized in that, The step of setting the target speed of the oil pump motor based on the oil inlet chamber volume of the working cylinder corresponding to the target action command, the action duration corresponding to the target action command, and the displacement of the hydraulic oil pump includes: The target speed of the oil pump motor is set according to the formula n=V*B / (T*P*μ); Wherein, n is the target speed of the oil pump motor, V is the oil inlet volume of the working cylinder corresponding to the target action command, B is the speed ratio between the oil pump motor and the hydraulic oil pump, T is the action duration corresponding to the target action command, P is the displacement of the hydraulic oil pump, and μ is the working efficiency of the hydraulic oil pump.

4. The garbage truck speed control method according to claim 3, characterized in that, In the feeding mode, when outputting a target action command to the multi-way valve, the step of setting the target speed of the oil pump motor according to the oil inlet chamber volume of the working cylinder corresponding to the target action command, the action duration corresponding to the target action command, and the displacement of the hydraulic oil pump includes: In the feeding mode, when a compression cycle signal is received, a scraper opening command is output to the multi-way valve, and the oil pump motor is controlled to run at a first target speed n1=V1*B / (T1*P *μ), where V1 is the volume of the oil inlet chamber corresponding to the opening action of the scraper cylinder, B is the speed ratio of the oil pump motor to the hydraulic oil pump, T1 is the opening action duration of the scraper, P is the displacement of the hydraulic oil pump, and μ is the working efficiency of the hydraulic oil pump. When the scraper opens to the position or reaches the opening action duration, a sliding plate downward command is output to the multi-way valve, and the oil pump motor is controlled to run at the second target speed n2=V2*B / (T2*P *μ). After a first preset time delay, a scraper stop command is output to the multi-way valve, where V2 is the oil inlet chamber volume of the sliding plate cylinder corresponding to the downward action, and T2 is the downward action duration of the sliding plate. When the slide plate descends to the designated position or reaches the specified descent action duration, a slide plate stop command and a scraper closing command are output to the multi-way valve, and the oil pump motor is controlled to run at the third target speed n3=V3*B / (T3*P *μ), where V3 is the oil inlet volume of the scraper cylinder corresponding to the closing action, and T3 is the closing action duration of the scraper. When the scraper is closed in place or reaches the closing action duration, a scraper stop command and a slide plate upward command are output to the multi-way valve, and the oil pump motor is controlled to run at the fourth target speed n4=V4*B / (T4*P ​​*μ), where V4 is the oil inlet chamber volume of the slide plate cylinder corresponding to the upward action, and T4 is the upward action duration of the slide plate. When the skateboard reaches the upper position or reaches the upper movement duration, a skateboard stop command is output to the multi-way valve; And it satisfies that the first target speed is less than any one of the second target speed, the third target speed, and the fourth target speed.

5. The garbage truck speed control method according to claim 3, characterized in that, In the feeding mode, when outputting a target action command to the multi-way valve, the step of setting the target speed of the oil pump motor according to the oil inlet chamber volume of the working cylinder corresponding to the target action command, the action duration corresponding to the target action command, and the displacement of the hydraulic oil pump includes: In the feeding mode, when a bucket lifting control signal is received, a bucket lifting action command is output to the multi-way valve, and the oil pump motor is controlled to run at the fifth target speed n5=V5*B / (T5*P*μ), where V5 is the volume of the oil inlet chamber corresponding to the bucket lifting action of the bucket lifting cylinder, and T5 is the duration of the bucket lifting action. In the feeding mode, when the unloading control signal is received, the unloading action command is output to the multi-way valve, and the oil pump motor is controlled to run at the sixth target speed n6=V6*B / (T6*P*μ), where V6 is the volume of the oil inlet chamber corresponding to the unloading action of the lifting cylinder, and T5 is the duration of the unloading action.

6. The garbage truck speed control method according to claim 1, characterized in that, The upper structure working mode includes a loading mode. The step of controlling the oil pump motor to maintain a set idle speed and simultaneously counting the cumulative time of not receiving the target action command if the target action command is not received includes: In the feeding mode, if the target action command is not received, the oil pump motor is controlled to run at a seventh target speed, wherein the seventh target speed is less than or equal to the minimum target speed when the target action is performed in the feeding mode.

7. The garbage truck speed control method according to claim 2, characterized in that, The upper structure working mode also includes an unloading mode, and the garbage truck speed control method also includes: In the unloading mode, when the multi-way valve is output with a pusher push command, a pusher retraction command, a filler lifting command, or a lock hook opening command, the oil pump motor is controlled to run at an eighth target speed; the eighth target speed is equal to the maximum target speed when the target action is performed in the loading mode. In the unloading mode, when the loader descent command or the hook locking command is output to the multi-way valve, the oil pump motor is controlled to run at the ninth target speed. The ninth target speed is less than the eighth target speed and less than or equal to the minimum target speed when the target action is performed in the feeding mode.

8. The garbage truck speed control method according to claim 7, characterized in that, The step of controlling the oil pump motor to maintain a set idle speed and simultaneously counting the cumulative time of not receiving the target action command if no target action command is received further includes: In the unloading mode, if the target action command is not received, the oil pump motor is controlled to run at the tenth target speed, wherein the tenth target speed is less than or equal to the ninth target speed.

9. The garbage truck speed control method according to claim 1, characterized in that, The upper structure working mode also includes a maintenance mode. The step of controlling the oil pump motor to maintain a set idle speed and counting the cumulative time of not receiving the target action command if the target action command is not received further includes: In the maintenance mode, if the target action command is not received, the oil pump motor is controlled to run at the eleventh target speed, wherein the eleventh target speed is less than or equal to the minimum target speed when the target action is performed in the maintenance mode.

10. A garbage truck, characterized in that, The system includes an upper structure control device, which includes a controller, a PLC, an ECU, and a VCU electronic control unit. The upper structure control device is used to execute the garbage truck speed control method as described in any one of claims 1-9.

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