An energy-saving control device for garbage compression and hydraulic system of sanitation vehicles

Abstract

This invention discloses an energy-saving control device for the garbage compression and hydraulic system of a sanitation vehicle, relating to the technical field of hydraulic control and fluid pressure execution systems for sanitation vehicles. It includes a hydraulic actuator, a hydraulic power supply mechanism, a signal acquisition mechanism, and a controller. The controller synchronously collects operating data such as hydraulic main circuit pressure, cylinder chamber pressure, actuator displacement, pump drive load, return oil back pressure, and hydraulic oil temperature, constructing an operating state parameter set and generating a comprehensive compression resistance and hydraulic load. Based on these, a boundary parameter set is generated, controlling the hydraulic bottom-level state machine to evolve between a pre-compression approach state, a controlled compaction state, a pressure stabilization and density judgment state, a pressure release and reconstruction state, to adaptively adjust pump speed, valve opening, back pressure range, and pressure release and reconstruction timing. This reduces high-pressure waste and overflow heat generation, improving the stability, energy efficiency, and adaptability of garbage compression operations.

Description

Technical Field

[0001] This invention relates to the field of hydraulic control and fluid pressure actuation systems for sanitation vehicles, and more specifically, to an energy-saving control device for a garbage compression and hydraulic system in sanitation vehicles. Background Technology

[0002] In the process of collecting, transferring, and compressing household waste, sanitation vehicles typically rely on actuators such as pushers, sliding plates, scrapers, and lifting mechanisms to receive, overturn, push, and compact the waste. Especially in compactor sanitation vehicles, the hydraulic system not only provides power output but also directly affects compression efficiency, operating cycle time, energy consumption, and overall vehicle stability. Therefore, developing hydraulic control devices that adapt to complex operating conditions for the waste compression process in sanitation vehicles has become an important technological focus and a typical application scenario in this field.

[0003] In the prior art, CN103964108B discloses a control system for a garbage compactor truck, which is a representative solution in the field of hydraulic control for compactor garbage trucks.

[0004] This patented solution typically uses a hydraulic pump to supply oil to multiple hydraulic actuators, and works in conjunction with a valve control unit to sequentially drive mechanisms such as the pusher plate, slide plate, scraper, and lifting mechanism to complete the basic control of the garbage compactor truck during the approach, loading, compaction, retraction, and unloading stages. Therefore, the existing solution already possesses the basic components of a garbage compaction device, a hydraulic power supply mechanism, a signal acquisition unit, and a control unit, and is capable of performing conventional hydraulic control during the garbage compaction process of a sanitation vehicle.

[0005] However, in actual operational scenarios where the composition, liquid content, bulk density, and foreign matter of waste continuously change, the aforementioned solutions typically rely on fixed strokes, fixed cycle times, fixed back pressure levels, or single pressure thresholds as the primary control basis. This makes it difficult to simultaneously consider changes in the compression resistance on the waste side and variations in the hydraulic system's thermal load, energy efficiency margin, and pressure risk. Consequently, problems such as high-pressure waste loss, continuous overflow heating, false jamming misjudgments, compression cycle fluctuations, and increased impact wear on hydraulic components easily arise. This is because existing technologies mostly remain at the level of single-variable triggering or simple rule control, and have not yet formed a multi-source state coupling analysis and underlying boundary collaborative modulation mechanism for complex compression conditions.

[0006] Therefore, it is still necessary to provide an energy-saving control device for the garbage compression and hydraulic system of sanitation vehicles, so as to improve the adaptive adjustment capability, energy-saving control capability and operational stability of the compression process under complex garbage working conditions. Summary of the Invention

[0007] To overcome the aforementioned deficiencies of the prior art, embodiments of the present invention provide a sanitation vehicle garbage compression and hydraulic system energy-saving control device. By performing collaborative analysis on the garbage-side compression resistance state and the hydraulic system-side load state, and dynamically modulating the evolution boundary of the hydraulic bottom-level state machine accordingly, energy-saving control and stable control are achieved during the garbage compression process of the sanitation vehicle, thereby solving the problems mentioned in the background art.

[0008] To achieve the above objectives, the present invention provides the following technical solution: An energy-saving control device for a sanitation vehicle's garbage compression and hydraulic system includes a hydraulic actuator, a hydraulic power supply mechanism, a signal acquisition mechanism, and a controller. The signal acquisition mechanism is used to acquire hydraulic main oil circuit pressure signals, cylinder chamber pressure signals, actuator displacement signals, pump drive load signals, return oil back pressure signals, and hydraulic oil temperature signals. The controller is used to construct a set of operating state parameters, and based on the set of operating state parameters, generate a comprehensive compression resistance quantity and a comprehensive hydraulic load quantity. Based on the comprehensive compression resistance quantity and the comprehensive hydraulic load quantity, it generates a set of boundary parameters, and controls the hydraulic bottom-level state machine to evolve between a pre-compression approach state, a controlled compaction state, a pressure stabilization and density judgment state, a pressure release and retreat state, and a verification and reconstruction state, so as to control the hydraulic actuator and the hydraulic power supply mechanism to perform garbage compression.

[0009] In a preferred embodiment, the hydraulic actuator includes at least one of a push plate cylinder, a sliding plate cylinder, a scraper cylinder, a lifting cylinder, and a hoisting cylinder; the push plate cylinder is used to drive the push plate to advance or retract longitudinally along the garbage container to complete garbage relocation, compaction assistance, and unloading; the sliding plate cylinder is used to drive the sliding plate to complete the main compression action; the scraper cylinder is used to drive the scraper to flip and push the material and cooperate in compaction; the lifting cylinder is used to drive the hopper to lift and unload; and the hoisting cylinder is used to drive the carriage or container to lift.

[0010] In a preferred embodiment, the hydraulic power supply mechanism includes a hydraulic pump, a pump drive unit, and a valve group connected to the hydraulic pump; the valve group includes at least one of a directional valve, a proportional valve, a solenoid valve, a relief valve, a back pressure valve, and a check valve; the outlet of the hydraulic pump is connected to the main pressure oil circuit, the main pressure oil circuit is connected to the oil inlet branch of each actuator cylinder, and the return oil circuit is connected to the oil tank.

[0011] In a preferred embodiment, the signal acquisition mechanism includes a main oil circuit pressure sensor installed at the hydraulic pump outlet or the main oil supply pipe, a push plate cylinder cavity pressure sensor installed in the oil chambers on both sides of the push plate cylinder, a slide plate cylinder cavity pressure sensor installed in the oil chambers on both sides of the slide plate cylinder, a displacement sensor installed on the corresponding cylinder, a pump drive load acquisition unit, a return oil back pressure sensor installed in the return oil main pipe or the front section of the back pressure valve, and a temperature sensor installed in the oil tank or valve group.

[0012] In a preferred embodiment, the controller synchronously acquires multi-source signals obtained by the signal acquisition mechanism according to a preset sampling period, and writes each sampled value into a sliding time window to form a short-window working condition sequence corresponding to the current compression stage; the controller performs time registration on the pressure signal and displacement signal, constructs a set of operating status parameters, and identifies the current action stage and generates an action stage identifier based on the position switch, stroke sensor, valve position feedback, time tag or internal status word.

[0013] In a preferred embodiment, the controller constructs a pressure-displacement hysteresis loop within the sliding time window and calculates the area of ​​the pressure-displacement hysteresis loop; the controller normalizes the original parameters involved in the analysis, determines the pressure rise rate of the hydraulic main oil circuit based on the hydraulic main oil circuit pressure signal, determines the pressure difference between the two chambers of the cylinder based on the cylinder chamber pressure signal, determines the speed attenuation of the actuator and the increment of work done per unit displacement based on the actuator displacement signal, and generates a comprehensive compression resistance quantity by combining the area of ​​the pressure-displacement hysteresis loop; the controller determines the transient power saturation based on the pump drive load signal, determines the rate of change of the pressure difference between the pump inlet and outlet and the overflow duration based on the hydraulic main oil circuit pressure signal and the return oil back pressure signal, and generates a comprehensive hydraulic load quantity by combining the return oil back pressure signal and the hydraulic oil temperature signal.

[0014] In a preferred embodiment, the boundary parameter set includes a compaction propulsion state entry threshold, a compaction propulsion state holding window, a pressure stabilization holding window, a pressure release retraction trigger boundary, a pump speed upper limit, a valve port adjustment slope upper limit, a back pressure allowable range, and a verification trigger boundary; the controller dynamically corrects the boundary parameter set based on the comprehensive compression resistance and the comprehensive hydraulic load, and performs upper and lower limit amplitude limiting processing on the corrected boundary parameter set.

[0015] In a preferred embodiment, the controller controls the hydraulic bottom-level state machine to evolve between a pre-pressure approach state, a controlled compaction state, a pressure stabilization and compaction judgment state, a pressure release and retraction state, and a verification and reconstruction state based on the boundary parameter set. In the pre-pressure approach state, the controller controls the actuator to approach the waste at a preset approach pump speed or a preset approach valve opening. In the controlled compaction state, the controller performs controlled propulsion based on the upper limit of pump speed, the upper limit of valve adjustment slope, and the allowable back pressure range. In the pressure stabilization and compaction judgment state, the controller maintains pressure stabilization within the pressure stabilization maintenance window and performs a compaction completion judgment. In the pressure release and retraction state, the controller performs controlled unloading and retracts the current effective stroke. In the verification and reconstruction state, the controller performs fluid micro-pulse verification or low-speed reconstruction compaction.

[0016] In a preferred embodiment, when the actual system parameters first reach the verification trigger boundary, the controller triggers a fluid micro-pulse verification. During the micro-pulse verification process, the controller calculates the pressure drop gradient and the recompression rebound coefficient based on the pressure before unloading, the minimum pressure during unloading, the pressure drop duration, and the recovery pressure after recompression. When the pressure drop gradient is higher than the rigid discrimination threshold and the recompression rebound coefficient is lower than the rebound discrimination threshold, the controller determines that the current working condition is a true jamming condition and controls the hydraulic bottom state machine to evolve towards the pressure relief and retreat state. When the pressure drop gradient is lower than the rigid discrimination threshold and the recompression rebound coefficient is higher than the rebound discrimination threshold, the controller determines that the current working condition is a false jamming condition and reduces the actuator speed to 20% to 60% of the controlled compaction speed before entering the verification trigger boundary, while simultaneously increasing the upper limit of the back pressure allowable range by 0.2 MPa to 1.0 MPa to perform low-speed reconstruction compaction.

[0017] In a preferred embodiment, the controller's memory pre-stores parameter reference values, normalized boundaries, boundary modulation coefficients, state transition rules, anomaly judgment conditions, and control programs; the controller also stores a set of parameters for no-load operation, a set of parameters for normal domestic waste operation, a set of parameters for high water content operation, and a set of parameters for high resistance operation; when any of the hydraulic main oil circuit pressure signal, actuator displacement signal, or pump drive load signal is determined to be abnormal, the controller calls the pre-stored conservative control parameters to limit the upper limit of pump speed and the upper limit of valve port adjustment slope, and maintains or switches to the pressure relief retreat control path.

[0018] The technical effects and advantages of the energy-saving control device for garbage compression and hydraulic system of sanitation vehicles according to the present invention are as follows: This invention collects multi-source operating data, including hydraulic main circuit pressure, cylinder chamber pressure, actuator displacement, pump drive load, return oil back pressure, and hydraulic oil temperature, to construct a comprehensive compression resistance and hydraulic load capacity. Based on these two data, a set of boundary parameters for the hydraulic underlying state machine is generated. This allows for adaptive adjustment of the pump speed limit, valve opening, back pressure range, and pressure release timing. This enables the waste compression process to simultaneously meet the waste-side compression requirements and the hydraulic system-side load capacity, thereby effectively reducing high-pressure waste loss and continuous overflow heat generation, minimizing false jamming and hydraulic component impact wear, and improving the stability, energy efficiency, and adaptability to complex waste conditions during the compression operation. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of an energy-saving control device for a garbage compression and hydraulic system in a sanitation vehicle according to the present invention.

[0020] Figure 2 This is a schematic diagram of the hydraulic system of the present invention.

[0021] Figure 3 This is a functional block diagram of the control device of the present invention.

[0022] Figure 4 This is a flowchart of the control method of the present invention.

[0023] Figure 5 This is an evolution diagram of the hydraulic bottom-level state machine of the present invention.

[0024] Figure 6 This is a schematic diagram of the micropulse verification waveform and discrimination of the present invention.

[0025] 100. Energy-saving control device for garbage compression and hydraulic system of sanitation vehicle; 110. Push plate cylinder; 120. Slide plate cylinder; 130. Scraper cylinder; 140. Lifting cylinder; 150. Lifting cylinder; 160. Push plate; 170. Slide plate; 180. Scraper; 190. Hopper; 200. Hydraulic pump; 210. Pump drive unit; 220. Valve group; 221. Directional valve; 222. Proportional valve; 223. Solenoid valve; 224. Overflow valve; 225. Back pressure valve; 226. Check valve; 230. Oil tank; 300. Main oil circuit pressure sensor; 310. Push plate cylinder cavity pressure sensor; 320. Slide plate cylinder cavity pressure sensor; 330. Displacement sensor; 340. Pump drive load acquisition unit; 350. Return oil back pressure sensor; 360. Temperature sensor; 400. Controller. Detailed Implementation

[0026] 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 embodiments of the present invention, and not all embodiments.

[0027] Example 1: This example provides a garbage compression and hydraulic system energy-saving control device 100 for sanitation vehicles, installed on a compression sanitation vehicle. The device includes a hydraulic actuator, a hydraulic power supply mechanism, a signal acquisition mechanism, and a controller 400. These mechanisms form a closed-loop control link for data acquisition, status analysis, boundary modulation, and hydraulic execution.

[0028] The hydraulic actuator includes at least one of a push plate cylinder 110, a sliding plate cylinder 120, a scraper cylinder 130, a lifting cylinder 140, and a lifting cylinder 150. The push plate cylinder 110 drives the push plate 160 to advance or retract longitudinally along the garbage container to complete garbage relocation, compaction assistance, and unloading. The sliding plate cylinder 120 drives the sliding plate 170 to complete the main compression action. The scraper cylinder 130 drives the scraper 180 to flip and push the material, cooperating with compaction. The lifting cylinder 140 drives the hopper 190 to lift and unload. The lifting cylinder 150 drives the truck bed or container to lift during unloading. For different vehicle models, only some of the above cylinders may be provided, but preferably at least the sliding plate cylinder 120 and the push plate cylinder 110, which participate in the main garbage compression process, are included to form an effective monitoring and control of the main compression execution chain.

[0029] The hydraulic power supply mechanism includes a hydraulic pump 200, a pump drive unit 210, and a valve group 220 connected to the hydraulic pump 200. The hydraulic pump 200 can be a fixed displacement pump, a variable displacement pump, or a combination of two pumps. The pump drive unit 210 can be a motor, a power take-off (PTO), or other drive structure capable of providing mechanical work to the hydraulic pump 200. The valve group 220 includes one or more of the following: a directional valve 221, a proportional valve 222, a solenoid valve 223, a relief valve 224, a back pressure valve 225, and a check valve 226. Specifically, the directional valve 221 controls the forward and reverse movements of the corresponding cylinder; the proportional valve 222 adjusts the oil supply flow rate or valve opening; the solenoid valve 223 performs on / off switching of the oil circuit; the relief valve 224 limits the maximum system pressure; the back pressure valve 225 creates controlled return oil resistance; and the check valve 226 prevents reverse flow of oil. The outlet of the hydraulic pump 200 is connected to the main pressure oil circuit, which is connected to the inlet branch of each actuator cylinder, and the return oil circuit is connected to the oil tank 230. Preferably, independent reversing control units are set on the corresponding oil circuit branches of the push plate cylinder 110 and the slide plate cylinder 120 to enable differentiated control for different compression stages.

[0030] The signal acquisition mechanism is used to collect multi-source operating data, including a main oil circuit pressure sensor 300 installed at the outlet of the hydraulic pump 200 or the main oil supply pipe, a push plate cylinder chamber pressure sensor 310 installed in the oil chambers on both sides of the push plate cylinder 110, a slide plate cylinder chamber pressure sensor 320 installed in the oil chambers on both sides of the slide plate cylinder 120, a displacement sensor 330 installed on the corresponding cylinder, a pump drive load acquisition unit 340, a return oil back pressure sensor 350 installed in the return oil main pipe or the front section of the back pressure valve 225, and a temperature sensor 360 installed in the oil tank 230 or the valve group 220. The main oil circuit pressure sensor 300 installed at the outlet of the hydraulic pump 200 or the main oil supply pipe is used to obtain the hydraulic main oil circuit pressure signal to reflect the current total system pressure level. The push plate cylinder chamber pressure sensor 310, installed on both sides of the oil chamber of the push plate cylinder 110, is used to acquire the chamber pressure signal of the push plate cylinder 110. The slide plate cylinder chamber pressure sensor 320, installed on both sides of the oil chamber of the slide plate cylinder 120, is used to acquire the chamber pressure signal of the slide plate cylinder 120, so as to form a pressure difference between the two chambers and characterize the load change. The displacement sensor 330 is used to acquire the displacement and speed information of the actuator to support pressure-displacement coupling analysis. The pump drive load acquisition unit 340 is used to acquire the pump drive motor current, motor power, power take-off load, or other information that can characterize the load level of the hydraulic pump 200. The return oil back pressure sensor 350, installed on the front end of the return oil main pipe or back pressure valve 225, is used to acquire the return oil back pressure signal. The temperature sensor 360 is used to acquire the hydraulic oil temperature signal.

[0031] To mitigate the risk of control distortion caused by a single sensor malfunction, the signal acquisition mechanism preferably incorporates validity determination logic for the hydraulic main oil circuit pressure signal, actuator displacement signal, and pump drive load signal. This validity determination logic can be based on conditions such as whether the sampled value exceeds limits, remains unchanged, contradicts the trend of adjacent sampling periods, or exceeds the statistical boundaries of similar operating conditions. When any of the hydraulic main oil circuit pressure signal, actuator displacement signal, or pump drive load signal is determined to be abnormal, the controller 400 preferably invokes pre-stored conservative control parameters to limit the upper limit of pump speed and the upper limit of valve adjustment slope, and maintains or switches to a pressure relief retreat control path to improve system safety and fault tolerance.

[0032] The controller 400 is electrically connected to the aforementioned signal acquisition mechanism, pump drive unit 210, and valve group 220. The controller 400 internally includes a processor, memory, input / output interfaces, and a communication interface. The memory pre-stores parameter reference values, normalized boundaries, boundary modulation coefficients, state transition rules, anomaly judgment conditions, and control programs. The controller 400 is used to construct a set of operating state parameters, generate a comprehensive quantity of compression resistance and a comprehensive quantity of hydraulic load, generate a set of boundary parameters, and control the evolution of the hydraulic underlying state machine based on the boundary parameter set. The controller 400 is also used to identify the current action stage based on position switches, stroke sensors, valve position feedback, time stamps, or internal state words, and output the corresponding action stage signal. The hydraulic underlying state machine preferably includes a pre-pressure approach state, a controlled compaction state, a pressure stabilization and compaction judgment state, a pressure release and retreat state, and a verification and reconstruction state. To suppress oscillations caused by frequent switching near the boundaries, the controller 400 preferably sets a small hysteresis region for the entry and exit thresholds of state switching, or sets a minimum confirmation requirement for the number of consecutive samplings that meet the conditions.

[0033] In a preferred embodiment, the controller 400 also stores calibration parameter sets for different waste conditions; the calibration parameter sets include at least an empty condition parameter set, a normal domestic waste condition parameter set, a high moisture content condition parameter set, and a high resistance condition parameter set; the controller 400 can select the corresponding parameter set based on historical cycle data, the current action stage, and real-time sampling data, or perform interpolation between adjacent parameter sets to improve adaptability to various waste conditions.

[0034] Example 2: Based on the device described in Example 1, this example provides a control method that includes complete state machine evolution and micro-pulse verification; when the vehicle enters the garbage compression cycle, the controller 400 executes the following steps.

[0035] S10, the controller 400 synchronously acquires multi-source signals obtained by the signal acquisition mechanism according to a preset sampling period, and writes each sampled value into a sliding time window to form a short-window working condition sequence corresponding to the current compression stage; the preset sampling period is preferably 10 milliseconds to 50 milliseconds, and more preferably 20 milliseconds; the sliding time window is preferably 0.5 seconds to 1.0 seconds; using the above sampling period and time window is beneficial to capturing the short-term changes in hydraulic pressure, load and displacement, and can also meet the real-time calculation requirements of the vehicle controller 400.

[0036] After obtaining the short-window operating condition sequence, the controller 400 performs time registration on the pressure signal and displacement signal. This time registration can be achieved using a unified clock triggering method or an interpolation resampling method. After time registration, the controller 400 constructs an operating state parameter set. This operating state parameter set includes at least the hydraulic main oil circuit pressure, the hydraulic main oil circuit pressure change rate, the pressure difference between the two chambers of the cylinder, the current displacement of the actuator, the actuator speed, the actuator speed attenuation, the pump drive load, the pump drive load change, the return oil back pressure, the hydraulic oil temperature, the hydraulic oil temperature change rate, and some or all of the action stage identifiers. Preferably, the controller 400 first performs deburring, amplitude limiting, and first-order smoothing on the raw quantities in the operating state parameter set to reduce the impact of instantaneous noise on the subsequent comprehensive analysis results. The operating state parameter set after the above processing serves as the basic input for subsequent comprehensive quantity calculation and boundary modulation.

[0037] The action stage identifier is generated by the controller 400 based on the identification of position switches, stroke sensors, valve position feedback, time stamps, or internal status words, and is used to indicate which stage is currently being performed: material feeding, pre-compression, main compression, pressure stabilization, pressure release, or retraction. Preferably, the controller 400 sets a minimum confirmation time or a requirement for the number of consecutive times to switch action stages, in order to reduce stage misjudgment caused by instantaneous disturbances.

[0038] To improve the characterization of the pressure characteristics of waste, the controller 400 constructs a pressure-displacement hysteresis loop within the sliding time window and calculates the area of ​​the hysteresis loop. The area of ​​the pressure-displacement hysteresis loop is preferably calculated using the following formula: ; in: This represents the area of ​​the pressure displacement hysteresis loop; This represents the pressure value at the i-th sampling point; The displacement value of the i-th sampling point is represented; N represents the number of sampling points participating in the formation of the closed loop; the area of ​​the pressure displacement hysteresis loop is used to characterize the dissipation of work capacity of the waste during the compression process; under normal circumstances, The larger the value, the more obvious the plastic dissipation and viscous compression characteristics of the waste in the current compression stage. In order to avoid distortion of the loop area caused by a single abnormal sampling point, the controller 400 preferably performs continuity verification on the pressure value and displacement value before constructing the loop. When the difference between adjacent sampling points exceeds the preset mutation threshold, the neighborhood average value can be used to replace or the abnormal point can be directly discarded.

[0039] S20, Since the original parameters involved in the analysis differ in dimensions and range of variation, to facilitate unified calculation, the controller 400 preferably normalizes any original parameter z first; the normalization process can be performed using the following formula: ; in: This represents the normalized result of parameter z; This indicates the lower limit of the calibration of parameter z; This represents the upper limit of parameter z; after normalization, all parameters are mapped to the interval between 0 and 1, facilitating subsequent weighted fusion; to avoid and If the difference is too small, the denominator will be too small. It is preferable to ensure that the difference between the two is greater than the preset minimum span during the calibration stage. When the difference is detected to be lower than the minimum span during the on-site calculation, the controller 400 prefers to directly call the default normalized result of the corresponding parameter or the normalized result of the previous effective period.

[0040] After normalization, the controller 400 generates the combined compressive resistance C and the combined hydraulic load H in parallel based on the operating status parameter group.

[0041] The comprehensive compression resistance C is used to characterize the overall resistance of the waste to the current compression action. It is preferably generated based on at least two of the following: the hydraulic main oil circuit pressure rise rate, the pressure difference between the two chambers of the cylinder, the speed decay of the actuator, the work increment per unit displacement, and the area of ​​the pressure displacement hysteresis loop. To balance calculation simplicity and characterization completeness, the comprehensive compression resistance C is preferably calculated using the following formula: ; in: Indicates the rate of increase in pressure; This indicates the pressure difference between the two chambers of the hydraulic cylinder; Indicates the amount of velocity decay; This represents the increment of work done per unit displacement; , , , , For the corresponding weights, and The aforementioned weights can be pre-calibrated based on vehicle type and waste type; in one embodiment, for typical mixed household waste conditions, the typical values ​​of the aforementioned weights can be set as follows: , , , , In satisfying Under the premise of this, the weights can also be recalibrated according to the moisture content of the waste, the loading density and the presence of foreign objects, so that the comprehensive compression resistance can more accurately represent the overall degree of obstruction of the current waste to the compression action.

[0042] In a preferred embodiment, when the vehicle primarily processes high-moisture domestic waste, the weights corresponding to the pressure-displacement hysteresis loop area and the increment of work done per unit displacement can be appropriately increased; when the vehicle primarily processes conditions with a large amount of foreign matter, the weights corresponding to the hydraulic main circuit pressure rise rate and the pressure difference between the two chambers of the cylinder can be appropriately increased. A larger overall compression resistance C indicates a greater overall resistance to the compression mechanism from the waste, and the corresponding operating conditions may include high-density compaction, high-moisture accumulation, partial blockage, or foreign matter inclusions.

[0043] Concurrently, the comprehensive hydraulic load capacity H is used to characterize the thermal load level, energy efficiency margin, and pressure risk of the hydraulic system while maintaining compression strength at the current moment. The comprehensive hydraulic load capacity H is preferably generated based on at least two of the following: transient power saturation, pump inlet / outlet pressure difference rate, overflow duration, return oil back pressure level, and hydraulic oil temperature heat accumulation degree. Its preferred calculation formula is as follows: ; in: Indicates transient power saturation; This indicates the rate of change of the pressure difference between the pump inlet and outlet. Indicates the duration of the overflow; Indicates the level of return oil back pressure; Indicates the degree of heat accumulation in the hydraulic oil; , , , , For the corresponding weights, and In one embodiment, for the hydraulic system configuration of conventional sanitation vehicles, the typical values ​​of the above-mentioned weights can be set as follows: , , , , In satisfying Under the premise of [the above conditions], each weight can also be recalibrated according to the pump drive type, oil circuit damping characteristics, overflow frequency and thermal management conditions, so that the comprehensive hydraulic load capacity can more accurately characterize the current thermal load level, energy efficiency margin and pressure risk of the hydraulic system.

[0044] The larger the overall hydraulic load capacity H, the closer the hydraulic system is to a high heat consumption, low efficiency, and high pressure risk zone. Preferably, when an abnormal hydraulic oil temperature signal is detected, the pressure can be appropriately reduced... The corresponding weights are adjusted, and the weights corresponding to the overflow duration or the rate of change of the pump inlet and outlet pressure difference are increased to maintain the stability of the comprehensive quantity calculation.

[0045] To improve the feasibility of parameter determination, the pump inlet / outlet pressure difference rate is preferably determined based on the rate of change of the difference between the hydraulic main circuit pressure and the return back pressure over time within the sliding time window; the overflow duration is preferably determined based on the cumulative duration after the hydraulic main circuit pressure reaches or exceeds the opening pressure of the overflow valve 224; the transient power saturation is preferably determined based on the ratio of the pump drive load to the rated load of the pump drive unit 210; the hydraulic oil temperature heat accumulation degree is preferably determined based on the hydraulic oil temperature, the hydraulic oil temperature change rate, and the duration of high temperature; the unit displacement work increment is preferably determined based on the hydraulic main circuit pressure, the effective pressure-bearing area of ​​the actuator, and the unit displacement increment. The effective pressure-bearing area of ​​the actuator is pre-calibrated by the corresponding cylinder structural parameters and stored in the memory.

[0046] It should be noted that the comprehensive compressive resistance C and the comprehensive hydraulic load H are generated in parallel within the same control cycle and jointly participate in the construction of subsequent boundary parameter sets, so that the waste-side load state and the hydraulic load state can act synchronously on the control process. To avoid drastic fluctuations in boundary parameters caused by instantaneous changes in a certain comprehensive quantity, the controller 400 preferably sets change rate constraints on C and H, or performs amplitude limiting and smoothing processing on the comprehensive quantities in adjacent control cycles.

[0047] S30, the controller 400 generates a set of boundary parameters for the hydraulic bottom-level state machine based on the combined compressive resistance C and the combined hydraulic load H. The set of boundary parameters includes at least the compaction propulsion state entry threshold. Maintaining a window of opportunity for compaction and progress Voltage stabilization window Decompression backoff trigger boundary Pump speed limit Upper limit of valve port adjustment slope Back pressure allowable range and verifying trigger boundaries Preferably, each parameter in the boundary parameter group has its own reference value, allowable adjustment range, and final limit range to prevent excessive parameter correction from causing control instability.

[0048] For general boundary parameters q, it is preferable to calculate them using a reference value plus a modulation amount, and the calculation formula can be expressed as: ; in: Indicates the baseline value of the boundary parameter; This represents the modulation coefficient corresponding to the overall compression impedance C; The modulation coefficient corresponding to the comprehensive hydraulic load H is represented by this relationship. The controller 400 can dynamically correct the boundary parameters according to the waste impedance and hydraulic load status. When C increases, it indicates that the compression resistance is enhanced, and the boundary parameters can be adjusted in the direction of enhancing compaction. When H increases, it indicates that the hydraulic system load risk is increased, and the boundary parameters can be adjusted in the direction of reducing heat consumption and impact. In order to prevent the modulated boundary parameters from exceeding the feasible range, it is preferable to perform upper and lower limit amplitude limiting processing on the calculated q.

[0049] For the pressure release back-off trigger boundary The preferred modulation model is as follows: ; in: This indicates the reference value for the decompression backoff trigger boundary; and This represents the modulation coefficient; through the above relationship, the pressure relief retraction trigger boundary can be made to take into account both state factors. When the overall hydraulic load H is high, Move it forward so that the system can exit the high-load area earlier; when the overall compressibility impedance C is high and the system still has a certain load-bearing capacity. It can be appropriately moved backward to ensure the necessary compaction effect. To reduce repeated back-and-forth oscillations of the boundary, the controller 400 preferably... Set the minimum duration for entering verification or rollback.

[0050] S40, the controller 400 controls the state machine to evolve between the pre-compression approach state, the controlled compaction state, the pressure stabilization and compaction judgment state, the pressure release and retreat state, and the verification and reconstruction state according to the boundary parameter group.

[0051] In the pre-pressurization approach state, the controller 400 controls the actuator to approach the waste at a preset approach pump speed or a preset approach valve opening. When the actual pressure reaches... When the displacement change and pressure increase together indicate that effective contact has occurred, the state machine transitions to the controlled compaction state. Preferably, the pre-compression approach stage can also set a maximum duration for the contact establishment process. If effective contact is not established after this duration, the controller 400 can output a contact abnormality warning or enter a conservative control path.

[0052] Under controlled compaction conditions, controller 400 according to , and Execution is carried out in a controlled manner; if in If the overall internal compression resistance continues to rise while the overall hydraulic load remains within the allowable range, the controlled compaction state is maintained; if the pressure stabilization condition is met, the process transitions to a pressure stabilization and compaction judgment state; if triggered... If the pressure is released, the pump will enter a pressure relief and retraction state. Preferably, under controlled compaction, the pump speed and valve port changes can be limited by slope to reduce hydraulic shock.

[0053] In the stable pressure and compaction state, the controller 400 maintains stable pressure within the stable pressure maintenance window and performs compaction completion judgment; if the displacement increment is lower than the micro displacement threshold and the pressure difference is stable, it is judged that the compaction is sufficient and enters the next cycle; if the heat load rises rapidly, it exits the state in advance to reduce the heat consumption caused by the continuous maintenance of high pressure; preferably, the micro displacement threshold is set according to the proportion of the total stroke of the cylinder or the single effective stroke to improve the adaptability to different vehicle models.

[0054] In the depressurization retraction state, the controller 400 performs controlled unloading and retracts 3% to 15% of the current effective stroke to release invalid high pressure and reduce overflow heat generation; preferably, during the retraction process, the controller 400 simultaneously monitors the hydraulic main oil circuit pressure drop speed and the actuator retraction speed. When the two deviate from the expected range, it can be determined that there is valve jamming, mechanical interference or oil circuit abnormality, and enter the conservative processing path.

[0055] In the verification and reconstruction state, when the actual system parameters first reach the verification trigger boundary... At this time, the controller 400 triggers a fluid micro-pulse verification; the duration of the micro-pulse is preferably 100 to 150 milliseconds, and the local unloading amplitude preferably corresponds to 5% to 15% of the current pressure. During the micro-pulse verification process, the controller 400 analyzes the transient pressure recovery characteristics. To facilitate stable implementation, it is preferable to calculate the pressure drop gradient. and the coefficient of resilient compression The calculation formulas are as follows: ; ; in: Indicates the pressure before unloading; This indicates the minimum pressure during the unloading process; Indicates the duration of the pressure drop; This represents the recovery pressure after repressurization. Preferably, to reduce the impact of a single abnormal sampling point on the discrimination result, , and All of these can be obtained by averaging or medianing multiple sampled values ​​within the corresponding time period.

[0056] Based on the two discriminants mentioned above, if Higher than the rigid discrimination threshold and If the value is below the rebound detection threshold, the controller 400 determines the current operating condition to be a true stuck condition, and the state machine evolves towards the pressure relief and retreat state. If Below the rigid discrimination threshold and If the temperature exceeds the rebound detection threshold, the controller 400 determines the current operating condition to be a pseudo-jamming condition. At this time, the controller 400 reduces the actuator speed to 20% to 60% of the controlled compaction speed before entering the verification trigger boundary, and increases the upper limit of the allowable back pressure range by 0.2 MPa to 1.0 MPa to perform low-speed reconstruction compaction, thereby compressing the remaining voids in the highly elastic plastic waste. and If the combined result falls into the preset gray area, the controller 400 will preferably perform a conservative decompression and a slight backtracking before re-detecting to reduce the risk of misjudgment.

[0057] The preset mutation threshold is preferably 5% to 15% of the full scale of the corresponding signal; the preset minimum span is preferably 5% to 10% of the effective range of the corresponding parameter; the minimum confirmation time for switching action phases is preferably 40ms to 200ms, or two to ten consecutive sampling cycles; the maximum duration of the pre-pressure approach phase is preferably 0.5s to 3s; the micro-displacement threshold is preferably 0.5% to 2% of the current effective stroke, or 2mm to 10mm; the minimum continuous satisfaction time for entering verification or backoff is preferably 40ms to 200ms, or two to ten consecutive sampling cycles; the gray area is preferably within the range of 5% to 10% above and below the rigidity discrimination threshold and the rebound discrimination threshold.

[0058] To ensure the stable implementation of this control method, the calibration lower limits of the above-mentioned normalized parameters are set as follows: and calibration upper limit Preferably, data is obtained by collecting data from at least 30 cycles under no-load, normal, and high-resistance conditions, with the 5th and 95th percentile values ​​used as references. Boundary parameter baseline values ​​are preferably obtained based on data from the original vehicle's fixed control strategy, for example... The rated pump speed can be preferably selected from 0.60 to 1.00. The optimal timeframe is 0.3 to 2.5 seconds. The rigidity discrimination threshold and rebound discrimination threshold are preferably calibrated at the point of maximum interval between the distribution of real and pseudo-jamming field samples, with a gray area buffer set to reduce the probability of misjudgment. Specifically, during calibration, under the condition that the micropulse duration is 100 to 150 ms and the local unloading amplitude corresponds to 5% to 15% of the current pressure, at least 50 sets of real jamming samples and at least 50 sets of pseudo-jamming samples are pre-collected; wherein, the real jamming samples preferably include interference conditions with hard block-shaped objects, and the pseudo-jamming samples preferably include accumulation conditions of highly elastic and plastic materials. For each sample, the corresponding pressure drop gradient and re-pressure rebound coefficient are extracted, forming real jamming sample clusters and pseudo-jamming sample clusters, and the center value or weighted average of the boundaries of the two types of sample clusters is taken as the benchmark threshold. In a typical sanitation vehicle with a rated system pressure of 16MPa to 25MPa, the typical value of the rigidity discrimination threshold is preferably 50MPa / s to 150MPa / s, and the typical value of the rebound discrimination threshold is preferably 0.60 to 0.85.

[0059] When the preset sampling period is adjusted, the discrimination threshold corresponding to the pressure drop gradient is preferably converted and corrected according to the equivalent time window.

[0060] Example 3: This example provides an electronic device and a computer-readable storage medium for implementing the above-described control algorithm. The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements all or part of the steps in the control method described in Example 2.

[0061] This embodiment also provides a non-transitory computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements all or part of the steps in the control method described in Embodiment 2.

[0062] It should be noted that, for the sake of brevity, the foregoing method embodiments are described as a series of actions, but this does not mean that the application limits the order of the steps. Based on the ideas of this application, some steps can be executed in different orders or in parallel without affecting the functional implementation. Secondly, those skilled in the art should also understand that the specific embodiments described in the specification are preferred embodiments of the technical solutions of this application, and not limitations on the scope of protection of this application. All equivalent improvements or substitutions made within the spirit and principles of this application should be covered within the scope of protection of this application.

[0063] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An energy-saving control device for a garbage compression and hydraulic system of a sanitation vehicle, characterized in that, This includes hydraulic actuators, hydraulic power supply mechanisms, signal acquisition mechanisms, and controllers; The signal acquisition mechanism is used to acquire hydraulic main oil circuit pressure signal, cylinder cavity pressure signal, actuator displacement signal, pump drive load signal, return oil back pressure signal and hydraulic oil temperature signal; The controller is used to construct a set of operating state parameters, and generate a comprehensive compression resistance and a comprehensive hydraulic load based on the set of operating state parameters. It also generates a set of boundary parameters based on the comprehensive compression resistance and the comprehensive hydraulic load, and controls the hydraulic bottom state machine to evolve between the pre-compression approach state, the controlled compaction state, the pressure stabilization and compaction judgment state, the pressure release and retreat state, and the verification and reconstruction state, so as to control the hydraulic actuator and the hydraulic power supply mechanism to perform garbage compression.

2. The energy-saving control device for garbage compression and hydraulic system of a sanitation vehicle according to claim 1, characterized in that, The hydraulic actuator includes at least one of a push plate cylinder, a sliding plate cylinder, a scraper cylinder, a lifting cylinder, and a hoisting cylinder; The push plate cylinder is used to drive the push plate to advance or retract longitudinally along the garbage container body to complete the garbage relocation, compaction assistance and unloading push; The slide plate cylinder is used to drive the slide plate to complete the main compression action; The scraper cylinder is used to drive the scraper to flip and push the material and to compact it. The lifting cylinder is used to drive the hopper to lift and unload materials. The lifting cylinder is used to drive the lifting of the carriage or box body.

3. The energy-saving control device for garbage compression and hydraulic system of a sanitation vehicle according to claim 1, characterized in that, The hydraulic power supply mechanism includes a hydraulic pump, a pump drive unit, and a valve group connected to the hydraulic pump. The valve assembly includes at least one of a directional valve, a proportional valve, a solenoid valve, a relief valve, a back pressure valve, and a check valve; The hydraulic pump outlet is connected to the main pressure oil circuit, which is connected to the oil inlet branch of each actuator cylinder, and the return oil passage is connected to the oil tank.

4. The energy-saving control device for garbage compression and hydraulic system of a sanitation vehicle according to claim 1, characterized in that, The signal acquisition mechanism includes a main oil circuit pressure sensor installed at the hydraulic pump outlet or main oil supply pipe, a push plate cylinder cavity pressure sensor installed in the oil chambers on both sides of the push plate cylinder, a slide plate cylinder cavity pressure sensor installed in the oil chambers on both sides of the slide plate cylinder, a displacement sensor installed on the corresponding cylinder, a pump drive load acquisition unit, a return oil back pressure sensor installed in the return oil main pipe or in front of the back pressure valve, and a temperature sensor installed in the oil tank or valve group.

5. The energy-saving control device for garbage compression and hydraulic system of a sanitation vehicle according to claim 4, characterized in that, The controller synchronously acquires the multi-source signals obtained by the signal acquisition mechanism according to a preset sampling period, and writes each sampled value into a sliding time window to form a short window working condition sequence corresponding to the current compression stage. The controller performs time registration on the pressure signal and the displacement signal, constructs a set of operating status parameters, and identifies the current action stage and generates an action stage identifier based on the position switch, stroke sensor, valve position feedback, time tag or internal status word.

6. The energy-saving control device for garbage compression and hydraulic system of a sanitation vehicle according to claim 5, characterized in that, The controller constructs a pressure-displacement hysteresis loop within the sliding time window and calculates the area of ​​the pressure-displacement hysteresis loop. The controller normalizes the original parameters involved in the analysis, determines the hydraulic main oil circuit pressure rise rate based on the hydraulic main oil circuit pressure signal, determines the pressure difference between the two chambers of the cylinder based on the cylinder chamber pressure signal, determines the actuator speed attenuation and work increment per unit displacement based on the actuator displacement signal, and generates a comprehensive compression resistance value by combining the pressure displacement hysteresis loop area. The controller determines the transient power saturation based on the pump drive load signal, determines the pump inlet and outlet pressure difference change rate and overflow duration based on the hydraulic main oil circuit pressure signal and return oil back pressure signal, and generates the comprehensive hydraulic load capacity by combining the return oil back pressure signal and hydraulic oil temperature signal.

7. The energy-saving control device for garbage compression and hydraulic system of a sanitation vehicle according to claim 6, characterized in that, The boundary parameter set includes the compaction propulsion state entry threshold, compaction propulsion state holding window, pressure stabilization maintenance window, pressure release retreat trigger boundary, pump speed limit, valve port adjustment slope limit, back pressure allowable range, and verification trigger boundary. The controller dynamically corrects the boundary parameter set based on the combined compressive resistance and the combined hydraulic load, and performs upper and lower limit amplitude limiting on the corrected boundary parameter set.

8. The energy-saving control device for garbage compression and hydraulic system of a sanitation vehicle according to claim 7, characterized in that, The controller controls the hydraulic bottom state machine to evolve between the pre-compression approach state, the controlled compaction state, the pressure stabilization and compaction state, the pressure release and retreat state, and the verification and reconstruction state based on the boundary parameter set. In the pre-pressurized approach state, the controller controls the actuator to approach the waste at a preset approach pump speed or a preset approach valve opening. Under controlled compaction conditions, the controller performs controlled propulsion based on the upper limit of pump speed, the upper limit of valve orifice adjustment slope, and the allowable back pressure range; In the stable compaction state, the controller maintains stable pressure within the stable pressure maintenance window and performs compaction completion judgment; In the depressurization retraction state, the controller performs controlled unloading and retracts the current effective stroke; In the verification and reconstruction state, the controller performs fluid micro-pulse verification or low-speed reconstruction compaction.

9. The energy-saving control device for garbage compression and hydraulic system of a sanitation vehicle according to claim 8, characterized in that, When the actual system parameters reach the verification trigger boundary for the first time, the controller triggers fluid micro-pulse verification, and calculates the pressure drop gradient and repressurization rebound coefficient based on the pressure before unloading, the minimum pressure during unloading, the pressure drop duration, and the recovery pressure after repressurization during the micro-pulse verification process. When the pressure drop gradient is higher than the rigidity discrimination threshold and the recompression rebound coefficient is lower than the rebound discrimination threshold, the controller determines that the current working condition is a real jamming working condition and controls the hydraulic bottom state machine to evolve into the pressure relief and retreat state. When the pressure drop gradient is lower than the rigidity discrimination threshold and the recompression rebound coefficient is higher than the rebound discrimination threshold, the controller determines that the current working condition is a pseudo-jamming working condition, and reduces the speed of the actuator to 20% to 60% of the controlled compaction speed before entering the verification trigger boundary, while increasing the upper limit of the back pressure allowable range by 0.2MPa to 1.0MPa to perform low-speed reconstruction compaction.

10. The energy-saving control device for garbage compression and hydraulic system of a sanitation vehicle according to claim 7, characterized in that, The controller's memory pre-stores parameter reference values, normalized boundaries, boundary modulation coefficients, state transition rules, anomaly detection conditions, and control programs. The controller also stores a set of parameters for no-load operation, a set of parameters for normal domestic waste operation, a set of parameters for high moisture content operation, and a set of parameters for high resistance operation. When any of the hydraulic main oil circuit pressure signal, actuator displacement signal, or pump drive load signal is determined to be abnormal, the controller calls the pre-stored conservative control parameters to limit the upper limit of pump speed and the upper limit of valve port adjustment slope, and maintains or switches to the pressure relief retreat control path.

Images