Garbage compression structure and method based on garbage truck

Abstract

The application discloses a garbage compression structure and method based on a garbage truck, and belongs to the technical field of special-purpose vehicles, and comprises the following steps: real-time sensing of working pressure, oil temperature and reverse airflow speed of a feeding port of a hydraulic system, extraction of free air volume ratio representing the degree of air mixing, nonlinear mapping to obtain an effective volume elastic modulus of hydraulic oil which decreases with the increase of the volume ratio, calculation of aerodynamic escape resistance generated by the reverse airflow on the material, acquisition of cutting-in acceleration of a push plate and mechanical transmission efficiency, combination of the elastic modulus and the aerodynamic resistance, extraction of a pressure delay self-recovery coefficient, identification of garbage characteristic compression resistance under a target working condition, coupling of the self-recovery coefficient with the compression resistance as a compensation adjustment factor, adaptive decision of target compression thrust, and execution of actions by a control system. The application solves the problems of hydraulic pressure building delay and material aerodynamic rebound through cross-physical field coupling, and improves compression smoothness and volume efficiency.

Description

Technical Field

[0001] This invention belongs to the field of special vehicle technology, and in particular relates to a garbage compression structure and method based on a garbage truck. Background Technology

[0002] With the acceleration of urbanization, hydraulically driven garbage compactors have become core equipment in modern sanitation collection and transportation systems. However, in actual heavy-duty, high-frequency garbage compaction operations, existing garbage compaction structures and control methods have gradually revealed the following deep-seated engineering and technical bottlenecks: Under complex alternating loads, hydraulic systems inevitably experience the precipitation or incorporation of tiny free air bubbles in the hydraulic fluid. Traditional control methods typically treat hydraulic oil as an incompressible ideal fluid, neglecting the "sponge effect" caused by the incorporation of air bubbles. This sudden, nonlinear drop in the effective bulk modulus can cause system pressure build-up hysteresis and thrust response delay, resulting in "creeping" or oscillations during compression.

[0003] In pursuit of efficient feeding, existing filling mechanisms often create strong reverse airflow in the semi-enclosed filling hopper and carriage due to the rapid cutting of scrapers or pushers. This results in high-speed airflow generating significant aerodynamic escape resistance to lightweight materials such as plastic bags and paper, which can easily cause material rebound and dust dispersion, severely reducing the volumetric filling efficiency of a single cycle.

[0004] When faced with mixed waste with randomly varying density and friction, the system is unable to perform global optimization and adaptive compensation of multidimensional physical fields, which can easily lead to local overload, energy waste, and shortened equipment lifespan.

[0005] Therefore, there is an urgent need for a garbage compression method that can sense across physical domains and achieve dynamic self-healing of parameters. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a garbage compression structure and method based on a garbage truck, thus solving the aforementioned problems.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a garbage compression method based on a garbage truck, comprising: S10. Real-time sensing of the real-time working pressure of the main circuit of the hydraulic system, the current temperature of the hydraulic oil, and the instantaneous velocity of the reverse airflow at the feed inlet inside the stuffing hopper; based on the real-time working pressure and the current temperature of the hydraulic oil, extract the free air volume ratio, which characterizes the degree of air mixing. S20. Perform a nonlinear mapping on the free air volume ratio, the inherent bulk elastic modulus of pure hydraulic oil, and the real-time working pressure to obtain the effective bulk elastic modulus of hydraulic oil that decreases as the free air volume ratio increases. S30. Based on the instantaneous velocity of the reverse airflow, the ambient air density, and the average windward area of ​​the standard lightweight material, calculate the aerodynamic escape resistance of the reverse airflow on the material. S40. Obtain the instantaneous cutting acceleration of the push plate and the mechanical transmission efficiency of the filling mechanism. Combine the effective volume elastic modulus of the hydraulic oil and the aerodynamic escape resistance of the material to obtain the pressure delay self-healing recovery coefficient. S50. Identify the characteristic compression resistance of the waste under the target working condition based on the real-time displacement of the pusher plate and the total mass of the waste loaded in a single cycle. S60. The pressure delay self-healing recovery coefficient is used as a compensation adjustment factor and coupled with the characteristic compression resistance of the waste. The adaptive decision target controls the compression thrust, and the hydraulic system is controlled to perform compression actions according to the target control compression thrust.

[0008] Based on the above technical solutions, the present invention also provides the following optional technical solutions: Further technical solution: In step S10, the formula for calculating the free air volume ratio is: in, The free air volume ratio This is the initial air sampling volume ratio coefficient. This refers to the real-time working pressure of the main circuit of the hydraulic system. This is the standard atmospheric pressure constant. The air insulation index. The coefficient of thermal expansion of the hydraulic oil is the temperature-sensitive coefficient of air released from it. This refers to the current temperature of the hydraulic oil. This is the standard reference temperature constant.

[0009] Further technical solution: In step S20, the formula for calculating the effective bulk modulus of the hydraulic oil is: in, The effective bulk modulus of hydraulic oil. The intrinsic bulk modulus of pure hydraulic oil. The air insulation index. This refers to the real-time working pressure of the main circuit of the hydraulic system. This represents the free air volume ratio.

[0010] Further technical solution: In step S30, the calculation formula for the material pneumatic escape resistance is as follows: in, This is the resistance to the pneumatic escape of materials. The average wind resistance coefficient of lightweight waste materials. For ambient air density, The average windward area of ​​a standard lightweight material. The instantaneous velocity of the reverse airflow at the feed inlet inside the packing hopper.

[0011] A further technical solution: In step S40, the formula for calculating the pressure delay self-healing recovery coefficient is as follows: in, This represents the pressure delay self-healing recovery coefficient. As a self-healing decay factor, The effective bulk modulus of hydraulic oil. The intrinsic bulk modulus of pure hydraulic oil. This is the resistance to the pneumatic escape of materials. For the instantaneous cutting acceleration of the push plate, The rated compression driving force for the mechanical push plate, This is a reference value for gravitational acceleration. The mechanical transmission efficiency of the filling mechanism.

[0012] Further technical solution: In step S50, the calculation formula for the characteristic compressibility resistance of the waste is as follows: in, The characteristic compression resistance of waste The coefficient of friction resistance of the waste. This refers to the total mass of waste loaded in a single cycle. Let gravitational acceleration be constant. This is the displacement compaction ratio sensitivity coefficient. This represents the real-time displacement of the push plate.

[0013] Further technical solution: In step S60, the calculation formula for the target control compression thrust is: in, To control the compression thrust for the target, The characteristic compression resistance of waste For adaptive amplification feedback gain coefficient, This represents the pressure delay self-healing recovery coefficient.

[0014] A garbage compression structure based on a garbage truck, employing the aforementioned garbage compression method based on a garbage truck.

[0015] This invention provides a garbage compression structure and method based on a garbage truck, which has the following advantages compared with the prior art: 1. This invention precisely quantifies the "sponge effect" of fluids by extracting the free air volume ratio in real time and obtaining the effective bulk elastic modulus of hydraulic oil through nonlinear mapping. This mechanism breaks through the limitation of traditionally treating hydraulic oil as an ideal fluid, eliminating system pressure build-up hysteresis from the underlying physical parameters, and significantly improving the response accuracy of heavy-load compression processes.

[0016] 2. This invention innovatively introduces a calculation model for the instantaneous velocity of the reverse airflow and the aerodynamic escape resistance of the material. By integrating aerodynamic drag characteristics into the control logic, it can effectively link the exhaust and block material rebound and dust at the feed inlet, significantly improving the loading efficiency and environmental friendliness of lightweight waste.

[0017] 3. This invention deeply obtains the instantaneous cutting acceleration of the pusher plate and the mechanical transmission efficiency of the filling mechanism, and deeply integrates them with the hydraulic elastic modulus and pneumatic resistance to extract the pressure delay self-healing coefficient. This coefficient can adapt to the mechanical wear state of the equipment and the dynamic impact intensity, giving the system extremely strong anti-interference robustness and physical delay self-healing capability.

[0018] 4. This invention can identify the characteristic compression resistance of waste in real time based on the displacement of the pusher plate and the loading mass. By deeply coupling the self-healing recovery coefficient as a compensation factor with the compression resistance, the system can adaptively decide on the most suitable target control thrust and execute it accurately, effectively avoiding thrust redundancy or insufficiency, reducing system energy consumption and extending the service life of hydraulic components. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the process of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0021] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0022] Please see Figure 1 The present invention provides a garbage compression structure and method based on a garbage truck, comprising: S10. Real-time sensing of the real-time working pressure of the main circuit of the hydraulic system, the current temperature of the hydraulic oil, and the instantaneous velocity of the reverse airflow at the feed inlet inside the stuffing hopper; based on the real-time working pressure and the current temperature of the hydraulic oil, extract the free air volume ratio, which characterizes the degree of air mixing. S20. Perform a nonlinear mapping on the free air volume ratio, the inherent bulk elastic modulus of pure hydraulic oil, and the real-time working pressure to obtain the effective bulk elastic modulus of hydraulic oil that decreases as the free air volume ratio increases. S30. Based on the instantaneous velocity of the reverse airflow, the ambient air density, and the average windward area of ​​the standard lightweight material, calculate the aerodynamic escape resistance of the reverse airflow on the material. S40. Obtain the instantaneous cutting acceleration of the push plate and the mechanical transmission efficiency of the filling mechanism. Combine the effective volume elastic modulus of the hydraulic oil and the aerodynamic escape resistance of the material to obtain the pressure delay self-healing recovery coefficient. S50. Identify the characteristic compression resistance of the waste under the target working condition based on the real-time displacement of the pusher plate and the total mass of the waste loaded in a single cycle. S60. The pressure delay self-healing recovery coefficient is used as a compensation adjustment factor and coupled with the characteristic compression resistance of the waste. The adaptive decision target controls the compression thrust. Based on the target control compression thrust, the hydraulic system is controlled to perform compression action and exhaust in conjunction with the control.

[0023] The following example will provide a more detailed explanation of the above technical solution: Imagine a garbage truck performing garbage compression at a city waste transfer station. During the operation, due to prolonged high-load operation, tiny air bubbles begin to mix into the hydraulic oil. At the same time, a large amount of lightweight waste, such as plastic bags and paper, accumulates in the stuffing hopper.

[0024] First, in step S10, the garbage truck's control system monitors the real-time operating pressure and current hydraulic oil temperature of the main circuit of the hydraulic system. For example, the pressure sensor detects a main circuit pressure of 20 MPa, and the temperature sensor detects a hydraulic oil temperature of 330 K. Simultaneously, the wind speed sensor installed at the feed inlet of the stuffing hopper detects an instantaneous reverse airflow velocity of 5 m / s generated when the pusher plate rapidly cuts in. Based on the real-time operating pressure and current hydraulic oil temperature, the control system estimates the free air volume ratio in the current hydraulic oil to be 0.02 using a preset empirical model or lookup table.

[0025] Next, in step S20, the control system inputs the free air volume ratio (0.02), the intrinsic bulk modulus of the pure hydraulic oil (e.g., 1.7 GPa), and the real-time operating pressure (20 MPa) into a nonlinear mapping model. This model calculates the effective bulk modulus of the current hydraulic oil based on these parameters. Due to the presence of free air, the calculated effective bulk modulus of the hydraulic oil is significantly lower than the intrinsic modulus of the pure hydraulic oil, for example, 0.8 GPa. This reflects that the hydraulic oil becomes more compressible due to the incorporation of air.

[0026] Simultaneously, in step S30, the control system uses the instantaneous velocity of the reverse airflow (5 m / s), the ambient air density (e.g., 1.2 kg / m³), and the preset average windward area of ​​the standard lightweight material (e.g., 0.05 m²) to calculate the aerodynamic escape resistance of the reverse airflow on the lightweight waste. For example, the calculated result is 10 N. This resistance indicates that during the compression of the pusher plate, the airflow may blow some of the lightweight waste out of the packing hopper.

[0027] Subsequently, in step S40, the control system acquires the instantaneous cutting acceleration of the pusher plate (e.g., 2 m / s²) and the mechanical transmission efficiency of the filling mechanism (e.g., 0.85). Combining the previously calculated effective bulk modulus of the hydraulic oil (0.8 GPa) and the material pneumatic escape resistance (10 N), the control system obtains the pressure delay self-healing coefficient through a comprehensive evaluation model. This coefficient is a dimensionless value, for example, 0.9. The closer the coefficient is to 1, the stronger the system's ability to compensate for pressure delay and material escape.

[0028] In step S50, when the pusher plate begins compression, the displacement sensor monitors the displacement of the pusher plate in real time, for example, if the pusher plate has moved 0.5 meters. Simultaneously, the weighing sensor calculates the total mass of waste loaded in a single cycle, for example, 500 kg. Based on the real-time displacement of the pusher plate and the total mass of the loaded waste, the control system identifies the characteristic compression resistance of the waste under the current operating condition using a pre-trained waste characteristic model, for example, 15000 N.

[0029] Finally, in step S60, the control system uses the acquired pressure delay self-healing coefficient (0.9) as a compensation adjustment factor and couples it with the identified waste characteristic compression resistance (15000 N). For example, the target control compression thrust of 15000 N is calculated through a multiplicative relationship. (1 + (1-0.9)) = 16500 N. This means that in order to overcome the pressure delay caused by the "sponge effect" of the hydraulic oil and the aerodynamic escape resistance of the material, the system needs to output a thrust greater than the pure garbage compression resistance. The control system then controls the compression thrust (16500 N) according to this target, precisely controlling the proportional valve of the hydraulic system to drive the push plate to perform the compression action at an appropriate speed and force. At the same time, the exhaust port at the top of the stuffing hopper is opened in conjunction to discharge the compressed air, further reducing the impact of reverse airflow. In this way, even when the hydraulic oil contains air and there is aerodynamic resistance in the light material, the garbage compression action can remain stable and efficient, avoiding "creeping" or material rebound.

[0030] Based on the above examples, the technical concept of this embodiment demonstrates a significant technical contribution. In traditional waste compression methods, the hydraulic system is typically treated as an ideal fluid, neglecting the "sponge effect" caused by free air in the hydraulic oil. This makes it impossible for the system to accurately predict and compensate for the resulting pressure build-up hysteresis and thrust response delay when the hydraulic oil contains air, leading to unstable compression action and phenomena such as "creeping" or oscillation. This embodiment, through steps S10 and S20, senses the real-time working pressure and temperature of the hydraulic oil and extracts the free air volume ratio, thereby dynamically obtaining the effective bulk modulus of the hydraulic oil. For example, in the above example, when free air is present in the hydraulic oil, the system can accurately calculate the decrease in the effective bulk modulus, thus providing a precise basis for subsequent thrust compensation and avoiding control instability caused by neglecting the "sponge effect" in traditional methods.

[0031] Furthermore, existing technologies, in pursuing high-efficiency feeding, often overlook the impact of the reverse airflow generated by the rapid cutting of the pusher plate on lightweight materials. This airflow generates significant aerodynamic escape resistance, leading to material rebound and dust dispersion, reducing the filling efficiency per cycle. This embodiment calculates the material's aerodynamic escape resistance in real time through step S30, for example, calculating an escape resistance of 10 N in this example. This innovation allows the system to quantify the impact of airflow on the material, providing key parameters for subsequent compensation. Compared to traditional methods that rely solely on mechanical force for compression, this embodiment considers aerodynamic factors, thereby enabling a more comprehensive optimization of the compression process.

[0032] Furthermore, in step S40, this embodiment comprehensively considers the effective bulk elastic modulus of hydraulic oil, the aerodynamic escape resistance of materials, the instantaneous cutting acceleration of the pusher plate, and the mechanical transmission efficiency to obtain the pressure delay self-healing recovery coefficient. This coefficient, as an innovative compensation adjustment factor, is coupled with the characteristic compression resistance of the waste in step S60 to adaptively determine the target control compression thrust. For example, in this example, by coupling the self-healing recovery coefficient of 0.9 with the characteristic compression resistance of 15000 N, a target control compression thrust of 16500 N is ultimately determined. This adaptive decision-making mechanism enables the system to dynamically adjust the compression thrust according to real-time changing operating conditions (such as hydraulic oil gas content, airflow resistance, waste characteristics, etc.), effectively overcoming the limitations of traditional methods in performing multi-dimensional physical field global optimization and adaptive compensation when dealing with mixed waste. Traditional methods typically employ fixed thrust or control strategies based on simple feedback, which easily lead to local overload, energy waste, and shortened equipment lifespan. The adaptive compensation mechanism of this embodiment ensures the stability and efficiency of the compression action under complex and variable operating conditions, significantly improving the overall performance and reliability of waste compression. Meanwhile, the linkage exhaust mechanism further reduces the air pressure inside the packing hopper, lowers the possibility of material escape, and further optimizes the compression efficiency.

[0033] Preferably, in step S10, the formula for calculating the free air volume ratio is: in, The free air volume ratio This is the initial air sampling volume ratio coefficient. This refers to the real-time working pressure (in Pa) of the main circuit of the hydraulic system. This is the standard atmospheric pressure constant (unit: Pa). The air insulation index. The coefficient of thermal expansion of the hydraulic oil is the temperature-sensitive coefficient of air released from it. The current temperature of the hydraulic oil (in K). This is the standard reference temperature constant (in K).

[0034] Initial air sampling volume ratio coefficient This represents the initial air volume ratio in the hydraulic oil under standard reference conditions. It can be determined through laboratory sampling of new hydraulic oil or by pre-setting based on the type and initial state of the hydraulic oil. Real-time operating pressure. This is the actual working pressure of the main circuit of the hydraulic system at the current moment, which can be obtained in real time through pressure sensors installed on the hydraulic lines. Standard atmospheric pressure is constant. It is a fixed value, usually taken as 101325 Pa, representing the standard atmospheric pressure at sea level. The air adiabatic index... This describes the thermodynamic properties of air during adiabatic compression or expansion, and is typically taken as 1.4. The temperature-sensitive coefficient of thermal expansion for air released from hydraulic oil is also relevant. This characterizes the sensitivity of hydraulic oil to the release or expansion of dissolved or mixed air as temperature increases. It can be determined experimentally or empirically set based on the chemical composition and physical properties of the hydraulic oil. The current temperature of the hydraulic oil. This is the actual temperature of the hydraulic oil at the current moment, which can be obtained in real time by a temperature sensor installed in the hydraulic oil tank or pipeline. Standard reference temperature constant. It is a fixed value, usually taken as 273.15 K (0°C) or 293.15 K (20°C), as the reference temperature in the calculation.

[0035] The above method accurately quantifies the volume ratio of free air in hydraulic oil by introducing a calculation formula based on a physical model and thermodynamic principles. Specifically, this formula comprehensively considers the real-time working pressure of the main circuit of the hydraulic system. Current temperature of hydraulic oil And a series of constants related to the properties of air and hydraulic fluid. Real-time operating pressure. With standard atmospheric pressure constant The ratio of the two values ​​is obtained through the air insulation index. The power relationship reflects the compressive effect of pressure changes on air volume. Meanwhile, the current temperature of the hydraulic oil... Compared with standard reference temperature constant The ratio of the two values ​​is determined by the temperature-sensitive expansion coefficient of the air released from the hydraulic oil. The exponential relationship characterizes the effect of temperature changes on air solubility and expansion. Initial air sampling volume ratio coefficient. This provides a baseline air content for the hydraulic oil under ideal conditions. In this way, the calculation formula can dynamically and accurately reflect the actual free air content in the hydraulic oil, thus providing a reliable input for the subsequent accurate calculation of the effective bulk modulus of the hydraulic oil, thereby improving the accuracy of the dynamic response of the hydraulic system and the control of compression thrust in the entire waste compression method.

[0036] As a specific implementation method, during the waste compression process, a high-precision pressure sensor can be deployed in the main circuit of the hydraulic system to monitor and acquire the real-time working pressure. Meanwhile, high-sensitivity temperature sensors are installed in the hydraulic oil tank or key pipeline locations to obtain the current temperature of the hydraulic oil in real time. Initial air sampling volume ratio coefficient It can be preset according to the type of hydraulic oil used and the technical parameters provided by the supplier, or obtained through periodic laboratory analysis of new oil. Standard atmospheric pressure constant. Air insulation index The temperature-sensitive expansion coefficient of air released from hydraulic oil and standard reference temperature constant These parameters can be stored in the control unit as preset physical constants or empirical coefficients. The control unit receives... and After obtaining the real-time data, substitute this data into the above calculation formula to calculate the free air volume ratio under the current operating conditions in real time and accurately. .

[0037] Through the above technical solution, this application provides a method for calculating the free air volume ratio based on physical models and thermodynamic principles. This method can accurately quantify the air content mixed in hydraulic oil, avoiding errors that may arise from traditional empirical estimations or simplified models. Since the free air volume ratio is a key factor affecting the effective bulk modulus of hydraulic oil and the dynamic response of the hydraulic system, improving its calculation accuracy directly ensures the accuracy of subsequent calculations of the effective bulk modulus of hydraulic oil, the pressure delay self-healing coefficient, and the final target control compression thrust. This makes the control of the waste compression process more refined and intelligent, enabling more accurate responses to system characteristic fluctuations caused by changes in the air content in the hydraulic oil, thereby improving the efficiency and stability of waste compression and reducing unnecessary energy loss and equipment wear.

[0038] Preferably, in step S20, the formula for calculating the effective bulk modulus of the hydraulic oil is: in, This refers to the effective bulk modulus of hydraulic oil (in Pa). The intrinsic bulk elastic modulus of pure hydraulic oil (in Pa). The air insulation index. This refers to the real-time working pressure (in Pa) of the main circuit of the hydraulic system. This represents the free air volume ratio.

[0039] Effective bulk modulus of hydraulic oil The effective bulk modulus is a physical quantity that measures the ease with which hydraulic oil changes volume under pressure. It reflects the compressibility of hydraulic oil under actual working conditions. In hydraulic systems, hydraulic oil is not completely incompressible, especially when air is mixed in, its effective bulk modulus will decrease significantly. Accurately obtaining the effective bulk modulus of hydraulic oil is crucial. Precise control of hydraulic systems is crucial, as it directly affects the system's response speed, stiffness, and energy transfer efficiency. The intrinsic bulk modulus of pure hydraulic oil... The bulk modulus of elasticity refers to the ideal bulk elastic modulus of pure hydraulic oil, free of any air bubbles or impurities. It is a physical property of the hydraulic oil itself, primarily dependent on the type of hydraulic oil and temperature. As the fundamental parameter for calculating the effective bulk elastic modulus of hydraulic oil, it represents the maximum stiffness of the hydraulic oil when no air is present. This parameter can be obtained from the technical parameter manual provided by the hydraulic oil supplier or determined in a laboratory through compression tests on pure hydraulic oil under standard conditions. When air is mixed into the hydraulic oil, the compression process of air is approximately adiabatic; therefore, the air adiabatic index... This is a key parameter accurately describing the effect of air contamination on the effective bulk modulus of hydraulic oil. This parameter can be obtained from standard physical constant tables or measured through gas dynamics experiments. The real-time operating pressure of the hydraulic system's main circuit... This refers to the fluid pressure in the main hydraulic lines during the operation of a hydraulic system. It is one of the important factors affecting the compressibility of hydraulic oil. The higher the pressure, the smaller the volume of dissolved or mixed air in the hydraulic oil, thus affecting the effective bulk modulus of elasticity. Free air volume ratio The degree of air infiltration in hydraulic oil was quantified. The presence of free air significantly reduces the effective bulk modulus of hydraulic oil, increases its compressibility, and affects the stiffness and response of the hydraulic system.

[0040] The solution in this application introduces a clear mathematical model, namely the effective bulk modulus of hydraulic oil. The calculation formula solves the problem of how to accurately quantify the effective bulk elastic modulus when air is mixed in hydraulic oil. This formula calculates the intrinsic bulk elastic modulus of pure hydraulic oil. Air insulation index Real-time working pressure of the main circuit of the hydraulic system and free air volume ratio They are organically combined. Among them, This represents the inherent stiffness of the hydraulic oil itself. This reflects the adiabatic compression characteristics of the mixed air under pressure. This demonstrates the impact of the current system pressure on air volume. This directly quantifies the degree of air intrusion. Using this formula, the effective bulk modulus of elasticity resulting from air intrusion in the hydraulic oil under different operating conditions can be accurately calculated. The actual value. This calculation result can accurately reflect the actual compressibility of hydraulic oil, and with the free air volume ratio The increase in the effective bulk modulus of hydraulic oil is calculated. The pressure will decrease accordingly, which is highly consistent with actual physical phenomena. This precise quantification method provides a more reliable input for obtaining the pressure delay self-healing recovery coefficient in the subsequent step S40, thereby enabling the target control compression thrust of the final decision to more accurately adapt to the actual state of the hydraulic oil, avoiding insufficient compression force or overload problems caused by changes in the compressibility of the hydraulic oil, and ensuring the stability and efficiency of the garbage compression process.

[0041] As a specific implementation method, it is assumed that at a certain moment, the real-time working pressure of the main circuit of the hydraulic system is sensed in real time. The volume ratio of free air extracted from hydraulic oil at a pressure of 20 MPa is... It is 0.02 (i.e., 2%). The intrinsic bulk modulus of the pure hydraulic oil used is known. The air adiabatic index is 1.5 GPa. Take 1.4. Substitute these values ​​into the effective bulk modulus of hydraulic oil. The calculation formula is as follows: =1.0 GPa indicates that the effective stiffness of the hydraulic oil has decreased compared to its pure state due to air ingress. This calculation result will then be used to calculate the pressure delay self-healing coefficient, thereby guiding the precise adjustment of the compression thrust.

[0042] The above technical solution provides an effective bulk elastic modulus of hydraulic oil based on a physical model. This precise calculation method overcomes the limitations of traditional nonlinear mapping, which relies heavily on empirical data and lacks sufficient accuracy. It allows for the accurate quantification of the actual compressibility of hydraulic oil. This is crucial for the subsequent calculation of the pressure delay self-healing coefficient, as precise calculation is essential. This value more accurately reflects the dynamic response characteristics of the hydraulic system. Ultimately, this precise calculation helps to make more reasonable target control decisions for compression thrust, avoiding undercompression or overload caused by changes in hydraulic oil state, thereby improving the stability and efficiency of the waste compression process and extending the service life of hydraulic system components.

[0043] Preferably, in step S30, the formula for calculating the material aerodynamic escape resistance is: in, The aerodynamic escape resistance of the material (in N). The average wind resistance coefficient of lightweight waste materials. Ambient air density (unit: kg / m³). The average windward area of ​​a standard lightweight material (in m²). The instantaneous velocity of the reverse airflow at the feed inlet inside the packing hopper (in m / s).

[0044] Among them, the aerodynamic escape resistance of materials This refers to the upward or outward resistance force exerted on lightweight waste material by the reverse airflow generated inside the packing hopper during the waste compression process. This force affects the effective compression and loading of the waste. The average air resistance coefficient of lightweight waste material. This is a dimensionless coefficient characterizing the resistance experienced by waste materials in airflow. It is related to factors such as the material's shape, surface roughness, and airflow conditions. This coefficient can be obtained through wind tunnel experiments on different types of lightweight waste, or it can be set based on empirical data or a pre-set material type database. Ambient air density. This refers to the mass of ambient air per unit volume. Its value is affected by factors such as ambient temperature, humidity, and air pressure. Ambient air density can be calculated by installing sensors on the outside of the garbage truck or near the filling hopper to measure ambient temperature, humidity, and air pressure in real time, and then applying the ideal gas law. Alternatively, it can be obtained by consulting a pre-set environmental parameter table. The average windward area of ​​standard lightweight materials. This refers to the average projected area of ​​lightweight waste material in the direction of the reverse airflow. This parameter reflects the effective area of ​​interaction between the material and the airflow. The average windward area can be determined by statistical analysis and geometric measurement of typical lightweight waste (such as plastic bags, paper scraps, foam, etc.), or it can be estimated by installing an image recognition system inside the filling hopper to analyze the images of the incoming waste in real time. The instantaneous velocity of the reverse airflow at the feed inlet inside the filling hopper. This refers to the airflow velocity generated in the feed inlet area of ​​the packing hopper during the waste compression process, which is opposite to the direction of the pusher plate movement due to the movement of the pusher plate or the action of the exhaust system. This velocity can be measured in real time by installing devices such as ultrasonic wind speed sensors, hot wire wind speed sensors or Pitot tubes at the feed inlet of the packing hopper.

[0045] The solution in this application introduces a precise material aerodynamic escape resistance. A calculation formula is used to quantify the impact of reverse airflow on waste materials. This formula is based on the principle of aerodynamic drag in fluid mechanics, and calculates the average wind resistance coefficient of lightweight waste materials. Ambient air density Average windward area of ​​standard lightweight materials and the instantaneous velocity of the reverse airflow at the feed inlet inside the packing hopper By organically combining key parameters and acquiring or pre-setting these parameters in real time, the system can accurately calculate the aerodynamic escape resistance experienced by the material under the current operating conditions. This precise quantification method allows the actual impact of the material's aerodynamic escape resistance to be fully considered when obtaining the pressure delay self-healing coefficient in subsequent step S40, thereby avoiding compression thrust deviations caused by inaccurate estimations. Furthermore, in step S60, the precisely calculated pressure delay self-healing coefficient is coupled with the waste characteristic compression resistance as a compensation adjustment factor, enabling adaptive decision-making for a more precise target control compression thrust. This ensures that the hydraulic system can effectively overcome the material's aerodynamic escape resistance when performing compression, preventing lightweight waste from being blown out by the airflow and improving compression efficiency and loading capacity. Therefore, the introduction of this calculation formula provides a solid foundation for the precise control of the entire waste compression method, significantly improving the intelligence and adaptability of the compression process.

[0046] The following is a specific example to illustrate this. As a particular implementation method, in calculating the aerodynamic escape resistance of materials... At that time, the average wind resistance coefficient of lightweight waste materials Based on the garbage truck's operating area and common garbage types, the ambient air density can be calibrated through preliminary experiments and stored in the controller's memory, for example, set to 0.75. The ambient temperature and air pressure can be acquired in real time via an environmental sensor module installed on the top of the garbage truck. Based on a standard atmospheric model, calculations can be performed, for example, at 25 degrees Celsius and standard atmospheric pressure, the air density is approximately 1.184 kg / m³. The average windward area of ​​standard lightweight materials is also calculated. An empirical value, such as 0.08 square meters, can be set based on the statistical average size of the lightweight waste (such as plastic bags and cardboard fragments) that garbage trucks mainly handle. The instantaneous velocity of the reverse airflow at the feed inlet inside the stuffing hopper. An ultrasonic wind speed sensor installed above the feed inlet of the stuffing hopper can be used for real-time measurement. This sensor transmits the measured speed signal to the central controller of the garbage truck. After receiving these parameters, the central controller substitutes them into a formula to calculate the current aerodynamic escape resistance of the material in real time. .

[0047] Through the above technical solution, this application provides a method for accurately quantifying the aerodynamic escape resistance of materials, solving the problem of low compression efficiency and escape of lightweight waste due to the lack of accurate assessment of reverse airflow resistance during waste compression. The introduction of this calculation formula enables the system to obtain the aerodynamic escape resistance of materials in real time and accurately. This provides a reliable input for the subsequent calculation of the pressure delay self-healing recovery coefficient. This further ensures more accurate and adaptive decision-making regarding the target control compression thrust, effectively avoiding under-compression or over-compression caused by airflow resistance, improving waste packing density and compression efficiency, while reducing the possibility of lightweight waste being blown out of the packing hopper during compression, optimizing the operating environment, and reducing energy consumption.

[0048] Preferably, in step S40, the formula for calculating the pressure delay self-healing recovery coefficient is: in, This represents the pressure delay self-healing recovery coefficient. As a self-healing decay factor, This refers to the effective bulk modulus of hydraulic oil (in Pa). The intrinsic bulk elastic modulus of pure hydraulic oil (in Pa). The aerodynamic escape resistance of the material (in N). The instantaneous cutting acceleration of the push plate (in m / s²) is given. Rated compression driving force of the mechanical push plate (in N). This is a reference value for gravitational acceleration (a constant of gravitational acceleration, in m / s²). The mechanical transmission efficiency of the filling mechanism is the ratio of the actual power output from the mechanical end to the theoretical power input from the hydraulic system, or it can be obtained by referring to a preset temperature control-wear 2D MAP table.

[0049] Among them, the pressure delay self-healing recovery coefficient It is a comprehensive parameter used to characterize the impact of factors such as elastic changes caused by air mixed in the hydraulic oil, material aerodynamic resistance, and mechanical transmission efficiency on the pressure response delay and recovery capability of a hydraulic system during compression. Its function is to quantify the dynamic characteristics of pressure build-up and maintenance under complex operating conditions, thereby providing a correction factor for subsequent adaptive compression thrust decisions. Self-healing attenuation factor. Used to adjust the effective bulk elastic modulus of hydraulic oil Compared with the inherent bulk elastic modulus of pure hydraulic oil The ratio of the pressure delay self-healing recovery coefficient The degree of influence reflects the system's sensitivity to air ingress in the hydraulic oil, i.e., the rate at which changes in air content reduce the system's self-healing ability. This factor can be preset through system design parameters or obtained through experimental calibration on different types of hydraulic oil and operating environments. Rated compression driving force of the mechanical push plate. This refers to the maximum compressive driving force that the mechanical pusher can provide under ideal working conditions. It represents the theoretical maximum output capacity of the compression mechanism. This force is usually determined by the design parameters of the compression mechanism and is set during the system design phase. (Reference value for gravitational acceleration) It is used to calculate the aerodynamic escape resistance of materials. Instantaneous cutting acceleration of the push plate The reference values ​​for relevant terms are usually taken as the standard gravitational acceleration at the Earth's surface. Their purpose is to provide a unified physical dimension benchmark, ensuring consistency in the physical meaning and units of each term in the formula. Mechanical transmission efficiency of the filling mechanism. This represents the ratio of the actual power output from the mechanical end to the theoretical power input to the hydraulic system. It reflects the energy conversion loss from the hydraulic system to the push plate. It is affected by various factors such as friction, wear, and temperature. This efficiency can be calculated by measuring the input and output power in real time, or obtained by consulting a preset temperature control-wear two-dimensional MAP table. This MAP table is usually established by experimentally calibrating the efficiency values ​​under different temperatures and wear levels.

[0050] The solution in this application organically combines multiple key factors, such as the elastic properties of hydraulic oil, the aerodynamic resistance of materials, and the mechanical transmission efficiency, through the aforementioned calculation formula, forming a comprehensive pressure delay self-healing recovery coefficient. Specifically, the exponential term in the formula mainly reflects the influence of air infiltration in the hydraulic oil on the system's elastic modulus. When the effective bulk elastic modulus of the hydraulic oil... Relative to the intrinsic bulk modulus of pure hydraulic oil As the pressure decreases, the value of this term diminishes, reflecting the delay in the system's pressure response and the reduction in its recovery capability. Self-healing attenuation factor. This further refines the sensitivity of this attenuation. Meanwhile, the power term in the formula comprehensively considers the aerodynamic escape resistance of the material. Instantaneous cutting acceleration of the push plate and the mechanical transmission efficiency of the filling mechanism Regarding the impact on the system's dynamic response, this section combines external resistance, the dynamic characteristics of the pusher plate, and mechanical energy conversion efficiency to quantify the combined effects of these factors on system pressure establishment and maintenance. Through this nonlinear mathematical mapping, this application can more comprehensively and accurately capture the complex dynamic characteristics of the hydraulic system under actual compression conditions, providing a more reliable and refined compensation adjustment factor for subsequent target control compression thrust decision-making. This comprehensive calculation method enables the system to more accurately predict and respond to pressure delays and fluctuations caused by various factors, thereby improving the overall adaptability and control accuracy of the waste compression method.

[0051] The following is a concrete example to illustrate this. Suppose that during the waste compression process, the system monitors the effective bulk modulus of the hydraulic oil in real time. The resistance to aerodynamic escape of materials is reduced due to air intrusion. Additionally, the instantaneous velocity of the reverse airflow inside the packing hopper increases, leading to a decrease in resistance to material aerodynamic escape. The generation of this is due to the push plate's instantaneous cutting acceleration. Compression is performed, and the mechanical transmission efficiency of the filling mechanism is... This varies depending on the operating conditions. To accurately calculate the pressure delay self-healing coefficient... The system will first determine the self-healing decay factor based on the preset value. and real-time monitoring Compared with the inherent bulk elastic modulus of pure hydraulic oil The ratio of the hydraulic oil elasticity change to the system's restorative capacity is calculated to determine the attenuation effect. Next, the real-time calculated pneumatic escape resistance of the material is used... Instantaneous cutting acceleration of the push plate With respect to the rated compression driving force of the mechanical push plate of the system and reference value of gravitational acceleration Taking into account all factors, including the mechanical transmission efficiency of the filling mechanism. The effects of external resistance and mechanical losses on the system response were calculated. Finally, by mathematically combining these two effects, a pressure delay self-healing recovery coefficient was obtained that comprehensively reflects the system's pressure delay and self-healing recovery capability under the current operating conditions. This coefficient will serve as a dynamic adjustment factor for subsequent decisions regarding target control compression thrust.

[0052] Through the above technical solution, this application provides a method for accurately quantifying the pressure delay self-healing recovery coefficient. This method comprehensively considers multiple key factors, including changes in the elastic modulus caused by air infiltration in the hydraulic oil, the aerodynamic escape resistance of the material, and the mechanical transmission efficiency of the filling mechanism. By introducing a self-healing attenuation factor and nonlinearly mapping various physical quantities, it can more accurately reflect the dynamic response characteristics and pressure build-up capability of the hydraulic system under complex working conditions. This enables more precise compensation for pressure delays and fluctuations caused by hydraulic oil elasticity, material resistance, and mechanical losses in subsequent target control compression thrust decisions. This significantly improves the control accuracy and adaptability of the waste compression process, avoids under-compression or overload due to inaccurate coefficient estimation, and enhances compression efficiency and equipment operational stability.

[0053] Preferably, in step S50, the formula for calculating the characteristic compressibility resistance of the waste is: in, The characteristic compression resistance of waste (in N). The coefficient of friction resistance of the waste. The total mass of waste loaded in a single cycle (in kg). This is the gravitational acceleration constant (unit: m / s²). Displacement compaction ratio sensitivity coefficient (unit: m) -1 ), This represents the real-time displacement of the push plate (in meters).

[0054] Specifically, the characteristic compressibility resistance of waste This refers to the combined reaction force from the waste acting on the pusher plate during waste compression. This resistance reflects not only the degree of waste compaction but also various factors such as internal friction between waste particles and external friction between the waste and the packing hopper wall and pusher plate surface. Accurately obtaining this resistance is crucial for achieving precise compression control. (Waste Comprehensive Friction Resistance Coefficient) It is a dimensionless parameter used to characterize the overall frictional properties of waste during compression. The total mass of waste loaded in a single cycle. This refers to the total weight of waste that has been loaded into the packing hopper and is ready for compression in the current compression cycle. This mass can be obtained in various ways, such as real-time measurement using a weighing sensor installed below the packing hopper, or calculation by estimating the volume of waste loaded each time and combining it with a preset waste density. Gravitational acceleration constant. It is a physical constant representing the acceleration of an object in free fall on the Earth's surface, typically taken as 9.8 m / s² or 9.81 m / s². Displacement-compaction ratio sensitivity coefficient. This parameter reflects the sensitivity of the compaction degree of waste to the increase in compressive resistance during the displacement of the pusher plate. It is a parameter related to factors such as waste type and initial looseness, determining the nonlinear growth rate of compressive resistance with pusher plate displacement. This coefficient can be obtained through experimental calibration, for example, by compressing specific waste at different displacements, analyzing the slope of the resistance change curve, and fitting the data; or by estimating it based on the initial density and target compaction density of the waste, combined with an empirical model. (Pusher plate real-time displacement) This refers to the real-time movement distance of the push plate relative to its initial position during compression. This displacement can be accurately measured using various sensors. For example, it can be detected in real time using linear displacement sensors mounted on the push plate (such as wire-type displacement sensors or magnetostrictive displacement sensors), or indirectly obtained by measuring the displacement of the hydraulic cylinder piston rod using an encoder. Hyperbolic tangent function It is a mathematical function whose characteristic is that when the input value is small, the output value increases approximately linearly; when the input value is large, the output value tends to saturate. In the scenario of garbage compression, this is very consistent with the compaction characteristics of garbage: in the initial stage of compression, the resistance increases rapidly with displacement; when the garbage is compacted to a certain extent, the increase in resistance gradually slows down and tends to stabilize.

[0055] The solution proposed in this application organically combines the comprehensive frictional characteristics of the waste, the total mass of the loaded waste, the real-time displacement of the pusher plate, and the constant gravitational acceleration by introducing the aforementioned calculation formula for the characteristic compression resistance of waste. Furthermore, it utilizes the hyperbolic tangent function. The nonlinear characteristics of the waste are accurately modeled to accurately represent the dynamic resistance changes during the compression process. This formula captures the nonlinear behavior of waste at different compaction stages; that is, resistance increases rapidly in the early stages of compression, while the increase in resistance tends to level off as the degree of compaction increases in the later stages. This calculation method based on physical parameters and nonlinear functions ensures that the identification of the characteristic compression resistance of waste in step S50 is no longer a simple empirical judgment or linear estimation, but a precise quantification based on the actual physical process. In this way, the system can more accurately understand the current compaction state of the waste and the resistance that needs to be overcome, providing reliable input for the adaptive decision-making target control of the compression thrust in the subsequent step S60, thereby ensuring the accuracy and efficiency of the compression process.

[0056] As a specific implementation method, in waste compression methods, experimental tests can be conducted in advance on different types of waste (e.g., kitchen waste, mixed household waste, plastic bottles, etc.) to obtain their corresponding comprehensive frictional resistance coefficients. and displacement compaction ratio sensitivity coefficient These parameters are then stored in the controller's memory, forming a parameter lookup table. During actual operation, the type of waste to be compressed can be identified through operator input or image recognition, thereby retrieving the corresponding parameter from the lookup table. and Value. Total mass of waste loaded in a single cycle. The real-time displacement of the pusher plate can be obtained through a weighing sensor installed at the bottom of the stuffing hopper. This can be accurately measured using a linear displacement sensor mounted on the hydraulic cylinder. After receiving this real-time data, the controller substitutes it into the aforementioned formula for calculating the characteristic compression resistance of the waste, thus calculating the current characteristic compression resistance of the waste in real time. For example, when the push plate begins to compress, Starting from zero, increasing the characteristic compression resistance of waste. Based on the hyperbolic tangent function Its characteristics, initially rapid growth followed by a gradual stabilization, accurately reflect the compaction process of waste.

[0057] The above technical solution enables precise, real-time identification of the characteristic compression resistance of waste, effectively overcoming the limitations of traditional methods in handling the complex nonlinear compaction characteristics of waste. This precise resistance identification provides a solid foundation for subsequent compression thrust control, allowing the hydraulic system to adaptively adjust the compression thrust according to the actual compaction state of the waste, avoiding over- or under-compression. This not only helps improve waste compaction efficiency and loading capacity but also effectively reduces the energy consumption of the hydraulic system, reduces wear on mechanical parts, thereby extending the service life of the equipment and improving the overall economy and reliability of waste compression operations.

[0058] Preferably, in step S60, the formula for calculating the target controlled compression thrust is: in, To control the compression thrust (in N) for the target. The characteristic compression resistance of waste (in N). For adaptive amplification feedback gain coefficient, This represents the pressure delay self-healing recovery coefficient.

[0059] Target control compression thrust This indicates the final thrust target that the hydraulic system needs to achieve when performing the compression action. It is the core output of the system control and directly determines the degree and efficiency of waste compression. Waste characteristic compression resistance. This refers to the resistance exhibited by the waste itself during compression. This resistance mainly depends on the waste's type, density, moisture content, as well as its inherent characteristics such as current compression displacement and packed mass. It serves as the fundamental reference value for calculating the required compression thrust. Adaptive amplification feedback gain coefficient. It is a coefficient for adjusting the pressure delay self-healing recovery. Control of the target compression thrust The parameter affecting the degree of impact can be preset or dynamically adjusted based on specific waste type, compression conditions, or system operating experience to optimize compression performance. For example, this coefficient can be set to a fixed value, such as 0.1 or 0.2, or obtained by consulting a preset condition-gain mapping table. Pressure delay self-healing recovery coefficient. It is a correction factor that comprehensively reflects the dynamic response characteristics of the hydraulic system and the influence of the external environment. This coefficient takes into account the influence of free air in the hydraulic oil on the effective bulk elastic modulus of the oil, the temperature change of the hydraulic oil, and the aerodynamic escape resistance generated by the reverse airflow on the material, thereby quantifying the deviation of the system's pressure recovery capability and actual thrust output when facing these dynamic changes.

[0060] The solution in this application utilizes a pressure delay self-healing recovery coefficient. As a compensation adjustment factor, it is related to the characteristic compressibility resistance of waste. Coupling, adaptive decision-making target control compression thrust Specifically, after determining the characteristic compressibility resistance of waste... After meeting this basic thrust requirement, the system will further consider the dynamic health of the hydraulic system and external environmental factors. Pressure delay self-healing recovery coefficient. The calculation integrates real-time parameters such as the free air volume ratio of the hydraulic oil, the effective bulk modulus, and the aerodynamic escape resistance of the material. These parameters directly reflect the pressure loss, response delay, or additional resistance that the hydraulic system may experience under current operating conditions. When there is a large amount of free air in the hydraulic oil, leading to a decrease in the effective bulk modulus, or when the aerodynamic escape resistance of the material generated by the reverse airflow is large, the pressure delay self-healing coefficient... It will adjust accordingly and adaptively amplify the feedback gain coefficient. Compression resistance of waste characteristics This correction mechanism allows for the final control of the compression thrust. This not only reflects the compression requirements of the waste itself, but also dynamically compensates for the uncertainties brought about by the internal and external environments of the hydraulic system. In this way, the system can more accurately predict and provide the actual required compression thrust, ensuring efficient and stable waste compression under various complex operating conditions.

[0061] The following is a concrete example to illustrate this. Suppose that in a certain compression cycle, based on the real-time displacement of the pusher plate... and the total mass of waste loaded in a single cycle The characteristic compressibility of waste is calculated using the above step S50 and the formula for calculating the characteristic compressibility of waste. The value is 12000 N. Simultaneously, the pressure delay self-healing coefficient was calculated. It is 0.75. Adaptive amplification feedback gain coefficient. It can be preset to 0.1. At this point, the target controls the compression thrust. = 12900 N. The hydraulic system will control the compression thrust to perform the compression action based on this target of 12900 N.

[0062] Through the above technical solution, this application can overcome the limitations of controlling solely based on the characteristic compression resistance of waste. This is achieved by introducing a pressure delay self-healing recovery coefficient. and adaptive amplification feedback gain coefficient Target control compression thrust The decision-making process is more comprehensive and refined. This solution can compensate in real time for dynamic factors such as the influence of free air in the hydraulic oil on the compressibility of the oil, changes in hydraulic oil temperature, and the aerodynamic escape resistance generated by the reverse airflow on the material. This allows the hydraulic system to output compression thrust that better meets the actual working conditions. This not only improves the compression efficiency and density of waste and reduces energy loss during compression, but also effectively avoids insufficient compression due to insufficient thrust or system overload due to excessive thrust. This extends the service life of the hydraulic system and mechanical components, and improves the overall stability and reliability of waste compression operations.

[0063] A garbage compression mechanism based on a garbage truck, employing the aforementioned garbage compression method based on a garbage truck.

[0064] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A garbage compression method based on a garbage truck, characterized in that, include: S10. Real-time sensing of the real-time working pressure of the main circuit of the hydraulic system, the current temperature of the hydraulic oil, and the instantaneous velocity of the reverse airflow at the feed inlet inside the stuffing hopper; based on the real-time working pressure and the current temperature of the hydraulic oil, extract the free air volume ratio, which characterizes the degree of air mixing. S20. Perform a nonlinear mapping on the free air volume ratio, the inherent bulk elastic modulus of pure hydraulic oil, and the real-time working pressure to obtain the effective bulk elastic modulus of hydraulic oil that decreases as the free air volume ratio increases. S30. Based on the instantaneous velocity of the reverse airflow, the ambient air density, and the average windward area of ​​the standard lightweight material, calculate the aerodynamic escape resistance of the reverse airflow on the material. S40. Obtain the instantaneous cutting acceleration of the push plate and the mechanical transmission efficiency of the filling mechanism. Combine the effective volume elastic modulus of the hydraulic oil and the aerodynamic escape resistance of the material to obtain the pressure delay self-healing recovery coefficient. S50. Identify the characteristic compression resistance of the waste under the target working condition based on the real-time displacement of the pusher plate and the total mass of the waste loaded in a single cycle. S60. The pressure delay self-healing recovery coefficient is used as a compensation adjustment factor and coupled with the characteristic compression resistance of the waste. The adaptive decision target controls the compression thrust, and the hydraulic system is controlled to perform compression actions according to the target control compression thrust.

2. The garbage compression method based on a garbage truck according to claim 1, characterized in that, In step S10, the formula for calculating the free air volume ratio is: in, The free air volume ratio This is the initial air sampling volume ratio coefficient. This refers to the real-time working pressure of the main circuit of the hydraulic system. This is the standard atmospheric pressure constant. The air insulation index. The coefficient of thermal expansion of the hydraulic oil is the temperature-sensitive coefficient of air released from it. This refers to the current temperature of the hydraulic oil. This is the standard reference temperature constant.

3. The garbage compression method based on a garbage truck according to claim 1, characterized in that, In step S20, the formula for calculating the effective bulk modulus of the hydraulic oil is: in, The effective bulk modulus of hydraulic oil. The intrinsic bulk modulus of pure hydraulic oil. The air insulation index. This refers to the real-time working pressure of the main circuit of the hydraulic system. This represents the free air volume ratio.

4. The garbage compression method based on a garbage truck according to claim 1, characterized in that, In step S30, the formula for calculating the material pneumatic escape resistance is: in, This is the resistance to the pneumatic escape of materials. The average wind resistance coefficient of lightweight waste materials. For ambient air density, The average windward area of ​​a standard lightweight material. The instantaneous velocity of the reverse airflow at the feed inlet inside the packing hopper.

5. The garbage compression method based on a garbage truck according to claim 1, characterized in that, In step S40, the formula for calculating the pressure delay self-healing recovery coefficient is as follows: in, This represents the pressure delay self-healing recovery coefficient. As a self-healing decay factor, The effective bulk modulus of hydraulic oil. The intrinsic bulk modulus of pure hydraulic oil. This is the resistance to the pneumatic escape of materials. For the instantaneous cutting acceleration of the push plate, The rated compression driving force for the mechanical push plate, This is a reference value for gravitational acceleration. The mechanical transmission efficiency of the filling mechanism.

6. The garbage compression method based on a garbage truck according to claim 1, characterized in that, In step S50, the formula for calculating the characteristic compressibility resistance of the waste is: in, The characteristic compression resistance of waste The coefficient of friction resistance of the waste. This refers to the total mass of waste loaded in a single cycle. Let gravitational acceleration be constant. This is the displacement compaction ratio sensitivity coefficient. This represents the real-time displacement of the push plate.

7. The garbage compression method based on a garbage truck according to claim 1, characterized in that, In step S60, the formula for calculating the target control compression thrust is: in, To control the compression thrust for the target, The characteristic compression resistance of waste For adaptive amplification feedback gain coefficient, This represents the pressure delay self-healing recovery coefficient.

8. A garbage compression structure based on a garbage truck, characterized in that, The garbage compression method based on garbage trucks as described in any one of claims 1-7 is adopted.

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