CN103921681A - Stepless speed control method of all-electric kitchen waste truck top-mounted equipment - Google Patents
Stepless speed control method of all-electric kitchen waste truck top-mounted equipment Download PDFInfo
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- CN103921681A CN103921681A CN201410085495.2A CN201410085495A CN103921681A CN 103921681 A CN103921681 A CN 103921681A CN 201410085495 A CN201410085495 A CN 201410085495A CN 103921681 A CN103921681 A CN 103921681A
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Abstract
A stepless speed control method of all-electric kitchen waste truck top-mounted equipment includes the steps: when an all-electric kitchen waste truck operates in a top-mounted equipment mode, a power takeoff engages a gear, a drive motor operates at default target speed, and an output signal from a speed control switch for regulating the target speed of the drive motor is received in real time; after the output signal from the speed control switch is received, whether or not the output signal from the speed control switch is judged; if yes, the drive motor operates at the target speed matching with the output signal from the speed control switch; if the output signal from the speed control switch is not received, the drive motor operates at the default target speed. The speed control switch is a stepless speed control switch. The stepless speed control method of all-electric kitchen waste truck top-mounted equipment has the advantages that operating speed of the drive motor can be adjusted anytime according to the different power taking requirements when the top-mounted equipment executes actions, secondary pollution caused by sputtering and leakage of the waste due to excessively high tipping speed of a waste bucket is prevented, and operating efficiency of the truck is improved.
Description
Technical field
The present invention relates to a kind of method for controlling speed regulation, the standby infinite speed variation control method of installing on especially a kind of pure electronic kitchen waste cart.
Background technology
In order to accelerate new-energy automobile industry development, propulsion energy-saving reduces discharging, and promotes air contaminant treatment, and country continues to carry out new-energy automobile and applies work.Pure electronic special vehicle wherein, using high voltage power battery as unique energy, by direct motor drive Vehicle Driving Cycle, possesses the advantage such as zero-emission, low noise, can be widely used in fields such as postal service, logistics, environmental sanitation, is more and more subject to the attention of country and enterprise.Pure electronic special vehicle can be divided into shirtless equipment (as logistic car) and have standby (as sanitation cart) the two large classes of upper installing, installs in standby special vehicle and be divided into again and in requirement, install for operation in the time of stationary vehicle (as kitchen waste cart) and require two classes of operation (as road sweeper) simultaneously between vehicle is advanced on having.For the pure electronic special vehicle that requires static operation, with reference to Fig. 1, the moment of torsion that drive motor 3 is exported outputs to rear wheel 2 via power-transfer clutch 4, change speed gear box 5, transmission shaft 8, main reduction gear diff 9, semiaxis 10, drives Vehicle Driving Cycle; Consider the factors such as exploitation, production, later maintenance, current adopt installed power takeoff 6 more on change speed gear box 5, from drive motor 3 power takings for installing is standby provides power this mode.The pure electronic special vehicle of this class is only provided with a drive motor 3, and under motoring condition, drive motor 3 is responsible for driving Vehicle Driving Cycle; When installing is for work on needs, controls power takeoff 6 and engage with change speed gear box 5, from change speed gear box 5 power takings, as the standby propulsion source of upper installing.
Pure electronic kitchen waste cart (as handling rubbish, separating of garbage etc.) vehicle in the time of operation needs static, now change speed gear box 5 is in neutral gear position, and power takeoff 6 gears engage with change speed gear box 5 gears, the moment of torsion that drive motor 3 is exported passes to power takeoff 6 by change speed gear box 5, drive motor 3 is the mode of being rigidly connected with power takeoff 6, and the rotating speed of power takeoff 6 and drive motor 3 rotating speeds are proportional.Common kitchen waste cart Shang Zhuan operating mechanism is used hydraulic driving mode more, and the propulsion source-Hydraulic Pump 7 of hydraulic efficiency pressure system is rigidly connected with power takeoff 6 mouths, and power takeoff 6 is consistent with Hydraulic Pump 7 rotating speeds.Under hydraulic efficiency pressure system safe pressure scope, Hydraulic Pump 7 rotating speeds are higher, the pressure of hydraulic efficiency pressure system is higher, and the standby responsiveness of upper installing is faster, if instead reduce Hydraulic Pump 7 rotating speeds, hydraulic system pressure reduces, the standby responsiveness of upper installing is thereupon slack-off.In sum, drive motor 3 rotating speeds are directly proportional to Hydraulic Pump 7 rotating speeds, by adjusting drive motor 3 rotating speed speeds, just can realize the adjusting of hydraulic system pressure, thereby accelerate or the upper dress equipment moving speed that slows down.In at present common power takeoff control method, when the standby work of upper installing, drive motor 3 is all to move with constant rotational speed.For kitchen waste cart, because the standby functional characteristics of installing on it, adopt constant speed control can not meet operating needs, for example sewage disposer can begin turning after being thus lifted to roof, rubbish is poured in rear cabinet, if excessive velocities, the changing food waste leakage of splashing, cause secondary pollution, now answer slow-down; Such as in garbage reclamation treatment plant, compartment released by rubbish by the push pedal that can control in vehicle rear cabinet, if the speed of push pedal release and return is adjustable, can avoids the too fast release of rubbish to cause and spill leakage, can accelerate again return speed again, improves vehicle operation efficiency.
In view of this, special proposition the present invention.
Summary of the invention
The object of this invention is to provide a kind of can carry out each action according to upper installing is standby time different power takings require to regulate at any time drive motor running velocity, thereby prevent that sewage disposer when upset excessive velocities from making rubbish splash, cause to spill and cause secondary pollution with Louing, can improve again on the pure electronic kitchen waste cart of vehicle operation efficiency installing for infinite speed variation control method.
For solving the problems of the technologies described above, the present invention adopts the basic conception of technical scheme to be:
The standby infinite speed variation control method of installing on a kind of pure electronic kitchen waste cart, comprises the following steps:
Pure electronic kitchen waste cart on fill mode of operation in the situation that, power takeoff engage a gear, drive motor, with the operation of default objects rotating speed, receives the output signal of the speed control switch for regulating drive motor rotating speed of target simultaneously in real time;
Receiving after the output signal of described speed control switch, judging that whether the output signal of described speed control switch is normal: if normal, the rotating speed of target operation of drive motor to mate with described speed control switch output signal;
In the time not receiving the output signal of described speed control switch, drive motor moves with default objects rotating speed;
Described speed control switch is stepless speed-regulating switch.
Preferably, the output signal of described speed control switch is analog voltage signal,, determines that the output signal of described speed control switch is normal, otherwise is mal while being 0.5V to continuous adjustable voltage value between 4.5V at the voltage signal of described speed control switch output.
Entire car controller calculates the rotating speed of target of described drive motor according to the magnitude of voltage of speed control switch output, and described rotating speed of target is sent to electric machine controller, and drive motor moves according to described rotating speed of target described in described motor controller controls.
When receiving that filling mode of operation actuation signal, vehicle parking brake on pure electronic kitchen waste cart draws that to open signal, vehicle gear box neutral signal, vehicle speed be that zero-signal, vehicular drive motor actual torque are that zero-signal and vehicular drive motor actual speed determine that pure electronic kitchen waste cart is in upper dress mode of operation while being zero-signal.
At pure electronic kitchen waste cart, in the situation that travelling mode of operation, power takeoff is plucked gear, and pure electronic kitchen waste cart enters motoring condition.
When receiving that filling mode of operation closing signal, vehicle speed on pure electronic kitchen waste cart is greater than when zero-signal, vehicle parking brake unlock signal, vehicle gear box are left the arbitrary signal of neutral signal and closes vehicular drive motor, be that 1 o'clock pure electronic kitchen waste cart enters the mode of operation that travels in described vehicular drive motor actual speed and actual torque.
Vehicle gear box neutral signal is obtained by the shift sensor being arranged on vehicle gear box, on described pure electronic kitchen waste cart, filling mode of operation is obtained by power take-off valve state, vehicle parking brake signal is obtained by entire car controller, and vehicle speed signal is obtained by instrument.
Beneficial effect of the present invention is: when the present invention can carry out each action according to upper installing is standby, different power takings requires to regulate at any time drive motor running velocity, thereby while preventing sewage disposer upset, excessive velocities makes rubbish splash, cause to spill and Lou cause secondary pollution, can improve again vehicle operation efficiency.
Brief description of the drawings
Fig. 1 is the structural representation of pure electronic kitchen waste cart;
Fig. 2 installs standby a kind of method for controlling speed regulation diagram of circuit on pure electronic kitchen waste cart of the present invention.
Detailed description of the invention
In order to make those skilled in the art person understand better the present invention program, below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
With reference to Fig. 2, the present invention is the standby infinite speed variation control method of installing on a kind of pure electronic kitchen waste cart, comprises the following steps:
Perform step S101 at step S100, vehicle (pure electronic kitchen waste cart) during in motoring condition, judge whether the condition of vehicle in upper dress mode of operation is set up, if determine in upper dress mode of operation, perform step S102, power takeoff engage a gear, drive motor, with the operation of default objects rotating speed, receives the output signal of the speed control switch for regulating drive motor rotating speed of target simultaneously in real time; If the condition in upper dress mode of operation is false, carry out corresponding operating, then repeating step S101; After step S102, perform step S103, receiving after the output signal of described speed control switch, whether the output signal that judges described speed control switch is normal, if normal, carry out S104, the drive motor rotating speed of target operation mate with described speed control switch output signal, otherwise perform step S107, drive motor still moves with default objects rotating speed; The upper installing of correspondence is standby work after, carry out S105, judge that whether car travel mode condition sets up, if set up, perform step S106, power takeoff is plucked gear, vehicle enters motoring condition, otherwise continuation performs step S103.
Drive motor is under default objects rotating speed, and power takeoff should be able to ensure that the standby all actions of installing can normally move, and the lifting of such as sewage disposer, vehicle trunk tail-gate are opened, closed etc., but exclusive segment does not move and there will be too fast or excessively slow phenomenon.The drive motor maximum permissible revolution of upper dress mode of operation is subject to following condition restriction: the hydraulic system pressure that a) power takeoff provides should be less than installing for the safe oil pressure of hydraulic control system, b) upper dress equipment moving speed is less than the highest design kinematic velocity, c) can not causes other personnel, vehicle safety hidden danger, such as sewage disposer is thrown off car body etc. in promoting or putting down process.
The output signal of described speed control switch is analog voltage signal, at the analog voltage signal of described speed control switch output while being 0.5V to continuous adjustable voltage value between 4.5V, the output signal of determining described speed control switch is normal, when speed control switch output signal be less than 0.5V or higher than 4.5V after, judge speed control switch and ground short circuit or and power supply short circuit, for mal, for guarantee personnel, device security.
When receiving that filling mode of operation actuation signal, vehicle parking brake on pure electronic kitchen waste cart draws that to open signal, vehicle gear box neutral signal, vehicle speed be that zero-signal, vehicular drive motor actual torque are that zero-signal and vehicular drive motor actual speed determine that pure electronic kitchen waste cart is in upper dress mode of operation while being zero-signal.
When receiving that filling mode of operation closing signal, vehicle speed on pure electronic kitchen waste cart is greater than when zero-signal, vehicle parking brake unlock signal, vehicle gear box are left the arbitrary signal of neutral signal and closes vehicular drive motor, be that 1 o'clock pure electronic kitchen waste cart enters the mode of operation that travels in described vehicular drive motor actual speed and actual torque.
Vehicle gear box neutral signal is obtained by the shift sensor being arranged on vehicle gear box, on described pure electronic kitchen waste cart, filling mode of operation is obtained by power take-off valve state, vehicle parking brake signal is obtained by entire car controller, and vehicle speed signal is obtained by instrument.
Power take-off valve is rocker switch, has closed and disconnected two states, is arranged in operator's compartment and supplies driver's operation, and in the time installing standby work in hope, should make power take-off valve is closure state; When hope stops upper installing received shipment when capable, should make switch is off-state; Power take-off valve is connected to entire car controller and power takeoff gearshift by connection lead;
Instrument is responsible for gathering vehicle speed signal and is sent to entire car controller by CAN bus, receives the power takeoff working state signal that entire car controller sends simultaneously; Between instrument and entire car controller, use CAN network to communicate;
Electric machine controller direct controlling and driving motor, and communicate by CAN network with entire car controller, drive motor mode of operation signal, rotating speed of target signal and target torque signal are calculated in real time by entire car controller, and sending to electric machine controller, the On/Off of drive motor, mode of operation, output speed etc. are directly subject to motor controller controls.
Described speed control switch is stepless speed-regulating switch, is connected to entire car controller by connection lead;
Above-mentioned power take-off valve state is sent to entire car controller by power take-off valve by connection lead; Above-mentioned vehicle speed signal sends to entire car controller by instrument by CAN bus; Change speed gear box neutral signal is sent to entire car controller by shift sensor through connection lead; Power takeoff status signal sends to instrument by entire car controller by CAN bus, for lighting indicator lamp or the warning in instrument;
Described speed control switch is arranged on the upper installing of pure electronic kitchen waste cart on guidance panel, is stepless speed-regulating switch.In operation process, driver's operation speed control switch, entire car controller calculates the rotating speed of target of described drive motor according to the magnitude of voltage of speed control switch output, and described rotating speed of target is sent to electric machine controller, and drive motor moves according to described rotating speed of target described in described motor controller controls.
Drive motor in the present invention possesses two kinds of mode of operations: rotating speed control mode and torque control mode.
The difference of two kinds of patterns is: under " rotating speed control mode ", the rotary speed instruction (being rotating speed of target) that electric machine controller only sends entire car controller responds; Corresponding, under " torque control mode ", the torque command (being target torque) that electric machine controller only sends entire car controller responds.
Example:
Rotating speed control mode: VCU(entire car controller) only need send to MCU(electric machine controller) require now drive motor to rotate with 500rpm, 500rpm is exactly rotating speed of target.MCU receives after instruction, control drive motor output torque, but the size of output torque is relevant with load, if motor load is little, the actual output torque of drive motor that reaches identical actual speed is little, just can maintain 500rpm, if motor load is large as needed only 10Nm, need larger actual output torque just can reach same actual speed, perhaps output torque as actual in drive motor will bring up to 100Nm just can maintain 500rpm.That is to say the rotating speed of target actual needs of realizing VCU is exported how many moments of torsion, is that MCU oneself controls completely, and the rotating speed that therefore VCU calculates is rotating speed of target, and the rotating speed that drive motor now really reaches is its actual speed;
Under rotating speed control mode, what stress is whether drive motor actual speed can be consistent with VCU the set goal rotating speed.Due to control accuracy reason, be not have energy on all four, be 500rpm as VCU sends rotating speed of target, actual speed is fluctuation (495rpm is to 505rpm) among a small circle near 500rpm, just thinks and meets operating needs.
Torque control mode: VCU only need send to the present demand motive motor of MCU to export how many moments of torsion.For example, in Vehicle Driving Cycle, Das Gaspedal has been operated half, and VCU parses the moment of torsion that chaufeur needs 100Nm accordingly.This 100Nm is exactly target torque, it can send in MCU, MCU receives after this instruction, controls drive motor output 100Nm, and for same 100Nm, same gear (such as 3 gears), if the level road speed of a motor vehicle can arrive 80km/h, motor speed is just at 4000rpm, if go up a slope, 100Nm can only allow vehicle travel with 40km/h speed, and corresponding motor speed has also just become 2000rpm.The moment of torsion that VCU calculates is target torque, and the moment of torsion that drive motor now really has is its actual torque.
Need equally clear and definite: under torque control mode, it is in full accord that the target torque that drive motor actual torque and VCU send can't reach, the target torque of the 100Nm also sending taking VCU is example, the actual output torque of drive motor can not be equal to 100Nm, always have little positive and negative deviation (such as actual output torque at 95Nm between 105Nm), if do not affect the control of actual vehicle in engineering, this error allows.
Under rotating speed pattern: only control rotating speed, the moment of torsion that a certain rotating speed can be corresponding different;
Under torque mode: a control torque, the rotating speed that a certain moment of torsion can be corresponding different.
The concrete complete workflow of a pure electronic kitchen waste cart below.
Chaufeur steering vehicle arrives operating location and prepares to collect changing food waste, and after vehicle comes to a complete stop, change speed gear box is hung neutral, pull-up parking brake, and closed power take-off valve, vehicle enters dress mode of operation.After power takeoff completes and puts into gear, entire car controller just can drive motor, and command driven motor starts rotation with acquiescence rotating speed 200rpm.Chaufeur now moves on to the standby control stalk of vehicle outside face operation installing, control button, speed control switch etc. from operator's compartment and starts operation.First chaufeur operates opens trunk upper cover, while promoting sewage disposer, can tune up motor speed.When sewage disposer is raised while approaching roof, for avoiding the too fast turnover of sewage disposer caused the splashing of tipping rubbish, now motor speed can be turned down to command driven motor acquiescence rotating speed 200rpm operation.Sewage disposer decline process, can heighten motor speed equally, makes sewage disposer returning quickly.After sewage disposer is taken, close trunk upper cover, complete garbage reclamation flow process one time.Chaufeur disconnects power take-off valve, and power takeoff is plucked gear, is returned to driving mode.
After garbage reclamation completes, vehicle is sailed back changing food waste and is reclaimed factory, treats that vehicle comes to a complete stop, chaufeur is hung make the return trip empty gear, pull-up parking brake, closed power take-off valve, and vehicle enters dress mode of operation.Drive motor is with acquiescence 200rpm rotation, and rear cabinet tail-gate is opened in chaufeur control, controlling push pedal release rubbish and controlling in push pedal return process, can, according to rubbish situation in rubbish container, adjust at any time push pedal speed by chaufeur, accelerates operating speed.
When the present invention can carry out each action according to upper installing is standby, different power takings requires to regulate at any time drive motor running velocity, thereby while preventing sewage disposer upset, excessive velocities makes rubbish splash, cause to spill and Lou cause secondary pollution, can improve again vehicle operation efficiency.
The present invention to vehicle electric circuit change difficulty little, be easy to realize, can adjust at any time hydraulic system pressure according to work-site actual conditions, can effectively increase work efficiency.The present invention can be widely used in obtaining upper dress equipment dynamic by power takeoff, and by the pure electronic kitchen waste cart of the controlled power takeoff rotating speed processed of drive motor rotating speed.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (7)
1. the standby infinite speed variation control method of installing on pure electronic kitchen waste cart, is characterized in that: comprise the following steps:
Pure electronic kitchen waste cart on fill mode of operation in the situation that, power takeoff engage a gear, drive motor, with the operation of default objects rotating speed, receives the output signal of the speed control switch for regulating drive motor rotating speed of target simultaneously in real time;
Receiving after the output signal of described speed control switch, judging that whether the output signal of described speed control switch is normal: if normal, the rotating speed of target operation of drive motor to mate with described speed control switch output signal;
In the time not receiving the output signal of described speed control switch, drive motor moves with default objects rotating speed;
Described speed control switch is stepless speed-regulating switch.
2. the standby infinite speed variation control method of installing on pure electronic kitchen waste cart according to claim 1, it is characterized in that, the output signal of described speed control switch is analog voltage signal, at the voltage signal of described speed control switch output while being 0.5V to continuous adjustable voltage value between 4.5V, the output signal of determining described speed control switch is normal, otherwise is mal.
3. the standby infinite speed variation control method of installing on pure electronic kitchen waste cart according to claim 2, it is characterized in that, entire car controller calculates the rotating speed of target of described drive motor according to the magnitude of voltage of speed control switch output, and described rotating speed of target is sent to electric machine controller, drive motor moves according to described rotating speed of target described in described motor controller controls.
4. the standby infinite speed variation control method of installing on pure electronic kitchen waste cart according to claim 1, it is characterized in that, when receiving that filling mode of operation actuation signal, vehicle parking brake on pure electronic kitchen waste cart draws that to open signal, vehicle gear box neutral signal, vehicle speed be that zero-signal, vehicular drive motor actual torque are that zero-signal and vehicular drive motor actual speed determine that pure electronic kitchen waste cart is in upper dress mode of operation while being zero-signal.
5. the standby infinite speed variation control method of installing on pure electronic kitchen waste cart according to claim 1, is characterized in that, at pure electronic kitchen waste cart, in the situation that travelling mode of operation, power takeoff is plucked gear, and pure electronic kitchen waste cart enters motoring condition.
6. the standby infinite speed variation control method of installing on pure electronic kitchen waste cart according to claim 5, it is characterized in that, when receiving that filling mode of operation closing signal, vehicle speed on pure electronic kitchen waste cart is greater than when zero-signal, vehicle parking brake unlock signal, vehicle gear box are left the arbitrary signal of neutral signal and closes vehicular drive motor, be that 1 o'clock pure electronic kitchen waste cart enters the mode of operation that travels in described vehicular drive motor actual speed and actual torque.
7. according to the standby infinite speed variation control method of installing on the pure electronic kitchen waste cart described in claim 4 or 6, it is characterized in that, vehicle gear box neutral signal is obtained by the shift sensor being arranged on vehicle gear box, on described pure electronic kitchen waste cart, filling mode of operation is obtained by power take-off valve state, vehicle parking brake signal is obtained by entire car controller, and vehicle speed signal is obtained by instrument.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410085495.2A CN103921681B (en) | 2014-03-10 | 2014-03-10 | The standby infinite speed variation control method of installing on pure electronic kitchen waste cart |
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| CN201410085495.2A CN103921681B (en) | 2014-03-10 | 2014-03-10 | The standby infinite speed variation control method of installing on pure electronic kitchen waste cart |
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| CN103921681B CN103921681B (en) | 2016-04-06 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106740098A (en) * | 2016-11-24 | 2017-05-31 | 深圳市沃特玛电池有限公司 | Power assembly |
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| CN103921681B (en) | 2016-04-06 |
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