5934results about "Fuel injection control" patented technology

To provide a bi-fuel vehicle capable of preventing a driver from feeling bothered even in a situation where restart occurs frequently.SOLUTION: A bi-fuel vehicle is equipped with an engine 2 to which one of two types of fuel: CNG, which is gaseous fuel; and gasoline, which is liquid fuel, selected and supplied as fuel to be injected into a combustion chamber of each cylinder, and comprises an ECU 8 that controls an idling stop function that stops the engine 2 when a preset automatic stop condition is established and restarts the engine 2 when the preset restart condition is established. The ECU 8 selects gasoline as the fuel to be injected into the combustion chamber of each cylinder of the engine 2 when it is predicted that automatic stopping and restarting of the engine 2 may be repeated a predetermined number of times or more within a predetermined time.SELECTED DRAWING: Figure 1

The invention relates to the technical field of fault detection, and discloses a diesel generating set fault detection method and system based on deep learning, and the method comprises the steps: obtaining first vibration signal data, and carrying out the time-frequency decomposition, and obtaining a dynamic change feature; de-noising processing is carried out on the dynamic change features to obtain a time-frequency feature sequence; extracting a peak energy distribution data set, and calculating each frequency band entropy value to obtain a frequency band entropy value sequence; classifying the frequency band entropy sequence, determining a random fluctuation reference mode, and separating to obtain an abnormal frequency component; calculating a spectral line spacing and amplitude ratio, obtaining a spectral line feature data set, classifying the spectral line feature data set, and determining a fault classification result; obtaining current second vibration signal data, performing similarity calculation on the current second vibration signal data and a pre-established normal mode library, and outputting a fault feature vector; and verifying the fault feature vector to obtain a final fault detection result. According to the method, closed-loop diagnosis from signal acquisition to fault classification can be realized, and the fault detection precision of the diesel generating set is improved.

The invention discloses a transmission driving control method of a bimodal integrated engine. The transmission driving control method comprises the following steps: S1, state sensing; s2, mode decision making; S3, dynamic adjustment; s4, mode switching; S5, power optimization distribution; s6, adaptive learning is carried out; and S7, fault-tolerant guarantee. The invention further discloses a bimodal integrated engine transmission system which comprises the following modules: a power input module; a transmission adjusting module; a state sensing module; an intelligent control module; and a fault-tolerant guarantee module. Parameters are dynamically adjusted through fuzzy PID control according to speed deviation, meanwhile, real-time correction is conducted in combination with a multi-mode intelligent algorithm, speed fluctuation is precisely controlled within + / -3 km / h, flight stability is guaranteed, a model prediction control and multi-mode intelligent control cooperation mechanism is adopted, an optimal power output sequence is calculated in advance, coordinated distribution is completed, and the optimal power output sequence is controlled to be within + / -3 km / h. The dynamic response speed is increased by 40%, and the high-dynamic task requirement is met.

The invention provides a power control method and a related device, and relates to the field of range extenders. After a hydraulic system working instruction is received, if it is determined that a power advance control strategy needs to be adopted, before the current of a hydraulic displacement control valve is adjusted according to the hydraulic system working instruction, the power advance control strategy is adopted; the power of an engine and the power of a target generator are adjusted to the total power required by the engine, which is calculated based on the target hydraulic power and the power generation required power, so that the current engine power can meet the power generation power requirement and the power requirement of a hydraulic system after responding to a working instruction of the hydraulic system; and then the hydraulic displacement control valve current is adjusted according to the hydraulic system working instruction, after the hydraulic displacement control valve current is adjusted, the hydraulic power begins to change, and during the hydraulic power change period, the power of the target generator can be adjusted based on the hydraulic power change, so that the engine can provide the hydraulic power needed by the hydraulic system in real time.

The invention relates to the technical field of ship power, in particular to a dual-fuel ship fuel switching method and device and a storage medium, and the method comprises the steps that first engine performance data and engine state data corresponding to the first engine performance data are acquired; preprocessing the first engine performance data and the engine state data; the preprocessed first engine performance data are input into a target prediction control model for switching strategy prediction, and a fuel switching strategy corresponding to the engine is obtained; inputting the engine state data into the target fault prediction model for fault prediction to obtain a switching decision; a fuel switching strategy is sent to the control module according to the switching decision, so that the control module processes the fuel switching process according to the fuel switching strategy; and second engine performance data are received, and the fuel switching strategy is adjusted according to the second engine performance data. And seamless switching or cooperative use between liquefied natural gas and diesel oil of a ship can be met.

A system includes a controller communicably coupled to a hydrogen fueled internal combustion engine. The controller includes at least one processor coupled to at least one memory device storing instructions that, when executed by the at least one processor, cause the controller to perform operations. The operations include receiving an engine shutdown request and responsive to receiving the engine shutdown request, executing an engine shutdown procedure including causing the engine to continue to rotate for at least a predetermined number of rotations or at least a predetermined time period.

The invention discloses a surge valve control method and device, electronic equipment and a vehicle, relates to the field of engines, and aims to determine whether an engine is in a target working condition representing that a supercharger is liable to have a surge phenomenon or not. And on the basis of determining that the engine is in the target working condition, according to the intensity of the change of the operation state of the engine under the target working condition, when the engine is determined to be in a relatively strong transient working condition, whether a surge valve is opened or not is determined in time in combination with the opening degree of a throttle valve. And when it is determined that the surge valve is not opened, whether the surge valve is opened or not is further determined according to the air inlet flow of the engine and the opening degree of the throttle valve. Whether the surge valve is opened or not is judged according to the target working condition, the strong transient working condition and the surge flow of the engine in sequence, the multiple working conditions and operation conditions of the engine are synthesized, the opening condition of the surge valve is more accurately determined, the situation that the surge valve is opened abnormally can be effectively reduced, and therefore the situation that power of the engine is insufficient is effectively reduced.

The invention discloses a motorcycle emission fuel injector control method, system and equipment and a storage medium, and relates to the technical field of internal combustion engine control. According to the method, the real-time temperature of the fuel injector under the unheated condition is obtained, and the preheating temperature threshold value of the fuel injector is determined based on the difference value between the real-time temperature and the target temperature; acquiring a first temperature change rate of the fuel injector in each preset time period under the condition that the fuel injector is heated by a heat source of the motorcycle according to the preset heat supply amount; the preset heat supply amount is adjusted according to the first temperature change rates, and the target heat supply amount is obtained; a heat source of the motorcycle is controlled to heat a fuel injector according to the target heat supply amount until the real-time temperature reaches the preheating temperature threshold value, and emission parameters of a motorcycle engine are monitored; and the fuel injection amount of the fuel injector is determined based on the emission parameters and the emission parameter standard, and the fuel injector is controlled to inject according to the fuel injection amount. The motorcycle engine has the effect of improving the emission performance of the motorcycle engine.

The invention discloses a control method for improving the cold starting performance of a methanol extended-range hybrid power system, relates to the field of engine control, and solves the technical problem that the existing methanol engine starting mode has limited effects on the thermal atmosphere of methanol atomization, premixing and methanol injection ignition success under the low-temperature condition. The method comprises the steps that an engine starting success condition is set, the real-time environment temperature is obtained, when the real-time environment temperature is larger than the preset first starting temperature, a first starting strategy is adopted to start an engine, and whether the engine is started successfully or not is judged according to the engine starting success condition. The invention further discloses a system for improving the cold start performance of the methanol extended-range hybrid power system. Methanol atomization is promoted, methanol is fully premixed, and the successful thermal atmosphere effect and success rate of a methanol injection point are improved.

An apparatus and method for injection of a pilot fuel into an internal combustion engine includes a variety of steady state, transient and other techniques to reduce an injection quantity of the pilot fuel and / or a carbon content of the pilot fuel.

The invention discloses an automobile air flow sensor fault diagnosis method and system, and relates to the technical field of intelligent fault diagnos.The method comprises the steps that driving behavior parameters are collected in real time, and driving style feature vectors are obtained through classification of a driving behavior recognition model; theoretical air inflow is calculated based on an engine three-dimensional fluid dynamic model, and dynamic correction is carried out in combination with driving style characteristics to generate a corrected theoretical flow signal; and finally, the actually measured signal of the air flow sensor and the corrected theoretical signal are compared and analyzed, and accurate diagnosis of the fault of the air flow sensor is realized. The technical problems that an existing air flow sensor fault diagnosis method cannot depend on a static threshold value, is difficult to adapt to driving styles and working condition changes, is insufficient in accuracy and is prone to false report and missing report are solved, self-adaptive correction of the theoretical air inflow is achieved by combining driving behavior recognition and dynamic correction, and therefore the diagnosis accuracy is improved, and the fault diagnosis efficiency is improved. And false alarm and missing alarm are reduced.

A fuel pressure controller includes processing circuitry that executes a first process, a second process, and a third process as a fuel pressure reduction control. The first process includes closing both a first electromagnetic valve and a second electromagnetic valve. The second process includes adjusting the pressure of the fuel supplied to a fuel injection valve by repeatedly performing an opening and closing operation of the second electromagnetic valve. The third process includes, when the fuel pressure in a fuel pipe between the first electromagnetic valve and the second electromagnetic valve reaches a prescribed pressure, stopping the opening and closing operation of the second electromagnetic valve to maintain the second electromagnetic valve in an open state, and repeatedly performing the opening and closing operation of the first electromagnetic valve to adjust the pressure of the fuel supplied to the fuel injection valve.

The invention relates to the technical field of hydrogen internal combustion engines, in particular to a water-hydrogen combined supply internal combustion engine which comprises a first power generation unit driven by hydrogen and air combusted by a hydrogen internal combustion engine unit. The gas recovery unit converts water vapor in exhausted gas into liquid water through a condensation driving module and drives the second power generation unit at the same time; the fuel supply unit adjusts the hydrogen injection amount through a generated adjusting instruction based on multi-dimensional data detected by the monitoring unit and processed by the data processing unit and the confidence decision-making unit, and then generation of nitric oxide is inhibited. Condensate water recovery and combustion control of the hydrogen internal combustion engine are deeply combined, the actual exhaust humidity is reversely deduced by monitoring the flow of the condensate water, the gas detection error tolerance range is dynamically corrected, the hydrogen-oxygen combustion ratio judgment result is linked, safety amplitude limiting control over hydrogen fuel supply is achieved, and nitrogen oxide generation of the hydrogen internal combustion engine is reduced.

The invention provides a control method and device of a mixed gas power generation system, equipment and a storage medium, and belongs to the technical field of new energy power generation. The method comprises the following steps: calculating the introduction rate of each target gas based on load operation data, the type of gas introduced into the gas generator set at present, the type of target gas introduced into the gas generator set after a first duration in a combustion stage and the proportion of the target gas, based on the introduction rate and the total heat per unit time of the exhaust gas output by the gas generator set after the second duration, the exhaust gas proportion used for heating each target gas is calculated, each target gas is heated based on the exhaust gas proportion, and the temperature value of the gas in the gas generator set is monitored in real time; and regulating and controlling the operation state of the mixed gas power generation system based on the temperature value. The proportion of gas input into the gas generator can be flexibly adjusted, and the energy utilization rate of the system is increased.

Embodiments of the present application disclose a fuel injection parameter adjustment method, device, equipment and storage medium. The fuel injection parameter adjustment method comprises: determining that a vehicle enters a series-parallel hybrid working condition; recording a set of initial fuel injection parameters of an engine; performing fuel injection parameter self-learning, obtaining a plurality of sets of test fuel injection parameters based on the set of initial fuel injection parameters; sequentially using the plurality of sets of test fuel injection parameters to run the engine, and calculating a plurality of test fuel consumptions of the vehicle; wherein each set of test fuel injection parameters corresponds to a test fuel consumption; the running time of each set of test fuel injection parameters is a first self-learning time; based on comparing the plurality of test fuel consumptions, determining an optimal self-learning result from the plurality of sets of test fuel injection parameters; and replacing the initial fuel injection parameters with the self-learning result.

The invention discloses a comprehensive control system and method for carbon emission of a methanol dual-fuel power ship. The method comprises the following steps: analyzing carbon emission characteristics at different moments by collecting and acquiring sensor data in real time; solving based on the constructed carbon emission optimization model in combination with a particle swarm algorithm to obtain the optimal ship navigational speed, adsorbent circulation rate and methanol fuel injection pressure corresponding to the minimum carbon emission of the methanol dual-fuel power ship; cO2 in tail gas is captured in real time through the ship carbon capture unit, the circulation rate of an adsorbent is adjusted in time according to optimization information of the ship navigation optimization control unit, the circulation efficiency of the adsorbent is calculated according to the carbon emission amount, the adsorbent is updated or replaced in time, and the comprehensive control process of the ship carbon emission is comprehensively evaluated. And comprehensive control of ship carbon emission is realized according to the comprehensive evaluation result. The problem of poor carbon emission control effect caused by insufficient cooperative control of a methanol dual-fuel power ship carbon capture device and a power system is solved.

The invention discloses a vehicle engine noise optimization method and device, equipment and a storage medium, and relates to the technical field of engine control, and the method comprises the steps: obtaining a current driving mode when a user drives a vehicle, and determining environment data and vehicle driving information during vehicle driving according to the current driving mode; a preset noise-electric quantity mapping table is inquired through the environment data and the vehicle driving information based on the current driving mode, the target engine rotating speed is obtained, a vehicle engine is controlled to operate at the target engine rotating speed, and perceptible engine noise is calculated based on the environment data and the vehicle driving data; a vehicle engine is controlled based on the perceptible engine noise to complete engine noise optimization. The engine noise is optimized by inquiring the proper engine rotating speed and taking the perceptible noise as the optimization target, and the uncomfortable experience of the engine noise under the working conditions of low speed red light and the like can be greatly reduced.

The present invention discloses a fully variable valve control method and engine system, the method comprising: obtaining a first reference signal, a second reference signal, and a current operating condition signal of the engine during engine operation; determining a target opening angle and a target closing angle of the valve based on the current operating condition signal; determining the opening and closing times of the valve based on the current operating condition signal, the first reference signal, the second reference signal, the target opening angle, and the target closing angle; obtaining the actual opening angle when the valve is open, and obtaining the actual closing angle when the valve is closed; and performing real-time corrections on the target opening angle and the target closing angle based on the relationship between the actual opening angle and the target opening angle, and the relationship between the actual closing angle and the target closing angle, so that the actual opening angle is the same as the target opening angle, and the actual closing angle is the same as the target closing angle. Using the above method, precise control of the valve angle is achieved.

The invention discloses a control method, device and equipment of a hydrogen engine and a storage medium. The control method comprises the steps that the engine rotating speed and the engine torque are obtained; under the transient working condition of the engine, the operation area of the engine is determined according to the engine rotating speed and the engine torque; and controlling the driving motor, the mechanical transmission assembly or the exhaust gas turbine according to the operation area. According to the technical scheme, the engine rotating speed and the engine torque are obtained in real time, the operation area of the engine is judged, different supercharging modes are determined through the waste gas turbine, the driving motor and the mechanical transmission assembly according to the operation area of the hydrogen engine, the problem that the transient dynamic performance is poor is effectively solved, and the application range is wide. The transient dynamic performance of the hydrogen internal combustion engine is improved, and efficient cleaning application is achieved.

An ammonia-rich combustion coupled dual-mode prechamber ammonia-fueled engine control system is provided, including an ammonia-fueled engine and an electronic control unit. The ammonia-fueled engine includes a combustion chamber, a dual-mode jet ignition device, and an ammonia injector. The dual-mode jet ignition device includes a prechamber, an air injector, and a fuel injector. When the engine operates, ammonia fuel is firstly injected into the combustion chamber by the ammonia injector to form a rich ammonia-air mixture with air in the combustion chamber. During a compression stroke of the engine, the rich ammonia-air mixture in the combustion chamber is entered into the prechamber through a jet hole. The air injector performs scavenging in the prechamber until a equivalence ratio of prechamber gas mixture is less than 1.0, and then the fuel injector injects fuel into the prechamber forming target mixture. Finally, the target mixture is ignited by the spark plug.

The invention discloses a dual-fuel engine combustion method based on internal and external cooperative injection of a methanol engine, and belongs to the field of methanol fuel engines. The combustion method is realized on the basis of combustion of a diesel / methanol dual-fuel engine with internal and external cooperative injection of a methanol engine, a combustion chamber is formed by a cylinder cover, a cylinder and a piston, an internal and external concentric needle valve oil injector and an in-cylinder direct injection methanol injector are mounted on the cylinder cover, and a methanol port injector is mounted on an intake manifold; the high-reaction-activity diesel oil adopts a double direct injection technology; the low-reactivity methanol fuel adopts an in-cylinder high-low pressure injection and port fuel injection technology, the injection pressure, the injection timing and the injection frequency of the in-cylinder methanol injector are controlled, the gas distribution phase and the valve motion law are adjusted according to the operation condition of the engine, and mixed gas concentration layering of different gradients is formed. The ratio, the injection rule and the injection timing of the diesel oil and the methanol fuel can be flexibly adjusted, and stable operation of multi-mode combustion and high-efficiency clean combustion of the engine is achieved.

The invention discloses an air-fuel ratio control method for a high-pressure direct injection engine in a diesel-natural gas dual-fuel cylinder, and relates to the technical field of engine control, and the air-fuel ratio control method comprises the following steps: collecting diesel mass flow, natural gas volume flow and natural gas component data, and determining a diesel-natural gas mixing ratio; a basic target air-fuel ratio is obtained by combining the real-time rotating speed of an engine, the load and the diesel oil-natural gas mixing proportion; based on the pressure and temperature of the intake manifold and the rotating speed of the engine, the target air-fuel ratio after model correction is obtained; the working condition load change rate is detected, the pre-optimized air-fuel ratio trajectory MAP is called, and a transient correction target value is generated; calculating the deviation between the transient correction target value and the measured value of the air-fuel ratio sensor and the deviation change rate, and outputting an air-fuel ratio correction value; and the final target air-fuel ratio is calculated and sent to an air flow control valve to execute air inlet adjustment. The method is suitable for engine application scenes requiring high-precision and self-adaptive control to improve combustion efficiency and reduce emission.

The invention relates to an intelligent control technology of an internal combustion engine, in particular to a multivariable cooperative control method of a dual-fuel engine, which realizes dynamic optimization matching of fuel injection and an air system through deep reinforcement learning and multivariable decoupling control technologies. According to the method, a dual-fuel engine multivariable cooperative control system based on deep reinforcement learning and dynamic decoupling is constructed, the dual-fuel engine multivariable cooperative control system is composed of an air system control layer, a multivariable decoupling layer and a fuel injection control layer, and the air system control layer controls the fuel injection control layer through a TD3-PID algorithm according to the vehicle speed, the vehicle speed and the vehicle speed. The rotating speed N, the torque T, the common rail pressure Prail, the fuel temperature Tfuel and the mixed fuel density rho mix are operated in real time to serve as state variables, data are collected and processed, and the dynamic adjustment amount of the electronic throttle valve is obtained; by means of a PSO-PID decoupling mechanism and a DDPG-PID intelligent control algorithm, decoupling regulation and control over the dual-fuel dynamic ratio, the EGR rate and the supercharging pressure according to working condition changes are achieved, the economical efficiency, the emission performance and the dynamic performance of the dual-fuel engine under the dynamic operation working condition are remarkably improved, and the method has the advantages of being high in self-adaptive capacity and high in robustness.

The invention discloses a dual-fuel engine combustion control method based on hydrogen-ammonia energy ratio and gas distribution overlap angle regulation and control, which comprises the following steps: 1) fuel ratio control: acquiring current operation state parameters of an engine, determining a target AER according to preset mapping, regulating ammonia gas supply quantity and hydrogen supply quantity to enable the actual AER to reach the target AER, and controlling the fuel ratio; the AER is adaptively set according to engine load and combustion stability conditions; 2) valve timing control: adjusting the opening time of an intake valve or the closing time of an exhaust valve through a variable valve timing mechanism so as to change a valve timing overlap angle VOA, wherein the VOA is set to be a negative value, a small overlap angle or a positive overlap angle according to the working condition of an engine; (3) injection time sequence optimization is conducted, specifically, the injection time of ammonia gas and the in-cylinder direct injection time of hydrogen are controlled respectively, and coordinated optimization of a fuel injection strategy and valve timing is achieved; and 4) closed-loop steady-state control: monitoring a combustion state and an emission index in real time, comparing the combustion state and the emission index with a threshold value to serve as a feedback signal, and correcting the target AER and VOA settings in time. According to the dual-fuel engine combustion control method based on regulation and control of the hydrogen-ammonia energy ratio and the gas distribution overlapping angle, the energy ratio of hydrogen fuel and ammonia fuel and the overlapping opening angle of an intake valve and an exhaust valve are dynamically adjusted under different working conditions, so that the combustion reaction rate and temperature are coordinated, and the stable and efficient combustion process is achieved; and harmful emissions of NOx, unburned ammonia and the like are obviously reduced.

A harvesting machine is provided for harvesting a crop and discharging the harvested crop to an offboard container, such as a wagon or a truck, or the ground. The harvesting machine includes a power system to provide power, a crop harvester powered by the power system, and a crop discharging system to discharge crop from an onboard storage container to the offboard location, typically a container. During a harvesting operation, the harvesting machine operates at a nominal maximum power, typically a current power consumption. The nominal maximum power is reduced in anticipation of a predicted power used for discharging the harvested crop from the onboard storage container. The current power consumption for harvesting is adjusted and allocated by the predicted power to make available power for the crop discharging system. Once crop is discharged using the discharging power, the harvesting machine returns to the nominal maximum power.

The invention relates to a control method for improving transient responsiveness in a constant rotating speed control mode of an engine. The control method comprises the following steps that the rotating speed change rate and the rotating speed value of the engine are determined; judging whether the engine state meets a state switching condition or not; when the state of the engine is switched from the steady state to the transient state, the dynamic load offset of the engine relative to the steady state in the transient state is calculated, and the target torque in the transient state is determined in combination with engine data of a control period before the engine is switched from the steady state to the transient state; when the state of the engine is switched from the transient state to the steady state, parameters of a traditional rotating speed control PID algorithm are initialized according to different operation data when the steady state is switched to the transient state and when the transient state is switched to the steady state, and the target torque in the steady state is determined through the PID algorithm; and according to the target torque, other control parameters are finely adjusted to realize control. Compared with the prior art, the output torque of the engine can be quickly changed to stabilize the rotating speed of the engine when the load of the engine is instantaneously and greatly changed.

The invention discloses a self-adaptive control method for dynamic working conditions of a small-displacement diesel engine. The self-adaptive control method comprises the following steps: S1, predicting an operation mode through multi-source signal fusion; and S2, based on the prediction result, executing a pre-pressurization mode or a pressure relief buffer mode. Aiming at the special working condition requirement that a small-displacement diesel engine (4.0 L-5. 0L) is matched with a 30-type (3-ton) lightweight loader, the invention particularly focuses on solving the problems of transient response delay and fuel economy deterioration caused by frequent start and stop and sudden load change of a traditional diesel engine in a V-shaped operation cycle.

An internal combustion engine control device includes a piston temperature estimation unit, a temperature correction determination unit, a temperature correction unit, and a target value calculation unit. The piston temperature estimation unit estimates a piston temperature of an internal combustion engine. The temperature correction determination unit determines whether it is a correction timing for correcting the estimated piston temperature. The temperature correction unit corrects the estimated piston temperature estimated by the piston temperature estimation unit to a predetermined temperature at the correction timing determined by the temperature correction determination unit. The target value calculation unit calculates a control target value for an actuator of the internal combustion engine based on the estimated piston temperature or the piston temperature corrected to the predetermined temperature by the temperature correction unit.

The invention relates to the technical field of fuel pump control, and particularly discloses an intelligent control method and system based on an intelligent integrated fuel pump, and the method comprises the steps that the intelligent integrated fuel pump is started to output fuel, and a fuel pressure sensor collects a pipeline fuel pressure signal in real time, converts the pipeline fuel pressure signal into a voltage signal and transmits the voltage signal to a CPU; the CPU presets fuel pressure values required by the engine under different working conditions, converts the received voltage signal into a fuel pressure value, compares the fuel pressure value with a set value, and generates an execution signal according to a comparison result; the processor adjusts fuel pump power supply voltage according to the execution signal and changes the rotating speed of a fuel pump motor; the PCBA temperature control module comprises a temperature sensor installed in the intelligent integrated fuel pump, and the temperature sensor senses the temperature rise condition of the PCBA in real time. Through cooperative work of the CPU, the processor and the fuel pressure sensor, accurate adjustment of the fuel pressure is achieved, and the working stability of the engine and the fuel utilization rate are improved.

The invention discloses a diesel engine global working condition self-adaptive power control method which comprises the following steps: S1, acquiring multi-source heterogeneous signals including a hydraulic pressure pulsation signal, a spatial position signal and a multi-way valve opening gradient signal; s2, constructing a spatial-temporal feature fusion model based on the multi-source heterogeneous signal; and S3, identifying a working condition intention through the spatial-temporal feature fusion model. The method has the advantages that the torque response speed is high, the power interruption risk is reduced, and the torque loss compensation rate under the high-altitude working condition is high.