Electronic throttle control system and control method thereof

Abstract

The present invention provides an electronic throttle control system and a control method thereof, the control method comprising: obtaining a negative feedback opening angle and a negative feedback opening angular velocity of an electronic throttle valve body; tracking and controlling the opening angular velocity and the opening angle of the electronic throttle valve body during a dynamic response process in real time, so that the electronic throttle valve body operates at a target opening angular velocity, so as to realize angle closed-loop control while realizing angular velocity closed-loop control; that is, increasing the angular velocity closed-loop of the electronic throttle valve body operation, realizing tracking and controlling the valve body angular velocity during the electronic throttle adjustment process, and accelerating the dynamic response during the electronic throttle adjustment process.

Description

Technical Field

[0001] The invention belongs to the technical field of electronic throttle valve body opening adjustment, and more specifically, particularly relates to an electronic throttle control system and a control method thereof. Background Art

[0002] The electronic throttle is an important part of the air-fuel subsystem in the engine management system. The ECU needs to calculate the target opening position of the throttle through the torque model and the intake volume model, adjust the engine intake volume, and then control the engine speed and output power. Specifically, the deviation between the target position and the actual position of the throttle is calculated by the closed-loop controller, and then converted by the ECU into a voltage-type PWM signal input to the electronic throttle power supply terminal, driving the internal DC motor to drive the valve body to reach the target opening position.

[0003] The throttle closed-loop control requires the system to have a fast dynamic response and minimize the overshoot of the target position to meet the engine torque output. The commonly used throttle closed-loop controller is a single-stage controller, such as Figure 1 shown.

[0004] Among them G cl (s) is the PID transfer function, G Thro (s) is the transfer function of the throttle equivalent mathematical model, G cl (s) is as follows Where: kp, ki, kd are the proportional link coefficient, integral link coefficient, and differential link coefficient in the single-stage controller respectively.

[0005] By adjusting the values ​​of kp, ki, and kd in the above formula, the static error can be reduced and the dynamic response of the system can be accelerated. However, the control target of the system is only the throttle opening angle, and the tracking factor is relatively simple. If the dynamic response of the system is to be accelerated, the kp, ki, and kd control parameters need to be adjusted. Unreasonable parameter matching will cause the closed-loop controller to enter a saturated state, and the system is actually open-loop control in the saturated state of the PID controller until the system overshoots, the PID controller exits the saturated state, and the system returns to closed-loop control, and the dynamic response effect is poor. Summary of the invention

[0006] In view of this, an object of the present invention is to provide an electronic throttle control system and a control method thereof, which are used to realize angle closed-loop control while realizing angular velocity closed-loop control, thereby accelerating the dynamic response during the electronic throttle adjustment process.

[0007] The present invention discloses a control method for an electronic throttle control system, comprising:

[0008] Obtain the negative feedback opening angle and negative feedback opening angular velocity of the electronic throttle valve body;

[0009] The opening angular velocity and opening angle of the electronic throttle valve body during the dynamic response process are tracked and controlled in real time, so that the electronic throttle valve body operates at the target opening angular velocity to achieve angle closed-loop control while achieving angular velocity closed-loop control.

[0010] Optionally, the opening angular velocity and opening angle of the electronic throttle valve body during the dynamic response process are tracked and controlled in real time so that the electronic throttle valve body operates at a target opening angular velocity to achieve angle closed-loop control while achieving angular velocity closed-loop control, including:

[0011] Superimposing the reference opening angle of the electronic throttle valve body and the negative feedback opening angle to obtain an angle error of the electronic throttle;

[0012] Modulating the angle error to obtain a target opening angular velocity;

[0013] After superimposing the target opening angular velocity and the negative feedback opening angular velocity, angular velocity modulation is performed to obtain a modulated angular velocity;

[0014] The reference opening angle is feedforward modulated and then superimposed with the modulated angular velocity to obtain a voltage output duty cycle;

[0015] The voltage output duty cycle is transformed into a physical model transfer function to obtain the actual opening angle of the electronic throttle valve body.

[0016] Optionally, modulating the angle error to obtain a target opening angular velocity includes:

[0017] The angle error is subjected to an outermost loop-position loop transfer function operation;

[0018] The output parameter of the outermost loop-position loop transfer function is subjected to position loop limiting adjustment to obtain the target opening angular velocity.

[0019] Optionally, the outermost loop-position loop transfer function is:

[0020] G pos (s) = k pos ;

[0021] Among them, k pos is the proportional coefficient of the position loop controller; G pos (s) is the outermost loop-position loop transfer function.

[0022] Optionally, after the target opening angular velocity and the negative feedback opening angular velocity are superimposed, angular velocity modulation is performed to obtain a modulated angular velocity, including:

[0023] After superimposing the target opening angular velocity and the negative feedback opening angular velocity, an inner loop-speed loop transfer function calculation is performed;

[0024] The output parameters of the inner loop-speed loop transfer function are subjected to speed loop limiting adjustment to obtain a modulated angular velocity.

[0025] Optionally, the inner loop-speed loop transfer function is:

[0026]

[0027] in, is the proportional link coefficient of the speed loop controller, is the integral link coefficient of the speed loop controller, is the differential link coefficient of the speed loop controller; G spd (s) is the inner loop-speed loop transfer function.

[0028] Optionally, the process of performing feed-forward modulation on the reference opening angle includes:

[0029] The reference opening angle is subjected to feedforward control transfer function calculation.

[0030] Optionally, the feedforward control transfer function is:

[0031] u n =A*θ ref +B;

[0032] Among them, A is the slope of the fitting function, B is the intercept of the fitting function, and u n is the voltage output duty cycle; θ ref is the reference opening angle.

[0033] Optionally, the negative feedback opening angular velocity is obtained by differentiating the actual opening angle.

[0034] The second aspect of the present invention discloses an electronic throttle control system, which is used to execute the control method of the electronic throttle control system described in any one of the first aspects of the present invention; the electronic throttle control system comprises: a position loop controller, a speed loop controller, and a feedforward controller;

[0035] The input parameter of the position loop controller is the angle error after the reference opening angle and the negative feedback opening angle are superimposed;

[0036] The input parameter of the speed loop controller is: the sum of the output parameter of the position loop controller and the negative feedback opening angular velocity;

[0037] The input parameter of the feedforward controller is the reference opening angle;

[0038] After the output parameter of the speed loop controller is superimposed with the output parameter of the feedforward controller, a physical model transfer function transformation is performed to obtain the actual opening angle of the electronic throttle valve body.

[0039] It can be seen from the above technical scheme that a control method of an electronic throttle control system provided by the present invention includes: obtaining the negative feedback opening angle and negative feedback opening angular velocity of the electronic throttle valve body; tracking and controlling the opening angular velocity and opening angle of the electronic throttle valve body during the dynamic response process in real time, so that the electronic throttle valve body operates at the target opening angular velocity to achieve angle closed-loop control while achieving angular velocity closed-loop control; that is, increasing the angular velocity closed loop of the electronic throttle valve body operation, achieving tracking and control of the valve body angular velocity during the electronic throttle adjustment process, and accelerating the dynamic response during the electronic throttle adjustment process. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 It is a schematic diagram of a throttle closed-loop controller provided by the prior art;

[0042] Figure 2 is a flow chart of a control method of an electronic throttle control system provided by an embodiment of the present invention;

[0043] Figure 3 is a flow chart of another control method of an electronic throttle control system provided by an embodiment of the present invention;

[0044] Figure 4 It is a schematic diagram of an electronic throttle control system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] In this application, the terms "comprises", "comprising" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0047] An embodiment of the present invention provides a control method for an electronic throttle control system, which is used to solve the problem in the prior art that the system control target quantity is only the throttle opening angle, the tracking factor is relatively single, and if the dynamic response of the system is to be accelerated, the kp, ki, and kd control parameters need to be adjusted. Improper parameter matching will cause the closed-loop controller to enter a saturated state, resulting in poor dynamic response effect.

[0048] See also Figure 2 The control method of the electronic throttle control system comprises:

[0049] S101, obtaining a negative feedback opening angle and a negative feedback opening angular velocity of an electronic throttle valve body.

[0050] It should be noted that the electronic throttle is also provided with a reference opening angle, and the reference opening angle of the electronic throttle valve body is the actual opening angle of the electronic throttle valve body under an ideal state. In other words, the present application adjusts the opening angle of the electronic throttle valve body to the reference opening angle as much as possible. The reference opening angle may be issued by the host computer, but is of course not limited thereto, and is within the protection scope of the present application.

[0051] The negative feedback opening angle may be the actual opening angle of the electronic throttle valve body; of course, it may also be the opening angle after the actual opening angle is transformed accordingly through a corresponding transformation function; of course, it is not limited to this, and no specific limitation is made here, and it may be determined according to the actual situation, and all are within the protection scope of this application.

[0052] The negative feedback opening angular velocity can be obtained by transforming the actual opening angle of the electronic throttle valve body, or by detecting the angular velocity. Of course, it can also be obtained by other methods, which will not be described here one by one, and are all within the protection scope of this application.

[0053] S102, performing real-time tracking control on the opening angular velocity and opening angle of the electronic throttle valve body during the dynamic response process, so that the electronic throttle valve body operates at a target opening angular velocity, so as to realize angle closed-loop control while realizing angular velocity closed-loop control.

[0054] It should be noted that the electronic throttle valve body keeps rotating before reaching the reference opening angle, that is, during the dynamic response of the electronic throttle valve, the opening angle and the opening angular velocity of the electronic throttle valve body are continuously changing.

[0055] Therefore, real-time tracking of the opening angle and opening angular velocity at this time can enable the electronic throttle valve body to operate at the target opening angular velocity and reduce the adjustment time to reach the reference opening angle. Therefore, an angular velocity closed loop is introduced, that is, angle closed-loop control is achieved while angular velocity closed-loop control is achieved, and the entire electronic throttle control system is modified into a cascade control of a position closed-loop controller and an angular velocity loop controller.

[0056] In this embodiment, by adding an angular velocity closed loop of the electronic throttle valve body, tracking control of the valve body angular velocity during the throttle adjustment process is achieved, thereby accelerating the dynamic response during the electronic throttle adjustment process.

[0057] In practical applications, see Figure 3 The above step S102 includes:

[0058] S201 , superimposing a reference opening angle of the electronic throttle valve body and a negative feedback opening angle to obtain an angle error of the electronic throttle valve body.

[0059] Specifically, the reference opening angle is a positive value, and the negative feedback opening angle is a negative value; the reference opening angle and the negative feedback opening angle are superimposed with a direction to obtain a difference between the two, and the difference is used as the angle error.

[0060] In practical applications, the actual opening angle can be directly used as the negative feedback opening angle. In other words, the actual opening angle is directly superimposed with the reference opening angle to calculate the angle error of the electronic throttle valve body.

[0061] S202, modulate the angle error to obtain a target opening angular velocity.

[0062] It should be noted that when determining the angle error, the target opening angular velocity can be calculated based on the angle error; so that the opening angle of the electronic throttle valve body can reach the above-mentioned reference opening angle within the corresponding time, so that the actual opening angle of the electronic throttle is consistent with the reference opening angle, or the difference between them is within the preset error range. The preset error range is not specifically limited here, and it can be determined according to the actual situation, and it is all within the protection scope of this application.

[0063] The process of modulating the angle error to obtain the target opening angular velocity is not specifically limited here, and an example is given below to illustrate a situation.

[0064] In practical applications, the specific process of step S202 may be:

[0065] (1) The angle error is calculated by the outermost loop-position loop transfer function.

[0066] Specifically, in order to reduce the overshoot of the position loop, proportional control is adopted. That is, the transfer function of the outermost loop-position loop is: G pos (s) = k pos .

[0067] Among them, k pos is the proportional coefficient of the position loop controller, G pos (s) is the transfer function of the outermost loop-position loop. The modulation process is a proportional modulation process. pos The specific values ​​of are not described here one by one, and they are all within the protection scope of this application.

[0068] (2) The output parameters of the outermost loop-position loop transfer function are adjusted by the position loop limit to obtain the target opening angular velocity.

[0069] The output parameter of the outermost loop-position loop transfer function is adjusted by the position loop limit in order to control the target opening angular velocity within a preset range to avoid the target opening angular velocity exceeding the range, such as being too large or too small. The specific value of the preset range is not specifically limited here and can be determined according to the actual situation, and is within the protection scope of this application.

[0070] S203, superimposing the target opening angular velocity and the negative feedback opening angular velocity, and then performing angular velocity modulation to obtain a modulated angular velocity.

[0071] The negative feedback opening angular velocity may be the actual current opening angular velocity of the electronic throttle valve body; that is, the target opening angular velocity and the actual opening angular velocity are calculated to obtain an angular velocity error, and then the angular velocity error is modulated to obtain a modulated angular velocity.

[0072] Specifically, the negative feedback opening angular velocity can be obtained by differentiating the actual opening angle; of course, the negative feedback opening angular velocity can also be obtained by other methods, which will not be described here one by one, and are all within the protection scope of this application.

[0073] In practical applications, the specific process of step S203 may be:

[0074] (1) After superimposing the target opening angular velocity and the negative feedback opening angular velocity, the inner loop-speed loop transfer function is calculated.

[0075] Specifically, a PID controller can be used to eliminate the static error of the system. That is, the inner loop-speed loop transfer function is:

[0076] in, is the proportional link coefficient of the speed loop controller, is the integral coefficient of the speed loop controller, is the differential link coefficient of the speed loop controller; G spd (s) is the inner loop-speed loop transfer function; wherein, s is the input quantity of the inner loop-speed loop transfer function, which is a variable and will not be described one by one here, and all are within the protection scope of this application.

[0077] (2) The output parameters of the inner loop-speed loop transfer function are adjusted by speed loop limiting to obtain the modulated angular velocity.

[0078] The position loop limit adjustment of the output parameter of the inner loop-speed loop transfer function is to control the modulation angular velocity within a preset range to avoid the modulation angular velocity exceeding the range, such as being too large or too small. The specific value of the preset range is not specifically limited here, and can be determined according to the actual situation, and is within the protection scope of this application.

[0079] S204, the reference opening angle is feedforward modulated and superimposed with the modulated angular velocity to obtain a voltage output duty cycle.

[0080] In practical applications, the process of feed-forward modulation of the reference opening angle includes:

[0081] The reference opening angle is subjected to feedforward control transfer function calculation.

[0082] Feedforward control requires the equivalent of a mathematical model for the disturbance in the electronic throttle control system. Since the equivalent of the disturbance in the electronic throttle control system - friction and return spring force is relatively complex, while taking into account the control effect, it is necessary to avoid increasing the calculation load of the MCU in the ECU due to the complexity of the equivalent mathematical formula implemented through software. In this design, the output after the feedforward transfer function is linearly fitted, and the equivalent formula is: n =A*θ ref +B; that is, the feedforward control transfer function is: n =A*θ ref +B.

[0083] Among them, A is the slope of the fitting function, B is the intercept of the fitting function, and u n is the voltage output duty cycle, θ ref is the reference opening angle. The voltage output duty cycle can be a PWM voltage output duty cycle.

[0084] S205 , performing physical model transfer function transformation on the voltage output duty cycle to obtain the actual opening angle of the electronic throttle valve body.

[0085] Through experimental calibration, the voltage duty cycle output of the open-loop regulation is obtained to obtain the opening angle θ of each throttle valve. i The actual output duty cycle u ni , establish a θ i with u ni One-to-one relationship table-Table(θ i ,u ni Considering the application of MCU flash resources, it is necessary to restrict the dimension of the table. In order to obtain a good function curve fitting effect under the condition of limited data points, the least squares linear interpolation is performed for every three points to estimate the estimated parameters within the range of the three points. and Then by formula u n =A*θ ref +B, calculate the PWM voltage output duty cycle.

[0086] In this embodiment, the dual closed-loop feedforward control enables the operating angular velocity of the electronic throttle valve body to be tracked and controlled in real time, and the voltage output duty cycle that is ultimately input to the electronic throttle includes compensation for the angular velocity loop control and the feedforward control, which can effectively accelerate the dynamic response of the throttle control and reduce the impact of the disturbance on the steady state of the throttle control system.

[0087] Another embodiment of the present invention provides an electronic throttle control system.

[0088] The electronic throttle control system is used to execute the control method of the electronic throttle control system provided in any of the above embodiments.

[0089] The working process and principle of the control method of the electronic throttle control system are detailed in the above embodiments and will not be described in detail here, as they are all within the protection scope of this application.

[0090] It should be noted that the deviation in the control system is often caused by the disturbance. The disturbance in the electronic throttle control system includes the torque generated by the reset spring, friction, etc. In order to deal with the deviation caused by the disturbance, a feedforward control link can be added to the closed-loop system to compensate for the disturbance, reduce the target position deviation caused by the disturbance, and speed up the dynamic response of the system. Figure 1 The traditional electronic throttle single-stage control system is improved to obtain the double closed-loop feedforward control system used in this control method, such as Figure 4 shown.

[0091] like Figure 4 As shown, the electronic throttle control system includes: a position loop controller, a speed loop controller, and a feedforward controller.

[0092] The input parameter of the position loop controller is the angle error after the reference opening angle and the negative feedback opening angle are superimposed.

[0093] That is to say, the reference opening angle is a positive value, and the negative feedback opening angle is a negative value; the reference opening angle and the negative feedback opening angle are superimposed with a direction to obtain the difference between the two, and the difference is used as the angle error.

[0094] In practical applications, the actual opening angle can be directly used as the negative feedback opening angle. That is, the actual opening angle is directly compared with the reference opening angle to calculate the angle error of the electronic throttle valve body.

[0095] The position loop controller modulates the angle error to obtain the target opening angular velocity.

[0096] It should be noted that when the angle error is determined, the target opening angular velocity may be calculated based on the angle error so as to make the opening angle of the electronic throttle valve body reach the reference opening angle within a corresponding time.

[0097] The specific working process of the position loop controller is detailed in the above embodiments and will not be described here one by one, and all are within the protection scope of this application.

[0098] The input parameter of the speed loop controller is: the sum of the output parameter of the position loop controller and the negative feedback opening angular velocity.

[0099] The target opening angular velocity and the negative feedback opening angular velocity are superimposed and then transmitted to the speed loop controller for angular velocity modulation to obtain the modulated angular velocity.

[0100] The negative feedback opening angular velocity may be the actual current opening angular velocity of the electronic throttle valve body; that is, the target opening angular velocity and the actual opening angular velocity are calculated to obtain an angular velocity error, and then the angular velocity error is modulated to obtain a modulated angular velocity.

[0101] Specifically, the negative feedback opening angular velocity can be obtained by differentiating the actual opening angle; of course, the negative feedback opening angular velocity can also be obtained by other methods, which will not be described here one by one, and are all within the protection scope of this application.

[0102] The input parameter of the feedforward controller is the reference opening angle.

[0103] After the output parameters of the speed loop controller are superimposed with the output parameters of the feedforward controller, the physical model transfer function is transformed to obtain the actual opening angle of the electronic throttle valve body.

[0104] Among them, θ ref is the reference opening angle, e is the angle error; G pos(s) is the position loop controller; Position looplimit is the position loop limit link; ω ref is the target opening angular velocity; ω fdb is the negative feedback opening angular velocity; G spd (s) is the speed loop controller; Speed ​​loop limit is the speed loop limit link; G f (s) is the feedforward controller; u n is the voltage output duty cycle; G Thro (s) is the physical model transfer function; θ opdeg is the opening angle of the electronic throttle valve body.

[0105] The features recorded in the various embodiments in this specification can be replaced or combined with each other, and the same and similar parts between the various embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The system and system embodiments described above are only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.

[0106] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0107] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for an electronic throttle control system, characterized in that: include: Obtain the negative feedback opening angle and negative feedback opening angular velocity of the electronic throttle valve body; The opening angular velocity and opening angle of the electronic throttle valve body during the dynamic response process are tracked and controlled in real time, so that the electronic throttle valve body operates at the target opening angular velocity to achieve angle closed-loop control and angular velocity closed-loop control, including: superimposing the reference opening angle of the electronic throttle valve body with the negative feedback opening angle to obtain the angle error of the electronic throttle valve body; modulating the angle error to obtain the target opening angular velocity; superimposing the target opening angular velocity and the negative feedback opening angular velocity, and then modulating the angular velocity to obtain the modulated angular velocity; the reference opening angle is feedforward modulated and then superimposed with the modulated angular velocity to obtain a voltage output duty cycle; and the voltage output duty cycle is transformed into a physical model transfer function to obtain the actual opening angle of the electronic throttle valve body.

2. The control method of the electronic throttle control system according to claim 1, characterized in that: Modulating the angle error to obtain a target opening angular velocity includes: The angle error is subjected to an outermost loop-position loop transfer function operation; The output parameter of the outermost loop-position loop transfer function is subjected to position loop limiting adjustment to obtain the target opening angular velocity.

3. The control method of the electronic throttle control system according to claim 2, characterized in that: The outermost loop-position loop transfer function is: G pos (s)=k pos ; Among them, k pos is the proportional coefficient of the position loop controller; G pos (s) is the outermost loop-position loop transfer function.

4. The control method of the electronic throttle control system according to claim 1, characterized in that: After the target opening angular velocity and the negative feedback opening angular velocity are superimposed, angular velocity modulation is performed to obtain a modulated angular velocity, including: After superimposing the target opening angular velocity and the negative feedback opening angular velocity, an inner loop-speed loop transfer function calculation is performed; The output parameters of the inner loop-speed loop transfer function are subjected to speed loop limiting adjustment to obtain a modulated angular velocity.

5. The control method of the electronic throttle control system according to claim 4, characterized in that: The inner loop-speed loop transfer function is: in, is the proportional link coefficient of the speed loop controller, is the integral link coefficient of the speed loop controller, is the differential link coefficient of the speed loop controller; G spd (s) is the inner loop-speed loop transfer function.

6. The control method of the electronic throttle control system according to claim 1, characterized in that: The process of performing feed-forward modulation on the reference opening angle includes: The reference opening angle is subjected to feedforward control transfer function calculation.

7. The control method of the electronic throttle control system according to claim 6, characterized in that: The feedforward control transfer function is: you n =A*θ ref +B; Among them, A is the slope of the fitting function, B is the intercept of the fitting function, and u n is the voltage output duty cycle; θ ref is the reference opening angle.

8. The control method of the electronic throttle control system according to any one of claims 1 to 7, characterized in that: The negative feedback opening angular velocity is obtained by differentiating the actual opening angle.

9. An electronic throttle control system, characterized in that: Used to execute the control method of the electronic throttle control system according to any one of claims 1 to 8; the electronic throttle control system comprises: a position loop controller, a speed loop controller, and a feedforward controller; The input parameter of the position loop controller is the angle error after the reference opening angle and the negative feedback opening angle are superimposed; The input parameter of the speed loop controller is: the sum of the output parameter of the position loop controller and the negative feedback opening angular velocity; The input parameter of the feedforward controller is the reference opening angle; After the output parameter of the speed loop controller is superimposed with the output parameter of the feedforward controller, a physical model transfer function transformation is performed to obtain the actual opening angle of the electronic throttle valve body.

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