Speed ​​control methods, devices, electronic equipment and computer-readable storage media

Abstract

This application provides a speed control method, apparatus, electronic device, and computer-readable storage medium. The method includes: obtaining a first speed of an engine at a first moment; obtaining the engine speed and a static target speed within a target time period; determining a first coefficient based on the relationship between the engine speed within the target time period and the static target speed; determining a corresponding target speed based on the first speed and the first coefficient; and controlling the engine speed based on the target speed. This application enables effective speed control while reducing speed fluctuations.

Description

Technical Field

[0001] This application relates to engine technology, and more particularly to a speed control method, device, electronic equipment, and computer-readable storage medium. Background Technology

[0002] As environmental protection regulations become increasingly stringent, more precise control over the operating status of car engines is required. Fluctuations in engine speed can easily lead to worsened emissions and a poor driving experience for the driver.

[0003] The relevant speed control technology uses a standard speed to correct the engine's real-time speed, allowing the engine speed to vary within a certain range of the standard speed. However, under certain operating conditions, when the actual speed deviates significantly from the standard speed, the speed control is particularly prone to overshoot oscillation during the speed recovery process, and may even cause excessive speed drop leading to unexpected engine stalling. In addition, with the use of the vehicle, hardware wear and tear can make it difficult for the original control parameters to cover this deviation. Summary of the Invention

[0004] This application provides a speed control method, device, electronic device, and computer-readable storage medium that can effectively control the speed while reducing speed fluctuations.

[0005] The technical solution of this application embodiment is implemented as follows:

[0006] This application provides a speed control method, including:

[0007] Obtain the engine's first RPM at the first moment;

[0008] Obtain the engine speed and static target speed within the target time period;

[0009] The first coefficient is determined based on the relationship between the engine speed and the static target speed during the target time period;

[0010] Based on the first rotational speed and the first coefficient, determine the corresponding target rotational speed;

[0011] The engine speed is controlled based on the target speed.

[0012] In the above scheme, the target time period includes at least one sub-time period, and determining the first coefficient based on the relationship between the engine speed and the static target speed within the target time period includes:

[0013] Obtain the minimum engine speed within each sub-time period;

[0014] Calculate the difference between the static target speed and the minimum speed;

[0015] Based on the difference, determine the first sub-coefficient corresponding to the corresponding sub-time period;

[0016] Calculate the average value of the first sub-coefficient corresponding to each sub-time period, and use the average value as the first coefficient.

[0017] In the above scheme, determining the first sub-coefficient corresponding to the corresponding sub-time period based on the difference includes:

[0018] If the difference is greater than the difference threshold, the value of the first sub-coefficient corresponding to the corresponding sub-time period is determined based on the first strategy;

[0019] If the difference is less than or equal to the difference threshold, the value of the first sub-coefficient corresponding to the corresponding sub-time period is determined based on the second strategy.

[0020] In the above scheme, if the value of the determined first sub-coefficient is less than the first coefficient threshold, then the value of the first sub-coefficient is replaced with the first coefficient threshold; if the value of the determined first sub-coefficient is greater than the second coefficient threshold, then the value of the first sub-coefficient is replaced with the second coefficient threshold; wherein, the first coefficient threshold is less than the second coefficient threshold.

[0021] In the above scheme, the starting time of the target time period is the moment when the engine speed reaches the static target speed.

[0022] The above plan also includes:

[0023] Obtain the engine's target coolant temperature at the first moment;

[0024] Obtain the first relationship between water temperature and the second coefficient;

[0025] Based on the target water temperature and the first relationship, determine the target second coefficient corresponding to the target water temperature;

[0026] Determining the corresponding target speed based on the first speed and the first coefficient includes:

[0027] Based on the second coefficient and the first rotational speed, determine the corresponding basic target rotational speed;

[0028] The corresponding target speed is determined based on the basic target speed and the first coefficient.

[0029] In the above scheme, determining the corresponding basic target speed based on the second coefficient and the first speed includes:

[0030] Calculate the product of the second coefficient and the first rotational speed to obtain the second rotational speed;

[0031] To restore the fuel injection speed;

[0032] The third speed is determined based on the second speed and the restored fuel supply speed;

[0033] The basic target speed is determined based on the third speed and the static target speed.

[0034] In the above scheme, determining the third speed based on the second speed and the restored fuel supply speed includes:

[0035] A second relationship between water temperature and compensated rotation speed was obtained;

[0036] Based on the target water temperature and the second relationship, the corresponding target compensation rotation speed is determined;

[0037] The recovery fuel supply speed is compensated based on the target compensation speed to obtain the corresponding fourth speed;

[0038] The smaller of the second speed and the fourth speed is determined, and the determined smaller speed is set as the third speed.

[0039] In the above scheme, determining the basic target speed based on the third speed and the static target speed includes:

[0040] The larger of the third rotational speed and the static target rotational speed is determined, and the larger rotational speed is set as the base target rotational speed.

[0041] This application provides a speed control device, including:

[0042] The first acquisition module is used to acquire the first engine speed at the first moment;

[0043] The second acquisition module is used to obtain the engine speed and static target speed within the target time period;

[0044] The first determining module is used to determine a first coefficient based on the relationship between the engine speed and the static target speed during the target time period;

[0045] The second determining module is used to determine the corresponding target speed based on the first speed and the first coefficient;

[0046] The control module is used to control the engine speed based on the target speed.

[0047] This application provides an electronic device, including:

[0048] Memory, used to store executable instructions;

[0049] The processor, when executing executable instructions stored in the memory, implements the speed control method provided in the embodiments of this application.

[0050] This application provides a computer-readable storage medium storing executable instructions for inducing a processor to execute and implement the speed control method provided in this application.

[0051] This embodiment of the application obtains the engine's first rotational speed at a first moment, and obtains the engine's rotational speed and static target rotational speed within a target time period. Based on the relationship between the engine's rotational speed and the static target rotational speed within the target time period, a first coefficient is determined. Based on the first rotational speed and the first coefficient, the corresponding target rotational speed is determined. Finally, the engine's rotational speed is controlled based on the target rotational speed. The target rotational speed is determined based on the actual rotational speed of the engine, rather than a preset fixed value. This allows for more stable control of engine rotational speed changes, preventing overshoot oscillations in rotational speed control and reducing rotational speed fluctuations while effectively controlling the rotational speed. Attached Figure Description

[0052] Figure 1 This is an optional flowchart illustrating the speed control method provided in an embodiment of this application;

[0053] Figure 2 This is an optional detailed flowchart of step 103 provided in the embodiments of this application;

[0054] Figure 3 This is an optional schematic diagram of the speed control provided in an embodiment of this application;

[0055] Figure 4 This is an optional schematic diagram illustrating the control effect provided in an embodiment of this application;

[0056] Figure 5 This is an optional structural schematic diagram of the speed control device provided in the embodiments of this application. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0058] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0059] In the following description, the terms "first, second, third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0061] This application provides a speed control method, apparatus, electronic device, and computer-readable storage medium that can effectively control the speed while reducing speed fluctuations.

[0062] The speed control method provided in this application will be described below with reference to exemplary applications and implementations of the terminal provided in the embodiments of this application.

[0063] See Figure 1 , Figure 1 This is an optional flowchart illustrating the speed control method provided in this application embodiment, which will be combined with... Figure 1 The steps shown are explained.

[0064] Step 101: Obtain the engine's first speed at the first moment;

[0065] Step 102: Obtain the engine speed and static target speed within the target time period;

[0066] Step 103: Determine the first coefficient based on the relationship between the engine speed and the static target speed during the target time period;

[0067] Step 104: Determine the corresponding target speed based on the first rotational speed and the first coefficient;

[0068] Step 105: Control the engine speed based on the target speed.

[0069] The electronic device provided in this application embodiment for implementing the above-described speed control method can be an on-board controller, such as an electronic control unit (ECU). It should be noted that the speed control in this application embodiment is performed when the vehicle is in a fuel-supply state; when the vehicle is in a fuel-cut state, the engine speed is not controlled. In actual implementation, the electronic device obtains the engine's first speed at a first moment. Here, the first speed is the engine's actual speed at the first moment. Then, the electronic device continues to obtain the engine speed and the static target speed within a target time period. Here, the static target speed can be between 600 rpm and 1000 rpm. The engine speed fluctuates, not monotonically increasing or decreasing. It can be understood that the engine speed also fluctuates within the target time period.

[0070] In some embodiments, the starting time of the target time period is the moment when the engine speed reaches the static target speed. Here, the magnitude of the first speed can be greater than the static target speed, and the engine speed can generally show a decreasing trend. Then, when the magnitude of the engine speed gradually changes from the first speed to the static target speed, the engine speed within the target time period is obtained.

[0071] Next, a first coefficient is determined based on the relationship between the engine speed and the static target speed within the target time period. In some embodiments, the target time period includes at least one sub-time period, see [link to relevant documentation]. Figure 2 , Figure 2 This is an optional detailed flowchart of step 103 provided in the embodiments of this application. Step 103 includes:

[0072] Step 1031: Obtain the minimum engine speed within each sub-time period;

[0073] Step 1032: Calculate the difference between the static target speed and the minimum speed;

[0074] Step 1033: Based on the difference, determine the first sub-coefficient corresponding to the corresponding sub-time period;

[0075] Step 1034: Calculate the average value of the first sub-coefficient corresponding to each sub-time period, and use the average value as the first coefficient.

[0076] In practice, a sub-time period can be, for example, 2 seconds. There can be five sub-time periods, meaning the target time period includes five 2-second sub-time periods, totaling 10 seconds. The electronic equipment obtains the engine's minimum speed within each sub-time period. It should be understood that the minimum speed is less than the static target speed. Then, the difference between the static target speed and the minimum speed is calculated. Based on this difference, the first sub-coefficient is determined. After calculating the first sub-coefficient for each sub-time period, the average of all first sub-coefficients is calculated, and this average is used as the first coefficient.

[0077] In some embodiments, step 1033 includes: if the difference is greater than a difference threshold, determining the value of a first sub-coefficient corresponding to the corresponding sub-time period based on a first strategy; if the difference is less than or equal to the difference threshold, determining the value of a first sub-coefficient corresponding to the corresponding sub-time period based on a second strategy.

[0078] In practice, if the obtained difference is greater than the difference threshold, the value of the first sub-coefficient corresponding to the sub-time period is determined based on the first strategy. Here, the difference threshold can be, for example, 50 rpm. The first strategy can be implemented using the following formula:

[0079]

[0080] Where Ndiff is the difference mentioned above, N 静 The target rotational speed is static.

[0081] In practice, if the obtained difference is less than or equal to the difference threshold, the value of the first sub-coefficient corresponding to the sub-time period is determined based on the first strategy. Here, the first strategy can be implemented using the following formula:

[0082]

[0083] In some embodiments, if the value of the determined first sub-coefficient is less than the first coefficient threshold, the value of the first sub-coefficient is replaced with the first coefficient threshold; if the value of the determined first sub-coefficient is greater than the second coefficient threshold, the value of the first sub-coefficient is replaced with the second coefficient threshold; wherein the first coefficient threshold is less than the second coefficient threshold.

[0084] In practice, the first coefficient threshold is the lower limit of the first sub-coefficient, and the second coefficient threshold is the upper limit of the first sub-coefficient. If the calculated value of the first sub-coefficient is less than the first coefficient threshold, the calculated value of the first sub-coefficient is replaced with the first coefficient threshold. Conversely, if the determined value of the first sub-coefficient is greater than the second coefficient threshold, the value of the first sub-coefficient is replaced with the second coefficient threshold. This is to prevent the final determined value of the first coefficient from deviating from a reasonable range, which could lead to inaccurate target speeds and malfunctioning speed control.

[0085] In some embodiments, the method further includes: obtaining a target coolant temperature of the engine at a first moment; obtaining a first relationship between the coolant temperature and a second coefficient; determining a target second coefficient corresponding to the target coolant temperature based on the target coolant temperature and the first relationship; step 104 includes: determining a corresponding basic target rotational speed based on the second coefficient and the first rotational speed; and determining a corresponding target rotational speed based on the basic target rotational speed and the first coefficient.

[0086] In practical implementation, the target coolant temperature of the engine at the first moment can be measured using a temperature sensor. A first relationship between the coolant temperature and a second coefficient is then obtained. Here, the second coefficient is a dynamic following coefficient used to correct the first engine speed. Specifically, the relationship between coolant temperature and the second coefficient can be negatively correlated. In practical implementation, those skilled in the art can also determine the correspondence between coolant temperature and the second coefficient through experiments based on actual conditions. This correspondence may be irregular, but rather represents the optimal coefficient at the corresponding coolant temperature.

[0087] In actual implementation, a target second coefficient corresponding to the target water temperature is determined based on the target water temperature and the first relationship. In step 104, the corresponding basic target speed is determined based on the second coefficient and the first speed, and then the corresponding target speed is determined based on the basic target speed and the first coefficient.

[0088] In some embodiments, determining the corresponding basic target speed based on the second coefficient and the first speed includes: calculating the product between the second coefficient and the first speed to obtain a second speed; obtaining the recovery fuel supply speed; determining a third speed based on the second speed and the recovery fuel supply speed; and determining the basic target speed based on the third speed and the static target speed.

[0089] In actual implementation, let the first coefficient be denoted as 'a' and the first rotational speed as 'N1'. Then, the second rotational speed N2 can be obtained using the following formula:

[0090] N2 = a * N1

[0091] In practice, the recovery fuel injection speed is the upper limit of the speed control, which can be between 1100 rpm and 1200 rpm. After obtaining the recovery fuel injection speed, the third speed can be determined based on the first speed and the recovery fuel injection speed. Then, the base target speed is determined based on the third speed and the static target speed.

[0092] In some embodiments, determining the third speed based on the second speed and the restored fuel supply speed includes: obtaining a second relationship between water temperature and compensation speed; determining a corresponding target compensation speed based on the target water temperature and the second relationship; compensating the restored fuel supply speed based on the target compensation speed to obtain a corresponding fourth speed; determining the smaller speed between the second speed and the fourth speed, and determining the smaller speed as the third speed.

[0093] The second relationship between water temperature and compensation speed can be a negative correlation. In actual implementation, those skilled in the art can also determine the second relationship between water temperature and compensation speed through experiments based on the actual situation. This second relationship may be irregular, but rather represents the optimal compensation speed at the corresponding water temperature.

[0094] In practical implementation, after obtaining the second relationship, the target compensation speed is determined based on the target water temperature and the second relationship. Then, the recovery oil supply speed is compensated based on the target compensation speed to obtain the corresponding fourth speed. Here, the target compensation speed and the recovery oil supply speed can be added together to obtain the fourth speed. Then, the minimum value between the fourth speed and the second speed is taken as the third speed.

[0095] In some embodiments, determining the basic target speed based on the third speed and the static target speed includes: determining the larger speed between the third speed and the static target speed, and determining the larger speed as the basic target speed.

[0096] In actual implementation, after obtaining the third rotational speed, the maximum value between the third rotational speed and the static target rotational speed is taken as the basic target rotational speed.

[0097] Then, based on the basic target speed and the first coefficient, the corresponding target speed is determined. Here, the basic target speed is filtered based on the first coefficient to obtain the corresponding target speed. Specifically, the target speed can be determined by multiplying the basic target speed and the first coefficient.

[0098] Next, the engine speed is controlled based on the target speed. Specifically, proportional-integral-derivative (PID) control is performed based on the difference between the target speed and the engine's current actual speed. See also Figure 3 , Figure 3 This is an optional schematic diagram of speed control provided in an embodiment of this application. In actual implementation, based on the target speed and the actual engine speed, the engine torque is calculated through PID control, and thus the speed is controlled based on the torque.

[0099] It should be understood that the target speed in this embodiment is not a preset fixed value, but is determined based on the actual engine speed. In actual implementation, the target speed can be determined at target intervals, thereby dynamically controlling the engine speed.

[0100] See Figure 4 , Figure 4 This is an optional schematic diagram illustrating the control effect provided by an embodiment of this application. Here, curve 41 is the target speed curve of the related technology, curve 42 is the actual speed change curve of the related technology, curve 43 is the target speed curve obtained using the speed control method provided by the embodiment of this application, and curve 44 is the actual speed change curve using the speed control method provided by the embodiment of this application. It can be seen that with the speed control method of the related technology, the actual engine speed fluctuates significantly around the target speed. However, with the method provided by the embodiment of this application, the actual engine speed can follow the changes in the target speed much better, with smaller fluctuations.

[0101] In this embodiment, by obtaining the engine's first rotational speed at a first moment, and obtaining the engine's rotational speed and static target rotational speed within a target time period, a first coefficient is determined based on the relationship between the engine's rotational speed and the static target rotational speed within the target time period. Based on the first rotational speed and the first coefficient, the corresponding target rotational speed is determined. Finally, the engine's rotational speed is controlled based on the target rotational speed. The target rotational speed is determined based on the engine's actual rotational speed, rather than a preset fixed value. This allows for more stable control of engine rotational speed changes, preventing overshoot oscillations in rotational speed control and reducing rotational speed fluctuations while effectively controlling the rotational speed.

[0102] The exemplary structure of the speed control device provided in the embodiments of this application will be further described below. In some embodiments, see [link to relevant documentation]. Figure 5 , Figure 5 This is an optional structural diagram of the speed control device provided in the embodiments of this application, such as... Figure 5 As shown, the speed control device 50 may include:

[0103] The first acquisition module 51 is used to acquire the first speed of the engine at the first moment;

[0104] The second acquisition module 52 is used to acquire the engine speed and static target speed within the target time period;

[0105] The first determining module 53 is used to determine a first coefficient based on the relationship between the engine speed and the static target speed during the target time period;

[0106] The second determining module 54 is used to determine the corresponding target speed based on the first speed and the first coefficient;

[0107] The control module 55 is used to control the engine speed based on the target speed.

[0108] In some embodiments, the target time period includes at least one sub-time period, and the second determining module 54 is further configured to obtain the minimum engine speed within each sub-time period; calculate the difference between the static target speed and the minimum speed; determine the first sub-coefficient corresponding to the corresponding sub-time period based on the difference; calculate the average value of the first sub-coefficient corresponding to each sub-time period, and use the average value as the first coefficient.

[0109] In some embodiments, determining the first sub-coefficient corresponding to the corresponding sub-time period based on the difference includes:

[0110] If the difference is greater than the difference threshold, the value of the first sub-coefficient corresponding to the corresponding sub-time period is determined based on the first strategy;

[0111] If the difference is less than or equal to the difference threshold, the value of the first sub-coefficient corresponding to the corresponding sub-time period is determined based on the second strategy.

[0112] In some embodiments, if the value of the determined first sub-coefficient is less than the first coefficient threshold, the value of the first sub-coefficient is replaced with the first coefficient threshold; if the value of the determined first sub-coefficient is greater than the second coefficient threshold, the value of the first sub-coefficient is replaced with the second coefficient threshold; wherein the first coefficient threshold is less than the second coefficient threshold.

[0113] In some embodiments, the starting time of the target time period is the time when the engine speed reaches the static target speed.

[0114] In some embodiments, the system further includes: a third obtaining module, configured to obtain the target coolant temperature of the engine at a first moment; obtain a first relationship between the coolant temperature and a second coefficient; determine a target second coefficient corresponding to the target coolant temperature based on the target coolant temperature and the first relationship; and a second determining module 54, further configured to determine a corresponding basic target rotational speed based on the second coefficient and the first rotational speed; and determine a corresponding target rotational speed based on the basic target rotational speed and the first coefficient.

[0115] In some embodiments, the second determining module 54 is further configured to calculate the product between the second coefficient and the first rotational speed to obtain a second rotational speed; obtain a recovery fuel supply speed; determine a third rotational speed based on the second rotational speed and the recovery fuel supply speed; and determine the basic target rotational speed based on the third rotational speed and the static target rotational speed.

[0116] In some embodiments, the second determining module 54 is further configured to obtain a second relationship between water temperature and compensation speed; determine a corresponding target compensation speed based on the target water temperature and the second relationship; compensate the recovery oil supply speed based on the target compensation speed to obtain a corresponding fourth speed; determine the smaller speed between the second speed and the fourth speed, and determine the smaller speed as the third speed.

[0117] In some embodiments, the second determining module 54 is further configured to determine the larger of the third rotational speed and the static target rotational speed, and to determine the larger rotational speed as the basic target rotational speed.

[0118] It should be noted that the description of the apparatus in this application embodiment is similar to the description of the method embodiment above, and has similar beneficial effects as the method embodiment, so it will not be repeated.

[0119] This application provides a computer program product or computer program that includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the speed control method described above in this application.

[0120] This application provides a computer-readable storage medium storing executable instructions, wherein the executable instructions are stored and when executed by a processor, the processor will execute the speed control method provided in this application.

[0121] In some embodiments, the computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; or it may be a variety of devices including one or any combination of the above-mentioned memories.

[0122] In some embodiments, executable instructions may take the form of a program, software, software module, script, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a standalone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0123] As an example, executable instructions may, but do not necessarily, correspond to files in a file system. They may be stored as part of a file that holds other programs or data, for example, in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple collaborating files (e.g., a file that stores one or more modules, subroutines, or code sections).

[0124] As an example, executable instructions can be deployed to execute on a single computing device, or on multiple computing devices located in one location, or on multiple computing devices distributed across multiple locations and interconnected via a communication network.

[0125] In summary, the embodiments of this application can effectively control the rotational speed while reducing rotational speed fluctuations.

[0126] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and scope of this application are included within the scope of protection of this application.

Claims

1. A speed control method, characterized in that, include: Obtain the engine's first RPM at the first moment; Obtain the engine speed and static target speed within the target time period; The target time period includes at least one sub-time period; Obtain the minimum engine speed within each sub-time period; Calculate the difference between the static target speed and the minimum speed; If the difference is greater than the difference threshold, the value of the first sub-coefficient corresponding to the corresponding sub-time period is determined based on the first strategy; If the difference is less than or equal to the difference threshold, the value of the first sub-coefficient corresponding to the corresponding sub-time period is determined based on the second strategy; Calculate the average value of the first sub-coefficient corresponding to each sub-time period, and use the average value as the first coefficient; Based on the first rotational speed and the first coefficient, determine the corresponding target rotational speed; The engine speed is controlled based on the target speed.

2. The method according to claim 1, characterized in that, If the value of the determined first sub-coefficient is less than the first coefficient threshold, then the value of the first sub-coefficient is replaced with the first coefficient threshold; if the value of the determined first sub-coefficient is greater than the second coefficient threshold, then the value of the first sub-coefficient is replaced with the second coefficient threshold; wherein, the first coefficient threshold is less than the second coefficient threshold.

3. The method according to claim 1 or 2, characterized in that, The target time period begins when the engine speed reaches the static target speed.

4. The method according to claim 1, characterized in that, Also includes: Obtain the engine's target coolant temperature at the first moment; Obtain the first relationship between water temperature and the second coefficient; Based on the target water temperature and the first relationship, determine the target second coefficient corresponding to the target water temperature; Determining the corresponding target speed based on the first speed and the first coefficient includes: Based on the second coefficient and the first rotational speed, determine the corresponding basic target rotational speed; The corresponding target speed is determined based on the basic target speed and the first coefficient.

5. The method according to claim 4, characterized in that, The step of determining the corresponding basic target speed based on the second coefficient and the first speed includes: Calculate the product of the second coefficient and the first rotational speed to obtain the second rotational speed; To restore the fuel injection speed; The third speed is determined based on the second speed and the restored fuel supply speed; The basic target speed is determined based on the third speed and the static target speed.

6. The method according to claim 5, characterized in that, The step of determining the third speed based on the second speed and the restored oil supply speed includes: A second relationship between water temperature and compensated rotation speed was obtained; Based on the target water temperature and the second relationship, the corresponding target compensation rotation speed is determined; The recovery fuel supply speed is compensated based on the target compensation speed to obtain the corresponding fourth speed; The smaller of the second speed and the fourth speed is determined, and the determined smaller speed is set as the third speed.

7. The method according to claim 5 or 6, characterized in that, Determining the basic target speed based on the third speed and the static target speed includes: The larger of the third rotational speed and the static target rotational speed is determined, and the larger rotational speed is set as the base target rotational speed.

8. A speed control device, characterized in that, include: The first acquisition module is used to acquire the first engine speed at the first moment; The second acquisition module is used to obtain the engine speed and static target speed within the target time period; The target time period includes at least one sub-time period; The first determining module is used to obtain the minimum engine speed within each sub-time period; Calculate the difference between the static target speed and the minimum speed; If the difference is greater than the difference threshold, the value of the first sub-coefficient corresponding to the corresponding sub-time period is determined based on the first strategy; If the difference is less than or equal to the difference threshold, the value of the first sub-coefficient corresponding to the corresponding sub-time period is determined based on the second strategy; Calculate the average value of the first sub-coefficient corresponding to each sub-time period, and use the average value as the first coefficient; The second determining module is used to determine the corresponding target speed based on the first speed and the first coefficient; The control module is used to control the engine speed based on the target speed.

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