Throttle control method, control device, engine system and electronic equipment

Abstract

The present application provides a throttle control method, control device, engine system, and electronic device. The method includes: determining a first required throttle opening based on a current speed and a target speed; calculating the difference between the actual intake manifold pressure and the maximum intake manifold pressure to obtain a first difference, at least when the actual intake manifold pressure is less than or equal to the maximum intake manifold pressure; calculating a second required throttle opening, comparing the first required opening with the second required opening, and determining the smaller of the first and second required openings as the target opening; when the actual intake manifold pressure is greater than the maximum intake manifold pressure, comparing the first required opening with the actual opening, and determining the smaller of the first and second required openings as the target opening; and controlling the throttle to operate at the target opening. This application solves the problem that existing engine throttle control methods cannot achieve stable throttle control.

Description

Technical Field

[0001] The present application relates to the field of throttle control of an engine, and in particular, to a throttle control method, a control device, an engine system, a computer-readable storage medium, and an electronic device. Background Art

[0002] Existing engine throttle control methods, such as Figure 1 As shown, the difference between the current speed and the target speed is calculated, and the required throttle opening is calculated using PID control within the PID closed loop. The set throttle opening is then output after calibrating the maximum throttle opening limit at different speeds. The throttle opening is not equal to the actual MAP (manifold pressure after the throttle), nor is it equal to the engine's intake volume, and ultimately, the actual engine load. Therefore, the "maximum throttle opening limit" cannot limit the actual engine load. For example, the maximum throttle opening allowed at each speed is determined based on the engine's steady-state load at different speeds to implement external characteristic limits. However, under transient conditions with sudden load increases, the throttle opening quickly reaches the maximum throttle opening limit allowed by the external characteristic due to the intake system's response lag. However, the MAP at this time is far below the steady-state MAP, and the actual engine load does not reach the engine's maximum capacity, resulting in a significant decrease in engine power. On the other hand, if throttle control is prioritized during transient conditions, the actual MAP will be much greater than the permitted MAP under steady-state conditions, effectively failing to protect the engine and, consequently, preventing stable throttle control.

[0003] Therefore, a throttle stability control method for an engine is needed. Summary of the Invention

[0004] The main purpose of this application is to provide a throttle control method, a control device, an engine system, a computer-readable storage medium and an electronic device, so as to at least solve the problem that the engine throttle control method in the prior art cannot achieve stable control of the throttle.

[0005] To achieve the above-mentioned purpose, according to one aspect of the present application, a throttle control method is provided, wherein the throttle is connected to the engine through an intake pipe, comprising: obtaining a current speed and a target speed of the engine, and determining a first required opening of the throttle according to the current speed and the target speed; obtaining an actual intake pipe pressure and a maximum intake pipe pressure of the intake pipe, and at least when the actual intake pipe pressure is less than or equal to the maximum intake pipe pressure, calculating a difference between the actual intake pipe pressure and the maximum intake pipe pressure to obtain a first difference; calculating a second required opening of the throttle according to the first difference, comparing the first required opening with the second required opening, and determining the smaller required opening between the first required opening and the second required opening as the target opening; when the actual intake pipe pressure is greater than the maximum intake pipe pressure, obtaining the actual opening of the throttle, comparing the first required opening with the actual opening, and determining the smaller required opening between the first required opening and the actual opening as the target opening; and controlling the throttle to operate at the target opening.

[0006] Optionally, determining the first required opening of the throttle valve based on the current speed and the target speed includes: calculating the difference between the current speed and the target speed to obtain a second difference; inputting the second difference into a first PID controller, and obtaining the output result of the first PID controller to obtain the first required opening, wherein the first PID controller is used to calculate the required opening of the throttle valve based on the difference between the current speed and the target speed to obtain the first required opening.

[0007] Optionally, the second required opening of the throttle valve is calculated based on the first difference, including: inputting the first difference into a second PID controller, and obtaining the output result of the second PID controller to obtain the second required opening, wherein the second PID controller is used to calculate the required opening of the throttle valve based on the difference between the actual intake pipe pressure and the maximum intake pipe pressure to obtain the second required opening.

[0008] Optionally, the control method further includes: controlling the proportional coefficient of the first PID controller to be several times the proportional coefficient of the second PID controller; controlling the integral time constant of the first PID controller to be several times the integral time constant of the second PID controller; and controlling the differential time constant of the first PID controller to be several times the differential time constant of the second PID controller.

[0009] Optionally, at least when the actual intake pipe pressure is less than or equal to the maximum intake pipe pressure, the difference between the actual intake pipe pressure and the maximum intake pipe pressure is calculated to obtain a first difference, including: obtaining the maximum and minimum values ​​of the intake pipe pressure under steady-state conditions to obtain a steady-state intake pipe pressure range, wherein the steady-state condition indicates that the throttle valve opening is maintained at a predetermined opening for a predetermined time, the maximum value of the steady-state intake pipe pressure range is the maximum value of the intake pipe pressure, and the minimum value of the steady-state intake pipe pressure range is the minimum value of the intake pipe pressure; calculating the difference between the maximum intake pipe pressure and the maximum value of the steady-state intake pipe pressure to obtain a minimum pressure difference, and calculating the difference between the maximum intake pipe pressure and the minimum value of the steady-state intake pipe pressure to obtain a maximum pressure difference; when the actual intake pipe pressure is greater than the maximum pressure difference and less than or equal to the maximum intake pipe pressure, calculating the difference between the actual intake pipe pressure and the maximum intake pipe pressure to obtain the first difference.

[0010] Optionally, the control method also includes: when the actual intake pipe pressure is less than or equal to the minimum pressure difference, obtaining the maximum opening of the throttle valve, wherein the maximum opening represents the opening when the throttle valve is fully opened; comparing the first required opening with the maximum opening, and taking the smaller required opening between the first required opening and the maximum opening as the target opening.

[0011] According to another aspect of the present application, a throttle control device is provided, wherein the throttle is connected to the engine through an intake pipe, comprising: a first determining unit for obtaining a current speed and a target speed of the engine, and determining a first required opening of the throttle according to the current speed and the target speed; a calculating unit for obtaining an actual intake pipe pressure and a maximum intake pipe pressure of the intake pipe, and calculating a difference between the actual intake pipe pressure and the maximum intake pipe pressure to obtain a first difference, at least when the actual intake pipe pressure is less than or equal to the maximum intake pipe pressure; a second determining unit for A second required opening of the throttle valve is calculated based on the first difference, the first required opening and the second required opening are compared in size, and the smaller required opening between the first required opening and the second required opening is determined as the target opening; a third determination unit is used to obtain the actual opening of the throttle valve when the actual intake pipe pressure is greater than the maximum intake pipe pressure, compare the first required opening and the actual opening in size, and determine the smaller required opening between the first required opening and the actual opening as the target opening; a control unit is used to control the throttle valve to operate at the target opening.

[0012] According to another aspect of the present application, an engine system is provided, which includes a throttle, an intake pipe, an engine, a first PID controller and a second PID controller, wherein the throttle is connected to the engine through the intake pipe, and the first PID controller and the second PID controller are used to execute any one of the control methods.

[0013] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the control methods.

[0014] According to another aspect of the present application, an electronic device is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include a method for executing any one of the control methods described.

[0015] Applying the technical solution of the present application, a first required throttle opening is determined based on the current engine speed and the target speed, and a second required throttle opening is determined based on the actual intake manifold pressure and the maximum intake manifold pressure. When the actual intake manifold pressure is less than or equal to the maximum intake manifold pressure, the second required throttle opening is calculated based on the difference between the actual intake manifold pressure and the maximum intake manifold pressure, and the smaller of the first and second required openings is determined as the target opening. When the actual intake manifold pressure is greater than the maximum intake manifold pressure, the actual throttle opening is obtained, and the smaller of the first and second required openings is determined as the target opening. Compared to the prior art methods that only adjust the engine throttle based on the deviation between the current speed and the target speed, and the deviation between the actual intake manifold pressure and the maximum intake manifold pressure, resulting in unstable engine throttle control, the present invention can determine different target openings based on the difference between the actual intake manifold pressure and the maximum intake manifold pressure. In this way, the target throttle opening can be determined based on the specific conditions of the actual intake manifold pressure, so that the throttle can be controlled to different target openings under different intake manifold pressures, achieving stable throttle control. Therefore, it can solve the problem of the prior art throttle control methods that cannot achieve stable throttle control, and achieve the goal of more stable control. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings that constitute part of this application are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation on this application. In the drawings:

[0017] Figure 1 A schematic diagram showing a throttle control method in the prior art provided by an embodiment of the present application is shown;

[0018] Figure 2 A hardware structure block diagram of a mobile terminal for executing a throttle control method provided in an embodiment of the present application is shown;

[0019] Figure 3 A schematic flow chart of a throttle control method provided in an embodiment of the present application is shown;

[0020] Figure 4 A schematic diagram showing a specific throttle control method provided in an embodiment of the present application is shown;

[0021] Figure 5 A schematic diagram showing another specific throttle control method provided in an embodiment of the present application is shown;

[0022] Figure 6 A structural block diagram of a throttle control device provided in an embodiment of the present application is shown.

[0023] The above drawings include the following reference numerals:

[0024] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. DETAILED DESCRIPTION

[0025] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] For ease of description, some nouns or terms involved in the embodiments of the present application are explained below:

[0029] Throttle: A controllable valve that controls the flow of gas into the engine. By controlling the throttle opening, the amount of air entering the engine can be controlled.

[0030] MAP: Manifold Pressure after the throttle valve, referred to as MAP. This pressure is controlled by the throttle valve. When the throttle valve is increased, MAP increases, the amount of air entering the cylinder increases, and the engine output power increases; when the throttle valve is decreased, MAP decreases, the amount of air entering the cylinder decreases, and the engine output power decreases.

[0031] External characteristic and external characteristic limit: Control the engine throttle to the bottom to obtain the torque output of the engine at different speeds. The curve connecting these speed-torque operating points is the external characteristic curve. This curve generally represents the maximum engine capacity allowed by reliability. Diesel engines usually achieve external characteristic limit by limiting the fuel supply at different speeds, while gas engines need to achieve external characteristic limit by limiting the MAP at different speeds.

[0032] PID: Proportional Integral Derivative controller, referred to as PID, is a control system or controller in industrial process control that controls the proportional, integral, and differential errors generated by comparing the real-time data collected from the controlled object with a given value.

[0033] As introduced in the background technology, the engine throttle control method in the prior art cannot achieve stable control of the throttle. In order to solve the problem that the engine throttle control method cannot achieve stable control of the throttle, the embodiments of the present application provide a throttle control method, a control device, an engine system, a computer-readable storage medium and an electronic device.

[0034] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0035] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 2 FIG. 1 is a hardware structure diagram of a mobile terminal for a throttle control method according to an embodiment of the present invention. Figure 2 As shown, the mobile terminal may include one or more ( Figure 2 Only one is shown) a processor 102 (the processor 102 may include but is not limited to a microprocessor MCU or a programmable logic device FPGA and other processing devices) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It will be understood by those skilled in the art that Figure 2 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 2 More or fewer components than shown, or with Figure 2 Different configurations shown.

[0036] Memory 104 can be used to store computer programs, such as application software programs and modules, such as the computer program corresponding to the throttle control method in the embodiment of the present invention. Processor 102 executes the computer programs stored in memory 104 to execute various functional applications and data processing, thereby implementing the aforementioned method. Memory 104 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, memory 104 may further include memory remotely located from processor 102, which can be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof. Transmission device 106 is used to receive or transmit data via a network. Specific examples of such networks may include a wireless network provided by the mobile terminal's telecommunications provider. In one example, transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0037] In this embodiment, a throttle control method running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0038] Figure 3 FIG. 1 is a flow chart of a throttle control method according to an embodiment of the present application. Figure 3 As shown, the throttle valve is connected to the engine through an intake pipe, and the method includes the following steps:

[0039] Step S201, obtaining the current speed and target speed of the engine, and determining a first required throttle opening according to the current speed and the target speed;

[0040] Specifically, the throttle is used to control the amount of gas entering the engine. Therefore, the opening of the throttle is closely related to the engine parameters, especially the speed. Therefore, the current speed and target speed of the engine are obtained, and a required opening, namely the first required opening, is determined based on the current speed and the target speed, in order to maintain the engine at the target speed.

[0041] Step S202, obtaining an actual intake pipe pressure and a maximum intake pipe pressure of the intake pipe, and at least when the actual intake pipe pressure is less than or equal to the maximum intake pipe pressure, calculating a difference between the actual intake pipe pressure and the maximum intake pipe pressure to obtain a first difference;

[0042] Specifically, during actual engine operation, the throttle must be controlled to meet the target speed while also ensuring that the actual MAP (manifold pressure after the throttle) does not exceed the limited MAP. Therefore, the MAP is also related to the throttle opening. The limited MAP is the maximum MAP. When the actual MAP is less than or equal to the maximum MAP, the corresponding throttle opening is calculated based on the difference between the actual and maximum MAPs.

[0043] Step S203, calculating a second required throttle opening based on the first difference, comparing the first required throttle opening with the second required throttle opening, and determining the smaller of the first required throttle opening and the second required throttle opening as the target throttle opening;

[0044] Specifically, a second required throttle opening is calculated based on the difference between the actual intake manifold pressure and the maximum intake manifold pressure (i.e., the first difference). This is intended to ensure that the actual MAP of the engine's throttle valve does not exceed the limited MAP. As mentioned above, it is necessary to control the throttle valve to meet the target speed requirement while also ensuring that the actual MAP does not exceed the limited MAP. Therefore, the first required throttle opening, which meets the target speed requirement, is compared with the second required throttle opening, which ensures that the actual MAP does not exceed the limited MAP. The smaller required throttle opening is then used as the target opening, ensuring that the target opening satisfies both conditions.

[0045] Step S204: When the actual intake pipe pressure is greater than the maximum intake pipe pressure, obtaining the actual throttle opening, comparing the first required opening with the actual opening, and determining the smaller of the first required opening and the actual opening as the target opening;

[0046] Specifically, when the actual intake pipe pressure is greater than the maximum intake pipe pressure, it indicates that the actual intake pipe pressure does not meet the pressure requirement. The current actual opening of the throttle is obtained, the first required opening is compared with the actual opening, and the smaller required opening is used as the target opening.

[0047] Step S205: Control the throttle valve to operate at the target opening.

[0048] Specifically, after the target opening is determined, the throttle valve is controlled to operate at the target opening.

[0049] In this embodiment, a first required throttle opening is determined based on the current engine speed and the target speed, and a second required throttle opening is determined based on the actual intake manifold pressure and the maximum intake manifold pressure. When the actual intake manifold pressure is less than or equal to the maximum intake manifold pressure, the second required throttle opening is calculated based on the difference between the actual intake manifold pressure and the maximum intake manifold pressure, and the smaller of the first and second required throttle openings is determined as the target opening. When the actual intake manifold pressure is greater than the maximum intake manifold pressure, the actual throttle opening is obtained, and the smaller of the first and second required throttle openings is determined as the target opening. Compared to the prior art methods that only adjust the engine throttle based on the deviation between the current speed and the target speed, and the deviation between the actual intake manifold pressure and the maximum intake manifold pressure, resulting in unstable engine throttle control, the present invention can determine different target openings based on the difference between the actual intake manifold pressure and the maximum intake manifold pressure. In this way, the target throttle opening can be determined based on the specific conditions of the actual intake manifold pressure, so that the throttle can be controlled to different target openings under different intake manifold pressures, achieving stable throttle control. Therefore, it can solve the problem of the prior art throttle control methods that cannot achieve stable throttle control, and achieve the goal of more stable control.

[0050] In a specific implementation, step S201 can be implemented by: calculating the difference between the current speed and the target speed to obtain a second difference; inputting the second difference into a first PID controller, and obtaining an output result of the first PID controller to obtain the first required opening, wherein the first PID controller is configured to calculate the required throttle opening based on the difference between the current speed and the target speed to obtain the first required opening. This method uses a PID control method to obtain the first required opening based on the difference between the current speed and the target speed, thereby stably maintaining the engine speed at the target speed.

[0051] Specifically, because throttle opening is related to both engine speed and MAP, two PID controllers are required to control these two aspects respectively. The first PID controller is based on the speed demand. This controller uses feedback to calculate the difference between the current engine speed and the target speed, generating a second difference. This difference is then processed by the first PID controller to output a desired opening, the first desired opening. The first PID controller consists of three components: the proportional component (P), the integral component (I), and the differential component (D).

[0052] In order to accurately calculate the second required opening, the above-mentioned step S203 of the present application can be implemented by the following steps: inputting the above-mentioned first difference into the second PID controller, and obtaining the output result of the above-mentioned second PID controller to obtain the above-mentioned second required opening, wherein the above-mentioned second PID controller is used to calculate the required opening of the above-mentioned throttle valve according to the difference between the above-mentioned actual intake pipe pressure and the above-mentioned maximum intake pipe pressure to obtain the above-mentioned second required opening. The method calculates the corresponding required opening by the difference between the actual intake pipe pressure and the maximum intake pipe pressure, that is, the second difference. In this way, the required opening can be calculated based on the intake pipe pressure, so that the second required opening meets the intake pipe pressure requirement.

[0053] In the specific implementation, the actual intake manifold pressure is fed back and subtracted from the maximum intake manifold pressure. This difference is then fed into a second PID controller. The output of the second PID controller is the second required opening, which is the required opening that meets the required intake manifold pressure. The second PID controller also consists of three components: the proportional component (P), the integral component (I), and the differential component (D).

[0054] In some optional embodiments, the method further includes the following steps: controlling the proportional coefficient of the first PID controller to be a multiple of the proportional coefficient of the second PID controller; controlling the integral time constant of the first PID controller to be a multiple of the integral time constant of the second PID controller; and controlling the differential time constant of the first PID controller to be a multiple of the differential time constant of the second PID controller. This method makes the control action of the first PID controller a multiple of the control action of the second PID controller, thereby achieving more stable engine control.

[0055] Specifically, since the speed has a greater impact on the throttle opening, in order to achieve more stable control of the engine, it is necessary to make the control action of the first PID controller several times that of the second PID controller, that is, under the action of the same control signal, the first PID controller can control the throttle opening to change by 10%, while the second controller can only control the throttle opening to change by 1%. This requires the use of proportional coefficients, integral time constants and differential time constants to achieve the above-mentioned difference in control action, that is, the proportional coefficient of the first PID controller is controlled to be several times that of the proportional coefficient of the second PID controller, the integral time constant of the first PID controller is controlled to be several times that of the integral time constant of the second PID controller, and the differential time constant of the first PID controller is controlled to be several times that of the differential time constant of the second PID controller.

[0056] In order to more stably control the throttle opening according to the intake pipe pressure and thus accurately control the engine, in some embodiments, the above-mentioned step S202 can be specifically implemented by the following steps: obtaining the maximum and minimum values ​​of the pressure of the above-mentioned intake pipe under steady-state conditions to obtain a steady-state intake pipe pressure range, wherein the above-mentioned steady-state conditions indicate that the opening of the above-mentioned throttle is maintained at a predetermined opening for a predetermined time, the maximum value of the above-mentioned steady-state intake pipe pressure range is the maximum value of the above-mentioned intake pipe pressure, and the minimum value of the above-mentioned steady-state intake pipe pressure range is the minimum value of the above-mentioned intake pipe pressure; calculating the difference between the above-mentioned maximum intake pipe pressure and the above-mentioned maximum value of the steady-state intake pipe pressure to obtain the minimum pressure difference, and calculating the difference between the above-mentioned maximum intake pipe pressure and the above-mentioned minimum value of the steady-state intake pipe pressure to obtain the maximum pressure difference; when the above-mentioned actual intake pipe pressure is greater than the above-mentioned maximum pressure difference and less than or equal to the above-mentioned maximum intake pipe pressure, calculating the difference between the above-mentioned actual intake pipe pressure and the above-mentioned maximum intake pipe pressure to obtain the above-mentioned first difference. This method further divides the intake pipe pressure, so that a more stable control of the throttle opening can be achieved by more accurately dividing the intake pipe pressure.

[0057] During the specific implementation process, when the PID control system tends to a steady-state condition, that is, the throttle valve opening is maintained at a predetermined opening for a predetermined period of time, the intake pipe pressure at this time is obtained, that is, the steady-state intake pipe pressure. The steady-state intake pipe pressure is a range, that is, the steady-state intake pipe pressure range. The maximum value of the steady-state intake pipe pressure is subtracted from the maximum value of the steady-state intake pipe pressure to obtain the minimum pressure difference. The minimum value of the steady-state intake pipe pressure is subtracted from the above-mentioned maximum intake pipe pressure to obtain the maximum pressure difference. When the actual intake pipe pressure is greater than the above-mentioned maximum pressure difference and less than or equal to the maximum intake pipe pressure, the above-mentioned first difference is calculated, and the required opening is further calculated using the first difference.

[0058] In some optional embodiments, when the actual intake manifold pressure is less than or equal to the minimum pressure difference, the maximum throttle opening is obtained, where the maximum opening represents the opening when the throttle is fully open; the first required opening is compared with the maximum opening, and the smaller of the first required opening and the maximum opening is used as the target opening. When the actual intake manifold pressure is less than or equal to the pressure difference, the required opening is the maximum opening. This allows the output of the path to be at the maximum required opening without restriction when the actual intake manifold pressure is low.

[0059] During the specific implementation process, when the actual intake pipe pressure is less than the minimum value of the pressure difference, that is, the pressure difference between the maximum intake pipe pressure and the steady-state intake pipe pressure, it indicates that the actual intake pipe pressure at this time is small, and the throttle opening can be kept at the maximum opening, that is, 100% opening. Afterwards, the first required opening obtained by the speed requirement is compared with the above-mentioned maximum opening, and the smaller required opening is also taken as the target opening to meet the requirements of speed and intake pipe pressure at the same time.

[0060] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the throttle control method of the present application will be described in detail below in conjunction with specific embodiments.

[0061] This embodiment relates to a specific throttle control method, such as Figure 4 and Figure 5 As shown, the following steps are included:

[0062] Step S1: Obtain the current speed and the target speed, calculate the difference between the current speed and the target speed (the second difference), perform PID adjustment, and calculate the throttle valve required opening according to the PID closed circuit through the A integrator (the first PID controller) to obtain the first required opening;

[0063] Step S2: Obtain the difference between the actual MAP (actual intake manifold pressure) and the limited MAP (maximum intake manifold pressure) and perform PID adjustment;

[0064] Step S3: Get a (steady-state intake manifold pressure range), and when the actual MAP < limit MAP (maximum intake manifold pressure) - a, output 100% (maximum opening), that is, through Figure 4 F channel output in;

[0065] Step S4: When (limited MAP-a (a is a calibratable constant, i.e., steady-state intake manifold pressure)) < current MAP (actual intake manifold pressure) < limited MAP (maximum intake manifold pressure), the throttle valve required opening is calculated by the B integrator (second PID controller) according to the PID closed loop, i.e., the second required opening, and outputted through the T channel. In this case, it is equivalent to Figure 5 The control method shown in the figure calculates the difference between the current speed and the target speed (the second difference), performs PID adjustment, calculates the required throttle opening according to the PID closed loop through the A integrator (the first PID controller) to obtain the first required opening, obtains the difference between the actual MAP (actual intake manifold pressure) and the limited MAP (maximum intake manifold pressure), performs PID adjustment, and calculates the required throttle opening according to the PID closed loop through the B integrator (the second PID controller), i.e., the second required opening. The smaller of the first and second required openings is taken to obtain the set throttle opening (the target opening).

[0066] Step S5: When a transient state is detected where "Current MAP (actual intake manifold pressure) > Limited MAP (maximum intake manifold pressure)" changes from not being true to being true, the initial value of the PID integrator throttle demand opening is reset to the current actual throttle opening (actual opening);

[0067] Step S6: Compare the first required opening with the maximum opening, the first required opening with the second required opening, or the first required opening with the current actual opening (actual opening), and take the smaller required opening as the throttle setting opening, i.e., the target opening.

[0068] The embodiments of the present application also provide a throttle control device. It should be noted that the throttle control device of the embodiments of the present application can be used to execute the throttle control method provided in the embodiments of the present application. The device is used to implement the above-mentioned embodiments and preferred embodiments, and the details that have been explained will not be repeated here. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and conceivable.

[0069] The following is an introduction to the throttle control device provided in the embodiments of the present application.

[0070] Figure 6 Schematic diagram of a throttle control device according to an embodiment of the present application. Figure 6 As shown, the throttle valve is connected to the engine through an intake pipe, and the device includes:

[0071] a first determining unit 10, configured to obtain a current speed and a target speed of the engine, and determine a first required opening of the throttle valve according to the current speed and the target speed;

[0072] Specifically, the throttle is used to control the amount of gas entering the engine. Therefore, the opening of the throttle is closely related to the engine parameters, especially the speed. Therefore, the current speed and target speed of the engine are obtained, and a required opening, namely the first required opening, is determined based on the current speed and the target speed, in order to maintain the engine at the target speed.

[0073] a calculation unit 20 configured to obtain an actual intake pipe pressure and a maximum intake pipe pressure of the intake pipe, and to calculate a difference between the actual intake pipe pressure and the maximum intake pipe pressure to obtain a first difference, at least when the actual intake pipe pressure is less than or equal to the maximum intake pipe pressure;

[0074] Specifically, during actual engine operation, the throttle must be controlled to meet the target speed while also ensuring that the actual MAP (manifold pressure after the throttle) does not exceed the limited MAP. Therefore, the MAP is also related to the throttle opening. The limited MAP is the maximum MAP. When the actual MAP is less than or equal to the maximum MAP, the corresponding throttle opening is calculated based on the difference between the actual and maximum MAPs.

[0075] a second determining unit 30 for calculating a second required throttle opening according to the first difference, comparing the first required throttle opening with the second required throttle opening, and determining the smaller of the first required throttle opening and the second required throttle opening as a target throttle opening;

[0076] Specifically, a second required throttle opening is calculated based on the difference between the actual intake manifold pressure and the maximum intake manifold pressure (i.e., the first difference). This is intended to ensure that the actual MAP of the engine's throttle valve does not exceed the limited MAP. As mentioned above, it is necessary to control the throttle valve to meet the target speed requirement while also ensuring that the actual MAP does not exceed the limited MAP. Therefore, the first required throttle opening, which meets the target speed requirement, is compared with the second required throttle opening, which ensures that the actual MAP does not exceed the limited MAP. The smaller required throttle opening is then used as the target opening, ensuring that the target opening satisfies both conditions.

[0077] a third determining unit 40 configured to, when the actual intake pipe pressure is greater than the maximum intake pipe pressure, obtain the actual throttle opening, compare the first required opening with the actual opening, and determine the smaller of the first required opening and the actual opening as the target opening;

[0078] Specifically, when the actual intake pipe pressure is greater than the maximum intake pipe pressure, it indicates that the actual intake pipe pressure does not meet the pressure requirement. The current actual opening of the throttle is obtained, the first required opening is compared with the actual opening, and the smaller required opening is used as the target opening.

[0079] The control unit 50 is used to control the throttle valve to operate at the target opening.

[0080] Specifically, after the target opening is determined, the throttle valve is controlled to operate at the target opening.

[0081] In this embodiment, a first required throttle opening is determined based on the current engine speed and the target speed, and a second required throttle opening is determined based on the actual intake manifold pressure and the maximum intake manifold pressure. When the actual intake manifold pressure is less than or equal to the maximum intake manifold pressure, the second required throttle opening is calculated based on the difference between the actual intake manifold pressure and the maximum intake manifold pressure, and the smaller of the first and second required throttle openings is determined as the target opening. When the actual intake manifold pressure is greater than the maximum intake manifold pressure, the actual throttle opening is obtained, and the smaller of the first and second required throttle openings is determined as the target opening. Compared to prior art devices that only adjust the engine throttle based on the deviation between the current speed and the target speed, and the deviation between the actual intake manifold pressure and the maximum intake manifold pressure, resulting in unstable engine throttle control, the present invention can determine different target openings based on the difference between the actual intake manifold pressure and the maximum intake manifold pressure. This allows the target throttle opening to be determined based on the specific conditions of the actual intake manifold pressure, allowing the throttle to be controlled to different target openings under different intake manifold pressures, thereby achieving stable throttle control. Therefore, the problem of prior art throttle control devices being unable to achieve stable throttle control can be resolved, achieving more stable control.

[0082] In a specific implementation, the first determination unit includes a first calculation module and a first acquisition module. The first calculation module is configured to calculate the difference between the current speed and the target speed to obtain a second difference. The first acquisition module is configured to input the second difference into a first PID controller and obtain an output result of the first PID controller to obtain the first required opening. The first PID controller is configured to calculate the required throttle opening based on the difference between the current speed and the target speed to obtain the first required opening. The device obtains the first required opening through a PID control device based on the difference between the current speed and the target speed, thereby stably maintaining the engine speed at the target speed.

[0083] Specifically, because throttle opening is related to both engine speed and MAP, two PID controllers are required to control these two aspects respectively. The first PID controller is based on the speed demand. This controller uses feedback to calculate the difference between the current engine speed and the target speed, generating a second difference. This difference is then processed by the first PID controller to output a desired opening, the first desired opening. The first PID controller consists of three components: the proportional component (P), the integral component (I), and the differential component (D).

[0084] To accurately calculate the second required throttle opening, the second determination unit includes a second acquisition module configured to input the first difference into a second PID controller and acquire an output from the second PID controller to obtain the second required throttle opening. The second PID controller is configured to calculate the required throttle opening based on the difference between the actual intake manifold pressure and the maximum intake manifold pressure to obtain the second required throttle opening. The device calculates the required throttle opening based on the second difference between the actual intake manifold pressure and the maximum intake manifold pressure. This allows the required throttle opening to be calculated based on the intake manifold pressure, ensuring that the second required throttle opening meets the intake manifold pressure requirement.

[0085] In the specific implementation, the actual intake manifold pressure is fed back and subtracted from the maximum intake manifold pressure. This difference is then fed into a second PID controller. The output of the second PID controller is the second required opening, which is the required opening that meets the required intake manifold pressure. The second PID controller also consists of three components: the proportional component (P), the integral component (I), and the differential component (D).

[0086] In some optional embodiments, the device further includes a first control module, a second control module, and a third control module. The first control module is configured to control the proportional coefficient of the first PID controller to be a multiple of the proportional coefficient of the second PID controller; the second control module is configured to control the integral time constant of the first PID controller to be a multiple of the integral time constant of the second PID controller; and the third control module is configured to control the differential time constant of the first PID controller to be a multiple of the differential time constant of the second PID controller. This device enables the control action of the first PID controller to be a multiple of the control action of the second PID controller, thereby achieving more stable engine control.

[0087] Specifically, since the speed has a greater impact on the throttle opening, in order to achieve more stable control of the engine, it is necessary to make the control action of the first PID controller several times that of the second PID controller, that is, under the action of the same control signal, the first PID controller can control the throttle opening to change by 10%, while the second controller can only control the throttle opening to change by 1%. This requires the use of proportional coefficients, integral time constants and differential time constants to achieve the above-mentioned difference in control action, that is, the proportional coefficient of the first PID controller is controlled to be several times that of the proportional coefficient of the second PID controller, the integral time constant of the first PID controller is controlled to be several times that of the integral time constant of the second PID controller, and the differential time constant of the first PID controller is controlled to be several times that of the differential time constant of the second PID controller.

[0088] In order to more stably control the throttle opening according to the intake pipe pressure and thereby accurately control the engine, in some embodiments, the calculation unit includes a third acquisition module, a second calculation module, and a third calculation module. The third acquisition module is configured to obtain the maximum and minimum values ​​of the intake pipe pressure under steady-state operating conditions to obtain a steady-state intake pipe pressure range, wherein the steady-state operating condition indicates that the throttle opening is maintained at a predetermined opening for a predetermined time, the maximum value of the steady-state intake pipe pressure range is the maximum value of the intake pipe pressure, and the minimum value of the steady-state intake pipe pressure range is the minimum value of the intake pipe pressure. The second calculation module is configured to calculate the difference between the maximum intake pipe pressure and the maximum steady-state intake pipe pressure to obtain a minimum pressure difference, and to calculate the difference between the maximum intake pipe pressure and the minimum steady-state intake pipe pressure to obtain a maximum pressure difference. The third calculation module is configured to calculate the difference between the actual intake pipe pressure and the maximum intake pipe pressure to obtain the first difference when the actual intake pipe pressure is greater than the maximum pressure difference and less than or equal to the maximum intake pipe pressure. The device further divides the intake pipe pressure, so that more stable control of the throttle opening can be achieved by more accurately dividing the intake pipe pressure.

[0089] During the specific implementation process, when the PID control system tends to a steady-state condition, that is, the throttle valve opening is maintained at a predetermined opening for a predetermined period of time, the intake pipe pressure at this time is obtained, that is, the steady-state intake pipe pressure. The steady-state intake pipe pressure is a range, that is, the steady-state intake pipe pressure range. The maximum value of the steady-state intake pipe pressure is subtracted from the maximum value of the steady-state intake pipe pressure to obtain the minimum pressure difference. The minimum value of the steady-state intake pipe pressure is subtracted from the above-mentioned maximum intake pipe pressure to obtain the maximum pressure difference. When the actual intake pipe pressure is greater than the above-mentioned maximum pressure difference and less than or equal to the maximum intake pipe pressure, the above-mentioned first difference is calculated, and the required opening is further calculated using the first difference.

[0090] In some optional embodiments, the device further includes an acquisition unit and a determination unit, wherein the acquisition unit is configured to acquire the maximum opening of the throttle valve when the actual intake pipe pressure is less than or equal to the minimum pressure difference, wherein the maximum opening represents the opening when the throttle valve is fully open; and the determination unit is configured to compare the first required opening with the maximum opening and determine the smaller of the first required opening and the maximum opening as the target opening. When the actual intake pipe pressure is less than or equal to the pressure difference, the device sets the required opening to the maximum opening. This allows the output of the path to be at the maximum required opening without restriction when the actual intake pipe pressure is low.

[0091] During the specific implementation process, when the actual intake pipe pressure is less than the minimum value of the pressure difference, that is, the pressure difference between the maximum intake pipe pressure and the steady-state intake pipe pressure, it indicates that the actual intake pipe pressure at this time is small, and the throttle opening can be kept at the maximum opening, that is, 100% opening. Afterwards, the first required opening obtained by the speed requirement is compared with the above-mentioned maximum opening, and the smaller required opening is also taken as the target opening to meet the requirements of speed and intake pipe pressure at the same time.

[0092] The throttle control device includes a processor and a memory. The first determination unit, calculation unit, second determination unit, third determination unit, and control unit are all stored as program units in the memory. The processor executes the program units stored in the memory to implement the corresponding functions. The above modules are all located in the same processor; alternatively, the above modules can be located in different processors in any combination.

[0093] The processor contains a kernel, which retrieves the corresponding program unit from the memory. There can be one or more kernels, and the throttle valve can be stably controlled by adjusting the kernel parameters.

[0094] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0095] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program. When the program is executed, the device where the computer-readable storage medium is located is controlled to execute the throttle control method.

[0096] Specifically, the throttle control method includes:

[0097] Step S201, obtaining the current speed and target speed of the engine, and determining a first required throttle opening according to the current speed and the target speed;

[0098] Specifically, the throttle is used to control the amount of gas entering the engine. Therefore, the opening of the throttle is closely related to the engine parameters, especially the speed. Therefore, the current speed and target speed of the engine are obtained, and a required opening, namely the first required opening, is determined based on the current speed and the target speed, in order to maintain the engine at the target speed.

[0099] Step S202, obtaining an actual intake pipe pressure and a maximum intake pipe pressure of the intake pipe, and at least when the actual intake pipe pressure is less than or equal to the maximum intake pipe pressure, calculating a difference between the actual intake pipe pressure and the maximum intake pipe pressure to obtain a first difference;

[0100] Specifically, during actual engine operation, the throttle must be controlled to meet the target speed while also ensuring that the actual MAP (manifold pressure after the throttle) does not exceed the limited MAP. Therefore, the MAP is also related to the throttle opening. The limited MAP is the maximum MAP. When the actual MAP is less than or equal to the maximum MAP, the corresponding throttle opening is calculated based on the difference between the actual and maximum MAPs.

[0101] Step S203, calculating a second required throttle opening based on the first difference, comparing the first required throttle opening with the second required throttle opening, and determining the smaller of the first required throttle opening and the second required throttle opening as the target throttle opening;

[0102] Specifically, a second required throttle opening is calculated based on the difference between the actual intake manifold pressure and the maximum intake manifold pressure (i.e., the first difference). This is intended to ensure that the actual MAP of the engine's throttle valve does not exceed the limited MAP. As mentioned above, it is necessary to control the throttle valve to meet the target speed requirement while also ensuring that the actual MAP does not exceed the limited MAP. Therefore, the first required throttle opening, which meets the target speed requirement, is compared with the second required throttle opening, which ensures that the actual MAP does not exceed the limited MAP. The smaller required throttle opening is then used as the target opening, ensuring that the target opening satisfies both conditions.

[0103] Step S204: When the actual intake pipe pressure is greater than the maximum intake pipe pressure, obtaining the actual throttle opening, comparing the first required opening with the actual opening, and determining the smaller of the first required opening and the actual opening as the target opening;

[0104] Specifically, when the actual intake pipe pressure is greater than the maximum intake pipe pressure, it indicates that the actual intake pipe pressure does not meet the pressure requirement. The current actual opening of the throttle is obtained, the first required opening is compared with the actual opening, and the smaller required opening is used as the target opening.

[0105] Step S205: Control the throttle valve to operate at the target opening.

[0106] Specifically, after the target opening is determined, the throttle valve is controlled to operate at the target opening.

[0107] Optionally, determining the first required opening of the throttle valve based on the current speed and the target speed includes: calculating the difference between the current speed and the target speed to obtain a second difference; inputting the second difference into a first PID controller, and obtaining an output result of the first PID controller to obtain the first required opening, wherein the first PID controller is used to calculate the required opening of the throttle valve based on the difference between the current speed and the target speed to obtain the first required opening.

[0108] Optionally, the second required opening of the throttle valve is calculated based on the above-mentioned first difference, including: inputting the above-mentioned first difference into a second PID controller, and obtaining the output result of the above-mentioned second PID controller to obtain the above-mentioned second required opening, wherein the above-mentioned second PID controller is used to calculate the required opening of the throttle valve based on the difference between the above-mentioned actual intake pipe pressure and the above-mentioned maximum intake pipe pressure to obtain the above-mentioned second required opening.

[0109] Optionally, the above-mentioned control method also includes: controlling the proportional coefficient of the above-mentioned first PID controller to be several times the proportional coefficient of the above-mentioned second PID controller; controlling the integral time constant of the above-mentioned first PID controller to be several times the integral time constant of the above-mentioned second PID controller; and controlling the differential time constant of the above-mentioned first PID controller to be several times the differential time constant of the above-mentioned second PID controller.

[0110] Optionally, at least when the above-mentioned actual intake pipe pressure is less than or equal to the above-mentioned maximum intake pipe pressure, the difference between the above-mentioned actual intake pipe pressure and the above-mentioned maximum intake pipe pressure is calculated to obtain a first difference, including: obtaining the maximum and minimum values ​​of the pressure of the above-mentioned intake pipe under steady-state conditions to obtain a steady-state intake pipe pressure range, wherein the above-mentioned steady-state conditions indicate that the opening of the above-mentioned throttle valve is maintained at a predetermined opening for a predetermined time, the maximum value of the above-mentioned steady-state intake pipe pressure range is the maximum value of the pressure of the above-mentioned intake pipe, and the minimum value of the above-mentioned steady-state intake pipe pressure range is the minimum value of the above-mentioned intake pipe pressure; calculating the difference between the above-mentioned maximum intake pipe pressure and the maximum value of the above-mentioned steady-state intake pipe pressure to obtain the minimum pressure difference, and calculating the difference between the above-mentioned maximum intake pipe pressure and the minimum value of the above-mentioned steady-state intake pipe pressure to obtain the maximum pressure difference; when the above-mentioned actual intake pipe pressure is greater than the above-mentioned maximum pressure difference and less than or equal to the above-mentioned maximum intake pipe pressure, calculating the difference between the above-mentioned actual intake pipe pressure and the above-mentioned maximum intake pipe pressure to obtain the above-mentioned first difference.

[0111] Optionally, the above-mentioned control method also includes: when the above-mentioned actual intake pipe pressure is less than or equal to the above-mentioned minimum pressure difference, obtaining the maximum opening of the above-mentioned throttle valve, wherein the above-mentioned maximum opening represents the opening when the above-mentioned throttle valve is fully opened; comparing the size of the above-mentioned first required opening and the above-mentioned maximum opening, and taking the smaller required opening between the above-mentioned first required opening and the above-mentioned maximum opening as the above-mentioned target opening.

[0112] An embodiment of the present invention provides a device, comprising a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, at least the following steps are performed:

[0113] Step S201, obtaining the current speed and target speed of the engine, and determining a first required throttle opening according to the current speed and the target speed;

[0114] Step S202, obtaining an actual intake pipe pressure and a maximum intake pipe pressure of the intake pipe, and at least when the actual intake pipe pressure is less than or equal to the maximum intake pipe pressure, calculating a difference between the actual intake pipe pressure and the maximum intake pipe pressure to obtain a first difference;

[0115] Step S203, calculating a second required throttle opening based on the first difference, comparing the first required throttle opening with the second required throttle opening, and determining the smaller of the first required throttle opening and the second required throttle opening as the target throttle opening;

[0116] Step S204: When the actual intake pipe pressure is greater than the maximum intake pipe pressure, obtaining the actual throttle opening, comparing the first required opening with the actual opening, and determining the smaller of the first required opening and the actual opening as the target opening;

[0117] Step S205: Control the throttle valve to operate at the target opening.

[0118] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0119] Optionally, determining the first required opening of the throttle valve based on the current speed and the target speed includes: calculating the difference between the current speed and the target speed to obtain a second difference; inputting the second difference into a first PID controller, and obtaining an output result of the first PID controller to obtain the first required opening, wherein the first PID controller is used to calculate the required opening of the throttle valve based on the difference between the current speed and the target speed to obtain the first required opening.

[0120] Optionally, the second required opening of the throttle valve is calculated based on the above-mentioned first difference, including: inputting the above-mentioned first difference into a second PID controller, and obtaining the output result of the above-mentioned second PID controller to obtain the above-mentioned second required opening, wherein the above-mentioned second PID controller is used to calculate the required opening of the throttle valve based on the difference between the above-mentioned actual intake pipe pressure and the above-mentioned maximum intake pipe pressure to obtain the above-mentioned second required opening.

[0121] Optionally, the above-mentioned control method also includes: controlling the proportional coefficient of the above-mentioned first PID controller to be several times the proportional coefficient of the above-mentioned second PID controller; controlling the integral time constant of the above-mentioned first PID controller to be several times the integral time constant of the above-mentioned second PID controller; and controlling the differential time constant of the above-mentioned first PID controller to be several times the differential time constant of the above-mentioned second PID controller.

[0122] Optionally, at least when the above-mentioned actual intake pipe pressure is less than or equal to the above-mentioned maximum intake pipe pressure, the difference between the above-mentioned actual intake pipe pressure and the above-mentioned maximum intake pipe pressure is calculated to obtain a first difference, including: obtaining the maximum and minimum values ​​of the pressure of the above-mentioned intake pipe under steady-state conditions to obtain a steady-state intake pipe pressure range, wherein the above-mentioned steady-state conditions indicate that the opening of the above-mentioned throttle valve is maintained at a predetermined opening for a predetermined time, the maximum value of the above-mentioned steady-state intake pipe pressure range is the maximum value of the pressure of the above-mentioned intake pipe, and the minimum value of the above-mentioned steady-state intake pipe pressure range is the minimum value of the above-mentioned intake pipe pressure; calculating the difference between the above-mentioned maximum intake pipe pressure and the maximum value of the above-mentioned steady-state intake pipe pressure to obtain the minimum pressure difference, and calculating the difference between the above-mentioned maximum intake pipe pressure and the minimum value of the above-mentioned steady-state intake pipe pressure to obtain the maximum pressure difference; when the above-mentioned actual intake pipe pressure is greater than the above-mentioned maximum pressure difference and less than or equal to the above-mentioned maximum intake pipe pressure, calculating the difference between the above-mentioned actual intake pipe pressure and the above-mentioned maximum intake pipe pressure to obtain the above-mentioned first difference.

[0123] Optionally, the above-mentioned control method also includes: when the above-mentioned actual intake pipe pressure is less than or equal to the above-mentioned minimum pressure difference, obtaining the maximum opening of the above-mentioned throttle valve, wherein the above-mentioned maximum opening represents the opening when the above-mentioned throttle valve is fully opened; comparing the size of the above-mentioned first required opening and the above-mentioned maximum opening, and taking the smaller required opening between the above-mentioned first required opening and the above-mentioned maximum opening as the above-mentioned target opening.

[0124] The present application also provides a computer program product, which, when executed on a data processing device, is adapted to execute a program for initializing at least the following method steps:

[0125] Step S201, obtaining the current speed and target speed of the engine, and determining a first required throttle opening according to the current speed and the target speed;

[0126] Step S202, obtaining an actual intake pipe pressure and a maximum intake pipe pressure of the intake pipe, and at least when the actual intake pipe pressure is less than or equal to the maximum intake pipe pressure, calculating a difference between the actual intake pipe pressure and the maximum intake pipe pressure to obtain a first difference;

[0127] Step S203, calculating a second required throttle opening based on the first difference, comparing the first required throttle opening with the second required throttle opening, and determining the smaller of the first required throttle opening and the second required throttle opening as the target throttle opening;

[0128] Step S204: When the actual intake pipe pressure is greater than the maximum intake pipe pressure, obtaining the actual throttle opening, comparing the first required opening with the actual opening, and determining the smaller of the first required opening and the actual opening as the target opening;

[0129] Step S205: Control the throttle valve to operate at the target opening.

[0130] Optionally, determining the first required opening of the throttle valve based on the current speed and the target speed includes: calculating the difference between the current speed and the target speed to obtain a second difference; inputting the second difference into a first PID controller, and obtaining an output result of the first PID controller to obtain the first required opening, wherein the first PID controller is used to calculate the required opening of the throttle valve based on the difference between the current speed and the target speed to obtain the first required opening.

[0131] Optionally, the second required opening of the throttle valve is calculated based on the above-mentioned first difference, including: inputting the above-mentioned first difference into a second PID controller, and obtaining the output result of the above-mentioned second PID controller to obtain the above-mentioned second required opening, wherein the above-mentioned second PID controller is used to calculate the required opening of the throttle valve based on the difference between the above-mentioned actual intake pipe pressure and the above-mentioned maximum intake pipe pressure to obtain the above-mentioned second required opening.

[0132] Optionally, the above-mentioned control method also includes: controlling the proportional coefficient of the above-mentioned first PID controller to be several times the proportional coefficient of the above-mentioned second PID controller; controlling the integral time constant of the above-mentioned first PID controller to be several times the integral time constant of the above-mentioned second PID controller; and controlling the differential time constant of the above-mentioned first PID controller to be several times the differential time constant of the above-mentioned second PID controller.

[0133] Optionally, at least when the above-mentioned actual intake pipe pressure is less than or equal to the above-mentioned maximum intake pipe pressure, the difference between the above-mentioned actual intake pipe pressure and the above-mentioned maximum intake pipe pressure is calculated to obtain a first difference, including: obtaining the maximum and minimum values ​​of the pressure of the above-mentioned intake pipe under steady-state conditions to obtain a steady-state intake pipe pressure range, wherein the above-mentioned steady-state conditions indicate that the opening of the above-mentioned throttle valve is maintained at a predetermined opening for a predetermined time, the maximum value of the above-mentioned steady-state intake pipe pressure range is the maximum value of the pressure of the above-mentioned intake pipe, and the minimum value of the above-mentioned steady-state intake pipe pressure range is the minimum value of the above-mentioned intake pipe pressure; calculating the difference between the above-mentioned maximum intake pipe pressure and the maximum value of the above-mentioned steady-state intake pipe pressure to obtain the minimum pressure difference, and calculating the difference between the above-mentioned maximum intake pipe pressure and the minimum value of the above-mentioned steady-state intake pipe pressure to obtain the maximum pressure difference; when the above-mentioned actual intake pipe pressure is greater than the above-mentioned maximum pressure difference and less than or equal to the above-mentioned maximum intake pipe pressure, calculating the difference between the above-mentioned actual intake pipe pressure and the above-mentioned maximum intake pipe pressure to obtain the above-mentioned first difference.

[0134] Optionally, the above-mentioned control method also includes: when the above-mentioned actual intake pipe pressure is less than or equal to the above-mentioned minimum pressure difference, obtaining the maximum opening of the above-mentioned throttle valve, wherein the above-mentioned maximum opening represents the opening when the above-mentioned throttle valve is fully opened; comparing the size of the above-mentioned first required opening and the above-mentioned maximum opening, and taking the smaller required opening between the above-mentioned first required opening and the above-mentioned maximum opening as the above-mentioned target opening.

[0135] Obviously, those skilled in the art will appreciate that the various modules or steps of the present invention described above can be implemented using a general-purpose computing device, can be centralized on a single computing device, or can be distributed across a network of multiple computing devices. They can be implemented using program code executable by the computing device, and thus, can be stored in a storage device and executed by the computing device. In some cases, the steps shown or described herein can be performed in a different order than that shown, or can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0136] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0137] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0138] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0139] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0140] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0141] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0142] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0143] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0144] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0145] 1) In the throttle control method of the present application, a first required throttle opening is determined based on the current engine speed and the target speed, and a second required throttle opening is determined based on the actual intake manifold pressure and the maximum intake manifold pressure. When the actual intake manifold pressure is less than or equal to the maximum intake manifold pressure, the second required throttle opening is calculated based on the difference between the actual intake manifold pressure and the maximum intake manifold pressure, and the smaller of the first and second required throttle openings is determined as the target opening. When the actual intake manifold pressure is greater than the maximum intake manifold pressure, the actual throttle opening is obtained, and the smaller of the first and second required throttle openings is determined as the target opening. Compared to the prior art methods that only adjust the engine throttle based on the deviation between the current speed and the target speed, and the deviation between the actual intake manifold pressure and the maximum intake manifold pressure, resulting in unstable engine throttle control, the present invention can determine different target openings based on the difference between the actual intake manifold pressure and the maximum intake manifold pressure. In this way, the target throttle opening can be determined based on the specific conditions of the actual intake manifold pressure, so that the throttle can be controlled to different target openings under different intake manifold pressures, achieving stable throttle control. Therefore, it can solve the problem of the prior art throttle control methods that cannot achieve stable throttle control, and achieve the goal of more stable control.

[0146] 2) In the throttle control device of the present application, a first required throttle opening is determined based on the current engine speed and the target speed, and a second required throttle opening is determined based on the actual intake manifold pressure and the maximum intake manifold pressure. When the actual intake manifold pressure is less than or equal to the maximum intake manifold pressure, the second required throttle opening is calculated based on the difference between the actual intake manifold pressure and the maximum intake manifold pressure, and the smaller of the first and second required throttle openings is determined as the target opening. When the actual intake manifold pressure is greater than the maximum intake manifold pressure, the actual throttle opening is obtained, and the smaller of the first and second required throttle openings is determined as the target opening. Compared to prior art devices that only adjust the engine throttle based on the deviation between the current speed and the target speed, and the deviation between the actual intake manifold pressure and the maximum intake manifold pressure, resulting in unstable engine throttle control, the present invention can determine different target openings based on the difference between the actual intake manifold pressure and the maximum intake manifold pressure. This allows the target throttle opening to be determined based on the specific conditions of the actual intake manifold pressure, allowing the throttle to be controlled to different target openings under different intake manifold pressures, thereby achieving stable throttle control. Therefore, the problem of prior art throttle control devices being unable to achieve stable throttle control can be resolved, achieving more stable control.

[0147] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A throttle control method, characterized in that: The throttle valve is connected to the engine through an intake pipe, and comprises: Acquiring a current speed and a target speed of the engine, and determining a first required opening of the throttle valve according to the current speed and the target speed; obtaining an actual intake pipe pressure and a maximum intake pipe pressure of the intake pipe, and calculating a difference between the actual intake pipe pressure and the maximum intake pipe pressure to obtain a first difference, at least when the actual intake pipe pressure is less than or equal to the maximum intake pipe pressure; calculating a second required throttle opening according to the first difference, comparing the first required opening with the second required opening, and determining the smaller of the first required opening and the second required opening as a target opening; When the actual intake pipe pressure is greater than the maximum intake pipe pressure, obtaining the actual throttle opening, comparing the first required opening with the actual opening, and determining the smaller of the first required opening and the actual opening as the target opening; The throttle valve is controlled to operate at the target opening.

2. The control method according to claim 1, characterized in that: Determining a first required throttle opening according to the current speed and the target speed includes: Calculating a difference between the current speed and the target speed to obtain a second difference; The second difference is input into a first PID controller, and an output result of the first PID controller is obtained to obtain the first required opening, wherein the first PID controller is used to calculate the required opening of the throttle valve according to the difference between the current speed and the target speed to obtain the first required opening.

3. The control method according to claim 2, characterized in that: Calculating a second required throttle opening according to the first difference includes: The first difference is input into a second PID controller, and an output result of the second PID controller is obtained to obtain the second required opening, wherein the second PID controller is used to calculate the required throttle opening according to the difference between the actual intake pipe pressure and the maximum intake pipe pressure to obtain the second required opening.

4. The control method according to claim 3, characterized in that: The control method further includes: Controlling the proportional coefficient of the first PID controller to be a multiple of the proportional coefficient of the second PID controller; Controlling the integral time constant of the first PID controller to be a multiple of the integral time constant of the second PID controller; The differential time constant of the first PID controller is controlled to be several times the differential time constant of the second PID controller.

5. The control method according to claim 1, characterized in that: At least when the actual intake pipe pressure is less than or equal to the maximum intake pipe pressure, calculating the difference between the actual intake pipe pressure and the maximum intake pipe pressure to obtain a first difference includes: Obtaining a maximum value and a minimum value of the intake pipe pressure under a steady-state operating condition to obtain a steady-state intake pipe pressure range, wherein the steady-state operating condition indicates that the throttle valve opening is maintained at a predetermined opening for a predetermined time, the maximum value of the steady-state intake pipe pressure range is the maximum value of the intake pipe pressure, and the minimum value of the steady-state intake pipe pressure range is the minimum value of the intake pipe pressure; Calculating the difference between the maximum intake pipe pressure and the maximum value of the steady-state intake pipe pressure to obtain a minimum pressure difference, and calculating the difference between the maximum intake pipe pressure and the minimum value of the steady-state intake pipe pressure to obtain a maximum pressure difference; When the actual intake pipe pressure is greater than the maximum pressure difference and less than or equal to the maximum intake pipe pressure, the difference between the actual intake pipe pressure and the maximum intake pipe pressure is calculated to obtain the first difference.

6. The control method according to claim 5, characterized in that: The control method further includes: When the actual intake pipe pressure is less than or equal to the minimum pressure difference, obtaining the maximum opening of the throttle valve, wherein the maximum opening represents the opening when the throttle valve is fully opened; The first required opening degree is compared with the maximum opening degree, and the smaller required opening degree between the first required opening degree and the maximum opening degree is used as the target opening degree.

7. A throttle control device, characterized in that: The throttle valve is connected to the engine through an intake pipe, and comprises: a first determining unit, configured to obtain a current speed and a target speed of the engine, and determine a first required opening of the throttle valve according to the current speed and the target speed; a calculation unit, configured to obtain an actual intake pipe pressure and a maximum intake pipe pressure of the intake pipe, and calculate a difference between the actual intake pipe pressure and the maximum intake pipe pressure to obtain a first difference, at least when the actual intake pipe pressure is less than or equal to the maximum intake pipe pressure; a second determining unit, configured to calculate a second required throttle opening according to the first difference, compare the first required opening with the second required opening, and determine the smaller of the first required opening and the second required opening as a target opening; a third determining unit, configured to, when the actual intake pipe pressure is greater than the maximum intake pipe pressure, obtain the actual throttle opening, compare the first required opening with the actual opening, and determine the smaller of the first required opening and the actual opening as the target opening; A control unit is used to control the throttle valve to operate at the target opening.

8. An engine system, characterized in that: The engine system includes a throttle, an intake pipe, an engine and a controller, wherein the throttle is connected to the engine through the intake pipe, and the controller is used to execute the control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the control method according to any one of claims 1 to 6.

10. An electronic device, characterized in that: include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include instructions for executing the control method according to any one of claims 1 to 6.

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