Engine throttle opening measurement self-calibration method, system, equipment, program product and medium

Abstract

The invention relates to the technical field of electronic fuel injection engine control, in particular to an engine throttle opening degree measurement self-calibration method, system, device, program product and medium, and the method comprises the steps: collecting position signal values of two throttle valves and the output quantity of a steering engine; calibrating the positions of the throttle valves according to the position signal values of the two throttle valves and the output quantity of the steering engine; and controlling the positions of the two throttle valves according to the calibrated throttle valve position values. Through signal redundancy processing, measurement errors caused by drifting and faults of the throttle position sensor can be effectively eliminated, and safe and reliable flight of the unmanned aerial vehicle is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of electronic fuel injection engine control, and in particular to an engine throttle opening measurement self-calibration method, system, equipment, program product and medium. Background Art

[0002] The throttle is a key component of the intake system of the gasoline engine of the drone. It adjusts the amount of air entering the engine by opening and closing. When the throttle opening increases, more air enters the engine, and the amount of fuel injection increases, which increases the engine speed and output power. Therefore, the measurement accuracy of the throttle opening directly determines the performance of the engine control system, which is crucial for the stable flight and safe operation of the drone.

[0003] The existing UAV engine throttle opening signal is often measured by the throttle position sensor. The sensor can measure the throttle opening in real time and feed back the measurement data to the engine electronic control unit (ECU). Due to the sensitivity and nonlinearity of the throttle position sensor itself, the measurement results may be inaccurate; environmental factors such as temperature, humidity, vibration, electromagnetic interference and noise will also affect the performance of the sensor, causing the throttle opening signal measurement data to be distorted, causing ECU control deviations, which may have an adverse effect on flight control; interference during signal acquisition, processing and transmission will also affect the measurement accuracy, making it difficult to meet the needs of accurate throttle opening measurement, restricting the flight stability of the UAV.

[0004] Therefore, it is necessary to provide an engine throttle opening measurement self-calibration method, system, device, program product and medium to solve the above problems. Summary of the invention

[0005] The present invention provides an engine throttle opening measurement self-calibration method, system, device, program product and medium to solve the problem in the prior art that the drift, fluctuation or failure of the throttle position sensor signal leads to abnormal engine operation, thereby affecting the safe and stable flight of the UAV system.

[0006] The present invention provides a method for self-calibration of engine throttle opening measurement, which adopts the following technical scheme, including: Collect the position signal values ​​of the two throttles of the engine, wherein the two throttles are connected to the steering gear through a transmission assembly, and the opening and closing actions of the two throttles are synchronously controlled by the flight control machine controlling the steering gear; If the absolute value of the difference between the two position signal values ​​is less than or equal to a preset first difference threshold, taking the average value of the two position signal values ​​as the calibrated throttle position value; If the absolute value of the difference between the two position signal values ​​is greater than the preset first difference threshold, determine whether the output is valid according to the output of the servo and the control amount. If not, use the maximum position signal value of the two position signal values ​​as the calibrated throttle position value. If valid, use the mapping formula to convert the output of the servo into the target throttle position signal value and proceed to the next step. Obtaining target absolute values ​​of differences between the target throttle position signal value and the position signal values ​​of the two throttles respectively; if both target absolute values ​​of the difference are greater than a second difference threshold, taking the target throttle position signal value as the calibrated throttle position value; if at least one target absolute value of the difference is less than or equal to the second difference threshold, obtaining the calibrated throttle position value according to the magnitude of the target absolute value of the difference; The positions of the two throttle valves are controlled according to the calibrated throttle position values.

[0007] Preferably, the position signal values ​​of the two throttle valves are collected using a throttle position sensor.

[0008] Preferably, the step of judging whether the output is valid according to the output and control amount of the servo is as follows: if the deviation between the control and output of the servo is less than the deviation threshold, the output is valid; if the deviation between the control and output of the servo is greater than or equal to the deviation threshold, the output is invalid.

[0009] Preferably, the mapping formula is:

[0010] in, is the first parameter obtained by fitting the experimental data; is the second parameter obtained by fitting the experimental data; is the output of the servo; is the target throttle position signal value.

[0011] Preferably, the transmission assembly adopts a damper pull rod assembly.

[0012] Preferably, according to the absolute value of the target difference, the step of obtaining the calibrated throttle position value is: defining a target absolute difference value between the target throttle position signal value and the first position signal value of the first throttle as a first target absolute difference value; Define the target absolute difference between the target throttle position signal value and the second position signal value of the second throttle as the second target absolute difference If the absolute value of the first target difference is greater than the absolute value of the second target difference, the position signal value of the second throttle is used as the throttle position value after the two throttles are calibrated; If the first target difference absolute value is less than or equal to the second target difference absolute value, the position signal value of the first throttle valve is used as the throttle position value after the two throttle valves are calibrated.

[0013] The present invention provides an engine throttle opening measurement self-calibration system using the following technical solutions, including: The signal acquisition module is used to collect the position signal values ​​of the two throttles of the engine, wherein the two throttles are connected to the steering gear through the transmission assembly, and the opening and closing actions of the two throttles are synchronously controlled by the flight control machine controlling the steering gear; A signal processing calibration module, used for, if the absolute value of the difference between the two position signal values ​​is less than or equal to a preset first difference threshold, taking the average value of the two position signal values ​​as the calibrated throttle position value; if the absolute value of the difference between the two position signal values ​​is greater than the preset first difference threshold, judging whether the output is valid according to the output of the servo and the control amount, if not valid, taking the maximum position signal value of the two position signal values ​​as the calibrated throttle position value, if valid, using a mapping formula to convert the output of the servo into a target throttle position signal value and proceeding to the next step; obtaining the target absolute value of the difference between the target throttle position signal value and the position signal values ​​of the two throttles, if both the two target absolute values ​​of the difference are greater than the second difference threshold, taking the target throttle position signal value as the calibrated throttle position value; if at least one target absolute value of the difference is less than or equal to the second difference threshold, obtaining the calibrated throttle position value according to the size of the target absolute value of the difference; The output module is used to control the positions of the two throttle valves according to the calibrated throttle position values.

[0014] An electronic device comprises a processor, a memory and a computer program stored in the memory. When the computer program is executed by the processor, the steps of a self-calibration method for measuring the opening of an engine throttle valve of the present invention are realized.

[0015] A program product includes a computer program. When the computer program is run, it is used to execute the steps of a self-calibration method for measuring the opening of an engine throttle valve of the present invention.

[0016] A storage medium stores a computer program, which is used to execute the steps of an engine throttle opening measurement self-calibration method of the present invention when being executed.

[0017] The beneficial effects of the present invention are: The present invention is based on signal redundancy processing, that is, when the absolute value of the difference between the throttle position signal values ​​of the two throttles is less than or equal to the first difference threshold, the average value of the two throttle position signal values ​​is taken as the measurement value. If the absolute value of the difference is greater than the first difference threshold, the output of the servo is converted into a target throttle position signal value, and the first difference threshold is numerically compared with the throttle position signal value, and the more reliable data is used as the calibrated throttle position value. The present invention can effectively eliminate the measurement error caused by the drift and failure of the throttle position sensor through signal redundancy processing, and provide a guarantee for the safe and reliable flight of the unmanned aerial vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A flow chart of a self-calibration method for measuring engine throttle opening according to the present invention; Figure 2 4 is a structural block diagram of an electronic device in an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] An embodiment of an engine throttle opening measurement self-calibration method, system, device, program product and medium of the present invention is as follows: Figure 1 As shown, including: Step 1: Collect the position signal values ​​of the two throttles and the output of the servo; In this embodiment, the two throttles are connected to the steering gear through a transmission assembly, and the opening and closing actions of the two throttles are synchronously controlled by the flight control machine controlling the steering gear. Figure 2 As shown, the two throttles are the first throttle and the second throttle, and a throttle position sensor is respectively arranged on the first throttle and the second throttle. The throttle position sensor is used to collect the first position signal value A of the first throttle and the second position signal value B of the second throttle; the flight control machine obtains the output of the steering gear .

[0022] Step 2: Calibrate the throttle position according to the position signal values ​​of the two throttles and the output of the servo: Step 21: If the absolute value of the difference between the two position signal values ​​is less than or equal to the preset first difference threshold T, the average value of the two position signal values ​​is used as the calibrated throttle position value; if the absolute value of the difference between the two position signal values ​​is greater than the preset first difference threshold T, proceed to step 22.

[0023] Step 22: According to the output of the servo The step of judging whether the output is valid according to the output and control amount of the servo is as follows: if the deviation between the control amount and the output of the servo is less than the deviation threshold If the deviation between the control amount and the output of the servo is greater than or equal to the deviation threshold, , the output is invalid; if invalid, the maximum position signal value of the two position signal values ​​is used as the calibrated throttle position value; if valid, the output of the servo is converted into the target throttle position signal value using the mapping formula and enter step 23, wherein the expression of the mapping formula is:

[0024] in, is the first parameter obtained by fitting the experimental data; is the second parameter obtained by fitting the experimental data; is the output of the servo; is the target throttle position signal value.

[0025] Step 23, obtaining the target absolute value of the difference between the target throttle position signal value and the position signal values ​​of the two throttles. In this embodiment, the target absolute value of the difference between the target throttle position signal value C and the first position signal value A of the first throttle is defined as the first target absolute value of the difference Err1; the target absolute value of the difference between the target throttle position signal value C and the second position signal value B of the second throttle is defined as the second target absolute value of the difference Err2, and the second difference threshold is G. If Err1>G and Err2>G, the target throttle position signal value C is used as the calibrated throttle position value; if one of Err1 or Err2 is less than or equal to the second difference threshold G, proceed to step 24.

[0026] Step 24, according to the size of the target difference absolute value, obtain the calibrated throttle position value. Specifically, if the first target difference absolute value Err1 is greater than the second target difference absolute value Err2, the position signal value B of the second throttle is used as the throttle position value after the two throttles are calibrated; if the first target difference absolute value Err1 is less than or equal to the second target difference absolute value Err2, the position signal value A of the first throttle is used as the throttle position value after the two throttles are calibrated.

[0027] Step 3: Control the positions of the two throttle valves according to the calibrated throttle valve position values.

[0028] The present invention provides an engine throttle opening measurement self-calibration system, which adopts the following technical scheme, including: a signal acquisition module, a signal processing calibration module and an output module, wherein the signal acquisition module is used to acquire position signal values ​​of two throttles of the engine, wherein the two throttles are connected to the steering gear through a transmission component, and the opening and closing actions of the two throttles are synchronously controlled by the flight control machine controlling the steering gear; the signal processing calibration module is used to take the average value of the two position signal values ​​as the calibrated throttle position value if the absolute value of the difference between the two position signal values ​​is less than or equal to a preset first difference threshold value; if the absolute value of the difference between the two position signal values ​​is greater than the preset first difference threshold value, the output value is judged according to the output value and the control value of the steering gear. Is it valid? If not, the maximum position signal value of the two position signal values ​​is used as the calibrated throttle position value. If it is valid, the output of the servo is converted into the target throttle position signal value using the mapping formula and proceed to the next step; the target absolute value of the difference between the target throttle position signal value and the position signal values ​​of the two throttles is obtained. If both target absolute values ​​of the difference are greater than the second difference threshold, the target throttle position signal value is used as the calibrated throttle position value; if at least one target absolute value of the difference is less than or equal to the second difference threshold, the calibrated throttle position value is obtained according to the size of the target absolute value of the difference; the output module is used to control the positions of the two throttles according to the calibrated throttle position value.

[0029] An electronic device includes a processor, a memory, and a computer program stored in the memory. When the computer program is executed by the processor, the steps of a method for self-calibration of engine throttle opening measurement of the present invention are implemented. Specifically, Figure 2 As shown, in this embodiment, the processor is an engine electronic control unit, and the engine electronic control unit has a built-in storage unit. The engine electronic control unit reads the first position signal value A and the second position signal value B from the throttle position sensor in real time and stores them in the storage unit. The first throttle and the second throttle are physically connected through a throttle pull rod assembly, and their opening and closing actions are controlled and synchronized by the flight control machine driving the servo. The engine electronic control unit obtains the output of the servo from the flight control machine through serial communication. And stored in the storage unit, the engine electronic control unit according to the output , the first position signal value A and the second position signal value B are calibrated according to the steps of an engine throttle opening measurement self-calibration method of the present invention.

[0030] A program product includes a computer program. When the computer program is run, it is used to execute the steps of a self-calibration method for measuring the opening of an engine throttle valve of the present invention.

[0031] A storage medium stores a computer program, which is used to execute the steps of an engine throttle opening measurement self-calibration method of the present invention when being executed.

[0032] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A self-calibration method for measuring engine throttle opening, characterized in that: include: Collect the position signal values ​​of the two throttles of the engine, wherein the two throttles are connected to the steering gear through a transmission assembly, and the opening and closing actions of the two throttles are synchronously controlled by the flight control machine controlling the steering gear; If the absolute value of the difference between the two position signal values ​​is less than or equal to a preset first difference threshold, taking the average value of the two position signal values ​​as the calibrated throttle position value; If the absolute value of the difference between the two position signal values ​​is greater than the preset first difference threshold, determine whether the output is valid according to the output of the servo and the control amount. If not, use the maximum position signal value of the two position signal values ​​as the calibrated throttle position value. If valid, use the mapping formula to convert the output of the servo into the target throttle position signal value and proceed to the next step. Obtaining target absolute values ​​of differences between the target throttle position signal value and the position signal values ​​of the two throttles respectively; if both target absolute values ​​of the difference are greater than a second difference threshold, taking the target throttle position signal value as the calibrated throttle position value; if at least one target absolute value of the difference is less than or equal to the second difference threshold, obtaining the calibrated throttle position value according to the magnitude of the target absolute value of the difference; The positions of the two throttle valves are controlled according to the calibrated throttle position values.

2. The engine throttle opening measurement self-calibration method according to claim 1, characterized in that: The throttle position sensor is used to collect the position signal values ​​of the two throttle valves.

3. The engine throttle opening measurement self-calibration method according to claim 1, characterized in that: The steps to determine whether the output is valid based on the output and control amount of the servo are as follows: If the deviation between the control amount and the output amount of the servo is less than the deviation threshold, the output amount is valid; If the deviation between the control amount and the output amount of the servo is greater than or equal to the deviation threshold, the output amount is invalid.

4. The engine throttle opening measurement self-calibration method according to claim 1, characterized in that: The mapping formula is: in, is the first parameter obtained by fitting the experimental data; is the second parameter obtained by fitting the experimental data; is the output of the servo; is the target throttle position signal value.

5. The engine throttle opening measurement self-calibration method according to claim 1, characterized in that: The transmission assembly adopts a damper pull rod assembly.

6. The engine throttle opening measurement self-calibration method according to claim 1, characterized in that: According to the absolute value of the target difference, the steps to obtain the calibrated throttle position value are: defining a target absolute difference value between the target throttle position signal value and the first position signal value of the first throttle as a first target absolute difference value; Define the target absolute difference between the target throttle position signal value and the second position signal value of the second throttle as the second target absolute difference If the absolute value of the first target difference is greater than the absolute value of the second target difference, the position signal value of the second throttle is used as the throttle position value after the two throttles are calibrated; If the first target difference absolute value is less than or equal to the second target difference absolute value, the position signal value of the first throttle valve is used as the throttle position value after the two throttle valves are calibrated.

7. An engine throttle opening measurement self-calibration system, characterized in that: include: The signal acquisition module is used to collect the position signal values ​​of the two throttles of the engine, wherein the two throttles are connected to the steering gear through the transmission assembly, and the opening and closing actions of the two throttles are synchronously controlled by the flight control machine controlling the steering gear; A signal processing calibration module, used for, if the absolute value of the difference between the two position signal values ​​is less than or equal to a preset first difference threshold, taking the average value of the two position signal values ​​as the calibrated throttle position value; if the absolute value of the difference between the two position signal values ​​is greater than the preset first difference threshold, judging whether the output is valid according to the output of the servo and the control amount, if not valid, taking the maximum position signal value of the two position signal values ​​as the calibrated throttle position value, if valid, using a mapping formula to convert the output of the servo into a target throttle position signal value and proceeding to the next step; obtaining the target absolute value of the difference between the target throttle position signal value and the position signal values ​​of the two throttles, if both the two target absolute values ​​of the difference are greater than the second difference threshold, taking the target throttle position signal value as the calibrated throttle position value; if at least one target absolute value of the difference is less than or equal to the second difference threshold, obtaining the calibrated throttle position value according to the size of the target absolute value of the difference; The output module is used to control the positions of the two throttle valves according to the calibrated throttle position values.

8. An electronic device, characterized in that: A processor, a memory, and a computer program stored in the memory, wherein when the computer program is executed by the processor, the steps of the method described in any one of claims 1 to 6 are implemented.

9. A program product, characterized in that The invention comprises a computer program, which is used to execute the steps of the method according to any one of claims 1 to 6 when the computer program is executed.

10. A storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed, it is used to execute the steps of the method described in any one of claims 1 to 6.

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