A method, system, device, program product, and media for engine throttle position sensor self-calibration

Abstract

This invention relates to the field of electronic fuel injection engine control technology, specifically to a self-calibration method, system, device, program product, and medium for measuring engine throttle opening. The method includes: acquiring position signal values ​​of two throttle valves and the output of a servo motor; calibrating the throttle valve position based on the position signal values ​​and the servo motor output; and controlling the position of the two throttle valves based on the calibrated throttle valve position values. This invention, through signal redundancy processing, effectively eliminates measurement errors caused by throttle valve position sensor drift and malfunction, ensuring safe and reliable flight of unmanned aerial vehicles (UAVs).

Description

Technical Field

[0001] This invention relates to the field of electronic fuel injection engine control technology, specifically to a method, system, device, program product, and medium for self-calibrating engine throttle opening measurement. Background Technology

[0002] The throttle valve is a key component of the intake system of a drone's gasoline engine, regulating the amount of air entering the engine through its opening and closing. When the throttle valve opening increases, more air enters the engine, resulting in increased fuel injection, higher engine speed, and increased power output. Therefore, the accuracy of throttle valve opening measurement directly determines the performance of the engine control system, which is crucial for the stable flight and safe operation of the drone.

[0003] Existing drone engine throttle opening signals are typically measured using a throttle position sensor. This sensor measures the throttle opening in real time and feeds the data back to the engine electronic control unit (ECU). However, limitations in the throttle position sensor's sensitivity and nonlinearity can lead to inaccurate measurement results. Environmental factors such as temperature, humidity, vibration, electromagnetic interference, and noise can also affect sensor performance, distorting the throttle opening signal and causing ECU control deviations, potentially negatively impacting flight control. Interference during signal acquisition, processing, and transmission can also affect measurement accuracy, making it difficult to meet the need for precise throttle opening measurement and thus limiting the drone's flight stability.

[0004] Therefore, there is a need to provide a self-calibration method, system, device, program product, and medium for measuring engine throttle opening to solve the above problems. Summary of the Invention

[0005] This invention provides a method, system, device, program product, and medium for self-calibrating engine throttle opening measurement, in order to solve the problem in the prior art where engine malfunctions caused by drift, fluctuation, or failure of the throttle position sensor signal, thereby affecting the safe and stable flight of the unmanned aerial vehicle system.

[0006] The self-calibration method for measuring engine throttle opening according to the present invention adopts the following technical solution, including:

[0007] The position signal values ​​of the two throttle valves of the engine are collected. The two throttle valves are connected to the servo motor through a transmission assembly. The opening and closing actions of the two throttle valves are synchronously controlled by the flight controller to control the servo motor.

[0008] If the absolute value of the difference between two position signal values ​​is less than or equal to the preset first difference threshold, then the average value of the two position signal values ​​is used as the calibrated throttle position value.

[0009] If the absolute value of the difference between the two position signal values ​​is greater than the preset first difference threshold, the output quantity is judged to be valid based on the output quantity and control quantity of the servo motor. If it is invalid, the maximum position signal value among the two position signal values ​​is used as the calibrated throttle position value. If it is valid, the output quantity of the servo motor is converted into the target throttle position signal value using the mapping formula and the next step is performed.

[0010] Obtain the absolute value of the target difference between the target throttle position signal value and the two throttle position signal values. If the absolute values ​​of the two target differences are both greater than the second difference threshold, then the target throttle position signal value is used as the calibrated throttle position value. If at least one target difference is less than or equal to the second difference threshold, then the calibrated throttle position value is obtained according to the magnitude of the target difference.

[0011] The positions of the two throttle valves are controlled based on the calibrated throttle position values.

[0012] Preferably, the position signal values ​​of the two throttle valves are collected using a throttle position sensor.

[0013] Preferably, the step of determining whether the output quantity is valid based on the servo motor's output quantity and control quantity is as follows: if the deviation between the servo motor's control quantity and output quantity is less than the deviation threshold, then the output quantity is valid; if the deviation between the servo motor's control quantity and output quantity is greater than or equal to the deviation threshold, then the output quantity is invalid.

[0014] Preferably, the mapping formula is:

[0015] in, The first parameter is obtained by fitting experimental data; The second parameter is obtained by fitting experimental data; This refers to the output of the servo motor; The target throttle position signal value.

[0016] Preferably, the transmission assembly is a damper rod assembly.

[0017] Preferably, the step of obtaining the calibrated throttle position value based on the magnitude of the absolute value of the target difference is as follows:

[0018] Define the absolute value of the target difference between the target throttle position signal value and the first position signal value of the first throttle as the absolute value of the first target difference;

[0019] Define the absolute value of the target difference between the target throttle position signal value and the second position signal value of the second throttle as the absolute value of the second target difference.

[0020] If the absolute value of the first target difference is greater than the absolute value of the second target difference, then the position signal value of the second throttle valve will be used as the throttle valve position value after the two throttle valves are calibrated.

[0021] If the absolute value of the first target difference is less than or equal to the absolute value of the second target difference, then the position signal value of the first throttle valve is used as the throttle valve position value after the two throttle valves are calibrated.

[0022] The engine throttle opening measurement self-calibration system of the present invention adopts the following technical solution, including:

[0023] The signal acquisition module is used to acquire the position signal values ​​of the two throttle valves of the engine. The two throttle valves are connected to the servo motor through a transmission assembly. The opening and closing actions of the two throttle valves are synchronously controlled by the flight controller to control the servo motor.

[0024] The signal processing calibration module is used to: if the absolute value of the difference between two position signal values ​​is less than or equal to a preset first difference threshold, then use the average 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 quantity is valid based on the servo output quantity and control quantity; if invalid, use the maximum position signal value among the two position signal values ​​as the calibrated throttle position value; if valid, use a mapping formula to convert the servo output quantity into a target throttle position signal value and proceed to the next step; obtain the target absolute value of the difference between the target throttle position signal value and the two throttle position signal values ​​respectively; if both target absolute values ​​of the difference are greater than a second difference threshold, then use 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, then obtain the calibrated throttle position value based on the magnitude of the target absolute value of the difference.

[0025] The output module is used to control the position of the two throttle valves based on the calibrated throttle position value.

[0026] An electronic device includes a processor, a memory, and a computer program stored in the memory. When executed by the processor, the computer program implements the steps of a self-calibration method for measuring engine throttle opening according to the present invention.

[0027] A program product includes a computer program that, when run, performs the steps of a self-calibration method for measuring engine throttle opening according to the present invention.

[0028] A storage medium storing a computer program, which, when run, performs the steps of a self-calibration method for measuring engine throttle opening according to the present invention.

[0029] The beneficial effects of this invention are:

[0030] This invention is based on signal redundancy processing. When the absolute value of the difference between the throttle position signal values ​​of two throttle valves is less than or equal to a first difference threshold, the average of the two throttle position signal values ​​is taken as the measured value. If the absolute value of the difference is greater than the first difference threshold, the servo output is converted into a target throttle position signal value, and the first difference threshold is compared with the throttle position signal value. The more reliable data is used as the calibrated throttle position value. This invention, through signal redundancy processing, effectively eliminates measurement errors caused by throttle position sensor drift and malfunction, ensuring safe and reliable flight of UAVs. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a flowchart of a self-calibration method for measuring engine throttle opening according to the present invention;

[0033] Figure 2 This is a structural block diagram of the electronic device in an embodiment of the present invention. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] An embodiment of the self-calibration method, system, device, program product, and medium for measuring engine throttle opening according to the present invention is as follows: Figure 1 As shown, it includes:

[0036] Step 1: Collect the position signal values ​​of the two throttle valves and the output of the servo motor;

[0037] In this embodiment, the two throttle valves are connected to the servo motor via a transmission assembly. The opening and closing actions of the two throttle valves are synchronously controlled by the flight controller via the servo motor. Figure 2As shown, there are two throttle valves, designated as the first throttle valve and the second throttle valve. Each throttle valve is equipped with a throttle position sensor. These sensors collect the first position signal value A of the first throttle valve and the second position signal value B of the second throttle valve. The flight controller then obtains the output values ​​from the servos. .

[0038] Step 2: Calibrate the throttle position based on the position signal values ​​of the two throttle valves and the output of the servo motor.

[0039] 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, then 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, then proceed to step 22.

[0040] Step 22: Based on the output of the servo motor The determination of the validity of the output quantity based on the control quantity and the servo motor's output quantity involves the following steps: if the deviation between the servo motor's control quantity and output quantity is less than the deviation threshold... When the output is valid, the output is valid; if the deviation between the servo motor's control input and output is greater than or equal to the deviation threshold, the output is valid. If the output is invalid, the maximum position signal value among the two position signal values ​​is used as the calibrated throttle position value. If it is valid, the servo output is converted into the target throttle position signal value using the mapping formula and the process proceeds to step 23. The expression for the mapping formula is:

[0041]

[0042] in, The first parameter is obtained by fitting experimental data; The second parameter is obtained by fitting experimental data; This refers to the output of the servo motor; The target throttle position signal value.

[0043] Step 23: Obtain the absolute value of the target difference between the target throttle position signal value and the position signal values ​​of the two throttles respectively. In this embodiment, the absolute value of the target 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 absolute value of the target difference Err1; the absolute value of the target 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 absolute value of the target difference Err2, and the second difference threshold is G. If Err1>G and Err2>G, then the target throttle position signal value C is used as the calibrated throttle position value; if either Err1 or Err2 is less than or equal to the second difference threshold G, then proceed to step 24.

[0044] Step 24: Based on the magnitude of the absolute value of the target difference, obtain the calibrated throttle position value. Specifically, if the absolute value of the first target difference Err1 is greater than the absolute value of the second target difference Err2, then the position signal value B of the second throttle is used as the calibrated throttle position value of the two throttles; if the absolute value of the first target difference Err1 is less than or equal to the absolute value of the second target difference Err2, then the position signal value A of the first throttle is used as the calibrated throttle position value of the two throttles.

[0045] Step 3: Control the position of the two throttle valves according to the calibrated throttle position value.

[0046] The present invention provides an engine throttle opening measurement self-calibration system, comprising: a signal acquisition module, a signal processing calibration module, and an output module. The signal acquisition module acquires the position signal values ​​of the two throttle valves of the engine. The two throttle valves are connected to a servo motor via a transmission assembly, and their opening and closing actions are synchronously controlled by the flight controller via the servo motor. The signal processing calibration module, if the absolute value of the difference between the two position signal values ​​is less than or equal to a preset first difference threshold, uses the average of the two position signal values ​​as the calibrated throttle valve position value; if the absolute value of the difference between the two position signal values ​​is greater than the preset first difference threshold, it determines the output value based on the servo motor's output and control input. If the value is invalid, the maximum position signal value among the two position signal values ​​is used as the calibrated throttle position value. If the value is valid, the output of the servo motor is converted into the target throttle position signal value using the mapping formula, and the process proceeds to the next step. The absolute values ​​of the target differences between the target throttle position signal value and the position signal values ​​of the two throttles are obtained. If the absolute values ​​of both target differences 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 difference is less than or equal to the second difference threshold, the calibrated throttle position value is obtained based on the magnitude of the target difference. The output module is used to control the position of the two throttles based on the calibrated throttle position value.

[0047] An electronic device includes a processor, a memory, and a computer program stored in the memory. When executed by the processor, the computer program implements the steps of a self-calibration method for measuring engine throttle opening according to the present invention. Specifically, as shown... Figure 2 As shown, in this embodiment, the processor is an engine electronic control unit (ECU). The ECU has a built-in storage unit. The ECU 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 and second throttles are physically connected by a throttle lever assembly. Their opening and closing actions are controlled and synchronized by a servo driven by the flight controller. The ECU obtains the servo output from the flight controller via serial communication. And store it in the storage unit, the engine electronic control unit according to the output quantity The first position signal value A and the second position signal value B are calibrated according to the steps of the self-calibration method for measuring engine throttle opening according to the present invention.

[0048] A program product includes a computer program that, when run, performs the steps of a self-calibration method for measuring engine throttle opening according to the present invention.

[0049] A storage medium storing a computer program, which, when run, performs the steps of a self-calibration method for measuring engine throttle opening according to the present invention.

[0050] 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 principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A self-calibration method for measuring engine throttle opening, characterized in that, include: The position signal values ​​of the two throttle valves of the engine are collected. The two throttle valves are connected to the servo motor through a transmission assembly. The opening and closing actions of the two throttle valves are synchronously controlled by the flight controller to control the servo motor. If the absolute value of the difference between two position signal values ​​is less than or equal to the preset first difference threshold, then 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, the output quantity is judged to be valid based on the output quantity and control quantity of the servo motor. If it is invalid, the maximum position signal value among the two position signal values ​​is used as the calibrated throttle position value. If it is valid, the output quantity of the servo motor is converted into the target throttle position signal value using the mapping formula and the next step is performed. Obtain the absolute value of the target difference between the target throttle position signal value and the two throttle position signal values. If the absolute values ​​of the two target differences are both greater than the second difference threshold, then the target throttle position signal value is used as the calibrated throttle position value. If at least one target difference is less than or equal to the second difference threshold, then the calibrated throttle position value is obtained according to the magnitude of the target difference. The positions of the two throttle valves are controlled based on the calibrated throttle position values.

2. The self-calibration method for measuring engine throttle opening according to claim 1, characterized in that, The position signal values ​​of the two throttle valves are collected using the throttle position sensor.

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

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

5. The self-calibration method for measuring engine throttle opening according to claim 1, characterized in that, The transmission assembly uses a damper rod assembly.

6. The self-calibration method for measuring engine throttle opening according to claim 1, characterized in that, The steps to obtain the calibrated throttle position value based on the absolute value of the target difference are as follows: Define the absolute value of the target difference between the target throttle position signal value and the first position signal value of the first throttle as the absolute value of the first target difference; Define the absolute value of the target difference between the target throttle position signal value and the second position signal value of the second throttle as the absolute value of the second target difference. If the absolute value of the first target difference is greater than the absolute value of the second target difference, then the position signal value of the second throttle valve will be used as the throttle valve position value after the two throttle valves are calibrated. If the absolute value of the first target difference is less than or equal to the absolute value of the second target difference, then the position signal value of the first throttle valve is used as the throttle valve position value after the two throttle valves are calibrated.

7. A self-calibration system for measuring engine throttle opening, characterized in that, include: The signal acquisition module is used to acquire the position signal values ​​of the two throttle valves of the engine. The two throttle valves are connected to the servo motor through a transmission assembly. The opening and closing actions of the two throttle valves are synchronously controlled by the flight controller to control the servo motor. The signal processing calibration module is used to: if the absolute value of the difference between two position signal values ​​is less than or equal to a preset first difference threshold, then use the average 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 quantity is valid based on the servo output quantity and control quantity; if invalid, use the maximum position signal value among the two position signal values ​​as the calibrated throttle position value; if valid, use a mapping formula to convert the servo output quantity into a target throttle position signal value and proceed to the next step; obtain the target absolute value of the difference between the target throttle position signal value and the two throttle position signal values ​​respectively; if both target absolute values ​​of the difference are greater than a second difference threshold, then use 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, then obtain the calibrated throttle position value based on the magnitude of the target absolute value of the difference. The output module is used to control the position of the two throttle valves based on the calibrated throttle position value.

8. An electronic device, characterized in that, A processor, a memory, and a computer program stored in the memory, wherein the computer program, when executed by the processor, implements the steps of the method according to any one of claims 1-6.

9. A program product, characterized in that, Includes a computer program, which, when run, performs the steps of the method according to any one of claims 1-6.

10. A storage medium, characterized in that, It contains a computer program that, when run, performs the steps of the method described in any one of claims 1-6.

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