Throttle valve control method, device, equipment, system and vehicle

Abstract

The invention relates to a throttle valve control method, device, equipment and system and a vehicle, and relates to the technical field of vehicle control. The technical problem that when the opening degree of the throttle valve is controlled, the accuracy of the determined control parameters is low, and consequently the accuracy of controlling the opening degree of the throttle valve is low is at least solved. Comprising the steps that the PWM duty ratio of a motor is determined based on a throttle valve opening degree request value and a throttle valve opening degree actual value; on the basis of the current control state of the throttle valve, limiting value processing is conducted on the PWM duty ratio, the PWM duty ratio after limiting value processing is obtained, the current control state is a critical control state or a non-critical control state, and the critical control state is used for representing that reset torque generated by a reset device of the throttle valve is equal to air torque generated by air flowing through the throttle valve; and the opening angle of the throttle valve is adjusted based on the current control state, the throttle valve opening degree request value and the PWM duty ratio after limiting value processing. The method is used for improving the accuracy of controlling the opening degree of the throttle valve.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and particularly relates to a throttle control method, device, equipment, system and vehicle. Background Art

[0002] With the rapid development of new energy vehicles, hydrogen fuel cell vehicles use hydrogen fuel cells as the power source to provide power for the vehicle. The hydrogen fuel cell system mainly consists of systems such as an air system, a hydrogen system, a thermal management system, and a fuel cell stack. Among them, the air system compresses the air and sends it into the cathode of the fuel cell stack to participate in the reaction after cooling through an intercooler in response to the air pressure and air flow requests determined by the controller. The controller controls the air flow and air pressure by controlling the rotational speed of the air compressor and the opening degree of the throttle valve. Therefore, it is required that the controller can accurately control the opening degree of the throttle valve.

[0003] In the related art, according to the magnitude relationship between the difference between the current opening degree and the target opening degree of the throttle valve and a preset value, it is determined whether to use a basic method or a proportional, integral and derivative (PID) method to control the duty cycle of a pulse width modulation (PWM) signal, so as to control the opening degree of the throttle valve. In another related art, according to the target angular velocity of the throttle valve, the target angular acceleration of the throttle valve and the rotation angle of the throttle valve, a throttle control feedforward voltage reference value corresponding to the target rotation angle of the throttle valve is obtained, and a throttle control feedforward voltage correction value is determined. Then, by combining the throttle control feedforward voltage reference value, the throttle control feedforward voltage correction value and the throttle supply voltage, the motor drive control duty cycle is obtained, so as to control the opening degree of the throttle valve. When controlling the opening degree of the throttle valve, these technologies only consider the relevant parameters of the throttle valve itself (the opening degree, target opening degree, angular acceleration, voltage, etc. of the throttle valve), but the control of the opening degree of the throttle valve is also affected by more factors. Therefore, currently, when controlling the opening degree of the throttle valve, the accuracy of the determined control parameters is relatively low, resulting in relatively low accuracy in controlling the opening degree of the throttle valve, and affecting the power performance of the vehicle. Summary of the Invention

[0004] The present application provides a throttle control method, device, equipment, system and vehicle. The purpose of the present application is to at least solve the technical problem that in the related art, when controlling the opening degree of the throttle valve, the accuracy of the determined control parameters is relatively low, resulting in relatively low accuracy in controlling the opening degree of the throttle valve, and affecting the power performance of the vehicle.

[0005] In order to achieve the above purpose, the technical solution adopted by the present application is as follows:

[0006] According to a first aspect provided by the present application, a throttle control method is provided. The method includes: determining a pulse width modulation (PWM) duty cycle of a motor based on a throttle opening request value and an actual throttle opening value, where the motor is used to control the opening angle of the throttle; performing a limit processing on the PWM duty cycle based on the current control state of the throttle to obtain a limited PWM duty cycle after the limit processing, where the current control state is a critical control state or a non-critical control state, and the critical control state is used to represent that the reset torque generated by the throttle reset device is equal to the air torque generated by the air flowing through the throttle; and adjusting the opening angle of the throttle based on the current control state, the throttle opening request value, and the limited PWM duty cycle after the limit processing.

[0007] According to the above technical means, the present application can determine the PWM duty cycle of the motor for controlling the opening angle of the throttle based on the throttle opening request value and the actual throttle opening value, and then perform a limit processing on the PWM duty cycle according to the current control state of the throttle to obtain a limited PWM duty cycle after the limit processing. In this way, when the current control state of the throttle is a critical control state or a non-critical control state, different limit processing methods can be used to determine the PWM duty cycle of the throttle in different control states. Therefore, based on the current control state of the throttle, the throttle opening request value, and the limited PWM duty cycle after the limit processing, the opening angle of the throttle can be accurately adjusted. Thus, the accuracy of controlling the opening of the throttle is improved.

[0008] In a possible implementation manner, the above adjusting the opening angle of the throttle based on the current control state, the throttle opening request value, and the limited PWM duty cycle after the limit processing includes: when the current control state is a non-critical control state, controlling the motor to rotate forward based on the limited PWM duty cycle after the limit processing to adjust the opening angle of the throttle to the throttle opening request value.

[0009] According to the above technical means, the present application can control the motor to rotate forward based on the limited PWM duty cycle after the limit processing when the current control state of the throttle is a non-critical control state to adjust the opening angle of the throttle to the throttle opening request value. In this way, when the throttle is in a non-critical control state and it is necessary to adjust the opening angle of the throttle, the motor can be controlled to rotate forward only according to the limited PWM duty cycle after the limit processing, thereby adjusting the opening angle of the throttle.

[0010] In a possible implementation manner, the above adjusting the opening angle of the throttle based on the current control state, the throttle opening request value, and the limited PWM duty cycle after the limit processing includes: when the current control state is a critical control state and the limited PWM duty cycle after the limit processing is less than 0, controlling the motor to rotate backward based on the limited PWM duty cycle after the limit processing to adjust the opening angle of the throttle to the throttle opening request value.

[0011] According to the above technical means, when the current control state of the throttle valve is the critical control state, the present application can determine the magnitude relationship between the PWM duty ratio after limit processing and 0. Thus, when the PWM duty ratio after limit processing is less than 0, the motor is controlled to rotate reversely based on the PWM duty ratio after limit processing, so as to adjust the opening angle of the throttle valve to the throttle opening request value. In this way, when the throttle valve is in the critical control state and the opening angle of the throttle valve needs to be adjusted, the rotation direction of the motor can be determined through the magnitude relationship between the PWM duty ratio after limit processing and 0, so as to adjust the opening angle of the throttle valve.

[0012] In a possible implementation manner, the above adjustment of the opening angle of the throttle valve based on the current control state, the throttle opening request value, and the PWM duty ratio after limit processing includes: when the current control state is the critical control state and the PWM duty ratio after limit processing is greater than or equal to 0, the motor is controlled to rotate forward based on the PWM duty ratio after limit processing, so as to adjust the opening angle of the throttle valve to the throttle opening request value.

[0013] According to the above technical means, when the current control state of the throttle valve is the critical control state, the present application can determine the magnitude relationship between the PWM duty ratio after limit processing and 0. Thus, when the PWM duty ratio after limit processing is greater than or equal to 0, the motor is controlled to rotate forward based on the PWM duty ratio after limit processing, so as to adjust the opening angle of the throttle valve to the throttle opening request value. In this way, when the throttle valve is in the critical control state and the opening angle of the throttle valve needs to be adjusted, the rotation direction of the motor can be determined through the magnitude relationship between the PWM duty ratio after limit processing and 0, so as to adjust the opening angle of the throttle valve.

[0014] In a possible implementation manner, when the current control state is a non-critical control state, the limit range corresponding to the limit processing is [0, X], where X is a positive integer; when the current control state is the critical control state, the limit range corresponding to the limit processing is [-X, X].

[0015] According to the above technical means, the present application can respectively set the limit range corresponding to the lower limit value processing in the critical control state and the limit range corresponding to the limit processing in the non-critical control state. Thus, when the throttle valve is in different control states, the PWM duty ratio is limited through different limit ranges. In this way, the PWM duty ratio after limit processing when the throttle valve is in different control states can be determined, so as to accurately adjust the opening angle of the throttle valve.

[0016] In a possible implementation, the above method further includes: during the process of adjusting the opening angle of the throttle valve, if the difference between the throttle valve opening request value and the actual throttle valve opening value is less than a preset threshold and the PWM duty cycle is less than or equal to 0, it is determined that the throttle valve switches from a non-critical control state to a critical control state.

[0017] According to the above technical means, during the process of adjusting the opening angle of the throttle valve, the present application can determine whether the current control state of the throttle valve changes according to the magnitude relationship between the difference between the throttle valve opening request value and the actual throttle valve opening value and the preset threshold, and the magnitude relationship between the PWM duty cycle and 0, so as to accurately determine the current control state of the throttle valve.

[0018] In a possible implementation, the above method further includes: during the process of adjusting the opening angle of the throttle valve, if the throttle valve is in a critical control state and the throttle valve opening request value is greater than the critical angle, it is determined that the throttle valve switches from the critical control state to the non-critical control state; the critical angle is the opening angle of the throttle valve determined when the throttle valve switches from the non-critical control state to the critical control state.

[0019] According to the above technical means, during the process of adjusting the opening angle of the throttle valve, if the throttle valve is in a critical control state, the present application can determine whether the current control state of the throttle valve changes according to the magnitude relationship between the throttle valve opening request value and the critical angle when the throttle valve switches from the non-critical control state to the critical control state, so as to accurately determine the current control state of the throttle valve.

[0020] According to the second aspect provided by the present application, there is provided a throttle valve control device, which includes: a processing module and an adjustment module; the processing module is used to determine the pulse width modulation PWM duty cycle of the motor based on the throttle valve opening request value and the actual throttle valve opening value, and the motor is used to control the opening angle of the throttle valve; the processing module is further used to perform limit processing on the PWM duty cycle based on the current control state of the throttle valve to obtain the PWM duty cycle after limit processing, and the current control state is a critical control state or a non-critical control state, and the critical control state is used to represent that the reset torque generated by the reset device of the throttle valve is equal to the air torque generated by the air flowing through the throttle valve; the adjustment module is used to adjust the opening angle of the throttle valve based on the current control state, the throttle valve opening request value, and the PWM duty cycle after limit processing.

[0021] In a possible implementation, the adjustment module is specifically used to, when the current control state is a non-critical control state, control the motor to rotate forward based on the PWM duty cycle after limit processing to adjust the opening angle of the throttle valve to the throttle valve opening request value.

[0022] In a possible implementation, the adjustment module is specifically configured to, when the current control state is a critical control state and the PWM duty cycle after limit processing is less than 0, control the motor to rotate in the reverse direction based on the PWM duty cycle after limit processing, so as to adjust the opening angle of the throttle valve to the throttle opening request value.

[0023] In a possible implementation, the adjustment module is specifically configured to, when the current control state is a critical control state and the PWM duty cycle after limit processing is greater than or equal to 0, control the motor to rotate in the forward direction based on the PWM duty cycle after limit processing, so as to adjust the opening angle of the throttle valve to the throttle opening request value.

[0024] In a possible implementation, when the current control state is a non-critical control state, the limit range corresponding to the limit processing is [0, X], where X is a positive integer; when the current control state is a critical control state, the limit range corresponding to the limit processing is [-X, X].

[0025] In a possible implementation, the processing module is further configured to, during the process of adjusting the opening angle of the throttle valve, if the difference between the throttle opening request value and the actual throttle opening value is less than a preset threshold and the PWM duty cycle is less than or equal to 0, determine that the throttle valve switches from a non-critical control state to a critical control state.

[0026] In a possible implementation, the processing module is further configured to, during the process of adjusting the opening angle of the throttle valve, if the throttle valve is in a critical control state and the throttle opening request value is greater than the critical angle, determine that the throttle valve switches from a critical control state to a non-critical control state; the critical angle is the opening angle of the throttle valve determined when the throttle valve switches from a non-critical control state to a critical control state.

[0027] According to a third aspect provided by the present application, there is provided an electronic device, including: a processor; a memory for storing instructions executable by the processor; wherein, the processor is configured to execute the instructions to implement the method according to the first aspect and any one of its possible implementations.

[0028] According to a fourth aspect provided by the present application, there is provided a computer-readable storage medium, when the computer-executable instructions stored in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device is enabled to execute the method according to the first aspect and any one of its possible implementations.

[0029] According to a fifth aspect provided by the present application, there is provided a computer program product, the computer program product includes computer instructions, when the computer instructions run on the electronic device, the electronic device is enabled to execute the method according to the first aspect and any one of its possible implementations.

[0030] According to a sixth aspect provided by the present application, a vehicle is provided. The vehicle includes a throttle control device as in the second aspect, and the vehicle is used to implement the method of the first aspect and any one of its possible implementation manners.

[0031] According to a seventh aspect provided by the present application, a throttle control system is provided. The throttle control system includes a controller, a motor, and a throttle. The controller is configured to determine the pulse width modulation (PWM) duty cycle of the motor based on a throttle opening request value and an actual throttle opening value. The motor is used to control the opening angle of the throttle. The controller is further configured to perform a limit processing on the PWM duty cycle based on the current control state of the throttle to obtain a limited PWM duty cycle. The current control state is a critical control state or a non-critical control state. The critical control state is used to represent that the reset torque generated by the throttle reset device is equal to the air torque generated by the air flowing through the throttle. The controller is further configured to adjust the opening angle of the throttle based on the current control state, the throttle opening request value, and the limited PWM duty cycle.

[0032] In a possible implementation manner, the controller controls the rotation direction of the throttle by controlling the rotation direction of the motor to adjust the opening angle of the throttle. The controller is further configured to receive the throttle opening request value and obtain the actual throttle opening value.

[0033] It should be noted that the technical effects brought by any implementation manner of the second aspect to the seventh aspect can refer to the technical effects brought by the corresponding implementation manner of the first aspect, which will not be elaborated here.

[0034] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application, and do not constitute an improper limitation to the present application.

[0036] Figure 1 is a schematic structural diagram of a throttle control system shown according to an exemplary embodiment;

[0037] Figure 2 is a flowchart of a throttle control method shown according to an exemplary embodiment;

[0038] Figure 3 is a schematic diagram of a throttle shown according to an exemplary embodiment;

[0039] Figure 4Another schematic diagram of a throttle valve shown according to an exemplary embodiment;

[0040] Figure 5 A flowchart of another throttle valve control method shown according to an exemplary embodiment;

[0041] Figure 6 A flowchart of another throttle valve control method shown according to an exemplary embodiment;

[0042] Figure 7 A flowchart of another throttle valve control method shown according to an exemplary embodiment;

[0043] Figure 8 A flowchart of another throttle valve control method shown according to an exemplary embodiment;

[0044] Figure 9 A block diagram of a throttle valve control device shown according to an exemplary embodiment;

[0045] Figure 10 A block diagram of an electronic device shown according to an exemplary embodiment. Detailed implementation manners

[0046] In order to enable those of ordinary skill in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0047] 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 do not necessarily need to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0048] There can be 3 throttle valves in the air system of the hydrogen fuel cell in a hydrogen fuel cell vehicle. These 3 throttle valves are respectively used as a cut-off valve at the cathode inlet of the fuel cell stack, a back pressure valve at the cathode outlet of the fuel cell stack, and a bypass valve. The control system (controller) of the hydrogen fuel cell can control the air flow rate into the fuel cell stack and the air pressure into the fuel cell stack by controlling the rotational speed of the air compressor and the opening degrees of the 3 throttle valves. Therefore, it is required that the control system can accurately control the opening degrees of the throttle valves.

[0049] The throttle valve control method provided by the embodiments of the present application can be applied to a throttle valve control system. Figure 1It is a schematic structural diagram of a throttle control system shown according to an exemplary embodiment. As Figure 1 shown, the throttle control system 10 includes: a controller 11, a motor 12, and a throttle 13. The controller 11 controls the rotation direction of the throttle 13 by controlling the rotation direction of the motor 12, thereby adjusting the opening angle of the throttle 13.

[0050] Optionally, the controller 11 may receive the opening request value of the throttle 13 and obtain the actual opening value of the throttle 13, so as to determine the pulse width modulation (PWM) duty cycle of the motor 12 based on the throttle opening request value and the actual throttle opening value.

[0051] Optionally, the controller 11 may also perform a limit processing on the PWM duty cycle based on the current control state of the throttle 13 to obtain the PWM duty cycle after the limit processing, and then adjust the opening angle of the throttle 13 based on the current control state, the throttle opening request value, and the PWM duty cycle after the limit processing.

[0052] In a possible implementation manner, the controller 11 may include a PWM duty cycle PID calculation module and a limit module. The PWM duty cycle PID calculation module is used to determine the PWM duty cycle of the motor, and the limit module is used to perform limit processing on the PWM duty cycle to obtain the PWM duty cycle after the limit processing.

[0053] For ease of understanding, the throttle control method provided in the present application will be specifically introduced below in conjunction with the accompanying drawings.

[0054] Figure 2 It is a flowchart of a throttle control method shown according to an exemplary embodiment. As Figure 2 shown, the method includes the following S201 - S203:

[0055] S201. Determine the pulse width modulation (PWM) duty cycle of the motor based on the throttle opening request value and the actual throttle opening value.

[0056] Wherein, the motor is used to control the opening angle of the throttle.

[0057] In the embodiment of the present application, during the operation of a fuel cell vehicle, the required throttle opening angle can be determined according to the operating parameters of the fuel cell system (such as hydrogen flow rate, air flow rate, temperature, etc.), so as to adjust the opening of the throttle to ensure the stable operation and efficient work of the system.

[0058] In a possible implementation manner, the throttle opening request value may be determined by the vehicle's electronic control unit (ECU) according to the operating parameters of the fuel cell system.

[0059] Optionally, the controller can obtain the throttle opening request value and collect the current throttle opening (i.e., the actual throttle opening value) through the sensor, and then input these parameters into the PWM duty ratio PID calculation module to calculate the PWM duty ratio of the motor.

[0060] Optionally, when the fuel cell system starts to work, the control state of the throttle can default to the non-critical control state, and the controller can collect the current throttle opening at a certain sampling frequency (such as sampling once every 0.01 s, sampling once every 0.05 s, etc.).

[0061] It should be noted that the throttle can use a motor to control the opening angle (opening degree), and the controller can control the voltage across the motor through PWM, thereby controlling the torque applied by the motor to the throttle, and thus controlling the size of the throttle opening angle. Specifically, the direction of the voltage applied across the motor can be controlled through an H-bridge, thereby controlling the rotation direction of the throttle.

[0062] Exemplarily, as Figure 3 shown, a schematic diagram of a throttle according to an exemplary embodiment is shown. The throttle can rotate from 0° to 90°. When the opening angle of the throttle is 0°, it is the closed state of the throttle. When the opening angle of the throttle is 90°, it is the fully open state of the throttle. It can be understood that the opening angle of the throttle will not exceed the range of 0° - 90°, and there is an opening path for the opening angle of the throttle from 0° to 90°.

[0063] Exemplarily, as Figure 4 shown, another schematic diagram of a throttle according to an exemplary embodiment is shown. When the fuel cell is operating, a high-speed air flow (indicated by an arrow) blows on the throttle. Due to the offset of the rotation axis of the throttle, the torque applied by the high-speed air flow on the throttle is clockwise, that is, the high-speed air flow generates an air torque on the throttle that causes the throttle to rotate clockwise (the opening angle increases).

[0064] Optionally, the throttle also corresponds to a built-in reset device (such as a reset spring, a reset hydraulic rod, etc.), and the reset device applies a reset torque to the throttle that causes the throttle to rotate counterclockwise (the opening angle decreases).

[0065] S202. Based on the current control state of the throttle, perform a limit processing on the PWM duty ratio to obtain the PWM duty ratio after the limit processing.

[0066] Wherein, the current control state is the critical control state or the non-critical control state, and the critical control state is used to represent that the reset torque generated by the reset device of the throttle is equal to the air torque generated by the air flowing through the throttle.

[0067] Optionally, the determined PWM duty cycle can be input into the limit module to perform limit processing on the PWM duty cycle through the limit module, so as to obtain the PWM duty cycle after the limit processing.

[0068] In some embodiments, when the current control state is a non-critical control state, the limit range corresponding to the limit processing is [0, X], where X is a positive integer; when the current control state is a critical control state, the limit range corresponding to the limit processing is [-X, X].

[0069] Exemplarily, assume that X is 500, and the limit range corresponding to the limit processing is [0, 500]. If the PWM duty cycle of the motor calculated by the PWM duty cycle PID calculation module is 600, since 600 is not within the limit range [0, 500], when the current control state of the throttle is a non-critical control state, the PWM duty cycle after the limit processing is 500, that is, the PWM duty cycle exceeding the limit range is limited to the maximum value of the limit range; if the PWM duty cycle of the motor calculated by the PWM duty cycle PID calculation module is 400, since 400 is within the limit range [0, 500], then when the current control state of the throttle is a non-critical control state, the PWM duty cycle after the limit processing is still 400.

[0070] It can be understood that the limit processing is used to limit the PWM duty cycle within the corresponding limit range. When the PWM duty cycle of the motor calculated by the PWM duty cycle PID calculation module exceeds the corresponding limit range, the determined PWM duty cycle can be adjusted to limit the value of the PWM duty cycle within the corresponding range.

[0071] Optionally, when the current control state of the throttle is a non-critical control state, according to the magnitude of the determined PWM duty cycle after the limit processing, the throttle can be controlled to rotate forward (that is, the opening angle of the throttle increases), so that the actual opening angle of the throttle increases to the throttle opening request value.

[0072] It should be noted that the duty cycle is set as [0, X] (or [-X, X]) here. In fact, X needs to be multiplied by 20 and then divided by 10000 to obtain the true duty cycle. Here, the duty cycle is directly set by X for brief description.

[0073] In the embodiments of the present application, the present application can respectively set the limit range corresponding to the lower limit value processing in the critical control state and the limit range corresponding to the limit processing in the non-critical control state. Thus, when the throttle is in different control states, the PWM duty cycle is limited through different limit ranges. In this way, the PWM duty cycle after the limit processing when the throttle is in different control states can be determined, so as to accurately adjust the opening angle of the throttle.

[0074] S203. Adjust the opening angle of the throttle valve based on the current control state, the throttle opening request value, and the PWM duty cycle after being processed by the limit value.

[0075] In the embodiment of the present application, the controller defaults that the rotation direction of the motor controlling the opening angle of the throttle valve is forward (i.e., the clockwise direction, so as to increase the opening angle), that is, the controller will control the motor to provide a positive torque to the throttle valve (for example Figure 3 in which the clockwise direction is forward and the counterclockwise direction is backward). When the throttle opening request value causes the opening angle of the throttle valve to increase, the air torque exerted by the high-speed air flow on the throttle valve is consistent with the rotation direction of the increase in the opening angle of the throttle valve. In this case, the motor torque and the air torque jointly overcome the reset torque generated by the reset device of the throttle valve, and drive the throttle valve to rotate forward, with the opening angle increasing, and finally reach the balance state where the motor torque + the air torque = the reset torque.

[0076] When the throttle opening request value causes the opening angle of the throttle valve to decrease, the air torque exerted by the high-speed air flow on the throttle valve is opposite to the rotation direction of the decrease in the opening angle of the throttle valve. In this case, the reset torque overcomes the air torque and the motor torque, driving the throttle opening to decrease, and finally reaching the balance state where the motor torque + the air torque = the reset torque.

[0077] However, in the working condition where the air compressor generating the high-speed air flow is running at a high speed, if the throttle opening request value causes the throttle valve to open with a relatively small opening angle (for example, the opening angle is less than 20°), then at this time, the reverse reset torque generated by the reset device of the throttle valve cannot overcome the positive air moment exerted by the high-speed air flow on the throttle valve. If the controller cannot provide a reverse motor torque to the throttle valve, it will cause the throttle opening to be unable to decrease, and maintain the balance state where the reset torque = the air torque, and this state is the critical control state.

[0078] It should be noted that due to the underlying logic of the controller, the voltage PWM signal of the motor controlling the opening angle of the throttle valve is non-negative.

[0079] In the embodiments of the present application, the present application can determine the PWM duty ratio of the motor that controls the opening angle of the throttle based on the throttle opening request value and the actual throttle opening value, and then perform a limit processing on the PWM duty ratio according to the current control state of the throttle to obtain the PWM duty ratio after the limit processing. In this way, when the current control state of the throttle is a critical control state or a non-critical control state, different limit processing methods can be used to determine the PWM duty ratio of the throttle in different control states. Thus, based on the current control state of the throttle, the throttle opening request value, and the PWM duty ratio after the limit processing, the opening angle of the throttle can be accurately adjusted. Therefore, the accuracy of controlling the opening of the throttle is improved.

[0080] In some embodiments, as Figure 5 shown, in a throttle control method provided by an embodiment of the present application, the above S203 may specifically include S2031:

[0081] S2031. When the current control state is a non-critical control state, control the motor to rotate forward based on the PWM duty ratio after the limit processing to adjust the opening angle of the throttle to the throttle opening request value.

[0082] Optionally, when the current control state of the throttle is a non-critical control state, the throttle is set to only rotate forward, and the voltage PWM signal of the motor of the throttle can be controlled by a PID controller, thereby controlling the motor torque. When the sum of the motor torque and the air torque is greater than the reset torque, the opening angle of the throttle will increase; when the sum of the motor torque and the air torque is less than the reset torque, the opening angle of the throttle will decrease.

[0083] It should be noted that when the throttle opening request value is less than the actual throttle opening value (i.e., it is requested to reduce the opening angle of the throttle), the voltage PWM signal of the motor of the throttle output by the PID controller (i.e., the PWM duty ratio after the limit processing) is 0 (this is because the output of the PID controller is limited to non-negative numbers), that is, the motor torque of the motor is 0. If the air torque is greater than the reset torque at this time, the control state of the throttle will enter the critical control state.

[0084] Optionally, when the voltage PWM signal of the motor calculated by the PID controller (i.e., the PWM duty ratio) is non-negative, it will control the throttle to rotate forward (i.e., the opening angle of the throttle increases); when the voltage PWM signal of the motor calculated by the PID controller (i.e., the PWM duty ratio) is negative, the throttle rotates in the reverse direction (i.e., the opening angle of the throttle decreases). By applying a reverse motor torque to the throttle, the reset torque + motor torque > air torque, so that the throttle can respond to a smaller opening angle.

[0085] In the embodiments of the present application, when the current control state of the throttle is a non-critical control state, the motor can be controlled to rotate forward based on the PWM duty ratio after limit processing, so as to adjust the opening angle of the throttle to the throttle opening request value. In this way, when the throttle is in a non-critical control state and it is necessary to adjust the opening angle of the throttle, the motor can be controlled to rotate forward only according to the PWM duty ratio after limit processing, thereby adjusting the opening angle of the throttle.

[0086] In some embodiments, as Figure 6 shown, in a throttle control method provided by an embodiment of the present application, step S203 may specifically include S2032:

[0087] S2032. When the current control state is a critical control state and the PWM duty ratio after limit processing is less than 0, control the motor to rotate in the reverse direction based on the PWM duty ratio after limit processing, so as to adjust the opening angle of the throttle to the throttle opening request value.

[0088] In the embodiments of the present application, when the current control state of the throttle is a critical control state, the present application can determine the magnitude relationship between the PWM duty ratio after limit processing and 0. Thus, when the PWM duty ratio after limit processing is less than 0, the motor is controlled to rotate in the reverse direction based on the PWM duty ratio after limit processing, so as to adjust the opening angle of the throttle to the throttle opening request value. In this way, when the throttle is in a critical control state and it is necessary to adjust the opening angle of the throttle, the rotation direction of the motor can be determined by the magnitude relationship between the PWM duty ratio after limit processing and 0, thereby adjusting the opening angle of the throttle.

[0089] In some embodiments, as Figure 7 shown, in a throttle control method provided by an embodiment of the present application, step S203 may specifically include S2033:

[0090] S2033. When the current control state is a critical control state and the PWM duty ratio after limit processing is greater than or equal to 0, control the motor to rotate forward based on the PWM duty ratio after limit processing, so as to adjust the opening angle of the throttle to the throttle opening request value.

[0091] In an embodiment of the present application, when the current control state of the throttle is a critical control state, the present application can determine the magnitude relationship between the PWM duty cycle after limit processing and 0. Thus, when the PWM duty cycle after limit processing is greater than or equal to 0, the motor is controlled to rotate forward based on the PWM duty cycle after limit processing to adjust the opening angle of the throttle to the throttle opening request value. In this way, when the throttle is in the critical control state and the opening angle of the throttle needs to be adjusted, the rotation direction of the motor can be determined through the magnitude relationship between the PWM duty cycle after limit processing and 0, so as to adjust the opening angle of the throttle.

[0092] In some embodiments, in a throttle control method provided by an embodiment of the present application, the method may further include: during the process of adjusting the opening angle of the throttle, if the difference between the throttle opening request value and the actual throttle opening value is less than a preset threshold and the PWM duty cycle is less than or equal to 0, it is determined that the throttle switches from a non-critical control state to a critical control state.

[0093] It can be understood that the judgment conditions for the control state of the throttle to switch from a non-critical control state to a critical control state include: the difference between the throttle opening request value and the actual throttle opening value is less than a preset threshold, and the PWM duty cycle is less than or equal to 0.

[0094] Optionally, it can also be determined that the throttle switches from a non-critical control state to a critical control state only when the duration of the state where the difference between the throttle opening request value and the actual throttle opening value is less than a preset threshold and the PWM duty cycle is less than or equal to 0 reaches a certain preset duration (such as 0.5 s, 0.3 s, etc.).

[0095] Optionally, when it is determined that the throttle switches from a non-critical control state to a critical control state, the actual opening angle of the throttle at this time can be recorded as the critical angle, so that in the subsequent process, it can be determined whether the throttle switches back from the critical control state to the non-critical control state by judging the magnitude relationship between the actual opening angle of the throttle and the critical angle.

[0096] Exemplarily, when the difference between the throttle opening request value and the actual throttle opening value is less than -0.5°, and the determined voltage PWM duty cycle of the motor is less than or equal to 0, and the duration of the state of the throttle under the above conditions reaches 0.5 s, it indicates that the reset torque is less than or equal to the air torque. Therefore, the control state of the throttle switches from a non-critical control state to a critical control state.

[0097] Optionally, when the throttle switches from a non-critical control state to a critical control state, the limit range corresponding to the limit processing is adjusted from [0, X] to [-X, X].

[0098] It should be noted that the PID parameters corresponding to the non-critical control state and the critical control state are different and need to be calibrated according to the actual situation.

[0099] In the embodiments of the present application, during the process of adjusting the opening angle of the throttle valve, the present application can determine whether the current control state of the throttle valve has switched according to the magnitude relationship between the difference between the throttle opening request value and the actual throttle opening value and a preset threshold, and the magnitude relationship between the PWM duty cycle and 0, so as to accurately determine the current control state of the throttle valve.

[0100] In some embodiments, in a throttle valve control method provided by the embodiments of the present application, the method may further include: during the process of adjusting the opening angle of the throttle valve, if the throttle valve is in the critical control state and the throttle opening request value is greater than the critical angle, it is determined that the throttle valve switches from the critical control state to the non-critical control state; the critical angle is the opening angle of the throttle valve determined when the throttle valve switches from the non-critical control state to the critical control state.

[0101] It can be understood that the judgment conditions for the control state of the throttle valve to switch from the critical control state to the non-critical control state include: the throttle opening request value is greater than the critical angle.

[0102] Optionally, it can also be determined that the throttle valve switches from the critical control state to the non-critical control state only when the duration of the state where the throttle opening request value is greater than the critical angle reaches a certain preset duration (such as 0.5 s, 0.3 s, etc.).

[0103] In the embodiments of the present application, during the process of adjusting the opening angle of the throttle valve, if the throttle valve is in the critical control state, the present application can determine whether the current control state of the throttle valve has switched according to the magnitude relationship between the throttle opening request value and the critical angle when the throttle valve switches from the non-critical control state to the critical control state, so as to accurately determine the current control state of the throttle valve.

[0104] Exemplarily, such as Figure 8As shown, in a complete embodiment, first, a throttle opening request value and an actual throttle opening value are obtained, so that the controller determines the PWM duty cycle of the motor based on the throttle opening request value and the actual throttle opening value. Then, it is judged whether the difference between the throttle opening request value and the actual throttle opening value is less than a preset threshold and the PWM duty cycle is less than or equal to 0. If the judgment result is negative, it is determined that the current control state of the throttle is a non-critical control state, and the throttle can be controlled to rotate forward according to the determined PWM duty cycle to adjust the opening angle of the throttle. If the judgment result is positive, it is determined that the current control state of the throttle is a critical control state, and it is necessary to further determine whether the PWM duty cycle is greater than or equal to 0. If the PWM duty cycle is greater than or equal to 0, the throttle is controlled to rotate forward according to the determined PWM duty cycle to adjust the opening angle of the throttle; if the PWM duty cycle is less than 0, the throttle is controlled to rotate backward according to the determined PWM duty cycle to adjust the opening angle of the throttle.

[0105] The above mainly introduces the solution provided by the embodiments of the present application from the perspective of the method. To implement the above functions, the throttle control device or electronic device includes the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, combining the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0106] The embodiments of the present application can, according to the above method, exemplarily divide the function modules of the throttle control device or electronic device. For example, the throttle control device or electronic device can include each function module corresponding to each function division, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of a software function module. It should be noted that the division of modules in the embodiments of the present application is illustrative, only a logical function division, and there can be other division methods in actual implementation.

[0107] Figure 9 is a block diagram of a throttle control device shown according to an exemplary embodiment. Referring to Figure 9 , the throttle control device 900 includes: a processing module 901 and an adjustment module 902.

[0108] The processing module 901 is configured to determine the pulse width modulation (PWM) duty cycle of the motor based on the throttle opening request value and the actual throttle opening value. The motor is used to control the opening angle of the throttle. The processing module 901 is further configured to perform limit processing on the PWM duty cycle based on the current control state of the throttle to obtain the limited PWM duty cycle. The current control state is a critical control state or a non-critical control state. The critical control state is used to indicate that the reset torque generated by the throttle reset device is equal to the air torque generated by the air flowing through the throttle. The adjustment module 902 is configured to adjust the opening angle of the throttle based on the current control state, the throttle opening request value, and the limited PWM duty cycle.

[0109] In a possible implementation manner, the adjustment module 902 is specifically configured to, when the current control state is a non-critical control state, control the motor to rotate forward based on the limited PWM duty cycle to adjust the opening angle of the throttle to the throttle opening request value.

[0110] In a possible implementation manner, the adjustment module 902 is specifically configured to, when the current control state is a critical control state and the limited PWM duty cycle is less than 0, control the motor to rotate backward based on the limited PWM duty cycle to adjust the opening angle of the throttle to the throttle opening request value.

[0111] In a possible implementation manner, the adjustment module 902 is specifically configured to, when the current control state is a critical control state and the limited PWM duty cycle is greater than or equal to 0, control the motor to rotate forward based on the limited PWM duty cycle to adjust the opening angle of the throttle to the throttle opening request value.

[0112] In a possible implementation manner, when the current control state is a non-critical control state, the limit range corresponding to the limit processing is [0, X], where X is a positive integer. When the current control state is a critical control state, the limit range corresponding to the limit processing is [-X, X].

[0113] In a possible implementation manner, the processing module 901 is further configured to, during the process of adjusting the opening angle of the throttle, if the difference between the throttle opening request value and the actual throttle opening value is less than a preset threshold and the PWM duty cycle is less than or equal to 0, determine that the throttle switches from a non-critical control state to a critical control state.

[0114] In a possible implementation, the processing module 901 is further configured to, during the process of adjusting the opening angle of the throttle valve, if the throttle valve is in a critical control state and the throttle valve opening request value is greater than the critical angle, determine that the throttle valve switches from the critical control state to a non-critical control state; the critical angle is the opening angle of the throttle valve determined when the throttle valve switches from the non-critical control state to the critical control state.

[0115] Regarding the device in the above embodiment, the specific manners in which each module performs operations have been described in detail in the embodiment related to the method, and will not be elaborated herein.

[0116] Figure 10 is a block diagram of an electronic device shown according to an exemplary embodiment. As Figure 10 shown, the electronic device 1000 includes, but is not limited to: a processor 1001 and a memory 1002.

[0117] Among them, the above-mentioned memory 1002 is used to store the executable instructions of the above-mentioned processor 1001. It can be understood that the above-mentioned processor 1001 is configured to execute instructions to implement the throttle valve control method in the above embodiment.

[0118] It should be noted that those skilled in the art can understand that Figure 10 the structure of the electronic device shown in Figure 10 does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than

[0119] shown, or combine some components, or have different component arrangements.

[0120] The memory 1002 can be used to store software programs and various data. The memory 1002 mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required by at least one functional module (such as a processing module, etc.). In addition, the memory 1002 can include high-speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0121] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as the memory 1002 including instructions. The above instructions can be executed by the processor 1001 of the electronic device 1000 to implement the throttle control method in the above embodiment.

[0122] In actual implementation, Figure 9 the functions of the processing module 901 and the adjustment module 902 in Figure 10 can be implemented by the processor 1001 in

[0123] calling the computer program stored in the memory 1002. The specific execution process can refer to the description of the throttle control method part in the above embodiment, which will not be elaborated here.

[0124] In an exemplary embodiment, the embodiment of the present application also provides a computer program product including one or more instructions. The one or more instructions can be executed by the processor 1001 of the electronic device 1000 to complete the throttle control method in the above embodiment.

[0125] It should be noted that when the instructions in the above computer-readable storage medium or the one or more instructions in the computer program product are executed by the processor of the electronic device, each process of the above throttle control method embodiment is implemented, and the same technical effects as the above throttle control method can be achieved. To avoid repetition, it will not be elaborated here.

[0126] Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0127] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical or other forms.

[0128] The units described as separate components may or may not be physically separated. The components displayed as units may be one physical unit or multiple physical units, that is, they can be located in one place, or they can be distributed to multiple different places. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0129] In addition, each functional unit in various embodiments of the present application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0130] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions for causing a device (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods of the various embodiments of the present application. The aforementioned storage medium includes: USB flash drives, mobile hard disks, ROM, RAM, magnetic disks or optical discs and other various media that can store program codes.

[0131] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A throttle control method, characterized in that: The method comprises: Determining a pulse width modulation (PWM) duty cycle of a motor based on a throttle opening request value and an actual throttle opening value, wherein the motor is used to control an opening angle of the throttle valve; Based on the current control state of the throttle, the PWM duty cycle is subjected to limit processing to obtain a PWM duty cycle after the limit processing, wherein the current control state is a critical control state or a non-critical control state, and the critical control state is used to indicate that the reset torque generated by the reset device of the throttle is equal to the air torque generated by the air flowing through the throttle; The opening angle of the throttle valve is adjusted based on the current control state, the throttle opening request value and the PWM duty ratio after the limit processing.

2. The throttle control method according to claim 1, characterized in that: The adjusting the opening angle of the throttle valve based on the current control state, the throttle valve opening request value and the PWM duty cycle after the limit processing includes: When the current control state is the non-critical control state, the motor is controlled to rotate in a forward direction based on the PWM duty ratio after the limit processing, so as to adjust the opening angle of the throttle valve to the throttle opening request value.

3. The throttle control method according to claim 1, characterized in that: The adjusting the opening angle of the throttle valve based on the current control state, the throttle valve opening request value and the PWM duty cycle after the limit processing includes: When the current control state is the critical control state and the PWM duty ratio after the limit processing is less than 0, the motor is controlled to rotate in the opposite direction based on the PWM duty ratio after the limit processing to adjust the opening angle of the throttle valve to the throttle opening request value.

4. The throttle control method according to claim 1, characterized in that: The adjusting the opening angle of the throttle valve based on the current control state, the throttle valve opening request value and the PWM duty cycle after the limit processing includes: When the current control state is the critical control state and the PWM duty cycle after the limit processing is greater than or equal to 0, the motor is controlled to rotate forward based on the PWM duty cycle after the limit processing to adjust the opening angle of the throttle valve to the throttle opening request value.

5. The throttle control method according to claim 1, characterized in that: In the case where the current control state is the non-critical control state, the limit range corresponding to the limit value processing is [0, X], where X is a positive integer; When the current control state is the critical control state, the limit range corresponding to the limit value processing is [-X, X].

6. The throttle control method according to claim 1, characterized in that: The method further comprises: During the process of adjusting the opening angle of the throttle valve, if the difference between the throttle valve opening request value and the throttle valve opening actual value is less than a preset threshold, and the PWM duty cycle is less than or equal to 0, it is determined that the throttle valve switches from the non-critical control state to the critical control state.

7. The throttle control method according to claim 1, characterized in that: The method further comprises: During the process of adjusting the opening angle of the throttle valve, if the throttle valve is in the critical control state and the throttle valve opening request value is greater than the critical angle, it is determined that the throttle valve switches from the critical control state to the non-critical control state; the critical angle is the opening angle of the throttle valve determined when the throttle valve switches from the non-critical control state to the critical control state.

8. A throttle control device, characterized in that: The throttle control device comprises: a processing module and a regulating module; The processing module is used to determine the pulse width modulation (PWM) duty cycle of the motor based on the throttle opening request value and the throttle opening actual value, and the motor is used to control the opening angle of the throttle; The processing module is further used to perform limit processing on the PWM duty cycle based on the current control state of the throttle valve to obtain the PWM duty cycle after the limit processing, the current control state is a critical control state or a non-critical control state, and the critical control state is used to indicate that the reset torque generated by the reset device of the throttle valve is equal to the air torque generated by the air flowing through the throttle valve; The regulating module is used to regulate the opening angle of the throttle valve based on the current control state, the throttle valve opening request value and the PWM duty cycle after the limit processing.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the throttle control method as described in any one of claims 1-7.

10. A throttle control system, characterized in that: The throttle control system includes a controller, a motor and a throttle; The controller is used to determine the pulse width modulation (PWM) duty ratio of the motor based on the throttle opening request value and the throttle opening actual value, and the motor is used to control the opening angle of the throttle; The controller is further used to perform limit processing on the PWM duty cycle based on the current control state of the throttle valve to obtain the PWM duty cycle after the limit processing, the current control state is a critical control state or a non-critical control state, and the critical control state is used to indicate that the reset torque generated by the reset device of the throttle valve is equal to the air torque generated by the air flowing through the throttle valve; The controller is further used to adjust the opening angle of the throttle valve based on the current control state, the throttle valve opening request value and the PWM duty cycle after the limit processing.

11. The throttle control system according to claim 10, characterized in that: The controller controls the rotation direction of the throttle valve by controlling the rotation direction of the motor to adjust the opening angle of the throttle valve; The controller is further configured to receive the throttle opening request value and obtain the throttle opening actual value.

12. A vehicle, characterized in that: The vehicle comprises the throttle control device according to claim 8, and the vehicle is used to implement the throttle control method according to any one of claims 1-7.

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