Non-electric-control engine throttle control method and device, vehicle control unit and medium

Abstract

The invention discloses a non-electric-control engine throttle control method and device, a vehicle control unit and a medium, and belongs to the technical field of engines. The method comprises the steps that the actual engine rotating speed, the actual throttle position and the throttle gear are obtained; determining an accelerator request position and a target engine rotating speed according to the accelerator gear; comparing the actual accelerator position with the accelerator request position; if the absolute value of the deviation between the accelerator request position and the accelerator actual position is greater than the first preset position deviation, outputting a target PWM signal with a fixed duration to an accelerator motor; if the absolute value of the deviation is larger than the second preset position deviation and smaller than or equal to the first preset position deviation, PWM signals are calculated according to the deviation and output to an accelerator motor; if the absolute value of the deviation is smaller than or equal to the second preset position deviation, the actual engine rotating speed and the target engine rotating speed are compared, and if the absolute value of the rotating speed deviation is larger than the preset rotating speed value, a PWM signal is calculated according to the rotating speed deviation and output to the accelerator motor.

Description

Technical Field

[0001] The present application relates to the field of engine technology, and in particular to a non-electronically controlled engine throttle control method, a non-electronically controlled engine throttle control device, a non-electronically controlled engine vehicle controller, and a machine-readable storage medium. Background Art

[0002] Engine throttle control is divided into electronic engine throttle control and non-electronic engine throttle control. The conventional non-electronic engine throttle control method is that the throttle gear information sends the throttle gear signal to the vehicle controller through the CAN bus. After receiving the gear value, the vehicle controller calculates the control position value of the throttle motor extension and retraction through the speed value of the corresponding gear. The vehicle controller outputs current according to the calculated control position value to control the extension and retraction of the throttle motor push rod. The extension and retraction of the throttle motor push rod pulls the engine mechanical throttle to control the fuel injection amount, thereby realizing engine throttle and speed control.

[0003] The existing throttle control method involves the vehicle controller calculating the throttle motor's control position. It then periodically outputs a voltage pulse to control the motor's extension and retraction. The speed of the throttle motor's extension and retraction is determined by the vehicle controller's output current and the duration of the current output cycle. This periodic pulse-like control of the throttle motor's extension and retraction frequently triggers the motor control, shortening its service life. Furthermore, this frequent pulse-like control can cause slight deviations in the actual engine speed, preventing precise control. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a non-electronic engine throttle control method, device, vehicle controller and medium to address the shortcomings of the prior art method of periodic burst control of throttle motor extension and retraction, which affects the service life of the throttle motor and cannot achieve precise control.

[0005] In order to achieve the above-mentioned objectives, the present application provides, in a first aspect, a method for controlling a throttle of a non-electronically controlled engine, the method comprising: Get the actual engine speed, actual throttle position, and throttle gear; determining a throttle request position and a target engine speed according to the throttle gear position; Compare the actual throttle position with the throttle request position; If the absolute value of the deviation between the throttle request position and the actual throttle position is greater than a first preset position deviation, a target PWM signal of a fixed duration is output to the throttle motor to quickly adjust the actual engine speed; If the absolute value of the deviation between the throttle request position and the actual throttle position is greater than the second preset position deviation and less than or equal to the first preset position deviation, a PWM signal is calculated based on the deviation between the throttle request position and the actual throttle position and output to the throttle motor until the absolute value of the deviation between the throttle request position and the actual throttle position is less than or equal to the second preset position deviation; If the absolute value of the deviation between the throttle request position and the actual throttle position is less than or equal to the second preset position deviation, the actual engine speed is compared with the target engine speed. If the absolute value of the deviation between the actual engine speed and the target engine speed is greater than the preset speed value, a PWM signal is calculated based on the deviation between the actual engine speed and the target engine speed and output to the throttle motor until the absolute value of the deviation between the actual engine speed and the target engine speed is less than or equal to the preset speed value.

[0006] According to the above means, the method determines the throttle request position and the target engine speed according to the throttle gear position. When the deviation between the actual throttle position and the throttle request position is greater than the first preset position deviation, a target PWM signal of a fixed duration is first output to the throttle motor to quickly adjust the actual engine speed. When the deviation between the actual throttle position and the throttle request position is greater than the second preset position deviation and less than or equal to the first preset position deviation, the PWM signal is accurately calculated based on the deviation between the actual throttle position and the throttle request position and output to the throttle motor to further reduce the deviation between the actual throttle position and the throttle request position. Finally, when the deviation between the actual throttle position and the throttle request position is less than or equal to the second preset position deviation, the PWM signal is accurately calculated based on the deviation between the actual engine speed and the target engine speed and output to the throttle motor to fine-tune the actual engine speed, reduce the number of output signals, protect the hardware components of the controller output port, increase the service life of the throttle motor, and make the engine speed control more stable and accurate. The target PWM signal of the fixed duration causes the engine throttle to stably change the fuel injection amount within a fixed duration, which has a certain effect of reducing fuel consumption.

[0007] In some feasible embodiments, determining the throttle request position and the target engine speed according to the throttle gear position includes: Obtain target engine speed according to throttle gear position; The throttle request position is calculated based on the target engine speed, the calibrated and stored speed signal, and the corresponding throttle position.

[0008] In some feasible embodiments, calculating the throttle request position according to the target engine speed and the calibrated and stored speed signal and the corresponding throttle position includes: Obtaining a first speed signal and a corresponding first throttle position adjacent to the target engine speed and a second speed signal and a corresponding second throttle position from the calibrated and stored speed signals and corresponding throttle positions; The throttle request position is calculated based on the target engine speed, the first speed signal, the first throttle position, the second speed signal, and the second throttle position using an equal-proportional interpolation algorithm.

[0009] In some feasible embodiments, the throttle request position is calculated based on the target engine speed, the first speed signal, the first throttle position, the second speed signal, and the second throttle position using an equal-proportional interpolation algorithm, including: calculating a first difference between the target engine speed and the first speed signal, a second difference between the second speed signal and the first speed signal, and a third difference between the second throttle position and the first throttle position; calculating a product of the first difference and the third difference; Obtaining a ratio of the product to the second difference; The throttle request position is obtained according to the sum of the proportional value and the first throttle position.

[0010] In some feasible embodiments, the speed signal and the corresponding throttle position are calibrated in the following manner: Obtaining the maximum throttle position signal when the engine speed is the lowest and the minimum throttle position signal when the engine speed is the highest; Set the number of calibrated throttle positions; Calculating the position interval between two adjacent calibrated throttle positions according to the number of calibrated throttle positions; Calculate the value of each calibrated throttle position based on the position interval; The throttle position signal is adjusted according to the value of each calibrated throttle position, and the corresponding engine speed signal is recorded to obtain the speed signal and the corresponding throttle position.

[0011] In some feasible embodiments, if the absolute value of the deviation between the throttle request position and the actual throttle position is greater than a first preset position deviation, a target PWM signal of a fixed duration is output to the throttle motor to quickly adjust the actual engine speed, including: If the deviation between the requested throttle position and the actual throttle position is less than zero, and the absolute value of the deviation is greater than a first preset position deviation, the first port of the vehicle controller outputs a negative signal of a fixed duration, and the second port outputs a positive signal of a fixed duration to quickly increase the actual engine speed; If the deviation between the throttle request position and the actual throttle position is greater than zero, and the absolute value of the deviation is greater than the first preset position deviation, the first port of the vehicle controller outputs a positive signal of a fixed duration, and the second port outputs a negative signal of a fixed duration to quickly reduce the actual engine speed.

[0012] In some feasible embodiments, calculating a PWM signal according to a deviation between a requested throttle position and an actual throttle position and outputting it to a throttle motor includes: According to the deviation between the throttle request position and the actual throttle position, the PWM signal is calculated by the PID algorithm and output to the throttle motor; The PWM signal is calculated based on the deviation between the actual engine speed and the target engine speed and output to the throttle motor, including: According to the deviation between the actual engine speed and the target engine speed, the PWM signal is calculated by the PID algorithm and output to the throttle motor.

[0013] A second aspect of the present application provides a non-electronically controlled engine throttle control device, the device comprising: A data acquisition unit, used to obtain actual engine speed, actual throttle position and throttle gear position; a data analysis unit, configured to determine a throttle request position and a target engine speed according to the throttle gear position; A judgment execution unit is used to compare the actual throttle position and the throttle request position; if the absolute value of the deviation between the throttle request position and the actual throttle position is greater than a first preset position deviation, a target PWM signal of a fixed duration is output to the throttle motor to quickly adjust the actual engine speed; if the absolute value of the deviation between the throttle request position and the actual throttle position is greater than a second preset position deviation and less than or equal to the first preset position deviation, a PWM signal is calculated based on the deviation between the throttle request position and the actual throttle position and output to the throttle motor until the absolute value of the deviation between the throttle request position and the actual throttle position is less than or equal to the second preset position deviation; if the absolute value of the deviation between the throttle request position and the actual throttle position is less than or equal to the second preset position deviation, the actual engine speed is compared with the target engine speed. If the absolute value of the deviation between the actual engine speed and the target engine speed is greater than the preset speed value, a PWM signal is calculated based on the deviation between the actual engine speed and the target engine speed and output to the throttle motor until the absolute value of the deviation between the actual engine speed and the target engine speed is less than or equal to the preset speed value.

[0014] A third aspect of the present application provides a non-electronically controlled engine vehicle controller, the vehicle controller being used to: Get the actual engine speed, actual throttle position, and throttle gear; determining a throttle request position and a target engine speed according to the throttle gear position; Compare the actual throttle position with the throttle request position; If the absolute value of the deviation between the throttle request position and the actual throttle position is greater than a first preset position deviation, a target PWM signal of a fixed duration is output to the throttle motor to quickly adjust the actual engine speed; If the absolute value of the deviation between the throttle request position and the actual throttle position is greater than the second preset position deviation and less than or equal to the first preset position deviation, a PWM signal is calculated based on the deviation between the throttle request position and the actual throttle position and output to the throttle motor until the absolute value of the deviation between the throttle request position and the actual throttle position is less than or equal to the second preset position deviation; If the absolute value of the deviation between the throttle request position and the actual throttle position is less than or equal to the second preset position deviation, the actual engine speed is compared with the target engine speed. If the absolute value of the deviation between the actual engine speed and the target engine speed is greater than the preset speed value, a PWM signal is calculated based on the deviation between the actual engine speed and the target engine speed and output to the throttle motor until the absolute value of the deviation between the actual engine speed and the target engine speed is less than or equal to the preset speed value.

[0015] A fourth aspect of the present application provides a machine-readable storage medium having stored thereon instructions for enabling a machine to execute the non-electronically controlled engine throttle control method.

[0016] Through the above technical solution, the method determines the throttle request position and the target engine speed according to the throttle gear position. When the deviation between the actual throttle position and the throttle request position is greater than the first preset position deviation, a target PWM signal of a fixed duration is first output to the throttle motor to quickly adjust the actual engine speed. When the deviation between the actual throttle position and the throttle request position is greater than the second preset position deviation and less than or equal to the first preset position deviation, the PWM signal is accurately calculated based on the deviation between the actual throttle position and the throttle request position and output to the throttle motor to further reduce the deviation between the actual throttle position and the throttle request position. Finally, when the deviation between the actual throttle position and the throttle request position is less than or equal to the second preset position deviation, the PWM signal is accurately calculated based on the deviation between the actual engine speed and the target engine speed and output to the throttle motor to fine-tune the actual engine speed, reduce the number of output signals, protect the hardware components of the controller output port, increase the service life of the throttle motor, and make the engine speed control more stable and accurate. The target PWM signal of the fixed duration enables the engine throttle to stably change the fuel injection amount within a fixed duration, which has a certain effect of reducing fuel consumption.

[0017] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present application but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings: Figure 1The following schematically shows a step diagram of a non-electronically controlled engine throttle control method according to an embodiment of the present application; Figure 2 The following schematically shows a step diagram of a non-electronically controlled engine throttle control method according to an embodiment of the present application; Figure 3 The figure schematically shows a throttle calibration process diagram according to an embodiment of the present application. DETAILED DESCRIPTION

[0019] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0020] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of laws and regulations. In the embodiments of this application, certain software, components, models, and other existing solutions in the industry may be mentioned. These should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use such solutions.

[0021] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), such directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0022] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0023] The non-electronically controlled engine throttle control method of the present application is applied in Figure 1The non-electronic engine throttle control system shown includes a throttle knob, a vehicle controller, a throttle motor, an engine, and a speed sensor. The throttle knob sends a gear position signal to the vehicle controller; the vehicle controller receives gear position, speed, and other signals and controls the throttle motor. The throttle motor pulls the engine throttle cable to control the engine's fuel injection rate. The throttle motor also feeds back a voltage signal from its actual position to the vehicle controller, which determines whether the throttle motor push rod needs to be extended or retracted. The speed sensor collects the actual engine speed signal and feeds it back to the vehicle controller. The vehicle controller then controls the throttle motor based on the gear setting speed and the actual speed deviation, achieving precise speed control. In other feasible embodiments, the non-electronic engine throttle control system also includes a display, through which the user can modify the target generator speed for different gear settings. The display can also display the actual engine speed.

[0024] Figure 2 The following schematically shows the steps of a non-electronically controlled engine throttle control method according to an embodiment of the present application. Figure 2 As shown, an embodiment of the present application provides a non-electronically controlled engine throttle control method, which may include the following steps.

[0025] S1: Acquire the actual engine speed, actual throttle position, and throttle gear position. In this embodiment of the present application, the actual engine speed is acquired from the real-time engine speed signal collected by the speed sensor from the engine, the actual throttle position is acquired from the actual position signal fed back from the throttle motor to the vehicle controller, and the throttle gear position is acquired from the gear position signal fed back from the throttle knob to the vehicle controller.

[0026] S2: Determine the requested throttle position and target engine speed based on the throttle gear position. The target engine speed is the set speed corresponding to the throttle gear position and is stored in the vehicle controller's memory area. The requested throttle position represents the desired throttle position for the current throttle gear position.

[0027] In some feasible embodiments, determining the throttle request position and the target engine speed according to the throttle gear position includes: Obtaining the target engine speed based on the throttle gear position. In some feasible embodiments, after the vehicle controller receives the throttle gear position signal from the throttle knob via the CAN bus, it calls the target engine speed set_speed corresponding to the corresponding gear position from the vehicle controller storage area.

[0028] The requested throttle position is calculated based on the target engine speed, the calibrated and stored speed signal, and the corresponding throttle position. In the embodiment of the present application, the calibrated and stored speed signal and the corresponding throttle position represent the corresponding relationship between the speed signal and the throttle position. This allows the desired engine speed and throttle position to be quickly determined based on the throttle position, providing a target value for subsequent throttle control.

[0029] In some feasible embodiments, calculating the throttle request position according to the target engine speed and the calibrated and stored speed signal and the corresponding throttle position includes: A first speed signal and a corresponding first throttle position, as well as a second speed signal and a corresponding second throttle position, adjacent to the target engine speed, are obtained from the calibrated and stored speed signals and corresponding throttle positions; one of the first speed signal and the second speed signal is greater than the target engine speed, while the other is less than the target engine speed. The following embodiments will be described using an example in which the first speed signal is less than the target engine speed and the second speed signal is greater than the target engine speed.

[0030] The throttle request position is calculated based on the target engine speed, the first speed signal, the first throttle position, the second speed signal, and the second throttle position using an equal-proportional interpolation algorithm.

[0031] In particular, a third speed signal equal to the target engine speed can be directly obtained from the calibrated and stored speed signal and the corresponding throttle position, and the third throttle position corresponding to the third speed signal can be directly determined as the throttle request position.

[0032] In some feasible embodiments, the throttle request position is calculated based on the target engine speed, the first speed signal, the first throttle position, the second speed signal, and the second throttle position using an equal-proportional interpolation algorithm, including: calculating a first difference between the target engine speed and the first speed signal, a second difference between the second speed signal and the first speed signal, and a third difference between the second throttle position and the first throttle position; calculating a product of the first difference and the third difference; Obtaining a ratio of the product to the second difference; The throttle request position is obtained according to the sum of the proportional value and the first throttle position.

[0033] Define the first speed signal as kongzai_speed[i], the first throttle position as kongzai_speed[i], the second speed signal as kongzai_speed[i+1], the second throttle position as Motor_pos[i+1], and the target engine speed as set_speed. Then use the following formula to calculate the throttle request position Position_Request: Position_Request=[(set_speed-kongzai_speed[i])*(Motor_pos[i+1]-Motor_pos[i]) / ( kongzai_speed[i+1]- kongzai_speed[i])]+ Motor_pos[i].

[0034] S3: Compare the actual throttle position and the throttle request position.

[0035] S4: If the absolute value of the deviation between the throttle request position and the actual throttle position is greater than the first preset position deviation, a target PWM signal of a fixed duration is output to the throttle motor to quickly adjust the actual engine speed.

[0036] The throttle motor is a DC motor. Its two power lines are connected to two ports on the controller. When the first port outputs a positive signal and the second port outputs a negative signal, the throttle motor push rod extends. Conversely, when the first port outputs a negative signal and the second port outputs a positive signal, the throttle motor push rod retracts. In practice, whether the throttle motor retracts or extends depends on the specific deviation between the actual throttle position and the requested throttle position.

[0037] In some feasible embodiments, if the absolute value of the deviation between the throttle request position and the actual throttle position is greater than a first preset position deviation, a target PWM signal of a fixed duration is output to the throttle motor to quickly adjust the actual engine speed, including: If the deviation between the requested throttle position and the actual throttle position is less than zero, and the absolute value of the deviation is greater than a first preset position deviation, the first port of the vehicle controller outputs a negative signal of a fixed duration, and the second port outputs a positive signal of a fixed duration to quickly increase the actual engine speed; If the deviation between the throttle request position and the actual throttle position is greater than zero, and the absolute value of the deviation is greater than the first preset position deviation, the first port of the vehicle controller outputs a positive signal of a fixed duration, and the second port outputs a negative signal of a fixed duration to quickly reduce the actual engine speed.

[0038] When the throttle knob gear rises, the deviation between the throttle request position Position_Request and the actual throttle position Position_Actual is less than zero, and the absolute value of the deviation is greater than the first preset position deviation. At this time, it is judged that the engine needs to increase speed, and the first port of the vehicle controller outputs a negative signal with a fixed duration, and the second port outputs a positive signal with a fixed duration, which controls the throttle motor to retract quickly, increase the throttle fuel injection amount, and quickly increase the actual engine speed.

[0039] When the throttle knob gear is lowered, the deviation between the throttle request position Position_Request and the actual throttle position Position_Actual is greater than zero, and the absolute value of the deviation is greater than the first preset position deviation. At this time, it is judged that the engine needs to slow down, and the first port of the vehicle controller outputs a positive signal with a fixed duration, and the second port outputs a negative signal with a fixed duration, which controls the throttle motor to extend quickly, reduce the throttle fuel injection amount, and quickly reduce the actual engine speed.

[0040] S5: If the absolute value of the deviation between the throttle request position and the actual throttle position is greater than the second preset position deviation and less than or equal to the first preset position deviation, the PWM signal is calculated based on the deviation between the throttle request position and the actual throttle position and output to the throttle motor until the absolute value of the deviation between the throttle request position and the actual throttle position is less than or equal to the second preset position deviation.

[0041] In some feasible embodiments, calculating a PWM signal according to a deviation between a requested throttle position and an actual throttle position and outputting it to a throttle motor includes: According to the deviation between the throttle request position and the actual throttle position, the PWM signal is calculated by the PID algorithm and output to the throttle motor to further reduce the deviation between the actual throttle position and the throttle request position.

[0042] S6: If the absolute value of the deviation between the throttle request position and the actual throttle position is less than or equal to the second preset position deviation, the actual engine speed is compared with the target engine speed. If the absolute value of the deviation between the actual engine speed and the target engine speed is greater than the preset speed value, a PWM signal is calculated based on the deviation between the actual engine speed and the target engine speed and output to the throttle motor until the absolute value of the deviation between the actual engine speed and the target engine speed is less than or equal to the preset speed value.

[0043] It should be noted that the actual engine speed in S6 is the speed adjusted in steps S4 and S5.

[0044] In some feasible embodiments, calculating a PWM signal and outputting it to a throttle motor based on a deviation between an actual engine speed and a target engine speed includes: Based on the deviation between the actual engine speed and the target engine speed, a PID algorithm calculates a PWM signal and outputs it to the throttle motor. This fine-tunes the throttle motor until the absolute value of the deviation between the actual engine speed and the target engine speed is less than or equal to the preset speed value. This completes the throttle control cycle.

[0045] In practical applications, for more accurate control, after executing step S4, the process can return to compare the absolute value of the deviation between the requested throttle position and the actual throttle position to see if it is greater than a first preset position deviation. If so, the target PWM signal with a fixed duration is again output to the throttle motor. Otherwise, step S5 is executed. After executing step S5, the process needs to return to compare the absolute value of the deviation between the requested throttle position and the actual throttle position to see if it is greater than a second preset position deviation and less than or equal to the first preset position deviation. If so, the PWM signal is again calculated based on the deviation between the requested throttle position and the actual throttle position using a PID algorithm and output to the throttle motor. Otherwise, step S6 is executed. After executing step S6, the process needs to return to compare the absolute value of the deviation between the actual engine speed and the target engine speed to see if it is greater than a preset speed value. If so, the process continues to calculate the PWM signal based on the deviation between the actual engine speed and the target engine speed and output to the throttle motor until the absolute value of the deviation between the actual engine speed and the target engine speed is less than or equal to the preset speed value.

[0046] In practice, there may be several other situations. In the first situation, after adjustment according to step S4, the absolute value of the deviation between the throttle request position and the actual throttle position is less than or equal to the second preset position deviation, and the absolute value of the deviation between the actual engine speed and the target engine speed is less than or equal to the preset speed value. At this time, the throttle control can be terminated directly without executing steps S5 and S6.

[0047] In the second case, after adjusting the throttle knob, if the absolute value of the deviation between the throttle request position and the actual throttle position is greater than the second preset position deviation and less than or equal to the first preset position deviation, there is no need to execute step S4 and directly execute step S5. After executing step S5, if the absolute value of the deviation between the throttle request position and the actual throttle position is less than or equal to the second preset position deviation, and the absolute value of the deviation between the actual engine speed and the target engine speed is less than or equal to the preset speed value, then the throttle control can be directly ended without executing step S6.

[0048] In the third case, after adjusting the throttle knob, if the absolute value of the deviation between the throttle request position and the throttle actual position is less than or equal to the second preset position deviation, then steps S4 and S5 do not need to be executed, and only step S6 needs to be executed.

[0049] In the fourth case, after adjusting the throttle knob according to step S4, if the absolute value of the deviation between the throttle request position and the throttle actual position is less than or equal to the second preset position deviation, step S5 does not need to be executed and step S6 is directly executed.

[0050] In the fifth case, after adjusting the throttle knob and adjusting according to steps S4 and S5, the absolute value of the deviation between the actual engine speed and the target engine speed is less than or equal to the preset speed value. At this time, the throttle control can be ended directly without executing step S6.

[0051] In the sixth case, after adjusting the throttle knob, if the absolute value of the deviation between the requested throttle position and the actual throttle position is greater than the second preset position deviation and less than or equal to the first preset position deviation, step S4 is omitted and step S5 is directly executed. After step S5, if the absolute value of the deviation between the requested throttle position and the actual throttle position is less than or equal to the second preset position deviation, step S6 is continued.

[0052] It should be noted that the first preset position deviation, the second preset position deviation, the preset speed value, and the fixed duration are set according to actual control requirements. For example, the preset speed can be set according to the control accuracy, and the fixed duration can be set according to the size of the first preset position deviation.

[0053] According to the above means, the method determines the throttle request position and the target engine speed according to the throttle gear position. When the deviation between the actual throttle position and the throttle request position is greater than the first preset position deviation, a target PWM signal of a fixed duration is first output to the throttle motor to quickly adjust the actual engine speed. When the deviation between the actual throttle position and the throttle request position is greater than the second preset position deviation and less than or equal to the first preset position deviation, the PWM signal is accurately calculated based on the deviation between the actual throttle position and the throttle request position and output to the throttle motor to further reduce the deviation between the actual throttle position and the throttle request position. Finally, when the deviation between the actual throttle position and the throttle request position is less than or equal to the second preset position deviation, the PWM signal is accurately calculated based on the deviation between the actual engine speed and the target engine speed and output to the throttle motor to fine-tune the actual engine speed, reduce the number of output signals, protect the hardware components of the controller output port, increase the service life of the throttle motor, and make the engine speed control more stable and accurate. The target PWM signal of the fixed duration causes the engine throttle to stably change the fuel injection amount within a fixed duration, which has a certain effect of reducing fuel consumption.

[0054] Due to the installation method, engine throttle calibration is a gradual process from lowest to highest engine speed, and from maximum to minimum throttle motor push rod position. At the lowest engine speed, the throttle position signal is maximum (Motor_pos_Max), indicating the motor's telescopic rod is extended to its maximum distance. At the highest engine speed, the throttle position signal is minimum (Motor_pos_Min), indicating the motor's telescopic rod is extended to its minimum distance.

[0055] In some possible embodiments, such as Figure 3 As shown, the speed signal and the corresponding throttle position are calibrated as follows: 1) Obtain the maximum throttle position signal Motor_pos_Max when the engine speed is the lowest and the minimum throttle position signal Motor_pos_Min when the engine speed is the highest; 2) Set the number of calibrated throttle positions, i.e., assume that i speed values and i position signal values are taken from the minimum speed to the maximum speed; 3) Calculate the position interval Add_Step between two adjacent calibrated throttle positions based on the number of calibrated throttle positions, that is, calculate the average position interval Add_Step between every two calibrated throttle positions according to the arithmetic difference value: Add_Step = (Motor_pos_Max - Motor_pos_Min) / i.

[0056] 4) Calculate the value of each calibrated throttle position based on the position interval. The calibrated throttle position is the throttle request position Position_Reques: Position_Request = Motor_pos_Max-Add_Step*i.

[0057] 5) Adjust the throttle position signal according to each calibrated throttle position value and record the corresponding engine speed signal to obtain the speed signal kongzai_speed[i] and the corresponding throttle position Motor_pos[i]. Store the speed signal and the corresponding throttle position in the vehicle controller for use in throttle control.

[0058] A second aspect of the present application provides a non-electronically controlled engine throttle control device, the device comprising: A data acquisition unit, used to obtain actual engine speed, actual throttle position and throttle gear position; a data analysis unit, configured to determine a throttle request position and a target engine speed according to the throttle gear position; A judgment execution unit is used to compare the actual throttle position and the throttle request position; if the absolute value of the deviation between the throttle request position and the actual throttle position is greater than a first preset position deviation, a target PWM signal of a fixed duration is output to the throttle motor to quickly adjust the actual engine speed; if the absolute value of the deviation between the throttle request position and the actual throttle position is greater than a second preset position deviation and less than or equal to the first preset position deviation, a PWM signal is calculated based on the deviation between the throttle request position and the actual throttle position and output to the throttle motor until the absolute value of the deviation between the throttle request position and the actual throttle position is less than or equal to the second preset position deviation; if the absolute value of the deviation between the throttle request position and the actual throttle position is less than or equal to the second preset position deviation, the actual engine speed is compared with the target engine speed. If the absolute value of the deviation between the actual engine speed and the target engine speed is greater than the preset speed value, a PWM signal is calculated based on the deviation between the actual engine speed and the target engine speed and output to the throttle motor until the absolute value of the deviation between the actual engine speed and the target engine speed is less than or equal to the preset speed value.

[0059] In some feasible embodiments, the data analysis unit is further configured to: obtain a target engine speed according to the throttle gear position; The throttle request position is calculated based on the target engine speed, the calibrated and stored speed signal, and the corresponding throttle position.

[0060] In some feasible embodiments, calculating the throttle request position according to the target engine speed and the calibrated and stored speed signal and the corresponding throttle position includes: Obtaining a first speed signal and a corresponding first throttle position adjacent to the target engine speed and a second speed signal and a corresponding second throttle position from the calibrated and stored speed signals and corresponding throttle positions; The throttle request position is calculated based on the target engine speed, the first speed signal, the first throttle position, the second speed signal, and the second throttle position using an equal-proportional interpolation algorithm.

[0061] In some feasible embodiments, the throttle request position is calculated based on the target engine speed, the first speed signal, the first throttle position, the second speed signal, and the second throttle position using an equal-proportional interpolation algorithm, including: calculating a first difference between the target engine speed and the first speed signal, a second difference between the second speed signal and the first speed signal, and a third difference between the second throttle position and the first throttle position; calculating a product of the first difference and the third difference; Obtaining a ratio of the product to the second difference; The throttle request position is obtained according to the sum of the proportional value and the first throttle position.

[0062] In some feasible embodiments, the judgment execution unit is specifically configured to: If the deviation between the requested throttle position and the actual throttle position is less than zero, and the absolute value of the deviation is greater than a first preset position deviation, the first port of the vehicle controller outputs a negative signal of a fixed duration, and the second port outputs a positive signal of a fixed duration to quickly increase the actual engine speed; If the deviation between the requested throttle position and the actual throttle position is greater than zero, and the absolute value of the deviation is greater than a first preset position deviation, the first port of the vehicle controller outputs a positive signal of a fixed duration, and the second port outputs a negative signal of a fixed duration, so as to quickly reduce the actual engine speed; and According to the deviation between the throttle request position and the actual throttle position, the PWM signal is calculated by the PID algorithm and output to the throttle motor; According to the deviation between the actual engine speed and the target engine speed, the PWM signal is calculated by the PID algorithm and output to the throttle motor.

[0063] In some feasible embodiments, the speed signal and the corresponding throttle position are calibrated in the following manner: Obtaining the maximum throttle position signal when the engine speed is the lowest and the minimum throttle position signal when the engine speed is the highest; Set the number of calibrated throttle positions; Calculating the position interval between two adjacent calibrated throttle positions according to the number of calibrated throttle positions; Calculate the value of each calibrated throttle position based on the position interval; The throttle position signal is adjusted according to the value of each calibrated throttle position, and the corresponding engine speed signal is recorded to obtain the speed signal and the corresponding throttle position.

[0064] A third aspect of the present application provides a non-electronically controlled engine vehicle controller, the vehicle controller being used to: Get the actual engine speed, actual throttle position, and throttle gear; determining a throttle request position and a target engine speed according to the throttle gear position; Compare the actual throttle position with the throttle request position; If the absolute value of the deviation between the throttle request position and the actual throttle position is greater than a first preset position deviation, a target PWM signal of a fixed duration is output to the throttle motor to quickly adjust the actual engine speed; If the absolute value of the deviation between the throttle request position and the actual throttle position is greater than the second preset position deviation and less than or equal to the first preset position deviation, a PWM signal is calculated based on the deviation between the throttle request position and the actual throttle position and output to the throttle motor until the absolute value of the deviation between the throttle request position and the actual throttle position is less than or equal to the second preset position deviation; If the absolute value of the deviation between the throttle request position and the actual throttle position is less than or equal to the second preset position deviation, the actual engine speed is compared with the target engine speed. If the absolute value of the deviation between the actual engine speed and the target engine speed is greater than the preset speed value, a PWM signal is calculated based on the deviation between the actual engine speed and the target engine speed and output to the throttle motor until the absolute value of the deviation between the actual engine speed and the target engine speed is less than or equal to the preset speed value.

[0065] A fourth aspect of the present application provides a machine-readable storage medium having stored thereon instructions for enabling a machine to execute the non-electronically controlled engine throttle control method.

[0066] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0067] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0068] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0069] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0070] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0071] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0072] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can be implemented using any method or technology for information storage. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change RAM (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

[0073] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0074] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A non-electronically controlled engine throttle control method, characterized in that: The method comprises: Get the actual engine speed, actual throttle position, and throttle gear; determining a throttle request position and a target engine speed according to the throttle gear position; Compare the actual throttle position with the throttle request position; If the absolute value of the deviation between the throttle request position and the actual throttle position is greater than a first preset position deviation, a target PWM signal of a fixed duration is output to the throttle motor to quickly adjust the actual engine speed; If the absolute value of the deviation between the throttle request position and the actual throttle position is greater than the second preset position deviation and less than or equal to the first preset position deviation, a PWM signal is calculated based on the deviation between the throttle request position and the actual throttle position and output to the throttle motor until the absolute value of the deviation between the throttle request position and the actual throttle position is less than or equal to the second preset position deviation; If the absolute value of the deviation between the throttle request position and the actual throttle position is less than or equal to the second preset position deviation, the actual engine speed is compared with the target engine speed. If the absolute value of the deviation between the actual engine speed and the target engine speed is greater than the preset speed value, a PWM signal is calculated based on the deviation between the actual engine speed and the target engine speed and output to the throttle motor until the absolute value of the deviation between the actual engine speed and the target engine speed is less than or equal to the preset speed value.

2. The non-electronic engine throttle control method according to claim 1, characterized in that: Determine the throttle request position and target engine speed based on the throttle gear position, including: Obtain target engine speed according to throttle gear position; The throttle request position is calculated based on the target engine speed, the calibrated and stored speed signal, and the corresponding throttle position.

3. The non-electronic engine throttle control method according to claim 2, characterized in that: Calculate the requested throttle position based on the target engine speed, the calibrated and stored speed signal, and the corresponding throttle position, including: Obtaining a first speed signal and a corresponding first throttle position adjacent to the target engine speed and a second speed signal and a corresponding second throttle position from the calibrated and stored speed signals and corresponding throttle positions; The throttle request position is calculated based on the target engine speed, the first speed signal, the first throttle position, the second speed signal, and the second throttle position using an equal-proportional interpolation algorithm.

4. The non-electronic engine throttle control method according to claim 3, characterized in that: Calculating a requested throttle position based on a target engine speed, a first speed signal, a first throttle position, a second speed signal, and a second throttle position using a proportional interpolation algorithm includes: Calculating a first difference between the target engine speed and the first speed signal, a second difference between the second speed signal and the first speed signal, and a third difference between the second throttle position and the first throttle position; calculating a product of the first difference and the third difference; Obtaining a ratio of the product to the second difference; The throttle request position is obtained according to the sum of the proportional value and the first throttle position.

5. The non-electronic engine throttle control method according to claim 2, characterized in that: The speed signal and the corresponding throttle position are calibrated as follows: Obtaining the maximum throttle position signal when the engine speed is the lowest and the minimum throttle position signal when the engine speed is the highest; Set the number of calibrated throttle positions; Calculating the position interval between two adjacent calibrated throttle positions according to the number of calibrated throttle positions; Calculate the value of each calibrated throttle position based on the position interval; The throttle position signal is adjusted according to the value of each calibrated throttle position, and the corresponding engine speed signal is recorded to obtain the speed signal and the corresponding throttle position.

6. The non-electronic engine throttle control method according to claim 1, characterized in that: If the absolute value of the deviation between the throttle request position and the actual throttle position is greater than a first preset position deviation, a target PWM signal of a fixed duration is output to the throttle motor to quickly adjust the actual engine speed, including: If the deviation between the requested throttle position and the actual throttle position is less than zero, and the absolute value of the deviation is greater than a first preset position deviation, the first port of the vehicle controller outputs a negative signal of a fixed duration, and the second port outputs a positive signal of a fixed duration to quickly increase the actual engine speed; If the deviation between the throttle request position and the actual throttle position is greater than zero, and the absolute value of the deviation is greater than the first preset position deviation, the first port of the vehicle controller outputs a positive signal of a fixed duration, and the second port outputs a negative signal of a fixed duration to quickly reduce the actual engine speed.

7. The non-electronic engine throttle control method according to claim 1, characterized in that: The PWM signal is calculated based on the deviation between the throttle request position and the actual throttle position and output to the throttle motor, including: According to the deviation between the throttle request position and the actual throttle position, the PWM signal is calculated by the PID algorithm and output to the throttle motor; The PWM signal is calculated based on the deviation between the actual engine speed and the target engine speed and output to the throttle motor, including: According to the deviation between the actual engine speed and the target engine speed, the PWM signal is calculated by the PID algorithm and output to the throttle motor.

8. A non-electronic engine throttle control device, characterized in that: The device comprises: A data acquisition unit, used to obtain actual engine speed, actual throttle position and throttle gear position; a data analysis unit, configured to determine a throttle request position and a target engine speed according to the throttle gear position; A judgment execution unit is used to compare the actual throttle position and the throttle request position; if the absolute value of the deviation between the throttle request position and the actual throttle position is greater than a first preset position deviation, a target PWM signal of a fixed duration is output to the throttle motor to quickly adjust the actual engine speed; if the absolute value of the deviation between the throttle request position and the actual throttle position is greater than a second preset position deviation and less than or equal to the first preset position deviation, a PWM signal is calculated based on the deviation between the throttle request position and the actual throttle position and output to the throttle motor until the absolute value of the deviation between the throttle request position and the actual throttle position is less than or equal to the second preset position deviation; if the absolute value of the deviation between the throttle request position and the actual throttle position is less than or equal to the second preset position deviation, the actual engine speed is compared with the target engine speed. If the absolute value of the deviation between the actual engine speed and the target engine speed is greater than the preset speed value, a PWM signal is calculated based on the deviation between the actual engine speed and the target engine speed and output to the throttle motor until the absolute value of the deviation between the actual engine speed and the target engine speed is less than or equal to the preset speed value.

9. A non-electronically controlled engine vehicle controller, characterized in that: The vehicle controller is used for: Get the actual engine speed, actual throttle position, and throttle gear; determining a throttle request position and a target engine speed according to the throttle gear position; Compare the actual throttle position with the throttle request position; If the absolute value of the deviation between the throttle request position and the actual throttle position is greater than a first preset position deviation, a target PWM signal of a fixed duration is output to the throttle motor to quickly adjust the actual engine speed; If the absolute value of the deviation between the throttle request position and the actual throttle position is greater than the second preset position deviation and less than or equal to the first preset position deviation, a PWM signal is calculated based on the deviation between the throttle request position and the actual throttle position and output to the throttle motor until the absolute value of the deviation between the throttle request position and the actual throttle position is less than or equal to the second preset position deviation; If the absolute value of the deviation between the throttle request position and the actual throttle position is less than or equal to the second preset position deviation, the actual engine speed is compared with the target engine speed. If the absolute value of the deviation between the actual engine speed and the target engine speed is greater than the preset speed value, a PWM signal is calculated based on the deviation between the actual engine speed and the target engine speed and output to the throttle motor until the absolute value of the deviation between the actual engine speed and the target engine speed is less than or equal to the preset speed value.

10. A machine-readable storage medium, characterized in that The machine-readable storage medium stores instructions for causing a machine to execute the non-electronic engine throttle control method according to any one of claims 1 to 7.

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