Non-electric control engine throttle control method and device, vehicle controller and medium
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ZOOMLION EARTHMOVING MASCH CO LTD
- Filing Date
- 2025-06-24
- Publication Date
- 2026-07-21
AI Technical Summary
In existing non-electronic engine throttle control methods, the periodic intermittent control of the throttle motor's extension and retraction leads to a shortened lifespan of the throttle motor and makes precise control impossible.
By acquiring the actual engine speed, throttle position, and gear, comparing the deviation values, and outputting a fixed-duration PWM signal or calculating a PWM signal to the throttle motor, the throttle position and speed can be quickly adjusted and finely regulated, reducing the number of signal outputs, protecting hardware components, and improving control accuracy.
It extends the service life of the throttle motor, achieves stable and precise control of engine speed, and reduces fuel consumption.
Smart Images
Figure CN120466086B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of engine technology, specifically to a non-electronic engine throttle control method, a non-electronic engine throttle control device, a non-electronic engine vehicle controller, and a machine-readable storage medium. Background Technology
[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 to send the throttle gear information to the vehicle controller via the CAN bus. After receiving the gear value, the vehicle controller calculates the control position value of the throttle motor extension and retraction based on the corresponding gear speed value. The vehicle controller outputs current to control the extension and retraction of the throttle motor push rod according to the calculated control position value. The extension and retraction of the throttle motor push rod pulls the engine mechanical throttle to control the fuel injection quantity, thereby realizing engine throttle and speed control.
[0003] The existing throttle control method involves the vehicle controller calculating the control position value of the throttle motor's extension and retraction. The vehicle controller then periodically outputs voltage to intermittently control the throttle motor's extension and retraction, with the speed of extension and retraction determined by the magnitude of the output current and the length of the current output period from the vehicle controller. This periodic intermittent control of the throttle motor, due to frequent motor triggering, can affect the throttle motor's lifespan. Furthermore, this frequent intermittent control results in a slightly larger deviation from the actual engine speed value, failing to achieve precise control. Summary of the Invention
[0004] The purpose of this application is to provide a non-electronic engine throttle control method, device, vehicle controller, and medium to address the shortcomings of existing methods that use periodic bursts to control the extension and retraction of the throttle motor, which can affect the service life of the throttle motor and fail to achieve precise control.
[0005] To achieve the above objectives, the first aspect of this application provides a non-electronic engine throttle control method, the method comprising: Obtain the actual engine speed, actual throttle position, and throttle gear; Determine the throttle request position and target engine speed based on the throttle gear; Compare the actual throttle position with the throttle request position; If the absolute value of the deviation between the requested throttle position and the actual throttle position is greater than the first preset position deviation, a target PWM signal of 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, then 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. 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, then 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, then 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] Based on the above methods, this approach determines the throttle request position and target engine speed according to the throttle gear. When the deviation between the actual throttle position and the throttle request position is greater than a first preset position deviation, a target PWM signal of 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 a second preset position deviation but less than or equal to the first preset position deviation, a 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. 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, a 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 again for fine-tuning of the actual engine speed. This reduces the number of output signals, protects the hardware components of the controller output port, improves the service life of the throttle motor, and makes engine speed control more stable and precise. The fixed-duration target PWM signal ensures that the fuel injection quantity of the engine throttle changes stably within a fixed duration, which has a certain effect on reducing fuel consumption.
[0007] In some feasible embodiments, determining the throttle request location and target engine speed based on the throttle gear position includes: Obtain the target engine speed based on the throttle gear; 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, the throttle request position is calculated based on the target engine speed and the calibrated and stored speed signal and corresponding throttle position, including: From the calibrated and stored speed signals and corresponding throttle positions, obtain the first speed signal and corresponding first throttle position adjacent to the target engine speed, as well as the second speed signal and corresponding second throttle position; 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 a proportional interpolation algorithm.
[0009] In some feasible embodiments, a proportional interpolation algorithm is used to calculate the throttle request position based on the target engine speed, a first speed signal, a first throttle position, a second speed signal, and a second throttle position, including: Calculate the first difference between the target engine speed and the first speed signal, the second difference between the second speed signal and the first speed signal, and the third difference between the second throttle position and the first throttle position; Calculate the product of the first difference and the third difference; Obtain the ratio of the product to the second difference; The throttle request position is obtained by summing the ratio 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: Acquire the maximum throttle position signal when the engine speed is at its lowest and the minimum throttle position signal when the engine speed is at its highest. Set the number of calibrated throttle positions; Calculate the position interval between two adjacent calibrated throttle positions based on the number of calibrated throttle positions; Calculate the value for each calibrated throttle position based on the position interval; Adjust the throttle position signal according to the value of each calibrated throttle position, record the corresponding engine speed signal, and 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 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 the first preset position deviation, then the first port of the vehicle controller outputs a negative signal of fixed duration, and the second port outputs a positive signal of fixed duration, so as 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 the first preset position deviation, the first port of the vehicle controller outputs a positive signal of fixed duration, and the second port outputs a negative signal of fixed duration, in order to quickly reduce the actual engine speed.
[0012] In some feasible embodiments, calculating a PWM signal and outputting it to the throttle motor based on the deviation between the requested throttle position and the actual throttle position includes: The PWM signal is calculated using a PID algorithm based on the deviation between the requested throttle position and the actual throttle position 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: 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 using a PID algorithm.
[0013] A second aspect of this application provides a non-electronically controlled engine throttle control device, the device comprising: The data acquisition unit is used to acquire the actual engine speed, actual throttle position, and throttle gear. The data analysis unit is used to determine the throttle request position and target engine speed based on the throttle gear; The execution unit compares the actual throttle position with the requested throttle position. If the absolute value of the deviation between the requested throttle position and the actual throttle position is greater than a first preset position deviation, a target PWM signal of fixed duration is output to the throttle motor to quickly adjust the actual engine speed. If the absolute value of the deviation between the requested throttle position and the actual throttle position is greater than a second preset position deviation but less than or equal to the first preset position deviation, a PWM signal is calculated based on the deviation between the requested throttle position and the actual throttle position and output to the throttle motor until 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. 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, 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 a 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 this application provides a non-electronically controlled engine vehicle controller, the vehicle controller being used for: Obtain the actual engine speed, actual throttle position, and throttle gear; Determine the throttle request position and target engine speed based on the throttle gear; Compare the actual throttle position with the throttle request position; If the absolute value of the deviation between the requested throttle position and the actual throttle position is greater than the first preset position deviation, a target PWM signal of 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, then 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. 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, then 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, then 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 this application provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned non-electronic engine throttle control method.
[0016] Through the above technical solution, this method determines the throttle request position and target engine speed based on the throttle gear. When the deviation between the actual throttle position and the throttle request position is greater than a first preset position deviation, a target PWM signal of 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 a second preset position deviation but less than or equal to the first preset position deviation, a 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. 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, a 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 again for fine-tuning of the actual engine speed. This reduces the number of output signals, protects the hardware components of the controller output port, improves the service life of the throttle motor, and makes engine speed control more stable and precise. The fixed-duration target PWM signal ensures that the fuel injection quantity of the engine throttle changes stably within a fixed duration, which has a certain effect on reducing fuel consumption.
[0017] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description
[0018] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1This illustration schematically shows a step diagram of a non-electronic engine throttle control method according to an embodiment of this application; Figure 2 This illustration schematically shows a step diagram of a non-electronic engine throttle control method according to an embodiment of this application; Figure 3 A schematic diagram illustrating the throttle calibration process according to an embodiment of this application is shown. Detailed Implementation
[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort 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 all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.
[0021] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.
[0022] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.
[0023] The non-electronic engine throttle control method of this application is applied to, for example, 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 gear position signals to the vehicle controller; the vehicle controller receives gear and speed signals and controls the throttle motor; the throttle motor pulls the engine throttle cable to control the engine fuel injection quantity, and simultaneously feeds back the actual position voltage signal to the vehicle controller to determine whether the throttle motor pushrod needs to extend or retract; the speed sensor collects the actual engine speed signal and feeds it back to the vehicle controller, which then controls the throttle motor again based on the gear setting speed and the actual speed deviation to achieve precise speed control. In other feasible embodiments, the non-electronic engine throttle control system also includes a display, allowing the user to modify the target generator speed set for different gears. The display can also show the actual engine speed.
[0024] Figure 2 The illustration schematically depicts the steps of a non-electronic engine throttle control method according to an embodiment of this application. Figure 2 As shown in the figure, this application provides a non-electronic engine throttle control method, which may include the following steps.
[0025] S1: Obtain the actual engine speed, actual throttle position, and throttle gear. In this embodiment, the actual engine speed is obtained from the real-time engine speed signal collected by the speed sensor, the actual throttle position is obtained from the actual position signal fed back from the throttle motor to the vehicle controller, and the throttle gear is obtained from the gear signal fed back from the throttle knob to the vehicle controller.
[0026] S2: Determine the throttle request position and target engine speed based on the throttle gear. The target engine speed is the set speed corresponding to the throttle gear and is stored in the vehicle controller's storage area. The throttle request position indicates the position the throttle needs to be in for the current throttle gear.
[0027] In some feasible embodiments, determining the throttle request location and target engine speed based on the throttle gear position includes: The target engine speed is obtained based on the throttle gear position. In some feasible embodiments, after receiving the throttle gear position signal from the throttle knob via the CAN bus, the vehicle controller retrieves the target engine speed set_speed corresponding to the gear from the vehicle controller's storage area.
[0028] The throttle request position is calculated based on the target engine speed, the calibrated and stored speed signal, and the corresponding throttle position. In this embodiment, the calibrated and stored speed signal and the corresponding throttle position represent the correspondence between the speed signal and the throttle position. This allows for the rapid determination of the required engine speed and throttle position based on the throttle gear, providing a target value for subsequent throttle control.
[0029] In some feasible embodiments, the throttle request position is calculated based on the target engine speed and the calibrated and stored speed signal and corresponding throttle position, including: The first speed signal and its corresponding first throttle position, as well as the second speed signal and its corresponding second throttle position, adjacent to the target engine speed, are obtained from the calibrated and stored speed signals and corresponding throttle positions. Of the first and second speed signals, one is greater than the target engine speed, and the other is less than the target engine speed. Subsequent embodiments will use an example where 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 a 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. Therefore, the third throttle position corresponding to the third speed signal can be directly determined as the throttle request position.
[0032] In some feasible embodiments, a proportional interpolation algorithm is used to calculate the throttle request position based on the target engine speed, a first speed signal, a first throttle position, a second speed signal, and a second throttle position, including: Calculate the first difference between the target engine speed and the first speed signal, the second difference between the second speed signal and the first speed signal, and the third difference between the second throttle position and the first throttle position; Calculate the product of the first difference and the third difference; Obtain the ratio of the product to the second difference; The throttle request position is obtained by summing the ratio value and the first throttle position.
[0033] Let the first engine speed signal be kongzai_speed[i], the first throttle position be kongzai_speed[i], the second engine speed signal be kongzai_speed[i+1], the second throttle position be Motor_pos[i+1], and the target engine speed be set_speed. Then, the throttle request position Position_Request is calculated using the following formula: 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 with the throttle request position.
[0035] S4: If the absolute value of the deviation between the requested throttle position and the actual throttle position is greater than the first preset position deviation, a target PWM signal of fixed duration is output to the throttle motor to quickly adjust the actual engine speed.
[0036] The throttle motor is a type of 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 actuator extends; conversely, when the first port outputs a negative signal and the second port outputs a positive signal, the throttle motor actuator retracts. In practice, the decision to extend or retract the throttle motor 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 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 the first preset position deviation, then the first port of the vehicle controller outputs a negative signal of fixed duration, and the second port outputs a positive signal of fixed duration, so as 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 the first preset position deviation, the first port of the vehicle controller outputs a positive signal of fixed duration, and the second port outputs a negative signal of fixed duration, in order to quickly reduce the actual engine speed.
[0038] When the throttle knob is shifted to the next higher position, 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 determined that the engine needs to increase speed. The first port of the vehicle controller outputs a negative signal of fixed duration, and the second port outputs a positive signal of fixed duration, controlling the throttle motor to retract quickly, increasing the fuel injection volume, and rapidly increasing the actual engine speed.
[0039] When the throttle knob is shifted down, 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 determined that the engine needs to reduce speed. The first port of the vehicle controller outputs a positive signal of fixed duration, and the second port outputs a negative signal of fixed duration, controlling the throttle motor to extend quickly, reducing the amount of fuel injected, and rapidly reducing 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, then calculate the PWM signal based on the deviation between the throttle request position and the actual throttle position and output it 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 and outputting it to the throttle motor based on the deviation between the requested throttle position and the actual throttle position includes: Based on the deviation between the requested throttle position and the actual throttle position, a PWM signal is calculated using a PID algorithm and output to the throttle motor to further reduce the deviation between the actual throttle position and the requested throttle position.
[0042] S6: 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, then compare the actual engine speed 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, then calculate the PWM signal based on the deviation between the actual engine speed and the target engine speed and output it 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 transmitter speed in S6 is the speed adjusted after steps S4 and S5.
[0044] In some feasible embodiments, the PWM signal is calculated and output to the throttle motor based on the deviation between the actual engine speed and the target engine speed, including: Based on the deviation between the actual engine speed and the target engine speed, a PWM signal is calculated using a PID algorithm and output to the throttle motor to fine-tune the throttle motor until the absolute value of the deviation between the actual and target engine speeds is less than or equal to a preset speed value. At this point, the throttle control operation is complete.
[0045] In practical applications, for more accurate control, after executing step S4, the process can return to compare whether the absolute value of the deviation between the requested throttle position and the actual throttle position is greater than a first preset position deviation. If it is greater than the first preset position deviation, a target PWM signal of fixed duration is output to the throttle motor again; otherwise, step S5 is executed. After executing step S5, the process needs to return to compare whether the absolute value of the deviation between the requested throttle 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. If so, a PWM signal is calculated again 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 whether the absolute value of the deviation between the actual engine speed and the target engine speed is greater than a preset speed value. If it is greater than the preset speed value, 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. In this case, the throttle control can be ended directly without executing steps S5 and S6.
[0047] In the second scenario, if, after adjusting the throttle knob, 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, then step S4 is unnecessary, and step S5 is executed directly. After executing 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, 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 current throttle control can be terminated directly, and step S6 is unnecessary.
[0048] In the third case, if the absolute value of the deviation between the requested throttle position and the actual throttle position after adjusting the throttle knob 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 and making adjustments according to step S4, 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, then step S5 is not required, and step S6 is executed directly.
[0050] In the fifth case, after adjusting the throttle knob and following steps S4 and S5, if 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 current throttle control can be ended directly without executing step S6.
[0051] In the sixth scenario, if, after adjusting the throttle knob, the absolute value of the deviation between the requested throttle position and the actual throttle position is greater than the second preset position deviation but less than or equal to the first preset position deviation, then step S4 is unnecessary, and step S5 is executed directly. After executing 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, then step S6 is executed.
[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 precision, and the length of the fixed duration can be set according to the magnitude of the first preset position deviation, etc.
[0053] Based on the above methods, this approach determines the throttle request position and target engine speed according to the throttle gear. When the deviation between the actual throttle position and the throttle request position is greater than a first preset position deviation, a target PWM signal of 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 a second preset position deviation but less than or equal to the first preset position deviation, a 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. 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, a 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 again for fine-tuning of the actual engine speed. This reduces the number of output signals, protects the hardware components of the controller output port, improves the service life of the throttle motor, and makes engine speed control more stable and precise. The fixed-duration target PWM signal ensures that the fuel injection quantity of the engine throttle changes stably within a fixed duration, which has a certain effect on reducing fuel consumption.
[0054] Due to the installation method, the engine throttle calibration is performed by gradually changing the engine speed from its lowest to its highest, and the throttle motor push rod position from its maximum to its minimum. At the lowest engine speed, the throttle position signal (Motor_pos_Max) is at its maximum, meaning the motor extension rod extends to its farthest distance; at the highest engine speed, the throttle position signal (Motor_pos_Min) is at its minimum, meaning the motor extension rod extends to its closest distance.
[0055] In some feasible embodiments, such as Figure 3 As shown, the speed signal and the corresponding throttle position are calibrated in the following way: 1) Obtain the maximum throttle position signal Motor_pos_Max when the engine speed is at its lowest and the minimum throttle position signal Motor_pos_Min when the engine speed is at its highest; 2) Set the number of calibrated throttle positions, that is, assume that i speed values and i position signal values are taken from the minimum speed value to the maximum speed value; 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 progression: 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 the value of each calibrated throttle position, record the corresponding engine speed signal, and 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 during throttle control.
[0058] A second aspect of this application provides a non-electronically controlled engine throttle control device, the device comprising: The data acquisition unit is used to acquire the actual engine speed, actual throttle position, and throttle gear. The data analysis unit is used to determine the throttle request position and target engine speed based on the throttle gear; The execution unit compares the actual throttle position with the requested throttle position. If the absolute value of the deviation between the requested throttle position and the actual throttle position is greater than a first preset position deviation, a target PWM signal of fixed duration is output to the throttle motor to quickly adjust the actual engine speed. If the absolute value of the deviation between the requested throttle position and the actual throttle position is greater than a second preset position deviation but less than or equal to the first preset position deviation, a PWM signal is calculated based on the deviation between the requested throttle position and the actual throttle position and output to the throttle motor until 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. 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, 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 a 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 the target engine speed based on the throttle gear; 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, the throttle request position is calculated based on the target engine speed and the calibrated and stored speed signal and corresponding throttle position, including: From the calibrated and stored speed signals and corresponding throttle positions, obtain the first speed signal and corresponding first throttle position adjacent to the target engine speed, as well as the second speed signal and corresponding second throttle position; 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 a proportional interpolation algorithm.
[0061] In some feasible embodiments, a proportional interpolation algorithm is used to calculate the throttle request position based on the target engine speed, a first speed signal, a first throttle position, a second speed signal, and a second throttle position, including: Calculate the first difference between the target engine speed and the first speed signal, the second difference between the second speed signal and the first speed signal, and the third difference between the second throttle position and the first throttle position; Calculate the product of the first difference and the third difference; Obtain the ratio of the product to the second difference; The throttle request position is obtained by summing the ratio value and the first throttle position.
[0062] In some feasible embodiments, the determination execution unit is specifically used for: 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 the first preset position deviation, then the first port of the vehicle controller outputs a negative signal of fixed duration, and the second port outputs a positive signal of fixed duration, so as 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 the first preset position deviation, then the first port of the vehicle controller outputs a positive signal of fixed duration, and the second port outputs a negative signal of fixed duration, in order to quickly reduce the actual engine speed; and The PWM signal is calculated using a PID algorithm based on the deviation between the requested throttle position and the actual throttle position 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 using a PID algorithm.
[0063] In some feasible embodiments, the speed signal and the corresponding throttle position are calibrated in the following manner: Acquire the maximum throttle position signal when the engine speed is at its lowest and the minimum throttle position signal when the engine speed is at its highest. Set the number of calibrated throttle positions; Calculate the position interval between two adjacent calibrated throttle positions based on the number of calibrated throttle positions; Calculate the value for each calibrated throttle position based on the position interval; Adjust the throttle position signal according to the value of each calibrated throttle position, record the corresponding engine speed signal, and obtain the speed signal and the corresponding throttle position.
[0064] A third aspect of this application provides a non-electronically controlled engine vehicle controller, the vehicle controller being used for: Obtain the actual engine speed, actual throttle position, and throttle gear; Determine the throttle request position and target engine speed based on the throttle gear; Compare the actual throttle position with the throttle request position; If the absolute value of the deviation between the requested throttle position and the actual throttle position is greater than the first preset position deviation, a target PWM signal of 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, then 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. 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, then 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, then 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 this application provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned non-electronic engine throttle control method.
[0066] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0067] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0068] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.
[0069] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0070] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.
[0071] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.
[0072] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.
[0073] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.
[0074] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.
Claims
1. A non-electronic engine throttle control method, characterized in that, The method includes: Obtain the actual engine speed, actual throttle position, and throttle gear; Determine the throttle request position and target engine speed based on the throttle gear; Compare the actual throttle position with the throttle request position; If the absolute value of the deviation between the requested throttle position and the actual throttle position is greater than the first preset position deviation, a target PWM signal of 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, then 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. 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, then 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, then 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, including: Obtain the target engine speed based on the throttle gear; 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, Based on the target engine speed and the calibrated and stored speed signal and corresponding throttle position, calculate the throttle request position, including: From the calibrated and stored speed signals and corresponding throttle positions, obtain the first speed signal and corresponding first throttle position adjacent to the target engine speed, as well as the second speed signal and corresponding second throttle position; 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 a proportional interpolation algorithm.
4. The non-electronic engine throttle control method according to claim 3, characterized in that, A proportional interpolation algorithm is used to calculate the throttle request position based on the target engine speed, a first speed signal, a first throttle position, a second speed signal, and a second throttle position, including: Calculate the first difference between the engine target speed and the first speed signal, the second difference between the second speed signal and the first speed signal, and the third difference between the second throttle position and the first throttle position; Calculate the product of the first difference and the third difference; Obtain the ratio of the product to the second difference; The throttle request position is obtained by summing the ratio 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 in the following way: Acquire the maximum throttle position signal when the engine speed is at its lowest and the minimum throttle position signal when the engine speed is at its highest. Set the number of calibrated throttle positions; Calculate the position interval between two adjacent calibrated throttle positions based on the number of calibrated throttle positions; Calculate the value for each calibrated throttle position based on the position interval; Adjust the throttle position signal according to the value of each calibrated throttle position, record the corresponding engine speed signal, and 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 requested throttle position and the actual throttle position is greater than the first preset position deviation, a target PWM signal of 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 the first preset position deviation, then the first port of the vehicle controller outputs a negative signal of fixed duration, and the second port outputs a positive signal of fixed duration, so as 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 the first preset position deviation, the first port of the vehicle controller outputs a positive signal of fixed duration, and the second port outputs a negative signal of fixed duration, in order 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 requested throttle position and the actual throttle position and output to the throttle motor, including: The PWM signal is calculated using a PID algorithm based on the deviation between the requested throttle position and the actual throttle position 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: 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 using a PID algorithm.
8. A non-electronic engine throttle control device, characterized in that, The device includes: The data acquisition unit is used to acquire the actual engine speed, actual throttle position, and throttle gear. The data analysis unit is used to determine the throttle request position and target engine speed based on the throttle gear; The execution unit compares the actual throttle position with the requested throttle position. If the absolute value of the deviation between the requested throttle position and the actual throttle position is greater than a first preset position deviation, a target PWM signal of fixed duration is output to the throttle motor to quickly adjust the actual engine speed. If the absolute value of the deviation between the requested throttle position and the actual throttle position is greater than a second preset position deviation but less than or equal to the first preset position deviation, a PWM signal is calculated based on the deviation between the requested throttle position and the actual throttle position and output to the throttle motor until 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. 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, 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 a 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-electronic engine vehicle controller, characterized in that, The vehicle controller is used for: Obtain the actual engine speed, actual throttle position, and throttle gear; Determine the throttle request position and target engine speed based on the throttle gear; Compare the actual throttle position with the throttle request position; If the absolute value of the deviation between the requested throttle position and the actual throttle position is greater than the first preset position deviation, a target PWM signal of 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, then 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. 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, then 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, then 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 the machine to perform the non-electronic engine throttle control method according to any one of claims 1 to 7.