Accelerator motor control method and system

Abstract

The invention relates to an accelerator motor control method and system, and the method comprises the steps: obtaining a target rotating speed, obtaining a stay wire position according to a pre-stored rotating speed-stay wire position mapping table, and controlling the output of an accelerator motor based on the stay wire position; wherein the rotating speed-stay wire position mapping table is determined through pre-calibration, and the method comprises the following steps that an accelerator motor is controlled to loosen a stay wire to reduce the rotating speed of an engine to an initial value; controlling the accelerator motor to tighten the stay wire, enabling the rotating speed of the engine to gradually approach the set target rotating speed, and adjusting the PWM step duty ratio of the accelerator motor by comparing the error between the actual rotating speed of the engine and the target rotating speed; the error is within a set range and lasts for set time, the current engine speed and the PWM step duty ratio of the accelerator motor are stored, a set of calibrated mapping relation between the rotating speed and the stay wire position is obtained, and the rotating speed-stay wire position mapping table is updated; and repeatedly executing the step until the PWM step size duty ratio of the accelerator motor corresponding to all the target rotating speeds is obtained.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to a throttle motor control method and system. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Engine throttle control has gradually shifted to electronic throttles, with the throttle motor directly controlled by the ECU. Some older models of construction machinery, such as diesel engines with mechanical pumps (such as inline and rotary pumps), still use a mechanical cable to adjust the throttle. Mechanical cables suffer from transmission hysteresis and reduced accuracy due to wear, making it difficult to dynamically adjust fuel delivery in real time and adapt to changes in engine load.

[0004] The engines of this type of construction machinery are too old, and the upgrade cost is too high if they are directly converted to electronic fuel injection. Therefore, the mechanical cable part on the existing engine will be retained, and an additional controller will be used to send speed control instructions to the throttle motor, and then the throttle motor will be used to adjust the cable position, forming a low-cost electronic control conversion method.

[0005] This low-cost electronic control retrofit method lacks intelligent protection mechanisms. Since the actuator remains a traditional mechanical system, it cannot monitor the throttle status. Abnormal operation (such as stalling or overload) can easily damage the throttle motor. Furthermore, this low-cost electronic control retrofit method requires calibration to meet subsequent control requirements. This calibration process is complex and relies on manual experience. Traditional calibration methods rely on manual debugging, resulting in low efficiency, poor consistency, and inability to adapt to different operating conditions. Summary of the Invention

[0006] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a throttle motor control method and system, which adopts a low-cost electronic control transformation method, replaces the pure mechanical structure with a throttle motor + cable, accurately controls the throttle motor position through the PWM duty cycle signal, and adjusts the cable length in real time. By setting a calibration process, the calibration is started after ensuring that the engine is in a safe state. During the calibration, anti-stall protection, slope control and dynamic compensation adjustment are set; after calibration, the speed is set at intervals, and the cable position corresponding to each speed point is stored. When the user switches the speed, the pre-saved speed point can be directly called. After changing the target speed, there is no need to calibrate again, which can control the throttle cable position more accurately and safely.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions: A first aspect of the present invention provides a throttle motor control method, comprising the following steps: Obtain the target speed, determine the cable position based on a pre-stored speed-cable position mapping table, and control the output of the throttle motor based on the cable position; The speed-cable position mapping table is determined by pre-calibration. The calibration process is as follows: Control the throttle motor to release the cable and reduce the engine speed to the initial value; Control the throttle motor to tighten the cable, so that the engine speed gradually approaches the set target speed. By comparing the error between the actual engine speed and the target speed, the PWM step duty cycle of the throttle motor is adjusted; If the error is within the set range and lasts for the set time, the current engine speed and throttle motor PWM step duty cycle are stored, a calibrated set of speed and cable position mapping relationships is obtained, and the speed-cable position mapping table is updated; Continue to calibrate the next set of target speeds, and repeat this step until the throttle motor PWM step duty ratio corresponding to all target speeds is obtained.

[0008] Furthermore, in the calibration preparation phase, the status conditions of the construction machinery are obtained, including: The engine speed is greater than the set value; The safety device is activated; There is no relevant alarm signal of the throttle motor; Throttle position>minimum allowed position; Calibration is allowed when all the above conditions are met.

[0009] Furthermore, if any of the conditions is not met, the calibration process is terminated and an error message is displayed.

[0010] Furthermore, the minimum position allowed is a set percentage of the total cable length.

[0011] Furthermore, by comparing the error between the actual engine speed and the target speed, the PWM step duty cycle of the throttle motor is adjusted, specifically: The error between the actual speed and the target speed is detected at intervals of set time periods: If the error exceeds the upper limit, increase the PWM step duty cycle setting range; If the error is lower than the lower limit, reduce the PWM step duty cycle setting range.

[0012] Furthermore, the error between the actual speed and the target speed is between the upper limit and the lower limit, and is continuously set for a set time, the PWM step duty cycle corresponding to the current speed is saved, and the speed-wire position mapping table is updated.

[0013] Furthermore, continue to calibrate the next set of target speeds, and continue to tighten the cable by controlling the throttle motor to make the engine speed gradually approach the set target speed. By comparing the error between the actual engine speed and the target speed, adjust the PWM step duty cycle of the throttle motor; repeat this step until the PWM step duty cycle of the throttle motor corresponding to all target speeds is obtained.

[0014] A second aspect of the present invention provides a throttle motor control system, comprising: The controller is configured to: obtain a target speed, obtain a cable position according to a pre-stored speed-cable position mapping table, and control the output of the throttle motor based on the cable position; The speed-cable position mapping table is determined by pre-calibration. The calibration process is as follows: Control the throttle motor to release the cable and reduce the engine speed to the initial value; Control the throttle motor to tighten the cable, so that the engine speed gradually approaches the set target speed. By comparing the error between the actual engine speed and the target speed, the PWM step duty cycle of the throttle motor is adjusted; If the error is within the set range and lasts for the set time, the current engine speed and throttle motor PWM step duty cycle are stored, a calibrated set of speed and cable position mapping relationships is obtained, and the speed-cable position mapping table is updated; Continue to calibrate the next set of target speeds, and repeat this step until the throttle motor PWM step duty ratio corresponding to all target speeds is obtained.

[0015] A third aspect of the present invention provides a computer program product, comprising computer-readable instructions. When the computer-readable instructions are executed on an electronic device, the electronic device implements the above-mentioned throttle motor control method.

[0016] A fourth aspect of the present invention provides an electronic device comprising at least one processor and a memory connected to the processor, the memory being used to store a computer program; the processor being used to execute the computer program, so that the electronic device can implement the above-mentioned throttle motor control method.

[0017] Compared with the existing technology, one or more of the above technical solutions have the following beneficial effects: 1. For older engine models, a low-cost electronic control retrofit is employed, replacing a purely mechanical mechanism with a throttle motor and cable. The throttle motor position is precisely controlled via a PWM duty cycle signal, allowing for real-time adjustment of the cable length. The PWM duty cycle signal reflects the cable position, and a pre-calibrated mapping relationship between the PWM duty cycle signal and speed is established. When the user switches speeds, they simply call upon the pre-saved speed point and the corresponding cable position (PWM duty cycle signal), enabling more precise and secure control of the throttle cable position.

[0018] 2. Traditional calibration methods rely on manual debugging, which is inefficient and inconsistent, and cannot adapt to different working conditions. With this solution's calibration method, a mapping value is recorded at set speed intervals, covering as many common speed points as possible, eliminating the need for recalibration after the user changes the target speed.

[0019] During calibration, anti-stalling protection is implemented, setting a minimum cable pull position to prevent motor stall and burnout. Ramp control, i.e., a ramped duty cycle, avoids sudden changes and reduces mechanical vibration interference. Dynamic step size adjustment is also provided. If the error between the target speed and the actual speed is too large, the throttle motor response is accelerated. If the error is small, fine-tuning is performed to avoid overshoot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0021] Figure 1 This is a schematic diagram of the overall process of a throttle motor control method provided by one or more embodiments of the present invention; Figure 2 This is a process diagram of a throttle motor control method provided by one or more embodiments of the present invention. DETAILED DESCRIPTION

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0024] As mentioned in the background, some older models of construction machinery still use a mechanical cable-operated throttle adjustment system. For example, some underdeveloped regions still use engines meeting China II emission standards, which lack engine controllers. This is because China II engines require lower diesel fuel standards, and the quality of diesel fuel in underdeveloped regions (such as some underdeveloped countries) is poor, sometimes even mixed with oil and water. Therefore, the traditional mechanical cable-operated system is still used. However, mechanical cable-operated systems suffer from transmission hysteresis and reduced accuracy due to wear. They also lack the ability to dynamically adjust fuel flow in real time, making it difficult to match engine load fluctuations.

[0025] If this type of engine is directly converted to electronic fuel injection, the upgrade cost will be too high. Therefore, the mechanical cable part on the existing engine will be retained, and an additional controller will be used to send speed control instructions to the throttle motor. The throttle motor will then be used to adjust the cable position, forming a low-cost electronic control conversion method.

[0026] This low-cost electronic control retrofit method lacks intelligent protection mechanisms. Since the actuator remains a traditional mechanical system, it cannot monitor the throttle status. Abnormal operation (such as stalling or overload) can easily damage the throttle motor. Furthermore, this low-cost electronic control retrofit method requires calibration to meet subsequent control requirements. This calibration process is complex and relies on manual experience. Traditional calibration methods rely on manual debugging, resulting in low efficiency, poor consistency, and inability to adapt to different operating conditions.

[0027] The following embodiment provides a throttle motor control method and system. This system utilizes a low-cost electronic control modification approach, replacing a purely mechanical structure with a throttle motor and cable. The H-bridge controller outputs a PWM duty cycle signal to precisely control the motor position and adjust the cable length (i.e., fuel supply) in real time. An intelligent calibration process is implemented, ensuring the engine is in a safe state before initiating calibration. During calibration, anti-stall protection, ramp control, and dynamic compensation adjustment are implemented. After calibration, the speed is set at intervals, and the cable position corresponding to each speed point is stored. When the user switches speeds, they can directly call the pre-saved speed point. Changing the target speed eliminates the need for recalibration, enabling more precise and secure control of the throttle cable position.

[0028] Example 1: like Figure 1 As shown, a throttle motor control method includes the following steps: Obtain the target speed, determine the cable position based on a pre-stored speed-cable position mapping table, and control the output of the throttle motor based on the cable position; The speed-cable position mapping table is determined by pre-calibration. The calibration process is as follows: Control the throttle motor to release the cable and reduce the engine speed to the initial value; Control the throttle motor to tighten the cable, so that the engine speed gradually approaches the set target speed. By comparing the error between the actual engine speed and the target speed, the PWM step duty cycle of the throttle motor is adjusted; If the error is within the set range and lasts for the set time, the current engine speed and throttle motor PWM step duty cycle are stored, a calibrated set of speed and cable position mapping relationships is obtained, and the speed-cable position mapping table is updated; Continue to calibrate the next set of target speeds, and repeat this step until the throttle motor PWM step duty ratio corresponding to all target speeds is obtained.

[0029] This program is implemented through Figure 2 The hardware facilities shown are the engine, engine speed sensor, vehicle controller with H-bridge, throttle motor and cable.

[0030] The throttle motor calibration process begins when the vehicle controller receives a calibration start command via CAN data. It first loosens the throttle cable, reducing fuel injection and lowering the engine speed to below the first gear target. Then, the throttle motor gradually tightens the cable, increasing fuel injection and thus controlling engine speed. While increasing fuel injection and raising engine speed, the target speed is compared with the actual speed to determine the corresponding target speed, throttle motor action command, and cable position, completing the calibration.

[0031] During the calibration preparation phase, the following conditions are allowed to start calibration: (1) The engine speed is greater than a certain value. Make sure the engine is started but not in working state, for example, if the excavator does not raise its arm; (2) The safety device is activated, for example, the safety lock rod of the construction machinery is in the locked position to prevent the operator from accidentally touching the calibration and causing an accident; (3) There is no alarm related to the throttle motor, such as overcurrent, stall, short circuit, etc. If there is an abnormality in the throttle motor at this time, it may cause inaccurate calibration or damage the engine; (4) The throttle position is greater than the minimum allowable position. The minimum allowable position is 2% of the total cable length to prevent the motor from stalling. When the cable is fully retracted, it may get stuck and burn out.

[0032] If all the above conditions are met, calibration is allowed. If any of the conditions are not met, the calibration process is terminated and an error message is displayed.

[0033] The calibration process is as follows: Step 1: Loosen the cable and reduce the engine speed to the initial value; Step 2: Control the throttle motor to slowly tighten the cable, so that the engine speed gradually approaches the target speed; Step 3: After stabilization, store the current engine speed, cable position, and throttle motor opening; Step 4: Continue to calibrate the next speed point.

[0034] Step 1: Release the cable and reduce the speed to the initial value.

[0035] The controller sends a PWM signal (duty cycle changes from high to low), causing the throttle motor to reverse direction. Slowly releasing the cable reduces fuel flow, gradually decreasing the engine speed until it falls below the first gear target speed (e.g., if the target speed is 1000 rpm, first reduce it to below 800 rpm). Lowering the engine speed prevents overshoot (excessive speed fluctuations) caused by calibrating directly from a high speed.

[0036] Step 2: Control the throttle motor to slowly tighten the cable so that the engine speed gradually approaches the target speed.

[0037] The controller sends a ramp PWM signal (duty cycle from low to high), the throttle motor rotates forward, slowly tightens the cable, increases the fuel supply, and gradually increases the engine speed.

[0038] During the period of increasing engine speed, the dynamic adjustment step size is performed: The error between the actual speed and the target speed is detected every 5ms: If the error is too large (e.g. >100 rpm), increase the PWM step duty cycle (adjust quickly to get closer to the target speed). Error is too small (e.g. <50rpm) → Reduce PWM step duty cycle (fine-tune to avoid overshoot).

[0039] PWM step duty cycle refers to the amount of change in the PWM duty cycle that the controller adjusts. "Increasing the PWM step duty cycle" means increasing the amplitude of the throttle motor's movement, allowing it to pull the cable faster and more aggressively, thus changing the engine speed more quickly.

[0040] Step 3: After stabilization, store the current engine speed, cable position, and throttle motor opening.

[0041] When the error between the actual speed and the target speed is less than 10 rpm and maintained for 500 ms (adjustable), the calibration is considered successful. Record the current PWM duty cycle (or motor position encoder value) and store it in the "speed-pull cable position" mapping table, for example, as shown in Table 1.

[0042] Table 1 "Speed-wire position" mapping table

[0043] Step 4: Continue to calibrate the next speed point.

[0044] The throttle motor is controlled to continue to slowly tighten the cable, so that the engine speed gradually approaches the next target speed. Steps 2 and 3 are repeated to obtain the speed and the corresponding cable position. In this embodiment, each speed point is calibrated one by one at 50 / 100 rpm, and the above process is repeated until all common speeds are covered.

[0045] After calibration is completed, the generated "speed-cable position" mapping table is loaded into the controller. When the construction machinery is actually running, the user can directly select the target speed, and the controller calls the corresponding cable position through the mapping table without the need for recalibration.

[0046] During calibration, protection mechanisms are set as follows: Timeout exit: If the target speed is not reached within the set time (e.g. 10 seconds), the calibration is considered to have failed and the PWM output is stopped to prevent the motor from overheating. Stall protection: If an abnormal increase in motor current is detected (possibly due to a wire jam), the output will be stopped immediately to prevent burning. Abnormal speed protection: If the speed continues to fluctuate too much (such as ±200rpm), the system is judged to be abnormal and calibration will be exited.

[0047] This solution, designed for older engine models, employs a low-cost electronic control retrofit, replacing a purely mechanical structure with a throttle motor and cable. An H-bridge controller outputs a PWM duty cycle signal to precisely control the motor position and adjust the cable length in real time. With millisecond-level adjustments to the electronic control signal, closed-loop control minimizes speed errors (e.g., ±10 rpm), far exceeding the second-level response of a mechanical cable.

[0048] An intelligent calibration process is set up, and calibration is started only after ensuring that the engine is in a safe state. Anti-stall protection, slope control and dynamic compensation adjustment are set during calibration. After calibration, the speed is set at intervals and the cable position corresponding to each speed point is stored. When the user switches the speed, the pre-saved speed point can be directly called. There is no need to calibrate again after changing the target speed, and the throttle cable position can be controlled more accurately and safely.

[0049] The system is pre-conditioned and ensures that the engine is in a safe state (speed threshold, safety lever position, no motor alarm) before starting calibration.

[0050] During calibration, anti-stall protection is set, and the minimum position of the wire is set (2% of the total length) to prevent the motor from stalling and burning.

[0051] During calibration, ramp control is used, that is, the duty cycle ramp changes to avoid sudden changes and reduce mechanical vibration interference.

[0052] During calibration a dynamic step size adjustment is set: When the error is large (target vs actual speed), increase the step size for faster response; When the error is small, reduce the step size and make fine adjustments to avoid overshoot.

[0053] Timeout protection: Automatic termination when calibration timeout occurs to prevent continuous overload The pre-stored speed-position mapping table is obtained through calibration. Each speed point (50 / 100rpm interval) corresponds to the cable position. When the user switches the speed, it is directly called without repeated calibration.

[0054] For older engines used in underdeveloped regions, a low-cost electronic control retrofit is employed, replacing a purely mechanical mechanism with a throttle motor and cable. This system uses a PWM duty cycle signal to precisely control the throttle motor position and adjust the cable length in real time. The PWM duty cycle signal reflects the cable position, and a pre-calibrated mapping relationship between the PWM duty cycle signal and speed is established. When the user switches speeds, they simply call upon the pre-saved speed point and the corresponding cable position (PWM duty cycle signal), enabling more precise and secure control of the throttle cable position.

[0055] Traditional calibration methods rely on manual debugging, resulting in low efficiency, poor consistency, and inability to adapt to varying operating conditions. This solution uses a calibration method that records a mapping value at set speed intervals, covering as many common speed points as possible. This eliminates the need for recalibration when the user changes the target speed. For example, during calibration, a mapping value is recorded every 50 rpm. When a specific speed is needed, the mapping value can be retrieved directly from the mapping table.

[0056] During calibration, anti-stall protection is implemented, setting a minimum cable pull position to prevent motor stall and burnout. Ramp control, which ramps the duty cycle, avoids sudden changes and reduces mechanical vibration interference. Dynamic step size adjustment is also implemented. If the error between the target speed and the actual speed is too large, the throttle motor response is accelerated. If the error is small, fine-tuning is performed to avoid overshoot.

[0057] Overstretching the throttle motor's cable can cause stalling, and the controller can generate excessive heat, potentially burning out the pins. When the threshold is reached, the cable's extension is slowed, stabilizing the feedback voltage and limiting it to a certain range to ensure safety. For large errors, PID control is used to quickly adjust the motor to the target position; for small errors, PWM control is used for refined adjustments, ensuring accurate throttle control.

[0058] Example 2: A throttle motor control system, comprising: The controller is configured to: obtain a target speed, obtain a cable position according to a pre-stored speed-cable position mapping table, and control the output of the throttle motor based on the cable position; The speed-cable position mapping table is determined by pre-calibration. The calibration process is as follows: Control the throttle motor to release the cable and reduce the engine speed to the initial value; Control the throttle motor to tighten the cable, so that the engine speed gradually approaches the set target speed. By comparing the error between the actual engine speed and the target speed, the PWM step duty cycle of the throttle motor is adjusted; If the error is within the set range and lasts for the set time, the current engine speed and throttle motor PWM step duty cycle are stored, a calibrated set of speed and cable position mapping relationships is obtained, and the speed-cable position mapping table is updated; Continue to calibrate the next set of target speeds, and repeat this step until the throttle motor PWM step duty ratio corresponding to all target speeds is obtained.

[0059] This low-cost electronic control system replaces a purely mechanical design with a throttle motor and cable. The throttle motor position is precisely controlled via a PWM duty cycle signal, allowing for real-time adjustment of the cable length. The PWM duty cycle signal reflects the cable position. Pre-calibrated mappings between the PWM duty cycle signal and speed are established. When switching speeds, the user simply calls upon pre-saved speed points and the corresponding cable positions (PWM duty cycle signals), enabling more precise and secure control of the throttle cable position.

[0060] Example 3: A computer program product includes computer-readable instructions. When the computer-readable instructions are executed on an electronic device, the electronic device implements the above-mentioned throttle motor control method, including the following steps: Obtain the target speed, determine the cable position based on a pre-stored speed-cable position mapping table, and control the output of the throttle motor based on the cable position; The speed-cable position mapping table is determined by pre-calibration. The calibration process is as follows: Control the throttle motor to release the cable and reduce the engine speed to the initial value; Control the throttle motor to tighten the cable, so that the engine speed gradually approaches the set target speed. By comparing the error between the actual engine speed and the target speed, the PWM step duty cycle of the throttle motor is adjusted; If the error is within the set range and lasts for the set time, the current engine speed and throttle motor PWM step duty cycle are stored, a calibrated set of speed and cable position mapping relationships is obtained, and the speed-cable position mapping table is updated; Continue to calibrate the next set of target speeds, and repeat this step until the throttle motor PWM step duty ratio corresponding to all target speeds is obtained.

[0061] As a further implementation method, in the calibration preparation stage, obtaining the state conditions of the construction machinery includes: The engine speed is greater than the set value; The safety device is activated; There is no relevant alarm signal of the throttle motor; Throttle position>minimum allowed position; Calibration is allowed when all the above conditions are met.

[0062] As a further implementation method, if any condition is not met, the calibration process is terminated and an error message is given.

[0063] As a further embodiment, the minimum position allowed is a set percentage of the total pull wire length.

[0064] As a further implementation method, by comparing the error between the actual engine speed and the target speed, the PWM step duty cycle of the throttle motor is adjusted, specifically: The error between the actual speed and the target speed is detected at intervals of set time periods: If the error exceeds the upper limit, increase the PWM step duty cycle setting range; If the error is lower than the lower limit, reduce the PWM step duty cycle setting range.

[0065] As a further implementation method, the error between the actual speed and the target speed is between an upper limit value and a lower limit value, and is maintained for a set time, the PWM step duty cycle corresponding to the current speed is saved, and the speed-wire position mapping table is updated.

[0066] As a further implementation method, continue to calibrate the next set of target speeds, and continue to tighten the cable by controlling the throttle motor to make the engine speed gradually approach the set target speed. By comparing the error between the actual engine speed and the target speed, adjust the PWM step duty cycle of the throttle motor; repeat this step until the PWM step duty cycle of the throttle motor corresponding to all target speeds is obtained.

[0067] Example 4: An electronic device includes at least one processor and a memory connected to the processor, the memory being used to store a computer program; the processor being used to execute the computer program, so that the electronic device can implement the above-mentioned throttle motor control method, comprising the following steps: Obtain the target speed, determine the cable position based on a pre-stored speed-cable position mapping table, and control the output of the throttle motor based on the cable position; The speed-cable position mapping table is determined by pre-calibration. The calibration process is as follows: Control the throttle motor to release the cable and reduce the engine speed to the initial value; Control the throttle motor to tighten the cable, so that the engine speed gradually approaches the set target speed. By comparing the error between the actual engine speed and the target speed, the PWM step duty cycle of the throttle motor is adjusted; If the error is within the set range and lasts for the set time, the current engine speed and throttle motor PWM step duty cycle are stored, a calibrated set of speed and cable position mapping relationships is obtained, and the speed-cable position mapping table is updated; Continue to calibrate the next set of target speeds, and repeat this step until the throttle motor PWM step duty ratio corresponding to all target speeds is obtained.

[0068] As a further implementation method, in the calibration preparation stage, obtaining the state conditions of the construction machinery includes: The engine speed is greater than the set value; The safety device is activated; There is no relevant alarm signal of the throttle motor; Throttle position>minimum allowed position; Calibration is allowed when all the above conditions are met.

[0069] As a further implementation method, if any condition is not met, the calibration process is terminated and an error message is given.

[0070] As a further embodiment, the minimum position allowed is a set percentage of the total pull wire length.

[0071] As a further implementation method, by comparing the error between the actual engine speed and the target speed, the PWM step duty cycle of the throttle motor is adjusted, specifically: The error between the actual speed and the target speed is detected at intervals of set time periods: If the error exceeds the upper limit, increase the PWM step duty cycle setting range; If the error is lower than the lower limit, reduce the PWM step duty cycle setting range.

[0072] As a further implementation method, the error between the actual speed and the target speed is between an upper limit value and a lower limit value, and is maintained for a set time, the PWM step duty cycle corresponding to the current speed is saved, and the speed-wire position mapping table is updated.

[0073] As a further implementation method, continue to calibrate the next set of target speeds, and continue to tighten the cable by controlling the throttle motor to make the engine speed gradually approach the set target speed. By comparing the error between the actual engine speed and the target speed, adjust the PWM step duty cycle of the throttle motor; repeat this step until the PWM step duty cycle of the throttle motor corresponding to all target speeds is obtained.

[0074] Embodiment 5: A computer storage medium carrying one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement the above-mentioned throttle motor control method, including the following steps: Obtain the target speed, determine the cable position based on a pre-stored speed-cable position mapping table, and control the output of the throttle motor based on the cable position; The speed-cable position mapping table is determined by pre-calibration. The calibration process is as follows: Control the throttle motor to release the cable and reduce the engine speed to the initial value; Control the throttle motor to tighten the cable, so that the engine speed gradually approaches the set target speed. By comparing the error between the actual engine speed and the target speed, the PWM step duty cycle of the throttle motor is adjusted; If the error is within the set range and lasts for the set time, the current engine speed and throttle motor PWM step duty cycle are stored, a calibrated set of speed and cable position mapping relationships is obtained, and the speed-cable position mapping table is updated; Continue to calibrate the next set of target speeds, and repeat this step until the throttle motor PWM step duty ratio corresponding to all target speeds is obtained.

[0075] As a further implementation method, in the calibration preparation stage, obtaining the state conditions of the construction machinery includes: The engine speed is greater than the set value; The safety device is activated; There is no relevant alarm signal of the throttle motor; Throttle position>minimum allowed position; Calibration is allowed when all the above conditions are met.

[0076] As a further implementation method, if any condition is not met, the calibration process is terminated and an error message is given.

[0077] As a further embodiment, the minimum position allowed is a set percentage of the total pull wire length.

[0078] As a further implementation method, by comparing the error between the actual engine speed and the target speed, the PWM step duty cycle of the throttle motor is adjusted, specifically: The error between the actual speed and the target speed is detected at intervals of set time periods: If the error exceeds the upper limit, increase the PWM step duty cycle setting range; If the error is lower than the lower limit, reduce the PWM step duty cycle setting range.

[0079] As a further implementation method, the error between the actual speed and the target speed is between an upper limit value and a lower limit value, and is maintained for a set time, the PWM step duty cycle corresponding to the current speed is saved, and the speed-wire position mapping table is updated.

[0080] As a further implementation method, continue to calibrate the next set of target speeds, and continue to tighten the cable by controlling the throttle motor to make the engine speed gradually approach the set target speed. By comparing the error between the actual engine speed and the target speed, adjust the PWM step duty cycle of the throttle motor; repeat this step until the PWM step duty cycle of the throttle motor corresponding to all target speeds is obtained.

[0081] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A throttle motor control method, characterized in that: The following steps are involved: Obtain the target speed, determine the cable position based on a pre-stored speed-cable position mapping table, and control the output of the throttle motor based on the cable position; The speed-cable position mapping table is determined by pre-calibration. The calibration process is as follows: Control the throttle motor to release the cable and reduce the engine speed to the initial value; Control the throttle motor to tighten the cable, so that the engine speed gradually approaches the set target speed. By comparing the error between the actual engine speed and the target speed, the PWM step duty cycle of the throttle motor is adjusted; If the error is within the set range and lasts for the set time, the current engine speed and throttle motor PWM step duty cycle are stored, a calibrated set of speed and cable position mapping relationships is obtained, and the speed-cable position mapping table is updated; Continue to calibrate the next set of target speeds, and repeat this step until the throttle motor PWM step duty ratio corresponding to all target speeds is obtained.

2. A throttle motor control method as claimed in claim 1, characterized in that: During the calibration preparation phase, the status of the construction machinery is obtained, including: The engine speed is greater than the set value; The safety device is activated; There is no relevant alarm signal of the throttle motor; Throttle position>minimum allowed position; Calibration is allowed when all the above conditions are met.

3. A throttle motor control method as claimed in claim 2, characterized in that: If any of the conditions is not met, the calibration process is terminated and an error message is displayed.

4. A throttle motor control method as claimed in claim 2, characterized in that: The minimum position allowed is a set percentage of the total cable length.

5. A throttle motor control method as claimed in claim 1, characterized in that: By comparing the error between the actual engine speed and the target speed, the PWM step duty cycle of the throttle motor is adjusted as follows: The error between the actual speed and the target speed is detected at intervals of set time periods: If the error exceeds the upper limit, increase the PWM step duty cycle setting range; If the error is lower than the lower limit, reduce the PWM step duty cycle setting amplitude.

6. A throttle motor control method as claimed in claim 5, characterized in that: The error between the actual speed and the target speed is between the upper limit and the lower limit, and is maintained for a set time. The PWM step duty cycle corresponding to the current speed is saved, and the speed-pull position mapping table is updated.

7. A throttle motor control method as claimed in claim 1, characterized in that: Continue to calibrate the next set of target speeds. By controlling the throttle motor to continue tightening the cable, the engine speed gradually approaches the set target speed. By comparing the error between the actual engine speed and the target speed, the PWM step duty cycle of the throttle motor is adjusted. This step is repeated until the throttle motor PWM step duty ratios corresponding to all target speeds are obtained.

8. A throttle motor control system, characterized in that: include: The controller is configured to: obtain a target speed, obtain a cable position according to a pre-stored speed-cable position mapping table, and control the output of the throttle motor based on the cable position; The speed-cable position mapping table is determined by pre-calibration. The calibration process is as follows: Control the throttle motor to release the cable and reduce the engine speed to the initial value; Control the throttle motor to tighten the cable, so that the engine speed gradually approaches the set target speed. By comparing the error between the actual engine speed and the target speed, the PWM step duty cycle of the throttle motor is adjusted; If the error is within the set range and lasts for the set time, the current engine speed and throttle motor PWM step duty cycle are stored, a calibrated set of speed and cable position mapping relationships is obtained, and the speed-cable position mapping table is updated; Continue to calibrate the next set of target speeds, and repeat this step until the throttle motor PWM step duty ratio corresponding to all target speeds is obtained.

9. A computer program product, characterized in that The method comprises computer-readable instructions, which, when executed on an electronic device, enable the electronic device to implement the steps in a throttle motor control method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: The electronic device comprises at least one processor and a memory connected to the processor, wherein the memory is used to store a computer program; the processor is used to execute the computer program, so that the electronic device can implement the steps in a throttle motor control method as claimed in any one of claims 1 to 7.

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