Torque control method, device, equipment and medium of natural gas engine

Abstract

The application provides a torque control method, device, equipment and medium of a natural gas engine, and the method comprises the following steps: determining a target control mode required by a current natural gas engine, and acquiring a target parameter corresponding to the target control mode; inputting the target parameter into a preset throttle opening formula to obtain a target throttle opening; and controlling the torque of the natural gas engine according to the target throttle opening; wherein the throttle opening formula is obtained by combining a throttle equation used for throttle control and a speed density method equation. The throttle opening formula is obtained by combining the throttle equation used for throttle control and the speed density method equation according to the characteristics of the natural gas engine. For different target control modes, the throttle opening formula adopts different target parameters to calculate the throttle opening, so that the torque corresponding to the throttle opening can adapt to the target control mode, thereby improving the controllability of the natural gas engine.

Description

Technical Field

[0001] This application relates to the field of engine control technology, specifically to a torque control method, device, electronic equipment, and storage medium for a natural gas engine. Background Technology

[0002] Natural gas is a clean energy source, primarily composed of methane. Its combustion produces mainly carbon dioxide and water. Therefore, natural gas vehicles have significant advantages in terms of exhaust emissions. Compared to gasoline or diesel vehicles, natural gas vehicles emit almost no particulate matter and significantly reduce emissions of substances such as carbon monoxide. The intake path of a natural gas engine is: air filter → turbocharger → intercooler → throttle body → intake manifold → cylinder. The throttle body controls the intake air volume to achieve engine output torque, while the turbocharger controls the boost pressure before the throttle body to achieve engine torque control.

[0003] There are two existing torque control schemes for natural gas engines: 1. Directly look up the required throttle opening from a table based on the engine's required torque, and then look up the required turbocharger boost pressure from the same table. In this scheme, the relationship between the throttle and turbocharger is fixed and too rigid, making it impossible to adjust the relationship arbitrarily according to performance requirements. 2. Calculate the required intake air volume from a table based on the engine's required torque, and then calculate the required throttle opening using a throttling formula based on the required intake air volume; simultaneously, look up the required boost pressure from the required torque. In this scheme, the control process based on the throttle and turbocharger is too rigid, only controlling the flow rate before and after the throttle, but not the pressure ratio.

[0004] Controlling the engine using either of these two methods cannot achieve rapid control of the pressure ratio before and after the throttle valve or the pressure after the throttle valve, resulting in poor controllability of the torque or speed of the natural gas engine, which cannot meet user needs. Summary of the Invention

[0005] The purpose of this application is to provide a torque control method, device, electronic equipment, and storage medium for a natural gas engine to improve the controllability of the natural gas engine.

[0006] In a first aspect, embodiments of this application provide a torque control method for a natural gas engine, comprising:

[0007] Determine the target control mode for current natural gas engine demand;

[0008] Obtain the target parameters corresponding to the target control mode;

[0009] The target parameter is input into the preset throttle opening formula to obtain the target throttle opening.

[0010] The torque of the natural gas engine is controlled according to the target throttle opening.

[0011] The throttle opening formula is obtained by combining the throttling equation used for throttle control with the velocity density method equation.

[0012] In one possible implementation, the throttle opening formula is obtained by combining the throttle equation used for throttle control with the velocity density method equation, including:

[0013] S1, The throttling equation controlled by the throttle valve is as follows:

[0014] ;

[0015] TPS stands for throttle opening. k 0 represents a correction factor based on air temperature. map The pressure after the throttle body. ptp This refers to the pressure before the throttle valve. f ( map / ptp () is a correction factor based on the throttle body pressure ratio. q m1 The airflow rate through the throttle body;

[0016] S2, The speed density method equation for throttle control is as follows:

[0017] ;

[0018] in, q m2 denoted as , b represents the airflow into the engine cylinder, and is the EGR partial pressure and the combustion gas partial pressure, respectively; and is the pressure-flow conversion coefficient.

[0019] S3. Based on the characteristics of the natural gas engine, the air flow rate through the throttle valve is... q m1 Equivalent to the airflow into the engine cylinder q m2 By combining the throttle control equation with the velocity density method equation, the following throttle opening formula is obtained:

[0020] .

[0021] In one possible implementation, the target control mode is a torque control mode, and the target parameters corresponding to the torque control mode include: the actual throttle inlet pressure. ptp and the set throttle body pressure map_set .

[0022] In one possible implementation, the target control mode is a speed control mode, and the target parameters corresponding to the speed control mode include: the set throttle inlet pressure. ptp_set and the set throttle body pressure map_set .

[0023] In one possible implementation, the method further includes:

[0024] After the manifold pressure stabilizes, determine whether the absolute value of the difference between the actual manifold pressure and the preset value is greater than the first limit.

[0025] If it is not greater than the first limit, no adjustment is needed;

[0026] If the pressure exceeds the first limit, adjust either a or b in the throttle opening formula according to the pressure ratio before and after the throttle, until the absolute value of the difference between the actual pressure in the manifold and the preset value is not greater than the first limit.

[0027] In one possible implementation, adjusting 'a' or 'b' in the throttle opening formula based on the pre- and post-throttle pressure ratio includes:

[0028] If the pressure ratio before and after the throttle valve is greater than the second limit, decrease 'a' by the first preset step size.

[0029] Based on the fact that the pressure ratio before and after the throttle valve is not greater than the second limit, b is increased according to the second preset step size.

[0030] Secondly, embodiments of this application provide a torque control device for a natural gas engine, comprising:

[0031] The determination module is used to determine the target control mode for the current natural gas engine demand;

[0032] The acquisition module is used to acquire the target parameters corresponding to the target control mode;

[0033] The calculation module is used to input the target parameters into a preset throttle opening formula to obtain the target throttle opening.

[0034] The control module is used to control the torque of the natural gas engine according to the target throttle opening.

[0035] The throttle opening formula is obtained by combining the throttling equation used for throttle control with the velocity density method equation.

[0036] In one possible implementation, the throttle opening formula is obtained by combining the throttle equation used for throttle control with the velocity density method equation, including:

[0037] S1, The throttling equation controlled by the throttle valve is as follows:

[0038] ;

[0039] TPS stands for throttle opening. k 0 represents a correction factor based on air temperature. map The pressure after the throttle body. ptp This refers to the pressure before the throttle valve. f ( map / ptp () is a correction factor based on the throttle body pressure ratio. q m1 The airflow rate through the throttle body;

[0040] S2, The speed density method equation for throttle control is as follows:

[0041] ;

[0042] in, q m2 denoted as , b represents the airflow into the engine cylinder, and is the EGR partial pressure and the combustion gas partial pressure, respectively; and is the pressure-flow conversion coefficient.

[0043] S3. Based on the characteristics of the natural gas engine, the air flow rate through the throttle valve is... q m1 Equivalent to the airflow into the engine cylinder q m2 By combining the throttle control equation with the velocity density method equation, the following throttle opening formula is obtained:

[0044] .

[0045] In one possible implementation, the target control mode is a torque control mode, and the target parameters corresponding to the torque control mode include: the actual throttle inlet pressure. ptp and the set throttle body pressure map_set .

[0046] In one possible implementation, the target control mode is a speed control mode, and the target parameters corresponding to the speed control mode include: the set throttle inlet pressure. ptp_set and the set throttle body pressure map_set .

[0047] In one possible implementation, the device further includes:

[0048] The adaptive adjustment module is used to determine whether the absolute value of the difference between the actual value and the preset value of the manifold pressure is greater than a first limit after the manifold pressure stabilizes. If it is not greater than the first limit, no adjustment is required. If it is greater than the first limit, the module adjusts 'a' or 'b' in the throttle opening formula according to the throttle pressure ratio before and after the throttle until the absolute value of the difference between the actual value and the preset value of the manifold pressure is not greater than the first limit.

[0049] In one possible implementation, the adaptive adjustment module is specifically used for:

[0050] If the pressure ratio before and after the throttle valve is greater than the second limit, decrease 'a' by the first preset step size.

[0051] Based on the fact that the pressure ratio before and after the throttle valve is not greater than the second limit, b is increased according to the second preset step size.

[0052] Thirdly, embodiments of this application provide an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect of this application.

[0053] Fourthly, embodiments of this application provide a computer-readable storage medium having computer-readable instructions stored thereon, which can be executed by a processor to implement the method described in the first aspect of this application.

[0054] The torque control method, device, electronic equipment, and storage medium for a natural gas engine provided in this application determine the target control mode required by the current natural gas engine and obtain the target parameters corresponding to the target control mode; input the target parameters into a preset throttle opening formula to obtain the target throttle opening; and control the torque of the natural gas engine according to the target throttle opening. The throttle opening formula is obtained by combining the throttling equation used for throttle control with the velocity density method equation. Compared with the prior art, this application utilizes the characteristics of a natural gas engine to combine the throttle equation used for throttle control with the velocity density method equation to obtain the throttle opening formula. For different target control modes, the throttle opening formula uses different target parameters to calculate the throttle opening, so that the torque corresponding to the throttle opening can adapt to the target control mode, thereby improving the controllability of the natural gas engine. Attached Figure Description

[0055] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0056] Figure 1 A flowchart of a torque control method for a natural gas engine provided in this application is shown;

[0057] Figure 2 A flowchart illustrating a specific torque control method for a natural gas engine provided in this application is shown;

[0058] Figure 3 A schematic diagram of a torque control device for a natural gas engine provided in this application is shown. Detailed Implementation

[0059] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0060] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application pertains.

[0061] Furthermore, the terms "first" and "second," etc., are used to distinguish different objects, not to describe a specific order. Additionally, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to those processes, methods, products, or apparatuses.

[0062] In order to achieve rapid control of the throttle body pressure ratio or the pressure after the throttle body and improve the controllability of engine torque, this application provides a torque control method and device for a natural gas engine, an electronic device, and a computer-readable storage medium, which will be described below with reference to the accompanying drawings.

[0063] Please refer to Figure 1 The diagram illustrates a flowchart of a torque control method for a natural gas engine provided in this application. Figure 1 As shown, the method includes the following steps:

[0064] S101. Determine the target control mode for the current natural gas engine demand;

[0065] Under different operating conditions, vehicles require different control modes for their engines. For example, some conditions require rapid control of engine power, which means rapid control of engine torque, while others require control of engine control stability, which means control of engine speed. Therefore, the target control mode can be either torque control mode or speed control mode.

[0066] Specifically, it can obtain the current engine torque demand status, speed control demand status, etc., and based on the above information, make a comprehensive decision to output the priority of the engine's current power demand and control stability demand, and determine the target control mode for the current natural gas engine demand according to the rule with the higher priority.

[0067] S102. Obtain the target parameters corresponding to the target control mode;

[0068] The control parameters of a natural gas engine include the pressure before the throttle. ptp Throttle body pressure map_set wait.

[0069] Specifically, the target parameters corresponding to the torque control mode provided in this application include: the actual throttle body pressure. ptp and the set throttle body pressure map_set .

[0070] Specifically, the target parameters corresponding to the speed control mode provided in this application include: the set throttle valve pressure. ptp_set and the set throttle body pressure map_set .

[0071] S103. Input the target parameter into the preset throttle opening formula to obtain the target throttle opening;

[0072] The throttle opening formula is obtained by combining the throttle equation used for throttle control with the velocity density method equation. The specific process is as follows:

[0073] S1. Based on the existing sensor configuration of natural gas engines, the throttle control equation is as follows:

[0074] ;

[0075] TPS stands for throttle opening. k 0 represents a correction factor based on air temperature. map The pressure after the throttle body. ptp This refers to the pressure before the throttle valve; f ( map / ptp The correction factor is based on the throttle body pressure ratio and is obtained by looking up a table. qm1 This refers to the airflow through the throttle body.

[0076] S2, The speed density method equation for throttle control is as follows:

[0077] ;

[0078] in, q m2 This refers to the airflow rate into the engine cylinders. map 1 represents the pressure after the throttle valve; 2 represents the EGR partial pressure and the fuel partial pressure, which are measured by fuel flow and EGR flow sensors; 3 represents the pressure-flow conversion coefficient, which is related to parameters such as engine speed, displacement, and charge coefficient, and the specific value is obtained by looking up a table; EGR represents the exhaust gas recirculation system.

[0079] S3. Based on the characteristics of the natural gas engine, the air flow rate through the throttle valve is... q m1 Equivalent to the airflow into the engine cylinder q m2 By combining the throttle control equation with the velocity density method equation, the following throttle opening formula is obtained:

[0080] .

[0081] Specifically, the target parameters for torque control mode include: actual throttle body pressure. ptp and the set throttle body pressure map_set The above throttle opening formula is then transformed as follows:

[0082] ;

[0083] When driven by power, the above throttle opening formula is based on the actual pressure before the throttle. ptp and the set throttle body pressure map_set The required throttle opening is calculated because, under power demand, the actual pressure before the throttle is used. ptp Based on this, the obtained throttle opening is... ptp When the pressure is insufficient or excessive, it can quickly adjust the throttle body to ensure the pressure after the throttle body. map The settings are consistent with reality.

[0084] Specifically, the target parameters corresponding to the speed control mode include: the set throttle valve pressure. ptp_set and the set throttle body pressure map_set The above throttle opening formula is then transformed as follows:

[0085] ;

[0086] When speed control is required, the above throttle opening formula... ptp / map When the set pressure ratio is used instead, the throttle will respond first to the pressure ratio before and after the throttle. At this time, the throttle opening is less affected by the actual external pressure parameters. Therefore, in the process of the engine controlling torque and thus controlling speed, the change of the throttle is less affected by the surrounding parameters, and the final output throttle opening is more stable.

[0087] Experiments revealed that the latter part of the above throttle opening formula is affected by the relationship between parameter b and the pressure after the throttle. map The difference is significant, so the latter part of the above throttle opening formula has little impact on the final throttle opening and can be omitted in some embodiments to simplify the calculation.

[0088] As can be seen, this application combines the throttle equation of throttle control with the velocity density method equation to achieve control of the manifold pressure and the pressure ratio before and after the throttle. It changes the original rigid throttle control method to a more flexible throttle control method, outputting the corresponding throttle opening under different throttle control requirements, thereby improving the controllability of engine torque.

[0089] S104. Control the torque of the natural gas engine according to the target throttle opening.

[0090] Based on the above throttle opening formula, the required intake air volume is obtained by looking up the required torque in a table. The required throttle pressure is then calculated by back-calculating the required torque and the above velocity density method equation. At the same time, the required set throttle front-to-back pressure ratio is obtained by looking up the required torque in a table. The required throttle front pressure is obtained by dividing the required throttle pressure by the required set throttle front-to-back pressure ratio. This required throttle front pressure is used for the closed-loop control of the turbocharger.

[0091] In some embodiments, the torque control method for the natural gas engine provided in this application may further include the following steps: after the manifold pressure stabilizes, determining whether the absolute value of the difference between the actual value and the preset value of the manifold pressure is greater than a first limit; if it is not greater than the first limit, no adjustment is required; if it is greater than the first limit, adjusting 'a' or 'b' in the throttle opening formula according to the throttle valve pre- and post-set pressure ratio, until the absolute value of the difference between the actual value and the preset value of the manifold pressure is not greater than the first limit. The first limit can be set according to actual conditions.

[0092] Specifically, adjusting 'a' or 'b' in the throttle opening formula based on the pre- and post-throttle pressure ratio includes: decreasing 'a' by a first preset step size if the pre- and post-throttle pressure ratio is greater than a second limit; and increasing 'b' by a second preset step size if the pre- and post-throttle pressure ratio is not greater than the second limit. The second limit can be set according to actual conditions.

[0093] In other words, after the manifold pressure stabilizes, determine if the absolute value of the manifold pressure (actual value - preset value) is greater than the first limit. If it is not greater, it indicates that the throttle control is accurate and no adjustment is needed; if it is greater than the first limit, it indicates that the throttle control is inaccurate and adjustment is required. Adjustment method: If the throttle front-to-rear pressure ratio ( map_set / ptp_set If the second limit is greater than the limit, then a = a + step0 in the formula; if the throttle body pressure ratio ( map_set / ptp_set If the value is less than the second limit, then b = b + step1 in the formula; step0 is a negative value and step1 is a positive value.

[0094] For ease of understanding, this application also provides, for example Figure 2 The flowchart illustrates a specific torque control method for a natural gas engine.

[0095] The torque control method for a natural gas engine provided in this application involves determining the target control mode required by the current natural gas engine, obtaining the target parameters corresponding to the target control mode, inputting the target parameters into a preset throttle opening formula to obtain the target throttle opening, and controlling the torque of the natural gas engine according to the target throttle opening. The throttle opening formula is obtained by combining the throttling equation used for throttle control with the velocity density method equation. Compared to existing technologies, this application utilizes the characteristics of a natural gas engine to combine the throttle equation used for throttle control with the velocity density method equation to obtain the throttle opening formula. For different target control modes, the throttle opening formula uses different target parameters to calculate the throttle opening, ensuring that the torque corresponding to the throttle opening can adapt to the target control mode, thereby improving the controllability of the natural gas engine.

[0096] In the above embodiments, a torque control method for a natural gas engine is provided. Correspondingly, this application also provides a torque control device for a natural gas engine, which can be implemented through software, hardware, or a combination of both. For example, the torque control device for the natural gas engine may include integrated or separate functional modules or units to perform the corresponding steps in the above methods. Please refer to... Figure 3 This illustration shows a schematic diagram of a torque control device for a natural gas engine provided by some embodiments of this application. Since the device embodiments are basically similar to the method embodiments, the description is relatively simple; relevant details can be found in the description of the method embodiments. The device embodiments described below are merely illustrative.

[0097] like Figure 3 As shown, the torque control device 10 of the natural gas engine may include:

[0098] Module 101 is used to determine the target control mode for the current natural gas engine demand;

[0099] The acquisition module 102 is used to acquire the target parameters corresponding to the target control mode;

[0100] The calculation module 103 is used to input the target parameter into a preset throttle opening formula to obtain the target throttle opening.

[0101] The control module 104 is used to control the torque of the natural gas engine according to the target throttle opening.

[0102] The throttle opening formula is obtained by combining the throttling equation used for throttle control with the velocity density method equation.

[0103] In one possible implementation, the throttle opening formula is obtained by combining the throttle equation used for throttle control with the velocity density method equation, including:

[0104] S1, The throttling equation controlled by the throttle valve is as follows:

[0105] ;

[0106] TPS stands for throttle opening. k 0 represents a correction factor based on air temperature. map The pressure after the throttle body. ptp This refers to the pressure before the throttle valve. f ( map / ptp () is a correction factor based on the throttle body pressure ratio. q m1 The airflow rate through the throttle body;

[0107] S2, The speed density method equation for throttle control is as follows:

[0108] ;

[0109] in, q m2 denoted as , b represents the airflow into the engine cylinder, and is the EGR partial pressure and the combustion gas partial pressure, respectively; and is the pressure-flow conversion coefficient.

[0110] S3. Based on the characteristics of the natural gas engine, the air flow rate through the throttle valve is... q m1 Equivalent to the airflow into the engine cylinder q m2 By combining the throttle control equation with the velocity density method equation, the following throttle opening formula is obtained:

[0111] .

[0112] In one possible implementation, the target control mode is a torque control mode, and the target parameters corresponding to the torque control mode include: the actual throttle inlet pressure. ptp and the set throttle body pressure map_set .

[0113] In one possible implementation, the target control mode is a speed control mode, and the target parameters corresponding to the speed control mode include: the set throttle inlet pressure. ptp_set and the set throttle body pressure map_set .

[0114] In one possible implementation, the device further includes:

[0115] The adaptive adjustment module is used to determine whether the absolute value of the difference between the actual value and the preset value of the manifold pressure is greater than a first limit after the manifold pressure stabilizes. If it is not greater than the first limit, no adjustment is required. If it is greater than the first limit, the module adjusts 'a' or 'b' in the throttle opening formula according to the throttle pressure ratio before and after the throttle until the absolute value of the difference between the actual value and the preset value of the manifold pressure is not greater than the first limit.

[0116] In one possible implementation, the adaptive adjustment module is specifically used for:

[0117] If the pressure ratio before and after the throttle valve is greater than the second limit, decrease 'a' by the first preset step size.

[0118] Based on the fact that the pressure ratio before and after the throttle valve is not greater than the second limit, b is increased according to the second preset step size.

[0119] The torque control device for a natural gas engine provided in this application determines the target control mode required by the current natural gas engine and obtains the target parameters corresponding to the target control mode; inputs the target parameters into a preset throttle opening formula to obtain the target throttle opening; and controls the torque of the natural gas engine according to the target throttle opening. The throttle opening formula is obtained by combining the throttling equation used for throttle control with the velocity density method equation. Compared to the prior art, this application utilizes the characteristics of a natural gas engine to combine the throttle equation used for throttle control with the velocity density method equation to obtain the throttle opening formula. For different target control modes, the throttle opening formula uses different target parameters to calculate the throttle opening, so that the torque corresponding to the throttle opening can adapt to the target control mode, thereby improving the controllability of the natural gas engine.

[0120] This application also provides an electronic device corresponding to the torque control method for a natural gas engine provided in the foregoing embodiments. The electronic device may be a transmission control unit, a mobile phone, a laptop, a tablet computer, a desktop computer, etc., to execute the torque control method for the natural gas engine described above.

[0121] The electronic device provided in this application embodiment and the torque control method for the natural gas engine provided in this application embodiment are based on the same inventive concept and have the same beneficial effects as the methods they employ, operate, or implement.

[0122] This application also provides a computer-readable storage medium corresponding to the torque control method for a natural gas engine provided in the foregoing embodiments, wherein a computer program (i.e., a program product) is stored thereon, and the computer program, when run by a processor, executes the torque control method for a natural gas engine provided in any of the foregoing embodiments.

[0123] It should be noted that examples of the computer-readable storage medium may also 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 optical and magnetic storage media, which will not be elaborated here.

[0124] The computer-readable storage medium provided in the above embodiments of this application and the torque control method for a natural gas engine provided in the embodiments of this application are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0125] It should be noted that the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0126] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application.

Claims

1. A torque control method for a natural gas engine, characterized in that, include: Determine the target control mode for current natural gas engine demand; Obtain the target parameters corresponding to the target control mode; wherein, if the target control mode is a torque control mode, the target parameters corresponding to the torque control mode include: the actual throttle body pressure. ptp and the set throttle body pressure map_set If the target control mode is a speed control mode, the target parameters corresponding to the speed control mode include: the set throttle inlet pressure. ptp_set and the set throttle body pressure map_set ; The target parameter is input into the preset throttle opening formula to obtain the target throttle opening. The torque of the natural gas engine is controlled according to the target throttle opening. The throttle opening formula is obtained by combining the throttle equation used for throttle control with the velocity density method equation, including: S1, The throttling equation controlled by the throttle valve is as follows: ； TPS stands for throttle opening. k 0 represents a correction factor based on air temperature. map The pressure after the throttle body. ptp This refers to the pressure before the throttle valve. f ( map / ptp () is a correction factor based on the throttle body pressure ratio. q m1 The airflow rate through the throttle body; S2, The speed density method equation for throttle control is as follows: ； in, q m2 denoted as , b represents the airflow into the engine cylinder, and is the EGR partial pressure and the combustion gas partial pressure, respectively; and is the pressure-flow conversion coefficient. S3. Based on the characteristics of the natural gas engine, the air flow rate through the throttle valve is... q m1 Equivalent to the airflow into the engine cylinder q m2 By combining the throttle control equation with the velocity density method equation, the following throttle opening formula is obtained: 。 2. The torque control method for a natural gas engine according to claim 1, characterized in that, The method further includes: After the manifold pressure stabilizes, determine whether the absolute value of the difference between the actual manifold pressure and the preset value is greater than the first limit. If it is not greater than the first limit, no adjustment is needed; If the pressure exceeds the first limit, adjust either a or b in the throttle opening formula according to the pressure ratio before and after the throttle, until the absolute value of the difference between the actual pressure in the manifold and the preset value is not greater than the first limit.

3. The torque control method for a natural gas engine according to claim 2, characterized in that, The step of adjusting 'a' or 'b' in the throttle opening formula based on the pre- and post-throttle pressure ratio includes: If the pressure ratio before and after the throttle valve is greater than the second limit, decrease 'a' by the first preset step size. Based on the fact that the pressure ratio before and after the throttle valve is not greater than the second limit, b is increased according to the second preset step size.

4. A torque control device for a natural gas engine, characterized in that, include: The determination module is used to determine the target control mode for the current natural gas engine demand; The acquisition module is used to acquire the target parameters corresponding to the target control mode; wherein, if the target control mode is a torque control mode, the target parameters corresponding to the torque control mode include: the actual throttle body pressure. ptp and the set throttle body pressure map_set If the target control mode is a speed control mode, the target parameters corresponding to the speed control mode include: the set throttle inlet pressure. ptp_set and the set throttle body pressure map_set ; The calculation module is used to input the target parameters into a preset throttle opening formula to obtain the target throttle opening. The control module is used to control the torque of the natural gas engine according to the target throttle opening. The throttle opening formula is obtained by combining the throttle equation used for throttle control with the velocity density method equation, including: S1, The throttling equation controlled by the throttle valve is as follows: ； TPS stands for throttle opening. k 0 represents a correction factor based on air temperature. map The pressure after the throttle body. ptp This refers to the pressure before the throttle valve. f ( map / ptp () is a correction factor based on the throttle body pressure ratio. q m1 The airflow rate through the throttle body; S2, The speed density method equation for throttle control is as follows: ； in, q m2 denoted as , b represents the airflow into the engine cylinder, and is the EGR partial pressure and the combustion gas partial pressure, respectively; and is the pressure-flow conversion coefficient. S3. Based on the characteristics of the natural gas engine, the air flow rate through the throttle valve is... q m1 Equivalent to the airflow into the engine cylinder q m2 By combining the throttle control equation with the velocity density method equation, the following throttle opening formula is obtained: 。 5. An electronic device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the method as described in any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, It stores computer-readable instructions that can be executed by a processor to implement the method as described in any one of claims 1 to 3.

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