Engine speed control method, device, engineering equipment and readable storage medium

Abstract

The application discloses an engine speed control method and device, engineering equipment and a machine readable storage medium, and relates to the technical field of engineering equipment. The method comprises the following steps: acquiring engine speeds and first expected speeds corresponding to the engine speeds in real time; when the number of the acquired engine speeds or the number of the first expected speeds reaches a preset number, determining speed difference values of each engine speed and the first expected speed, respectively; determining a speed change rate based on all the speed difference values; determining a target expected speed in all the first expected speeds based on the speed change rate; determining a target control speed based on all the target expected speeds; and controlling the engine operation based on the target control speed. The engine is controlled to work through the target control speed, the smooth transition of the engine speed in the energy-saving mode is realized, the probability of the engine shaking under special conditions such as the sharp change of the hydraulic system load is reduced, and the stability of the engine operation is improved.

Description

Technical Field

[0001] This application relates to the field of engineering equipment technology, and specifically to an engine speed control method, device, engineering equipment, and machine-readable storage medium. Background Technology

[0002] When construction machinery is in operation, such as lifting equipment, in order to save fuel, the energy-saving mode will determine the optimal economic zone of fuel consumption pulse spectrum based on the universal characteristic curve of the construction machinery's engine. This allows for the calculation of the most economical engine speed at the current torque, i.e., the fastest operating efficiency under the current working conditions. If this most economical speed is lower than the manually controlled speed, the machine will operate at the most economical speed.

[0003] In existing technologies, the most economical speed and the hydraulic system load change are related in real time. For example, during the lifting process, the lifting equipment has some special operations, such as the lifting and lowering of the heavy object or when the heavy object shakes greatly, which will cause the hydraulic system load to change drastically. The faster the load of the lifting equipment changes, the greater the change in the hydraulic system load, which will cause the target control speed, i.e. the most economical speed, to change rapidly. This will further cause the input signal for controlling the engine speed to change rapidly, resulting in engine vibration.

[0004] It is evident that how to stably control engine speed and avoid engine vibration has become an urgent problem to be solved. Summary of the Invention

[0005] To address the aforementioned shortcomings in the prior art, the purpose of this application is to provide an engine speed control method, apparatus, engineering equipment, and machine-readable storage medium.

[0006] To achieve the above objectives, the first aspect of this application provides an engine speed control method, comprising: The engine speed and the first desired speed corresponding to the engine speed are obtained in real time, wherein the first desired speed is the desired speed of the engine in energy-saving mode; If the number of engine speeds or the number of first desired speeds reaches a preset number, the speed difference between each engine speed and the first desired speed is determined respectively. The rate of change of rotational speed is determined based on all speed differences; The target desired speed is determined based on the rate of change of speed among all first desired speeds; The target control speed is determined based on all target desired speeds, and the engine operation is controlled based on the target control speed.

[0007] In this embodiment of the application, determining the rate of change of rotational speed based on all the aforementioned rotational speed differences includes: The target speed difference among all speed differences is determined based on the actual acquisition time. The number of target speed differences is a first number, which is less than or equal to a preset number. The actual acquisition time is the acquisition time of the engine speed and / or the first desired speed. The rate of change of speed is determined by fitting data to all target speed differences.

[0008] In this embodiment of the application, determining the target desired speed among all first desired speeds based on the rate of change of speed includes: Determine whether the absolute value of the rate of change of rotational speed is less than the first threshold; If the absolute value of the rate of change of rotational speed is less than the first threshold, the second number of target expected rotational speeds in the first expected rotational speeds are determined based on the acquisition time.

[0009] In this embodiment of the application, the engine speed control method further includes: Determine whether the absolute value of the rate of change of rotational speed is greater than a second threshold, wherein the first threshold is less than the second threshold; If the absolute value of the rate of change of rotational speed is greater than the second threshold, the target expected rotational speed of the third quantity in the first expected rotational speed is determined based on the acquisition time, wherein the second quantity is less than the third quantity.

[0010] In this embodiment of the application, the engine speed control method further includes: If the absolute value of the rate of change of rotational speed is greater than or equal to the first threshold and less than or equal to the second threshold, the fourth quantity is determined based on the rate of change of rotational speed. The target expected rotational speed is determined based on the acquisition time, which is the fourth number of the first expected rotational speeds.

[0011] In this embodiment of the application, determining the target control speed based on all target desired speeds includes: Determine the average value of all target desired speeds as the target control speed.

[0012] In this embodiment of the application, the engine speed control method further includes: If the number of engine speeds and the number of first desired speeds do not reach the preset number, the currently obtained first desired speed is used as the target control speed.

[0013] A second aspect of this application provides an engine speed control device, comprising: The memory is configured to store instructions; and The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the engine speed control method as described in the above embodiments.

[0014] A third aspect of this application provides an engineering device, comprising: Engine; and The engine speed control device as described in the above embodiments.

[0015] A fourth aspect of this application provides a machine-readable storage medium storing instructions that cause a machine to perform the engine speed control method as described in the above embodiments.

[0016] The above technical solution acquires the engine speed and the corresponding first desired speed in real time. When the number of acquired engine speeds or the number of first desired speeds reaches a preset number, the speed difference between each engine speed and the first desired speed is determined. This provides effective data reference for the magnitude of the difference between the current engine speed and the first desired speed. Based on all speed differences, the speed change rate can be determined, and then the target desired speed among all first desired speeds can be determined based on the speed change rate. Based on all target desired speeds, the target control speed can be determined, and the engine operation can be controlled based on the target control speed. By filtering the target desired speed through the speed change rate and further determining the target control speed based on the target desired speed to control engine operation, a smooth transition of engine speed in energy-saving mode is achieved. This reduces the probability of engine vibration under special conditions such as drastic changes in hydraulic system load, and improves the stability of engine operation.

[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 1 The schematic diagram illustrates a flow chart of an engine speed control method according to an embodiment of this application; Figure 2 A schematic flowchart of an engine speed control method according to another 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 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.

[0021] 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.

[0022] Figure 1 A schematic flowchart illustrating an engine speed control method according to an embodiment of this application is shown. Figure 1 As shown in the figure, this application provides an engine speed control method, which may include the following steps.

[0023] Step 100: Real-time acquisition of engine speed and the first desired speed corresponding to the engine speed, wherein the first desired speed is the desired speed of the engine in energy-saving mode; In this embodiment, it should be noted that, under the energy-saving mode of the engineering equipment, the optimal economic zone of the fuel consumption pulse spectrum is obtained based on the universal characteristic curve of the engine, and thus the most economical engine speed under the current torque can be obtained. The most economical engine speed is related to the load changes of the hydraulic system of the engineering equipment in real time. In some special scenarios, due to drastic load changes in the hydraulic system, the most economical engine speed will also change in real time, resulting in engine vibration. In this embodiment, engine vibration will be reduced by controlling the real-time engine speed.

[0024] It should be noted that the engine speed refers to the actual speed of the engine at the current moment, while the first desired speed is the optimal economic speed expected by the engine in energy-saving mode. Real-time acquisition of the engine speed and the first desired speed at the corresponding moment allows for real-time determination of the engine's current operating condition and enables real-time control of the engine speed at the next moment based on the current engine speed and the first desired speed.

[0025] Step 200: If the number of engine speeds or the number of first desired speeds reaches a preset number, determine the speed difference between each engine speed and the first desired speed. Step 300: Determine the rate of change of rotational speed based on all rotational speed differences; It should be noted that in energy-saving mode, the main reason for engine vibration is the large difference between the first desired speed and the current real-time engine speed. Furthermore, due to drastic changes in the hydraulic system load under certain special scenarios, the first desired speed fluctuates dramatically, thus affecting the real-time speed difference between the first desired speed and the engine speed. The larger this real-time speed difference, the greater the change in engine speed, and the higher the probability of engine vibration. Therefore, in this embodiment, when the number of real-time acquired engine speeds or the number of first desired speeds reaches a preset number, the speed difference between each engine speed and the first desired speed will be calculated separately. This provides effective data for subsequently determining the engine speed change rate. It is understandable that during the operation of engineering equipment, the difference between the real-time engine speed and the first desired speed is usually small at the moment the equipment starts up; that is, the engine rarely vibrates at the moment the equipment starts up. Therefore, in this embodiment, when the number of acquired engine speeds or the number of first desired speeds reaches a preset number, the speed difference between each engine speed and the first desired speed is determined separately. Using this preset number of speed differences as data, the effectiveness of engine speed control is improved. The preset quantity is a predetermined value, for example, 70, and this preset quantity can be adaptively adjusted based on the actual application scenario. In one embodiment, the speed difference between the engine speed and the first desired speed can also be calculated in real time after the engine speed and the first desired speed are obtained in real time.

[0026] It should be noted that the speed change rate characterizes the rate at which the engine speed changes. In this embodiment, the speed change rate characterizes the rate at which the engine speed changes from the real-time engine speed to the first desired speed. The smaller the speed change rate, the smoother the transition from the current speed to the first desired speed, and the lower the probability of vibration. Determining the speed change rate by using a preset number of speed differences improves the real-time performance and effectiveness of the speed change rate.

[0027] Step 400: Determine the target desired speed among all the first desired speeds based on the rate of change of speed; Step 500: Determine the target control speed based on all target desired speeds, and control engine operation based on the target control speed.

[0028] It should be noted that different speed change rates represent different degrees of change from the current real-time engine speed to the first desired speed. Based on different speed change rates, a preset number of first desired speeds are filtered, and the filtered first desired speeds are used as the target desired speed. It is understandable that if the engineering equipment is currently under conditions of rapid load changes, the values ​​of the various first desired speeds within this preset number will fluctuate significantly. Filtering all first desired speeds based on speed change rates ensures the real-time nature of the target desired speed; and by processing the filtered target desired speeds, the target control speed is obtained, achieving a peak-smoothing effect on the values ​​of all target desired speeds, thus improving the smoothness of engine speed control.

[0029] In this embodiment, by acquiring the engine speed and the corresponding first desired speed in real time, and when the number of acquired engine speeds or the number of first desired speeds reaches a preset number, the speed difference between each engine speed and the first desired speed is determined. This provides effective data reference for the magnitude of the difference between the current engine speed and the first desired speed. Therefore, the speed change rate can be determined based on all speed differences, and then the target desired speed among all first desired speeds can be determined based on the speed change rate. The target control speed can then be determined based on all target desired speeds, and the engine operation can be controlled based on the target control speed. By filtering the target desired speed through the speed change rate and further determining the target control speed based on the target desired speed to control the engine operation, a smooth transition of engine speed in energy-saving mode is achieved, reducing the probability of engine vibration under special conditions such as drastic changes in hydraulic system load, and improving the stability of engine operation.

[0030] In one embodiment, determining the rate of change of rotational speed based on all said rotational speed differences includes: The target speed difference among all speed differences is determined based on the actual acquisition time. The number of target speed differences is a first number, which is less than or equal to a preset number. The actual acquisition time is the acquisition time of the engine speed and / or the first desired speed. The rate of change of speed is determined by fitting data to all target speed differences.

[0031] In this embodiment, it should be noted that since the engine speed and the first desired speed are values ​​acquired in real time, the speed difference between the engine speed and the first desired speed is also a value that changes in real time. If the data acquisition time is too long, the judgment of the current operating condition will not be real-time, and too much or too little data will also affect the effectiveness of the judgment. In this embodiment, the determination time and number of speed differences are limited, and the target speed difference is selected from all the calculated speed differences to improve the real-time performance and effectiveness of the speed difference. Specifically, in one embodiment, a first number of speed differences can be selected from all speed differences based on the actual acquisition time, wherein the actual acquisition time is the time closest to the current time as a reference, and the number of selected speed differences is the first number. For example, the 35 speed differences closest to the current time are selected as the target speed differences. It can be understood that the actual acquisition time corresponding to the target speed difference is the acquisition time of the engine speed corresponding to the target speed difference or the acquisition time of the first desired speed. The first number can be less than or equal to a preset number, that is, the target speed difference can be a part of all speed differences or all speed differences. The first quantity can be adjusted adaptively based on the actual application scenario.

[0032] After determining the target speed difference, data fitting is performed on all target speed differences to obtain a fitted curve, which in turn allows determination of the speed change rate. Specifically, in one embodiment, a first-order polynomial fitting can be performed on all target speed differences, or the least squares method can be used for data calculation.

[0033] In this embodiment, the real-time performance and effectiveness of the speed change rate are improved by screening and limiting the target speed difference used to determine the speed change rate.

[0034] In one embodiment, determining the target desired speed among all first desired speeds based on the rate of change of speed includes: refer to Figure 2 Determine whether the absolute value of the rate of change of rotational speed is less than the first threshold. If the absolute value of the rate of change of rotational speed is less than the first threshold, the second number of target expected rotational speeds in the first expected rotational speeds are determined based on the acquisition time.

[0035] In this embodiment, it should be noted that the first threshold is used as a data reference for the rate of change of engine speed. Based on extensive experiments on engineering equipment or expert experience, the first threshold is preset as a reference for the rate of change of engine speed, for example, 0.25. The second quantity is a small value, such as 5, and this second quantity can be adaptively adjusted based on the actual application scenario. The engine speed can increase or decrease suddenly. In this embodiment, the comprehensiveness of engine speed control is improved by judging the absolute value of the rate of change of engine speed.

[0036] Understandably, when the absolute value of the rate of change of engine speed is less than the first threshold, it indicates that the difference between the engine speed and the first desired speed is small, and the change in engine speed when transitioning from the current engine speed to the corresponding first desired speed is small. Furthermore, since the first desired speed is acquired in real time, and the interval between each acquisition is extremely short, when the absolute value of the rate of change of engine speed is less than the first threshold, the difference between the acquisition time and the second number of first desired speeds adjacent to the current time is small. In this embodiment, the second number of first desired speeds closest to the current time is determined based on the acquisition time of the first desired speed, serving as the target desired speed, further improving the real-time performance and effectiveness of the data. Moreover, when the rate of change of engine speed is small, the second number of target desired speeds is also used as the data basis for subsequent calculation of the target control speed, further reducing the risk of engine vibration and ensuring the smoothness of engine speed control.

[0037] In one embodiment, the engine speed control method further includes: refer to Figure 2 Determine whether the absolute value of the rate of change of rotational speed is greater than a second threshold, wherein the first threshold is less than the second threshold; If the absolute value of the rate of change of rotational speed is greater than the second threshold, the target expected rotational speed of the third quantity in the first expected rotational speed is determined based on the acquisition time, wherein the second quantity is less than the third quantity.

[0038] In this embodiment, it should be noted that the second threshold is used as a data reference for the rate of change of rotational speed. Based on extensive experiments on engineering equipment or expert experience, the second threshold is preset as a reference for the rate of change of rotational speed, for example, 0.5. The second threshold is greater than the first threshold. The third quantity is a relatively large value, for example, 70. This third quantity can be adaptively adjusted based on the actual application scenario. The third quantity is greater than the second quantity.

[0039] Understandably, when the absolute value of the rate of change of engine speed is greater than the second threshold, it indicates a large gap between the current engine speed and the first desired speed. The transition from the current engine speed to the corresponding first desired speed involves a significant change in engine speed, necessitating a delay in the change. Although the first desired speed is acquired in real-time, a rate of change greater than the second threshold indicates a drastic change in the current first desired speed, with a large difference between the acquired time and the third number of first desired speeds adjacent to the current time. In this embodiment, the third number of first desired speeds closest to the current time are determined based on the acquisition time of the first desired speed, serving as the target desired speed. For example, the 70 first desired speeds closest to the current time are selected as the target desired speeds. Processing the third number of target desired speeds yields the target control speed, avoiding a direct transition from the current engine speed to the first desired speed and smoothing out the real-time change in engine speed. Furthermore, since the interval between each acquisition of the first desired speed is extremely short, even using the third number of target desired speeds ensures the real-time performance and effectiveness of engine speed control.

[0040] In one embodiment, the engine speed control method further includes: refer to Figure 2 If the absolute value of the rate of change of rotational speed is greater than or equal to the first threshold and less than or equal to the second threshold, the fourth quantity is determined based on the rate of change of rotational speed. The target expected rotational speed is determined based on the acquisition time, which is the fourth number of the first expected rotational speeds.

[0041] In this embodiment, it should be noted that when the absolute value of the speed change rate is greater than or equal to the first threshold and less than or equal to the second threshold, the change from engine speed to the first desired speed is in the intermediate range, neither particularly drastic nor relatively stable. In this embodiment, based on the empirically preset method for determining the fourth quantity, the speed change rate is used to calculate the fourth quantity, specifically, it can be calculated using the following formula:

[0042] in, N Indicates the fourth quantity; K This indicates the rate of change of rotational speed.

[0043] After determining the fourth quantity, the first expected speed of the fourth quantity closest to the current time is determined based on the acquisition time of the first expected speed, and this first expected speed is taken as the target expected speed.

[0044] It should be noted that the target expected speeds are all obtained by filtering from the first expected speeds. That is, the number of target expected speeds should be less than or equal to the number of first expected speeds. In other words, the second, third, and fourth numbers in this embodiment should all be less than or equal to the preset number.

[0045] In one embodiment, determining the target control speed based on all target desired speeds includes: Determine the average value of all target desired speeds as the target control speed.

[0046] In this embodiment, it should be noted that after determining the target desired speed for different operating conditions, the target control speed is calculated based on the determined target desired speed. The target control speed is used to ultimately control the engine operation. In this embodiment, the target control speed is determined by averaging all the target desired speeds. It can be understood that, in one embodiment, the target control speed can also be determined by taking the median of the target desired speeds, etc., in order to achieve peak smoothing and valley reduction of each target desired speed, thereby mitigating the changes in engine speed.

[0047] In this embodiment, by determining the average value of the target desired speed as the target control speed, the effectiveness of the target control speed is improved, engine vibration is reduced, and the smoothness of engine operation is enhanced.

[0048] refer to Figure 2 In one embodiment, the engine speed control method further includes: If the number of engine speeds and the number of first desired speeds do not reach the preset number, the currently obtained first desired speed is used as the target control speed.

[0049] In this embodiment, it should be noted that during the operation of the engineering equipment, the difference between the real-time engine speed and the first desired speed is usually small when the engineering equipment is just started. That is, the engine rarely vibrates when the engineering equipment is just started. Therefore, in this embodiment, if the number of obtained engine speeds or the number of first desired speeds does not reach the preset number, the currently obtained first desired speed can be directly used as the target control speed.

[0050] In this embodiment, if the number of engine speeds and the number of first desired speeds do not reach the preset number, the current first desired speed is directly used to control the engine operation, thereby improving the engine control efficiency and making the engine speed the most economical engine speed with the fastest action efficiency under the current operating conditions, saving system fuel consumption and reducing the operating cost of engineering equipment.

[0051] This application embodiment also provides an engine speed control device, including: The memory is configured to store instructions; and The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the engine speed control method as described in the above embodiments.

[0052] This application also provides an engineering device, including: Engine; and The engine speed control device as described in the above embodiments.

[0053] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform the engine speed control method described in the above embodiments.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0059] 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.

[0060] 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, magnetic 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.

[0061] 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.

[0062] 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. An engine speed control method, characterized in that, include: The engine speed and a first desired speed corresponding to the engine speed are acquired in real time, wherein the first desired speed is the desired speed of the engine in energy-saving mode; If the number of engine speeds or the number of first desired speeds reaches a preset number, the speed difference between each engine speed and the first desired speed is determined respectively. The rate of change of rotational speed is determined based on all the aforementioned speed differences; The target desired speed is determined based on the speed change rate among all the first desired speeds; The target control speed is determined based on all the target desired speeds, and the engine operation is controlled based on the target control speed; Determining the target desired speed among all the first desired speeds based on the speed change rate includes: Determine whether the absolute value of the rate of change of rotational speed is less than a first threshold; If the absolute value of the rate of change of rotational speed is less than the first threshold, a second number of target expected rotational speeds are determined based on the acquisition time. Determine whether the absolute value of the rate of change of rotational speed is greater than a second threshold, wherein the first threshold is less than the second threshold; If the absolute value of the rate of change of rotational speed is greater than the second threshold, a third number of target expected rotational speeds in the first expected rotational speeds are determined based on the acquisition time, wherein the second number is less than the third number; If the absolute value of the rotational speed change rate is greater than or equal to the first threshold and less than or equal to the second threshold, a fourth quantity is determined based on the rotational speed change rate, wherein the fourth quantity is positively correlated with the rotational speed change rate; The target expected rotational speed of the fourth quantity in the first expected rotational speed is determined based on the acquisition time.

2. The engine speed control method according to claim 1, characterized in that, The determination of the rate of change of rotational speed based on all the aforementioned speed differences includes: The target speed difference among all the speed differences is determined based on the actual acquisition time, wherein the number of the target speed differences is a first number, the first number is less than or equal to the preset number, and the actual acquisition time is the acquisition time of the engine speed and / or the first desired speed. The rate of change of speed is determined by fitting data to all the target speed differences.

3. The engine speed control method according to claim 1, characterized in that, The determination of the target control speed based on all the target desired speeds includes: Determine the average value of all the target desired speeds as the target control speed.

4. The engine speed control method according to claim 1, characterized in that, Also includes: If the number of engine speeds and the number of the first desired speeds do not reach the preset number, the currently obtained first desired speed is used as the target control speed.

5. An engine speed control device, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the engine speed control method according to any one of claims 1 to 4.

6. An engineering device, characterized in that, include: engine; as well as The engine speed control device according to claim 5.

7. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the engine speed control method according to any one of claims 1 to 4.

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