Method, device and medium for controlling a throttle valve
By acquiring environmental and engine operating parameters when the ECU is powered on, and controlling the throttle valve to iteratively operate and learn, the difficulty of starting the engine caused by throttle valve icing is solved, and safe starting and normal operation are achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- E-QUALITY INTELLIGENT TECHNOLOGY WUXI CO LTD
- Filing Date
- 2025-12-31
- Publication Date
- 2026-07-21
Smart Images
Figure CN121676155B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of engine control technology, and in particular to a throttle control method, device and medium. Background Technology
[0002] During engine combustion, water vapor enters the manifold system through the piston ring seal gaps. When the vehicle is operating at extremely low ambient temperatures (e.g., below a preset temperature value, such as -30°C or -40°C), the high-temperature fuel vapor containing water vapor enters the manifold through a portion of the breather pipe. This high-temperature fuel vapor mixes with the cold air entering through the throttle body, causing the water vapor to condense and form loose frost that adheres to the inner walls of the manifold, throttle body, and valve plate.
[0003] When the engine stops, the high temperature radiation from the cylinder and the residual high temperature gas in the cylinder enter the intake manifold through the open throttle valve, causing the internal temperature to rise. The frost on the manifold and throttle valve melts due to the heat, forming liquid water that flows to the throttle valve and freezes in the low temperature environment.
[0004] When the engine is restarted, the throttle body ice can cause reduced combustion efficiency, which may result in delayed start-up, repeated start-stop cycles, or immediate engine shutdown after starting. It can also cause the ice layer to jam the throttle body shaft, leading to problems such as motor overload and burnout, mechanical structure deformation, and throttle body short circuit failure. Summary of the Invention
[0005] In response to the aforementioned problems and technical requirements, the applicant has proposed a throttle valve control method, device, and medium to solve a series of problems that occur when starting the engine due to throttle valve icing in the prior art. This method effectively breaks the ice on the throttle valve based on environmental conditions and engine operating conditions, ensuring safe engine starting.
[0006] This application provides a throttle control method, the method comprising: With the ECU powered on, obtain the ambient temperature, coolant temperature, and voltage of the battery that powers the throttle body in the vehicle's environment. If the ambient temperature is determined to be lower than the first preset temperature and the coolant temperature is determined to be lower than the second preset temperature, the ice-breaking operation is activated, and it is determined whether the battery voltage is within the preset throttle operating voltage range. If the battery voltage is determined to be within the operating voltage range, the ice-breaking operation of controlling the throttle valve to run first from a small opening direction and then from a large opening direction is executed iteratively a preset number of times. If it is determined that the battery voltage is not within the operating voltage range, and the battery voltage recovers to within the operating voltage range within a preset time period, the ice-breaking operation of controlling the throttle to run first from a small opening direction and then from a large opening direction is executed iteratively a preset number of times.
[0007] According to the throttle control method provided in the embodiments of this application, when it is determined that the battery voltage is within the operating voltage range, an ice-breaking operation is iteratively executed a preset number of times, controlling the throttle to first move from a small opening direction and then from a large opening direction, including: If the battery voltage is detected to be outside the operating voltage range during the ice-breaking operation, the ice-breaking operation is paused. Once the battery voltage recovers to within the operating voltage range within a preset time, the ice-breaking operation resumes from the throttle valve operating state corresponding to when the ice-breaking operation was paused.
[0008] According to the throttle control method provided in the embodiments of this application, the ice-breaking operation, which iteratively executes a preset number of times to control the throttle to first run from a small opening direction and then from a large opening direction, includes: Control the throttle valve to operate at a small opening; Determine if the throttle valve closed successfully; If it is determined that the throttle valve has not closed successfully, control the throttle valve to move from a large opening direction; Determine if the throttle valve has opened successfully; If the throttle valve is successfully opened, the ice breaking process is completed. If the throttle valve fails to open successfully, the ice-breaking operation is executed iteratively a preset number of times to complete the ice-breaking process.
[0009] According to the throttle control method provided in the embodiments of this application, the method further includes: If it is determined that the battery voltage is not within the operating voltage range, and if it is determined that the battery voltage has not recovered to the operating voltage range within a preset time period, a low voltage fault is generated.
[0010] According to the throttle control method provided in the embodiments of this application, after obtaining the ambient temperature and coolant temperature of the vehicle's environment, the method further includes: performing a throttle self-learning operation when it is determined that either or more of the ambient temperature is greater than or equal to a first preset temperature and the coolant temperature is greater than or equal to a second preset temperature. The throttle self-learning operation includes: when the throttle moves from a small opening direction to contact the mechanical limit block, acquiring and storing the first angle signal corresponding to the throttle; and when the throttle moves from a large opening direction to contact the mechanical limit block, acquiring and storing the second angle signal corresponding to the throttle.
[0011] According to the throttle control method provided in the embodiments of this application, after activating the ice-breaking operation, it further includes: If the throttle can be successfully closed when the throttle is first controlled from a small opening, then the throttle self-learning operation will be performed. The throttle self-learning operation includes: when the throttle moves from a small opening direction to contact the mechanical limit block, acquiring and storing the first angle signal corresponding to the throttle; and when the throttle moves from a large opening direction to contact the mechanical limit block, acquiring and storing the second angle signal corresponding to the throttle.
[0012] According to the throttle control method provided in the embodiments of this application, after activating the ice-breaking operation, it further includes: If at least one ice-breaking operation is completed, controlling the throttle to move from a small opening direction and then from a large opening direction, the throttle self-learning operation will not be performed when the vehicle ECU is powered on. The throttle self-learning operation includes: when the throttle moves from a small opening direction to contact the mechanical limit block, acquiring and storing the first angle signal corresponding to the throttle; and when the throttle moves from a large opening direction to contact the mechanical limit block, acquiring and storing the second angle signal corresponding to the throttle.
[0013] According to the throttle control method provided in this application embodiment, determining whether the battery voltage is within the preset throttle operating voltage range includes: Determine if the battery voltage is lower than the lower limit of the operating voltage range; If the battery voltage is determined to be greater than or equal to the lower voltage limit, the ice-breaking operation of controlling the throttle to run first from a small opening direction and then from a large opening direction is executed iteratively a preset number of times. If the battery voltage is determined to be less than the lower voltage limit, and if the battery voltage is determined to be greater than or equal to the lower voltage limit within a preset time period, the ice-breaking operation of controlling the throttle to run first from a small opening direction and then from a large opening direction is executed iteratively a preset number of times.
[0014] This application also provides 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 program to implement the steps of the throttle control method as described above.
[0015] This application also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the throttle control method as described above.
[0016] The throttle control method, device, and medium provided in this application embodiment, by determining that the vehicle is powered on by the ECU, acquires the ambient temperature, coolant temperature, and battery voltage of the vehicle's environment; when the ambient temperature is determined to be lower than a first preset temperature and the coolant temperature is determined to be lower than a second preset temperature, an ice-breaking operation is activated, and it is determined whether the battery voltage is within a preset throttle operating voltage range; when the battery voltage is determined to be within the operating voltage range, the ice-breaking operation of controlling the throttle to run from a small opening direction and then from a large opening direction is iteratively executed a preset number of times; when the battery voltage is determined to be outside the operating voltage range, when the battery voltage is determined to recover to within the operating voltage range within a preset time period, the ice-breaking operation of controlling the throttle to run from a small opening direction and then from a large opening direction is iteratively executed a preset number of times. It can be seen that this application effectively combines environmental conditions (ambient temperature) and engine operating conditions (coolant temperature, battery voltage) to perform the ice-breaking operation, realizing the effective execution of the ice-breaking operation and the safe starting of the engine. Attached Figure Description
[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0018] Figure 1 This is one of the flowcharts illustrating the throttle control method provided in the embodiments of this application; Figure 2 This is a second schematic flowchart of the throttle control method provided in the embodiments of this application; Figure 3 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. 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. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.
[0020] This application provides a throttle control method. This method can be applied to smart terminals, servers, and vehicle controllers. This application uses the application of this method in a vehicle controller as an example for illustration, and some other descriptions in the embodiments are illustrative and not intended to limit the scope of protection of this application, and will not be described in detail thereafter. The specific implementation of the method is as follows... Figure 1 As shown: Step 101: With the ECU powered on, obtain the ambient temperature, coolant temperature, and voltage of the battery used to power the throttle body in the vehicle's environment.
[0021] Step 102: If the ambient temperature is lower than the first preset temperature and the coolant temperature is lower than the second preset temperature, activate the ice breaking operation and determine whether the battery voltage is within the preset throttle operating voltage range.
[0022] Step 103: If the battery voltage is determined to be within the working voltage range, the ice-breaking operation of controlling the throttle to run from a small opening direction and then from a large opening direction is executed iteratively a preset number of times.
[0023] Step 104: If it is determined that the battery voltage is not within the working voltage range, and the battery voltage recovers to within the working voltage range within a preset time, the ice-breaking operation of controlling the throttle to run from a small opening direction and then from a large opening direction is executed iteratively a preset number of times.
[0024] Among them, the small opening direction is used to represent the direction in which the throttle is closed, and the large opening direction is used to represent the direction in which the throttle is opened.
[0025] The throttle control method provided in this application, when the vehicle is powered on by the ECU, acquires the ambient temperature, coolant temperature, and battery voltage of the vehicle's environment. If the ambient temperature is lower than a first preset temperature and the coolant temperature is lower than a second preset temperature, an ice-breaking operation is activated, and it is determined whether the battery voltage is within a preset throttle operating voltage range. If the battery voltage is within the operating voltage range, the ice-breaking operation, controlling the throttle to move from a small opening to a large opening, is iteratively executed a preset number of times. If the battery voltage is not within the operating voltage range, and the battery voltage recovers to within the operating voltage range within a preset time, the ice-breaking operation, controlling the throttle to move from a small opening to a large opening, is iteratively executed a preset number of times. Therefore, this application effectively combines environmental conditions (ambient temperature) and engine operating conditions (coolant temperature, battery voltage) for the ice-breaking operation, achieving effective execution of the ice-breaking operation and safe engine starting.
[0026] In one specific embodiment, the specific implementation of determining whether the battery voltage is within the preset throttle operating voltage range includes: Determine if the battery voltage is lower than the lower limit of the operating voltage range; if the battery voltage is greater than or equal to the lower limit, iteratively execute a pre-set number of ice-breaking operations, controlling the throttle to move from a small opening direction to a large opening direction; if the battery voltage is less than the lower limit, and the battery voltage is determined to be greater than or equal to the lower limit within a pre-set time period, iteratively execute a pre-set number of ice-breaking operations, controlling the throttle to move from a small opening direction to a large opening direction.
[0027] In one specific embodiment, the ice-breaking operation, which iteratively executes a preset number of times to control the throttle to first move from a small opening direction and then from a large opening direction, is implemented as follows: Figure 2 As shown: Step 201: Control the throttle valve to operate at a small opening.
[0028] Step 202: Determine whether the throttle valve is successfully closed. If yes, proceed to step 203; otherwise, proceed to step 204.
[0029] Step 203: Confirm that there is no ice on the throttle body.
[0030] Step 204: Control the throttle valve to operate from the widest opening direction.
[0031] Step 205: Determine if the throttle valve has been successfully opened. If yes, proceed to step 206; otherwise, proceed to step 207.
[0032] Step 206: Confirm that the ice-breaking process is complete.
[0033] Step 207: Iterate through the ice-breaking operation a preset number of times to complete the ice-breaking process.
[0034] Specifically, after the ECU is powered on, the throttle body ice-breaking function is activated when the engine is off, the ambient temperature is lower than the first preset temperature, the coolant temperature is lower than the second preset temperature, and the battery voltage is within the operating voltage range.
[0035] After the ice-breaking function is successfully activated, the throttle body is controlled to initially operate at a small opening. If the throttle body closes normally within the preset closing time, it is determined that there is no ice in the throttle body. If the throttle body does not reach the required closing position (i.e., the position corresponding to the angle signal obtained from the last self-learning) within the preset closing time, the throttle body is controlled to operate at a large opening. If the throttle body opens within the preset opening time, it is determined that ice breaking is completed (ice breaking is successful). If the throttle body does not open within the preset opening time, it is determined that ice still exists, and the process of controlling the throttle body to initially operate at a small opening continues. After repeating this process a preset number of times, it is determined that ice breaking is successful.
[0036] However, when the vehicle is powered on and started, the starter motor needs to briefly output several hundred amperes of current to drive the engine during a cold start, far exceeding the battery's rated capacity. This causes the voltage to drop sharply due to internal resistance. Therefore, the battery voltage will drop to a level where the throttle cannot operate (below the lower limit of the operating voltage range) at the moment of startup, at which point the ice-breaking operation will be discontinued.
[0037] When the battery is healthy, the ECU can quickly recover to the required voltage within 5-10 seconds after power-on. However, the de-icing operation has already ended, so effective de-icing cannot be completed. At this time, the engine will start, resulting in reduced combustion efficiency, which may cause starting delay, repeated start-stop, or immediate shutdown after starting. The ice layer may also stick to the throttle body shaft, causing the motor to overload and burn out or the mechanical structure to deform, or the throttle body to short-circuit and fail.
[0038] To address the aforementioned issues, if the battery voltage is detected to be outside the operating voltage range during the ice-breaking operation, the ice-breaking operation will be paused. Once the battery voltage recovers to within the operating voltage range within a preset time, the ice-breaking operation will resume from the throttle valve operating state corresponding to the time the ice-breaking operation was paused.
[0039] Specifically, if the battery voltage is determined to be greater than or equal to the lower voltage limit within a preset time after the ice-breaking operation is paused, the ice-breaking operation will continue from the operating state of the throttle corresponding to the time the ice-breaking operation was paused.
[0040] In one specific embodiment, if it is determined that the battery voltage is not within the operating voltage range, and if it is determined that the battery voltage has not recovered to the operating voltage range within a preset time period, a low voltage fault of the battery voltage is generated.
[0041] Specifically, if the battery voltage remains below the lower limit for a preset period of time after the ice-breaking operation is paused, a low voltage fault is generated.
[0042] In one specific embodiment, the throttle body self-learning operation is normally performed when the ECU is powered on and off.
[0043] The self-learning operation learns the voltage at the fully closed and fully open positions of the throttle valve to dynamically adjust the control parameters of the throttle valve and prevent signal drift.
[0044] The throttle self-learning operation includes: when the throttle moves from a small opening direction to contact the mechanical limit block, acquiring and storing the first angle signal (corresponding to the fully closed position voltage) of the throttle; and when the throttle moves from a large opening direction to contact the mechanical limit block, acquiring and storing the second angle signal (corresponding to the fully open position voltage) of the throttle.
[0045] The first angle signal indicates that the throttle is closed, and the second angle signal indicates that the throttle is fully open.
[0046] Specifically, when the engine is only selected for ECU power-on self-learning and is in a cold start environment, the throttle body will first perform an ice-breaking action. After the ice-breaking completion marker is set to position 1, the throttle body self-learning function will begin. However, if the ice layer on the valve plate is very thick at this time, and the ice cannot be removed after the preset number of ice-breaking attempts, the system cannot provide feedback on whether the ice has been truly removed. It can only provide feedback on the executed action and completion status. If the throttle body power-on self-learning is performed without the ice being completely removed, the learning of the fully closed / fully open position will be abnormal, leading to abnormal intake, reduced combustion efficiency, and potentially problems such as delayed start-up, repeated start-stop cycles, or immediate stalling after starting.
[0047] To address the aforementioned issues, this application proposes a specific strategy for throttle valve self-learning: If either or more of the following conditions are met, such as the ambient temperature being greater than or equal to the first preset temperature and the coolant temperature being greater than or equal to the second preset temperature, the throttle body self-learning operation is performed.
[0048] If the throttle body can be successfully closed when it is first controlled from a small opening direction, then a throttle body self-learning operation will be performed.
[0049] If at least one ice-breaking operation is completed, controlling the throttle to move from a small opening to a large opening, then no throttle self-learning operation is performed when the vehicle ECU is powered on.
[0050] Specifically, completing at least one ice-breaking operation that involves controlling the throttle valve to first move from a small opening to a large opening includes: If the throttle body moves from a small opening direction and then moves to a large opening direction, completing one cycle, it is considered to have performed an ice-breaking operation, and no throttle self-learning operation is performed.
[0051] If the throttle body operates at a small opening, then at a large opening, and this operation is repeated a preset number of times, it is considered to have performed an ice-breaking operation, and the throttle body self-learning operation will not be performed.
[0052] Specifically, when the throttle body performs an ice-breaking action, since it's impossible to confirm whether the ice has been completely cleared, the voltages for the fully closed and fully open positions used in the throttle body self-learning process may be incorrect. This can affect engine intake and combustion performance, leading to abnormal engine operation. Therefore, throttle body self-learning is not performed when the ECU is powered on and an ice-breaking operation is initiated.
[0053] In one specific embodiment, when the vehicle ECU is powered on, without performing throttle self-learning operation, a new coolant temperature is obtained when the ECU is powered off. If the new coolant temperature is greater than a third preset temperature, a throttle self-learning operation is performed when the ECU is powered off.
[0054] Specifically, if the new coolant temperature is higher than the third preset temperature, it means the engine has been started, and the heat from engine combustion can completely melt the ice on the throttle body, ensuring that the voltage result obtained from the throttle body self-learning is correct. If the new coolant temperature does not reach the third preset temperature, then throttle body self-learning will not be performed in this driving cycle.
[0055] This application effectively combines environmental conditions (ambient temperature) and engine operating conditions (coolant temperature, battery voltage) to perform ice-breaking operations, achieving efficient execution of the ice-breaking operation and safe engine starting. Figure 3 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 3 As shown, the electronic device may include a processor 301, a communications interface 302, a memory 303, and a communication bus 304. The processor 301, communications interface 302, and memory 303 communicate with each other via the communication bus 304. The processor 301 can call logical instructions from the memory 303 to execute throttle control methods.
[0056] Furthermore, the logical instructions in the aforementioned memory 303 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0057] On the other hand, the present invention also provides a computer program product, the computer program product including a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, and when the program instructions are executed by a computer, the computer is able to execute the throttle control method provided by the above methods.
[0058] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the throttle control method provided in the above embodiments.
[0059] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.
[0060] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.
[0061] Finally, it should be noted that the above descriptions are merely preferred embodiments of this application, and this application is not limited to the above embodiments. It is understood that other improvements and variations directly derived or conceived by those skilled in the art without departing from the spirit and concept of this application should be considered to be included within the protection scope of this application.
Claims
1. A method for controlling a throttle valve, characterized in that, The method includes: With the ECU powered on, obtain the ambient temperature, coolant temperature, and voltage of the battery that powers the throttle body in the vehicle's environment. If the ambient temperature is determined to be lower than the first preset temperature and the coolant temperature is determined to be lower than the second preset temperature, the ice-breaking operation is activated, and it is determined whether the battery voltage is within the preset throttle operating voltage range. If the battery voltage is determined to be within the operating voltage range, the ice-breaking operation of controlling the throttle valve to run first from a small opening direction and then from a large opening direction is executed iteratively a preset number of times. If it is determined that the battery voltage is not within the working voltage range, and the battery voltage recovers to within the working voltage range within a preset time, the ice-breaking operation of controlling the throttle valve to run from a small opening direction and then from a large opening direction is iteratively executed a preset number of times. The ice-breaking operation, which iteratively executes a preset number of times to control the throttle valve to first move from a small opening direction and then from a large opening direction, includes: Control the throttle valve to operate at a small opening; Determine if the throttle valve closed successfully; If it is determined that the throttle valve has not closed successfully, control the throttle valve to move from a large opening direction; Determine if the throttle valve has opened successfully; If the throttle valve is successfully opened, the ice breaking process is completed. If the throttle valve fails to open successfully, the ice-breaking operation is executed iteratively a preset number of times to complete the ice-breaking process.
2. The throttle control method according to claim 1, characterized in that, If the battery voltage is determined to be within the operating voltage range, an ice-breaking operation is iteratively executed a preset number of times, controlling the throttle to first move from a small opening direction and then from a large opening direction, including: If the battery voltage is detected to be outside the operating voltage range during the ice-breaking operation, the ice-breaking operation is paused. Once the battery voltage recovers to within the operating voltage range within a preset time, the ice-breaking operation resumes from the throttle valve operating state corresponding to when the ice-breaking operation was paused.
3. The throttle control method according to claim 1 or 2, characterized in that, The method further includes: If it is determined that the battery voltage is not within the operating voltage range, and if it is determined that the battery voltage has not recovered to the operating voltage range within a preset time period, a low voltage fault is generated.
4. The throttle control method according to claim 1 or 2, characterized in that, After obtaining the ambient temperature and coolant temperature of the vehicle's environment, the method further includes: performing a throttle self-learning operation when it is determined that either or more of the ambient temperature is greater than or equal to a first preset temperature and the coolant temperature is greater than or equal to a second preset temperature. The throttle self-learning operation includes: when the throttle moves from a small opening direction to contact the mechanical limit block, acquiring and storing the first angle signal corresponding to the throttle; and when the throttle moves from a large opening direction to contact the mechanical limit block, acquiring and storing the second angle signal corresponding to the throttle.
5. The throttle control method according to claim 1 or 2, characterized in that, After activating the ice-breaking operation, it also includes: If the throttle can be successfully closed when the throttle is first controlled from a small opening, then the throttle self-learning operation will be performed. The throttle self-learning operation includes: when the throttle moves from a small opening direction to contact the mechanical limit block, acquiring and storing the first angle signal corresponding to the throttle; and when the throttle moves from a large opening direction to contact the mechanical limit block, acquiring and storing the second angle signal corresponding to the throttle.
6. The throttle control method according to claim 1 or 2, characterized in that, After activating the ice-breaking operation, it also includes: If at least one ice-breaking operation is completed, controlling the throttle to move from a small opening direction and then from a large opening direction, the throttle self-learning operation will not be performed when the vehicle ECU is powered on. The throttle self-learning operation includes: when the throttle moves from a small opening direction to contact the mechanical limit block, acquiring and storing the first angle signal corresponding to the throttle; and when the throttle moves from a large opening direction to contact the mechanical limit block, acquiring and storing the second angle signal corresponding to the throttle.
7. The throttle control method according to claim 1 or 2, characterized in that, Determining whether the battery voltage is within the preset throttle operating voltage range includes: Determine if the battery voltage is lower than the lower limit of the operating voltage range; If the battery voltage is determined to be greater than or equal to the lower voltage limit, the ice-breaking operation of controlling the throttle to run first from a small opening direction and then from a large opening direction is executed iteratively a preset number of times. If the battery voltage is determined to be less than the lower voltage limit, and if the battery voltage is determined to be greater than or equal to the lower voltage limit within a preset time period, the ice-breaking operation of controlling the throttle to run first from a small opening direction and then from a large opening direction is executed iteratively a preset number of times.
8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the throttle control method as described in any one of claims 1 to 7.
9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the throttle control method as described in any one of claims 1 to 7.