CN113482780A - Throttle control method and device, electronic equipment and storage medium - Google Patents
Throttle control method and device, electronic equipment and storage medium Download PDFInfo
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- CN113482780A CN113482780A CN202110751218.0A CN202110751218A CN113482780A CN 113482780 A CN113482780 A CN 113482780A CN 202110751218 A CN202110751218 A CN 202110751218A CN 113482780 A CN113482780 A CN 113482780A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
- F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
- F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02C—GAS-TURBINE PLANTS; AIR INTAKES FOR JET-PROPULSION PLANTS; CONTROLLING FUEL SUPPLY IN AIR-BREATHING JET-PROPULSION PLANTS
- F02C9/00—Controlling gas-turbine plants; Controlling fuel supply in air- breathing jet-propulsion plants
- F02C9/26—Control of fuel supply
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Abstract
The application provides a throttle control method, a throttle control device, electronic equipment and a storage medium, wherein the method comprises the steps of obtaining the current stroke amount of a throttle; judging whether the current stroke amount reaches a preset value; if so, judging whether the current rotating speed of the motor reaches a preset rotating speed or not; if so, acquiring the current power supply voltage of the motor; determining an updated motor speed according to the current power supply voltage; and updating the highest motor rotating speed corresponding to the full accelerator travel according to the updated motor rotating speed, and controlling the accelerator according to the updated highest motor rotating speed corresponding to the full accelerator travel.
Description
Technical Field
The application relates to the technical field of throttle control, in particular to a throttle control method, a throttle control device, electronic equipment and a storage medium.
Background
At present, the accelerator of a mobile device is generally controlled by a sine wave controller (such as an FOC electronic governor), and when the accelerator is controlled by the sine wave controller, the accelerator generally directly maps the motor rotation speed information, namely the maximum accelerator stroke maps the motor maximum rotation speed information.
In the working process of the motor-driven equipment, the voltage of power supply equipment (such as a battery of an electric vehicle) of the motor is gradually reduced, so that the maximum rotating speed which can be reached by the motor with load is necessarily reduced, and the maximum accelerator stroke is directly mapped to the rotating speed information of the motor because the accelerator is controlled by a sine wave control strategy, and the original maximum rotating speed information of the motor is also directly mapped at the maximum accelerator stroke, so that the problems of overlarge sensitivity of the front end of the accelerator and failure of the tail end stroke of the accelerator are caused.
Disclosure of Invention
An object of the embodiments of the present application is to provide a method and an apparatus for controlling a throttle, an electronic device, and a storage medium, so as to solve the above problems.
In a first aspect, the present invention provides a throttle control method, including: acquiring the current stroke of the accelerator; judging whether the current stroke amount reaches a preset value; if so, judging whether the current rotating speed of the motor reaches a preset rotating speed or not; if so, acquiring the current power supply voltage of the motor; determining an updated motor speed according to the current power supply voltage; and updating the highest motor rotating speed corresponding to the full accelerator travel according to the updated motor rotating speed so as to control the accelerator according to the updated highest motor rotating speed corresponding to the full accelerator travel.
In the designed throttle control method, the highest rotating speed which can be reached by the motor is directly related to the power supply voltage of the motor, and the highest rotating speed which can be reached by the motor is necessarily reduced along with the reduction of the power supply voltage, so that the scheme obtains the current power supply voltage of the motor under the condition that the throttle stroke amount and the current rotating speed of the motor both reach corresponding preset values, namely the throttle stroke is invalid, further determines the updated motor rotating speed based on the current power supply voltage of the motor, updates the highest rotating speed of the motor corresponding to the full throttle stroke of the motor based on the updated motor rotating speed, so that the highest rotating speed of the motor corresponding to the full throttle stroke can be changed along with the change of the power supply voltage, further leads the changed highest rotating speed of the motor to be corresponding to the full throttle stroke all the time after the voltage is changed, and solves the problems of overlarge sensitivity of the front end and the tail end stroke of the throttle to be invalid, make the full stroke volume of throttle all effective and can not have the too big problem of throttle front end sensitivity, promote the control of product and experience.
In an optional implementation manner of the first aspect, the determining whether the current rotation speed of the motor reaches a preset rotation speed includes: acquiring an output value of a speed loop controller, and judging whether the output value of the speed loop controller is saturated or not; and if so, determining that the current rotating speed of the motor reaches a preset rotating speed.
In an optional implementation manner of the first aspect, the determining whether the current rotation speed of the motor reaches a preset rotation speed includes: acquiring an output value of a speed loop controller, and judging whether the output value of the speed loop controller is saturated or not; if yes, judging whether the output value saturation of the speed loop controller exceeds preset time or not; and if so, determining that the current rotating speed of the motor reaches a preset rotating speed.
In an optional implementation manner of the first aspect, the obtaining of the stroke amount of the throttle at present includes: and collecting the currently received rotating speed information of the electronic speed regulator.
In an alternative embodiment of the first aspect, obtaining the current stroke amount of the throttle comprises: acquiring current travel data information acquired by an accelerator position sensor; and calculating the current travel amount of the accelerator according to the current travel data information.
In an optional implementation of the first aspect, the determining an updated motor speed based on the current supply voltage includes: searching a voltage interval corresponding to the current power supply voltage according to the current power supply voltage of the motor; and searching the motor rotating speed corresponding to the voltage interval according to the voltage interval corresponding to the current power supply voltage to obtain an updated motor rotating speed, wherein a plurality of voltage intervals are preset, each voltage interval corresponds to one motor rotating speed, and the motor rotating speeds corresponding to different voltage intervals are different.
In an optional implementation of the first aspect, the determining an updated motor speed based on the current supply voltage includes: filtering the current power supply voltage to obtain the filtered current power supply voltage; and determining the updated motor rotating speed according to the filtered current power supply voltage.
In a second aspect, the present invention provides a throttle control apparatus comprising: the acquisition module is used for acquiring the current stroke of the accelerator; the judging module is used for judging whether the current stroke amount reaches a preset value; the judging module is further used for judging whether the current rotating speed of the motor reaches a preset rotating speed or not after judging that the current stroke amount reaches a preset value; the acquisition module acquires the current power supply voltage of the motor after the judgment module judges that the current rotating speed of the motor reaches the preset rotating speed; the determining module is used for determining the updated motor rotating speed according to the current power supply voltage of the motor; and the updating module is used for updating the highest motor rotating speed corresponding to the full accelerator travel according to the updated motor rotating speed so as to control the accelerator according to the updated highest motor rotating speed corresponding to the full accelerator travel.
In the throttle control device designed above, the highest rotation speed that the motor can reach is directly related to the power supply voltage thereof, and the highest rotation speed that the motor can reach is necessarily reduced along with the reduction of the power supply voltage thereof, therefore, the scheme obtains the current power supply voltage of the motor when the throttle stroke amount and the current rotation speed of the motor both reach corresponding preset values, namely the throttle stroke is invalid, and further determines the updated motor rotation speed thereof based on the current power supply voltage of the motor, and updates the highest rotation speed of the motor corresponding to the full throttle stroke of the motor based on the updated motor rotation speed, so that the highest rotation speed of the motor corresponding to the full throttle stroke can be changed along with the change of the power supply voltage thereof, and further the changed highest rotation speed of the motor after the voltage change can always correspond to the full throttle stroke, thereby solving the problems of overlarge front-end sensitivity and invalid tail-end stroke of the throttle, make the full stroke volume of throttle all effective and can not have the too big problem of throttle front end sensitivity, promote the control of product and experience.
In an optional implementation manner of the second aspect, the determining module is specifically configured to obtain an output value of a speed loop controller, and determine whether the output value of the speed loop controller is saturated; and if so, determining that the current rotating speed of the motor reaches a preset rotating speed.
In an optional implementation manner of the second aspect, the determining module is further specifically configured to obtain an output value of a speed loop controller, and determine whether the output value of the speed loop controller is saturated; if yes, judging whether the output value saturation of the speed loop controller exceeds preset time or not; and if so, determining that the current rotating speed of the motor reaches a preset rotating speed.
In an optional implementation manner of the second aspect, the obtaining module is specifically configured to collect rotation speed information currently received by the electronic governor; and searching the throttle stroke corresponding to the currently received rotation speed information of the electronic speed regulator according to the currently received rotation speed information of the electronic speed regulator, and obtaining the current stroke of the throttle.
In an optional implementation manner of the second aspect, the obtaining module is further specifically configured to obtain travel data information collected by an accelerator position sensor; and calculating the current travel amount of the accelerator according to the travel data information.
In an optional implementation manner of the second aspect, the determining module is specifically configured to search a voltage interval corresponding to a current power supply voltage of the motor according to the current power supply voltage; and searching the motor rotating speed corresponding to the voltage interval according to the voltage interval corresponding to the current power supply voltage to obtain an updated motor rotating speed, wherein a plurality of voltage intervals are preset, each voltage interval corresponds to one motor rotating speed, and the motor rotating speeds corresponding to different voltage intervals are different.
In a third aspect, an embodiment provides an electronic device, including a memory and a processor, where the memory stores a computer program, and the processor executes the computer program to perform the method in the first aspect or any optional implementation manner of the first aspect.
In a fourth aspect, the embodiments provide a storage medium, on which a computer program is stored, where the computer program, when executed by a processor, performs the method in the first aspect or any optional implementation manner of the first aspect.
In a fifth aspect, embodiments provide a computer program product, which when run on a computer, causes the computer to execute the method of the first aspect or any optional implementation manner of the first aspect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
FIG. 1 is a first flowchart of a throttle control method provided by an embodiment of the present application;
FIG. 2 is a second flowchart of a throttle control method provided by an embodiment of the present application;
FIG. 3 is a third flowchart of a throttle control method provided by the embodiments of the present application;
FIG. 4 is a fourth flowchart of a throttle control method provided by the present application;
FIG. 5 is a fifth flowchart of a throttle control method provided in the embodiments of the present application;
FIG. 6 is a sixth flowchart of a throttle control method provided by the present application;
FIG. 7 is a schematic structural diagram of a throttle control device according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Icon: 700-an obtaining module; 710-a judgment module; 720-a determination module; 730-an update module; 8-an electronic device; 801-a processor; 802-a memory; 803 — communication bus.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
The embodiment of the application provides a throttle control method, which can be applied to computing equipment such as a vehicle controller or a vehicle body controller on a vehicle, and as shown in fig. 1, the method specifically comprises the following steps:
step S100: and acquiring the current stroke quantity of the accelerator.
Step S110: and judging whether the current stroke amount reaches a preset value, if so, turning to the step S120.
Step S120: and judging whether the current rotating speed of the motor reaches a preset rotating speed, if so, turning to the step S130.
Step S130: and acquiring the current power supply voltage of the motor.
Step S140: an updated motor speed is determined from the current supply voltage.
Step S150: and updating the highest motor rotating speed corresponding to the full accelerator travel according to the updated motor rotating speed, and controlling the accelerator according to the updated highest motor rotating speed corresponding to the full accelerator travel.
In step S100, the accelerator stroke amount is a degree to which a current accelerator pedal of the vehicle is stepped, and in the case of a piston-type aircraft engine, the degree to which the accelerator is stepped determines a throttle opening of a carburetor to control a filling amount of a cylinder; in the case of a gas turbine engine, the extent to which the throttle is depressed determines the metered fuel flow rate of the fuel regulator. Assuming that the range from the lowest stroke amount (not stepped) to the highest stroke amount (stepped to the bottom) of the accelerator is [0,1], the current stroke amount of the accelerator may be any number between [0,1] and less than 1, such as 0.8, and the like, that is, the preset value may be any number less than the full stroke amount.
For step S100, there are various manners for obtaining the accelerator stroke amount, for example, the accelerator stroke amount can be obtained by means of an electronic speed governor or an accelerator position sensor, and as a possible implementation manner, the manner for obtaining the current accelerator stroke amount based on the electronic speed governor may specifically include the following steps, as shown in fig. 2:
step S200: and collecting the currently received rotating speed information of the electronic speed regulator.
Step S210: and searching the throttle stroke corresponding to the currently received rotation speed information of the electronic speed regulator according to the currently received rotation speed information of the electronic speed regulator, and obtaining the stroke of the throttle at present.
In the above embodiment, there is a fixed mapping relationship between the rotation speed information received by the electronic speed governor and the stroke amount of the accelerator, so that a mapping table of the rotation speed information of the electronic speed governor and the stroke amount of the accelerator can be established in advance, and the corresponding stroke amount of the accelerator mapped can be found by acquiring the rotation speed information currently received by the electronic speed governor, so as to obtain the stroke amount of the accelerator currently located.
As another possible implementation, the current throttle stroke amount may be obtained by a throttle position sensor, and specifically, as shown in fig. 3, the method specifically includes the following steps:
step S300: and acquiring current travel data information acquired by the accelerator position sensor.
Step S310: and calculating the current travel amount of the accelerator according to the current travel data information.
In the above embodiment, the accelerator position sensor may be installed near an accelerator pedal of the vehicle, and may directly detect the travel data information of the accelerator pedal, so that the current travel amount of the accelerator may be obtained by acquiring the current travel data information collected by the accelerator position sensor.
After the current stroke amount of the accelerator is obtained through the above various manners, step S110 may be executed to determine whether the current stroke amount reaches a preset value, where the preset value may be set according to experience, for example, the preset value may be set to 80% of the full stroke amount of the accelerator, that is, whether the current stroke amount of the accelerator reaches 80% of the full stroke amount of the accelerator is determined, and if the current stroke amount of the accelerator reaches 80% of the full stroke amount of the accelerator, step S120 is continuously executed; if not, no processing is performed.
In step S120, after the current accelerator stroke reaches a preset value, the present scheme may determine whether the current rotation speed of the motor reaches a preset rotation speed, where the motor is the aforementioned accelerator-controlled motor, and may specifically be a motor of an underwater or underwater power product, such as a power motor of a water skateboard and the like; before step S120 is executed, the present scheme may obtain the current rotation speed of the motor, and the method of obtaining the current rotation speed of the motor may be any existing method, such as a hall switch detection method, a grating method, and the like; the preset rotation speed may be the maximum rotation speed of the motor, or may be a predetermined percentage of the maximum rotation speed, such as 80% of the maximum rotation speed.
As a possible implementation manner, as shown in fig. 4, the manner of determining whether the current rotation speed of the motor reaches the preset rotation speed in step S120 may be implemented by the following steps:
step S400: an output value of the speed loop controller is obtained.
Step S410: and judging whether the output value of the speed loop controller is saturated, if so, turning to the step S420.
Step S420: and determining that the current rotating speed of the motor reaches a preset rotating speed.
In the above embodiment, the output of the speed loop controller is provided with a saturation limit value, and when the output value of the speed loop controller is saturated, the controller may be considered to be in a saturation state, which indicates that the current rotation speed of the motor reaches a preset rotation speed (maximum rotation speed).
As another possible implementation manner, as shown in fig. 5, the manner of determining whether the current rotation speed of the motor reaches the preset rotation speed in step S120 may also be implemented by the following steps:
step S500: an output value of the speed loop controller is obtained.
Step S510: and judging whether the output value of the speed loop controller is saturated, if so, turning to the step S520.
Step S520: and judging whether the output value saturation of the speed loop controller exceeds the preset time, if so, turning to the step S530.
Step S530: and determining that the current rotating speed of the motor reaches a preset rotating speed.
In the above embodiment, after the output value of the speed loop controller is saturated, it is further determined whether the output value is saturated for a certain time period, and after the output value is saturated for the certain time period, the embodiment considers that the controller is in a saturated state, and then it indicates that the current rotation speed of the motor reaches the preset rotation speed (maximum rotation speed), thereby ensuring the accuracy of the current rotation speed of the motor reaching the preset rotation speed.
If it is determined through the step S120 that the current rotation speed of the motor reaches the preset rotation speed, it indicates that the motor has reached the set requirement under the condition that the full stroke amount has not been reached, for example, the maximum rotation speed of the motor has been reached, and in this case, the rotation speed of the subsequent stroke amount of the accelerator is not increased for the motor, and therefore, the subsequent stroke of the accelerator is in a failure state, in such a case, the present scheme executes the steps S130 to S150 to obtain the current power supply voltage of the motor, determine the updated rotation speed of the motor according to the current power supply voltage of the motor, and further update the maximum rotation speed of the motor corresponding to the full stroke according to the updated rotation speed of the motor.
As a possible implementation manner, step S140 determines an updated motor speed according to the current power supply voltage of the motor, as shown in fig. 6, which specifically includes the following steps:
step S600: and searching a voltage interval corresponding to the current power supply voltage according to the current power supply voltage of the motor.
Step S610: and searching the motor rotating speed corresponding to the voltage interval according to the voltage interval corresponding to the current power supply voltage so as to obtain the updated motor rotating speed.
In the above step, a plurality of voltage intervals may be set in advance, each voltage interval corresponds to a motor rotation speed, the motor rotation speeds corresponding to different voltage intervals are different, and as the voltage of the voltage interval decreases, the rotation speed of the motor also decreases; under the condition of the setting, after the current power supply voltage of the motor is obtained, the voltage interval where the current power supply voltage is located can be determined, the motor rotating speed corresponding to the voltage interval can be found according to the voltage interval, the updated motor rotating speed is obtained, and the step S150 of updating the highest motor rotating speed corresponding to the full throttle stroke according to the updated motor rotating speed can be executed after the updated motor rotating speed is obtained, so that the throttle is controlled according to the updated highest motor rotating speed corresponding to the full throttle stroke, and the scheme of the application is realized.
In the method designed by the scheme, the highest rotating speed which can be reached by the motor is directly related to the power supply voltage of the motor, and the highest rotating speed which can be reached by the motor is bound to be reduced along with the reduction of the power supply voltage, so that the scheme obtains the current power supply voltage of the motor when the throttle stroke amount and the current rotating speed of the motor both reach corresponding preset values, namely the throttle stroke fails, further determines the updated motor rotating speed based on the current power supply voltage of the motor, updates the highest rotating speed of the motor corresponding to the full throttle stroke of the motor based on the updated motor rotating speed, so that the highest rotating speed of the motor corresponding to the full throttle stroke can be changed along with the change of the power supply voltage, further leads the changed highest rotating speed of the motor to always correspond to the full throttle stroke after the voltage is changed, and solves the problems of overlarge sensitivity of the front end of the throttle and failure of the tail end stroke of the throttle, make the full stroke volume of throttle all effective and can not have the too big problem of throttle front end sensitivity, promote the control of product and experience.
Fig. 7 shows a schematic structural block diagram of the throttle control device provided by the present application, and it should be understood that the device corresponds to the method embodiment executed in fig. 1 to 6, and can execute the steps related to the foregoing method, and the specific functions of the device can be referred to the description above, and the detailed description is appropriately omitted here to avoid redundancy. The device includes at least one software function that can be stored in memory in the form of software or firmware (firmware) or solidified in the Operating System (OS) of the device. Specifically, the apparatus includes: the acquiring module 700 is used for acquiring the current stroke amount of the accelerator; the judging module 710 is configured to judge whether the current stroke amount reaches a preset value; the judging module 710 is further configured to, after judging that the current stroke amount reaches the preset value, judge whether the current rotation speed of the motor reaches the preset rotation speed; the obtaining module 700 obtains the current power supply voltage of the motor after the judging module judges that the current rotating speed of the motor reaches the preset rotating speed; a determining module 720, configured to determine an updated motor speed according to a current power supply voltage of the motor; and the updating module 730 is configured to update the maximum motor rotation speed corresponding to the full accelerator travel according to the updated motor rotation speed, so as to control the accelerator according to the updated maximum motor rotation speed corresponding to the full accelerator travel.
In the throttle control device designed above, the highest rotation speed that the motor can reach is directly related to the power supply voltage thereof, and the highest rotation speed that the motor can reach is necessarily reduced along with the reduction of the power supply voltage thereof, therefore, the scheme obtains the current power supply voltage of the motor when the throttle stroke amount and the current rotation speed of the motor both reach corresponding preset values, namely the throttle stroke is invalid, and further determines the updated motor rotation speed thereof based on the current power supply voltage of the motor, and updates the highest rotation speed of the motor corresponding to the full throttle stroke of the motor based on the updated motor rotation speed, so that the highest rotation speed of the motor corresponding to the full throttle stroke can be changed along with the change of the power supply voltage thereof, and further the changed highest rotation speed of the motor after the voltage change can always correspond to the full throttle stroke, thereby solving the problems of overlarge front-end sensitivity and invalid tail-end stroke of the throttle, make the full stroke volume of throttle all effective and can not have the too big problem of throttle front end sensitivity, promote the control of product and experience.
In an optional implementation manner of this embodiment, the determining module 710 is specifically configured to obtain an output value of the speed loop controller, and determine whether the output value of the speed loop controller is saturated; if so, determining that the current rotating speed of the motor reaches the preset rotating speed.
In an optional implementation manner of this embodiment, the determining module 710 is further specifically configured to obtain an output value of the speed loop controller, and determine whether the output value of the speed loop controller is saturated; if yes, judging whether the output value saturation of the speed loop controller exceeds preset time or not; if so, determining that the current rotating speed of the motor reaches the preset rotating speed.
In an optional implementation manner of this embodiment, the obtaining module 700 is specifically configured to collect rotation speed information currently received by the electronic governor; and searching the throttle stroke corresponding to the currently received rotation speed information of the electronic speed regulator according to the currently received rotation speed information of the electronic speed regulator, and obtaining the stroke of the throttle at present.
In an optional implementation manner of this embodiment, the obtaining module 700 is further specifically configured to obtain travel data information acquired by an accelerator position sensor; and calculating the current travel amount of the accelerator according to the travel data information.
In an optional implementation manner of this embodiment, the determining module 720 is specifically configured to search a voltage interval corresponding to the current power supply voltage according to the current power supply voltage of the motor; and searching the motor rotating speed corresponding to the voltage interval according to the voltage interval corresponding to the current power supply voltage to obtain the updated motor rotating speed, wherein a plurality of voltage intervals are preset, each voltage interval corresponds to one motor rotating speed, and the motor rotating speeds corresponding to different voltage intervals are different.
As shown in fig. 8, the present application provides an electronic device 8 comprising: the processor 801 and the memory 802, the processor 801 and the memory 802 being interconnected and communicating with each other via a communication bus 803 and/or other form of connection mechanism (not shown), the memory 802 storing a computer program executable by the processor 801, the computer program being executable by the processor 801 to perform the method of any of the aforementioned alternative implementations when the computing device is running, for example, steps S100 to S150: acquiring the current stroke of the accelerator; judging whether the current stroke amount reaches a preset value, if so, judging whether the current rotating speed of the motor reaches a preset rotating speed, and if so, acquiring the current power supply voltage of the motor; determining an updated motor speed according to the current power supply voltage; and updating the highest motor rotating speed corresponding to the full accelerator travel according to the updated motor rotating speed, and controlling the accelerator according to the updated highest motor rotating speed corresponding to the full accelerator travel.
The present application provides a storage medium having stored thereon a computer program which, when executed by a processor, performs the method of any of the preceding alternative implementations.
The storage medium may be implemented by any type of volatile or nonvolatile storage device or combination thereof, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic Memory, a flash Memory, a magnetic disk, or an optical disk.
The present application provides a computer program product which, when run on a computer, causes the computer to perform the method of any of the preceding alternative implementations.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
It should be noted that the functions, if implemented in the form of software functional modules and sold or used as independent products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A throttle control method, comprising:
acquiring the current stroke of the accelerator;
judging whether the current stroke amount reaches a preset value;
if so, judging whether the current rotating speed of the motor reaches a preset rotating speed or not;
if so, acquiring the current power supply voltage of the motor;
determining an updated motor speed according to the current power supply voltage;
and updating the highest motor rotating speed corresponding to the full accelerator travel according to the updated motor rotating speed so as to control the accelerator according to the updated highest motor rotating speed corresponding to the full accelerator travel.
2. The method of claim 1, wherein the determining whether the current rotation speed of the motor reaches a preset rotation speed comprises:
acquiring an output value of a speed loop controller, and judging whether the output value of the speed loop controller is saturated or not;
and if so, determining that the current rotating speed of the motor reaches a preset rotating speed.
3. The method of claim 1, wherein the determining whether the current rotation speed of the motor reaches a preset rotation speed comprises:
acquiring an output value of a speed loop controller, and judging whether the output value of the speed loop controller is saturated or not;
if yes, judging whether the output value saturation of the speed loop controller exceeds preset time or not;
and if so, determining that the current rotating speed of the motor reaches a preset rotating speed.
4. The method of claim 1, wherein the obtaining the current stroke amount of the throttle comprises:
collecting the currently received rotating speed information of the electronic speed regulator;
and searching the throttle stroke corresponding to the currently received rotation speed information of the electronic speed regulator according to the currently received rotation speed information of the electronic speed regulator, and obtaining the current stroke of the throttle.
5. The method of claim 1, wherein obtaining the current amount of travel of the throttle comprises:
acquiring current travel data information acquired by an accelerator position sensor;
and calculating the current travel amount of the accelerator according to the current travel data information.
6. The method according to any one of claims 1-5, wherein said determining an updated motor speed from said current supply voltage comprises:
searching a voltage interval corresponding to the current power supply voltage according to the current power supply voltage of the motor;
and searching the motor rotating speed corresponding to the voltage interval according to the voltage interval corresponding to the current power supply voltage to obtain an updated motor rotating speed, wherein a plurality of voltage intervals are preset, each voltage interval corresponds to one motor rotating speed, and the motor rotating speeds corresponding to different voltage intervals are different.
7. The method of claim 1, wherein said determining an updated motor speed based on said current supply voltage comprises:
filtering the current power supply voltage to obtain the filtered current power supply voltage;
and determining the updated motor rotating speed according to the filtered current power supply voltage.
8. A throttle control apparatus, comprising:
the acquisition module is used for acquiring the current stroke of the accelerator;
the judging module is used for judging whether the current stroke amount reaches a preset value;
the judging module is further used for judging whether the current rotating speed of the motor reaches a preset rotating speed or not after judging that the current stroke amount reaches a preset value;
the acquisition module acquires the current power supply voltage of the motor after the judgment module judges that the current rotating speed of the motor reaches the preset rotating speed;
the determining module is used for determining the updated motor rotating speed according to the current power supply voltage of the motor;
and the updating module is used for updating the highest motor rotating speed corresponding to the full accelerator travel according to the updated motor rotating speed so as to control the accelerator according to the updated highest motor rotating speed corresponding to the full accelerator travel.
9. An electronic device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the method of any one of claims 1 to 7 when executing the computer program.
10. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method of any of claims 1 to 7.
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