CN117128101A

CN117128101A - Throttle control method, throttle control device, engine system and electronic equipment

Info

Publication number: CN117128101A
Application number: CN202311093168.7A
Authority: CN
Inventors: 安然; 史艳军; 崔宇
Original assignee: Weichai Power Co Ltd
Current assignee: Weichai Power Co Ltd
Priority date: 2023-08-28
Filing date: 2023-08-28
Publication date: 2023-11-28

Abstract

The application provides a control method and a control device of a throttle valve, an engine system and electronic equipment. The method comprises the following steps: determining a first required opening degree of a throttle valve according to the current rotating speed and the target rotating speed; calculating a difference between the actual intake pipe pressure and the maximum intake pipe pressure to obtain a first difference at least when the actual intake pipe pressure is smaller than or equal to the maximum intake pipe pressure; calculating a second required opening of the throttle valve, comparing the first required opening with the second required opening, and determining the small required opening between the first required opening and the second required opening as a target opening; comparing the first required opening with the actual opening under the condition that the actual air inlet pipe pressure is larger than the maximum air inlet pipe pressure, and determining the small required opening between the first required opening and the actual opening as a target opening; the throttle valve is controlled to operate at the target opening degree. The application solves the problem that the existing engine throttle control method can not realize stable control of the throttle.

Description

Throttle control method, throttle control device, engine system and electronic equipment

Technical Field

The present application relates to the field of throttle control of engines, and more particularly, to a throttle control method, a throttle control device, an engine system, a computer-readable storage medium, and an electronic apparatus.

Background

In the existing control method of the engine throttle valve, as shown in fig. 1, the difference between the current rotating speed and the target rotating speed is calculated, the throttle valve demand opening is calculated according to a PID closed loop through PID regulation, and the set opening of the throttle valve is output after the limit calculation of the maximum throttle valve opening allowable value under different calibrated rotating speeds. The magnitude of the throttle opening is not equal to the actual MAP (intake pipe pressure after throttle Manifold Pressure, simply MAP), nor is it equal to the intake air amount of the engine, and eventually is not equal to the actual load of the engine; the actual load of the engine cannot be limited by the "maximum throttle opening allowable value". For example: according to the load conditions of the engine under steady-state working conditions at different rotating speeds, determining the maximum throttle opening allowed by the rotating speeds to limit external characteristics; however, under the transient condition of sudden load, because the response of the air inlet system is delayed, the opening of the throttle valve can quickly reach the maximum opening limit value of the throttle valve allowed by the external characteristic, but the MAP at the moment is far lower than the steady-state MAP, the actual load of the engine also does not reach the maximum allowable capacity of the engine, and the dynamic property of the engine can be greatly reduced. In contrast, if the restriction on the throttle during transient conditions is preferentially guaranteed, then under steady state conditions the actual MAP will be much greater than the allowed MAP and no effective protection of the engine can be achieved. Therefore, stable control of the engine throttle valve cannot be achieved.

Therefore, a throttle stability control method of an engine is required.

Disclosure of Invention

The main object of the present application is to provide a control method, a control device, an engine system, a computer readable storage medium and an electronic device for a throttle valve, which at least solve the problem that the engine throttle valve control method in the prior art cannot realize stable control of the throttle valve.

In order to achieve the above object, according to one aspect of the present application, there is provided a control method of a throttle valve connected to an engine through an intake pipe, comprising: acquiring the current rotating speed and the target rotating speed of the engine, and determining a first required opening of the throttle valve according to the current rotating speed and the target rotating speed; acquiring the actual air inlet pipe pressure and the maximum air inlet pipe pressure of the air inlet pipe, and calculating a difference value between the actual air inlet pipe pressure and the maximum air inlet pipe pressure to obtain a first difference value at least under the condition that the actual air inlet pipe pressure is smaller than or equal to the maximum air inlet pipe pressure; calculating a second required opening of the throttle valve according to the first difference value, comparing the first required opening with the second required opening, and determining the small required opening between the first required opening and the second required opening as a target opening; acquiring an actual opening of the throttle valve when the actual intake pipe pressure is greater than the maximum intake pipe pressure, comparing the first required opening with the actual opening, and determining a small required opening between the first required opening and the actual opening as the target opening; and controlling the throttle valve to work at the target opening degree.

Optionally, determining the first required opening degree of the throttle valve according to the current rotation speed and the target rotation speed includes: calculating a difference value between the current rotating speed and the target rotating speed to obtain a second difference value; and inputting the second difference value into a first PID controller, and obtaining an output result of the first PID controller to obtain the first required opening, wherein the first PID controller is used for calculating the required opening of the throttle valve according to the difference value between the current rotating speed and the target rotating speed to obtain the first required opening.

Optionally, calculating the second required opening of the throttle valve according to the first difference value includes: and inputting the first difference value into a second PID controller, and obtaining an output result of the second PID controller to obtain the second required opening, wherein the second PID controller is used for calculating the required opening of the throttle valve according to the difference value between the actual air inlet pipe pressure and the maximum air inlet pipe pressure to obtain the second required opening.

Optionally, the control method further includes: controlling the proportionality coefficient of the first PID controller to be a plurality of times of the proportionality coefficient of the second PID controller; controlling the integration time constant of the first PID controller to be a plurality of times of the integration time constant of the second PID controller; the differential time constant of the first PID controller is controlled to be several times of the differential time constant of the second PID controller.

Optionally, at least in a case where the actual intake pipe pressure is less than or equal to the maximum intake pipe pressure, calculating a difference between the actual intake pipe pressure and the maximum intake pipe pressure to obtain a first difference, including: obtaining the maximum value and the minimum value of the pressure of the air inlet pipe under a steady-state working condition to obtain a steady-state air inlet pipe pressure range, wherein the steady-state working condition indicates that the opening of the throttle valve is kept at a preset opening for a preset time, the maximum value of the steady-state air inlet pipe pressure range is the maximum value of the pressure of the air inlet pipe, and the minimum value of the steady-state air inlet pipe pressure range is the minimum value of the pressure of the air inlet pipe; calculating the difference between the maximum air inlet pipe pressure and the maximum value of the steady-state air inlet pipe pressure to obtain a minimum pressure difference value, and calculating the difference between the maximum air inlet pipe pressure and the minimum value of the steady-state air inlet pipe pressure to obtain a maximum pressure difference value; and calculating the difference between the actual air inlet pipe pressure and the maximum air inlet pipe pressure to obtain the first difference under the condition that the actual air inlet pipe pressure is larger than the maximum pressure difference and smaller than or equal to the maximum air inlet pipe pressure.

Optionally, the control method further includes: acquiring a maximum opening of the throttle valve under the condition that the actual air inlet pipe pressure is smaller than or equal to the pressure difference minimum value, wherein the maximum opening represents the opening when the throttle valve is fully opened; and comparing the first required opening with the maximum opening, and taking the small required opening between the first required opening and the maximum opening as the target opening.

According to another aspect of the present application, there is provided a control device of a throttle valve connected to an engine through an intake pipe, comprising: a first determining unit, configured to obtain a current rotation speed and a target rotation speed of the engine, and determine a first required opening of the throttle valve according to the current rotation speed and the target rotation speed; the calculating unit is used for obtaining the actual air inlet pipe pressure and the maximum air inlet pipe pressure of the air inlet pipe, and calculating the difference value of the actual air inlet pipe pressure and the maximum air inlet pipe pressure to obtain a first difference value at least under the condition that the actual air inlet pipe pressure is smaller than or equal to the maximum air inlet pipe pressure; a second determining unit, configured to calculate a second required opening of the throttle according to the first difference, compare magnitudes of the first required opening and the second required opening, and determine a small required opening between the first required opening and the second required opening as a target opening; a third determining unit, configured to obtain an actual opening of the throttle valve when the actual intake pipe pressure is greater than the maximum intake pipe pressure, compare the magnitudes of the first required opening and the actual opening, and determine a required opening in which the first required opening and the actual opening are small as the target opening; and a control unit for controlling the throttle valve to work at the target opening degree.

According to still another aspect of the present application, there is provided an engine system including a throttle valve connected to an engine through an intake pipe, an engine, a first PID controller, and a second PID controller for executing any one of the control methods.

According to still another aspect of the present application, there is provided a computer-readable storage medium including a stored program, wherein the program, when executed, controls a device in which the computer-readable storage medium is located to execute any one of the control methods.

According to another aspect of the present application, there is provided an electronic apparatus including: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing any one of the control methods.

By applying the technical scheme of the application, the first required opening of the throttle valve is determined according to the current rotating speed and the target rotating speed of the engine, and the second required opening of the throttle valve is determined according to the actual air inlet pipe pressure and the maximum air inlet pipe pressure. Under the condition that the actual air inlet pipe pressure is smaller than or equal to the maximum air inlet pipe pressure, calculating to obtain a second required opening of a throttle valve according to a difference value between the actual air inlet pipe pressure and the maximum air inlet pipe pressure, and determining a small required opening between the first required opening and the second required opening as a target opening; and under the condition that the actual air inlet pipe pressure is larger than the maximum air inlet pipe pressure, acquiring the actual opening of a throttle valve, and determining the first required opening and the small required opening in the actual opening as the target opening. Compared with the method for controlling the engine throttle valve to be unstable by adjusting only according to the deviation of the current rotating speed and the target rotating speed and the deviation of the actual air inlet pipe pressure and the maximum air inlet pipe pressure in the prior art, the method can determine different target opening degrees according to different conditions of the difference value of the actual air inlet pipe pressure and the maximum air inlet pipe pressure, so that the target opening degrees of the throttle valve can be determined according to specific conditions of the actual air inlet pipe pressure, and the throttle valve is controlled to be different target opening degrees under the condition of different air inlet pipe pressures, so that stable control of the throttle valve is realized. Therefore, the problem that the stable control of the throttle valve cannot be realized by the throttle valve control method in the prior art can be solved, and the purpose of more stable control is achieved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

FIG. 1 is a schematic diagram of a prior art throttle control method provided by an embodiment of the present application;

fig. 2 is a block diagram showing a hardware configuration of a mobile terminal that performs a control method of a throttle valve according to an embodiment of the present application;

FIG. 3 is a flow chart of a method for controlling a throttle valve according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a specific throttle control method provided by an embodiment of the present application;

FIG. 5 illustrates a schematic diagram of another specific throttle control method provided by an embodiment of the present application;

fig. 6 shows a block diagram of a control device of a throttle valve according to an embodiment of the present application.

Wherein the above figures include the following reference numerals:

102. a processor; 104. a memory; 106. a transmission device; 108. and an input/output device.

Detailed Description

It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.

In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the application herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

For convenience of description, the following will describe some terms or terminology involved in the embodiments of the present application:

throttle valve: the controllable valve for controlling the gas to enter the engine can control the air inflow of the engine by controlling the opening of the throttle valve;

MAP: intake pipe pressure behind the throttle valve Manifold Pressure, MAP for short. The pressure is controlled by a throttle valve, when the throttle valve is increased, MAP is increased, the air input into a cylinder is increased, and the output power of the engine is increased; when the throttle valve is reduced, MAP is reduced, the air inflow into the cylinder is reduced, and the output power of the engine is reduced;

external characteristics and external characteristics limitations: controlling the accelerator of the engine to the bottom, acquiring the torque which can be output by the engine at different rotating speeds, and connecting the rotating speed and torque working points to form a curve which is an external characteristic curve, wherein the curve generally represents the maximum capability of the engine allowed by reliability; the diesel engine usually realizes the external characteristic limitation by limiting the oil supply quantity of different rotation speeds, and the gas needs to realize the external characteristic limitation by limiting the MAP of different rotation speeds;

PID: in industrial process control, the proportional-integral-derivative controller Proportional Integral Derivative, abbreviated as PID, is a control system or controller for controlling the proportional, integral and derivative of errors generated by comparing the information acquired by real-time data of a controlled object with a given value.

As described in the background art, in order to solve the problem that the engine throttle control method cannot realize stable control of the throttle, the embodiment of the application provides a throttle control method, a control device, an engine system, a computer readable storage medium and electronic equipment.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.

The method embodiments provided in the embodiments of the present application may be performed in a mobile terminal, a computer terminal or similar computing device. Taking a mobile terminal as an example, fig. 2 is a block diagram of a hardware structure of the mobile terminal according to a control method of a throttle valve according to an embodiment of the present application. As shown in fig. 2, the mobile terminal may include one or more (only one is shown in fig. 2) processors 102 (the processor 102 may include, but is not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may further include a transmission device 106 for communication functions and an input-output device 108. It will be appreciated by those skilled in the art that the structure shown in fig. 2 is merely illustrative and not limiting of the structure of the mobile terminal described above. For example, the mobile terminal may also include more or fewer components than shown in fig. 2, or have a different configuration than shown in fig. 2.

The memory 104 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to a control method of a throttle valve in an embodiment of the present invention, and the processor 102 executes the computer program stored in the memory 104 to perform various functional applications and data processing, that is, to implement the above-described method. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, which may be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, simply referred to as NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is configured to communicate with the internet wirelessly.

In the present embodiment, there is provided a control method of a throttle valve operating on a mobile terminal, a computer terminal or the like, it is to be noted that the steps shown in the flowchart of the drawing may be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown or described herein.

Fig. 3 is a flowchart of a control method of a throttle valve according to an embodiment of the present application. As shown in fig. 3, the throttle valve is connected with the engine through an air inlet pipe, and the method comprises the following steps:

step S201, obtaining the current rotating speed and the target rotating speed of the engine, and determining the first required opening of the throttle valve according to the current rotating speed and the target rotating speed;

specifically, the throttle valve is used to control the amount of intake air of the gas entering the engine, and therefore the opening of the throttle valve is closely related to the parameters of the engine, in particular the rotational speed, and therefore the current rotational speed and the target rotational speed of the engine are obtained, and a required opening, i.e. a first required opening, is determined based on the current rotational speed and the target rotational speed, in order to maintain the engine at the target rotational speed.

Step S202, obtaining the actual intake pipe pressure and the maximum intake pipe pressure of the intake pipe, and calculating the difference between the actual intake pipe pressure and the maximum intake pipe pressure to obtain a first difference at least when the actual intake pipe pressure is smaller than or equal to the maximum intake pipe pressure;

specifically, in the actual operation of the engine, it is necessary to control both the throttle operation to meet the demand of the target rotation speed and the throttle so that the actual MAP (intake pipe pressure after the throttle Manifold Pressure, abbreviated as MAP) does not exceed the limit MAP. Therefore, the intake pipe pressure MAP is also related to the opening degree of the throttle valve, and the maximum intake pipe pressure, which is the MAP, is limited, and when the actual intake pipe pressure is less than or equal to the maximum intake pipe pressure, the corresponding opening degree is calculated from the difference between the actual intake pipe pressure and the maximum intake pipe pressure.

Step S203, calculating a second required opening of the throttle valve according to the first difference value, comparing the first required opening with the second required opening, and determining the small required opening between the first required opening and the second required opening as a target opening;

specifically, an opening degree, i.e., a second required opening degree, is calculated from a difference between an actual intake pipe pressure and a maximum intake pipe pressure, i.e., a first difference, in order that an actual MAP of a throttle valve of the engine does not exceed a limit MAP. In the above, it is necessary to control the throttle valve so that the actual MAP does not exceed the limit MAP, that is, the above-described requirements are satisfied at the same time, and therefore, the first demand opening that satisfies the demand for the target rotational speed is compared with the second demand opening that satisfies the actual MAP and does not exceed the limit MAP, and the small demand opening is used as the target opening, so that the target opening can satisfy the above-described two conditions at the same time.

Step S204, when the actual intake pipe pressure is greater than the maximum intake pipe pressure, acquiring an actual opening of the throttle valve, comparing the first required opening with the actual opening, and determining a required opening in which the first required opening and the actual opening are small as the target opening;

specifically, when the actual air inlet pipe pressure is greater than the maximum air inlet pipe pressure, the actual air inlet pipe pressure is not in accordance with the pressure requirement, the current actual opening of the throttle valve is obtained, the first required opening is compared with the actual opening, and the small required opening is taken as the target opening.

Step S205 of controlling the throttle valve to operate at the target opening degree.

Specifically, after the target opening degree is determined, the throttle valve is controlled to operate at the target opening degree.

With the present embodiment, the first required opening degree of the throttle valve is determined according to the current rotation speed and the target rotation speed of the engine, and the second required opening degree of the throttle valve is determined according to the actual intake pipe pressure and the maximum intake pipe pressure. When the actual air inlet pipe pressure is smaller than or equal to the maximum air inlet pipe pressure, calculating a second required opening of the throttle valve according to a difference value between the actual air inlet pipe pressure and the maximum air inlet pipe pressure, and determining a small required opening between the first required opening and the second required opening as a target opening; and when the actual intake pipe pressure is greater than the maximum intake pipe pressure, acquiring an actual opening of a throttle valve, and determining a small required opening between the first required opening and the actual opening as the target opening. Compared with the method for controlling the engine throttle valve to be unstable by adjusting only according to the deviation of the current rotating speed and the target rotating speed and the deviation of the actual air inlet pipe pressure and the maximum air inlet pipe pressure in the prior art, the method can determine different target opening degrees according to different conditions of the difference value of the actual air inlet pipe pressure and the maximum air inlet pipe pressure, so that the target opening degrees of the throttle valve can be determined according to specific conditions of the actual air inlet pipe pressure, and the throttle valve is controlled to be different target opening degrees under the condition of different air inlet pipe pressures, so that stable control of the throttle valve is realized. Therefore, the problem that the stable control of the throttle valve cannot be realized by the throttle valve control method in the prior art can be solved, and the purpose of more stable control is achieved.

In a specific implementation process, the step S201 may be implemented by the following steps: calculating a difference value between the current rotating speed and the target rotating speed to obtain a second difference value; and inputting the second difference value into a first PID controller, and obtaining an output result of the first PID controller to obtain the first required opening, wherein the first PID controller is used for calculating the required opening of the throttle valve according to the difference value between the current rotating speed and the target rotating speed to obtain the first required opening. According to the method, the first required opening degree is obtained through a PID control method according to the difference value between the current rotating speed and the target rotating speed, so that the rotating speed of the engine can be stably maintained at the target rotating speed.

Specifically, since the opening of the throttle valve is related to the rotation speed of the engine and the MAP, two PID controllers need to be set to control the two aspects respectively, and the first PID controller is based on the rotation speed requirement, that is, the current rotation speed of the engine is differenced from the target rotation speed in a feedback manner, so as to obtain a second difference value, and the second difference value is processed by the first PID controller, so as to output a required opening, that is, the first required opening. The first PID controller comprises a proportion link, an integration link and a differentiation link which are respectively a P and an I.

In order to accurately calculate the second required opening, the step S203 of the present application may be implemented by inputting the first difference value into a second PID controller, and obtaining an output result of the second PID controller, to obtain the second required opening, where the second PID controller is configured to calculate the required opening of the throttle valve according to the difference value between the actual intake pipe pressure and the maximum intake pipe pressure, so as to obtain the second required opening. According to the method, the corresponding required opening is obtained through calculation through the difference value between the actual air inlet pipe pressure and the maximum air inlet pipe pressure, namely, the second difference value, so that the required opening can be obtained through calculation according to the air inlet pipe pressure, and the second required opening meets the requirement of the air inlet pipe pressure.

In the specific implementation process, the actual air inlet pipe pressure is fed back and is different from the maximum air inlet pipe pressure, the difference value is input into a second PID controller, and the required opening output by the second PID controller is the second required opening, namely the required opening meeting the air inlet pipe pressure requirement. The second PID controller also comprises a proportion link, an integration link and a differentiation link which are respectively P and I.

In some alternative embodiments, the above method further comprises the steps of: controlling the proportionality coefficient of the first PID controller to be a plurality of times of the proportionality coefficient of the second PID controller; controlling the integration time constant of the first PID controller to be a plurality of times of the integration time constant of the second PID controller; and controlling the differential time constant of the first PID controller to be a plurality of times of the differential time constant of the second PID controller. The control function of the first PID controller is several times of that of the second PID controller, so that the engine can be controlled to be more stable.

Specifically, since the influence of the rotation speed on the throttle opening is greater, in order to realize more stable control of the engine, it is necessary to make the control action of the first PID controller several times that of the second PID controller, that is, under the action of the same control signal, the first PID controller can control the opening change of the throttle by 10%, while the second controller can only control the opening change of the throttle by 1%, which requires that the above-mentioned control actions be different by a proportional coefficient, an integral time constant and a differential time constant, that is, the proportional coefficient of the first PID controller is controlled to several times that of the second PID controller, the integral time constant of the first PID controller is controlled to several times that of the second PID controller, and the differential time constant of the first PID controller is controlled to several times that of the second PID controller.

In order to control the opening degree of the throttle valve more stably according to the intake pipe pressure and thus control the engine accurately, in some embodiments, the above step S202 may be implemented specifically by: obtaining a maximum value and a minimum value of the pressure of the air inlet pipe under a steady-state working condition to obtain a steady-state air inlet pipe pressure range, wherein the steady-state working condition indicates that the opening of the throttle valve is kept at a preset opening for a preset time, the maximum value of the steady-state air inlet pipe pressure range is the maximum value of the pressure of the air inlet pipe, and the minimum value of the steady-state air inlet pipe pressure range is the minimum value of the pressure of the air inlet pipe; calculating the difference between the maximum intake pipe pressure and the maximum value of the steady intake pipe pressure to obtain a minimum pressure difference value, and calculating the difference between the maximum intake pipe pressure and the minimum value of the steady intake pipe pressure to obtain a maximum pressure difference value; and calculating a difference between the actual intake pipe pressure and the maximum intake pipe pressure to obtain the first difference when the actual intake pipe pressure is greater than the maximum pressure and less than or equal to the maximum intake pipe pressure. The method further divides the pressure of the air inlet pipe, so that the opening degree of the throttle valve can be controlled more stably by dividing the pressure of the air inlet pipe more accurately.

In the specific implementation process, under the condition that the PID control system tends to a steady state working condition, that is, the opening of a throttle valve is kept at a preset opening for a preset time, the air inlet pipe pressure at the moment, namely, the steady state air inlet pipe pressure is obtained, the steady state air inlet pipe pressure is a range, namely, the steady state air inlet pipe pressure range, the maximum air inlet pipe pressure is subtracted from the maximum air inlet pipe pressure to obtain a minimum pressure difference value, the minimum pressure difference value is obtained by subtracting the minimum steady state air inlet pipe pressure from the maximum air inlet pipe pressure, the first difference value is calculated under the condition that the actual air inlet pipe pressure is larger than the maximum pressure difference value and smaller than or equal to the maximum air inlet pipe pressure, and the required opening is further calculated by using the first difference value.

In some optional embodiments, the maximum opening of the throttle valve is obtained when the actual intake pipe pressure is less than or equal to the pressure difference minimum value, where the maximum opening represents an opening when the throttle valve is fully opened; and comparing the first required opening with the maximum opening, and taking the small required opening between the first required opening and the maximum opening as the target opening. According to the method, when the actual air inlet pipe pressure is smaller than or equal to the pressure difference, the required opening is the maximum opening, so that the road can be output according to the maximum required opening without limitation when the actual air inlet pipe pressure is smaller.

In the specific implementation process, when the actual air inlet pipe pressure is smaller than the pressure difference between the maximum air inlet pipe pressure and the steady air inlet pipe pressure, which is the minimum value of the pressure difference, the actual air inlet pipe pressure is smaller, the opening of the throttle valve can be kept to be the maximum opening, which is 100%, then the first required opening obtained through the rotating speed requirement is compared with the maximum opening, and the small required opening is taken as the target opening, so that the requirements of the rotating speed and the air inlet pipe pressure are met simultaneously.

In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the control method of the throttle valve of the present application will be described in detail with reference to specific embodiments.

The present embodiment relates to a specific throttle control method, as shown in fig. 4 and 5, including the steps of:

step S1: obtaining the current rotating speed and the target rotating speed, calculating a difference value (second difference value) between the current rotating speed and the target rotating speed, performing PID (proportion integration differentiation) adjustment, and calculating the throttle valve required opening according to PID closing through an A integrator (first PID controller) to obtain a first required opening;

step S2: obtaining a difference value between an actual MAP (actual air inlet pipe pressure) and a limiting MAP (maximum air inlet pipe pressure), and performing PID (proportion integration differentiation) adjustment;

Step S3: obtaining a (steady-state intake pipe pressure range), and outputting 100% (maximum opening degree), i.e., outputting through the F-channel in fig. 4, in the case of actual MAP < limit MAP (maximum intake pipe pressure) -a;

step S4: under the condition that (limiting MAP-a (a is a calibratable constant, namely steady-state intake pipe pressure)) < current MAP (actual intake pipe pressure) < limiting MAP (maximum intake pipe pressure)), calculating a throttle valve demand opening degree according to PID closed loop through a B integrator (a second PID controller), namely, a second demand opening degree and outputting the throttle valve demand opening degree through a T channel, in this case, the control method is equivalent to a control method schematic diagram shown in fig. 5, namely, calculating a difference value (the second difference value) between the current rotating speed and the target rotating speed, performing PID adjustment, calculating the throttle valve demand opening degree according to PID closed loop through an A integrator (a first PID controller), obtaining a first demand opening degree, obtaining a difference value between the actual MAP (actual intake pipe pressure) and the limiting MAP (maximum intake pipe pressure), performing PID adjustment, calculating the throttle valve demand opening degree according to PID closed loop through the B integrator (the second PID controller), namely, taking the throttle valve demand opening degree from the first demand opening degree and the second demand opening degree to be small, and obtaining a throttle valve set opening degree (target opening degree);

step S5: when a transient state from "current MAP (actual intake pipe pressure) > limit MAP (maximum intake pipe pressure)" is not established to established is captured, resetting an initial value of the PID integrator throttle valve demand opening to the current actual throttle valve opening (actual opening);

Step S6: the first required opening degree and the maximum opening degree or the first required opening degree and the second required opening degree or the first required opening degree and the current actual opening degree (actual opening degree) are compared, and the small required opening degree is taken as a throttle valve setting opening degree, namely a target opening degree.

The embodiment of the application also provides a control device of the throttle valve, and the control device of the throttle valve can be used for executing the control method for the throttle valve provided by the embodiment of the application. The device is used for realizing the above embodiments and preferred embodiments, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

The following describes a control device for a throttle valve provided by an embodiment of the present application.

Fig. 6 is a schematic view of a control device of a throttle valve according to an embodiment of the application. As shown in fig. 6, the throttle valve is connected to an engine through an intake pipe, and the apparatus includes:

A first determining unit 10, configured to obtain a current rotation speed and a target rotation speed of the engine, and determine a first required opening of the throttle valve according to the current rotation speed and the target rotation speed;

A calculating unit 20, configured to obtain an actual intake pipe pressure and a maximum intake pipe pressure of the intake pipe, and calculate a difference between the actual intake pipe pressure and the maximum intake pipe pressure to obtain a first difference at least when the actual intake pipe pressure is less than or equal to the maximum intake pipe pressure;

A second determining unit 30 configured to calculate a second required opening of the throttle valve according to the first difference, compare magnitudes of the first required opening and the second required opening, and determine a required opening in which the first required opening and the second required opening are small as a target opening;

A third determining unit 40 configured to obtain an actual opening degree of the throttle valve when the actual intake pipe pressure is greater than the maximum intake pipe pressure, compare the magnitudes of the first required opening degree and the actual opening degree, and determine a required opening degree that is small between the first required opening degree and the actual opening degree as the target opening degree;

A control unit 50 for controlling the throttle valve to operate at the target opening degree.

With the present embodiment, the first required opening degree of the throttle valve is determined according to the current rotation speed and the target rotation speed of the engine, and the second required opening degree of the throttle valve is determined according to the actual intake pipe pressure and the maximum intake pipe pressure. When the actual air inlet pipe pressure is smaller than or equal to the maximum air inlet pipe pressure, calculating a second required opening of the throttle valve according to a difference value between the actual air inlet pipe pressure and the maximum air inlet pipe pressure, and determining a small required opening between the first required opening and the second required opening as a target opening; and when the actual intake pipe pressure is greater than the maximum intake pipe pressure, acquiring an actual opening of a throttle valve, and determining a small required opening between the first required opening and the actual opening as the target opening. Compared with the device which is used for adjusting the deviation between the current rotating speed and the target rotating speed and the deviation between the actual air inlet pipe pressure and the maximum air inlet pipe pressure to cause unstable control of the engine throttle valve in the prior art, the device can determine different target opening degrees according to different conditions of the difference between the actual air inlet pipe pressure and the maximum air inlet pipe pressure, so that the target opening degrees of the throttle valve can be determined according to specific conditions of the actual air inlet pipe pressure, and the throttle valve is controlled to be different target opening degrees under the condition of different air inlet pipe pressures, so that stable control of the throttle valve is realized. Therefore, the problem that the throttle valve control device in the prior art cannot realize stable control of the throttle valve can be solved, and the purpose of more stable control is achieved.

In a specific implementation process, the first determining unit comprises a first calculating module and a first obtaining module, wherein the first calculating module is used for calculating a difference value between the current rotating speed and the target rotating speed to obtain a second difference value; the first obtaining module is configured to input the second difference value into a first PID controller, and obtain an output result of the first PID controller, so as to obtain the first required opening, where the first PID controller is configured to calculate, according to a difference between the current rotation speed and the target rotation speed, a required opening of the throttle valve, so as to obtain the first required opening. The device obtains the first required opening degree through the PID control device according to the difference value between the current rotating speed and the target rotating speed, so that the rotating speed of the engine can be stably maintained at the target rotating speed.

In order to accurately calculate the second required opening, the second determining unit includes a second obtaining module, configured to input the first difference value into a second PID controller, and obtain an output result of the second PID controller, to obtain the second required opening, where the second PID controller is configured to calculate the required opening of the throttle valve according to a difference between the actual intake pipe pressure and the maximum intake pipe pressure, so as to obtain the second required opening. The device calculates the corresponding required opening through the difference value between the actual air inlet pipe pressure and the maximum air inlet pipe pressure, namely the second difference value, so that the required opening can be calculated according to the air inlet pipe pressure, and the second required opening meets the requirement of the air inlet pipe pressure.

In some optional embodiments, the apparatus further includes a first control module, a second control module, and a third control module, where the first control module is configured to control the scaling factor of the first PID controller to be several times the scaling factor of the second PID controller; the second control module is used for controlling the integration time constant of the first PID controller to be a plurality of times of the integration time constant of the second PID controller; the third control module is used for controlling the differential time constant of the first PID controller to be a plurality of times of the differential time constant of the second PID controller. The device ensures that the control action of the first PID controller is several times of the control action of the second PID controller, thus the engine can be controlled to be more stable.

In order to more stably control the opening of the throttle valve according to the pressure of the air inlet pipe and further accurately control the engine, in some embodiments, the computing unit includes a third obtaining module, a second computing module and a third computing module, where the third obtaining module is configured to obtain a steady-state air inlet pipe pressure range by obtaining a maximum value and a minimum value of the pressure of the air inlet pipe under a steady-state working condition, where the steady-state working condition indicates that the opening of the throttle valve is kept at a predetermined opening for a predetermined period of time, the maximum value of the steady-state air inlet pipe pressure range is the maximum value of the pressure of the air inlet pipe, and the minimum value of the steady-state air inlet pipe pressure range is the minimum value of the air inlet pipe pressure; the second calculation module is used for calculating the difference between the maximum air inlet pipe pressure and the maximum value of the steady-state air inlet pipe pressure to obtain a minimum pressure difference value, and calculating the difference between the maximum air inlet pipe pressure and the minimum value of the steady-state air inlet pipe pressure to obtain a maximum pressure difference value; the third calculation module is configured to calculate a difference between the actual intake pipe pressure and the maximum intake pipe pressure to obtain the first difference when the actual intake pipe pressure is greater than the maximum pressure and less than or equal to the maximum intake pipe pressure. The device further divides the air inlet pipe pressure, so that the air inlet pipe pressure can be more accurately divided to realize more stable control of the throttle opening.

In some optional embodiments, the apparatus further includes an acquiring unit and a determining unit, where the acquiring unit is configured to acquire a maximum opening degree of the throttle valve in a case where the actual intake pipe pressure is less than or equal to the pressure difference minimum value, where the maximum opening degree represents an opening degree when the throttle valve is fully opened; the determining unit is configured to compare the first required opening and the maximum opening, and set a required opening that is smaller than the first required opening and the maximum opening as the target opening. The device is in the condition that actual intake pipe pressure is less than or equal to pressure differential, and the demand aperture is the maximum aperture, so can be in the condition that actual intake pipe pressure is less for this way is according to the output of maximum demand aperture, does not carry out the restriction.

The throttle valve control device comprises a processor and a memory, wherein the first determining unit, the calculating unit, the second determining unit, the third determining unit, the control unit and the like are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions. The modules are all located in the same processor; alternatively, the above modules may be located in different processors in any combination.

The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The kernel can be provided with one or more, and stable control of the throttle valve is realized by adjusting kernel parameters.

The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.

The embodiment of the invention provides a computer readable storage medium, which comprises a stored program, wherein the program is used for controlling equipment where the computer readable storage medium is located to execute a control method of a throttle valve.

Specifically, the control method of the throttle valve includes:

Optionally, calculating the second required opening of the throttle according to the first difference includes: and inputting the first difference value into a second PID controller, and obtaining an output result of the second PID controller to obtain the second required opening, wherein the second PID controller is used for calculating the required opening of the throttle valve according to the difference value between the actual air inlet pipe pressure and the maximum air inlet pipe pressure to obtain the second required opening.

Optionally, the control method further includes: controlling the proportionality coefficient of the first PID controller to be a plurality of times of the proportionality coefficient of the second PID controller; controlling the integration time constant of the first PID controller to be a plurality of times of the integration time constant of the second PID controller; and controlling the differential time constant of the first PID controller to be a plurality of times of the differential time constant of the second PID controller.

Optionally, calculating a difference between the actual intake pipe pressure and the maximum intake pipe pressure at least when the actual intake pipe pressure is less than or equal to the maximum intake pipe pressure, to obtain a first difference, including: obtaining a maximum value and a minimum value of the pressure of the air inlet pipe under a steady-state working condition to obtain a steady-state air inlet pipe pressure range, wherein the steady-state working condition indicates that the opening of the throttle valve is kept at a preset opening for a preset time, the maximum value of the steady-state air inlet pipe pressure range is the maximum value of the pressure of the air inlet pipe, and the minimum value of the steady-state air inlet pipe pressure range is the minimum value of the pressure of the air inlet pipe; calculating the difference between the maximum intake pipe pressure and the maximum value of the steady intake pipe pressure to obtain a minimum pressure difference value, and calculating the difference between the maximum intake pipe pressure and the minimum value of the steady intake pipe pressure to obtain a maximum pressure difference value; and calculating a difference between the actual intake pipe pressure and the maximum intake pipe pressure to obtain the first difference when the actual intake pipe pressure is greater than the maximum pressure and less than or equal to the maximum intake pipe pressure.

Optionally, the control method further includes: obtaining a maximum opening of the throttle valve when the actual intake pipe pressure is less than or equal to the pressure difference minimum value, wherein the maximum opening represents an opening when the throttle valve is fully opened; and comparing the first required opening with the maximum opening, and taking the small required opening between the first required opening and the maximum opening as the target opening.

The embodiment of the invention provides equipment, which comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the processor realizes at least the following steps when executing the program:

The device herein may be a server, PC, PAD, cell phone, etc.

The application also provides a computer program product adapted to perform, when executed on a data processing device, a program initialized with at least the following method steps:

It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may be implemented in program code executable by computing devices, so that they may be stored in a storage device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may 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, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may 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, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

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

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer 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 technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.

From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

1) In the control method of the throttle valve, the first required opening degree of the throttle valve is determined according to the current rotating speed and the target rotating speed of the engine, and the second required opening degree of the throttle valve is determined according to the actual air inlet pipe pressure and the maximum air inlet pipe pressure. When the actual air inlet pipe pressure is smaller than or equal to the maximum air inlet pipe pressure, calculating a second required opening of the throttle valve according to a difference value between the actual air inlet pipe pressure and the maximum air inlet pipe pressure, and determining a small required opening between the first required opening and the second required opening as a target opening; and when the actual intake pipe pressure is greater than the maximum intake pipe pressure, acquiring an actual opening of a throttle valve, and determining a small required opening between the first required opening and the actual opening as the target opening. Compared with the method for controlling the engine throttle valve to be unstable by adjusting only according to the deviation of the current rotating speed and the target rotating speed and the deviation of the actual air inlet pipe pressure and the maximum air inlet pipe pressure in the prior art, the method can determine different target opening degrees according to different conditions of the difference value of the actual air inlet pipe pressure and the maximum air inlet pipe pressure, so that the target opening degrees of the throttle valve can be determined according to specific conditions of the actual air inlet pipe pressure, and the throttle valve is controlled to be different target opening degrees under the condition of different air inlet pipe pressures, so that stable control of the throttle valve is realized. Therefore, the problem that the stable control of the throttle valve cannot be realized by the throttle valve control method in the prior art can be solved, and the purpose of more stable control is achieved.

2) In the control device of the throttle valve of the application, the first required opening degree of the throttle valve is determined according to the current rotation speed and the target rotation speed of the engine, and the second required opening degree of the throttle valve is determined according to the actual air inlet pipe pressure and the maximum air inlet pipe pressure. When the actual air inlet pipe pressure is smaller than or equal to the maximum air inlet pipe pressure, calculating a second required opening of the throttle valve according to a difference value between the actual air inlet pipe pressure and the maximum air inlet pipe pressure, and determining a small required opening between the first required opening and the second required opening as a target opening; and when the actual intake pipe pressure is greater than the maximum intake pipe pressure, acquiring an actual opening of a throttle valve, and determining a small required opening between the first required opening and the actual opening as the target opening. Compared with the device which is used for adjusting the deviation between the current rotating speed and the target rotating speed and the deviation between the actual air inlet pipe pressure and the maximum air inlet pipe pressure to cause unstable control of the engine throttle valve in the prior art, the device can determine different target opening degrees according to different conditions of the difference between the actual air inlet pipe pressure and the maximum air inlet pipe pressure, so that the target opening degrees of the throttle valve can be determined according to specific conditions of the actual air inlet pipe pressure, and the throttle valve is controlled to be different target opening degrees under the condition of different air inlet pipe pressures, so that stable control of the throttle valve is realized. Therefore, the problem that the throttle valve control device in the prior art cannot realize stable control of the throttle valve can be solved, and the purpose of more stable control is achieved.

The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A control method of a throttle valve, characterized in that the throttle valve is connected to an engine through an intake pipe, comprising:

acquiring the current rotating speed and the target rotating speed of the engine, and determining a first required opening of the throttle valve according to the current rotating speed and the target rotating speed;

acquiring the actual air inlet pipe pressure and the maximum air inlet pipe pressure of the air inlet pipe, and calculating a difference value between the actual air inlet pipe pressure and the maximum air inlet pipe pressure to obtain a first difference value at least under the condition that the actual air inlet pipe pressure is smaller than or equal to the maximum air inlet pipe pressure;

calculating a second required opening of the throttle valve according to the first difference value, comparing the first required opening with the second required opening, and determining the small required opening between the first required opening and the second required opening as a target opening;

Acquiring an actual opening of the throttle valve when the actual intake pipe pressure is greater than the maximum intake pipe pressure, comparing the first required opening with the actual opening, and determining a small required opening between the first required opening and the actual opening as the target opening;

and controlling the throttle valve to work at the target opening degree.

2. The control method according to claim 1, characterized in that determining the first required opening degree of the throttle valve from the current rotation speed and the target rotation speed includes:

calculating a difference value between the current rotating speed and the target rotating speed to obtain a second difference value;

and inputting the second difference value into a first PID controller, and obtaining an output result of the first PID controller to obtain the first required opening, wherein the first PID controller is used for calculating the required opening of the throttle valve according to the difference value between the current rotating speed and the target rotating speed to obtain the first required opening.

3. The control method according to claim 2, characterized in that calculating the second required opening degree of the throttle valve from the first difference value includes:

and inputting the first difference value into a second PID controller, and obtaining an output result of the second PID controller to obtain the second required opening, wherein the second PID controller is used for calculating the required opening of the throttle valve according to the difference value between the actual air inlet pipe pressure and the maximum air inlet pipe pressure to obtain the second required opening.

4. A control method according to claim 3, characterized in that the control method further comprises:

controlling the proportionality coefficient of the first PID controller to be a plurality of times of the proportionality coefficient of the second PID controller;

controlling the integration time constant of the first PID controller to be a plurality of times of the integration time constant of the second PID controller;

the differential time constant of the first PID controller is controlled to be several times of the differential time constant of the second PID controller.

5. The control method according to claim 1, characterized in that, at least in the case where the actual intake pipe pressure is less than or equal to the maximum intake pipe pressure, calculating a difference between the actual intake pipe pressure and the maximum intake pipe pressure, to obtain a first difference, includes:

obtaining the maximum value and the minimum value of the pressure of the air inlet pipe under a steady-state working condition to obtain a steady-state air inlet pipe pressure range, wherein the steady-state working condition indicates that the opening of the throttle valve is kept at a preset opening for a preset time, the maximum value of the steady-state air inlet pipe pressure range is the maximum value of the pressure of the air inlet pipe, and the minimum value of the steady-state air inlet pipe pressure range is the minimum value of the pressure of the air inlet pipe;

Calculating the difference between the maximum air inlet pipe pressure and the maximum value of the steady-state air inlet pipe pressure to obtain a minimum pressure difference value, and calculating the difference between the maximum air inlet pipe pressure and the minimum value of the steady-state air inlet pipe pressure to obtain a maximum pressure difference value;

and calculating the difference between the actual air inlet pipe pressure and the maximum air inlet pipe pressure to obtain the first difference under the condition that the actual air inlet pipe pressure is larger than the maximum pressure difference and smaller than or equal to the maximum air inlet pipe pressure.

6. The control method according to claim 5, characterized in that the control method further comprises:

acquiring a maximum opening of the throttle valve under the condition that the actual air inlet pipe pressure is smaller than or equal to the pressure difference minimum value, wherein the maximum opening represents the opening when the throttle valve is fully opened;

and comparing the first required opening with the maximum opening, and taking the small required opening between the first required opening and the maximum opening as the target opening.

7. A control device of a throttle valve, characterized in that the throttle valve is connected to an engine through an intake pipe, comprising:

A first determining unit, configured to obtain a current rotation speed and a target rotation speed of the engine, and determine a first required opening of the throttle valve according to the current rotation speed and the target rotation speed;

the calculating unit is used for obtaining the actual air inlet pipe pressure and the maximum air inlet pipe pressure of the air inlet pipe, and calculating the difference value of the actual air inlet pipe pressure and the maximum air inlet pipe pressure to obtain a first difference value at least under the condition that the actual air inlet pipe pressure is smaller than or equal to the maximum air inlet pipe pressure;

a second determining unit, configured to calculate a second required opening of the throttle according to the first difference, compare magnitudes of the first required opening and the second required opening, and determine a small required opening between the first required opening and the second required opening as a target opening;

a third determining unit, configured to obtain an actual opening of the throttle valve when the actual intake pipe pressure is greater than the maximum intake pipe pressure, compare the magnitudes of the first required opening and the actual opening, and determine a required opening in which the first required opening and the actual opening are small as the target opening;

And a control unit for controlling the throttle valve to work at the target opening degree.

8. An engine system, characterized in that the engine system comprises a throttle valve, an intake pipe, an engine, and a controller, the throttle valve being connected to the engine via the intake pipe, the controller being adapted to execute the control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that the computer-readable storage medium includes a stored program, wherein the program, when run, controls a device in which the computer-readable storage medium is located to execute the control method according to any one of claims 1 to 6.

10. An electronic device, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing the control method of any of claims 1-6.