阅读说明：本技术 一种提高发动机转速控制精度的总线油门控制方法 (Bus throttle control method for improving control precision of engine rotating speed ) 是由 王绪通 刘永鑫 李闯闯 牛东东 冯小靖 卞清荣 吕传伟 徐威 于 2021-08-11 设计创作，主要内容包括：本发明公开一种提高发动机转速控制精度的总线油门控制方法,将小数累加值Ae初始值置0；通过转速-油门对应关系,获取的实际油门值Af；将实际油门值Af分割成整数油门值Ai和小数油门值Ad；将小数油门值Ad累加到小数累加值Ae上；如果小数累加值Ae小于1,则将整数油门值Ai作为总线油门值Ab；如果小数累加值Ae大于等于1,则将整数油门值Ai增加1后再作为总线油门值Ab,同时将小数累加值Ae减去1；发送总线油门值Ab；重复S2-S6步骤；通过本发明的方法发动机实际转速的交替变化的幅值仅为原有技术产生偏差的4%-8%。(The invention discloses a bus accelerator control method for improving the control precision of the rotating speed of an engine, which is characterized in that an initial value of a decimal accumulated value Ae is set to be 0; acquiring an actual throttle value Af through a corresponding relation of the rotating speed and the throttle; dividing the actual throttle value Af into an integer throttle value Ai and a decimal throttle value Ad; accumulating the decimal accelerator value Ad to a decimal accumulated value Ae; if the accumulated decimal value Ae is less than 1, taking the integral throttle valve value Ai as a bus throttle valve value Ab; if the accumulated decimal value Ae is greater than or equal to 1, increasing the integral throttle valve value Ai by 1 and then taking the integral throttle valve value Ai as a bus throttle valve value Ab, and simultaneously subtracting 1 from the accumulated decimal value Ae; sending a bus throttle value Ab; repeating the steps S2-S6; the amplitude of the alternating change of the actual rotating speed of the engine is only 4% -8% of the deviation generated by the prior art by the method.)

1. A bus accelerator control method for improving the control precision of the engine speed is characterized by comprising the following steps:

s1, setting the initial value of the decimal accumulated value Ae to 0;

the bus throttle value Ab is subjected to periodic transmission control, and when the bus throttle value Ab is to be transmitted, the following steps are carried out:

s2, acquiring an actual throttle value Af through a corresponding relation of rotating speed and throttle;

s3, dividing the actual throttle value Af into an integer throttle value Ai and a decimal throttle value Ad according to the actual throttle value Af obtained in S2;

s4, accumulating the decimal accelerator value Ad to a decimal accumulated value Ae according to the decimal accelerator value Ad obtained in S3;

s5, if the decimal accumulated value Ae is less than 1, the integer throttle value Ai is taken as the bus throttle value Ab;

if the accumulated decimal value Ae is greater than or equal to 1, increasing the integral throttle valve value Ai by 1 and then taking the integral throttle valve value Ai as a bus throttle valve value Ab, and simultaneously subtracting 1 from the accumulated decimal value Ae;

s6, sending a bus throttle value Ab;

s7, repeating the steps S2-S6.

2. The bus throttle control method for improving the accuracy of engine speed control according to claim 1, wherein the bus throttle value Ab is periodically alternated between an integer throttle value Ai and an integer throttle value Ai + 1.

3. The bus throttle control method for improving the control accuracy of the engine speed according to claim 1, wherein the engine forms an alternate target speed when receiving an alternate bus throttle value Ab; the actual speed of the engine is also alternated under the action of the alternated target speed.

4. The bus throttle control method for improving the control accuracy of the engine speed according to claim 1, wherein the actual engine speed cannot immediately respond to the target engine speed due to mechanical inertia, thereby weakening the influence of the target engine speed alternating.

Technical Field

The invention relates to a bus accelerator control method for improving the control precision of the rotating speed of an engine, belonging to the technical field of engine control.

Background

It is very common practice in excavator control to send throttle values over the bus to control engine speed. There is a fixed corresponding relationship between the throttle value and the rotation speed value, however, the range of the throttle value is between 0-250 and can only be an integer, the range of the minimum value of the rotation speed value is usually between 700-.

When the throttle value corresponding to the required value of the rotating speed is not an integer, the corresponding throttle value needs to be rounded and then sent through the bus, and at the moment, the decimal part of information is lost due to rounding, so that the deviation of the rotating speed control of the engine is large.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a bus throttle control method for improving the control precision of the rotating speed of an engine, which controls the alternate change of the bus throttle value by accumulating and carrying the decimal part of the actually required throttle value and converts the deviation of the rotating speed control of the engine into the alternate change of the rotating speed; the sending period of the bus throttle value is normally 50ms, and the response period of the actual rotating speed of the engine to the target rotating speed is between 600 and 1200 ms; through calculation, the amplitude of the alternating change of the actual rotating speed of the engine is only 4% -8% of the deviation generated by the prior art.

In order to achieve the purpose, the invention adopts the technical scheme that: a bus throttle control method for improving the control precision of the engine speed comprises the following steps:

s1, setting the initial value of the decimal accumulated value Ae to 0;

the bus throttle value Ab is subjected to periodic transmission control, and when the bus throttle value Ab is to be transmitted, the following steps are carried out:

s2, acquiring an actual throttle value Af through a corresponding relation of rotating speed and throttle;

s3, dividing the actual throttle value Af into an integer throttle value Ai and a decimal throttle value Ad according to the actual throttle value Af obtained in S2;

s4, accumulating the decimal accelerator value Ad to a decimal accumulated value Ae according to the decimal accelerator value Ad obtained in S3;

s5, if the decimal accumulated value Ae is less than 1, the integer throttle value Ai is taken as the bus throttle value Ab;

if the accumulated decimal value Ae is greater than or equal to 1, increasing the integral throttle valve value Ai by 1 and then taking the integral throttle valve value Ai as a bus throttle valve value Ab, and simultaneously subtracting 1 from the accumulated decimal value Ae;

s6, sending a bus throttle value Ab;

s7, repeating the steps S2-S6.

Preferably; the bus throttle value Ab is periodically alternated between an integer throttle value Ai and an integer throttle value Ai + 1.

When the engine receives the alternate bus throttle value Ab, the alternate target rotating speed is formed; the actual speed of the engine is also alternated under the action of the alternated target speed.

The actual rotating speed of the engine cannot immediately respond to the target rotating speed due to mechanical inertia, so that the influence caused by the alternate change of the target rotating speed is weakened.

The invention has the beneficial effects that:

the invention controls the alternating change of the bus throttle value by accumulating and carrying the decimal part of the actually required throttle value, and converts the deviation of the engine rotating speed control into the alternating change of the rotating speed; the sending period of the bus throttle value is normally 50ms, and the response period of the actual rotating speed of the engine to the target rotating speed is between 600 and 1200 ms; through calculation, the amplitude of the alternating change of the actual rotating speed of the engine is only 4% -8% of the deviation generated by the prior art.

Drawings

FIG. 1 is a flow chart of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples.

It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, and the terms used herein in the specification of the present invention are for the purpose of describing particular embodiments only and are not intended to limit the present invention.

As shown in fig. 1, a bus throttle control method for improving the control accuracy of the engine speed includes the following steps: s1, setting the initial value of the decimal accumulated value Ae to 0;

the bus throttle value Ab is subjected to periodic transmission control, and when the bus throttle value Ab is to be transmitted, the following steps are carried out:

s2, acquiring an actual throttle value Af through a corresponding relation of rotating speed and throttle;

s3, dividing the actual throttle value Af into an integer throttle value Ai and a decimal throttle value Ad according to the actual throttle value Af obtained in S2;

s4, accumulating the decimal accelerator value Ad to a decimal accumulated value Ae according to the decimal accelerator value Ad obtained in S3;

s5, if the decimal accumulated value Ae is less than 1, the integer throttle value Ai is taken as the bus throttle value Ab;

if the accumulated decimal value Ae is greater than or equal to 1, increasing the integral throttle valve value Ai by 1 and then taking the integral throttle valve value Ai as a bus throttle valve value Ab, and simultaneously subtracting 1 from the accumulated decimal value Ae;

accumulating the decimal part of the throttle value corresponding to the required rotating speed, when the accumulated value exceeds 1, carrying 1 to the bus throttle value, and alternately sending the bus throttle value by high and low values to eliminate the rotating speed control deviation.

S6, sending a bus throttle value Ab;

s7, repeating the steps S2-S6.

The bus throttle value Ab is periodically alternated between an integer throttle value Ai and an integer throttle value Ai + 1.

When the engine receives the alternate bus throttle value Ab, the alternate target rotating speed is formed; the actual speed of the engine is also alternated under the action of the alternated target speed.

The actual rotating speed of the engine cannot immediately respond to the target rotating speed due to mechanical inertia, so that the influence caused by the alternate change of the target rotating speed is weakened.

Bus throttle control-through the way of CAN bus, send throttle opening value to the engine ECM, reach the purpose of controlling the engine speed.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.