CN108104957A - A kind of automotive electronics air throttle control system and its control method - Google Patents
A kind of automotive electronics air throttle control system and its control method Download PDFInfo
- Publication number
- CN108104957A CN108104957A CN201810133282.0A CN201810133282A CN108104957A CN 108104957 A CN108104957 A CN 108104957A CN 201810133282 A CN201810133282 A CN 201810133282A CN 108104957 A CN108104957 A CN 108104957A
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- Prior art keywords
- stepper motor
- accelerator pedal
- position sensor
- rapid prototyping
- pedal position
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Classifications
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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
- 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
- F02D2011/101—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 characterised by the means for actuating the throttles
- F02D2011/104—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 characterised by the means for actuating the throttles using electric step motors
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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
- F02D2200/00—Input parameters for engine control
- F02D2200/60—Input parameters for engine control said parameters being related to the driver demands or status
- F02D2200/602—Pedal position
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
Abstract
The invention belongs to vehicle electric control fields, specifically a kind of automotive electronics air throttle control system and its control method.The system includes PC machine, rapid prototyping controller, stepper motor driver, DC power supply, stepper motor, linear motion slide unit die combination and accelerator pedal position sensor；PC machine is connected ICP/IP protocol in a manner of LAN with rapid prototyping controller；Stepper motor driver, DC power supply and rapid prototyping controller are connected by electric wire；Stepper motor driver is connected with stepper motor；Accelerator pedal position sensor is connected by electric wire with rapid prototyping controller and Engine ECU；Engine ECU is connected with air throttle；Linear motion slide unit die combination is mutually fixed with stepper motor.The present invention is the position signal that one kind according to external demand, can correct car ACCEL, so as to fulfill the automotive electronics air throttle control system and its control method of engine torque control.
Description
Technical field
The invention belongs to vehicle electric control field, specifically a kind of according to control algolithm needs, modification automobile acceleration is stepped on
Board position sensor signal, so as to complete the automotive electronics air throttle control system of automotive electronics throttle opening adjusting and its control
Method processed.
Background technology
Electronic throttle (Electronic Throttle) is the important control unit of automobile engine.
In recent years, with the development and application of electronic technology, computer technology and information technology, auto electronic control technology
Swift and violent development has been obtained, has especially had larger dash forward in the various aspects such as control accuracy, control range, intelligence and networking
It is broken.The electric-control system equipped on automobile is more and more, such as traction control system (TCS) and electronic stabilizing control system (ESC)
Etc. being required for controlling motor torque.With vehicle intellectualized development, driver's auxiliary system (ADAS)
Equipment rate is higher and higher, such as adaptive cruise control system (ACC) and automated parking system be also required to motor torque into
Row control.At present, there are two ways to commonly using：First, demarcating torque regulatory function using engine electric-controlled system, other are automatically controlled
Unit communicates with Engine ECU, realizes that torque is adjusted；Second is that installing automatic pilot on automobile, car ACCEL is applied
Add external force, so as to fulfill the control to motor torque.For not demarcating the engine electric-controlled system of torque regulatory function, use
Second method controls motor torque.But there are at high price, complicated and occupied spaces for automatic pilot
It is big to wait shortcomings.
The content of the invention
The present invention provides the position signal that one kind according to external demand, can correct car ACCEL, so as to fulfill
The automotive electronics air throttle control system and its control method of engine torque control, the control system and control method have knot
The advantages that structure is simple, reliability is high, small to engine system change.
Technical solution of the present invention is described with reference to the drawings as follows：
A kind of automotive electronics air throttle control system, the system include PC machine, rapid prototyping controller, driving stepper motor
Device, DC power supply, stepper motor 1, linear motion slide unit die combination and accelerator pedal position sensor 15；The wherein described PC machine
It is connected ICP/IP protocol in a manner of LAN with rapid prototyping controller；The stepper motor driver, direct current
Source is connected with rapid prototyping controller by electric wire；The stepper motor driver is connected with stepper motor 1；The acceleration
Pedal position sensor 15 is connected by electric wire with rapid prototyping controller and Engine ECU；The Engine ECU and section
Valve is connected；The linear motion slide unit die combination is fixed with 1 phase of stepper motor.
The linear motion slide unit die combination includes fixed plate 2, connector I 3, bearing I 4, limiting plate I 5, screw 6, cunning
Platform 7, limiting plate II 8, bearing II 9, bottom plate 11, connector II 13 and accelerator pedal position sensor 15；The fixed plate 2,
Connector 3, bearing I 4, limiting plate I 5, screw 6, slide unit 7, limiting plate II 8, bearing II 9 are arranged on bottom plate 11；Described
One end of stepper motor 1 is fixed on one end of fixed plate 2 by bolt I 12；One end of the screw 6 is logical through limiting plate I 5
The output terminal that connector 3 is crossed with stepper motor 1 is connected；The bearing I 4 through screw 6 is fixed on the limiting plate I 5；It is described
The other end of screw 6 be connected through slide unit 7 with limiting plate II 8；The axis through screw 6 is fixed on the limiting plate II 8
Hold II 9；One end of the connector II 13 is fixed on by bolt II 14 on slide unit 7, and the other end is by connecting pin 16 with adding
Speed pedal position sensor 15 is slidably matched.
The screw hole 10 there are two fixing bolt II 14 is opened on the slide unit 7.
The connector II 13 is integrally formed by vertical center web and horizontal connecting plate；The vertical center web
On be provided with and the corresponding through hole 17 in 10 position of screw hole；Connecting pin 16 is provided on the right side of the horizontal connecting plate.
A kind of control method of automotive electronics air throttle control system, this method comprise the following steps:
Step 1: initialization；
11) PC machine is opened, control algolithm is built in MATLAB/Simulink softwares according to demand for control, establishes model
With the input/output relation of accelerator pedal position sensor 15；
12) rapid prototyping controller is opened, and is connected with PC machine；DC power supply is used to power for stepper motor 1, and is completed
Its connection between controllor for step-by-step motor, accelerator pedal position sensor 15, Engine ECU and rapid prototyping controller；
13) control algolithm of stepper motor 1, signal acquisition/transmitting module are compiled and is downloaded to rapid prototyping controller
In；
Step 2: calibration；
PC machine enters test session, constantly change accelerator pedal position sensor 15 target location, observe and record with
Opposite throttle opening value, the stroke of accelerator pedal position sensor 15 is divided into 20 deciles, and is repeatedly completed more
Group test is averaged, and completes throttle opening calibration；
Step 3: throttle opening controls；
Engine air throttle aperture change curve is given in PC machine, stepper motor 1 is controlled by rapid prototyping controller,
So that accelerator pedal position sensor 15 generates corresponding change in location, and by the location information of accelerator pedal position sensor 15
It sends rapid prototyping controller and Engine ECU to, completes throttle control, and record corresponding data；
Step 4: data analysis；
The data recorded are analyzed, observation throttle opening follows whether curve meets demand；If not meeting needs
It seeks modification control algolithm, repeats Step 1: two, three, until meet demand；
Step 5: terminating experiment, testing equipment is closed；
PC machine is closed, cuts off the power supply of rapid prototyping controller, closes hardware device.
Beneficial effects of the present invention are：
1) automotive electronics air throttle control system of the present invention can complete engine torque control task, solve
The problem of engine controls in intelligence/automatic driving vehicle development process.
2) for the engine electric-controlled unit for not demarcating motor torque regulatory function or non-open communication agreement, provide
A kind of engine torque control system and method.
3) compared with binodal valve scheme, hair greatly improved in automotive electronics air throttle control system of the present invention
The response speed of motivation.Automotive electronics air throttle control system is in boot rather than enging cabin, so as to improve building ring
Border improves stability.
4) compared with automatic pilot scheme, automotive electronics air throttle control system provided by the present invention and method subtract
The complexity of little Liao executing agencies reduces the cost in intelligence/automatic driving vehicle development process, has saved interior sky
Between.
5) the present invention provides a kind of automotive electronics sections for straight reciprocating motion form accelerator pedal position sensor
Pneumatic door control system and method solve the problems, such as that straight reciprocating motion is not easy to transfer, be difficult to control.
Description of the drawings
Fig. 1 is the part-structure schematic diagram of the present invention；
Fig. 2 is the structure diagram of linear movement slide unit module of the present invention；
Fig. 3 is linear movement slide unit module of the present invention and accelerator pedal position sensor connection structure axonometric projection graph；
Fig. 4 defines schematic diagram for stepper motor driver pin function in the present invention；
Fig. 5 defines schematic diagram for accelerator pedal position sensor pin function in the present invention；
Fig. 6 is the connection device structure diagram of slide unit and accelerator pedal position sensor in the present invention；
Fig. 7 is bottom plate structure chart of the present invention.
In figure：1st, stepper motor；2nd, motor fixing plate；3rd, connector I；4th, bearing I；5th, limiting plate I；6th, screw；7th, it is sliding
Platform；8th, limiting plate II；9th, bearing II；10th, screw hole；11st, bottom plate；12nd, bolt I；13rd, connector II；14th, bolt II；15th, accelerate
Pedal position sensor；16th, connecting pin；17th, through hole.
Specific embodiment
Refering to Fig. 1, Fig. 2, a kind of automotive electronics air throttle control system, the system include PC machine, rapid prototyping controller,
Stepper motor driver, DC power supply, stepper motor 1, linear motion slide unit die combination and accelerator pedal position sensor 15.
DSPACE companies MicroAutoBox may be employed in the rapid prototyping controller.
The DC power supply is 24V DC power supplies.
The stepper motor 1 is four line stepper motor of two-phase, and the stepper motor of model FLS40C7 may be employed.
The stepper motor driver may be employed four line of two-phase that FUYU company models are FMDD50D40NOM and drive
Device.
Popular Sagitar vehicle accelerator pedal position sensor may be employed in the accelerator pedal position sensor 15.
The PC machine is connected ICP/IP protocol in a manner of LAN with dSPACE/MicroAutoBox；It is described
Stepper motor driver, 24V DC power supplies are connected with rapid prototyping controller by electric wire；Specifically connection mode is：24V is straight
The positive and negative electrode in galvanic electricity source is connected respectively with V+, V- of stepper motor driver；The positive and negative electrode of 24V DC power supplies respectively with
The positive and negative electrode of dSPACE/MicroAutoBox power source wires is connected；Stepper motor driver and dSPACE/
The connection of MicroAutoBox uses commoncathode, i.e., the pulse on stepper motor driver+, direction+and off line+respectively with
The corresponding signal wires of dSPACE/MicroAutoBox, which are connected, pulse-, direction-and off line-is connected to a publicly (GND
End).
The stepper motor 1 and the connection mode of stepper motor driver be：The black conducting wire of stepper motor 1 and stepping
The A+ pins of motor driver are connected, and the green wire of stepper motor 1 is connected with the A- pins of stepper motor driver, step
The red conducting wire of stepper motor 1 is connected with the B+ pins of stepper motor driver, the blue conducting wire and stepper motor of stepper motor 1
The B- pins of driver are connected.The stepper motor 1 passes through slide unit module and the accelerator pedal position sensor 15 of moving along a straight line
It is connected.
Refering to Fig. 1, control algolithm is completed by PC machine and is built, controller prototype MicroAutoBox is downloaded to after compiling
In, and the software ControlDesk by being mounted in PC machine realizes the modification of control command, parameter.Pass through 24V DC power supplies
It powers to MicroAutoBox and stepper motor driver, MicroAutoBox leads to the control command that top level control algorithm generates
Extra pulse signal is sent to stepper motor driver, and stepper motor driver Driving Stepping Motor generates linear motion, promotes and adds
Speed pedal position sensor generates linear motion.The 5V direct currents that accelerator pedal position sensor 15 is generated by MicroAutoBox
Power supply.Finally, its real-time position information (voltage signal) is sent to controller prototype by accelerator pedal position sensor 15
MicroAutoBox and Engine ECU
Refering to Fig. 2, Fig. 6, the linear motion slide unit die combination includes fixed plate 2, connector I 3, bearing I 4, /V
Plate I 5, screw 6, slide unit 7, limiting plate II 8, bearing II 9, bottom plate 11, connector II 13 and accelerator pedal position sensor 15；
The fixed plate 2, connector 3, bearing I 4, limiting plate I 5, screw 6, slide unit 7, limiting plate II 8, bearing II 9 are equal
It is arranged on bottom plate 11；
One end of the stepper motor 1 is fixed on one end of fixed plate 2 by four bolts I 12；The screw 6
One end is connected through limiting plate I 5 by connector 3 with the output terminal of stepper motor 1；Be fixed on the limiting plate I 5 through
The bearing I 4 of screw 6；The other end of the screw 6 is connected through slide unit 7 with limiting plate II 8；It is solid on the limiting plate II 8
Surely there is the bearing II 9 through screw 6；The limiting plate I 5 and limiting plate II 8 by axis I hold 4 and bearing II 9 screw 6 is consolidated
Centre is scheduled on, ensures that screw 6 and machine shaft are coaxial, while reduces rotary resistance.The rotation of motor is converted into slide unit by screw 6
7 linear motion, bottom plate 11 play restriction effect to the rotation of slide unit.Accelerator pedal position sensor 15 passes through connector 13 II
Mounted on the side of slide unit 7, wherein connector II 13 is fixed together by bolt II 14 and slide unit 7.
The accelerator pedal sensor 15 passes through electric wire and rapid prototyping controller MicroAutoBox and Engine ECU
It is connected.The rated voltage of accelerator pedal sensor 15 is 5V, is powered by Engine ECU；Accelerator pedal sensor 15
It is connected by the interface of six pins with Engine ECU.Accelerator pedal sensor 15 is transmitted pedal position information by conducting wire
To dSPACE/MicroAutoBox, specific connection mode is by 2 two pins of the signal 1 of accelerator pedal sensor and signal
It is connected with the input terminal of dSPACE/MicroAutoBox, the GND ends that power supply 1- and power supply 2- are connected to MicroAutoBox are (cloudy
Pole), and by VSENS the and VDRIVE pin short circuits of MicroAutoBox, 5V voltages are provided for sensor.
Stepper motor driver sends control signals to stepper motor 1 so that screw 6 generates rotary motion.Screw 6
Rotary motion causes slide unit 7 to generate the linear motion in horizontal direction.It can be changed by the rotation direction for controlling stepper motor 1
The direction of motion of slide unit 7.Slide unit 7 is connected with accelerator pedal position sensor 15 by connector II 13.Slide unit 7 is in level side
To straight reciprocating motion promote sensor 15 generate corresponding straight reciprocating motion.
Refering to Fig. 5, the connector II 13 is integrally formed by vertical center web and horizontal connecting plate；Described hangs down
It is provided on direct-connected fishplate bar and the corresponding through hole 17 in 10 position of screw hole；Connecting pin is provided on the right side of the horizontal connecting plate
16.The through hole 17 is the through hole of diameter 4mm, and connecting pin 16 is the cylinder of diameter 6mm.
Refering to Fig. 3, Fig. 4, stepper motor driver V+, V- pin by electric wire be respectively connected to 24V DC power supplies just,
Cathode.A+, A-, B+, B- are respectively connected to black, green, red, blue four conducting wires of stepper motor.Using commoncathode to pulse
+, pulse-, direction+, direction-, off line+and off line-etc. pins be attached, specific connection mode is：Pulse-, direction-and de-
- three pins of machine are commonly connected to the GND ends (cathode) of MicroAutoBox, pulse+, direction+and off line+defines respectively with it
Identical pulse output end is connected.As shown in figure 4, accelerator pedal position sensor shares 6 pins, the pin from No. 1 to No. 6
Definition be respectively：Power supply 1+, power supply 2+, power supply 1-, signal 1, power supply 2- and signal 2.Wherein, accelerator pedal position sensor
The DC power supply that 5V is provided by MicroAutoBox is powered.Specifically connection mode is：Power supply 1- and power supply 2- are connected to
The GND ends (cathode) of MicroAutoBox, and be sensor 5V by VSENS the and VDRIVE pin short circuits of MicroAutoBox
Power supply.Accelerator pedal position sensor signal 1 and 2 pin of signal are connected to the signal acquisition leads ends of MicroAutoBox.
Finally, pin 1 to pin 6 is respectively connected at the corresponding pin of Engine ECU by conducting wire, accelerator pedal position is passed
Sense, 5 location information are sent to Engine ECU so that air throttle generates corresponding movement.
A kind of control method of automotive electronics air throttle control system, this method comprise the following steps:
Step 1: initialization；
11) PC machine is opened, control algolithm is built in Matlab/Simulink according to demand for control, in Matlab orders
Window input " rti " order, calls signal acquisition/hair in dSPACE real-time simulations module (real time simulation)
Module is penetrated, establishes the input/output relation of model and accelerator pedal position sensor 15；
12) dSPACE/MicroAutoBox is opened, and is connected with PC machine.24V DC power supplies is used to be supplied for stepper motor 1
Electricity, and complete itself and controllor for step-by-step motor, accelerator pedal position sensor 15, Engine ECU and dSPACE/
Connection between MicroAutoBox；
13) control algolithm is compiled in Matlab/Simulink softwares.ControlDesk softwares are opened,
DSPACE/MicroAutoBox is registered in ControlDesk softwares.The control algolithm of stepper motor 1, signal are adopted
Collection/transmitting module is compiled and is downloaded in dSPACE/MicroAutoBox.
Step 2: calibration；
The start trigger that ControlDesk softwares are clicked in PC machine enter test session；And
The target location value of accelerator pedal position sensor 15 is constantly changed in ControlDesk, observes and records section on the other side
Valve opening angle value.The stroke of accelerator pedal position sensor 15 is divided into 20 deciles, and is repeatedly completed multigroup test and averages,
Complete throttle opening calibration.
Step 3: throttle opening controls；
Engine air throttle aperture change curve is given in PC machine, passes through rapid prototyping controller dSPACE/
MicroAutoBox controls stepper motor 1 so that accelerator pedal position sensor 15 generates corresponding change in location, and will accelerate
The location information of pedal position sensor 15 sends dSPACE/MicroAutoBox and Engine ECU to, completes solar term gate
System, and record corresponding data.
Step 4: data analysis；
The data recorded are analyzed, observation throttle opening follows whether curve meets demand；If not meeting needs
It seeks modification control algolithm, repeats Step 1: two, three, until meet demand；
Step 5: terminating experiment, testing equipment is closed；
PC machine is closed, cuts off the power supply of dSPACE/MicroAutoBox and controllor for step-by-step motor, related hardware is closed and sets
It is standby.
Claims (5)
1. a kind of automotive electronics air throttle control system, which is characterized in that the system includes PC machine, rapid prototyping controller, step
Stepper motor driver, DC power supply, stepper motor (1), linear motion slide unit die combination and accelerator pedal position sensor (15)；
The wherein described PC machine is connected ICP/IP protocol in a manner of LAN with rapid prototyping controller；The stepper motor
Driver, DC power supply and rapid prototyping controller are connected by electric wire；The stepper motor driver and stepper motor (1)
It is connected；The accelerator pedal position sensor (15) is connected by electric wire with rapid prototyping controller and Engine ECU；Institute
The Engine ECU stated is connected with air throttle；The linear motion slide unit die combination is mutually fixed with stepper motor (1).
A kind of 2. automotive electronics air throttle control system according to claim 1, which is characterized in that the linear motion
Slide unit die combination includes motor fixing plate (2), connector I (3), bearing I (4), limiting plate I (5), screw (6), slide unit (7), limit
Position plate II (8), bearing II (9), bottom plate (11), connector II (13) and accelerator pedal position sensor (15)；The motor
Fixed plate (2), connector (3) I, bearing I (4), limiting plate I (5), screw (6), slide unit (7), limiting plate II (8), bearing II
(9) it is arranged on bottom plate (11)；One end of the stepper motor (1) is fixed on the one of fixed plate (2) by bolt I (12)
End；One end of the screw (6) is connected through limiting plate I (5) by connector (3) with the output terminal of stepper motor (1)；Institute
The bearing I (4) through screw (6) is fixed on the limiting plate I (5) stated；The other end of the screw (6) passes through slide unit (7)
It is connected with limiting plate II (8)；The bearing II (9) through screw (6) is fixed on the limiting plate II (8)；The connection
One end of part II (13) is fixed on by bolt II (14) on slide unit (7), and the other end passes through connecting pin (16) and accelerator pedal position
Sensor (15) is put to be slidably matched.
A kind of 3. automotive electronics air throttle control system according to claim 2, which is characterized in that the slide unit (7)
On open screw hole (10) there are two fixing bolt II (14).
A kind of 4. automotive electronics air throttle control system according to claim 3, which is characterized in that the connector II
(13) it is integrally formed by vertical center web and horizontal connecting plate；It is provided on the vertical center web and screw hole (10) position
Corresponding through hole (17)；Connecting pin (16) is provided on the right side of the horizontal connecting plate.
A kind of 5. control method of automotive electronics air throttle control system according to claim 1, which is characterized in that the party
Method comprises the following steps:
Step 1: initialization；
11) PC machine is opened, control algolithm is built in rapid prototyping controller according to demand for control, establishes model and accelerator pedal
The input/output relation of position sensor (15)；
12) rapid prototyping controller is opened, and is connected with PC machine；DC power supply is used to power for stepper motor (1), and completes it
With the connection between controllor for step-by-step motor, accelerator pedal position sensor (15), Engine ECU and rapid prototyping controller；
13) control algolithm of stepper motor (1), signal acquisition/transmitting module are downloaded in rapid prototyping controller；
Step 2: calibration；
PC machine enters test session, constantly changes the target location of accelerator pedal position sensor (15), observes and records therewith
The stroke of accelerator pedal position sensor (15) is divided into 20 deciles, and is repeatedly completed more by opposite throttle opening value
Group test is averaged, and completes throttle opening calibration；
Step 3: throttle opening controls；
Engine air throttle aperture change curve is given in PC machine, stepper motor (1) is controlled by rapid prototyping controller, is made
It obtains accelerator pedal position sensor (15) and generates corresponding change in location, and the position of accelerator pedal position sensor (15) is believed
Breath sends rapid prototyping controller and Engine ECU to, completes throttle control, and records corresponding data；
Step 4: data analysis；
The data recorded are analyzed, observation throttle opening follows whether curve meets demand；If the demand of not meeting is repaiied
Change control algolithm, repeat Step 1: two, three, until meet demand；
Step 5: terminating experiment, testing equipment is closed；
PC machine is closed, cuts off the power supply of rapid prototyping controller, closes hardware device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810133282.0A CN108104957B (en) | 2018-02-09 | 2018-02-09 | Automobile electronic throttle control system and control method thereof |
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| CN201810133282.0A CN108104957B (en) | 2018-02-09 | 2018-02-09 | Automobile electronic throttle control system and control method thereof |
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| CN108104957B CN108104957B (en) | 2023-09-22 |
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| CN109578156A (en) * | 2018-12-11 | 2019-04-05 | 吉林大学 | Electronic Throttle Control method based on parameter identification and non-linear three-step approach |
| CN110853479A (en) * | 2019-10-29 | 2020-02-28 | 同济大学 | Experiment teaching device for automobile electronic throttle valve |
| CN111532255A (en) * | 2020-05-07 | 2020-08-14 | 江苏盛海智能科技有限公司 | Accelerator control method and terminal |
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| CN109578156A (en) * | 2018-12-11 | 2019-04-05 | 吉林大学 | Electronic Throttle Control method based on parameter identification and non-linear three-step approach |
| CN109578156B (en) * | 2018-12-11 | 2021-03-30 | 吉林大学 | Electronic throttle control method based on parameter identification and nonlinear three-step method |
| CN110853479A (en) * | 2019-10-29 | 2020-02-28 | 同济大学 | Experiment teaching device for automobile electronic throttle valve |
| CN111532255A (en) * | 2020-05-07 | 2020-08-14 | 江苏盛海智能科技有限公司 | Accelerator control method and terminal |
| CN111532255B (en) * | 2020-05-07 | 2021-07-06 | 福建盛海智能科技有限公司 | Accelerator control method and terminal |
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