CN112412636B - Method and system for controlling engine speed of engineering machinery based on stepping motor - Google Patents
Method and system for controlling engine speed of engineering machinery based on stepping motor Download PDFInfo
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- CN112412636B CN112412636B CN202011298886.4A CN202011298886A CN112412636B CN 112412636 B CN112412636 B CN 112412636B CN 202011298886 A CN202011298886 A CN 202011298886A CN 112412636 B CN112412636 B CN 112412636B
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000004590 computer program Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
- F02D31/001—Electric control of rotation speed
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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
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/04—Introducing corrections for particular operating conditions
- F02D41/045—Detection of accelerating or decelerating state
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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
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
- H02P8/20—Arrangements for controlling speed or speed and torque characterised by bidirectional operation
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
- Control Of Stepping Motors (AREA)
Abstract
The invention provides a method and a system for controlling the rotation speed of an engineering machinery engine based on a stepping motor, which are applied to the stepping motor, wherein the output end of the stepping motor is connected with an accelerator of a target engine, and the target engine is the engineering machinery engine; the method comprises the following steps: obtaining a target rotating speed; acquiring a first electric signal corresponding to the current position of an accelerator of a target engine in real time through a target sensor; determining a second electric signal corresponding to the target rotating speed based on the first preset curve; based on the first electric signal and the second electric signal, the rotation of the stepping motor is controlled so that the position of the throttle controlled by the stepping motor is changed. The invention solves the technical problem of larger accumulated deviation of motor rotation speed adjustment in the prior art.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a method and a system for controlling the rotation speed of an engine of engineering machinery based on a stepping motor.
Background
The control of the stepper motor can be summarized as that the motor is driven to run by sending a certain number of pulse signals to the stepper motor, and the running distance of the motor is determined by the number of pulses. Currently, many engineering machines also use a stepper motor to control the accelerator opening of an engine, so as to control the rotation speed of the engine, and the control mode is as follows: when the machine is debugged, firstly, one motor output frequency is selected according to the frequency and the output characteristic of the stepping motor, then, the number of pulses required for driving the stepping motor to adjust the throttle position to the position is calculated according to the throttle position corresponding to the engine rotating speed of each gear, the number of pulses is recorded in the controller, and then, the controller only needs to send the corresponding number of pulses according to the number of pulses required for each throttle position recorded in the system when controlling the stepping motor, so that the throttle can be adjusted to the set position.
The method for controlling the rotating speed of the motor by the stepping motor is simple and easy to implement, but because of the characteristic step-losing phenomenon of the stepping motor, the pulse losing phenomenon can be generated when the frequency is higher, the load is heavier or the direction is changed, so that the actual running distance of the motor is influenced, and accumulated errors can be generated after the motor is operated for a plurality of times, so that the accumulated deviation is larger as the adjusting times are more.
Disclosure of Invention
Therefore, the invention aims to provide a method and a system for controlling the engine speed of engineering machinery based on a stepping motor, so as to solve the technical problem of large accumulated deviation of motor speed regulation in the prior art.
In a first aspect, an embodiment of the present invention provides a method for controlling a rotational speed of an engine of an engineering machine based on a stepper motor, which is applied to the stepper motor, where an output end of the stepper motor is connected to an accelerator of a target engine, and the target engine is the engine of the engineering machine; comprising the following steps: obtaining a target rotating speed; the target rotating speed is the rotating speed to be adjusted of the target engine; acquiring a first electric signal corresponding to the current position of an accelerator of a target engine in real time through a target sensor; the first electrical signal is any one of the following: a voltage signal, a current signal; the target sensor is a position sensor of the throttle; determining a second electric signal corresponding to the target rotating speed based on a first preset curve; the first preset curve is a relation curve of electric signals generated by the target sensor based on the position of the accelerator at different rotating speeds of the target engine; the second electrical signal is the same type of electrical signal as the first electrical signal; and controlling the rotation of the stepping motor based on the first electric signal and the second electric signal so as to enable the stepping motor to control the position of the throttle to change.
Further, controlling rotation of the stepper motor based on the first electrical signal and the second electrical signal includes: calculating the difference value of the first electric signal and the second electric signal to obtain a target difference value; determining the rotation direction of the stepping motor based on the positive and negative of the target difference value; determining the pulse frequency of a pulse signal for controlling the stepping motor based on the magnitude of the target difference value and a second preset curve; the second preset curve is a relation curve of the magnitude of the target difference value and the pulse frequency of the pulse signal for controlling the stepping motor; and controlling the rotation of the stepping motor based on the rotation direction and the pulse frequency until the target difference value is smaller than a preset threshold value.
Further, determining a rotation direction of the stepper motor based on the positive and negative of the target difference value includes: judging whether the target difference value is a positive number or not; if yes, controlling the rotation direction of the stepping motor to be forward rotation; if not, controlling the rotation direction of the stepping motor to be reverse rotation.
Further, the method further comprises: and determining the first preset curve based on the electric signal values of the target sensor at different rotating speeds of the target engine.
In a second aspect, the embodiment of the invention also provides a system for controlling the engine speed of the engineering machinery based on the stepping motor, which is applied to the stepping motor, wherein the output end of the stepping motor is connected with an accelerator of a target engine, and the target engine is the engine of the engineering machinery; comprising the following steps: the device comprises a first acquisition module, a second acquisition module, a first determination module and a control module, wherein the first acquisition module is used for acquiring a target rotating speed; the target rotating speed is the rotating speed to be adjusted of the target engine; the second acquisition module is used for acquiring a first electric signal corresponding to the current position of the accelerator of the target engine in real time through a target sensor; the first electrical signal is any one of the following: a voltage signal, a current signal; the target sensor is a position sensor of the throttle; the first determining module is used for determining a second electric signal corresponding to the target rotating speed based on a first preset curve; the first preset curve is a relation curve of electric signals generated by the target sensor based on the position of the accelerator at different rotating speeds of the target engine; the second electrical signal is the same type of electrical signal as the first electrical signal; the control module is used for controlling the rotation of the stepping motor based on the first electric signal and the second electric signal so as to enable the stepping motor to control the position of the throttle to change.
Further, the control module further includes: the device comprises a calculation unit, a first determination unit, a second determination unit and a control unit, wherein the calculation unit is used for calculating the difference value of the first electric signal and the second electric signal to obtain a target difference value; the first determining unit is used for determining the rotation direction of the stepping motor based on the positive and negative of the target difference value; the second determining unit is used for determining the pulse frequency of the pulse signal for controlling the stepping motor based on the magnitude of the target difference value and a second preset curve; the second preset curve is a relation curve of the magnitude of the target difference value and the pulse frequency of the pulse signal for controlling the stepping motor; and the control unit is used for controlling the rotation of the stepping motor based on the rotation direction and the pulse frequency until the magnitude of the target difference value is smaller than a preset threshold value to stop the rotation.
Further, the first determining unit is further configured to: judging whether the target difference value is a positive number or not; if yes, controlling the rotation direction of the stepping motor to be forward rotation; if not, controlling the rotation direction of the stepping motor to be reverse rotation.
Further, the system further comprises: and the second determining module is used for determining the first preset curve based on the electric signal values of the target sensor at different rotating speeds of the target engine.
In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor executes the computer program to implement the steps of the method described in the first aspect.
In a fourth aspect, embodiments of the present invention also provide a computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the method of the first aspect.
The invention provides a method and a system for controlling the rotation speed of an engineering machinery engine based on a stepping motor, which realize the accurate control of the stepping motor by feeding back an electric signal of the position of the stepping motor, and the number of pulses is not recorded any more, so that the problem of overlarge error caused by step loss in the process of controlling the number of pulses is avoided, and the technical problem of larger accumulated deviation of motor rotation speed adjustment in the prior art is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for controlling engine speed of an engineering machine based on a stepper motor according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a system for controlling engine speed of an engineering machine based on a stepper motor according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a control module according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment one:
fig. 1 is a flowchart of a method for controlling the rotational speed of an engine of an engineering machine based on a stepper motor, which is provided by an embodiment of the invention, wherein the method is applied to the stepper motor, the output end of the stepper motor is connected with an accelerator of a target engine, and the rotation of the stepper motor can drive the position of the accelerator to change, so that the rotational speed of the target engine is controlled, and the target engine is the engine of the engineering machine. As shown in fig. 1, the method specifically includes the following steps:
step S102, obtaining a target rotating speed; the target rotation speed is the rotation speed to be adjusted of the target engine.
Step S104, acquiring a first electric signal corresponding to the current position of an accelerator of a target engine in real time through a target sensor; the first electrical signal is any one of the following: a voltage signal, a current signal; the target sensor is a throttle position sensor.
Specifically, by installing a fixed position sensor (i.e., a target sensor) on the output device of the stepper motor, the stepper motor can obtain a linear feedback electric signal, such as a voltage signal of 0-5V or a current signal of 4-20 mA, through the target sensor when the throttle of the target motor is at a position between the maximum position and the minimum position (i.e., the flameout position).
Step S106, determining a second electric signal corresponding to the target rotating speed based on the first preset curve; the first preset curve is a relation curve of electric signals generated by the target sensor based on the position of the accelerator and corresponding to different rotating speeds of the target engine; the second electrical signal is of the same type as the first electrical signal. For example, when the first electrical signal is a voltage signal, the second electrical signal is also a voltage signal; when the first electrical signal is a current signal, the second electrical signal is also a current signal.
Step S108, based on the first electric signal and the second electric signal, controlling the rotation of the stepping motor to enable the position of the throttle controlled by the stepping motor to change, and further controlling the rotation speed of the target engine to change, so that the rotation speed of the target engine is adjusted to be the target rotation speed.
The invention provides a method for controlling the rotation speed of an engineering mechanical engine based on a stepping motor, which realizes the accurate control of the stepping motor by feeding back an electric signal of the position of the stepping motor, does not record the number of pulses, avoids the problem of overlarge error caused by step loss in the process of controlling the number of pulses, and relieves the technical problem of larger accumulated deviation of motor rotation speed adjustment in the prior art.
Optionally, step S108 specifically includes the following steps:
in step S1081, a difference between the first electrical signal and the second electrical signal is calculated to obtain a target difference.
Step S1082, determining the rotation direction of the stepping motor based on the positive and negative of the target difference value.
Specifically, judging whether the target difference is a positive number; if yes, controlling the rotation direction of the stepping motor to be forward rotation; if not, controlling the rotation direction of the stepping motor to be reverse rotation.
Step S1083, determining the pulse frequency of the pulse signal for controlling the stepper motor based on the magnitude of the target difference and the second preset curve; the second preset curve is a relation curve of the magnitude of the target difference value and the pulse frequency of the pulse signal for controlling the stepping motor.
Optionally, when the target difference value is larger, the pulse frequency is higher, and the rotating speed of the stepping motor is controlled to be higher; the smaller the target difference, the lower the pulse frequency, and the slower the speed of controlling the rotation of the stepper motor.
In step S1084, the rotation of the stepping motor is controlled based on the rotation direction and the pulse frequency until the magnitude of the target difference is smaller than the preset threshold value, and the rotation is stopped.
Specifically, when the rotation of the stepping motor is controlled, the position of the accelerator is changed, the target sensor acquires the first electric signal in real time according to the position change of the accelerator, so that the target difference value is also changed in real time, and when the size of the target difference value is smaller than a preset threshold value, the stepping motor is controlled to stop rotating, and the rotating speed of the target engine is the target rotating speed.
Optionally, the method provided by the embodiment of the invention further includes: and determining a first preset curve based on the electric signal values of the target sensor at different rotating speeds of the target engine.
The output frequency of the stepping motor is closely related to the moment, so that the moment required by the mechanical structure is required to be met when the pulse frequency is set, and the mechanical structure can be ensured to normally operate; in order to prevent the motor from running in forward and reverse directions and causing the motor to rotate at a high or low speed during the control of the stepping motor, hysteresis control is required to be added to the control of the motor start and stop.
The method for controlling the engine speed of the engineering machinery based on the stepping motor provided by the embodiment of the invention mainly realizes the accurate control of the stepping motor through the feedback signal of the position of the stepping motor, does not record the number of pulses any more, and avoids the problem of overlarge error caused by step loss in the process of controlling the number of pulses; meanwhile, the control mode of the position feedback signal is utilized, the output frequency of the stepping motor can be dynamically adjusted based on the pulse frequency according to the change conditions of the distance and the load, the variable frequency operation of the stepping motor is realized, the control is more accurate, the full-automatic calibration is easy to realize in the rotating speed calibration process, and the debugging efficiency is greatly improved.
Embodiment two:
fig. 2 is a schematic diagram of a system for controlling the rotational speed of an engine of an engineering machine based on a stepper motor, where the system is applied to the stepper motor, an output end of the stepper motor is connected to an accelerator of a target engine, and rotation of the stepper motor can drive the position of the accelerator to change, so as to control the rotational speed of the target engine, and the target engine is the engine of the engineering machine. As shown in fig. 2, the system includes: the system comprises a first acquisition module 10, a second acquisition module 20, a first determination module 30 and a control module 40.
Specifically, the first acquisition module 10 is configured to acquire a target rotation speed; the target rotation speed is the rotation speed to be adjusted of the target engine.
The second acquiring module 20 is configured to acquire, in real time, a first electrical signal corresponding to a current position of a throttle of the target engine through the target sensor; the first electrical signal is any one of the following: a voltage signal, a current signal; the target sensor is a throttle position sensor.
A first determining module 30, configured to determine a second electrical signal corresponding to the target rotation speed based on the first preset curve; the first preset curve is a relation curve of electric signals generated by the target sensor based on the position of the accelerator and corresponding to different rotating speeds of the target engine; the second electrical signal is of the same type as the first electrical signal.
The control module 40 is configured to control rotation of the stepper motor based on the first electrical signal and the second electrical signal, so that the stepper motor controls the position of the accelerator to change, and further controls the rotation speed of the target engine to change, so that the rotation speed of the target engine is adjusted to be the target rotation speed.
The invention provides a system for controlling the rotation speed of an engineering mechanical engine based on a stepping motor, which realizes the accurate control of the stepping motor through the feedback electric signal of the position of the stepping motor, does not record the number of pulses, avoids the problem of overlarge error caused by step loss in the process of controlling the number of pulses, and relieves the technical problem of larger accumulated deviation of motor rotation speed adjustment in the prior art.
Optionally, as shown in fig. 2, the system further includes: the second determining module 50 is configured to determine the first preset curve based on the values of the electric signals of the target sensor at different speeds of the target engine.
Fig. 3 is a schematic diagram of a control module according to an embodiment of the present invention, and as shown in fig. 3, the control module 40 further includes: a calculation unit 41, a first determination unit 42, a second determination unit 43 and a control unit 44.
Specifically, the calculating unit 41 is configured to calculate a difference between the first electrical signal and the second electrical signal to obtain a target difference.
A first determining unit 42 for determining a rotation direction of the stepping motor based on the positive and negative of the target difference value.
Specifically, the first determining unit 42 is further configured to: judging whether the target difference value is a positive number or not; if yes, controlling the rotation direction of the stepping motor to be forward rotation; if not, controlling the rotation direction of the stepping motor to be reverse rotation.
A second determining unit 43 for determining a pulse frequency of a pulse signal for controlling the stepping motor based on the magnitude of the target difference and a second preset curve; the second preset curve is a relation curve of the magnitude of the target difference value and the pulse frequency of the pulse signal for controlling the stepping motor.
And a control unit 44 for controlling the rotation of the stepping motor based on the rotation direction and the pulse frequency until the magnitude of the target difference is smaller than a preset threshold value to stop the rotation.
The embodiment of the invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of the method in the first embodiment.
The present invention also provides a computer-readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the method of the first embodiment.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (8)
1. The method is applied to a stepping motor, wherein the output end of the stepping motor is connected with an accelerator of a target engine, and the target engine is an engineering mechanical engine; characterized by comprising the following steps:
obtaining a target rotating speed; the target rotating speed is the rotating speed to be adjusted of the target engine;
acquiring a first electric signal corresponding to the current position of an accelerator of a target engine in real time through a target sensor; the first electrical signal is any one of the following: a voltage signal, a current signal; the target sensor is a position sensor of the throttle;
determining a second electric signal corresponding to the target rotating speed based on a first preset curve; the first preset curve is a relation curve of electric signals generated by the target sensor based on the position of the accelerator at different rotating speeds of the target engine; the second electrical signal is the same type of electrical signal as the first electrical signal;
controlling the rotation of the stepping motor based on the first electric signal and the second electric signal so as to enable the stepping motor to control the position of the throttle to change; the controlling the rotation of the stepper motor based on the first electrical signal and the second electrical signal includes:
calculating the difference value of the first electric signal and the second electric signal to obtain a target difference value;
determining the rotation direction of the stepping motor based on the positive and negative of the target difference value;
determining the pulse frequency of a pulse signal for controlling the stepping motor based on the magnitude of the target difference value and a second preset curve; the second preset curve is a relation curve of the magnitude of the target difference value and the pulse frequency of the pulse signal for controlling the stepping motor;
and controlling the rotation of the stepping motor based on the rotation direction and the pulse frequency until the target difference value is smaller than a preset threshold value.
2. The method of claim 1, wherein determining the direction of rotation of the stepper motor based on the positive and negative of the target difference comprises:
judging whether the target difference value is a positive number or not;
if yes, controlling the rotation direction of the stepping motor to be forward rotation;
if not, controlling the rotation direction of the stepping motor to be reverse rotation.
3. The method according to claim 1, wherein the method further comprises:
and determining the first preset curve based on the electric signal values of the target sensor at different rotating speeds of the target engine.
4. The system is applied to a stepping motor, wherein the output end of the stepping motor is connected with an accelerator of a target engine, and the target engine is an engineering mechanical engine; characterized by comprising the following steps: the first acquisition module, the second acquisition module, the first determination module and the control module, wherein,
the first acquisition module is used for acquiring a target rotating speed; the target rotating speed is the rotating speed to be adjusted of the target engine;
the second acquisition module is used for acquiring a first electric signal corresponding to the current position of the accelerator of the target engine in real time through a target sensor; the first electrical signal is any one of the following: a voltage signal, a current signal; the target sensor is a position sensor of the throttle;
the first determining module is used for determining a second electric signal corresponding to the target rotating speed based on a first preset curve; the first preset curve is a relation curve of electric signals generated by the target sensor based on the position of the accelerator at different rotating speeds of the target engine; the second electrical signal is the same type of electrical signal as the first electrical signal;
the control module is used for controlling the rotation of the stepping motor based on the first electric signal and the second electric signal so as to enable the stepping motor to control the position of the throttle to change; the control module further includes: a calculating unit, a first determining unit, a second determining unit and a control unit, wherein,
the calculating unit is used for calculating the difference value of the first electric signal and the second electric signal to obtain a target difference value;
the first determining unit is used for determining the rotation direction of the stepping motor based on the positive and negative of the target difference value;
the second determining unit is used for determining the pulse frequency of the pulse signal for controlling the stepping motor based on the magnitude of the target difference value and a second preset curve; the second preset curve is a relation curve of the magnitude of the target difference value and the pulse frequency of the pulse signal for controlling the stepping motor;
and the control unit is used for controlling the rotation of the stepping motor based on the rotation direction and the pulse frequency until the magnitude of the target difference value is smaller than a preset threshold value to stop the rotation.
5. The system of claim 4, wherein the first determining unit is further configured to:
judging whether the target difference value is a positive number or not;
if yes, controlling the rotation direction of the stepping motor to be forward rotation;
if not, controlling the rotation direction of the stepping motor to be reverse rotation.
6. The system of claim 4, wherein the system further comprises: and the second determining module is used for determining the first preset curve based on the electric signal values of the target sensor at different rotating speeds of the target engine.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of any of the preceding claims 1 to 3 when the computer program is executed.
8. A computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the method of any one of claims 1 to 3.
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| JP2551656B2 (en) * | 1989-04-20 | 1996-11-06 | 株式会社豊田中央研究所 | Rotational speed control device for internal combustion engine |
| TWI268044B (en) * | 2004-08-20 | 2006-12-01 | Transpacific Plasma Llc | Stepper motor acceleration system and method |
| JP2009197694A (en) * | 2008-02-21 | 2009-09-03 | Yanmar Co Ltd | Inverter-type engine power generating equipment |
| CN102733961B (en) * | 2012-04-01 | 2015-05-13 | 中联重科股份有限公司 | Calibration method, device and system for gears and rotating speeds of engineering machinery and engine |
| CN104265465B (en) * | 2014-09-18 | 2016-11-02 | 力帆实业(集团)股份有限公司 | Throttle control |
| CN207835373U (en) * | 2017-12-22 | 2018-09-07 | 贵州利莱豪斯动力机械制造有限公司 | A kind of control system of automatic adjustment engine speed |
| CN109698653B (en) * | 2019-02-28 | 2024-01-09 | 苏州科技大学 | Speed regulation control method of small gasoline engine generator based on transmission speed measurement |
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| JP2008075469A (en) * | 2006-09-19 | 2008-04-03 | Kokusan Denki Co Ltd | Rotation control device for engine |
| CN105114188A (en) * | 2015-07-31 | 2015-12-02 | 株洲南车时代电气股份有限公司 | Self-adaptive step-by-step speed regulation method for diesel engine |
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