CN104005868A - Fuel injection advance angle compensation method and system - Google Patents
Fuel injection advance angle compensation method and system Download PDFInfo
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- CN104005868A CN104005868A CN201410191319.7A CN201410191319A CN104005868A CN 104005868 A CN104005868 A CN 104005868A CN 201410191319 A CN201410191319 A CN 201410191319A CN 104005868 A CN104005868 A CN 104005868A
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Abstract
The embodiment of the invention provides a fuel injection advance angle compensation method and system. The method comprises the steps that a master ECU output end sends testing signals, and a master ECU input end and a slave ECU input end receive the testing signals; a master ECU records a reference angle of a signal panel as a first reference angle when the master ECU input end receives the testing signals; a slave ECU records a reference angle of the signal panel as a second reference angle when the slave ECU input end receives the testing angles; the difference value of the first reference angle and the second reference angle is used as a compensation angle, and the compensation angle is compensated for an original fuel injection advance angle of the master ECU or the slave ECU; a compensation fuel injection advance angle of the master ECU or the slave ECU is obtained.
Description
Technical field
The present invention relates to technical field of engines, particularly a kind of injection advance angle compensation method and system.
Background technique
ECU (Electronic Control Unit, electronic control unit) is the microcontroller being applied on automobile.Two ECU motors that present stage occurs, control motor from ECU jointly by a main ECU and one exactly, and each ECU controls the injection of a part of oil nozzle.
In existing motor, can have one along with the signal panel of engine speed rotation, the position of each cylinder piston is all keeping known and fixing corresponding relation with the angle of swing of signal panel.When cylinder piston arrives top dead center (TDC, Top Dead Center), the upper only angle that the angle of signal panel is this cylinder.ECU need, in the situation that piston TDC reserves certain advancement amount relatively, control oil nozzle to in-cylinder injection fuel oil.For this reason, principal and subordinate ECU is relative set injection advance angle under specific rotation speeds, and ECU deducts described injection advance angle by described upper only angle, calculates the oil spout angle of this cylinder fuel injection mouth; ECU controls oil nozzle oil spout when signal panel rotate to the position at oil spout angle, has just embodied this advancement amount.Principal and subordinate ECU is all by the angle of the real-time perceptual signal disc spins of sensor, triggers at once oil nozzle oil spout when signal panel reach oil spout angle; So that ECU perceptual signal dish arrives the transducing signal at oil spout angle, be called as timing signal.
In two ECU motors, each own independently sensor of principal and subordinate ECU.The defect of prior art is just, the error of processing and assembling, or the reason such as transmission delay, often cause two sensors to occur sensing difference.It is not identical that namely principal and subordinate ECU perceives time of timing signal; And then main the ECU oil nozzle of controlling and the oil nozzle oil spout asynchronous (if the oil spout angle of described two oil nozzles is identical, synchronously oil spout in theory) of controlling from ECU; Cause the cylinder combustion situation that described two oil nozzles are corresponding inconsistent, aggravated the fluctuation of rotating speed between cylinder.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of injection advance angle compensation method and system, for the calculating compensation of the injection advance angle of ECU, the control oil nozzle of realizing principal and subordinate ECU synchronously sprays.
For achieving the above object, the present invention has following technological scheme:
An injection advance angle compensation method, described method comprises:
Main ECU output terminal sends test massage, and makes main ECU input end and receives from ECU input end;
When main ECU receives described test signal by main ECU input end, the reference angle of signal panel is recorded as the first reference angle; From ECU reference angle of signal panel when receiving described test signal from ECU input end, be recorded as the second reference angle;
By the difference of described the first reference angle and described the second reference angle angle by way of compensation, described offset angle is compensated to main ECU or from the original injection advance angle of ECU; Obtain main ECU or from the compensation injection advance angle of ECU.
Described main ECU output terminal is digital output stitch, and described main ECU input end and be digital quantity input stitch from ECU input end sends test massage described in and is specially:
By resistance transmitted signal.
Describedly described offset angle is compensated to main ECU or is specially from the original injection advance angle of ECU:
According to the position relationship of offset angle and original injection advance angle, carry out plus and minus calculation, the original injection advance angle from ECU is added to offset angle, obtain the compensation injection advance angle from ECU.
An injection advance angle compensation method, described method comprises:
Set up in advance compensation model, utilize the offset angle under the current rotating speed of described compensation model calculation engine;
Described offset angle is compensated on main ECU or the original injection advance angle from the current rotating speed of ECU, obtain main ECU or the compensation injection advance angle from the current rotating speed of ECU.
The described compensation model of setting up is in advance specially:
Default a plurality of rated rotational frequencies, calculate the offset angle that each rated rotational frequency is corresponding; According to each rated rotational frequency and corresponding offset angle, set up the function relation of rotating speed and offset angle; Using described function relation as described compensation model.
Offset angle corresponding to described calculating rated rotational frequency is specially:
When motor reaches rated rotational frequency, main ECU output terminal sends test massage, and makes main ECU input end and receives from ECU input end;
When main ECU receives described test signal by main ECU input end, the reference angle of signal panel is recorded as the first reference angle; From ECU reference angle of signal panel when receiving described test signal from ECU input end, be recorded as the second reference angle;
Using described the first reference angle with the difference of described the second reference angle as offset angle corresponding to this rated rotational frequency.
Offset angle corresponding to described calculating rated rotational frequency also comprises:
When motor reaches rated rotational frequency, repeatedly calculate offset angle and average, using described mean value as offset angle corresponding to this rated rotational frequency.
An injection advance angle bucking-out system, described system comprises:
Main ECU, for sending test massage, and receives test signal, and when self is received to described test signal, the reference angle of signal panel is recorded as the first reference angle;
From ECU, for receiving test signal, when self is received to described test signal, the reference angle of signal panel is recorded as the first reference angle;
Described main ECU or comprise compensating module from ECU, described compensating module is for by the difference of described the first reference angle and described the second reference angle angle by way of compensation, described offset angle compensated to main ECU or from the original injection advance angle of ECU; Obtain main ECU or from the compensation injection advance angle of ECU.
An injection advance angle bucking-out system, described system comprises:
Model module, for setting up in advance compensation model, utilizes the offset angle under the current rotating speed of described compensation model calculation engine;
Compensating module, for described offset angle being compensated to main ECU or the original injection advance angle from the current rotating speed of ECU, obtains main ECU or the compensation injection advance angle from the current rotating speed of ECU.
Described model module comprises:
Rotating speed unit, for default a plurality of rated rotational frequencies;
Computing unit, for calculating the offset angle that each rated rotational frequency is corresponding;
Function unit, for according to each rated rotational frequency and corresponding offset angle, sets up the function relation of rotating speed and offset angle; Using described function relation as described compensation model.
When motor reaches rated rotational frequency, main ECU output terminal sends test massage, and makes main ECU input end and receives from ECU input end; Described computing unit comprises:
First records subelement, and the reference angle of signal panel is recorded as the first reference angle when main ECU input end is received to described test signal;
Second records subelement, for being recorded as the second reference angle from ECU reference angle of signal panel when receiving described test signal from ECU input end;
Offset angle subelement, for using described the first reference angle with the difference of described the second reference angle as offset angle corresponding to this rated rotational frequency.
As seen through the above technical solutions, the beneficial effect that the present invention exists is: by calculating offset angle and original injection advance angle being compensated, realized the synchronous oil spout of principal and subordinate ECU; Realization is directly calculated offset angle and is compensated by default mathematical model, has simplified the flow process of described injection advance angle compensation, has improved efficiency.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technological scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Figure 1A～Fig. 1 C is the structural representation of signal panel in prior art;
Fig. 2 A～Fig. 2 B is the square wave electrical signal schematic diagram that in prior art, sensor receives;
Fig. 3 is method flow diagram described in the embodiment of the present invention;
Fig. 4 is for principal and subordinate ECU transmission and receive test signal schematic diagram
Fig. 5 A～Fig. 5 C is the square wave schematic diagram of injection advance angle and offset angle;
Fig. 6 is system architecture schematic diagram described in the embodiment of the present invention;
Fig. 7 is method flow diagram described in another embodiment of the present invention;
Fig. 8 is system architecture schematic diagram described in another embodiment of the present invention.
Embodiment
For making object, technological scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the accompanying drawing in the embodiment of the present invention, technological scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, rather than whole embodiments.Embodiment based in the present invention, those of ordinary skills, not making the every other embodiment who obtains under creative work prerequisite, belong to the scope of protection of the invention.
For ease of to the explanation of overall technical architecture of the present invention and explanation, the present invention is concrete description principal and subordinate ECU perception timing signal, and it is as follows to control the principle of oil nozzle oil spout:
Shown in Fig. 1, it is the schematic diagram of described signal panel and sensor.In the present invention, suppose that described signal panel are the gear of 60 scarce 2 teeth, signal panel rotate a tooth and rotate 6 °.Principal and subordinate ECU respectively has a sensor, is arranged in signal panel edge.Between principal and subordinate ECU sensor, angle is α °.
ECU sensor utilizes peripheral circuit that the concavo-convex variation of wheel tooth is converted to square wave electrical signal, as Fig. 2.The sensor of principal and subordinate ECU is all as a reference point with the electrical signal at hypodontia place, namely ought perceive the lower edge of hypodontia prescription ripple electrical signal, starts the calculating of angle.Figure 1A has shown that main ECU sensor arrives the situation of reference point.
In addition, also need set up with reference to angle for signal panel and actual conditions, in the present invention, will from motor, select one with reference to cylinder, and while thinking the described piston arrives TDC with reference to cylinder, the position of corresponding signal panel is with reference to 0 °, the angle value at the He Shangzhi angle, oil spout angle that all the other are all, all means with respect to the reference angle with reference to 0 °.
Shown in Figure 1B, main ECU sensor has been described after reference point, be rotated counterclockwise again β °, signal panel reach the situation with reference to 0 °.Visible by the square wave schematic diagram shown in Fig. 2, after main ECU sensor arrives reference point, 0 ° of β ° of arrival reference of process; From ECU sensor arrives reference point, need be in process (alpha+beta) ° arrival with reference to 0 °.
Next referring to Fig. 1 C, suppose that the first oil nozzle that main ECU controls is 30 ° with the oil spout angle of the second oil nozzle of controlling from ECU, namely on the position of Figure 1B, described signal panel continue to be rotated counterclockwise 30 ° of (5 teeth of corresponding gear, produce 5 square signals), principal and subordinate ECU will receive timing signal simultaneously, and then controls the first oil nozzle and the synchronous oil spout of the second oil nozzle.Referring to Fig. 2, when main ECU sensor senses under the square wave of institute's mark in Fig. 2 A along electrical signal a, mean and receive timing signal; In like manner from ECU sensor senses to Fig. 2 B under the square wave of institute's mark along electrical signal b, mean and receive timing signal.
In theory, main ECU sensor senses to electrical signal a and from ECU, perceive electrical signal b should be in the same moment, so the oil spout of described the first oil nozzle and the second oil nozzle is also synchronous.But in actual application, many error components can cause the two to perceive inconsistent on timing signal time, cause thus the asynchronous of oil spout, caused the cylinder combustion situation that described two oil nozzles are corresponding inconsistent, aggravated the fluctuation of rotating speed between cylinder.
Shown in Figure 3, be the specific embodiment of injection advance angle compensation method of the present invention.In the present embodiment, for the calculating compensation of the injection advance angle of ECU, the control oil nozzle of realizing principal and subordinate ECU synchronously sprays.Described in the present embodiment, method comprises the following steps:
Step 301, main ECU output terminal send test massage, and make main ECU input end and receive from ECU input end.
Shown in Figure 4, for main ECU in the present embodiment with from the structural representation of ECU.Described main ECU output terminal is digital output stitch, described main ECU input end and be digital quantity input stitch from ECU input end, and described test signal is pulse signal.The output terminal of main ECU sends a pulse signal, by resistance, flows to respectively main ECU input end and from ECU input end.Think in theory, the moment that the input end of principal and subordinate ECU receives described pulse signal is identical, and principal and subordinate ECU sensor is also identical at the signal panel of this perception constantly with reference to angle in theory.But due to sensing delay and frock error, principal and subordinate ECU sensor is in fact not identical with reference to angle at the signal panel of this perception constantly, and the signal panel of the two perception are with reference to the difference of angle, i.e. the relative delay of principal and subordinate ECU perception timing signal, is also the required offset angle of described method.
When step 302, main ECU receive described test signal by main ECU input end, the reference angle of signal panel is recorded as the first reference angle; From ECU reference angle of signal panel when receiving described test signal from ECU input end, be recorded as the second reference angle.
Although main ECU and relative delay from ECU perception timing signal are temporal delay in essence; But known by aforementioned content, this length of delay is weighed by Zhong Buyi of the present invention unit of time, but use by the angle of signal panel, weighs and calculate this delay.That is to say the angle that becomes signal panel to rotate the time conversion of delay within retard time.
Main ECU receives the moment of test signal, the reference angle of signal panel when being reflected as main ECU input end and receiving described test signal, main ECU using this angle recordings and as first with reference to angle.From ECU, receive the moment of test signal, be reflected as the reference angle of signal panel while receiving described test signal from ECU input end, from ECU using this angle recordings and as second with reference to angle.
Step 303, by the difference of described the first reference angle and described the second reference angle angle by way of compensation, described offset angle is compensated to main ECU or from the original injection advance angle of ECU; Obtain main ECU or from the compensation injection advance angle of ECU.
Offset angle described in the present embodiment can be the poor of the first reference angle and the second reference angle.Principal and subordinate ECU for compensation injection advance angle become original injection advance angle, and compensation after injection advance angle become compensation injection advance angle.Described offset angle can compensate to main ECU or from either party original injection advance angle of ECU in theory, but often compensates to from ECU in actual applications.The computing of described compensation carries out plus and minus calculation according to the position relationship of offset angle and original injection advance angle.
Reference is square wave schematic diagram as shown in Figure 5, and Fig. 5 A is the square wave schematic diagram that main ECU sensor receives, and Fig. 5 B is the square wave schematic diagram receiving from ECU, and injection advance angle does not compensate.Contrast as seen, the original injection advance angle of the two is 12 °, but relatively lags behind from ECU, so the oil spout of principal and subordinate ECU is asynchronous.By said method, can calculate, the angle that offset angle lags behind from ECU is 5 °, and offset angle and the original injection advance angle from ECU are added, and obtaining from the compensation injection advance angle of ECU is (12+5)=17 °.After compensation as shown in Figure 5 C.Comparison diagram 5A and Fig. 5 C, after visible compensation, the oil spout of principal and subordinate ECU realizes synchronous.
Shown in Figure 6 is a specific embodiment of system of the present invention, embodiment illustrated in fig. 3 described in method be applied in the middle of the system shown in Fig. 6.Described system comprises:
Main ECU, for sending test massage, and receives test signal, and when self is received to described test signal, the reference angle of signal panel is recorded as the first reference angle.
From ECU, for receiving test signal, when self is received to described test signal, the reference angle of signal panel is recorded as the first reference angle.
Described main ECU or comprise compensating module from ECU, described compensating module is for by the difference of described the first reference angle and described the second reference angle angle by way of compensation, described offset angle compensated to main ECU or from the original injection advance angle of ECU; Obtain main ECU or from the compensation injection advance angle of ECU.
Described compensating module can be placed in main ECU or from ECU, from ECU, comprise the concrete condition of compensating module shown in Fig. 6.
As seen through the above technical solutions, the beneficial effect that the present embodiment exists is: by calculating offset angle and original injection advance angle being compensated, realized the synchronous oil spout of principal and subordinate ECU.
Shown in Figure 7, be another specific embodiment of the method for the invention.The present embodiment, on basis embodiment illustrated in fig. 3, is peeled off the process of wherein calculating described offset angle, and this process is made as to mathematical model; Thereby without double counting in each compensation process again, the flow process of described method is further simplified.
It should be noted that, because the setting of injection advance angle is relevant to engine speed, so the concrete numerical value of offset angle is also associated with rotating speed, the numerical value of offset angle can be thought the function of rotating speed in other words.In the present embodiment, utilize the method for calculating offset angle in previous embodiment, set up the function relation of rotating speed and offset angle; Thereby under actual conditions, just can directly be compensated angle and compensate by rotating speed.
Shown in Figure 7, in the present embodiment, said method comprising the steps of:
Step 701, set up compensation model in advance, utilize the offset angle under the current rotating speed of described compensation model calculation engine.
In the present embodiment, the thinking of setting up described compensation model is specific as follows:
S1, default a plurality of rated rotational frequencies, calculate the offset angle that each rated rotational frequency is corresponding.
Known fuel injection advance angle and offset angle are all corresponding with rotating speed, thus in the present embodiment, first select a plurality of representative rated rotational frequencies, and calculate the concrete numerical value of offset angle under rated rotational frequency.
The method of calculating offset angle under described rated rotational frequency can be with reference to the description in step 301～step 302; Or be specifically summarised as:
When motor reaches rated rotational frequency, main ECU output terminal sends test massage, and makes main ECU input end and receives from ECU input end;
When main ECU receives described test signal by main ECU input end, the reference angle of signal panel is recorded as the first reference angle; From ECU reference angle of signal panel when receiving described test signal from ECU input end, be recorded as the second reference angle;
Using described the first reference angle with the difference of described the second reference angle as offset angle corresponding to this rated rotational frequency.
S2, according to each rated rotational frequency and corresponding offset angle, set up the function relation of rotating speed and offset angle; Using described function relation as described compensation model.
After having obtained a plurality of rated rotational frequencies and corresponding offset angle, according to rotating speed and offset angle, set up rectangular coordinate system, and by described point interpolation, draw out the function curve of rotating speed and offset angle, form the function relation between the two.This function relation is the compensation model described in the present embodiment.
Step 702, described offset angle is compensated on main ECU or the original injection advance angle from the current rotating speed of ECU, obtain main ECU or the compensation injection advance angle from the current rotating speed of ECU.
Also it should be noted that, in the present embodiment, for making described compensation model more accurate, can also increase following steps:
Step s1.1, when motor reaches rated rotational frequency, repeatedly calculates offset angle and averages, using described mean value as offset angle corresponding to this rated rotational frequency.
That is to say, in the present embodiment, can repeatedly calculate the offset angle that certain rated rotational frequency is corresponding, and get the mean value repeatedly calculating, to reduce error.
Shown in Figure 8, be a specific embodiment of system of the present invention, method shown in the corresponding diagram 7 of system described in the present embodiment, described system specifically comprises:
Model module, for setting up in advance compensation model, utilizes the offset angle under the current rotating speed of described compensation model calculation engine.
Described model module comprises:
Rotating speed unit, for default a plurality of rated rotational frequencies.
Computing unit, for calculating the offset angle that each rated rotational frequency is corresponding.
When motor reaches rated rotational frequency, main ECU output terminal sends test massage, and makes main ECU input end and receives from ECU input end; Described computing unit comprises:
First records subelement, and the reference angle of signal panel is recorded as the first reference angle when main ECU input end is received to described test signal.
Second records subelement, for being recorded as the second reference angle from ECU reference angle of signal panel when receiving described test signal from ECU input end.
Offset angle subelement, for using described the first reference angle with the difference of described the second reference angle as offset angle corresponding to this rated rotational frequency.
Function unit, for according to each rated rotational frequency and corresponding offset angle, sets up the function relation of rotating speed and offset angle; Using described function relation as described compensation model.
Compensating module, for described offset angle being compensated to main ECU or the original injection advance angle from the current rotating speed of ECU, obtains main ECU or the compensation injection advance angle from the current rotating speed of ECU.
As seen through the above technical solutions, the beneficial effect that the present embodiment exists is that realization is directly calculated offset angle and compensated by default mathematical model, has simplified the flow process of described injection advance angle compensation, has improved efficiency.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (11)
1. an injection advance angle compensation method, is characterized in that, described method comprises:
Main ECU output terminal sends test massage, and makes main ECU input end and receives from ECU input end;
When main ECU receives described test signal by main ECU input end, the reference angle of signal panel is recorded as the first reference angle; From ECU reference angle of signal panel when receiving described test signal from ECU input end, be recorded as the second reference angle;
By the difference of described the first reference angle and described the second reference angle angle by way of compensation, described offset angle is compensated to main ECU or from the original injection advance angle of ECU; Obtain main ECU or from the compensation injection advance angle of ECU.
2. method according to claim 1, is characterized in that, described main ECU output terminal is digital output stitch, and described main ECU input end and be digital quantity input stitch from ECU input end sends test massage described in and is specially:
By resistance transmitted signal.
3. method according to claim 1, is characterized in that, describedly described offset angle is compensated to main ECU or be specially from the original injection advance angle of ECU:
According to the position relationship of offset angle and original injection advance angle, carry out plus and minus calculation, the original injection advance angle from ECU is added to offset angle, obtain the compensation injection advance angle from ECU.
4. an injection advance angle compensation method, is characterized in that, described method comprises:
Set up in advance compensation model, utilize the offset angle under the current rotating speed of described compensation model calculation engine;
Described offset angle is compensated on main ECU or the original injection advance angle from the current rotating speed of ECU, obtain main ECU or the compensation injection advance angle from the current rotating speed of ECU.
5. method according to claim 4, is characterized in that, the described compensation model of setting up is in advance specially:
Default a plurality of rated rotational frequencies, calculate the offset angle that each rated rotational frequency is corresponding; According to each rated rotational frequency and corresponding offset angle, set up the function relation of rotating speed and offset angle; Using described function relation as described compensation model.
6. method according to claim 5, is characterized in that, offset angle corresponding to described calculating rated rotational frequency is specially:
When motor reaches rated rotational frequency, main ECU output terminal sends test massage, and makes main ECU input end and receives from ECU input end;
When main ECU receives described test signal by main ECU input end, the reference angle of signal panel is recorded as the first reference angle; From ECU reference angle of signal panel when receiving described test signal from ECU input end, be recorded as the second reference angle;
Using described the first reference angle with the difference of described the second reference angle as offset angle corresponding to this rated rotational frequency.
7. method according to claim 6, is characterized in that, offset angle corresponding to described calculating rated rotational frequency also comprises:
When motor reaches rated rotational frequency, repeatedly calculate offset angle and average, using described mean value as offset angle corresponding to this rated rotational frequency.
8. an injection advance angle bucking-out system, is characterized in that, described system comprises:
Main ECU, for sending test massage, and receives test signal, and when self is received to described test signal, the reference angle of signal panel is recorded as the first reference angle;
From ECU, for receiving test signal, when self is received to described test signal, the reference angle of signal panel is recorded as the first reference angle;
Described main ECU or comprise compensating module from ECU, described compensating module is for by the difference of described the first reference angle and described the second reference angle angle by way of compensation, described offset angle compensated to main ECU or from the original injection advance angle of ECU; Obtain main ECU or from the compensation injection advance angle of ECU.
9. an injection advance angle bucking-out system, is characterized in that, described system comprises:
Model module, for setting up in advance compensation model, utilizes the offset angle under the current rotating speed of described compensation model calculation engine;
Compensating module, for described offset angle being compensated to main ECU or the original injection advance angle from the current rotating speed of ECU, obtains main ECU or the compensation injection advance angle from the current rotating speed of ECU.
10. system according to claim 9, is characterized in that, described model module comprises:
Rotating speed unit, for default a plurality of rated rotational frequencies;
Computing unit, for calculating the offset angle that each rated rotational frequency is corresponding;
Function unit, for according to each rated rotational frequency and corresponding offset angle, sets up the function relation of rotating speed and offset angle; Using described function relation as described compensation model.
11. systems according to claim 10, is characterized in that, when motor reaches rated rotational frequency, main ECU output terminal sends test massage, and makes main ECU input end and receives from ECU input end; Described computing unit comprises:
First records subelement, and the reference angle of signal panel is recorded as the first reference angle when main ECU input end is received to described test signal;
Second records subelement, for being recorded as the second reference angle from ECU reference angle of signal panel when receiving described test signal from ECU input end;
Offset angle subelement, for using described the first reference angle with the difference of described the second reference angle as offset angle corresponding to this rated rotational frequency.
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| CN109356737A (en) * | 2018-09-30 | 2019-02-19 | 潍柴动力股份有限公司 | A kind of control method and system of multicylinder engine |
| CN113348421A (en) * | 2021-04-28 | 2021-09-03 | 华为技术有限公司 | Camera equipment, data acquisition system and method |
| CN114962045A (en) * | 2022-05-26 | 2022-08-30 | 上海工程技术大学 | Multi-cylinder synchronous control method for marine low-speed engine |
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