CN85105778A - Engine controlling unit - Google Patents
Engine controlling unit Download PDFInfo
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- CN85105778A CN85105778A CN 85105778 CN85105778A CN85105778A CN 85105778 A CN85105778 A CN 85105778A CN 85105778 CN85105778 CN 85105778 CN 85105778 A CN85105778 A CN 85105778A CN 85105778 A CN85105778 A CN 85105778A
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Abstract
The predetermined running that host computer provides master signal to come ato unit, and export the monitor signal that between high-low level, changes by predetermined period.Whether this monitor signal of host computer monitor monitors also changes according to the state of monitor signal and to change its output.Secondary computer provides output that auxiliary control signal comes ato unit bottom line operation and monitoring host computer monitor to measure the host computer fault, serious when judging the host computer fault by the output of host computer monitor, secondary computer just sends the conversion demand signal, disconnects master signal thereby connect auxilliary control signal.
Description
The invention relates to a kind of control gear of internal-combustion engine, more particularly, is the improvement about the engine controlling unit with two computing devices, these two computing devices, and one is to provide control signal for master motor.Another is for the stand-by provision of auxiliary engine control signal is provided.This control gear is when the computing device cisco unity malfunction of master motor control signal, switches to auxiliary control signal from main control signal.
Above-mentioned this class conventional equipment for example can be from U. S. Patent NO4,444, learn in 048, in this device, host computer according to be installed on the motor and foreign equipment and parts thereof on sensor at that time Operational Limits, provide master signal to start a predetermined operation to internal-combustion engine, and secondary computer only just comes into operation when host computer breaks down, and is some simple signals so that start function to arrive next overhaul stand under MIN operation for motor provides an auxiliary control signal.
In addition, also have a change-over circuit, if break down or malfunctioning when host computer, this change-over circuit promptly carries out the switching from the host computer to the secondary computer.For this reason, host computer not only provides a master motor control signal, a supervisory signal also is provided, whether normal this supervisory signal be the serviceability of indication host computer signal, a tracer is monitored this supervisory signal all the time, and for example detects fault at this fault monitor: show when the normal supervisory signal of moving of host computer disappears to switching signal of change-over circuit output.And secondary computer is to monitor by means of a test procedure of carrying out in the host computer.
In this way, promptly host computer monitors with tracer in known system, and secondary computer is monitored by host computer.Yet, do not consider the fault of tracer itself, so the reliability of whole system reduces.Moreover in known system, various tracers are made up of so-called wired logical circuit.Its result, tracer is more complicated and engine control change lacked flexibility structurally.
The purpose of this invention is to provide an improved engine controlling unit, because it not only is convenient to monitor the functional failure of host computer or misoperation but also is convenient to monitor as the fault of the monitor unit of host computer and malfunctioning, thereby obtain the height reliability of whole system.
According to one of feature of the present invention, have a host computer device, it provides the master motor control signal and produces a supervisory signal that shows the itself working state according to the engine operating parameter signal, also have the auxiliary computing device that the auxiliary engine control signal is provided simultaneously, motor is controlled at the host computer device during the malfunctioning or abnormal operation by the auxiliary engine control signal.When detecting malfunctioning or during misoperation, the host computer monitoring device receives the monitor signal from the host computer device, thereby produce a malfunctioning detecting signal, and malfunctioning detecting signal is monitored that by auxiliary computing device this auxiliary computing device is replied the malfunctioning detecting signal that is produced and exported a conversion demand signal.Under the condition that has handoff request, carry out of the switching of master motor control signal to the auxiliary engine control signal, then auxiliary computing device puts into operation fully.
According to above-mentioned characteristic, the malfunctioning or misoperation of host computer device is measured by secondary computer by the host computer monitoring device, and this secondary computer only is used to provide an auxiliary engine control signal in known devices.The result is that auxiliary computing device detects the host computer monitoring device.Therefore, compare with the known engine control gear, the reliability of whole system improves.
If auxiliary computing device also has a monitoring device, then the reliability of system has just been improved greatly.
We point out in claims one by one the feature of desired protection, and invention itself and further purpose thereof and advantage can be by will be better appreciated by with reference to following description taken in conjunction with the accompanying drawings.
Fig. 1 represents engine controlling unit according to an embodiment of the invention;
Fig. 2 is the time diagram for the runnability of device shown in the interpretation maps 1;
In the operation of Fig. 3 presentation graphs 1 shown device to secondary computer, produce the operational flowchart of switching request signal.
Fig. 4 is a figure, is illustrated in the secondary computer operation, can produce the application drawing of the engine control signal that allows the operation of motor bottom line.
Fig. 5 represents the embodiment of the physical circuit of a computer monitor that is used for Fig. 1 device.
Fig. 6 represents an embodiment who is used for the different switching signal generator of Fig. 1 device.
Below with reference to accompanying drawing, embodiments of the invention are described, at first in Fig. 1, host computer 2 is by the various signals of input/output circuitry 4 input motors, and these signals are being represented the Operational Limits of the running state of institute's control engine.These signals obtain from various sensors, these sensors are installed in motor itself and peripheral unit and the parts, in the drawings, an air flow sensor 6 is arranged, its detection of engine amount of air drawn, also have a turn-sensitive device 8, the pulse that its produces is corresponding to the position, angle of engine crankshaft, and synchronous with engine revolution.These two Operational Limitss are the most basic to the control motor, yet, other parameter as we usually known to, the temperature of cooling water for example, the aperture of air throttle, drive ranges etc. also can take in.
According to above-mentioned input signal, computer 2 calculates and definite master motor control signals, fuel cut engine ratio for example, firing time or the like.For this purpose, computer 2 is linked to the read-only memory (RQM) 10 of the program that has aforementioned calculation and determine, be linked to random access memory (RAM) (RAM) 12 again, it stores the data of required calculating when necessary data of executive routine and program running are arranged, and computer 2 links with input/output circuitry 4 by address bus 14 and data/address bus 16.
The data that the computer 2 that is connected by this mode is calculated, fuelcarrying charge for example above-mentioned and firing time are delivered to each actuator by a change-over circuit 24 with input/output circuitry 4 as engine control signal.In this embodiment, an actuator 18 feeding mechanism that acts as a fuel is arranged, an actuator 20 is as ignition control device, and an actuator 22 pump that acts as a fuel.From 18 to 20 these actuators work under the signal domination, cause in motor and move by predetermined way.Here the kind that should note sensor and actuator is to determine according to the design philosophy of desired engine control.Therefore, for satisfying the required controlling Design thought of starting, sensor, actuator and the combination between them can change.
Counting normal machine 2 produces one and is in normal operation signal term of execution that program is normal; this signal is sent into host computer monitor 26 as monitor signal 26a by input/output circuitry 4; when computer 2 normal operations; monitor signal 26a changes its state with predetermined interval between high and low level, the A district as shown in Fig. 2 (a).In this embodiment, be set at 10 milliseconds blanking time.If computer 2 becomes malfunctioning or during misoperation, the potential change of monitor signal 26a disappears or the potential change spacing strengthens.Shown in Fig. 2 (a) B district.Therefore, the malfunctioning or misoperation of computer 2 can be by observing monitor signal 26(a) change of state find out.
When finding operation troubles or unusual by observing monitor signal 26a, monitor 26 beginnings change state in its output signal 26b, shown in Fig. 2 (b), during monitor signal 26a existence changes, signal 26b remains on high level, and when the monitor signal change of state disappeared, signal 26b pressed predetermined interval at height, changed between low level.The time lag of signal 26b change of state is 100 milliseconds in the present embodiment, promptly more than 10 of monitor signal 26a times.
The concrete circuit of host computer monitor 26 is shown in Fig. 5, with reference to figure 5, transistor 56 1 ends link to each other with power supply 52 by resistance 54, one end ground connection, and provide a monitor signal 26a in its base stage, when computer 2 proper functioning, transistor 56 is by its base stage receiving cycle pulse and make it repeat conducting or end.Therefore, electric capacity 58 is discharged and recharged repeatedly.When transistor 56 by the time, in the previous cycle, enter electric capacity 60 through resistance 54 and to its charging from the electric current of the discharge charge amount decision of electric capacity 58 from power supply 52.Therefore, the terminal voltage Vin of electric capacity 60 presents low level.
Terminal voltage Vin is transfused to comparator 64, and, also being imported into comparator 64 by resistance 66 and the 68 constant voltage Vref that determine, this comparator is compared voltage Vin with voltage Vref.When computer 2 proper functioning, voltage Vin is that high level is Vin＞Vref, and simultaneously, comparator 64 produces a low level output.This signal is by a resistance 70 and transistor 72 is ended so that a high level signal appears in its output terminal.If computer 2 is malfunctioning, the terminal voltage Vin of electric capacity 60 descends so that Vin＜Vref, and so, comparator 64 produces a high level output, and the output of comparator 64 is added on the resistance 68 by a resistance 76, so that voltage Vref is elevated to Vref
1The output of comparator 64 raises voltage Vin for electric capacity 60 chargings by resistance 78.Comparator 64 continues to produce high voltage output and becomes up to voltage Vin and be higher than voltage Vref
1, and transistor 72 becomes and leads.Its as a result end points 74 present low level.
Because the terminal voltage Vin of capacitor 60 becomes greater than voltage Vref
1, comparator 64 produces low level output, so voltage Vref
1Return to initial voltage Vref, transistor 72 becomes and ends, and end points 74 presents high voltage.Therefore, end points 74 produces low level pulse and high level pulse repeatedly.This signal that occurs at end points 74 becomes signal 26b, and as described below, it plays the zero setting signal to computer 2 and input/output circuitry 4.So, claim that after this signal 26b is the zero setting signal.
Again referring to Fig. 1, zero setting signal 26b is introduced to the zero setting end and the input/output circuitry 4 of secondary computer 28 and host computer 2 now.Secondary computer 28 provides auxiliary engine control signal 28C according to the signal from turn-sensitive device 8.Auxiliary engine control signal 28C is such signal, and it is enough to keep the operation of motor bottom line up to reaching next overhaul stand.In this embodiment, the auxiliary engine control signal comprises that fuel injects cycle and firing time, to produce the MIN running state of aforesaid motor.The detailed description of this operation will be made with reference to Fig. 4 in the back, and but, secondary computer 28 is certainly made more complicatedly.
Have, by monitoring zero setting signal 26b, secondary computer 28 can judge whether the malfunctioning or misoperation of host computer 2 is serious again.For this reason, for example per 5 milliseconds of states of observing a zero setting signal 26b of secondary computer 28 are shown in Fig. 2 (c).If zero setting signal 26b remains on high level or the low level,, can judge that the operation of host computer 2 is normal as remaining on high level in the present embodiment.When zero setting signal 26b goes up potential change takes place, secondary computer 28 is counted change frequency in the scheduled period.If count value exceeds predetermined value, for example 3 times shown in Fig. 2 (b), the malfunctioning or misoperation that then can conclude host computer 2 are so serious so that the signal conversion that should switch from host computer 2 arrives redundant computer 28.
In above-mentioned discriminating program; Secondary computer is described in more detail with reference to Fig. 3.Whether serious this figure be malfunctioning or misoperation the method flow diagram that host computer 2 is differentiated in explanation.The for example per 5 milliseconds of execution of the program of this flow chart once.
When program began, in 100 steps, a time counter added 1 on its former number.Such addition is once done once in the every execution of program, and promptly the time counter counts the number of times of executive routine.Like this, because this program implementation is clocklike, promptly per 5 milliseconds, the number of time counter meter means the time t that has been experienced since its first increment.In the 102nd step, judge whether to surpass preset time, this scheduled time is given as 1 second in the present embodiment.If the time of being experienced, 106 steps of program to the were so that zero setting signal 26b is read into and is stored in the redundant computer 28 in 1 second.
Yet if elapsed time surpasses 1 second, the t of content separately of described another counter of time counter and back and n were eliminated in the 104th step, and then, zero setting signal 26b is read and deposits.The 108th step zero setting signal that will deposit in like this and last time read and the zero setting signal deposited is made comparisons, if its state and previous time is identical, then no longer do anything, and this program has just been finished.If its state to previous state variation has taken place, counter adds 1 in the 110th step with its content, and the number of times of this counter storage zero setting signal change then, judges in the 112nd step whether count value n is bigger than predetermined value N.Recognize that by Fig. 2 (b) predetermined value N is made as 3 in the present embodiment, program running finishes if count value n less than 3, then anything can not take place.If but count value n surpasses 3, the malfunctioning or misoperation of then judging host computer 2 has arrived serious degree like this, so that engine control signal must be transformed into auxiliary control signal from main control signal.As a result, switching request signal 28a shown in Fig. 2 (d) of redundant computer 28 output then program finish.
In this manner, switching request signal 28a produces when the change of state of zero setting signal 26b immediately, but the change frequency in predetermined range is when surpassing predetermined value, as (switching request signal) output for the first time.Its reason is as follows: if take place to change the malfunctioning or misoperation of just judging host computer 2 immediately for the first time at zero setting signal 26b is serious, then causes the disconnected or switching engine control signal too much of erroneous judgement through regular meeting.Because there is this possibility, even when host computer 2 normal operations, monitor signal 26a may be low level, for example works as the transient fault that power supply or other reason cause, may cause zero setting signal 26b to produce change of state.Therefore moreover the malfunctioning and misoperation of host computer 2 is not serious, exists unnecessaryly to forward engine control signal the situation of auxiliary control signal to from master signal, and host computer 2 may promptly recover normal after this zero setting 26b just has been coupled with.
Again referring to Fig. 1, because switching signal generator 30, in this enforcements, used monostable (one-shot) the multi resonant Swing device that shakes, switching request signal 28a is added to the multi resonant Swing device 30 that shakes and puts 1 end, and it is by the signal 28b triggering from secondary computer 28.At secondary computer 28 normal operation periods, 26a is similar to monitor signal, and signal 26b repeats to change its state in predetermined spacing, shown in the c district among Fig. 2 (e).The time lag that repeats is 10 milliseconds, equals the interval of monitor signal 26a.Malfunctioning when redundant computer 28, the time lag increasing that the change of state of signal 28b disappears and promptly repeats is shown in D among Fig. 2 (e).
When having conversion demand signal 28a, multi resonant shakes Swing device 30 by signal 28b triggering, and enters unstable state.The time constant of Swing device 30 is set at the time lag greater than signal 28b because multi resonant shakes, and in a single day Swing device 30 is triggered just to continue and is held in unstable state so multi resonant shakes.When the multi resonant Swing device 30 that shakes becomes instability, the switching signal shown in Fig. 2 (f) outputs to change-over circuit 24.Change-over circuit 24 forwards auxiliary control signal 28C once receiving that switching signal 30a switches its output signal to from main control signal 4a, moreover when switching signal 30a produced, transistor 34 conductings made zero setting signal 26b invalid.Shown in Fig. 2 (b), thus, prevented the attempt of resetting host computer 2.
In addition, when signal 28b shows redundant computer 28 operation troubless or when unusual, signal 28b can be monitored by secondary computer monitor 36, zero setting signal 36a shown in Fig. 2 (g) of this monitor unit output, zero setting signal 36a is added to the zero setting end of secondary computer 28, thus, secondary computer 28 is restarted.
Subsidiary saying, by the operation of redundant computer 28 generation auxiliary engine control signals, with brief reviews once, and with reference to the explanation in detail of figure 4 dos.Redundant computer 28 has a timer, and it is set in a certain number, and with by the determined speed countdown of clock pulse signal.When setting the number vanishing, timer overflows, and whenever overflows once, and a kind of interruption of generation is overflowed in the setting that will make once this number at every turn, and this signal is referred to as the timer interrupt signal.In this embodiment, the cycle of timer interrupt signal is chosen as about 5 milliseconds.The variation of Fig. 4 (a) expression timer counting.Also have another kind of interrupt signal, i.e. the external interrupt signal that is produced by turn-sensitive device 8 is shown in Fig. 4 (b).External interrupt signal occurs in each angle of rotation of determining of engine revolution.
When external interrupt signal appears in the countdown process of timer, then the timer based on fuel injects the cycle so that a numerical value newly to be set, and that is to say that the content of timer is replaced by above-mentioned numerical value at that time.At this moment, the fuel injection cycle is that set forth the front, only enough keeps motor minimum operation state.Moreover, when external interrupt signal promptly produces with the corresponding signal of the angle of rotation of engine revolution, make igniting time signal and fuel inject periodic signal and become high level, Fig. 4 (C) and 4(d) is shown respectively.
After resetting above-mentioned numerical value, timer is with speed that CLK clock was determined countdown again, and when the content vanishing of timer, counter overflows, and becomes low level thereby make fuel inject signal, stops fuel and injects.Promptly, inject between the signal high period at fuel, carry out fuel and inject, then, calculate the necessary next cycle of igniting, for example should the cycle inject signal and become low potential and begin to end and will insert timer by means of overflowing interrupt signal with the corresponding number of next cycle to carrying out igniting from fuel.Timer is again with the determined speed countdown of CLK clock.Content vanishing when timer, igniting time signal is that low potential is shown in Fig. 4 (C), this means during the igniting time signal high petential, the electric current that flows through a winding of known point fire coil is cut off, so that finish igniting at that time, after the igniting, to be placed in this number be possible to timer at that time.
By repeating aforesaid operations, the auxiliary control signal that can keep the bottom line operation conditions of secondary computer 28 supply engines is as Fig. 4 (C) with 4(d).In the auxiliary engine control signal, fuelcarrying charge is a constant in the present embodiment, and also fix firing time.Yet, also can change certainly, for example, when throttle valve was closed, fuel injected the deration of signal and narrows down, and that is to say that fuelcarrying charge reduces.On the contrary, when enable switch moved, fuel injected signal and broadens, and therefore, can obtain more accurate control.
Have, the variation of present embodiment also can take in aspect the switching signal generator 30 again.In the present embodiment, use the monostable multi resonant to shake the Swing device as switching signal generator 30, other circuit and device also are available, one of them as shown in Figure 6, in the drawings, a transistor 82, resistance 84,88 and electric capacity 86,90 with Fig. 5 in the circuit same way as carry out work.When a normal burst as signal 28b repeats to be input to the base stage of transistor 82, then high voltage is added on an end of electric capacity 90.Compare with the circuit of Fig. 5, because a diode 92 is arranged in this circuit, the electric charge that is stored in electric capacity 90 is directly by resistance 94 discharges.Therefore, the end points of electric capacity 90 presents high petential, and 28a imports from end points 96 when the conversion demand signal, produces a high level signal 30a with door 98.When the signal that is input to transistor 82 presents constant level, there is not electric charge that charging current flows into electric capacity 90 and be stored in electric capacity 90 from electric capacity 86 by resistance 94 discharges.Therefore, a low level signal is input to and door 98.As a result, even, can not produce high level output yet, promptly can not produce switching signal 30a with door 98 changing demand signal 28a from end points 96 inputs.
Though we have only illustrated and have illustrated a kind of mode of implementing apparatus of the present invention at this.Certainly under the situation that does not break away from spirit of the present invention and scope, within the scope of following claim, can make variations and modifications.
Claims (7)
1, a kind of control gear of motor:
Sensor with signal of the operating factor that is used to provide the expression engine operating state;
A host computer device, it provides the motor main control signal and produces a monitor signal of representing the serviceability of above-mentioned host computer according to the operating factor signal of motor;
An auxiliary computing device is used for exporting the motor auxiliary control signal, by this signal motor is controlled between above-mentioned host computer age at failure;
Accept the starting drive of motor main control signal or auxiliary control signal, a predetermined running of ato unit;
A host computer monitoring device, when being measured host computer by monitor signal when malfunctioning, thereby above-mentioned monitoring device is accepted this monitor signal and is produced malfunctioning detecting signal;
A conversion equipment is used for when malfunctioning detecting signal produces, and the input signal of above-mentioned starting drive is transformed into the described motor auxiliary control signal of conversion from the master motor control signal;
Thereby it is characterized in that above-mentioned secondary computer device accept malfunctioning detecting signal provide one the conversion demand signal and produce one the expression described secondary computer device working state auxiliary monitoring signals, and feature also has been a switching signal generation device, and this device switching signal of output when the conversion demand signal is arranged represents that to above-mentioned conversion equipment and output above-mentioned auxiliary computing device is in the auxiliary monitoring signals of proper functioning.
2, engine controlling unit as claimed in claim 1, wherein said host computer apparatus goes to attempt to make this device to restart by malfunctioning detecting signal.
3, engine controlling unit as claimed in claim 2, wherein further comprise an input/output device, by it the engine operating parameter signal is transmitted between above-mentioned host computer apparatus and described sensor and will calculate data transmission to above-mentioned conversion equipment; Wherein said input/output device produces one by malfunctioning detecting signal zero setting and makes motor signal out of service.
4, as claim 2 or 3, described engine controlling unit, the monitor signal of wherein said host computer apparatus is with predetermined interval periodically, repeat to change the signal of its state and malfunctioning detecting signal can be got the signal of two kinds of states, its state in the monitor signal of described host computer keeps a kind of state value during repeating to change; And under the situation that repeats to disappear, repeating the variation of two states periodically, its repetition period is greater than the cycle of described host computer monitor signal.
5, engine controlling unit as claimed in claim 4 when wherein the number of times that repeats in malfunctioning detecting signal change of state reaches described secondary computer predetermined value within a certain period of time, promptly produces the conversion demand signal.
6, engine controlling unit as claimed in claim 4, wherein when switching signal produced, the state of malfunctioning detecting signal stopped to change.
7, engine controlling unit as claimed in claim 1, wherein also have a secondary computer monitoring device, its monitoring auxiliary monitoring signals and when measuring described secondary computer when malfunctioning, this device is attempted the operation of described secondary computer device is restarted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN85105778A CN85105778B (en) | 1985-07-30 | 1985-07-30 | Method and device for controlling engine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN85105778A CN85105778B (en) | 1985-07-30 | 1985-07-30 | Method and device for controlling engine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN85105778A true CN85105778A (en) | 1987-03-11 |
| CN85105778B CN85105778B (en) | 1988-03-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN85105778A Expired CN85105778B (en) | 1985-07-30 | 1985-07-30 | Method and device for controlling engine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN85105778B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1109190C (en) * | 1998-11-04 | 2003-05-21 | 瓦特西拉瑞士股份有限公司 | Internal combustion engine and device for producing signal to control operation of internal combustion engine |
| CN103336424A (en) * | 2013-06-15 | 2013-10-02 | 常州瑞昇科技有限公司 | Dual-core control system of weft finishing machine |
| CN105257408A (en) * | 2015-10-23 | 2016-01-20 | 河南柴油机重工有限责任公司 | Waste landfill gas engine monitoring device and method |
| CN108350822A (en) * | 2015-09-28 | 2018-07-31 | 通用电气公司 | Device and method for distributing and indicating engine control authority |
| CN111305962A (en) * | 2018-12-07 | 2020-06-19 | 奥特润株式会社 | Method for accurately controlling powertrain engine and vehicle operated by the method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3881901B2 (en) * | 2002-02-04 | 2007-02-14 | ボッシュ株式会社 | Fault diagnosis system for vehicles |
-
1985
- 1985-07-30 CN CN85105778A patent/CN85105778B/en not_active Expired
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1109190C (en) * | 1998-11-04 | 2003-05-21 | 瓦特西拉瑞士股份有限公司 | Internal combustion engine and device for producing signal to control operation of internal combustion engine |
| CN103336424A (en) * | 2013-06-15 | 2013-10-02 | 常州瑞昇科技有限公司 | Dual-core control system of weft finishing machine |
| CN108350822A (en) * | 2015-09-28 | 2018-07-31 | 通用电气公司 | Device and method for distributing and indicating engine control authority |
| CN108350822B (en) * | 2015-09-28 | 2021-05-28 | 通用电气公司 | Apparatus and method for assigning and indicating engine control authority |
| US11255287B2 (en) | 2015-09-28 | 2022-02-22 | Westinghouse Air Brake Technologies Corporation | Apparatus and methods for allocating and indicating engine control authority |
| CN105257408A (en) * | 2015-10-23 | 2016-01-20 | 河南柴油机重工有限责任公司 | Waste landfill gas engine monitoring device and method |
| CN111305962A (en) * | 2018-12-07 | 2020-06-19 | 奥特润株式会社 | Method for accurately controlling powertrain engine and vehicle operated by the method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN85105778B (en) | 1988-03-30 |
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