JP6011332B2 - Urea water consumption diagnostic device for urea SCR - Google Patents

Urea water consumption diagnostic device for urea SCR Download PDF

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JP6011332B2
JP6011332B2 JP2012288066A JP2012288066A JP6011332B2 JP 6011332 B2 JP6011332 B2 JP 6011332B2 JP 2012288066 A JP2012288066 A JP 2012288066A JP 2012288066 A JP2012288066 A JP 2012288066A JP 6011332 B2 JP6011332 B2 JP 6011332B2
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urea water
consumption
means
urea
amount
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JP2014129765A (en
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茂 二本木
茂 二本木
弘隆 高橋
弘隆 高橋
正信 嶺澤
正信 嶺澤
武史 福岡
武史 福岡
鈴木 豊
豊 鈴木
高橋 康一
康一 高橋
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いすゞ自動車株式会社
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/10Internal combustion engine [ICE] based vehicles
    • Y02T10/20Exhaust after-treatment
    • Y02T10/24Selective Catalytic Reactors for reduction in oxygen rich atmosphere

Description

  The present invention relates to a urea SCR system that selectively reduces NOx in exhaust gas of an engine using urea water, and in particular, urea water consumption diagnosis for urea SCR that can accurately diagnose the amount of urea water injected by a dosing valve. It relates to the device.

  As an exhaust gas purification system for purifying NOx in the exhaust gas of a diesel engine, a selective catalytic reduction system (SCR system) using a selective reduction catalyst has been developed.

  This SCR system supplies urea water stored in a urea water tank upstream of the exhaust gas of the SCR device, hydrolyzes urea water with the heat of the exhaust gas, generates ammonia, and this ammonia generates a catalyst in the SCR device. NOx is reduced and purified. The urea water is supplied upstream of the exhaust gas of the SCR by being injected from a dosing valve provided on the upstream side of the SCR device.

  The urea water is supplied to the dosing valve by a supply module including a supply module pump (SM pump) and a urea water pressure sensor. The supply module is connected to the urea water tank through the suction line, and supplies urea water sucked up from the urea water tank through the suction line to the dosing valve through a pressure feed line connecting the supply module and the dosing valve. The dosing valve is controlled by a DCU (dosing control unit), and the dosing valve is controlled to open and close in accordance with the detected value of a NOx sensor provided downstream of the SCR device to adjust the urea injection amount.

  The level of urea water in the urea water tank is detected by a urea water sensor provided in the urea water tank, and the remaining amount of urea water is detected from the level of urea water detected by the urea water sensor to replenish urea water. As a guide.

JP 2011-247137 A JP 2012-2061 A

  By the way, there is no means for detecting when the inside of the dosing valve for injecting urea water into the NOx catalyst and the inside of the pumping line reaching there are clogged with foreign substances. Further, there is a problem that there is no means for detecting the dosing valve even when the dosing valve is fixed in an open state due to adhesion of foreign matter or the like.

  About the consumption amount of this urea water, if the level change of the urea water sensor in a urea water tank is detected, the consumption amount can be estimated roughly.

  Therefore, the difference between the instructed injection amount of the urea water in the DCU and the actual injection amount in accordance with the instruction, that is, the consumption amount based on the detected value of the urea water sensor, is monitored, and the difference in the injection at the dosing valve is determined based on the difference. However, the detection accuracy of the urea water sensor detects the urea level step by step, and there is a problem that the detection accuracy is poor.

  The inventors of the present invention use the value when the consumption level changes more than the error range of the urea water sensor as the determination amount, and on the other hand, integrate the command injection amount with the DCU, and when the integrated command injection amount exceeds the determination amount In addition, the difference between the integrated command injection amount and the consumption amount due to the level change obtained from the urea water sensor is compared. Invented a diagnostic device that can determine the presence or absence of the above even if it is bad.

  When the urea water tank is replenished while the integrated consumption amount reaches the determination amount, it is necessary to subtract the replenishment amount from the consumption amount calculated by the level change. When detecting the replenishment amount, considering the rise in the liquid level due to the inclination of the vehicle, the design error of the sensor itself, etc., the time when there is a change greater than the value K1 between the two error ranges is recognized as replenishment, It is necessary to add the replenishment amount to the consumption amount detected by the urea water sensor.

  However, if a replenishment amount smaller than the value K1 is performed, the amount becomes a detection error and is not regarded as a replenishment amount. If this is repeated, the error amount of the consumption amount actually consumed becomes large, resulting in an erroneous determination. Leave the problem to be.

  Furthermore, when the dosing valve is stuck in the open state and the urea water continues to spray, it is impossible to detect this by the level change of the urea water sensor.

  Therefore, the object of the present invention is to solve the above-mentioned problem, when it is impossible to detect the change in the amount of urea water replenished to the urea water tank, and even if the actual consumption amount cannot be detected, the pumping line or dosing valve is clogged or stuck Alternatively, it is an object to provide a urea water consumption diagnostic device for urea SCR capable of detecting a state in which urea water is continuously sprayed by a dosing valve.

In order to achieve the above object, the present invention provides a urea SCR for sucking urea water in a urea water tank with a supply pump and injecting the urea water from a dosing valve provided on the upstream side of the SCR device via a pressure feed line. In the urea water consumption diagnostic device for
An injection amount instruction means for instructing the amount of urea water to be injected from the dosing valve based on a detection value of a NOx sensor provided on the downstream side of the SCR device, and an instruction injection for integrating the instruction injection amount instructed by the injection amount instruction means A volume integrating means, a consumption calculating means for calculating an accumulated consumption amount of urea water from a detected value of a urea water sensor provided in the urea water tank, and a supply pressure of urea water from the supply pump to the dosing valve. Start-up until the start-up pressure reaches the specified pressure when the urea water pressure sensor to be detected and the detected value of the urea water pressure sensor are input and the supply pump is activated, when the dosing valve is switched from the closed state to the open state Detect the time and compare the start-up time with a preset specified time to determine whether there is an abnormality in the urea water pressure. Means and, the integrated instructed injection amount obtained by integrating with the instructed injection quantity integrating means, by comparing the cumulative consumption amount calculated by the consumption amount calculating means, the urea water injection by the dosing valve is determined whether normal or abnormal and a diagnosis unit for determining the presence or absence of clogging of the urea water in the pumping line or the dosing valve from the presence of the urea water pressure abnormality from the urea water pressure determining means, said urea water pressure determining means, start-up time is the specified time or more The abnormality diagnosis means clears the abnormality flag, and the abnormality diagnosis means clears the urea water pressure determination means, and when the difference between the accumulated instruction injection amount of urea water and the accumulated consumption amount of urea water is equal to or greater than the threshold value, A urea water consumption diagnostic device for urea SCR , wherein abnormality diagnosis is not performed if a small amount of urea water is replenished in the water tank .

The urea water pressure determining means turns on the abnormal flag when the start-up time is shorter than a specified time, and the abnormality diagnosing means is that the urea water pressure determining means flag is ON, the urea water integrated instruction injection amount and the urea water It is preferable to diagnose an abnormality when the difference from the accumulated consumption is equal to or greater than a threshold value.

When the abnormality diagnosis means, the difference between the integrated consumption of integrated instructed injection amount and the urea water in the urea water is the threshold value or more, the accumulated consumption amount of urea water is large relative to the integrated instructed injection amount of urea water, urea water pressure It is preferable to diagnose an abnormality regardless of the flag of the determination means.

  The present invention monitors the pressure at the start-up of the supply pump, and detects the difference between the commanded injection amount of urea water and the actual consumption amount on it, thereby causing the dosing valve and the pumping line to be clogged and the dosing valve to be stuck open. It is possible to detect a defect that remains sprayed. In addition, when a small amount of replenishment that cannot be determined by the DCU is repeated, and the difference between the urea injection amount by the DCU and the urea consumption amount by the urea water sensor exceeds the threshold, the pressure change at startup is normal and not abnormal Therefore, it is not determined that the urea consumption is abnormal, and the abnormality can be determined only when the urea water injection path is actually abnormal.

It is the schematic of the SCR system in this invention. In the present invention, the time-dependent change of the urea water pressure during start-up and build-up is shown, (a) is a diagram showing the time-dependent change when normal, and (b) when the urea water injection path is clogged. It is a figure which shows the flowchart of the consumption diagnosis of the urea water consumption diagnostic apparatus for urea SCR of this invention. FIG. 4 is a diagram showing a continuation of the flowchart of FIG. 3.

  A preferred embodiment of the present invention will be described below in detail with reference to the accompanying drawings.

  FIG. 1 shows an outline of an SCR system. A SCR device 11 is connected to an exhaust pipe 10 of a diesel engine (not shown), and a dosing valve that injects urea water upstream of the SCR device 11. 12 is provided, and a NOx sensor 13 is provided downstream of the SCR device 11.

  The detection value of the NOx sensor 13 is input to a DCU (Dosing Control Unit) 14, and the dosing valve 12 is controlled to open and close by the DCU 14.

  The urea water U injected from the dosing valve 12 is stored in the urea water tank 15, sucked into the supply pump 18 of the supply module 17 from the suction line 16, foreign matter is removed from the supply pump 18 through the filter 19, and the pressure feed line 20. Is pumped to the dosing valve 12. Excess urea water U is returned from the pumping line 20 on the discharge side of the filter 19 into the urea water tank 15 through the return line 21.

  A urea water sensor 22 is provided in the urea water tank 15, and the urea water sensor 22 measures the level of the urea water in the urea water tank 15 and transmits it to the DCU 14. The pressure feed line 20 is provided with a urea water pressure sensor 23 for detecting the supply pressure of the urea water, and the detected pressure is transmitted to the DCU 14.

  The DCU 14 calculates the amount and timing of injecting urea water to the SCR device 11, drives the supply pump 18 to increase the urea water to a specified pressure, controls opening and closing of the dosing valve 12, and controls an appropriate amount at an appropriate timing. Spray.

  The NOx sensor 13 sends a measured value to the DCU 14 in order to monitor that the NOx value in the exhaust gas downstream of the SCR device 11 is steady due to the appropriate injection of urea water from the dosing valve 12. Send.

  The DCU 14 is connected to an ECM (engine control module) 26 that mainly performs fuel injection control. Vehicle speed and other driving information are input to the ECM 26, and these are transmitted from the ECM 26 to the DCU 14.

  Further, the battery 24 is connected to the DCU 14 and the ON / OFF signal of the ignition key 25 is input.

  In this SCR system, the DCU 14 determines the injection amount of urea water to be injected from the dosing valve 12 based on the information of the ECM 26 so that the detected value of the NOx sensor 13 becomes steady, and the dosing valve 12 based on the determined value. Open / close control.

  First, in the abnormality diagnosis of urea water consumption, the injection amount instruction means 30 for instructing the DCU 14 the amount of urea water to be injected from the dosing valve 12 based on the information of the ECM 26 and the detected value of the NOx sensor 13, and the injection amount instruction means From the command injection amount integration unit 31 that integrates the command injection amount instructed at 30, the consumption calculation unit 32 that calculates the total consumption D from the detection value input from the urea water sensor 22, and the command injection amount integration unit 31 And an abnormality diagnosing means 33 for comparing the accumulated instruction injection amount P with the accumulated consumption amount D from the consumption calculating means 32 to determine whether the urea water injection by the dosing valve 12 is normal or abnormal.

  When the abnormality diagnosis is started, the integrated command injection amount P of the command injection amount integration unit 31 is reset to zero, and at the same time, the consumption calculation unit 32 stores the level detected by the urea water sensor 22 as a level (S0). To do. Thereafter, when the vehicle travels and urea water is injected from the dosing valve 12, the command injection amount integration unit 31 sequentially integrates the command injection amount by the injection amount instruction unit 30 and stores the cumulative command injection amount P.

  In order to detect whether the urea water injection in the abnormality diagnosis means 33 is normal or abnormal, the detection accuracy does not increase unless the urea water is consumed to some extent (for example, the consumption amount is several tens to several tens of liters). Consumed when the vehicle travels several times, that is, when the ignition key 25 is repeatedly turned on and off, and the integrated command injection amount P in the command injection amount integration means 31 exceeds a determination amount L (for example, 15 L). The integrated consumption amount D in the amount calculation means 32 and the integrated instruction injection amount P are compared, and it is determined whether | D−P |> K1.

  In this determination, if urea water is properly injected, the integrated consumption amount D and the integrated instruction injection amount P are the same, and if the urea solution sensor 22 is less than the value K1 determined by the level measurement error range, It is diagnosed as normal, and if it is K1 or more, it is determined as abnormal. At this time, by comparing the absolute value of the difference between the two, D << P and DP are negative when there is no injection due to foreign matter or the like, and D >> P and D >> P when the dosing valve 12 continues to spray. -P becomes positive, and it can be determined from the plus or minus that clogging due to sticking and whether or not the dosing valve 12 remains sprayed.

  Further, since the urea water tank 15 is replenished with urea water, the consumption amount calculation means 32 detects the level of the level sensor by the urea water sensor 22 at the ON / OFF timing of the key switch, and the consumption amount calculating means 32 determines the replenishment amount. Judging. That is, the consumption calculating means 32 integrates the replenishment amount from the start of control to the time of diagnosis, and obtains the accumulated consumption amount D of urea water by adding the integrated replenishment amount to the actual level change.

  However, when the urea water injection path is clogged due to freezing or the like and normal injection cannot be performed, the difference between the integrated command injection amount P and the integrated consumption amount (actual injection integrated value) D increases.

  Therefore, in order to avoid this problem, the present invention monitors the urea water supply pressure of the pressure feed line 20 reaching the dosing valve 12 by the urea water pressure sensor 23 during operation of the supply pump, and the urea water pressure determination means 34 If the time when the detected pressure of the urea water pressure sensor 23 reaches the specified pressure is shorter than the specified time Tk, it is determined that the urea water injection path is abnormal (blockage or the like), and the abnormal flag is set to ON.

  At this time, when the time for the urea water pressure to reach the specified pressure is within a normal range, and the difference between the injection amount and the urea water consumption amount is large and the urea consumption amount is small, a small amount of replenishment is repeated. It is determined that a deviation has occurred in the urea consumption by the water sensor 22 and is not regarded as an abnormal consumption. However, when the difference between the commanded injection amount and the consumption amount is large and the time for the urea water supply pressure to reach the specified pressure is within the abnormal range, it is determined as abnormal.

  Moreover, if the difference between the commanded injection amount and the consumption amount is within the threshold value, it is determined to be normal regardless of the time for the urea water supply pressure to reach the specified pressure.

  FIG. 2 shows the change over time of the urea water pressure when the supply pump is turned on. FIG. 2 (a) shows a normal state and FIG. 2 (b) shows a case where the urea injection path is clogged. .

  In the SCR system of FIG. 1, when the exhaust gas temperature exceeds a certain value, the urea water in the urea water tank 15 is sent to the dosing valve 12 to prepare for the urea water injection as quickly as possible (hereinafter, This behavior is called startup). At that time, the dosing valve is in an open state, and the air in the pressure feed line 20 to the dosing valve 12 is also quickly discharged. Therefore, in this state, the supply pressure (startup pressure Pk) detected by the urea water pressure sensor 23 does not normally become a high pressure state (FIG. 2A).

  After the predetermined condition is established, the dosing valve 12 is closed, and the urea water in the piping path such as the pressure feed line 20 to the dosing valve 12 is pressurized to the predetermined buildup pressure Pb by the supply pump 18 and can be injected anytime. (Hereafter, this operation is called build-up).

  If the dosing valve 12 is closed and stuck, or the piping part leading to the dosing valve 12 is clogged, the time T from start-up to build-up is shorter than normal (FIG. 2B).

  A startup pressure Pk lower than the buildup pressure Pb is set, and the startup time T from the start of supply pump operation until the supply pressure reaches the startup pressure Pk is monitored. When the startup time T is shorter than the specified time Tk, it is determined that there is an abnormality such as clogging in the urea water injection path.

  This will be described with reference to the flowcharts of FIGS.

  When diagnosis is started in step S1 and the key switch is turned on (step S2), the initial level sensor position (S0) is read and stored by the urea water sensor (step S3). Next, in step S4, it is determined whether or not the vehicle speed is 0 km. When the vehicle is stopped (Yes), the level sensor position (S0 ′) is repeatedly read, and if the urea water is replenished during the stop, the level is read. S0 ′ is stored and updated with the maximum value (step S5). When the vehicle travels in this step S4 (No), the difference between the initially stored level S0 and the level S0 ′ stored during the stop (S0′−S0) is the detection accuracy of the urea water sensor. It is determined whether or not the value is larger than the value (K1) above the error range (S0′−S0> K1). If it is determined in step S4 that the level has risen beyond the error range (Yes), S0′−S0 = Rp0 is set, and the replenishment amount is added to the integrated replenishment amount RΣ (step S7), and the commanded injection amount integration is performed. The process proceeds to the start step S8, and if the level S0 ′ is within the error range with respect to the first level S0 (No), the process proceeds to step S8. In step S8 for starting the command injection amount integration, the command injection amount is integrated until the key switch is turned off in step S9, and urea water is stored as level S0. When the key switch is turned off in step S9, the level sensor position S1 after the first run from the start of control is read, and the accumulated consumption amount D (= S1-S0) of urea water at that time is stored (step S9). S10).

  Next, when the key switch is turned on in step S11, or when the exhaust gas temperature reaches a predetermined value or more in step S11-1 (Yes), the supply pump starts operating, and urea water pressure determination means 34 performs urea treatment. Determine whether water pressure is normal or abnormal. That is, in step S12, urea water is fed to the pressure feed line (startup), and in step S13, it is determined whether the urea water pressure is equal to or higher than a specified pressure (startup pressure Pk). It is determined whether the startup time T until reaching the specified pressure Pk is longer or shorter than the specified time Tk. If the startup time T is shorter than the specified time Tk (No), the urea water pressure abnormal flag is turned ON in step S15, When it is long (Yes), the urea water pressure abnormality flag is cleared in step S16.

  After determining whether the urea water pressure is normal or abnormal by the urea water pressure determining means 34 when the key switch in step S11 is ON, in step S17, the cumulative command injection amount P by the previous travel is determined as the determination amount. It is determined whether or not L has been reached (P ≧ L). This determination amount L is set to, for example, 15 L in the range of several L to several tens of L.

If it is determined in step S17 that the urea water integration command injection amount P has not reached the determination amount L (No), the process proceeds to step S18, and the level sensor position (S1 + n ) is read and stored. Next, in step S19, the stored level (S1 + 1 ) is compared with the level S1 before the key switch is turned on in step S11 to determine whether S1 + n− S1> K1. It is determined whether or not urea water is replenished. If not replenished (No), the process proceeds to step S22. If replenished (Yes), S1 + n− S1 = R1 is calculated and replenished in step S20. After storing as an amount, the replenishment amount R1 is added to the integrated replenishment amount RΣ in step S21, the process proceeds to step S22, and the commanded injection amount integration is continued in step S22. Thereafter, if the key switch is turned off in step S23, the level sensor position (S2 + n ) is read in step S24, and the integrated consumption D (= S2 + n- S1) is calculated based on the level (S2 + n ). Calculate and store and return to the upstream side of step S11.

  Next, when the key switch is turned ON in step S11, the urea water pressure determining means 34 performs normal / abnormal determination of the urea water pressure in steps S12 to S16, and then in step S17, the urea water integrated instruction injection amount It is determined whether or not P has reached the determination amount L. When the integrated command injection amount P has not reached the determination amount L, the process returns from step S18 to S24 described above to step S11, and the urea water pressure in steps S12 to S16 for determining whether the urea water pressure is normal or abnormal by the urea water pressure determination means 34. Repeat normal / abnormal judgment.

If it is determined in step S17 that the cumulative command injection amount P has reached the determination amount L (Yes), it is determined in step S25 whether the cumulative replenishment amount RΣ = 0, or if there is no replenishment (Yes), in step S27. , | D−P |> K1, and when there is replenishment (No), in step S26, D is corrected at the time of replenishment (D = S2 + 1− S1 + RΣ), and the process returns to the determination in step S27.

  If the injection of urea water from the dosing valve is normal in the determination of step S27, the integrated consumption amount D and the integrated instruction injection amount P are substantially the same and are 0 and within the detection error value K1 (No In step S29, it is determined that the consumption is normal, and the control is terminated (step S33).

  If the absolute value is larger than K1 (YES) in the comparison determination between the absolute value (| D-P |) and K1 in step S27, the difference between the consumption amount D and the integrated command injection amount P is less than minus K1 in step S30. Judge whether or not.

  If the difference between the consumption amount D and the cumulative command injection amount P is not less than minus K1 in step S30 (No), it is determined in step S32-3 that the consumption amount is on the plus side abnormality. In step S30, when the difference between the consumption amount D and the integrated command injection amount P is less than minus K1, it is determined in step S31 whether or not there is a urea water pressure abnormality flag. When the flag is ON (No), a dosing valve or pressure feed is determined. In step S32-2, it is determined that the consumption amount is negative (injection path clogged) because the line or the like is fixed. Further, when there is no abnormal flag in step S31 (Yes), it is determined that the consumption amount is minus side abnormal (other than injection path clogging) (step S32-1).

DESCRIPTION OF SYMBOLS 10 Exhaust pipe 11 SCR apparatus 12 Dosing valve 13 NOx sensor 15 Urea water tank 22 Urea water sensor 23 Urea water pressure sensor 30 Injection amount instruction | indication means 31 Instruction injection amount integration means 32 Consumption calculation means 33 Abnormality diagnosis means 34 Urea water pressure determination means

Claims (3)

  1. In the urea water consumption diagnostic device for urea SCR for sucking urea water in the urea water tank with a supply pump and injecting it from a dosing valve provided upstream of the SCR device via a pressure feed line,
    An injection amount instruction means for instructing an amount of urea water to be injected from the dosing valve based on a detection value of a NOx sensor provided on the downstream side of the SCR device;
    Instruction injection amount integration means for integrating the instruction injection amount instructed by the injection amount instruction means;
    Consumption calculation means for calculating the accumulated consumption of urea water from the detected value of the urea water sensor provided in the urea water tank;
    A urea water pressure sensor for detecting a supply pressure of urea water from the supply pump to the dosing valve;
    When the detected value of the urea water pressure sensor is input and the supply pump is activated, the startup time until the pressure at startup when the dosing valve is switched from the closed state to the open state reaches the specified pressure is detected. A urea water pressure determination means for determining whether or not there is an abnormality in the urea water pressure by comparing with a preset specified time;
    The integrated instructed injection amount obtained by integrating with the instructed injection quantity integrating means, by comparing the cumulative consumption amount calculated by the consumption amount calculating means, the urea water pressure with determining whether normal urea water injection by the dosing valve abnormality An abnormality diagnosing means for judging the presence or absence of clogging of urea water in the pumping line or dosing valve from the presence or absence of urea water pressure abnormality from the judging means
    The urea water pressure determining means clears the abnormal flag when the start-up time is a specified time or more, and the abnormality diagnosing means is clear that the urea water pressure determining means is flagged, and the urea water integrated instruction injection amount and the urea water A urea water consumption diagnosis apparatus for urea SCR , wherein when the difference from the integrated consumption is equal to or greater than a threshold value, abnormality diagnosis is not performed because a small amount of urea water is replenished to the urea water tank .
  2. The urea water pressure determining means turns on the abnormal flag when the start-up time is shorter than a specified time, and the abnormality diagnosing means is that the urea water pressure determining means flag is ON, the urea water integrated instruction injection amount and the urea water The urea water consumption diagnosis apparatus for urea SCR according to claim 1, wherein an abnormality is diagnosed when a difference from the integrated consumption is equal to or greater than a threshold value.
  3. When the abnormality diagnosis means, the difference between the integrated consumption of integrated instructed injection amount and the urea water in the urea water is the threshold value or more, the accumulated consumption amount of urea water is large relative to the integrated instructed injection amount of urea water, urea water pressure The urea water consumption diagnosis apparatus for urea SCR according to claim 1 or 2, wherein an abnormality is diagnosed regardless of the flag of the determination means.
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DE102016219313A1 (en) * 2016-10-05 2018-04-05 Continental Automotive Gmbh Method and device for monitoring components of an exhaust aftertreatment system
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JP5008366B2 (en) * 2006-09-26 2012-08-22 Udトラックス株式会社 Engine exhaust purification system
JP4710868B2 (en) * 2007-04-25 2011-06-29 トヨタ自動車株式会社 Exhaust gas purification device for internal combustion engine
JP5617348B2 (en) * 2010-05-17 2014-11-05 いすゞ自動車株式会社 SCR system
JP5671840B2 (en) * 2010-05-17 2015-02-18 いすゞ自動車株式会社 SCR decompression control system
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