JP6536541B2 - 内燃機関の制御装置 - Google Patents
内燃機関の制御装置 Download PDFInfo
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- JP6536541B2 JP6536541B2 JP2016223524A JP2016223524A JP6536541B2 JP 6536541 B2 JP6536541 B2 JP 6536541B2 JP 2016223524 A JP2016223524 A JP 2016223524A JP 2016223524 A JP2016223524 A JP 2016223524A JP 6536541 B2 JP6536541 B2 JP 6536541B2
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- 238000002485 combustion reaction Methods 0.000 title claims description 356
- CBENFWSGALASAD-UHFFFAOYSA-N Ozone Chemical compound [O-][O+]=O CBENFWSGALASAD-UHFFFAOYSA-N 0.000 claims description 328
- 239000000446 fuel Substances 0.000 claims description 217
- 230000006835 compression Effects 0.000 claims description 62
- 238000007906 compression Methods 0.000 claims description 62
- 239000000203 mixture Substances 0.000 claims description 36
- 238000001514 detection method Methods 0.000 claims description 12
- 239000007789 gas Substances 0.000 description 95
- 238000002347 injection Methods 0.000 description 84
- 239000007924 injection Substances 0.000 description 84
- 238000000034 method Methods 0.000 description 28
- 230000007423 decrease Effects 0.000 description 27
- 230000008569 process Effects 0.000 description 19
- 238000010586 diagram Methods 0.000 description 15
- 230000020169 heat generation Effects 0.000 description 15
- 230000007257 malfunction Effects 0.000 description 14
- 239000001301 oxygen Substances 0.000 description 11
- 229910052760 oxygen Inorganic materials 0.000 description 11
- MWUXSHHQAYIFBG-UHFFFAOYSA-N nitrogen oxide Inorganic materials O=[N] MWUXSHHQAYIFBG-UHFFFAOYSA-N 0.000 description 9
- 238000002474 experimental method Methods 0.000 description 8
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 7
- 230000015572 biosynthetic process Effects 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 7
- 230000008859 change Effects 0.000 description 6
- TVMXDCGIABBOFY-UHFFFAOYSA-N octane Chemical compound CCCCCCCC TVMXDCGIABBOFY-UHFFFAOYSA-N 0.000 description 6
- 230000007704 transition Effects 0.000 description 6
- 230000000875 corresponding effect Effects 0.000 description 5
- 230000003111 delayed effect Effects 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000002828 fuel tank Substances 0.000 description 3
- 238000011144 upstream manufacturing Methods 0.000 description 3
- 230000015556 catabolic process Effects 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 239000000498 cooling water Substances 0.000 description 2
- 230000002596 correlated effect Effects 0.000 description 2
- 230000001186 cumulative effect Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 238000002156 mixing Methods 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 208000032368 Device malfunction Diseases 0.000 description 1
- 101150003899 PKN2 gene Proteins 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 239000003054 catalyst Substances 0.000 description 1
- 239000002826 coolant Substances 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 239000002737 fuel gas Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 101150062613 pkn1 gene Proteins 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000000746 purification Methods 0.000 description 1
- 230000003134 recirculating effect Effects 0.000 description 1
- 230000000476 thermogenic effect Effects 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/22—Safety or indicating devices for abnormal conditions
- F02D41/221—Safety or indicating devices for abnormal conditions relating to the failure of actuators or electrically driven elements
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
- F02B1/00—Engines characterised by fuel-air mixture compression
- F02B1/12—Engines characterised by fuel-air mixture compression with compression ignition
- F02B1/14—Methods of operating
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D19/00—Controlling engines characterised by their use of non-liquid fuels, pluralities of fuels, or non-fuel substances added to the combustible mixtures
- F02D19/02—Controlling engines characterised by their use of non-liquid fuels, pluralities of fuels, or non-fuel substances added to the combustible mixtures peculiar to engines working with gaseous fuels
- F02D19/021—Control of components of the fuel supply system
- F02D19/023—Control of components of the fuel supply system to adjust the fuel mass or volume flow
- F02D19/024—Control of components of the fuel supply system to adjust the fuel mass or volume flow by controlling fuel injectors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D19/00—Controlling engines characterised by their use of non-liquid fuels, pluralities of fuels, or non-fuel substances added to the combustible mixtures
- F02D19/02—Controlling engines characterised by their use of non-liquid fuels, pluralities of fuels, or non-fuel substances added to the combustible mixtures peculiar to engines working with gaseous fuels
- F02D19/025—Failure diagnosis or prevention; Safety measures; Testing
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D19/00—Controlling engines characterised by their use of non-liquid fuels, pluralities of fuels, or non-fuel substances added to the combustible mixtures
- F02D19/12—Controlling engines characterised by their use of non-liquid fuels, pluralities of fuels, or non-fuel substances added to the combustible mixtures peculiar to engines working with non-fuel substances or with anti-knock agents, e.g. with anti-knock fuel
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D21/00—Controlling engines characterised by their being supplied with non-airborne oxygen or other non-fuel gas
- F02D21/02—Controlling engines characterised by their being supplied with non-airborne oxygen or other non-fuel gas peculiar to oxygen-fed engines
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D35/00—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for
- F02D35/02—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for on interior conditions
- F02D35/028—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for on interior conditions by determining the combustion timing or phasing
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/0025—Controlling engines characterised by use of non-liquid fuels, pluralities of fuels, or non-fuel substances added to the combustible mixtures
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/22—Safety or indicating devices for abnormal conditions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/30—Controlling fuel injection
- F02D41/3011—Controlling fuel injection according to or using specific or several modes of combustion
- F02D41/3017—Controlling fuel injection according to or using specific or several modes of combustion characterised by the mode(s) being used
- F02D41/3035—Controlling fuel injection according to or using specific or several modes of combustion characterised by the mode(s) being used a mode being the premixed charge compression-ignition mode
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/30—Controlling fuel injection
- F02D41/38—Controlling fuel injection of the high pressure type
- F02D41/40—Controlling fuel injection of the high pressure type with means for controlling injection timing or duration
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D13/00—Controlling the engine output power by varying inlet or exhaust valve operating characteristics, e.g. timing
- F02D13/02—Controlling the engine output power by varying inlet or exhaust valve operating characteristics, e.g. timing during engine operation
- F02D13/0242—Variable control of the exhaust valves only
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D13/00—Controlling the engine output power by varying inlet or exhaust valve operating characteristics, e.g. timing
- F02D13/02—Controlling the engine output power by varying inlet or exhaust valve operating characteristics, e.g. timing during engine operation
- F02D13/0273—Multiple actuations of a valve within an engine cycle
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/025—Engine noise, e.g. determined by using an acoustic sensor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
- F02D2200/1015—Engines misfires
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D35/00—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for
- F02D35/02—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for on interior conditions
- F02D35/023—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for on interior conditions by determining the cylinder pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D35/00—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for
- F02D35/02—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for on interior conditions
- F02D35/027—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for on interior conditions using knock sensors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02M—SUPPLYING COMBUSTION ENGINES IN GENERAL WITH COMBUSTIBLE MIXTURES OR CONSTITUENTS THEREOF
- F02M25/00—Engine-pertinent apparatus for adding non-fuel substances or small quantities of secondary fuel to combustion-air, main fuel or fuel-air mixture
- F02M25/10—Engine-pertinent apparatus for adding non-fuel substances or small quantities of secondary fuel to combustion-air, main fuel or fuel-air mixture adding acetylene, non-waterborne hydrogen, non-airborne oxygen, or ozone
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- Y—GENERAL 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/12—Improving ICE efficiencies
Description
次に、本発明の第2実施形態について説明する。本実施形態は、CI運転モード中におけるオゾン供給装置の故障判定制御の内容が第1実施形態と相違する。以下、この相違点を中心に説明する。
次に、本発明の第3実施形態について説明する。本実施形態は、燃料供給装置2の故障判定結果に基づいて、オゾン供給装置の故障判定を実施するか否かを判断する点で、第2実施形態と相違する。以下、この相違点を中心に説明する。
2 燃料供給装置
11 燃焼室
81 放電プラグ(オゾン供給装置)
100 内燃機関
200 電子制御ユニット(制御装置)
Claims (3)
- 機関本体と、
前記機関本体の燃焼室に直接燃料を供給する燃料供給装置と
前記燃焼室に直接又は間接的にオゾンを供給するオゾン供給装置と、
を備える内燃機関の制御装置であって、
所定の運転領域において、前記燃焼室内で空間的又は時間的にオゾン濃度差を生じさせることで、前記燃焼室内で予混合気が段階的に圧縮自着火燃焼するように前記燃料供給装置及び前記オゾン供給装置を制御する燃焼制御部と、
前記所定の運転領域において、前記オゾン供給装置の故障を判定するオゾン故障判定部と、
を備え、
前記オゾン故障判定部は、
予混合気の自着火時期を検出する自着火時期検出部と、
予混合気の予想自着火時期を算出する予想自着火時期算出部と、
予混合気を圧縮自着火燃焼させたときの燃焼騒音を検出する燃焼騒音検出部と、
予混合気を圧縮自着火燃焼させたときの予想燃焼騒音を算出する予想燃焼騒音算出部と、
を備え、
前記自着火時期が前記予想自着火時期よりも遅角していて、かつ前記燃焼騒音が前記予想燃焼騒音よりも大きいとき、又は前記自着火時期が前記予想自着火時期よりも進角していて、かつ前記燃焼騒音が前記予想燃焼騒音よりも小さいときに、前記オゾン供給装置が故障していると判定する、
内燃機関の制御装置。 - 機関本体と、
前記機関本体の燃焼室に直接燃料を供給する燃料供給装置と
前記燃焼室に直接又は間接的にオゾンを供給するオゾン供給装置と、
を備える内燃機関の制御装置であって、
所定の運転領域において、前記燃焼室内で空間的又は時間的にオゾン濃度差を生じさせることで、前記燃焼室内で予混合気が段階的に圧縮自着火燃焼するように前記燃料供給装置及び前記オゾン供給装置を制御する燃焼制御部と、
前記所定の運転領域において、前記オゾン供給装置の故障を判定するオゾン故障判定部と、
を備え、
前記オゾン故障判定部は、
予混合気の自着火時期を検出する自着火時期検出部と、
予混合気の予想自着火時期を算出する予想自着火時期算出部と、
予混合気を圧縮自着火燃焼させたときの燃焼期間を検出する燃焼期間検出部と、
予混合気を圧縮自着火燃焼させたときの予想燃焼期間を算出する予想燃焼期間算出部と、
を備え、
前記自着火時期が前記予想自着火時期よりも遅角していて、かつ前記燃焼期間が前記予想燃焼期間よりも短いとき、又は前記自着火時期が前記予想自着火時期よりも進角していて、かつ前記燃焼期間が前記予想燃焼期間よりも長いときに、前記オゾン供給装置が故障していると判定する、
内燃機関の制御装置。 - 前記燃料供給装置の故障を判定する燃料故障判定部をさらに備え、
前記燃料供給装置の故障判定結果に基づいて、前記オゾン故障判定部による前記オゾン供給装置の故障判定を実施するか否かを判断する、
請求項2に記載の内燃機関の制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016223524A JP6536541B2 (ja) | 2016-11-16 | 2016-11-16 | 内燃機関の制御装置 |
EP17191625.7A EP3324025B1 (en) | 2016-11-16 | 2017-09-18 | Control system for internal combustion engine |
US15/715,757 US10544742B2 (en) | 2016-11-16 | 2017-09-26 | Control system for internal combustion engine |
CN201711068930.0A CN108071505B (zh) | 2016-11-16 | 2017-11-03 | 内燃机的控制装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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JP2016223524A JP6536541B2 (ja) | 2016-11-16 | 2016-11-16 | 内燃機関の制御装置 |
Publications (2)
Publication Number | Publication Date |
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JP2018080639A JP2018080639A (ja) | 2018-05-24 |
JP6536541B2 true JP6536541B2 (ja) | 2019-07-03 |
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JP2016223524A Expired - Fee Related JP6536541B2 (ja) | 2016-11-16 | 2016-11-16 | 内燃機関の制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10544742B2 (ja) |
EP (1) | EP3324025B1 (ja) |
JP (1) | JP6536541B2 (ja) |
CN (1) | CN108071505B (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
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JP6642540B2 (ja) * | 2017-08-25 | 2020-02-05 | マツダ株式会社 | エンジンの制御装置 |
JP7124516B2 (ja) * | 2018-07-25 | 2022-08-24 | スズキ株式会社 | 内燃機関の燃焼制御装置 |
JP7225593B2 (ja) * | 2018-07-26 | 2023-02-21 | マツダ株式会社 | 圧縮着火式エンジンの制御装置 |
JP7143757B2 (ja) * | 2018-12-25 | 2022-09-29 | マツダ株式会社 | 圧縮着火式エンジンの制御装置 |
JP7403743B2 (ja) * | 2020-07-01 | 2023-12-25 | マツダ株式会社 | エンジンの燃焼状態予測方法 |
US20240068423A1 (en) * | 2021-04-19 | 2024-02-29 | Hitachi Astemo, Ltd. | Control Device for Internal Combustion Engine |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
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US6230683B1 (en) * | 1997-08-22 | 2001-05-15 | Cummins Engine Company, Inc. | Premixed charge compression ignition engine with optimal combustion control |
CN1292153C (zh) * | 1998-02-23 | 2006-12-27 | 卡明斯发动机公司 | 带有优化燃烧控制的预混合充量压缩点火发动机 |
JP2008025405A (ja) | 2006-07-19 | 2008-02-07 | Toyota Motor Corp | 内燃機関の制御装置 |
US7769527B2 (en) * | 2007-08-06 | 2010-08-03 | Nissan Motor Co., Ltd. | Internal combustion engine |
JP5569387B2 (ja) * | 2010-12-27 | 2014-08-13 | 日産自動車株式会社 | 内燃機関の制御装置 |
JP6128895B2 (ja) * | 2013-03-04 | 2017-05-17 | 大阪瓦斯株式会社 | 予混合圧縮着火エンジン及びその運転制御方法 |
JP6123633B2 (ja) * | 2013-10-29 | 2017-05-10 | マツダ株式会社 | 圧縮着火式エンジンの制御装置 |
CN103573480B (zh) * | 2013-11-22 | 2016-06-08 | 西华大学 | 一种纯氧发动机及其燃烧控制方法 |
JP6179441B2 (ja) * | 2014-03-31 | 2017-08-16 | マツダ株式会社 | エンジンの制御装置 |
JP2016044671A (ja) * | 2014-08-27 | 2016-04-04 | マツダ株式会社 | 圧縮着火式エンジンの制御装置 |
DK3216994T3 (da) * | 2014-11-04 | 2020-06-15 | Ihi Corp | Længdeskyllet totaktsmotor |
JP6103261B2 (ja) * | 2015-01-28 | 2017-03-29 | マツダ株式会社 | 圧縮着火式エンジンの制御装置 |
CN106014694B (zh) * | 2016-05-06 | 2018-08-24 | 山东大学 | 空气辅助燃气喷射器、大缸径气体机预燃室燃烧系统及方法 |
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2016
- 2016-11-16 JP JP2016223524A patent/JP6536541B2/ja not_active Expired - Fee Related
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2017
- 2017-09-18 EP EP17191625.7A patent/EP3324025B1/en active Active
- 2017-09-26 US US15/715,757 patent/US10544742B2/en not_active Expired - Fee Related
- 2017-11-03 CN CN201711068930.0A patent/CN108071505B/zh not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
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JP2018080639A (ja) | 2018-05-24 |
CN108071505A (zh) | 2018-05-25 |
EP3324025A1 (en) | 2018-05-23 |
CN108071505B (zh) | 2021-03-02 |
US10544742B2 (en) | 2020-01-28 |
US20180135539A1 (en) | 2018-05-17 |
EP3324025B1 (en) | 2021-03-10 |
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