WO2006054457A1 - 液体還元剤の状態判別装置及び濃度検出装置 - Google Patents
液体還元剤の状態判別装置及び濃度検出装置 Download PDFInfo
- Publication number
- WO2006054457A1 WO2006054457A1 PCT/JP2005/020423 JP2005020423W WO2006054457A1 WO 2006054457 A1 WO2006054457 A1 WO 2006054457A1 JP 2005020423 W JP2005020423 W JP 2005020423W WO 2006054457 A1 WO2006054457 A1 WO 2006054457A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- reducing agent
- liquid reducing
- concentration
- tank
- state determination
- Prior art date
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N3/00—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust
- F01N3/08—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous
- F01N3/10—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous by thermal or catalytic conversion of noxious components of exhaust
- F01N3/18—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous by thermal or catalytic conversion of noxious components of exhaust characterised by methods of operation; Control
- F01N3/20—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous by thermal or catalytic conversion of noxious components of exhaust characterised by methods of operation; Control specially adapted for catalytic conversion ; Methods of operation or control of catalytic converters
- F01N3/206—Adding periodically or continuously substances to exhaust gases for promoting purification, e.g. catalytic material in liquid form, NOx reducing agents
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N13/00—Exhaust or silencing apparatus characterised by constructional features ; Exhaust or silencing apparatus, or parts thereof, having pertinent characteristics not provided for in, or of interest apart from, groups F01N1/00 - F01N5/00, F01N9/00, F01N11/00
- F01N13/009—Exhaust or silencing apparatus characterised by constructional features ; Exhaust or silencing apparatus, or parts thereof, having pertinent characteristics not provided for in, or of interest apart from, groups F01N1/00 - F01N5/00, F01N9/00, F01N11/00 having two or more separate purifying devices arranged in series
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N13/00—Exhaust or silencing apparatus characterised by constructional features ; Exhaust or silencing apparatus, or parts thereof, having pertinent characteristics not provided for in, or of interest apart from, groups F01N1/00 - F01N5/00, F01N9/00, F01N11/00
- F01N13/009—Exhaust or silencing apparatus characterised by constructional features ; Exhaust or silencing apparatus, or parts thereof, having pertinent characteristics not provided for in, or of interest apart from, groups F01N1/00 - F01N5/00, F01N9/00, F01N11/00 having two or more separate purifying devices arranged in series
- F01N13/0097—Exhaust or silencing apparatus characterised by constructional features ; Exhaust or silencing apparatus, or parts thereof, having pertinent characteristics not provided for in, or of interest apart from, groups F01N1/00 - F01N5/00, F01N9/00, F01N11/00 having two or more separate purifying devices arranged in series the purifying devices are arranged in a single housing
-
- 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/20—Air quality improvement or preservation, e.g. vehicle emission control or emission reduction by using catalytic converters
Definitions
- Liquid reducing agent state discrimination device and concentration detection device Liquid reducing agent state discrimination device and concentration detection device
- the present invention relates to a state determination device and a concentration detection device for a liquid reducing agent, and more particularly, to a liquid used in an exhaust purification device for an in-vehicle engine that employs selective catalytic reduction.
- the present invention relates to a technique for determining whether a reducing agent is appropriate or not with high reliability under use of a vehicle.
- the following exhaust gas purification device that employs SCR is known to reduce nitrogen oxides (hereinafter referred to as “NOx”) discharged from an engine by post-processing.
- NOx nitrogen oxides
- the liquid reducing agent is stored in a tank in a liquid state at room temperature, and a required amount corresponding to the operating state of the engine is injected from the injection nozzle.
- reaction component ammonia having a good reactivity with NOx is used, and as the liquid reducing agent, urea water, ammonia water, or hydrocarbon that can easily generate ammonia by hydrolysis using water vapor in the exhaust gas.
- liquid reducing agents such as a system are used (Patent Document 1).
- Patent Document 1 Japanese Application Publication No. 2000-027627
- the amount of applied force of the liquid reducing agent is controlled according to the operating state of the engine, such as the amount of NOx discharged or the exhaust temperature.
- the concentration of the liquid reducing agent is different from the specified value, the following will be a problem.
- the concentration of the liquid reducing agent is lower than the specified value, the reduction reaction on the catalyst does not proceed well, and NOx emission increases due to insufficient purification of NOx.
- this concentration is higher than the specified value, unreacted ammonia is released into the atmosphere due to excessive supply of ammonia.
- a liquid reducing agent concentration sensor is installed in the tank. The amount of liquid reducing agent added is controlled based on the concentration of the liquid reducing agent detected by the concentration sensor. If a concentration different from the specified value is detected, a warning to the driver and system It is possible to take measures such as stopping.
- the present applicant is considering the adoption of a liquid reducing agent concentration sensor that detects the concentration of the liquid reducing agent based on the thermal characteristics of the liquid reducing agent.
- thermal concentration sensor on a vehicle has the following problems due to its measurement principle.
- the liquid reducing agent in the tank is shaken by vibration due to running, the liquid reducing agent is agitated, causing variations in its thermal characteristics and increasing measurement errors. Therefore, in order to obtain an accurate concentration, it is desirable to determine whether the liquid reducing agent is in a stable state without shaking, and to detect the concentration under a stable state. If the concentration detection is performed only under such a stable state, the detection opportunities are not always secured with sufficient frequency.
- the present invention determines the state of the liquid reducing agent regardless of the shaking of the liquid reducing agent in the tank, and sufficiently determines whether or not the liquid reducing agent being used is appropriate.
- An object of the present invention is to provide a liquid reductant state discriminating apparatus which can discriminate at an appropriate frequency.
- Another object of the present invention is to provide a concentration detection device capable of detecting the concentration of the liquid reducing agent stored in the tank regardless of the shaking of the liquid reducing agent in the tank.
- an apparatus for determining a state of a liquid reducing agent transported from a tank is provided.
- This device is installed in the transport path of the liquid reducing agent that extends from the tank, generates a detection signal corresponding to the thermal characteristics of the liquid reducing agent that flows through this transport path, and the liquid flowing through this transport path.
- the flow rate of the reducing agent is detected, and based on the generated detection signal and the detected flow rate, it is determined whether or not the concentration of the liquid reducing agent is outside the predetermined normal range.
- a corresponding liquid reducing agent state determination signal is generated.
- an apparatus for detecting the concentration of a liquid reducing agent transported from a tank is provided.
- This device is installed in the transport path of the liquid reducing agent that extends from the tank.
- the detection signal is generated according to the thermal characteristics of the liquid reducing agent flowing through this transport path, and the flow rate of the liquid reducing agent flowing through this transport path is detected, and the generated detection signal and the detected flow rate are Based on this, the concentration of the liquid reducing agent stored in the tank is estimated and calculated. Based on the concentration of the liquid reducing agent detected by this apparatus, it can be determined whether or not the liquid reducing agent used is appropriate.
- liquid reducing agent state determination device and the concentration detection device according to the present invention can be suitably applied to an exhaust gas purification device for an in-vehicle engine.
- the concentration of the liquid reducing agent is out of the normal range based on the thermal characteristics of the liquid reducing agent flowing through the transport path and the flow rate of the liquid reducing agent flowing through the transport path. It was decided to calculate or estimate the concentration of the liquid reducing agent stored in the tank. In the transport route, the variation in the thermal characteristics of the liquid reducing agent with respect to external vibration input such as running vibration is smaller than in the tank. For this reason, regardless of whether or not the liquid reducing agent is shaken in the tank, the concentration of the liquid reducing agent is evaluated or detected to determine whether the liquid reducing agent being used is appropriate. It can be determined with reliability.
- FIG. 1 shows the configuration of an exhaust emission control device for an engine according to an embodiment of the present invention.
- FIG. 3 is a flowchart of a state determination routine according to the embodiment.
- FIG. 4 is a flowchart of an addition control routine according to the embodiment.
- E ... Engine, 1 ... Oxidation catalyst, 2 to Nx purification catalyst, 3 ... Ammonia purification catalyst, 4 ... Injection nozzle, 5 ... Addition device, 6, 7 ... Exhaust temperature sensor, 8 ... Engine electronics Controller unit, 9 ... Electronic control unit of addition device, 10 ... tank, 11 ... urea water supply pipe, 12 ... concentration sensor.
- FIG. 1 shows a configuration of an exhaust emission control device for an engine according to an embodiment of the present invention.
- Engine E is a diesel engine, which is mounted on a carryover type truck.
- the following exhaust purification system is installed in the exhaust system of engine E.
- This exhaust purification device includes an oxidation catalyst 1, a NOx purification catalyst 2, and an ammonia purification catalyst 3 which are installed in this order from the upstream side in the exhaust passage.
- the NOx purification catalyst 2 is a reduction catalyst, and more upstream than this, the injection nozzle 4 is installed between the oxidation catalyst 1 and the NOx purification catalyst 2 in this embodiment. Liquid reducing agent is injected by the injection nozzle 4 and added to the exhaust gas.
- An addition device 5 having a built-in control valve for supplying a required amount of liquid reducing agent according to the operating state of the engine E to the injection nozzle 9 is provided, and an electronic control unit for controlling the addition device 5 ( (Hereinafter referred to as “ECU”)) 9 is provided.
- ECU electronice control unit for controlling the addition device 5
- exhaust temperature sensors 6 and 7 are installed upstream of the NOx purification catalyst 2 and downstream of the ammonia purification catalyst 3
- an electronic control unit 8 of the engine E is provided to detect the NOx detected by the exhaust temperature sensors 6 and 7.
- the exhaust temperature before and after purification, the engine speed (calculated by the electronic control unit 8 of the engine E based on the signal from the crank angle sensor, etc.) and the like are input to the ECU 9.
- the ECU 9 controls the adding device 5 based on various types of input information.
- urea water is adopted as the liquid reducing agent in consideration of ease of storage on the vehicle.
- This urea water is a solid or powdered aqueous solution of urea and is stored in the tank 10 in a liquid state at room temperature.
- urea water is injected into exhaust gas, it is hydrolyzed by water vapor in the exhaust gas to generate ammonia.
- NOx in the exhaust gas undergoes a reduction reaction with this ammonia at the NOx purification catalyst 2, and is decomposed into water and a harmless gas (here, nitrogen).
- other liquid reducing agents such as aqueous ammonia or hydrocarbons are used as liquid reducing agents.
- a thermal concentration sensor 12 is installed in a urea water supply pipe 11 for transporting urea water from the tank 10 to the adding device 5.
- FIG. 2 shows the inside of the urea water supply pipe 11 in a cross section by a plane perpendicular to the central axis of the pipe 11.
- the concentration sensor 12 has a sensor element 121 and a heater element 122 built into the main body, and this body is fixed to the pipe wall of the urea water supply pipe 11.
- a first fin 123 that contacts the sensor element 121 and a second fin 124 that contacts the heater element 122 pass through the main body (and the tube wall) and protrude into the space in the urea water supply pipe 11.
- the concentration sensor 12 supplies a driving current to the heater element 122 to detect the electric resistance of the sensor element 121 when the heater element 122 generates heat, and this is detected signal (urea) according to the heat transfer characteristics of urea water.
- the concentration of water is output to ECU9 as).
- the sensor element 121 has a characteristic that the physical property (in this case, the electric resistance) changes according to the temperature.
- the concentration sensor 12 energizes the heater element 122 with a drive current for a predetermined time and stops energization.
- the electrical resistance of the sensor element 121 at the time is detected and a detection signal is generated.
- the case where the heat transfer characteristic between two different points in the urea water supply pipe 11 is adopted as the thermal characteristic of the urea water will be described as an example.
- the sensor element and the heater element By contacting the same fin with each other, it is possible to generate a detection signal corresponding to the heat dissipation characteristics from one fin.
- the ECU 9 has a function as a urea water state determination device (or concentration detection device).
- a concentration sensor 12 is installed in the middle of a urea water supply pipe 11 for transporting urea water stored in the tank 10, and the concentration sensor 12 makes two different points in the urea water supply pipe 11. A detection signal corresponding to the heat transfer characteristics between the two is generated. This detection signal correlates with the concentration of urea water serving as a heat transfer medium, and based on this, the concentration of urea water can be detected, but it flows into the urea water in the urea water supply pipe 11. For this reason, if the detection signal of the density sensor 12 is directly converted into a density, an error occurs in the density as a detection result.
- the concentration sensor 12 Based on this detection signal and the flow rate of urea water, the concentration of urea water is calculated, and it is determined whether or not this concentration is within a specified normal range. Alternatively, it may be determined whether or not the measured value (that is, the magnitude of the electrical resistance) indicated by the detection signal of the concentration sensor 12 is in a normal range corresponding to the flow rate of the urea water.
- a map in which data is collected in advance through experiments or the like, the correction concentration for each flow velocity is set for the detection signal of the concentration sensor 12, and the detection signal is associated with the correction concentration for each flow velocity.
- Data is created and stored in the memory provided in ECU9.
- the map data is referred to by the actually obtained detection signal, the correction density corresponding to the flow velocity is read, and the power of this density within the specified normal range is determined.
- a normal range related to the concentration of urea water is set in advance for each flow rate by collecting data. For example, by setting the upper and lower limit values that define the normal range and storing them in the memory provided in the ECU 9, the capacity of this memory can be saved. All values that can be included in the normal range may be stored.
- the present invention is applied to the urea water state determination device.
- the present invention is not limited to this, and it is possible to apply the present invention to a concentration detection device.
- FIG. 3 is a flowchart of the state determination routine. This routine is started by the ECU 9 when the power switch is turned on by the ignition key, and is repeated every predetermined time.
- the injection amount of the liquid reducing agent at the time of actual measurement is read.
- the injection command value of the ECU 9 for the addition device 5 for example, this injection amount (for example, In this case, the target injection amount) is adopted.
- the flow rate Y of urea water in the urea water supply pipe 11 is calculated.
- the flow velocity Y can be calculated by dividing the injection amount of the liquid reducing agent by [m 3 / s] by the cross-sectional area [m 2 ] of the urea water supply pipe 11.
- the concentration of urea water corresponding to the measured value X is read under the flow velocity Y.
- This data D is obtained by flowing urea water of different concentrations through the urea water supply pipe 11 under several known flow rates, and storing the measured values obtained for each concentration as map data. is there. Therefore, the actual concentration can be read by searching the data D with the measured value X and the flow velocity Y.
- the concentration of the urea water is within a normal range indicating that the urea water is appropriate, and the determination result is output.
- the upper and lower limit values that define the normal range are stored in advance, and the read density is determined by comparing with the upper and lower limit values.
- a normal determination flag is set to indicate the determination result, and when it is not in the normal range, an abnormality determination flag is set.
- the deviation of the concentration from the normal range is when the aqueous urea solution is diluted with water or stored in the tank 10 and the aqueous solution is a different aqueous solution other than the aqueous urea solution. Arise. Further, it occurs when the remaining amount of urea water is less than a predetermined amount (including the case where the tank 10 is empty) due to the detection principle of the concentration sensor 11 adopting thermal characteristics.
- the determination result is stored in a memory such as a RAM.
- Data D may be a value that defines a normal range related to concentration (for example, upper and lower limit values, or all values that can be included in the normal range) for each flow rate.
- data D is created by evaluating the range of measurement values obtained when an appropriate liquid reducing agent is passed through the urea water supply pipe 11 for each flow velocity. For example, from the measurement value data collected for each flow rate, the measurement value obtained for the appropriate urea solution can be extracted and included in the upper and lower limits of the normal range where this measurement value falls, or included in this normal range Determine all values and store for each flow velocity.
- the detection error of the density sensor 12 it is preferable to consider the detection error of the density sensor 12. The processing flow in this case is the same as the flowchart shown in FIG.
- the normal determination flag is set when it is within the normal range, and the abnormality determination flag is set when it is not within the normal range, as described above.
- FIG. 4 is a flowchart showing an example of the supplementary calorie control routine.
- the ECU 9 sets the injection amount of urea water from the injection nozzle 4 based on the fuel injection amount of the engine E (S22, 23).
- the concentration of urea water is detected by the state determination routine (Fig. 3)
- the detected concentration of urea water is reflected in the injection amount setting.
- the concentration of urea water is high, the amount of ammonia generated per unit injection amount is large, so a decrease correction is applied to the basic injection amount calculated based on the fuel injection amount.
- the ECU 9 causes the adding device 5 to inject an amount of urea water corresponding to the fuel injection amount of engine E, etc., when the normal determination flag is set. (S24).
- the addition device 5 is prohibited from adding urea water (S25) and the cab A warning device (not shown) provided on the control panel is activated (S26).
- a signal may be transmitted to the electronic control unit 8 of the engine E so that the operation of the engine E is limited (for example, limited to a low speed and low load range).
- the concentration of urea water is calculated based on the thermal characteristics of urea water flowing through the urea water supply pipe 11 and the flow rate of urea water, and this is normal. It was decided to judge whether it was out of range.
- the urea water supply pipe 11 since the flow rate is controlled by the ECU 9, the heat of urea water with respect to the excitation input from outside the tank 10 such as traveling vibration or vibration of the engine E itself is compared with that in the tank 10. There is little variation in the mechanical characteristics. Therefore, it is possible to obtain an opportunity to evaluate or detect the concentration of urea water with a sufficient frequency regardless of whether it is running or stopped, and whether or not the urea water used is appropriate. It can be determined with high reliability.
- the present invention is not limited to a diesel engine, but a liquid provided in a gasoline engine.
- the present invention can also be applied to a reducing agent state determination device or the like.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Exhaust Gas After Treatment (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
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Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2004335446A JP4327072B2 (ja) | 2004-11-19 | 2004-11-19 | 排気浄化装置の液体還元剤判別システム |
JP2004-335446 | 2004-11-19 |
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WO2006054457A1 true WO2006054457A1 (ja) | 2006-05-26 |
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PCT/JP2005/020423 WO2006054457A1 (ja) | 2004-11-19 | 2005-11-08 | 液体還元剤の状態判別装置及び濃度検出装置 |
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WO (1) | WO2006054457A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110735695A (zh) * | 2018-07-18 | 2020-01-31 | 罗伯特·博世有限公司 | Scr系统及其控制器、控制方法及具有其的可读存储介质 |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4799358B2 (ja) | 2006-10-12 | 2011-10-26 | Udトラックス株式会社 | エンジンの排気浄化装置 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04282433A (ja) * | 1991-03-11 | 1992-10-07 | Snow Brand Milk Prod Co Ltd | 液体の濃度測定方法及び装置 |
JP2001020724A (ja) * | 1999-07-07 | 2001-01-23 | Isuzu Motors Ltd | ディーゼルエンジンのNOx浄化装置 |
JP2002508466A (ja) * | 1997-12-17 | 2002-03-19 | シーメンス アクチエンゲゼルシヤフト | 燃焼設備の排ガス中の窒素酸化物を低減する方法及び装置 |
JP2002513109A (ja) * | 1998-04-24 | 2002-05-08 | シーメンス アクチエンゲゼルシヤフト | 燃焼設備の排ガス中の窒素酸化物を触媒により還元する方法及び装置 |
JP2002527660A (ja) * | 1998-10-13 | 2002-08-27 | クリーン ディーゼル テクノロジーズ インコーポレーテッド | 選択的触媒作用による軽減のための温度制御尿素注入によるエンジンからのNOx放出物の軽減 |
JP2004509274A (ja) * | 2000-09-22 | 2004-03-25 | ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング | 排ガスから窒素酸化物を除去するための還元剤を調量する方法及び装置 |
-
2004
- 2004-11-19 JP JP2004335446A patent/JP4327072B2/ja not_active Expired - Fee Related
-
2005
- 2005-11-08 WO PCT/JP2005/020423 patent/WO2006054457A1/ja active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04282433A (ja) * | 1991-03-11 | 1992-10-07 | Snow Brand Milk Prod Co Ltd | 液体の濃度測定方法及び装置 |
JP2002508466A (ja) * | 1997-12-17 | 2002-03-19 | シーメンス アクチエンゲゼルシヤフト | 燃焼設備の排ガス中の窒素酸化物を低減する方法及び装置 |
JP2002513109A (ja) * | 1998-04-24 | 2002-05-08 | シーメンス アクチエンゲゼルシヤフト | 燃焼設備の排ガス中の窒素酸化物を触媒により還元する方法及び装置 |
JP2002527660A (ja) * | 1998-10-13 | 2002-08-27 | クリーン ディーゼル テクノロジーズ インコーポレーテッド | 選択的触媒作用による軽減のための温度制御尿素注入によるエンジンからのNOx放出物の軽減 |
JP2001020724A (ja) * | 1999-07-07 | 2001-01-23 | Isuzu Motors Ltd | ディーゼルエンジンのNOx浄化装置 |
JP2004509274A (ja) * | 2000-09-22 | 2004-03-25 | ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング | 排ガスから窒素酸化物を除去するための還元剤を調量する方法及び装置 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110735695A (zh) * | 2018-07-18 | 2020-01-31 | 罗伯特·博世有限公司 | Scr系统及其控制器、控制方法及具有其的可读存储介质 |
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JP4327072B2 (ja) | 2009-09-09 |
JP2006144657A (ja) | 2006-06-08 |
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