WO2010098370A1 - 副室式エンジンの制御方法 - Google Patents
副室式エンジンの制御方法 Download PDFInfo
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- WO2010098370A1 WO2010098370A1 PCT/JP2010/052918 JP2010052918W WO2010098370A1 WO 2010098370 A1 WO2010098370 A1 WO 2010098370A1 JP 2010052918 W JP2010052918 W JP 2010052918W WO 2010098370 A1 WO2010098370 A1 WO 2010098370A1
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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
- F02D41/0025—Controlling engines characterised by use of non-liquid fuels, pluralities of fuels, or non-fuel substances added to the combustible mixtures
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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
- F02B19/00—Engines characterised by precombustion chambers
- F02B19/10—Engines characterised by precombustion chambers with fuel introduced partly into pre-combustion chamber, and partly into cylinder
- F02B19/1019—Engines characterised by precombustion chambers with fuel introduced partly into pre-combustion chamber, and partly into cylinder with only one pre-combustion chamber
- F02B19/108—Engines characterised by precombustion chambers with fuel introduced partly into pre-combustion chamber, and partly into cylinder with only one pre-combustion chamber with fuel injection at least into pre-combustion chamber, i.e. injector mounted directly in the pre-combustion chamber
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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
- F02B19/00—Engines characterised by precombustion chambers
- F02B19/12—Engines characterised by precombustion chambers with positive ignition
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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
- 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
- F02D41/0027—Controlling engines characterised by use of non-liquid fuels, pluralities of fuels, or non-fuel substances added to the combustible mixtures the fuel being gaseous
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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
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1438—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor
- F02D41/1444—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor characterised by the characteristics of the combustion gases
- F02D41/1454—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor characterised by the characteristics of the combustion gases the characteristics being an oxygen content or concentration or the air-fuel ratio
- F02D41/1458—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor characterised by the characteristics of the combustion gases the characteristics being an oxygen content or concentration or the air-fuel ratio with determination means using an estimation
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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
- F02M21/00—Apparatus for supplying engines with non-liquid fuels, e.g. gaseous fuels stored in liquid form
- F02M21/02—Apparatus for supplying engines with non-liquid fuels, e.g. gaseous fuels stored in liquid form for gaseous fuels
- F02M21/0218—Details on the gaseous fuel supply system, e.g. tanks, valves, pipes, pumps, rails, injectors or mixers
- F02M21/023—Valves; Pressure or flow regulators in the fuel supply or return system
- F02M21/0236—Multi-way valves; Multiple valves forming a multi-way valve system
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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
- F02M21/00—Apparatus for supplying engines with non-liquid fuels, e.g. gaseous fuels stored in liquid form
- F02M21/02—Apparatus for supplying engines with non-liquid fuels, e.g. gaseous fuels stored in liquid form for gaseous fuels
- F02M21/0218—Details on the gaseous fuel supply system, e.g. tanks, valves, pipes, pumps, rails, injectors or mixers
- F02M21/0248—Injectors
- F02M21/0275—Injectors for in-cylinder direct injection, e.g. injector combined with spark plug
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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
- F02M21/00—Apparatus for supplying engines with non-liquid fuels, e.g. gaseous fuels stored in liquid form
- F02M21/02—Apparatus for supplying engines with non-liquid fuels, e.g. gaseous fuels stored in liquid form for gaseous fuels
- F02M21/0218—Details on the gaseous fuel supply system, e.g. tanks, valves, pipes, pumps, rails, injectors or mixers
- F02M21/0284—Arrangement of multiple injectors or fuel-air mixers per combustion chamber
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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
- F02D2200/04—Engine intake system parameters
- F02D2200/0406—Intake manifold pressure
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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
- F02D2200/04—Engine intake system parameters
- F02D2200/0414—Air temperature
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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
-
- 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
- Y02T10/30—Use of alternative fuels, e.g. biofuels
Definitions
- FIG. 5 shows an example of a conventional sub-chamber engine.
- a main combustion chamber S ⁇ b> 1 is formed above the piston 1, and a tapered sub-combustion chamber member 3 is provided in the head portion of the cylinder 2.
- a sub-combustion chamber S ⁇ b> 2 is formed inside the sub-combustion chamber member 3.
- An ignition plug 4 for igniting the fuel gas in the auxiliary combustion chamber S2 is provided on the upper side of the auxiliary combustion chamber member 3.
- a fuel gas supply pipe 5 for sending fuel gas into the sub-combustion chamber S2 is provided on the upper portion of the sub-combustion chamber member 3.
- the fuel gas supply pipe 5 is provided with a sub chamber fuel supply valve 6 for adjusting the amount of fuel gas to the sub combustion chamber S2.
- an intake pipe 7 for feeding fuel gas into the main combustion chamber S1 is connected to the head portion of the cylinder 2.
- An intake valve 8 is provided at the boundary between the intake pipe 7 and the head portion of the cylinder 2.
- a fuel gas supply pipe 9 for allowing fuel gas to flow into the intake pipe 7 is connected to the intake pipe 7.
- the fuel gas supply pipe 9 is provided with a main chamber fuel supply valve 10 for adjusting the amount of fuel gas to the main combustion chamber S1.
- the fuel gas supply pipe 9 communicates with the fuel gas supply pipe 5 connected to the auxiliary combustion chamber S2. That is, the fuel gas supply pipe is branched to supply fuel gas to the main combustion chamber S1 and the sub-combustion chamber S2.
- the combustion gas flowing into the main combustion chamber S1 through the intake pipe 7 is exhausted from the exhaust pipe 11 connected to the head portion of the cylinder 2 after combustion.
- An exhaust valve 12 is provided at the boundary between the exhaust pipe 11 and the head portion of the cylinder 2.
- Control of the various valves 6, 10, etc. is performed by an ECU (Engine Control Unit) 13.
- ECU Engine Control Unit
- a portion of the air-fuel mixture for the main combustion chamber that has flowed into the main combustion chamber S1 flows into the sub-combustion chamber S2 during the compression stroke.
- fuel gas is supplied through the sub-chamber fuel supply valve 6. For this reason, various developments have been made to adjust the mixing ratio of the combustion gas in the auxiliary combustion chamber S2 (see, for example, Patent Documents 2 and 3).
- FIG. 6A shows the relationship between the engine speed and the sub-chamber excess air ratio (described in an embodiment described later).
- the solid line is for the case where the engine is quasi-statically accelerated. In this case, even if the engine speed increases, the subchamber excess air ratio does not increase or decrease, and an equilibrium state is maintained. Then, when the engine speed increases and the engine speeds up rapidly, the line segment connecting point A and point B in the figure becomes a bow shape downward as shown by the dotted line. Even in this state, the dotted line does not enter the misfire area. However, when the engine speeds up further rapidly, a line segment connecting point A and point C as shown by the alternate long and short dash line in the figure is formed and enters the misfire region at point C.
- FIG. 6E shows the relationship between the engine speed and the main chamber fuel amount.
- the solid line when quasi-statically increased indicates that the sub-chamber fuel amount increases linearly as the engine speed increases, while the dotted line (when rapidly increased) quasi-statically. Since the amount of fuel in the main chamber is greater than when the speed is increased, the excess air ratio is reduced. As a result, the amount of fuel contained in the air-fuel mixture flowing from the main combustion chamber into the sub-combustion chamber increases.
- the sub-chamber fuel amount is controlled linearly with respect to the engine speed. If so, the excess air ratio in the sub chamber decreases as shown in FIG. Further, when the vehicle speed is increased rapidly (dashed line), misfire occurs at point C as described above, and the engine speed decreases as shown in FIG.
- the engine speed decreases as described above.
- the main chamber fuel quantity is feedback controlled at the engine speed
- the main chamber fuel quantity increases as the engine speed decreases. As shown in FIG. 6A, it becomes a condition that misfire is more likely to occur.
- An object of the present invention is to provide a control method for a sub-chamber engine that can reliably prevent misfire in the sub-combustion chamber in view of the problems of the prior art.
- the subcombustion chamber is always kept in an appropriate empty state during engine operation.
- the fuel ratio can be maintained.
- FIG. 3E is a graph showing the relationship between the engine speed and the main chamber fuel amount.
- FIG. 4 is a graph showing the relationship between the main chamber excess air ratio and the sub-type fuel amount.
- FIG. 5 is an explanatory view showing an embodiment of a conventional sub-chamber engine.
- FIG. 6 is a graph showing the relationship between the engine speed and various parameters when a conventional sub-chamber engine control method is used.
- FIG. 6A is a graph showing the relationship between the engine speed and the sub chamber excess air ratio.
- FIG. 6B is a graph showing the relationship between the engine speed and the sub chamber fuel amount.
- FIG. 6C is a graph showing the relationship between the engine speed and the air flow rate.
- FIG. 6D is a graph showing the relationship between the engine speed and the main chamber excess air ratio.
- FIG. 6E is a graph showing the relationship between the engine speed and the main chamber fuel amount.
- a fuel gas supply pipe 5 for sending fuel gas into the sub-combustion chamber S2 is provided on the upper portion of the sub-combustion chamber member 3.
- the fuel gas supply pipe 5 is provided with a sub chamber fuel supply valve 6 for adjusting the amount of fuel gas to the sub combustion chamber S2.
- a proportional solenoid valve is used for the sub chamber fuel supply valve 6 so that the amount of fuel gas can be continuously adjusted.
- the fuel gas and air mixture flowing into the main combustion chamber S1 through the intake pipe 7 is compressed by the rising piston 1, burns in the main combustion chamber S1, pushes down the piston 1, and then rises by the crankshaft. 1 is pressed and exhausted from an exhaust pipe 11 connected to the head portion of the cylinder 2. At the boundary between the exhaust pipe 11 and the head portion of the cylinder 2, an umbrella portion 12a of the exhaust valve 12 is disposed. Similarly to the intake valve 8, the exhaust valve 12 is also moved up and down by being pressed downward against the spring force by the cam or being urged upward by the restoring force of the spring. Since a part of the fuel gas and air mixture is compressed by the piston 1 into the auxiliary combustion chamber S2, the adjustment of the mixture ratio of the combustion gas in the auxiliary combustion chamber S2 is as follows. Has been done so.
- a pressure / temperature sensor is provided in a supply chamber (not shown) connected to the intake pipe 7, and the intake pressure and the intake temperature are measured by the intake pressure temperature detecting means 131 of the ECU 13. Further, a rotational speed pickup 13 a is provided, and the engine rotational speed is measured by the engine rotational speed detection means 132 of the ECU 13. Further, since the main chamber fuel supply valve 10 is controlled by the main chamber fuel supply valve opening period control means 133 of the ECU 13, the opening / closing timing of the main chamber fuel supply valve 10 is grasped by the ECU 13. Therefore, the period during which the main chamber fuel supply valve 10 is in the open state, that is, the open period is grasped.
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- General Engineering & Computer Science (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Oil, Petroleum & Natural Gas (AREA)
- Output Control And Ontrol Of Special Type Engine (AREA)
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Abstract
Description
副燃焼室が適正な空燃比になるように制御するのは、空気過剰と燃料過剰とのいずれの場合にもエンジンの失火に繋がるからである。なお、主燃焼室は副燃焼室とは異なり、空気過剰に制御することが排ガス上好ましい。
上記各種弁6、10、などの制御はECU(エンジンコントロールユニット)13によって行われる。
しかし、主燃焼室S1へ流入した主燃焼室用の空気過剰な混合気の一部は、圧縮行程中に副燃焼室S2に流入する。そして、適正な空燃比とするため、副室燃料供給弁6を通じ、燃料ガスを供給する。このため、副燃焼室S2での燃焼ガスの混合比の調整に各種の開発がなされてきた(例えば、特許文献2及び3参照)。
図6(a)は、エンジン回転数と副室空気過剰率(後述する実施形態で説明する)との関係を示している。図中、実線は、エンジンが準静的に昇速した場合のものである。この場合、エンジン回転数が増加しても副室空気過剰率は増減せず、平衡状態を保っている。そして、エンジン回転数が増加し、エンジンが急速に昇速した場合、図中、点Aと点Bとを結ぶ線分が、点線で示すように下方に向けて弓形になる。この状態でも、点線は、失火域にかからない。しかし、さらにエンジンが急速に昇速した場合、図中、一点鎖線で示すような点Aと点Cとを結ぶ線分が形成され、点Cにおいて失火域に入る。
本発明は、かかる従来技術の課題に鑑み、副燃焼室での失火を確実に防止することができる副室式エンジンの制御方法を提供することを目的とする。
本発明は、主燃焼室と副燃焼室とに燃料ガスを供給する副室式エンジンの制御方法であって、主室空気過剰率に対応させて副室燃料量を増減させ、副燃焼室の空燃比を適正に保つことを特徴とする。
かかる発明では、短い時間間隔でエンジン運転条件を測定して副燃焼室の空燃比を調整し、空燃比を適正に保つので、副燃焼室での失火が確実に防止される。
かかる発明では、主燃焼室の混合気の空気過剰率が低下した場合に、副室用の燃料ガス供給管から副室に流入する副室燃料量を減じることにより副室内を適正な空燃比に保つことができる。
かかる発明では、主室燃料供給弁の開期間はECUが指令した値であって分かっているため、主室空気過剰率と副室燃料量との関係の関係式を予め作成した上で吸気圧力、吸気温度及びエンジン回転数の検出を行うという簡易な方法により、エンジンの失火を防ぐことができる。
また、燃料ガス供給管9は、副燃焼室S2と接続された燃料ガス供給管5に連通している。すなわち、燃料ガス供給管が分岐して主燃焼室S1と副燃焼室S2とに燃料ガスを供給する構造になっている。
また、主室燃料供給弁10はECU13の主室燃料供給弁開期間制御手段133によって制御されるため、ECU13によって主室燃料供給弁10の開閉タイミングが把握されている。そのため、主室燃料供給弁10がオープン状態になっていた期間、すなわち開期間が把握される。この吸気圧力、吸気温度、エンジン回転数、及び主室燃料供給弁10の開期間を用いてECU13の主室空気過剰率算出手段134で後述する主室空気過剰率が算出される。
そして、この主室空気過剰率を用いて副燃焼室S2への燃料ガスの量が副室燃料算出手段135によって算出されて、この算出された副室燃料量を与える副室燃料供給弁開期間を副室燃料供給弁開期間算出手段136によって算出され、副室燃料供給弁6がこの開度に制御されて着火時に副燃焼室S2への燃料ガス量が制御される。この制御により、着火時に副燃焼室S2内の空燃費が正常に保たれる。
本式において、吸気圧力、吸気温度及びエンジン回転数にはステップS1における検出値を用いる。また、主室燃料供給弁10の開期間はECU13の主室燃料供給弁開期間制御手段133からの指令であるためこの開期間には既知の値を用いる。なお、主室燃料供給弁10の開期間と、主燃焼室S1側へ流れる燃料ガスの質量流量との関係を予め求めておく必要がある。燃料ガスの質量流量を弁の開期間で代用するためである。
次いで、ステップS4において、適正な副室燃料量を与える副室燃料供給弁開期間を算出する。これも実験により算出した式を用いる。
本ステップ1からステップ4は常にECUにて連続的に繰り返して実施されており、極めて高い応答性にて副室空気過剰率適正化制御を実施可能である。
例えば、上述した実施形態では、燃料ガス供給管を主燃焼室S1側と副燃焼室S2側とに分岐させた例について説明したが、本発明はこれに限定されることはなく、分岐構造を採用せずに、主燃焼室S1側の燃料ガス供給管9と副燃焼室S2側の燃料ガス供給管5とを全く独立の配管にすることも可能である。この場合、燃料ガスの供給にあたり、主室燃料供給弁10と副室燃料供給弁6とを同時に制御可能である。
Claims (4)
- 主室燃料量の過渡的上昇時に前記副室燃料量を減じることを特徴とする請求項1に記載の副室式エンジンの制御方法。
- 吸気圧力、吸気温度及びエンジン回転数を検出する第1ステップと、
前記主室空気過剰率を算出する第2ステップと、
前記主室空気過剰率と前記副室燃料量との関係式から副室燃料量を算出する第3ステップと、
前記副室燃料量から副室燃料供給弁開閉期間を算出して該開閉期間に基づいて副室燃料量を増減する第4ステップと、
を有することを特徴とする請求項1に記載の副室式エンジンの制御方法。 - 前記第1から第4ステップを連続的に繰り返して実施することを特徴とする請求項3に記載の副室式エンジンの制御方法。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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EP10746249.1A EP2402582B1 (en) | 2009-02-27 | 2010-02-25 | Method of controlling auxiliary chamber type engine |
CN201080009601.9A CN102333944B (zh) | 2009-02-27 | 2010-02-25 | 预燃室式发动机控制方法 |
US13/203,704 US9091222B2 (en) | 2009-02-27 | 2010-02-25 | Control method of precombustion chamber type engine |
JP2011501630A JP5357957B2 (ja) | 2009-02-27 | 2010-02-25 | 副室式ガスエンジンの制御方法 |
BRPI1012234A BRPI1012234A2 (pt) | 2009-02-27 | 2010-02-25 | método de controle para controlar um motor de um tipo de câmara de pré-combustão |
Applications Claiming Priority (2)
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JP2009-045483 | 2009-02-27 | ||
JP2009045483 | 2009-02-27 |
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WO2010098370A1 true WO2010098370A1 (ja) | 2010-09-02 |
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PCT/JP2010/052918 WO2010098370A1 (ja) | 2009-02-27 | 2010-02-25 | 副室式エンジンの制御方法 |
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US (1) | US9091222B2 (ja) |
EP (1) | EP2402582B1 (ja) |
JP (1) | JP5357957B2 (ja) |
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CN103717853A (zh) * | 2011-07-20 | 2014-04-09 | Ge延巴赫两合无限公司 | 用于运行固定的发电站的方法 |
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WO2022208576A1 (ja) * | 2021-03-29 | 2022-10-06 | 三菱自動車工業株式会社 | エンジンの制御装置 |
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EP2402582A1 (en) | 2012-01-04 |
CN102333944A (zh) | 2012-01-25 |
JP5357957B2 (ja) | 2013-12-04 |
JPWO2010098370A1 (ja) | 2012-09-06 |
US20110308495A1 (en) | 2011-12-22 |
US9091222B2 (en) | 2015-07-28 |
CN102333944B (zh) | 2015-08-19 |
BRPI1012234A2 (pt) | 2016-03-29 |
EP2402582A4 (en) | 2018-02-28 |
EP2402582B1 (en) | 2020-10-28 |
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