WO2013061395A1 - ターボ過給機付きディーゼルエンジンの制御装置 - Google Patents
ターボ過給機付きディーゼルエンジンの制御装置 Download PDFInfo
- Publication number
- WO2013061395A1 WO2013061395A1 PCT/JP2011/074441 JP2011074441W WO2013061395A1 WO 2013061395 A1 WO2013061395 A1 WO 2013061395A1 JP 2011074441 W JP2011074441 W JP 2011074441W WO 2013061395 A1 WO2013061395 A1 WO 2013061395A1
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- WIPO (PCT)
- Prior art keywords
- target value
- pressure
- exhaust pressure
- control
- supercharging pressure
- Prior art date
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D23/00—Controlling engines characterised by their being supercharged
-
- 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
- F02D41/0002—Controlling intake air
- F02D41/0007—Controlling intake air for control of turbo-charged or super-charged engines
-
- 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
- F02D41/0047—Controlling exhaust gas recirculation [EGR]
- F02D41/005—Controlling exhaust gas recirculation [EGR] according to engine operating 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
- F02D41/02—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
- F02D41/1448—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 exhaust gas pressure
-
- 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
- F02B37/00—Engines characterised by provision of pumps driven at least for part of the time by exhaust
- F02B37/12—Control of the pumps
- F02B37/24—Control of the pumps by using pumps or turbines with adjustable guide vanes
-
- 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
- F02D21/06—Controlling engines characterised by their being supplied with non-airborne oxygen or other non-fuel gas peculiar to engines having other non-fuel gas added to combustion air
- F02D21/08—Controlling engines characterised by their being supplied with non-airborne oxygen or other non-fuel gas peculiar to engines having other non-fuel gas added to combustion air the other gas being the exhaust gas of engine
- F02D2021/083—Controlling engines characterised by their being supplied with non-airborne oxygen or other non-fuel gas peculiar to engines having other non-fuel gas added to combustion air the other gas being the exhaust gas of engine controlling exhaust gas recirculation electronically
-
- 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
- F02M26/00—Engine-pertinent apparatus for adding exhaust gases to combustion-air, main fuel or fuel-air mixture, e.g. by exhaust gas recirculation [EGR] systems
- F02M26/13—Arrangement or layout of EGR passages, e.g. in relation to specific engine parts or for incorporation of accessories
- F02M26/22—Arrangement or layout of EGR passages, e.g. in relation to specific engine parts or for incorporation of accessories with coolers in the recirculation passage
- F02M26/23—Layout, e.g. schematics
- F02M26/25—Layout, e.g. schematics with coolers having bypasses
-
- 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
- Y02T10/40—Engine management systems
Definitions
- the present invention relates to a control device for a diesel engine with a turbocharger for automobiles, and more particularly to a control device for a diesel engine with a turbocharger capable of actively controlling a supercharging pressure by controlling a turbine rotational speed by an actuator. .
- the supercharging pressure can be actively controlled by controlling the turbine speed by the opening of the variable nozzle.
- the target boost pressure is determined from the engine speed and the fuel injection amount, and the actual boost pressure calculated from the boost pressure sensor signal is the target boost pressure.
- the variable nozzle can be operated by feedback control.
- the conforming work for determining the target boost pressure for each engine speed and each fuel injection amount is generally performed under steady engine operation. Including transient operation such as when the engine speed is increasing, the man-hours required for the adaptation work become enormous. In addition, it is impossible to adapt the target boost pressure without omission assuming all transient operation conditions. For this reason, when the engine is under transient operation, there is a possibility that some of the restrictions related to supercharging pressure control may not be satisfied.
- One such constraint is a constraint relating to ensuring hardware reliability during transient operation, more specifically during acceleration. When the engine is accelerated, the exhaust pressure increases due to the increase in the fuel injection amount.
- JP 2010-185415 A discloses a supercharging pressure control invention in which the opening degree of a variable nozzle is controlled by open loop control so that overshooting of supercharging pressure that can occur during acceleration can be avoided.
- the target intake air amount is calculated based on the engine rotation speed and the fuel injection amount, and the target opening of the variable nozzle is determined based on the target intake air amount.
- the target intake air amount deviation is calculated based on the deviation between the target boost pressure and the actual boost pressure, and the target intake air amount deviation added to the intake air amount is the turbocharger control target intake.
- the target opening of the variable nozzle is determined based on the supercharger control target intake air amount.
- the map value of the target intake air amount deviation is determined by the adaptation, the problem of requiring an enormous man-hour for the adaptation work is not irrelevant to the invention disclosed in this publication. Further, under transient operation conditions that were not assumed during the adaptation work, there is a possibility that the supercharging pressure cannot be properly controlled and an overshoot occurs.
- the control apparatus of the diesel engine with a turbocharger which concerns on this invention is comprised so that the following operation
- This control device sets the second target value of the supercharging pressure when the actual exhaust pressure is larger than the predetermined exhaust pressure reference and the exhaust pressure change rate is larger than the predetermined exhaust pressure change rate reference.
- the actual exhaust pressure and the exhaust pressure change rate are calculated from the signal of the exhaust pressure sensor.
- the exhaust pressure standard is set to a value lower than the limit exhaust pressure that can guarantee the reliability of hardware.
- the second target value is set to a value lower than the first target value, more preferably the same value as the actual supercharging pressure calculated from the signal of the supercharging pressure sensor.
- the exhaust manifold 6 is connected to an exhaust passage 12 for releasing the exhaust gas emitted from the engine body 2 into the atmosphere.
- a turbocharger turbine 16 is attached to the exhaust passage 12.
- the turbocharger of the present embodiment is a variable capacity type, and the turbine 16 is provided with a variable nozzle 18.
- a catalyst device 26 for purifying exhaust gas is provided downstream of the turbine 16 in the exhaust passage 12.
- the engine system of the present embodiment includes an ECU (Electronic Control Unit) 50.
- the ECU 50 is a control device that comprehensively controls the entire engine system.
- the ECU 50 captures and processes a sensor signal provided in the engine system. Sensors are installed in various parts of the engine system. For example, an air flow meter 58 is attached to the intake passage 10 downstream of the air cleaner 20, an intake air temperature sensor 60 is attached near the outlet of the intercooler 22, and a boost pressure sensor 54 is attached downstream of the diesel throttle. ing.
- An exhaust pressure sensor 56 is attached to the exhaust manifold 6. Further, a rotation speed sensor 52 that detects rotation of the crankshaft, an accelerator opening sensor 62 that outputs a signal corresponding to the opening of the accelerator pedal, and the like are also attached.
- the ECU 50 processes the signals of the acquired sensors and operates the actuators according to a predetermined control program.
- the actuator operated by the ECU 50 includes the variable nozzle 18, the injector 8, the EGR valve 32, the diesel throttle 24, and the like. There are many actuators and sensors connected to the ECU 50 other than those shown in the figure, but the description thereof is omitted in this specification.
- the engine control executed by the ECU 50 includes supercharging pressure control and EGR control.
- the variable nozzle 18 is operated by feedback control so that the actual supercharging pressure calculated from the signal of the supercharging pressure sensor 54 becomes the target supercharging pressure.
- the EGR control the EGR valve 32 is operated by feedback control so that the actual EGR rate calculated from the signals of various sensors becomes the target EGR rate.
- the supercharging pressure control is particularly characteristic in the present embodiment.
- the boost pressure control routine includes a step S1 for calculating a steady target value, a step S2 for calculating a transient target value, and a step S3 for finally determining a target value (FB control target value) used in feedback control. Composed. In each step, a subroutine shown in the flowcharts of FIGS. 3, 4 and 5 is executed.
- the flowchart in FIG. 3 shows a subroutine executed in step S1 of the supercharging pressure control routine.
- steady target values are calculated for each of the supercharging pressure and the EGR rate.
- the steady target value means a target value that is determined using data adapted under steady operation of the engine.
- step S101 of this subroutine the engine speed is measured from the signal of the speed sensor 52.
- step S102 the fuel injection amount is calculated according to the accelerator opening obtained from the signal of the accelerator opening sensor 62.
- step S103 the actual boost pressure is calculated from the signal of the boost pressure sensor 54. In the following description, the actual boost pressure may be expressed as “pim”.
- step S104 the actual fresh air amount is calculated from the signal of the air flow meter 58. The actual amount of fresh air is the amount of fresh air actually taken into the cylinder.
- step S105 the actual EGR rate is calculated from the signals of the boost pressure sensor 54 and the intake air temperature sensor 60 and the actual fresh air amount.
- step S106 The calculation of the steady target value is performed in step S106 and step S107.
- step S106 a target boost pressure is calculated from a map having the engine speed and the fuel injection amount as arguments.
- the target boost pressure calculated in this step is a target value adapted under steady operation of the engine, that is, a steady target value of the boost pressure. It is also the first target value of the supercharging pressure in the present invention.
- the map used for calculation of the steady target value is created based on conforming data obtained by testing under steady operation while changing the engine speed and the fuel injection amount by a certain amount.
- the steady target value of the supercharging pressure may be expressed as “pimtrgst”.
- step S107 the target EGR rate is calculated based on the fresh air amount.
- the relationship between the fresh air amount and the target EGR rate is determined so that the oxygen concentration of the air sucked into the cylinder becomes a target value within a range where the EGR rate does not exceed the limit at which smoke does not occur.
- the target EGR rate calculated in this step is a target value adapted under steady operation of the engine, that is, a steady target value of the EGR rate. It should be noted that both a value that realizes the target intake air oxygen concentration and a value that becomes the smoke limit may be calculated, and the smaller value may be set as the target EGR rate.
- the transient target value of the supercharging pressure is calculated.
- the transient target value is a target value that is set only when a predetermined condition that may be satisfied during transient operation of the engine is satisfied. It is also the second target value of the supercharging pressure in the present invention.
- the steady target value of the boost pressure calculated in step S1 of the boost pressure control routine is based on the assumption that the engine is in steady operation. For this reason, at the time of transient operation such as acceleration or deceleration, some restrictions related to supercharging pressure control may not be satisfied.
- a particular problem in the supercharging pressure control according to the present embodiment is a restriction relating to hardware reliability assurance.
- this is a constraint for preventing damage to the exhaust system caused by excessively high exhaust pressure.
- this subroutine it is predicted based on whether or not a predetermined condition is satisfied that a constraint relating to hardware reliability is not satisfied. Then, only when it is predicted that the constraint will not be satisfied, the target value of the supercharging pressure that can surely satisfy the constraint is calculated as the transient target value.
- step S201 of this subroutine it is determined whether the conditions regarding the exhaust pressure and the exhaust pressure change rate are satisfied.
- the condition is that the actual exhaust pressure “P4” measured by the exhaust pressure sensor 56 is larger than the predetermined exhaust pressure reference “P4C”, and the actual exhaust pressure change rate “dP4” is the predetermined exhaust pressure change rate reference. It is larger than “dP4C”.
- the exhaust pressure standard “P4C” is set to a value lower than the design limit that can guarantee the reliability of the exhaust system hardware.
- the exhaust pressure change rate reference “dP4C” is determined based on the margin for the reliability guarantee limit of the exhaust pressure reference “P4C” and the response speed of the supercharging pressure control.
- step S201 the actual boost pressure value “pim” calculated from the signal of the boost pressure sensor 54 is set as the boost target transient value “pimtrgk1” so as to maintain the current boost pressure as it is.
- the value of the flag k1 indicating that the transient target value has been set is set to 1.
- the flowchart of FIG. 5 shows a subroutine executed in step S3 of the supercharging pressure control routine.
- step S301 of this subroutine it is determined whether or not the value of the flag k1 is set to “1”.
- the value of the flag k1 being “1” means that the transient target value of the supercharging pressure is set, and the value of the flag k1 being “0” means that the transient target value is not set. Means. Therefore, if the value of the flag k1 is “0”, the process of step S303 is selected, and the steady target value “pimtrgst” of the boost pressure calculated in step S1 is determined as it is as the FB control target value “pimtrg”. Is done.
- the supercharging pressure control routine described above is executed by the ECU 50, a sudden increase in exhaust pressure during transient operation is suppressed, and the reliability of the exhaust system hardware is ensured. This effect can be explained with reference to FIG. FIG. 6 shows two control results regarding the supercharging pressure control during acceleration.
- the control result (A) is a result of always performing the supercharging pressure control using only the steady target value, that is, the control result when the transient target value is not set.
- the control result (B) is a control result when the transient target value is set by the supercharging pressure control of the present embodiment. In the upper part of each control result, a chart showing the change of the exhaust pressure “P4” with time is drawn.
- the exhaust pressure “P4” suddenly rises and temporarily exceeds the reliability retention limit of the exhaust pressure. This is because the effect of increasing the exhaust pressure by increasing the fuel injection amount overlaps with the effect of increasing the exhaust pressure by feedback control of the supercharging pressure.
- the driver depresses the accelerator pedal to increase the fuel injection amount, and the exhaust pressure increases due to the increase in combustion energy. Also, during acceleration, the steady target value of the supercharging pressure is increased according to the increase in the fuel injection amount.
- the turbocharger is accompanied by a supercharging delay
- the FB control target value “pimtrg” and the actual supercharging pressure “ The difference from “pim” temporarily expands. For this reason, the feedback control works so as to increase the actual supercharging pressure “pim” by rapidly increasing the turbine rotation speed, and the opening of the variable nozzle 18 is narrowed. As a result, the exhaust pressure further increases.
- the actual exhaust pressure “P4” is larger than the exhaust pressure reference “P4C”
- the actual exhaust pressure change rate “dP4” is larger than the exhaust pressure change rate reference “dP4C”.
- the FB control target value “pimtrg” is changed to the same value as the actual supercharging pressure “pim”.
- the variable nozzle 18 is operated so as to maintain the current supercharging pressure, and an increase in exhaust pressure due to supercharging pressure feedback control is suppressed.
- the exhaust pressure increase effect due to the boost pressure feedback control overlaps with the exhaust pressure increase effect due to the increase in the fuel injection amount, and the maximum value of the actual exhaust pressure “P4” is less than the reliability retention limit. It can be kept low.
- the FB control target value “pimtrg” is changed again to the steady target value determined from the engine speed and the fuel injection amount.
- the transient target value that is the second target value may be a value that is lower than the steady target value that is the first target value.
- the condition of step S201 is satisfied, a certain effect can be obtained simply by reducing the target value of the feedback control.
- a wastegate valve can be used as the supercharging pressure control actuator.
- the wastegate valve in that case can change the opening degree continuously or in multiple stages.
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- Supercharger (AREA)
Abstract
Description
4 吸気マニホールド
6 排気マニホールド
8 インジェクタ
10 吸気通路
12 排気通路
14 コンプレッサ
16 タービン
18 可変ノズル
30 EGR通路
32 EGR弁
50 ECU
52 回転数センサ
54 過給圧センサ
56 排気圧センサ
58 エアフローメータ
60 吸気温センサ
62 アクセル開度センサ
Claims (2)
- アクチュエータの操作により過給圧を能動的に制御可能なターボ過給機付きディーゼルエンジンの制御装置において、
過給圧センサの信号から前記エンジンの実過給圧を算出する手段と、
エンジン回転数と燃料噴射量とに基づいて過給圧の第1の目標値を算出する手段と、
前記実過給圧を前記第1の目標値に近づけるようにフィードバック制御によって前記アクチュエータを操作する手段と、
排気圧センサの信号から前記エンジンの実排気圧及び排気圧変化率を算出する手段と、
前記実排気圧が所定の排気圧基準より大きく、かつ、前記排気圧変化率が所定の排気圧変化率基準より大きい場合、前記第1の目標値よりも低い第2の目標値を設定する手段と、
前記第2の目標値が設定されている場合、前記フィードバック制御の目標値を前記第1の目標値から前記第2の目標値に変更する手段と、
を備えることを特徴とするターボ過給機付きディーゼルエンジンの制御装置。 - 前記第2の目標値を設定する手段は、前記実過給圧と同じ値を前記第2の目標値として設定することを特徴とする請求項1に記載のターボ過給機付きディーゼルエンジンの制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP11874782.3A EP2772629B1 (en) | 2011-10-24 | 2011-10-24 | Control device for diesel engine equipped with turbocharger |
JP2013540521A JP5761363B2 (ja) | 2011-10-24 | 2011-10-24 | ターボ過給機付きディーゼルエンジンの制御装置 |
PCT/JP2011/074441 WO2013061395A1 (ja) | 2011-10-24 | 2011-10-24 | ターボ過給機付きディーゼルエンジンの制御装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2011/074441 WO2013061395A1 (ja) | 2011-10-24 | 2011-10-24 | ターボ過給機付きディーゼルエンジンの制御装置 |
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WO2013061395A1 true WO2013061395A1 (ja) | 2013-05-02 |
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PCT/JP2011/074441 WO2013061395A1 (ja) | 2011-10-24 | 2011-10-24 | ターボ過給機付きディーゼルエンジンの制御装置 |
Country Status (3)
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EP (1) | EP2772629B1 (ja) |
JP (1) | JP5761363B2 (ja) |
WO (1) | WO2013061395A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107401462A (zh) * | 2016-05-18 | 2017-11-28 | 福特环球技术公司 | 用于操作发动机的方法和系统 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2008051042A (ja) * | 2006-08-25 | 2008-03-06 | Mitsubishi Motors Corp | 過給機付きエンジンの制御装置 |
JP2010185415A (ja) | 2009-02-13 | 2010-08-26 | Nissan Motor Co Ltd | エンジンの制御装置 |
JP2010203344A (ja) * | 2009-03-04 | 2010-09-16 | Nissan Motor Co Ltd | 内燃機関の制御装置 |
Family Cites Families (4)
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DE4025901C1 (ja) * | 1990-08-16 | 1992-01-30 | Mercedes-Benz Aktiengesellschaft, 7000 Stuttgart, De | |
DE10010978B4 (de) * | 2000-03-07 | 2005-03-24 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Regelung des Ladedrucks einer Brennkraftmaschine |
JP2006188999A (ja) * | 2005-01-07 | 2006-07-20 | Honda Motor Co Ltd | 内燃機関の過給圧制御装置 |
FR2948977A3 (fr) * | 2009-08-07 | 2011-02-11 | Renault Sa | Procede de fonctionnement d'un systeme d'admission d'un moteur a combustion interne suralimente |
-
2011
- 2011-10-24 EP EP11874782.3A patent/EP2772629B1/en not_active Not-in-force
- 2011-10-24 JP JP2013540521A patent/JP5761363B2/ja not_active Expired - Fee Related
- 2011-10-24 WO PCT/JP2011/074441 patent/WO2013061395A1/ja active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008051042A (ja) * | 2006-08-25 | 2008-03-06 | Mitsubishi Motors Corp | 過給機付きエンジンの制御装置 |
JP2010185415A (ja) | 2009-02-13 | 2010-08-26 | Nissan Motor Co Ltd | エンジンの制御装置 |
JP2010203344A (ja) * | 2009-03-04 | 2010-09-16 | Nissan Motor Co Ltd | 内燃機関の制御装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107401462A (zh) * | 2016-05-18 | 2017-11-28 | 福特环球技术公司 | 用于操作发动机的方法和系统 |
CN107401462B (zh) * | 2016-05-18 | 2021-10-26 | 福特环球技术公司 | 用于操作发动机的方法和系统 |
Also Published As
Publication number | Publication date |
---|---|
EP2772629B1 (en) | 2017-08-09 |
EP2772629A1 (en) | 2014-09-03 |
JPWO2013061395A1 (ja) | 2015-04-02 |
EP2772629A4 (en) | 2016-01-20 |
JP5761363B2 (ja) | 2015-08-12 |
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