WO2014166690A1 - Verfahren zum betreiben eines common-rail-systems eines kraftfahrzeugs mit einem redundanten raildrucksensor - Google Patents
Verfahren zum betreiben eines common-rail-systems eines kraftfahrzeugs mit einem redundanten raildrucksensor Download PDFInfo
- Publication number
- WO2014166690A1 WO2014166690A1 PCT/EP2014/054782 EP2014054782W WO2014166690A1 WO 2014166690 A1 WO2014166690 A1 WO 2014166690A1 EP 2014054782 W EP2014054782 W EP 2014054782W WO 2014166690 A1 WO2014166690 A1 WO 2014166690A1
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- WO
- WIPO (PCT)
- Prior art keywords
- pressure
- rail
- sensor
- rail pressure
- value
- 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
- 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
- F02D41/3809—Common rail control systems
- F02D41/3836—Controlling the fuel pressure
-
- 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
- F02D41/22—Safety or indicating devices for abnormal conditions
- F02D41/222—Safety or indicating devices for abnormal conditions relating to the failure of sensors or parameter detection devices
-
- 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
- F02D41/24—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means
- F02D41/26—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using computer, e.g. microprocessor
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L15/00—Devices or apparatus for measuring two or more fluid pressure values simultaneously
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M15/00—Testing of engines
- G01M15/04—Testing internal-combustion engines
- G01M15/08—Testing internal-combustion engines by monitoring pressure in cylinders
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
- G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
-
- 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
- F02D41/222—Safety or indicating devices for abnormal conditions relating to the failure of sensors or parameter detection devices
- F02D2041/223—Diagnosis of fuel pressure sensors
-
- 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
- F02D2041/227—Limping Home, i.e. taking specific engine control measures at 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
- F02D41/38—Controlling fuel injection of the high pressure type
- F02D41/3809—Common rail control systems
- F02D2041/3881—Common rail control systems with multiple common rails, e.g. one rail per cylinder bank, or a high pressure rail and a low pressure rail
-
- 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
- F02D2200/06—Fuel or fuel supply system parameters
- F02D2200/0602—Fuel pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2400/00—Control systems adapted for specific engine types; Special features of engine control systems not otherwise provided for; Power supply, connectors or cabling for engine control systems
- F02D2400/08—Redundant elements, e.g. two sensors for measuring the same parameter
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
- G01D3/08—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups with provision for safeguarding the apparatus, e.g. against abnormal operation, against breakdown
Definitions
- the present invention relates to a method for operating a common rail system of a motor vehicle, in which a rail pressure sensor arrangement is used, as well as means for its implementation.
- the control can either be high-pressure side via a Druckre- gelventil (DRV) on the high pressure line or on the suction side (low pressure side) by an integrated into the high pressure pump or provided as a separate component metering unit (ZME) done. So-called two-plate systems have both solutions. The actual value for the control is always supplied by a so-called rail pressure sensor (RDS).
- DRS rail pressure sensor
- the rail pressure sensor is an integral part of the common rail system.
- the sensor signal obtained by means of the rail pressure sensor is evaluated in the engine control unit and used to regulate the desired Sollrailtik and the required for a given injection quantity electrical
- Control of the injection valve for example, a piezo injector or an injector with a solenoid valve to determine.
- An unrecognized misalignment or drift of the rail pressure sensor leads to a faulty injection quantity and thus to deteriorated emissions and / or increased noise.
- Conventional rail pressure sensors have a sensor element with an evaluation circuit.
- a raw signal obtained by means of a sensor element is processed by means of the evaluation circuit by A / D conversion, data processing and subsequent D / A conversion to the sensor signal. If no sensor signal is available due to a fault in the signal path or the rail pressure sensor itself, this is estimated and the vehicle continues to operate with an emergency program (with common rail systems with pressure control valve) or the engine shut down (in common rail systems, only one metering unit exhibit). Correspondingly caused "lying down" are undesirable.
- a rail pressure sensor arrangement with at least two signal paths differs from a conventional sensor with only one signal path in that redundant sensor signals are obtained by means of the at least two signal paths, by means of which identical pressure values can be determined with ideally accurate measurement.
- redundant sensor signals are provided via the at least two signal paths.
- a common sensor element for example in the form of a corresponding membrane, see above
- the at least two measuring bridges can each be integrated in one signal path.
- two or more sensor elements can be used, which are each provided with two or more measuring bridges.
- Each of the two or more measuring bridges can be integrated in an individual signal path.
- the rail pressure sensor assembly as a whole may externally have the shape of a conventional rail pressure sensor, which is internally provided with at least two sensor elements or a sensor element with two measuring bridges, or in the form of two separate sensors. The following explanations relate to the former alternative, but the invention is not limited thereto.
- a corresponding rail pressure sensor arrangement may be formed with at least two signal paths as a known rail pressure sensor, as also explained in more detail below.
- each sensor element comprises one or more measuring bridges, which may be designed, for example, in the form of full bridges.
- D conversion, data processing and subsequent D / A conversion these are each processed into sensor signals that can be transmitted, for example in analog form to a control unit and processed there by filtering and linearization.
- the pressure value determined from a sensor signal of a rail pressure sensor in a common rail system becomes substantially two
- Rail pressure sensor itself no sensor signal available must, as explained above, either continued with an emergency program or the engine are turned off, which inevitably leads to a "lying down” in the latter case.
- Limp Home at least one nearest workshop can be approached (“Limp Home"), because controlled control of the pressure regulating valve can continue to ensure a controlled pressure level in the system.
- the metering of the fuel is based on an estimated value.
- the redundant Railtiksensor- arrangement is used according to the invention, which is characterized in that it has at least two signal paths with these respective downstream evaluation circuits (see also Figure 2).
- the sensor signals which are each obtained by means of two signal paths (and the downstream evaluation circuits), are advantageously inverted relative to one another.
- the term "inverted" is under
- pressure values are determined in the control unit and an averaged value is used for the pressure regulation and the calculation of the activation duration.
- the method is also suitable for non-inverted, i. parallel sensor signals. Again, a sensor drift or implausibility can be detected and responded accordingly.
- a pressure averaging takes place on the basis of at least two sensor signals.
- a pressure average alone does not necessarily lead to a satisfactory value, which can be used for a control of the common rail system, because the pressure values obtained may differ greatly from one another. This is the case, for example, when a signal path is working correctly (ie indicating a "correct" value with a certain deviation, if necessary) and the wrong sensor signal is being received via the other or the signal path is defective.
- the invention therefore proposes to read out sensor signals via the at least two signal paths of the "redundant" rail pressure sensor arrangement, to determine a signal deviation of at least two signal deviation values characterizing the sensor signals, and / or to reduce the maximum permissible rail pressure by a correction value to a maximum permissible emergency rail pressure increase the minimum allowable rail pressure by a correction value to a minimum allowable emergency rail pressure when the signal deviation value exceeds a predetermined value.
- the "signal deviation value" can be For example, represent a deviation of the sensor signals themselves and / or a deviation thereof obtained pressure values.
- signal deviation values, correction values etc. are determined for more than two, in particular in each case two, signal paths.
- the signal deviation value is determined, for example, as the difference between the sensor signals or the pressure values derived therefrom and half the difference is used as the correction value.
- An inventive common rail system of a motor vehicle is provided for implementing the method with appropriate means.
- a common rail system has a control unit which is set up to carry out the described method.
- An arithmetic unit according to the invention e.g. a control device of a motor vehicle is, in particular programmatically, configured to perform a method according to the invention.
- Suitable data carriers for providing the computer program are, in particular, floppy disks, hard disks, flash memories, EEPROMs, CD-ROMs, DVDs and the like. It is also possible to download a program via computer networks (Internet, intranet, etc.).
- FIG. 1 shows a block diagram of the essential elements of a common rail system on which the invention can be based.
- FIG. 2 shows a block diagram of the essential elements of a rail pressure sensor arrangement which can be used according to the invention.
- FIG. 3 illustrates sensor signals which can be obtained by means of the rail pressure sensor arrangement according to FIG.
- FIG. 4 illustrates detection of drift of a rail pressure sensor arrangement according to an embodiment of the invention.
- FIG. 5 illustrates compensation for drift of a rail pressure sensor arrangement according to an embodiment of the invention.
- the common rail system 100 includes a high-pressure region 120 and a low-pressure region 130 in which fuel is present at different pressure.
- a high-pressure region for example, a pressure of 1 .500 bar - 2,000 bar is common, whereas in the low-pressure region, a pressure of up to 10 bar can prevail.
- Components of the high-pressure region 120 are essentially a high-pressure line 150 (the so-called common rail or rail) and the injectors 151, 152 and 153 for metering the high-pressure fuel into one or more cylinders (not shown) of an internal combustion engine.
- arithmetic unit for regulating the high pressure (line pressure) designed as a motor control unit 170 arithmetic unit is provided which controls a control element 1 10 for controlling the line pressure P with a control signal A.
- the actuating element 110 may be a pressure regulating valve (DRV), which connects the high-pressure region 120 to the low-pressure region 130, and / or a controllable high-pressure pump, which conveys the fuel from the low-pressure region 130 into the high-pressure region 120.
- DDV pressure regulating valve
- ZME metering unit
- the low pressure region 130 (eg, in the fuel tank, main filter, or in the high pressure pump) is equipped with a temperature sensor 162, which measures the temperature of the fuel.
- a rail pressure sensor (RDS) 14 detects the current value P of the pressure in the high-pressure region, here also referred to as line pressure.
- a corresponding signal from the rail pressure sensor 14 reaches the control unit 170.
- the control unit calculates control signals for acting on the injectors 151, 152 and 153. These injectors measure the internal combustion engine as a function of the respective control signal certain time to a certain amount of fuel.
- the injectors are connected via return lines to the low-pressure region 130, flows through the excess fuel. In the figure, only three injectors and three cylinders are shown. However, the procedure described can be used with any injector and / or cylinder numbers.
- FIG. 2 shows a block diagram of the essential elements of a rail pressure sensor arrangement that can be used according to the invention, which is denoted overall by 140.
- the rail pressure sensor arrangement 140 is connected to a control unit 170 whose function has already been explained above.
- the rail pressure sensor arrangement 140 may correspond to known rail pressure sensors 14 in terms of their mode of operation and the measuring principle used.
- the rail pressure sensor arrangement 140 has, for example, a housing, which is shown schematically here and designated by 143.
- a single sensor element is usually provided in conventional rail pressure sensors, which has, for example, a metal diaphragm.
- the fuel pressure acts on the metal diaphragm.
- a semiconductor pressure sensor is mounted on the opposite side of the metal diaphragm from the applied fuel pressure. This can be formed for example as a piezoelectric sensor.
- the pressure sensor is associated with a known measuring bridge.
- a corresponding sensor element i.e., a metal diaphragm
- a corresponding measuring bridge is duplicated.
- the resulting signal paths are designated here by 141 a and 141 b.
- the signal paths 141 a and 141 b thus each comprise at least one measuring bridge, which may be in the form of a
- Two measuring bridges can be arranged on a sensor element, as explained.
- the processing of the raw signals of the signal paths 141 a and 141 b takes place, for example, by an A D conversion, a data processing and a subsequent D / A conversion. Subsequently, the processed raw signals as sensor signals 144a and 144b are preferably transmitted analogously to the control unit 170 and further processed there.
- Evaluation circuits 142a and 142b connected which may be, for example, application-specific integrated circuits (ASIC).
- the evaluation circuits 142a and 142b are designed to provide corresponding signals 144a and 144b, which can, as explained, preferably be analog signals.
- the rail pressure sensor arrangement 140 is connected to the control unit 170 via corresponding lines.
- Another line pair 145 is provided which includes a supply and a ground line. It is understood that the rail pressure sensor assembly 140 may alternatively have another ground connection.
- the rail pressure sensor arrangement 140 which can be used according to the invention thus has a total of two signal paths with corresponding full bridges and two evaluation circuits. It is preferably provided to provide the output sensor signals 144a and 144b inverted relative to one another. In the control unit 170, the corresponding sensor signals 144a and 144b can be detected.
- Pressure values can be determined from the sensor signals 144a and 144b. A correspondingly desired value from the sensor signals 144a and 144b or corresponding pressure values can be used for pressure regulation and calculation of the activation duration.
- FIG. 3 shows in a diagram 300 sensor signals which can be obtained by means of the rail pressure sensor 140 according to FIG.
- a voltage U in volts is plotted on the abscissa against a pressure p in bar on the ordinate.
- the two sensor signals 144a and 144b are shown linearly for the sake of clarity, but it is understood that corresponding signals do not necessarily have to be in linear form. At least one of the axes of the diagram 300 can therefore also be in logarithmic or other non-linear form.
- the sensor signal 144a supplies a minimum voltage u at a minimum pressure p and a maximum voltage U at a maximum pressure p. Conversely, in this sense, the
- Sensor signals 144a and 144b "inverted" - the sensor signal 144b delivers a maximum voltage U at a minimum pressure p and a maximum voltage U at a maximum pressure p.
- an asymmetrical output stage is advantageously used in order to draw the corresponding sensor signals to a preferred potential.
- the diagnosis is preferably carried out after a respective linearization at the printing level.
- the pressure signal can be used robustly up to half the characteristic curve (cf., FIG. 3, area 310). As a result, a pressure control can be ensured and a proper metering can be ensured.
- the present invention advantageously operates with pressure values derived from the respective ones
- Sensor signals 141 a and 141 b are determined. However, other values derived from the sensor signals may also be used. For such derived values (for example pressure values), the variables or reference symbols a and b are used briefly below.
- FIG. 4 illustrates the detection of a sensor drift in accordance with an embodiment of the invention.
- two diagrams A and B are shown, in each of which a pressure p in bar is plotted on the ordinate with respect to a time t on the abscissa.
- A denotes a pressure value in FIG. 4 and the following FIG. 5, which pressure value can be determined from a signal 144a (see FIG. At constant rail pressure, the pressure value a is constant over time.
- b is correspondingly designated a pressure value, which can be derived from a sensor signal 144b. This also runs constant at constant rail pressure over time.
- the pressure mean value of these two pressure values a and b is denoted by m.
- the pressure mean value m corresponds in idealized representation exactly to the real pressure value r, which is present in the rail.
- the ideal pressure value r would correspond exactly to the corresponding individual pressure values a and b with ideal measurement quality of the signal paths, which would then be identical. Since this is never the case in reality, it can be assumed that the pressure values a and b are exactly identical only if there is an error.
- the mean value m in reality only provides exactly the rea- len value r, since the sensor signals a and b hardly have an identical deviation from the real value r (positive and negative).
- Diagram B shows a situation in which the pressure value b deviates considerably from the real pressure value r.
- the pressure value b is significantly below the real pressure value r.
- the value a corresponds (with a deviation, not shown) to the real pressure value r. If in this case only an average between the pressure values a and b was formed (mean pressure value m) and this pressure mean value m was used for the control of the common rail system, damage would possibly be caused because the actual pressure value r with which the
- FIG. 5 a compensation of a corresponding sensor drift is proposed, which is illustrated in more detail in FIG. Diagrams and signal designations in FIG. 5 essentially correspond to the diagrams and signal designations in FIG. 4.
- the representation of the real pressure value r has been dispensed with here because the real pressure value r is available in real systems where only sensor signals of a corresponding rail pressure sensor arrangement 140 are available are not known.
- Diagram A shows the pressure value a, the pressure value b and the pressure mean value m.
- the maximum permissible rail pressure is reduced by half the difference of the signal deviation value ⁇ in order not to generate a system overpressure.
- the maximum permissible rail pressure is here with p max , a correspondingly reduced pressure in the event of a fault (here maximum permissible emergency pressure called) with p max , E designated.
- p max , E P max -
- the minimum permissible rail pressure is correspondingly half the difference of the
- the minimum permissible rail pressure is here designated by p min , a correspondingly reduced pressure in the event of a fault (here called minimum permissible emergency pressure) with p min , E.
- p min , E p m in +
- a corresponding pressure reduction is illustrated in the diagram B of FIG.
- the maximum permissible rail pressure was lowered here in such a way that the corresponding pressure values, here denoted by a ', b' and m ', can no longer exceed the maximum permissible pressure value. Even if, in the extreme case, the real pressure value r should correspond to the pressure value a ', it is ensured that the maximum permissible rail pressure is not exceeded. The same applies to the minimum permissible rail pressure.
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016506822A JP6072350B2 (ja) | 2013-04-11 | 2014-03-12 | 冗長的なレール圧力センサを備えている自動車のコモンレールシステムの運転方法 |
CN201480020537.2A CN105074183B (zh) | 2013-04-11 | 2014-03-12 | 用于运行机动车的、具有冗余的轨压传感器的共轨系统的方法 |
US14/783,822 US9863358B2 (en) | 2013-04-11 | 2014-03-12 | Method for operating a common-rail system of a motor vehicle having a redundant common-rail-pressure sensor |
EP14709649.9A EP2984324A1 (de) | 2013-04-11 | 2014-03-12 | Verfahren zum betreiben eines common-rail-systems eines kraftfahrzeugs mit einem redundanten raildrucksensor |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102013206428.4 | 2013-04-11 | ||
DE102013206428.4A DE102013206428A1 (de) | 2013-04-11 | 2013-04-11 | Verfahren zum Betreiben eines Common-Rail-Systems eines Kraftfahrzeugs und Mittel zu dessen Implementierung |
Publications (1)
Publication Number | Publication Date |
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WO2014166690A1 true WO2014166690A1 (de) | 2014-10-16 |
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PCT/EP2014/054782 WO2014166690A1 (de) | 2013-04-11 | 2014-03-12 | Verfahren zum betreiben eines common-rail-systems eines kraftfahrzeugs mit einem redundanten raildrucksensor |
Country Status (6)
Country | Link |
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US (1) | US9863358B2 (de) |
EP (1) | EP2984324A1 (de) |
JP (1) | JP6072350B2 (de) |
CN (1) | CN105074183B (de) |
DE (1) | DE102013206428A1 (de) |
WO (1) | WO2014166690A1 (de) |
Families Citing this family (5)
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DE102017204827B4 (de) * | 2017-03-22 | 2019-08-08 | Continental Automotive Gmbh | Verfahren zur Fehlererfassung bei einem analogen Drucksensor |
DE102017214554A1 (de) * | 2017-08-21 | 2019-02-21 | Knorr-Bremse Systeme für Schienenfahrzeuge GmbH | Vorrichtung und Verfahren zum Übertragen einer physikalischen Größe unter Verwendung von analogen Signalen für eine Fahrzeugsteuerung |
CN109779775B (zh) * | 2017-11-13 | 2022-04-05 | 联合汽车电子有限公司 | 一种发动机可变喷油压力控制方法 |
DE102019201429B3 (de) | 2019-02-05 | 2020-06-04 | Vitesco Technologies GmbH | Batteriemodul für Fahrzeuge mit redundanter Druckerfassung |
CN111997771A (zh) * | 2020-08-27 | 2020-11-27 | 重庆潍柴发动机有限公司 | 一种多点喷射电控发动机的单缸功率自动修正方法 |
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- 2014-03-12 EP EP14709649.9A patent/EP2984324A1/de not_active Withdrawn
- 2014-03-12 US US14/783,822 patent/US9863358B2/en active Active
- 2014-03-12 CN CN201480020537.2A patent/CN105074183B/zh active Active
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Also Published As
Publication number | Publication date |
---|---|
CN105074183B (zh) | 2018-08-21 |
JP6072350B2 (ja) | 2017-02-01 |
JP2016521326A (ja) | 2016-07-21 |
US9863358B2 (en) | 2018-01-09 |
US20160053706A1 (en) | 2016-02-25 |
CN105074183A (zh) | 2015-11-18 |
EP2984324A1 (de) | 2016-02-17 |
DE102013206428A1 (de) | 2014-10-30 |
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