CN108368806A - The bearing calibration of fuel injection valve drive characteristic and vehicle console device - Google Patents

The bearing calibration of fuel injection valve drive characteristic and vehicle console device Download PDF

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Publication number
CN108368806A
CN108368806A CN201680075272.5A CN201680075272A CN108368806A CN 108368806 A CN108368806 A CN 108368806A CN 201680075272 A CN201680075272 A CN 201680075272A CN 108368806 A CN108368806 A CN 108368806A
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China
Prior art keywords
fuel injection
injection valve
boost voltage
aforementioned
vehicle console
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Granted
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CN201680075272.5A
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Chinese (zh)
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CN108368806B (en
Inventor
刑部侑树
松冈孝
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Bosch Corp
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Bosch Corp
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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02DCONTROLLING COMBUSTION ENGINES
    • F02D41/00Electrical control of supply of combustible mixture or its constituents
    • F02D41/20Output circuits, e.g. for controlling currents in command coils
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02MSUPPLYING COMBUSTION ENGINES IN GENERAL WITH COMBUSTIBLE MIXTURES OR CONSTITUENTS THEREOF
    • F02M51/00Fuel-injection apparatus characterised by being operated electrically
    • F02M51/06Injectors peculiar thereto with means directly operating the valve needle
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02DCONTROLLING COMBUSTION ENGINES
    • F02D41/00Electrical control of supply of combustible mixture or its constituents
    • F02D41/20Output circuits, e.g. for controlling currents in command coils
    • F02D2041/2003Output circuits, e.g. for controlling currents in command coils using means for creating a boost voltage, i.e. generation or use of a voltage higher than the battery voltage, e.g. to speed up injector opening
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02DCONTROLLING COMBUSTION ENGINES
    • F02D41/00Electrical control of supply of combustible mixture or its constituents
    • F02D41/20Output circuits, e.g. for controlling currents in command coils
    • F02D2041/202Output circuits, e.g. for controlling currents in command coils characterised by the control of the circuit
    • F02D2041/2051Output circuits, e.g. for controlling currents in command coils characterised by the control of the circuit using voltage control
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02DCONTROLLING COMBUSTION ENGINES
    • F02D41/00Electrical control of supply of combustible mixture or its constituents
    • F02D41/20Output circuits, e.g. for controlling currents in command coils
    • F02D2041/202Output circuits, e.g. for controlling currents in command coils characterised by the control of the circuit
    • F02D2041/2058Output circuits, e.g. for controlling currents in command coils characterised by the control of the circuit using information of the actual current value

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
  • Fuel-Injection Apparatus (AREA)

Abstract

A kind of fuel injection control is provided, the deviation of the drive characteristic of the fuel injection valve in vehicle console device is eliminated, reliability higher compared with the past.By control unit of engine(51), the boost voltage in set fuel injection is changed into set benchmark boost voltage, by fuel injection valve(4)Driving, measurement is to flowing to fuel injection valve(4)Electric current reach set target current until rise time, based on the rise time measured, by vehicle console device(101)In the boost voltage amendment relative to set fuel injection, which is set as the boost voltage relative to set fuel injection, thereby, it is possible to eliminate the deviation of the fuel injection valve drive characteristic of vehicle console device.

Description

The bearing calibration of fuel injection valve drive characteristic and vehicle console device
Technical field
The present invention relates to the bearing calibration of fuel injection valve drive characteristic and vehicle console devices.
Background technology
In a motor vehicle, in order to realize various action controls, it is provided with the vehicle control for having control unit Device.As one of the important control being performed in such vehicle console device, there is fuel injection control, proposes simultaneously Practical various control methods etc.(For example, referring to patent document 1 etc.).Action of the fuel injection control to engine It is normal whether bring greater impact.In particular, in the drive control of fuel injection valve, conduction time brings to emitted dose It directly affects.Carry out the vehicle console device of drive control of such fuel injection valve etc. if it is identical structure, then The drive characteristic of fuel injection valve is substantially the same.
Patent document 1:Japanese Unexamined Patent Application Publication 2009-154214 bulletins.
But even mutually isostructural vehicle console device, actually also there is spy respectively in each electronic component The deviation of property, in general it is assumed that being the part of identical characteristic in the range of allowing the deviation of its deviation.On the other hand, in fuel Among injection, especially in the case where emitted dose is smaller, such as referred to as it is so-called it is leading injection, in the advance of main injection In capable small injection, the difference slightly of the rise time of the electrical current when driving of fuel injection valve just gives fuel injection amount Bring direct large effect.Accordingly, it is desirable in the fuel injection valve characteristic with mutually isostructural controller of vehicle to the greatest extent It measures no deviation and is uniform.
Invention content
Present invention has been made in view of the above circumstances, provides a kind of vehicle console device, can eliminate identical structure Vehicle console device in fuel injection valve drive characteristic deviation, it is higher reliability compared with the past can be carried out Fuel injection control.
In order to achieve the purpose that aforementioned present invention, the fuel injection valve driving of vehicle console device for the present invention are special Property bearing calibration, be by vehicle console device fuel injection valve drive characteristic correction fuel injection valve drive characteristic school Correction method is characterized in having:1st step, liter when by set fuel injection in the vehicle console device of calibration object Piezoelectricity pressure changes into set benchmark boost voltage, and aforementioned vehicle is made to be driven fuel injection valve with control device;Second step, Measure the rise time until the electric current for flowing to foregoing fuel injection valve reaches set target current;Third step is based on The aforementioned rise time measured will spray in the vehicle console device of aforementioned corrected object relative to aforementioned set fuel The boost voltage amendment penetrated;And the 4th step, aforementioned revised boost voltage is set as spraying relative to aforementioned set fuel The boost voltage penetrated.
According to the present invention, rise time of fuel injection valve electric current when by being applied based on boost voltage is by boost voltage It corrects so that the rise time is consistent, so can be by the driving of the fuel injection valve in mutually isostructural vehicle console device The deviation of characteristic is eliminated, and is realized the higher fuel injection control of reliability compared with the past, can be obtained following effect:It can carry For a kind of reliability, the vehicle console device having good stability.
Description of the drawings
Fig. 1 is the basic block diagram of the vehicle console device of present embodiment.
Fig. 2 is the upper of the fuel injection valve electric current in the fuel injection valve drive characteristic correction process for indicate present embodiment Rise the subroutine flow chart of the acquirement order of time.
Fig. 3 is the amendment of the target boost voltage in the fuel injection valve drive characteristic correction process for indicate present embodiment The subroutine flow chart of order.
Fig. 4 is the injection valve indicated in the case that the fuel injection valve drive characteristic correction process of present embodiment is performed The characteristic line chart of the change case of electric current and target boost voltage, Fig. 4(A)It is the injection valve indicated in 2 vehicle console devices The characteristic line chart of the change case of electric current, Fig. 4(B)It is the change case for indicating the target boost voltage in 2 vehicle console devices Characteristic line chart.
Fig. 5 is the characteristic line chart for the change case for indicating injection valve electric current and target boost voltage in previous device, Fig. 5 (A)It is the characteristic line chart for the change case for indicating the injection valve electric current in 2 vehicle console devices, Fig. 5(B)It is to indicate 2 vehicles With the characteristic line chart of the change case of the target boost voltage in control device.
Specific implementation mode
Hereinafter, being illustrated to present embodiment referring to figs. 1 to Fig. 5.In addition, component described below, configuration etc. are not It is to limit the present invention, can be variedly changed in the range of the purport of the present invention.First, referring to Fig.1 to this The basic structure of the vehicle console device of embodiment illustrates.
Vehicle console device 101 is configured to, and has control unit of engine(ECU)51, execute engine(It is not shown) Action control processing and aftermentioned present embodiment fuel injection valve drive characteristic correction process etc..
Control unit of engine 51 is configured to, and has microcomputer(CPU)1, DCDC control units(DCDC-CON)2 Hes DCDC boost voltage generating units(DCDC)3.
Microcomputer 1 is configured to, be entered engine speed, accelerator opening, outside air temperature, atmospheric pressure etc. it is various by The detection signal that sensor (not shown) obtains, it is same, it is able to carry out at the various action controls of engine The fuel injection valve drive characteristic correction process etc. of reason and aftermentioned present embodiment.
DCDC boost voltages generating unit 3 is configured to, and can generate and export in the fuel for being carried out by fuel injection valve 4 The boost voltage that the energization of injection needs when starting.DCDC boost voltages generating unit 3 uses so-called DC-DC converter circuit, Its basic circuit structure is same.DCDC boost voltages generating unit 3 is configured to, and can be controlled according to via DCDC The voltage value for controlling the boost voltage to change output from microcomputer 1 in portion 2, and be configured to, liter can be controlled Whether the needs of the output of piezoelectricity pressure.
DCDC control units 2 are configured to, and according to the control signal inputted from microcomputer 1, boost relative to DCDC The action control as described above of voltage generating unit 3.
Then, with reference to Fig. 2 and Fig. 3, the fuel injection valve drive characteristic bearing calibration of present embodiment is illustrated.It is first First, to the fuel injection valve drive characteristic bearing calibration explained in general of present embodiment.
To have originally generally, based on the vehicle console device with same circuits structure that same size produces In the case that the fuel injection valve of identical acting characteristic is driven with identical drive condition, the electric current in fuel injection valve is flowed to (Hereinafter referred to as " injection valve electric current ")Rise time it is roughly the same in the range for the degree that can be allowed.
But if the degree for constituting the deviation of the electronic component of each vehicle console device somewhat becomes larger, The case where then thering is the rise time of injection valve electric current to be detached from the range that can be allowed.
Such as it as shown in figure 5, is filled with 2 vehicles control of the manufacture of identical specification, circuit structure having the same Set A, B(In Figure 5, it is expressed as " ECU_A ", " ECU_B " respectively)It is respective in, even if making in acting characteristic having the same The each boost voltage V applied to fuel injection valve when the driving of fuel injection valve startsBS-A、VBS-BIt is identical(With reference to Fig. 5 (B)), due to there is the deviation of the electrical characteristic of the electronic component used in each device, so being reached about to injection valve electric current To target boost current(Target current)IBS-TUntil injection valve electric current rise time, vehicle console device A is tA(Ginseng According to Fig. 5(A)The characteristic line of solid line), in contrast, in vehicle console device B, it is promising upper than vehicle console device A Rise time big tB(With reference to Fig. 5(A)The characteristic line of double dot dash line)The case where.
Such rise time difference particularly as small injection it is so-called it is leading injection etc. in, emitted dose can be caused Significant difference, lead to problems such as desired engine control be difficult to realize.
The fuel injection valve drive characteristic bearing calibration of present embodiment will be used based on the manufacture of identical specification, tool There is the vehicle console device of identical circuit structure to drive the fuel of acting characteristic having the same with identical drive condition The rise time correction of each injection valve electric current in the case of injection valve is identical method.
That is, in the manufacture of vehicle console device 101 or when using starting, the rise time of injection valve electric current is measured, The value be more than preset fiducial time in the case of, to from the boost voltage that DCDC boost voltages generating unit 3 exports into Row is corrected, so that the rise time of injection valve electric current becomes fiducial time, is corrected, so that mutually isostructural vehicle control fills The rise time of injection valve electric current between setting becomes identical, is supplied to the drive control of later fuel injection valve 4.
The order for indicating the measurement processing of the rise time of injection valve electric current in fig. 2, indicates boost voltage in figure 3 The order of correcting process, hereinafter, being concretely demonstrated with reference to these figures.First, to the meter of the rise time of injection valve electric current Survey processing illustrates.The measurement processing of the rise time of the injection valve electric current can execute in vehicle console device, this Outside, it can be executed by carrying out action control to vehicle console device by external device (ED)s such as experimental rigs, be which kind of all may be used With the experimental rig carries out the action test of vehicle console device during fabrication.
In the following description, it is indicated in the measurement processing by the rise time of the injection valve electric current indicated in Fig. 2 and Fig. 3 The correcting process of boost voltage carried as so-called software so that it is performed in vehicle console device 101.
Here, to the drive of the fuel injection valve 4 executed by the vehicle console device 101 of present embodiment as premise Dynamic method illustrates.When the driving of fuel injection valve 4 starts, usually because the electromagnetic coil that fuel injection valve 4 has(Figure Show omission)Inductance, to injection valve electric current rapidly rise to it is desired horizontal until, compare and need the time.
Therefore, generally use driving method below:When driving beginning, apply relatively high referred to as boost voltage Voltage makes injection valve electric current rise to desired level with the short time, as long as since injection valve electric current is also maintained than initial The low level of desired value, so the voltage applied to fuel injection valve 4 to be also switched to the voltage lower than boost voltage. The driving of the fuel injection valve 4 of present embodiment is also premised on based on such previous driving method.
Then, if starting the processing carried out by microcomputer 1, set combustion is carried out to fuel injection valve 4 first The application of set boost voltage when material injection(With reference to the step S102 of Fig. 2).
Here, so-called set fuel injection, e.g. leading injection, set boost voltage(Hereinafter, in order to illustrate Conveniently it is referred to as " benchmark boost voltage "), it is the action based on the fuel injection valve 4 being connected on vehicle console device 101 Characteristic etc. presets to obtain desired leading fuel injection amount(Set fuel injection)Value.In addition, below In explanation, above-mentioned benchmark boost voltage is suitably expressed as " VBS-A”。
With benchmark boost voltage VBS-AApplication simultaneously, start injection valve electric current reach target boost current IBS-TUntil Time(Rise time)Measurement(With reference to the step S104 and step S106 of Fig. 2).
Then, if injection valve electric current reaches target boost current IBS-T, then terminate the measurement of rise time, determine and rise Time(With reference to the step S108 and step S110 of Fig. 2).Here, the saying afterwards by the rise time measured as described above " t is suitably expressed as in brightB”。
The rise time t obtained as described aboveBBe stored in vehicle console device 101 storage region appropriate, Such as in the storage region suitably ensured in microcomputer 1.
In addition, injection valve electric current is same, DCDC control units 2 are fed back to via DCDC boost voltages generating unit 3, DCDC control units 2 have reached target boost current I in injection valve electric currentBS-TTime point, relative to DCDC boost voltages generate Portion 3 indicates that the output of boost voltage stops.
In microcomputer 1, the liter from DCDC boost voltages generating unit 3 via DCDC control units 2 can be identified The boost voltage of the opportunity of the output of piezoelectricity pressure and the DCDC boost voltages generating unit 3 carried out by DCDC control units 2, which exports, to be stopped Opportunity, so by by this period by obtaining the rise time by time timing.
Then, the boost voltage correcting process carried out based on the rise time obtained as described above is carried out with reference to Fig. 3 Explanation.
If starting the processing carried out by microcomputer 1, carry out from when storing, maintaining the rising of injection valve electric current Between tBMicrocomputer 1 storage region reading(With reference to the step S202 of Fig. 3).
Then, preset original rise time t is calculatedAWith the practical measurement that is read from storage region to rising Time tBTime difference(With reference to the step S204 of Fig. 3), according to the time difference, carry out as should be from DCDC boost voltage generating units The amendment of the target boost voltage of the desired value of the boost voltage of 3 outputs(With reference to the step S206 of Fig. 3).
In addition, rise time tAThe time obtained when being driven fuel injection valve 4 by vehicle console device, with It is properly called in explanation afterwards " benchmark rise time ", the benchmark boosting before the vehicle console device has been set is electric Press VBS-A
The amendment of target boost voltage be for rise time of injection valve electric current is shortened, extended processing, so base It is corrected as the increase of implementation goal boost voltage, reduction according to the time difference with the benchmark rise time in sheet.In addition, tool What kind of body carries out and corrects, and preferably considers the input-output characteristic etc. of DCDC boost voltages generating unit 3, is based on test result Or analog result determines.
Target boost voltage amendment is carried out as described above, determines new target boost voltage VBS-C(With reference to the step of Fig. 3 S208).The new target boost voltage VBS-CIn the storage region appropriate for being stored, being remained to microcomputer 1, Yi Hou When fuel injection corresponding with the target boost voltage, the mesh as the boost voltage that DCDC boost voltages generating unit 3 should export Scale value and exported.
The new target boost voltage V determined as described aboveBS-CBy rise time tBDecision is above or below Benchmark boost voltage VBS-A.By using such target boost voltage VBS-CThe driving of fuel injection valve 4 is carried out, driving starts When injection valve electric current rise time tCAs with benchmark rise time tAIt is identical(With reference to Fig. 4(A)And Fig. 4(B)).
No matter as a result, using which with mutually isostructural vehicle console device, injection having the same is being used In the fuel injection of the fuel injection valve of characteristic, identical fuel injection amount has been all ensured that, can realize reliability, high stability Fuel injection control.In addition, in Figure 5, the statement of " ECU_A " indicates that benchmark boost voltage is set to VBS-AVehicle use Control device, the statement of " ECU_B " indicate to carry out boost voltage amendment and be set as target boost voltage VBS-CVehicle control Device.
In above-mentioned present embodiment, the correction of fuel injection valve drive characteristic is executed in vehicle console device 101 Processing but it is also possible to be, as described above, in the manufacturing process of vehicle console device 101, make carry out vehicle control fill The experimental rig for setting 101 action test executes, and obtains modified target boost voltage(With reference to the S208 of Fig. 3), make the acquirement Data are stored in the manufacture of vehicle console device 101.
In addition it is also possible to instead of fuel injection valve 4, above-mentioned combustion is executed using with 4 electrical equivalent circuit of fuel injection valve Expect injection valve drive characteristic correction process.
Industrial availability
It is applicable to the deviation drop for wishing to realize the fuel injection valve drive characteristic in mutually isostructural vehicle console device In low vehicle console device.

Claims (6)

1. a kind of fuel injection valve drive characteristic bearing calibration is the method for correcting the drive characteristic of fuel injection valve, special Sign is have:
1st step, by the vehicle console device of calibration object(101)In set fuel injection when boost voltage change For set benchmark boost voltage, make aforementioned vehicle control device(101)By fuel injection valve(4)Driving;
Second step, measurement is to flowing to foregoing fuel injection valve(4)Electric current reach set target current until rising when Between;
Third step, based on the aforementioned rise time measured, by the vehicle console device of aforementioned corrected object(101)In Boost voltage amendment relative to aforementioned set fuel injection;And
Aforementioned revised boost voltage is set as the boost voltage relative to aforementioned set fuel injection by the 4th step.
2. fuel injection valve drive characteristic bearing calibration as described in claim 1, which is characterized in that
In aforementioned third step,
The time difference for calculating the aforementioned rise time measured and set benchmark rise time will boost according to aforesaid time difference Voltage amendment.
3. fuel injection valve drive characteristic bearing calibration as claimed in claim 2, which is characterized in that
Aforementioned basic boost voltage and benchmark rise time are in the vehicle console device as benchmark relative to set The rise time of the boost voltage of fuel injection and the electric current in the case of being driven fuel injection valve with the boost voltage.
4. fuel injection valve drive characteristic bearing calibration as claimed in claim 3, which is characterized in that
In the vehicle console device of aforementioned corrected object(101)Middle execution.
5. fuel injection valve drive characteristic bearing calibration as claimed in claim 3, which is characterized in that
By the vehicle console device of carry out aforementioned corrected object(101)Action test experimental rig execute.
6. a kind of vehicle console device is that have control unit(51)Vehicle console device(101), control unit (51)It is configured to, fuel injection valve can be carried out(4)Drive control, which is characterized in that
Aforementioned control unit(51)
By the control unit(51)In set fuel injection when boost voltage change into set benchmark boost voltage, will Foregoing fuel injection valve(4)Driving;
It measures and flows to foregoing fuel injection valve(4)Electric current reach set target current until rise time;
Based on the aforementioned rise time measured, by the vehicle console device of aforementioned corrected object(101)In relative to preceding State the boost voltage amendment of set fuel injection;
Aforementioned revised boost voltage is set as the boost voltage relative to aforementioned set fuel injection.
CN201680075272.5A 2015-12-22 2016-10-28 Fuel injection valve driving characteristic correction method and vehicle control device Active CN108368806B (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2015-250567 2015-12-22
JP2015250567 2015-12-22
PCT/JP2016/082034 WO2017110245A1 (en) 2015-12-22 2016-10-28 Fuel injection valve driving characteristic correction method and vehicle control device

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CN108368806B CN108368806B (en) 2020-12-15

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WO (1) WO2017110245A1 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69935826T2 (en) * 1998-07-08 2007-12-27 Isuzu Motors Ltd. Fuel injection system with distribution line
WO2009154214A1 (en) * 2008-06-19 2009-12-23 ボッシュ株式会社 Apparatus for controlling fuel injection valve, control method, and control program
JP2010096162A (en) * 2008-10-20 2010-04-30 Honda Motor Co Ltd Fuel injection control device for internal combustion engine
CN101725426A (en) * 2006-04-11 2010-06-09 浙江飞亚电子有限公司 Drive control device for electromagnetic fuel pump nozzle
CN101922368A (en) * 2009-06-09 2010-12-22 株式会社电装 Detecting device for fuel injector
US20130073188A1 (en) * 2010-05-31 2013-03-21 Gerd Rösel Determining the Closing Point in Time of an Injection Valve on the Basis of an Analysis of the Actuation Voltage Using an Adapted Reference Voltage Signal
JP2014214837A (en) * 2013-04-26 2014-11-17 日立オートモティブシステムズ株式会社 Control device for solenoid valve, and control device for internal combustion engine using the same
WO2015004988A1 (en) * 2013-07-10 2015-01-15 日立オートモティブシステムズ株式会社 Control device for internal combustion engine
EP2865870A1 (en) * 2012-06-21 2015-04-29 Hitachi Automotive Systems, Ltd. Control device for internal combustion engine
CN105051354A (en) * 2013-03-26 2015-11-11 日立汽车***株式会社 Device for controlling fuel injection valve

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69935826T2 (en) * 1998-07-08 2007-12-27 Isuzu Motors Ltd. Fuel injection system with distribution line
CN101725426A (en) * 2006-04-11 2010-06-09 浙江飞亚电子有限公司 Drive control device for electromagnetic fuel pump nozzle
WO2009154214A1 (en) * 2008-06-19 2009-12-23 ボッシュ株式会社 Apparatus for controlling fuel injection valve, control method, and control program
JP2010096162A (en) * 2008-10-20 2010-04-30 Honda Motor Co Ltd Fuel injection control device for internal combustion engine
CN101922368A (en) * 2009-06-09 2010-12-22 株式会社电装 Detecting device for fuel injector
US20130073188A1 (en) * 2010-05-31 2013-03-21 Gerd Rösel Determining the Closing Point in Time of an Injection Valve on the Basis of an Analysis of the Actuation Voltage Using an Adapted Reference Voltage Signal
EP2865870A1 (en) * 2012-06-21 2015-04-29 Hitachi Automotive Systems, Ltd. Control device for internal combustion engine
CN105051354A (en) * 2013-03-26 2015-11-11 日立汽车***株式会社 Device for controlling fuel injection valve
JP2014214837A (en) * 2013-04-26 2014-11-17 日立オートモティブシステムズ株式会社 Control device for solenoid valve, and control device for internal combustion engine using the same
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Publication number Publication date
DE112016005122T5 (en) 2018-08-16
JP6580163B2 (en) 2019-09-25
WO2017110245A1 (en) 2017-06-29
JPWO2017110245A1 (en) 2018-09-20
DE112016005122B4 (en) 2020-10-15
CN108368806B (en) 2020-12-15

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