EP0987421A2 - Verfahren zur Erkennung der Phase der Zylinder einer Mehrzylinder-Viertaktbrennkraftmaschine. - Google Patents

Verfahren zur Erkennung der Phase der Zylinder einer Mehrzylinder-Viertaktbrennkraftmaschine. Download PDF

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Publication number
EP0987421A2
EP0987421A2 EP99124420A EP99124420A EP0987421A2 EP 0987421 A2 EP0987421 A2 EP 0987421A2 EP 99124420 A EP99124420 A EP 99124420A EP 99124420 A EP99124420 A EP 99124420A EP 0987421 A2 EP0987421 A2 EP 0987421A2
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EP
European Patent Office
Prior art keywords
engine
phase
cylinder
variation
cylinders
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP99124420A
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English (en)
French (fr)
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EP0987421B1 (de
EP0987421A3 (de
Inventor
Christophe Genin
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Marelli France SAS
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Magneti Marelli France SAS
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Publication of EP0987421A3 publication Critical patent/EP0987421A3/de
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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
    • F02D41/009—Electrical control of supply of combustible mixture or its constituents using means for generating position or synchronisation signals
    • 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
    • F02D41/04—Introducing corrections for particular operating conditions
    • F02D41/06—Introducing corrections for particular operating conditions for engine starting or warming up
    • F02D41/062—Introducing corrections for particular operating conditions for engine starting or warming up for starting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02P—IGNITION, OTHER THAN COMPRESSION IGNITION, FOR INTERNAL-COMBUSTION ENGINES; TESTING OF IGNITION TIMING IN COMPRESSION-IGNITION ENGINES
    • F02P7/00—Arrangements of distributors, circuit-makers or -breakers, e.g. of distributor and circuit-breaker combinations or pick-up devices
    • F02P7/06—Arrangements of distributors, circuit-makers or -breakers, e.g. of distributor and circuit-breaker combinations or pick-up devices of circuit-makers or -breakers, or pick-up devices adapted to sense particular points of the timing cycle
    • F02P7/077—Circuits therefor, e.g. pulse generators
    • F02P7/0775—Electronical verniers

Definitions

  • the invention relates to a method for recognizing or locating of the cylinder phase of a multi-cylinder internal combustion cycle engine four-stroke, of the type fitted with an ignition and / or injection system individually controlled fuel for each cylinder, with a sensor, often called the engine angular position sensor, which is fixed by report to the engine and detects the passage next to at least one position fixed on a rotary target, linked in rotation to the engine crankshaft, to provide a signal for the passage of the piston of an engine reference cylinder in a determined position, for example at about 100 ° angle before neutral top (P.M.H.) of this piston.
  • a sensor often called the engine angular position sensor
  • phase of engine cylinders must be identified or recognized, that is, each time instant during an engine cycle, we must know the position of each different engine pistons as well as the phase or time of the engine cycle each of the different cylinders of the latter, and in particular the passage of pistons at the position of P.M.H. at the start of the admission phase, in order to define precisely the moment of fuel injection, and their passage to the position of P.M.H. at the start of the combustion-expansion phase, in order to precisely define ignition (instant and ignition energy), in case the combustion engine internal is a spark ignition engine.
  • sequential injection consists in actuating the different injectors successively and in a given order, in order to inject the metered amounts of fuel to the cylinders under the most severe conditions favorable compared to the corresponding admission phases.
  • a sequential ignition system allows to control successively and in an order given the ignition in the various cylinders, in the best conditions with respect to the corresponding combustion-expansion phases, that is to say, in practice, with an appropriate ignition advance, relative to the P.M.H. at the start of the corresponding combustion-expansion phase, depending engine operating conditions without triggering simultaneously unnecessary and sometimes disturbing spark in another cylinder which is in an engine time unsuitable for receiving ignition.
  • Ignition and / or fuel injection systems of the type sequential for internal combustion engine generally include a engine control computer, which manages in particular the ignition and injection of fuel, and which must, for this purpose, permanently know the phase of the cylinders in order to precisely follow the progress of the engine cycle in each them, so that the engine control computer can calculate and control the quantity of fuel delivered by each injector, i.e. in fact the duration on the one hand, and so that the engine control can calculate the instant of ignition and trigger it by the control of a corresponding ignition coil, on the other hand.
  • a engine control computer which manages in particular the ignition and injection of fuel, and which must, for this purpose, permanently know the phase of the cylinders in order to precisely follow the progress of the engine cycle in each them, so that the engine control computer can calculate and control the quantity of fuel delivered by each injector, i.e. in fact the duration on the one hand, and so that the engine control can calculate the instant of ignition and trigger it by the control of a corresponding ignition coil, on the other hand.
  • a rotary target integral in rotation with the crankshaft or flywheel of inertia of the engine, and generally constituted by a ring gear, of which the teeth, distributed over the periphery of the crown, constitute landmarks measurement of engine speed and crankshaft position
  • a sensor for example with variable reluctance
  • the position marker In scrolling past the fixed sensor, the position marker generates a distinctive signal to each passage of the engine pistons in a known fixed position, which allows the engine control computer to calculate, among other things, the instants of passage to the top dead centers of the various pistons.
  • one engine cycle corresponds to two turns of the crankshaft, so that the piston of the reference cylinder passes, during each cycle engine, twice by the P.M.H., but during two different phases of the engine cycle.
  • the order The ignition of the cylinders is generally given by the sequence 1, 3, 4, 2 and the pistons of cylinders 1 and 4 move simultaneously to top dead center, and alternately one at the start of an admission phase and the other at the start of an phase combustion-expansion, while the pistons of cylinders 2 and 3 also pass simultaneously at P.M.H., with an offset of half a motor turn by compared to cylinders 1 and 4, and like these alternately at the start an intake phase and at the start of a combustion-expansion phase.
  • the cooperation of the first sensor with the first rotary target provides information on the angular position of the piston of a reference cylinder, while the cooperation of the second sensor and the second target provides the phase information of this reference cylinder, reason why the set of the second sensor and the second rotating target is generally called the motor phase sensor.
  • FR-A-2 692 623 proposes a cylinder identification process which saves the phase sensor engine and replaces it with an engine torque analysis to detect misfires of combustion following a command to stop fuel injection in a reference cylinder, when the piston passes from the latter to the P.M.H.
  • this method has the disadvantage that its implementation supposes the presence not only of an angular position sensor of the engine, to locate the passage to the P.M.H. the piston of a reference cylinder, but also a misfire detection system, capable of provide a signal to identify misfires occurring in the different cylinders.
  • Another disadvantage of this process is that it cannot be implemented. works only on an engine equipped with a fuel injection system at individually controlled by cylinder, so it cannot be used on a engine equipped for example with a fuel injection system of the type single point and a sequential ignition system.
  • the disturbance consists of a complete stop of the injection or ignition control for the reference cylinder, and the detection of any resulting variation in engine operation consists in detecting a possible misfire and the instant of the occurrence of this misfire.
  • EP-A-0 640 762 teaches observe the variations in the engine speed that result from the disturbance, and to detect the passages of the acceleration of the cylinder piston of reference under an acceleration threshold.
  • the disadvantages of this method are require the presence of a misfire detection circuit, such as FR-A-2 692 623, and to allow the identification of the cylinders only after the passage engine stabilized, not when the engine is started.
  • the disturbance consists of a modification of the instant of ignition in relation to normal operation, for the cylinder reference, i.e. an increase or decrease in the advance or ignition delay, when the engine is idling, and detection of any resulting variation in engine operation is to detect possible irregularities in engine rotation and variations in engine speed, or variations in the intake air flow to the engine at idle, in a quasi-stabilized regime.
  • the disadvantages of this method are that it cannot be applied to diesel engine, and to be effective only after switching the engine to quasi-stabilized speed.
  • the problem underlying the invention is to remedy the drawbacks of the processes known from EP-A-0 640 762 and FR-A-2 692 623, and to propose another method for recognizing the phase of the cylinders than that known from DE-A-42 42 419 and which can be implemented on an engine equipped with an angular position sensor, without phase sensor or system detection of misfires, the engine may have an installation individually controlled fuel injection and / or ignition system individually controlled by cylinder.
  • the recognition process phase of the cylinders according to the invention can be implemented that the ignition either sequential and any injection, for example single-point, multi-point, "full-group" (i.e.
  • injection is multipoint sequential and arbitrary ignition, for example static or twin-static (i.e. by producing sparks in two cylinders simultaneously with each engine turn).
  • the method of the invention is characterized in that the control of said disturbance consists in controlling a modification of the ignition energy and / or the duration of injection compared to normal operation, other complete shutdown of the ignition control and the injection control, and in that the detection of any variation in engine operation in resulting consists in detecting a possible variation of the engine torque and the instant of the occurrence of said variation in engine torque.
  • cylinders of the same P.M.H. are controlled simultaneously from the moment of starting the engine or from the detection of an event likely to cause loss of knowledge of the cylinder phase and until recognition of the cylinder phase.
  • the method of the invention consists in observe the engine torque and detect its variations by observing and detection of variations in a signal representative of the gas torque value generated by each combustion in each of the engine cylinders.
  • the method is implemented on a motor on which the rotary target is a ring gear, integral with the flywheel or the crankshaft of the engine, and whose teeth are distributed around its periphery constitute measurement marks, for which said position mark, forming a singularity on the crown, constitutes a benchmark indexing reference measurement by turning the flywheel or crankshaft, the sensor fixed relative to the motor being a marker scroll sensor and mounted in the vicinity of the crown, so that it is advantageously possible, as known by FR-A-2 681 425, to deliver a signal representative of the gas torque from the durations, speeds and variations of the speed of movement of the marks in front of the sensor, thanks to the software torque sensor described in the aforementioned patent.
  • the advantageously consists in bringing the given instant closer to the order of disturbance of the detected instant of the occurrence of the torque variation engine or the absence of engine torque variation by calculating the number of passages by the P.M.H. of the piston of the reference cylinder between said two instants or from said given instant, and comparing it to at least one number predetermined, corresponding to a determined phase of the reference cylinder in the engine cycle, when the corresponding piston passes into said position determined.
  • the method of the invention can consist in carrying out at least one cycle said stages of phase recognition from the start of the motor, after at least the first passage of the piston of the reference cylinder in said determined position or, on the contrary, not to carry out at least one cycle of said phase recognition steps only after a predetermined whole number of engine cycles counted from the first passage of the cylinder piston reference in said determined position, the method also being able to consist of to relaunch substantially periodically at least one cycle of said stages of phase recognition to confirm or correct the recognition of the cylinder phase.
  • a four-stroke spark ignition engine and four cylinders in line is schematically represented in M.
  • the ignition in the cylinders of the engine M is provided via four coils ignition 1, 2, 3 and 4, each corresponding to the cylinder (not shown) of same order of engine M.
  • Ignition coils 1, 2, 3 and 4 are sequentially supplied with electric current, to ensure ignition, by a unit engine control electronics 6 which in particular also controls injection of fuel to the cylinders of the engine M.
  • this unit of engine control 6 fulfills in particular the functions of a computer and includes one or more read-only memories, one or more read-only memories as well as minus a processing unit produced in the form of a microprocessor or microcontroller.
  • the engine control unit 6 also has different input and output interfaces for receiving signals, respectively input, from different operating parameter sensors of the motor, in order to carry out operations, and deliver output signals to intended in particular for fuel injectors (not shown) and ignition coils 1, 2, 3 and 4.
  • the input signals from the engine control unit 6 include the pulses delivered by a variable reluctance sensor 7, fixed on the block of the motor M and mounted opposite and near a toothed ring 8 secured in flywheel rotation.
  • the crown 8 has teeth evenly distributed 9, forming measurement marks, as well as a singularity 10, which constitutes an indexing mark of the teeth 9 and an angular position mark of the motor which, when it passes by the sensor 7, causes the latter to deliver to unit 6 a signal indicating the passage of the pistons of cylinders 1 and 4 simultaneously with P.M.H.
  • the sensor 7 is also sensitive to the movement of teeth 9 and 10 to deliver pulses proportional to the frequency of passage of the teeth, so that unit 6 can develop an engine speed signal.
  • unit 6 can also generate a signal representative of the gas torque generated, by each combustion in each of the cylinders of the engine M, at from the pulses received from the sensor 7.
  • the observation of the engine torque and the detection of its variation resulting from the ignition disturbance control on cylinder 1, chosen as the reference cylinder, and the detection of the instant of the occurrence of this variation in engine torque can be ensured by observation and detection of variations in a gas torque signal represented by information of a different nature than that mentioned above, for example from pressure signals in the combustion chambers.
  • This reconciliation between the instants of the command of the ignition disturbance and the detection of its consequence on the torque motor can be ensured by comparison of the number of P.M.H. between these two instants with a predetermined threshold number, for example 2 P.M.H., so that if the signal 13 for variation of the engine torque is detected less than two P.M.H. after that of the ignition disturbance control 12, as is the case in FIG. 3c, it can be deduced therefrom that the cylinder 1 was in the combustion-expansion phase, while if the number of P.M.H. consecutive to that of the order 12 is greater than 2 before detecting a torque variation engine, as shown in figure 3d, we deduce that cylinder 1 was in admission phase.
  • a predetermined threshold number for example 2 P.M.H.
  • the disturbance is controlled on the cylinder coil reference during a complete engine cycle.
  • One or more consecutive cycles of the recognition stages of phase described above can or can be carried out from the start of the engine, for example after the first or the first few passages of the piston of cylinder 1 at P.M.H.
  • the cycle of phase recognition steps can be carried out after the engine launch phase, i.e. after a predetermined whole number of engine cycles, this number being counted from, for example, from the first passage of the piston of cylinder 1 to the P.M.H.
  • the motor M differs from the motor in FIG. 1 only in that that it includes, instead of a sequential ignition installation, an installation fuel supply by sequential multi-point injection, whereby each of the cylinders 1 to 4 of the engine M is supplied with fuel by a corresponding injector 21, 22, 23 or 24, controlled by the engine control unit 26, analogous to unit 6 of FIG. 1, and which also controls the ignition, of any appropriately.
  • the engine control unit 26 develops also a motor speed signal, a signal for the passage of pistons of cylinders 1 and 4 at P.M.H., as well as a signal representative of the torque gas from the pulses it receives from the sensor 7, fixed, as in the previous example, on the motor M and sensitive to the movement of the teeth 9 and the singularity 10 of the ring gear 8 rotating with the crankshaft, in the same conditions as explained above.
  • the engine control unit 26 comprises therefore also the device for measuring the torque of an internal combustion engine internal combustion which is the subject of French patent FR 2 681 425 and implements the process described in this patent.
  • the unit 26 controls, sequentially, the opening times of the injectors 21, 22, 23 and 24 as well as the durations opening of these injectors in order to inject quantities of fuel dosed in depending on engine operating conditions M.
  • the phase recognition method comprises the following steps: firstly, upon reception of signal 31 from the FIG. 6a, corresponding to the passage of the singularity 10 opposite the sensor 7, and indicating the passage of the pistons of cylinders 1 and 4 to the P.M.H., we control, on cylinder 1 chosen as reference cylinder, a disturbance in the control of the corresponding injector 21, this disturbance consisting of an increase or decrease in the duration of injection, without be able to be a total injection cut-off. Simultaneously, the control unit engine 26 controls a static twin ignition of cylinders 1 and 4. On then observe the engine torque to detect its variation resulting from the injection disturbance control marked at 32 in FIG.
  • the approximation of the given instant of the disturbance command and the detected instant of the occurrence of the variation of engine torque, through the variation of the gas torque is ensured by calculating the number of passages by the P.M.H. of the piston of the reference cylinder between the two moments, and comparing this number to at least one threshold number predetermined, to deduce the phase of the reference cylinder when passing through P.M.H. initial considered and to know the phase of all cylinders.
  • all of the engine's cylinders can have their phase identified from knowledge of the phase of the reference cylinder, and the injection disturbance on the injector 21 can be controlled during a complete engine cycle.
  • a recognition cycle of phase can be driven as soon as the engine starts, or a number of engine cycles after this start, and can be repeated if necessary substantially periodically for confirmation or correction of the knowledge of the cylinder phase resulting from a recognition cycle anterior phase.
  • phase recognition method described with reference to Figures 4 to 6 can be implemented on a diesel engine, the disturbance control relating only to the injection of fuel into the chosen reference cylinder.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)
  • Electrical Control Of Ignition Timing (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
EP99124420A 1995-05-15 1996-05-13 Verfahren zur Erkennung der Phase der Zylinder einer Mehrzylinder-Viertaktbrennkraftmaschine. Expired - Lifetime EP0987421B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR9505711 1995-05-15
FR9505711A FR2734322B1 (fr) 1995-05-15 1995-05-15 Procede de reconnaissance de la phase des cylindres d'un moteur multicylindres a combustion interne a cycle a quatre temps
EP96916198A EP0826099B1 (de) 1995-05-15 1996-05-13 Verfahren zur erkennun der phase der zylinder einer mehrzylinder-viertaktbrennkraftmaschine

Related Parent Applications (1)

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EP96916198A Division EP0826099B1 (de) 1995-05-15 1996-05-13 Verfahren zur erkennun der phase der zylinder einer mehrzylinder-viertaktbrennkraftmaschine

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EP0987421A2 true EP0987421A2 (de) 2000-03-22
EP0987421A3 EP0987421A3 (de) 2002-08-28
EP0987421B1 EP0987421B1 (de) 2004-10-13

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EP96916198A Expired - Lifetime EP0826099B1 (de) 1995-05-15 1996-05-13 Verfahren zur erkennun der phase der zylinder einer mehrzylinder-viertaktbrennkraftmaschine
EP99124420A Expired - Lifetime EP0987421B1 (de) 1995-05-15 1996-05-13 Verfahren zur Erkennung der Phase der Zylinder einer Mehrzylinder-Viertaktbrennkraftmaschine.

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EP96916198A Expired - Lifetime EP0826099B1 (de) 1995-05-15 1996-05-13 Verfahren zur erkennun der phase der zylinder einer mehrzylinder-viertaktbrennkraftmaschine

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US (1) US5970784A (de)
EP (2) EP0826099B1 (de)
DE (2) DE69633642T2 (de)
ES (1) ES2230791T3 (de)
FR (1) FR2734322B1 (de)
WO (1) WO1996036803A1 (de)

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FR2853935A1 (fr) * 2003-04-17 2004-10-22 Siemens Vdo Automotive Procede de synchronisation de l'injection avec la phase moteur dans un moteur a commande electronique des injecteurs

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FR2749885B1 (fr) * 1996-06-14 1998-07-31 Renault Procede pour produire un signal de synchronisation permettant le pilotage d'un systeme d'injection electronique d'un moteur a combustion interne
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GB2342447A (en) * 1998-10-03 2000-04-12 Ford Motor Co Verifying engine cycle of an injection IC engine
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JP4270534B2 (ja) 2000-10-12 2009-06-03 ヤマハモーターエレクトロニクス株式会社 内燃エンジンの負荷検出方法、制御方法、点火時期制御方法および点火時期制御装置
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US6523523B2 (en) * 2000-11-13 2003-02-25 Siemens Vdo Automotive Corporation Camless engine with crankshaft position feedback
DE10111479A1 (de) 2001-03-09 2002-09-19 Bosch Gmbh Robert Verfahren zur Phasendetektion mittels Zündzeitpunktvariation
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JP4061951B2 (ja) * 2001-05-16 2008-03-19 国産電機株式会社 ４サイクル内燃機関の行程判定方法及び装置
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DE10246806A1 (de) * 2002-10-08 2004-04-22 Daimlerchrysler Ag Geberrad
EP1533508B1 (de) * 2003-11-19 2007-04-11 Ford Global Technologies, LLC, A subsidary of Ford Motor Company Verfahren zur Ermittlung der Stellung eines Zylinders einer Brennkraftmaschine
US7171298B2 (en) * 2005-06-30 2007-01-30 Temic Automotive Of North America, Inc. Method and system for identifying phase in an internal combustion engine
US7370635B2 (en) * 2006-01-20 2008-05-13 Caterpillar Inc. System and method for resolving electrical leads
US7392790B2 (en) * 2006-01-20 2008-07-01 Caterpillar Inc. System and method for resolving crossed electrical leads
DE102006031569B3 (de) * 2006-07-07 2008-03-27 Siemens Ag Verfahren und Vorrichtung zum Betreiben einer Brennkraftmaschine
US8899203B2 (en) * 2007-06-22 2014-12-02 Ford Global Technologies, Llc Engine position identification
US9404791B2 (en) * 2009-06-06 2016-08-02 Nuovo Pignone S.P.A. Lateral, angular and torsional vibration monitoring of rotordynamic systems
CN102713527A (zh) * 2009-12-22 2012-10-03 舍弗勒技术股份两合公司 用于曲轴角度传感装置的发送轮
US10718286B2 (en) * 2016-08-23 2020-07-21 Ford Global Technologies, Llc System and method for controlling fuel supplied to an engine
FR3072125A1 (fr) * 2017-10-09 2019-04-12 Continental Automotive France Procede et systeme de validation de la phase d'un moteur de vehicule
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EP0177145A2 (de) * 1984-09-17 1986-04-09 General Motors Corporation Gerät und Methode zur Erzeugung von elektrischen Synchronisationssignalen für Kraftstoffeinspritzungssteuerung
EP0204220A2 (de) * 1985-06-04 1986-12-10 WEBER S.r.l. Kraftstoffzumesssystem beim Anlassen eines mit einer elektronischen Einspritzeinrichtung ausgerüsteten Brennkraftmotors
FR2692623A1 (fr) * 1992-06-23 1993-12-24 Renault Procédé de repérage cylindres pour le pilotage d'un système d'injection électronique d'un moteur à combustion interne.
EP0640762A1 (de) * 1993-08-26 1995-03-01 Siemens Aktiengesellschaft Zylinder Synchronisation einer Mehrzylinder Brennkraftmaschine durch Detektion eines gezielten Verbrennungsaussetzers

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1439300A1 (de) * 2001-10-24 2004-07-21 Yamaha Hatsudoki Kabushiki Kaisha Motorsteuervorrichtung
EP1439300A4 (de) * 2001-10-24 2004-11-24 Yamaha Motor Co Ltd Motorsteuervorrichtung
US6932057B2 (en) 2001-10-24 2005-08-23 Yamaha Hatsudoki Kabushiki Kaisha Engine control device
FR2853935A1 (fr) * 2003-04-17 2004-10-22 Siemens Vdo Automotive Procede de synchronisation de l'injection avec la phase moteur dans un moteur a commande electronique des injecteurs
WO2004092564A1 (fr) * 2003-04-17 2004-10-28 Siemens Vdo Automotive Procede de synchronisation de l’injection avec la phase moteur dans un moteur a commande electronique des injecteurs
US8397692B2 (en) 2003-04-17 2013-03-19 Continental Automotive France Method for synchronizing injection with the engine phase in an electric injector controlled engine

Also Published As

Publication number Publication date
EP0826099A1 (de) 1998-03-04
US5970784A (en) 1999-10-26
EP0987421B1 (de) 2004-10-13
DE69633642D1 (de) 2004-11-18
ES2230791T3 (es) 2005-05-01
FR2734322A1 (fr) 1996-11-22
DE69633642T2 (de) 2006-02-02
DE69609416D1 (de) 2000-08-24
DE69609416T2 (de) 2001-03-01
EP0826099B1 (de) 2000-07-19
EP0987421A3 (de) 2002-08-28
WO1996036803A1 (fr) 1996-11-21
FR2734322B1 (fr) 1997-07-25

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