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JPS63120822A - Supercharge control method for engine with car-mounted exhaust turbosupercharger - Google Patents

Supercharge control method for engine with car-mounted exhaust turbosupercharger

Info

Publication number
JPS63120822A
JPS63120822A JP61266282A JP26628286A JPS63120822A JP S63120822 A JPS63120822 A JP S63120822A JP 61266282 A JP61266282 A JP 61266282A JP 26628286 A JP26628286 A JP 26628286A JP S63120822 A JPS63120822 A JP S63120822A
Authority
JP
Japan
Prior art keywords
exhaust
engine
bypass valve
bypass
temperature
Prior art date
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.)
Pending
Application number
JP61266282A
Other languages
Japanese (ja)
Inventor
Hiroo Sakanaka
坂中 洋夫
Hirobumi Sekino
関野 博文
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kubota Corp
Original Assignee
Kubota Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Kubota Corp filed Critical Kubota Corp
Priority to JP61266282A priority Critical patent/JPS63120822A/en
Publication of JPS63120822A publication Critical patent/JPS63120822A/en
Pending legal-status Critical Current

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  • Supercharger (AREA)

Abstract

PURPOSE:To prevent the generation of a black smoke, by controlling an exhaust bypass valve to be opened when the condition of its full opening is detected to continue for the fixed time or more, so that a differential delay of closing of the exhaust bypass valve is eliminated in the time of acceleration after a speed change control. CONSTITUTION:If an exhaust temperature detector 19 reads its detection value lower than the preset value, a driving control circuit 16, which decides an engine to be placed in a light loaded condition, controls each intake and exhaust bypass valve 14, 15 to be opened. As the result, the engine, which prevents a main flow of exhaust gas from passing through a driving impeller chamber 9 while a main flow of new charge air from passing through a driven impeller chamber 4, stops a supercharger. Here the engine provides a timer device 20 to be arranged between the exhaust temperature detector 19 and the driving control circuit 16. And before the fixed time of the exhaust temperature detector 19 detecting its detection value lower than the preset value, the engine is controlled by the timer device 20 so as to prevent the exhaust temperature detector 19 from transmitting a temperature detection signal to the driving control circuit 16.

Description

【発明の詳細な説明】 (産業上の利用分野) 本発明は、排気タービン過給機を備えたエンジンに関し
、特に機関負荷が比較的低い軽負荷時に過給を休止させ
るようにした排気タービン過給機付きのエンジンの過給
制御方法に関する。
DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an engine equipped with an exhaust turbine supercharger, and in particular to an exhaust turbine supercharger that suspends supercharging when the engine load is relatively low. This invention relates to a supercharging control method for an engine equipped with a charger.

(従来技術) 一般に過給機付きのエンジンでは、軽負荷時には過給機
が抵抗になって燃費がかさむことになるから、燃費節減
のうえから軽負荷時には過給機を切って無過給状態で運
転できるようになっている。
(Prior art) In general, in engines equipped with a supercharger, the supercharger acts as resistance at light loads, increasing fuel consumption. Therefore, in order to save fuel consumption, the supercharger is turned off at light loads to create a non-supercharging state. It is now possible to drive.

そして従来は、軽負荷時に過給を停止するようにした過
給装置として、例えば、実公昭53−46404号公報
に示されたものがある。
Conventionally, there is a supercharging device that stops supercharging when the load is light, as disclosed in, for example, Japanese Utility Model Publication No. 53-46404.

これは、エンジンの排気系中に過給機のタービン部分を
短絡する状態でバイパスを形成し、タービン室への排気
路とバイパスとの分岐部分に方向切換弁を配置し、排気
マニホールド内を流れる排気ガスの温度を排気温度検出
器で検出し、その検出温度が高いときには高負荷運転状
態であると判別して作動装置で方向切換弁をタービン室
へ排気を送給する状態に切換え、過給機を作動させるよ
うにし、逆に検出温度が低いときには、軽負荷状態であ
ると判別して方向切換弁をバイパスに排気を流す状態に
切換えることにより、過給機が燃焼室に背圧を与えない
ようにして、吸排気弁のオーバーラツプ期間に排気〃ス
が燃焼室へ吹き返さないようにする構造になっている。
This creates a bypass in the engine's exhaust system by short-circuiting the turbine section of the supercharger, and a directional control valve is placed at the branch between the exhaust path to the turbine chamber and the bypass, allowing the flow to flow through the exhaust manifold. The temperature of the exhaust gas is detected by an exhaust temperature detector, and when the detected temperature is high, it is determined that high-load operation is in progress, and the actuator switches the directional control valve to the state that sends the exhaust gas to the turbine chamber, thereby generating supercharging. On the other hand, when the detected temperature is low, the turbocharger applies back pressure to the combustion chamber by determining that the load is light and switching the directional control valve to a state where exhaust gas flows into the bypass. The structure is designed to prevent exhaust gas from blowing back into the combustion chamber during the overlap period of the intake and exhaust valves.

(解決しようとする間を点) ところが、排気系中の排気〃大温度で方向切換弁の切換
制御を行なっている従来の過給機付きのエンジンを車輌
に搭載した場合には、変速操作時に排気温度が変化して
、排気バイパスの開閉が頻繁に行なわれることになる。
(Dot the time when you are trying to solve the problem.) However, when a vehicle is equipped with a conventional supercharged engine that controls switching of the directional valve when the exhaust gas in the exhaust system is at a high temperature, As the exhaust gas temperature changes, the exhaust bypass will be opened and closed frequently.

この結果、変速操作後の加速繰作時に過給機の作動が遅
れ、黒煙が出やすいうえ、排気バイパスを@繁に切換え
るものでは過給状態の切換えが燃費節減にはならないと
いう問題があった。
As a result, the operation of the supercharger is delayed during repeated accelerations after a gear shift operation, and black smoke is likely to be produced.In addition, in vehicles that frequently switch the exhaust bypass, switching the supercharging state does not reduce fuel consumption. Ta.

(解決しようとする問題点) 本発明は、変速繰作に伴なう黒煙発生を防止するように
したもので、そのために、変速繰作が短時間のうちに完
了することに着目して、排気温度で排気バイパスの開閉
制御を行なうようにしたものにおいて、バイパス弁の駆
動制御系中に計時手段を付設し、バイパス弁全開条件が
一定時間以上継続することを計時手段が検出することに
基づき、バイパス弁を開弁作動させるように構成したこ
とをvP徴とするものである。
(Problems to be Solved) The present invention is designed to prevent the generation of black smoke that accompanies gear shifting, and for this purpose, focuses on the fact that gear shifting is completed within a short period of time. , in which the opening and closing of the exhaust bypass is controlled based on the exhaust temperature, a timing means is attached to the drive control system of the bypass valve, and the timing means detects that the bypass valve is fully open for a certain period of time or more. Based on this, a configuration in which the bypass valve is opened is considered to be a vP symptom.

(作 用) 本発明は、バイパス弁の駆動制御系中に計時手段を付設
し、バイパス弁全開条件が一定時間以上継続することを
計時手段が検出することに基づき、バイパス弁を開弁作
動させるように構成しであるので、変速繰作のように排
気温度が設定温度よりも低くなる時間が短時間の開だけ
生じる場合には、バイパス弁を閉状態に維持して、エン
ジンを過給状態に保持する。これにより、変速操作後の
加速時にバイパス弁の閉弁作動遅れがなくなり、加速捏
作時の黒煙発生を防止することになる。
(Function) The present invention provides a timing means in the drive control system of the bypass valve, and opens the bypass valve based on the timing means detecting that the bypass valve fully open condition continues for a certain period of time or more. Therefore, when the exhaust gas temperature is lower than the set temperature and is only open for a short time, such as when changing gears, the bypass valve is kept closed and the engine is kept in the supercharging state. to hold. This eliminates the delay in closing the bypass valve during acceleration after a gear change operation, and prevents the generation of black smoke during false acceleration.

(実施例) 第1図は本発明の実施例を示す概略図である。(Example) FIG. 1 is a schematic diagram showing an embodiment of the present invention.

図において、(1)は車輌に搭載されるディーゼルエン
ジン、(2)は吸気ポート、(3)は排気ポート、(C
)は排気タービン過給機を示し、排気タービン過給PI
i(C)の従動羽根車室(4)と吸気ポート(2)とを
給気管(5)で連通させ、この給気Ir!(5’)の途
中から吸気バイパス(6)を分岐導出させである。
In the figure, (1) is a diesel engine installed in a vehicle, (2) is an intake port, (3) is an exhaust port, (C
) indicates the exhaust turbine supercharger, and the exhaust turbine supercharger PI
The driven impeller chamber (4) of i(C) and the intake port (2) are communicated through an air supply pipe (5), and this air supply Ir! The intake bypass (6) is branched out from the middle of (5').

この吸気バイパス(6)は排気タービン過給R(C>の
新気吐出口(7)を迂回して排気タービン過給機(C)
の新気吸込室(8)に連通している。
This intake bypass (6) bypasses the fresh air discharge port (7) of the exhaust turbine supercharger R (C>) and returns to the exhaust turbine supercharger (C).
It communicates with the fresh air suction chamber (8).

一方、排気タービン過給+fi(C)の駆動羽根車室(
9)と排気ポート(3)とが排気?F(10)で連通さ
せてあり、この排気管(10)の途中から排気バイパス
(11)を分岐導出させである。この排気バイパス(1
1)は排気タービン過給機(C)の排気〃ス吹込室(1
2)を迂回しで、排気タービン過給Iff(C)の排気
がス吐出室(13)に連通している。
On the other hand, the drive impeller chamber of exhaust turbine supercharging +fi (C) (
9) and exhaust port (3) are exhaust? F(10) is connected to the exhaust pipe (10), and an exhaust bypass (11) is branched out from the middle of this exhaust pipe (10). This exhaust bypass (1
1) is the exhaust gas blowing chamber (1) of the exhaust turbine supercharger (C).
2), the exhaust gas of the exhaust turbine supercharging Iff (C) communicates with the gas discharge chamber (13).

吸気バイパス(6)と排気バイパス(11)にはそれぞ
れバイパス弁(14)(15)が内装してあり、この各
バイパス弁(14)(15)は後述する駆動制御回路(
16)からの出力で、ソレノイド等の7クチユエータ(
17)(18)により開閉繰作されるようになっている
The intake bypass (6) and the exhaust bypass (11) are equipped with bypass valves (14) and (15), respectively, and each bypass valve (14) and (15) is connected to a drive control circuit (described later).
16), the output from 7 actuators (such as solenoids)
17) It can be opened and closed repeatedly by (18).

排気W(10)の排気ポート(3)寄り部分には排気が
大温度検出器(19)が配置してあり、この排気〃大温
度検出器(19)はバイパス弁(14)(15)を開閉
繰作するための設定温度を検出した際、温度検出信号(
K)を出力するように構成しである。
A large exhaust temperature detector (19) is arranged in the part of the exhaust W (10) near the exhaust port (3), and this exhaust large temperature detector (19) connects the bypass valves (14) (15). When the set temperature for opening and closing is detected, the temperature detection signal (
K).

バイパス弁(14)(15)の駆動制御回路(16)は
、前記温度検出信号(K)を受けてアクチュエータ(1
7)(IS)を駆動制御する駆動信号(D)を出力する
。即ち、無過給状態において排気温度検出器(19)が
設定温度(T)よりも高い温度を検出した場合には、重
只荷であると判断してバイパス弁(14)(15)を閉
弁作動させることにより、排気〃スを駆動羽根車室(9
)に導入するとともに、新気を従動羽根車室(4)に導
入して過給機(C)を作動させる。また、過給状態にお
いて排気温度検出器(19)が設定温度(T)よりも、
低い温度を検出することにより、軽負荷であると判断し
てバイパス弁(14)(15)を開弁作動させることに
より、排気バイパス(11)を開通させて排気〃スの主
流が駆動羽根車室(9)を通過しないようにするととも
に、吸気バイパス(6)も開通させて新気の主流が従動
羽根車室(4)を通過しないようにして過給fi(C)
を休止させる。なお、この駆動制御回路(16)にはエ
ンジンの回転数変動に伴って変動する燃費曲線及び設定
温度とをデーターテーブルとして内部に記憶させてあり
、エンシンの回転数の変化に対応させてバイパス弁(1
4)(15)の開閉駆動信号(D)を発するようにしで
ある。
A drive control circuit (16) for the bypass valves (14) and (15) receives the temperature detection signal (K) and controls the actuator (1).
7) Output a drive signal (D) to drive and control (IS). That is, if the exhaust temperature detector (19) detects a temperature higher than the set temperature (T) in the non-supercharging state, it is determined that the load is heavy and the bypass valves (14) and (15) are closed. By operating the valve, exhaust gas is transferred to the drive impeller chamber (9
), and at the same time, fresh air is introduced into the driven impeller chamber (4) to operate the supercharger (C). In addition, in the supercharging state, the exhaust temperature detector (19) is lower than the set temperature (T).
By detecting a low temperature, it is determined that the load is light, and by opening the bypass valves (14) and (15), the exhaust bypass (11) is opened and the main flow of exhaust gas is directed to the drive impeller. The main flow of fresh air is prevented from passing through the driven impeller chamber (9), and the intake bypass (6) is also opened to prevent the main flow of fresh air from passing through the driven impeller chamber (4).
pause. Note that this drive control circuit (16) has a data table stored therein containing a fuel consumption curve and a set temperature that vary with changes in engine speed, and the bypass valve is activated in response to changes in engine speed. (1
4) The opening/closing drive signal (D) of (15) is generated.

そして、このバイパス弁(14)(15)の駆動系のう
ち、排気温度検出器(19)と駆動制御回路(16)と
の開にはタイマー装置(20)が配置しである。
In the drive system of the bypass valves (14) and (15), a timer device (20) is disposed between the exhaust temperature detector (19) and the drive control circuit (16).

このタイマー装置(20)は、排気温度検出器(19)
が設定温度よりも低温を検出している時間が一定時間(
例えば20〜30秒)経過するまでは温度検出信号(K
)を駆動制御回路(16)に伝達しないようにしている
。従って、排気温度検出器(19)が設定温度よりも低
い温度を一定時間以上継続して検出した際に温度検出信
号(K)が前記駆動制御回路(16)に入力され、バイ
パス弁(14)(15)を閉弁作動することになる。
This timer device (20) is an exhaust temperature detector (19)
is detecting a temperature lower than the set temperature for a certain period of time (
For example, the temperature detection signal (K
) is not transmitted to the drive control circuit (16). Therefore, when the exhaust temperature detector (19) continuously detects a temperature lower than the set temperature for a certain period of time or more, the temperature detection signal (K) is input to the drive control circuit (16), and the bypass valve (14) (15) will be operated to close the valve.

ptS2図はバイパス弁(14)(15)の開閉弁制御
に係る制御フロー図であり、排気温度検出器(19)が
検出した排気ガス温度を設定温度よりも高いか低いかを
第一判断手段(21)で判断し、設定温度よりも排気ガ
ス温度が高い場合には駆動制御装置(16)からバイパ
ス弁(14)(15)の閉弁作動信号が発せられ、バイ
パス(6)(11)を全閉して過給休止状態にする。ま
た、設定温度よりも低い場合には、タイマー装置(20
)で計時を開始し、排気〃大温度が設定温度よりも低い
状態が一定時間(例えば20〜30秒)以上継続してい
るか否かを第二判断手段(22)が判断し、検出温度が
設定温度よりも低い状態が設定時間よりも短い場合には
、駆動制御装置(16)をイを動させないで、バイパス
弁(14)(15)を全閉状態に維持しておき、検出温
度が設定温度よりも低い状態が設定時間よりも長い場合
には、駆動制御装置(16)からバイパス弁開弁作動信
号を発し、バイパス弁(14)(15)を全開状態にし
て、過給器不使用状態にすることになる。
Figure ptS2 is a control flow diagram related to on-off valve control of the bypass valves (14) and (15), in which the first judgment means determines whether the exhaust gas temperature detected by the exhaust temperature detector (19) is higher or lower than the set temperature. (21), and if the exhaust gas temperature is higher than the set temperature, the drive control device (16) issues a valve closing signal for the bypass valves (14) and (15), and the bypass valves (6) and (11) Fully close to put the supercharging inactive. Also, if the temperature is lower than the set temperature, a timer device (20
), the second determining means (22) determines whether or not the large exhaust temperature remains lower than the set temperature for a certain period of time (for example, 20 to 30 seconds), and the detected temperature is determined. If the temperature remains lower than the set temperature for a shorter time than the set time, the drive control device (16) is not moved and the bypass valves (14) and (15) are kept fully closed, and the detected temperature is If the temperature remains lower than the set temperature for longer than the set time, the drive control device (16) issues a bypass valve opening activation signal, fully opens the bypass valves (14) and (15), and prevents the supercharger from malfunctioning. It will be put into use.

従って、変速振作時のアクセル繰作時には、アクセルペ
ダルの減速操作、変速装置の変速操作、アクセルペダル
の加速操作が短時間のうちに行なわれるが、アクセルペ
ダルの減速繰作により排気系中の排気〃大温度が低下し
ても、排気ガス温度が設定温度以下となる状態が設定時
間内である場合にはバイパス(6)(11)中のバイパ
ス弁(14)(15)は閉弁したままであるから、変速
操作後に続けて行なわれる加速繰作時に過給遅れが生じ
ることはなく、加速操作によって黒煙を吐くことがなく
なる。
Therefore, when the accelerator is operated during gear shift vibration, the accelerator pedal deceleration operation, the gear change operation of the transmission, and the accelerator pedal acceleration operation are performed in a short period of time. Even if the temperature drops significantly, if the exhaust gas temperature remains below the set temperature within the set time, the bypass valves (14) and (15) in the bypasses (6) and (11) remain closed. Therefore, a supercharging delay does not occur during the acceleration operation that is performed continuously after the gear change operation, and black smoke is not emitted during the acceleration operation.

(効 果) 本発明では、機関負荷の変化に伴なう排気温度の変動を
検出して排気タービン過給機を切換元使用するものにお
いて、バイパス弁の駆動系中に計時手段を付設し、バイ
パス弁全開条件が一定時間以上継続することを計時手段
が検出することに基づき、バイパス弁を開弁作動させる
ように構成したので、減速操作と加速繰作が短時間のう
ちに行なわれる変速繰作時に、排気温度が設定温度より
も低くなることがあっても過給休止状態になることがな
い。これにより、変速操作後の加速繰作時でのバイパス
弁の切換え遅れに伴なう黒煙発生を防止することができ
るうえ、バイパス弁の開閉作動が頻繁に行なわれること
がなくなることから、バイパス弁の耐久性も向上する。
(Effects) In the present invention, in an apparatus that detects fluctuations in exhaust temperature due to changes in engine load and uses an exhaust turbine supercharger as a switching source, a timing means is attached to the drive system of the bypass valve, The configuration is such that the bypass valve is opened based on the timing means detecting that the bypass valve is fully open for a certain period of time or more, so that it is possible to perform a speed change cycle in which deceleration and acceleration are performed in a short period of time. Even if the exhaust gas temperature becomes lower than the set temperature during operation, the supercharging will not be suspended. As a result, it is possible to prevent the generation of black smoke due to the delay in switching the bypass valve during repeated acceleration after a gear shift operation, and also because the bypass valve does not have to be opened and closed frequently. The durability of the valve is also improved.

【図面の簡単な説明】[Brief explanation of the drawing]

vJ1図は本発明の一実施例を示す概要図、第2図はバ
イパス弁開閉制御の70−チャートである。 C・・・排気タービン過給機、1・・・エンジン、3・
・・排気ポート、11・・・バイパス、12・・・(C
)の排気〃ス入ロ室、15・・・バイパス弁、19・・
・排気温度検出器、20・・・計時手段。
Figure vJ1 is a schematic diagram showing one embodiment of the present invention, and Figure 2 is a 70-chart of bypass valve opening/closing control. C...Exhaust turbine supercharger, 1...Engine, 3.
...Exhaust port, 11...Bypass, 12...(C
) exhaust gas inlet chamber, 15...bypass valve, 19...
- Exhaust temperature detector, 20... timing means.

Claims (1)

【特許請求の範囲】 1、車輌に搭載する排気タービン過給機付きエンジン(
1)の排気ポート(3)と排気タービン過給機(C)の
排気ガス入口室(12)との間の排気路部分からバイパ
ス(11)を分岐状に設け、バイパス(11)にバイパ
ス弁(15)を開閉可能に設け、エンジン(1)の排気
系路に排気温度検出器(19)を設け、排気温度検出器
(19)が設定温度より高温を検出することに基づき、
バイパス弁(15)を閉弁作動させて排気タービン過給
器(C)を作動させ、排気温度検出器(C)での検出温
度が設定温度よりも低温である間はバイパス弁(15)
を開弁して排気タービン過給機(C)を休止させるよう
に構成した車載用排気タービン過給機付きエンジンにお
いて、 バイパス弁(15)の駆動制御系中に計時手段(20)
を付設し、バイパス弁全開条件が一定時間以上継続する
ことを計時手段(20)が検出することに基づき、バイ
パス弁(15)を開弁作動させるように構成したことを
特徴とする車載用排気タービン過給機付きエンジンの過
給制御方法
[Claims] 1. An engine with an exhaust turbine supercharger mounted on a vehicle (
A bypass (11) is provided in a branched manner from the exhaust path portion between the exhaust port (3) of 1) and the exhaust gas inlet chamber (12) of the exhaust turbine supercharger (C), and a bypass valve is installed in the bypass (11). (15) is provided so as to be openable and closable, and an exhaust temperature detector (19) is provided in the exhaust system path of the engine (1), and based on the fact that the exhaust temperature detector (19) detects a temperature higher than the set temperature,
The bypass valve (15) is closed to operate the exhaust turbine supercharger (C), and the bypass valve (15) is closed while the temperature detected by the exhaust temperature detector (C) is lower than the set temperature.
In a vehicle-mounted engine with an exhaust turbine supercharger configured to stop the exhaust turbine supercharger (C) by opening the valve, a timing means (20) is provided in the drive control system of the bypass valve (15).
An on-vehicle exhaust system characterized in that the bypass valve (15) is opened based on the timing means (20) detecting that the bypass valve fully open condition continues for a certain period of time or more. Supercharging control method for an engine with a turbine supercharger
JP61266282A 1986-11-08 1986-11-08 Supercharge control method for engine with car-mounted exhaust turbosupercharger Pending JPS63120822A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP61266282A JPS63120822A (en) 1986-11-08 1986-11-08 Supercharge control method for engine with car-mounted exhaust turbosupercharger

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP61266282A JPS63120822A (en) 1986-11-08 1986-11-08 Supercharge control method for engine with car-mounted exhaust turbosupercharger

Publications (1)

Publication Number Publication Date
JPS63120822A true JPS63120822A (en) 1988-05-25

Family

ID=17428785

Family Applications (1)

Application Number Title Priority Date Filing Date
JP61266282A Pending JPS63120822A (en) 1986-11-08 1986-11-08 Supercharge control method for engine with car-mounted exhaust turbosupercharger

Country Status (1)

Country Link
JP (1) JPS63120822A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8375714B2 (en) * 2005-06-27 2013-02-19 General Electric Company System and method for operating a turbocharged engine
JP2021021382A (en) * 2019-07-30 2021-02-18 いすゞ自動車株式会社 Estimation device, estimation method, and vehicle

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5346404U (en) * 1976-09-22 1978-04-20
JPS6133921B2 (en) * 1978-04-25 1986-08-05 Shibaura Eng Works Ltd

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5346404U (en) * 1976-09-22 1978-04-20
JPS6133921B2 (en) * 1978-04-25 1986-08-05 Shibaura Eng Works Ltd

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8375714B2 (en) * 2005-06-27 2013-02-19 General Electric Company System and method for operating a turbocharged engine
JP2021021382A (en) * 2019-07-30 2021-02-18 いすゞ自動車株式会社 Estimation device, estimation method, and vehicle

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