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D-
EGR Valve
Intake Manifold
EGR Cooler
Exhaust Manifold
Compressor
VariableGeometry
Turbine
p r? th Z
9o> ToXo!9&]Xot9T
DI diesel
DYNO
ECU
ICU
CAN
dSPACE autobox
CAN
ethernet
9o u9o2
D/
DYNO control
250
meas
est
200
maf [kg/h]
150
100
50
0
800
850
900
950
1000
time [s]
1050
D1
1100
1150
vgt_ff
map_setpoint
Kiv
vgt_dc
MAP
egr_dc
MAF
Kpv
1
maf_setpoint
Kie
s
Kpe
engine
egr_ff
9o$ ftto]J9fQ9h99FuD9]u
vgt_ff
map_setpoint
vgt pos
h2
vgt_pos
e~
u~
Ki
g2
h1
vgt_dc
MAP
s
maf_setpoint
vgt_dc
vgt_pos_cmd
Kp
g1
MAF
egr_pos_cmd
egr_dc
egr_dc
egr_pos
egr pos
9o, f9o59]$9h9[ttoo9
v2_ff
exmp_setpoint
vgt pos
k12
vgt_pos
vgt_dc
vgt_pos_cmd
k22
k11
maf_setpoint
vgt_dc
EXMP
k21
egr_pos_cmd
egr_dc
egr_dc
egr_pos
egr pos
engine rpm
150
3000
2500
100
2000
1500
50
1000
0
800
900
1000
500
1100
800
900
engine tq [Nm]
1000
1100
fuel [kgh]
150
10
8
100
6
50
4
0
50
800
900
1000
1100
800
900
1000
time [s]
1100
no visible smoke
visible smoke
open loop
0.8
NOx [norm]
PI(MAP, EGRf)
R1 min spfc
PI(MAP, est. MAF)
0.6
0.4
CLF(EXMP, MAF)
R1 max F1
0.2
1.2
1.4
1.6
1.8
2
PM [norm]
2.2
2.4
2.6
2.8
100
EGR dc
80
60
40
20
0
1030
1040
1050
1060
1070
1080
1090
1100
1110
1120
1130
1040
1050
1060
1070
1080
1090
1100
1110
1120
1130
1040
1050
1060
1070
1080
1090
1100
1110
1120
1130
1040
1050
1060
1070
1080
time [s]
1090
1100
1110
1120
1130
100
VGT dc
80
60
40
20
0
1030
map [kPa]
180
measured
desired
160
140
120
100
80
1030
250
maf [kg/h]
200
150
100
50
0
1030
0,
100
EGR dc
80
60
40
20
0
1030
1040
1050
1060
1070
1080
1090
1100
1110
1120
1130
1040
1050
1060
1070
1080
1090
1100
1110
1120
1130
1040
1050
1060
1070
1080
1090
1100
1110
1120
1130
1050
1060
1070
1080
time [s]
1090
1100
1110
1120
1130
100
VGT dc
80
60
40
20
0
1030
map [kPa]
180
160
140
120
100
80
1030
250
maf [kg/h]
200
meas
des
est
150
100
50
0
1030
1040
-
100
EGR pos
80
60
40
20
0
1030
1040
1050
1060
1070
1080
1090
1100
1110
1120
1130
100
VGT pos
80
60
meas
des
40
20
0
1030
1040
1050
1060
1070
1080
1090
1100
1110
1120
1130
1040
1050
1060
1070
1080
1090
1100
1110
1120
1130
1040
1050
1060
1070
1080
time [s]
1090
1100
1110
1120
1130
map [kPa]
180
160
140
120
100
80
1030
250
maf [kg/h]
200
150
100
50
0
1030
100
EGR pos
80
60
40
20
0
1030
1040
1050
1060
1070
1080
1090
1100
1110
1120
1130
1040
1050
1060
1070
1080
1090
1100
1110
1120
1130
1040
1050
1060
1070
1080
1090
1100
1110
1120
1130
1040
1050
1060
1070
1080
time [s]
1090
1100
1110
1120
1130
100
VGT pos
80
60
40
20
0
1030
meas
des
220
exmp [kPa]
200
180
160
140
120
100
1030
250
maf [kg/h]
200
150
100
50
0
1030
/
100
EGR pos
80
60
40
20
0
1030
1040
1050
1060
1070
1080
1090
1100
1110
1120
1130
1040
1050
1060
1070
1080
1090
1100
1110
1120
1130
1040
1050
1060
1070
1080
1090
1100
1110
1120
1130
1040
1050
1060
1070
1080
time [s]
1090
1100
1110
1120
1130
100
VGT pos
80
60
40
20
0
1030
map [kPa]
180
160
140
120
100
80
1030
meas
des
0.4
0.3
0.2
0.1
0
1030
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