Article

Experimental Investigation of Cyclic Variability on Combustion and Emissions of a High-Speed SI Engine

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Abstract

Cyclic combustion variability (CCV) is an undesirable characteristic of spark ignition (SI) engines, and originates from variations in gas motion and turbulence, as well as from differences in mixture composition and homogeneity in each cycle. In this work, the cycle to cycle variability on combustion and emissions is experimentally investigated on a high-speed, port fuel injected, spark ignition engine. Fast response analyzers were placed at the exhaust manifold, directly downstream of the exhaust valve of one cylinder, for the determination of the cycle-resolved carbon monoxide (CO) and nitric oxide (NO) emissions. A piezoelectric transducer, integrated in the spark-plug, was also used for cylinder pressure measurement. The impact of engine operating parameters, namely engine speed, load, equivalence ratio and ignition timing on combustion and emissions variability, was evaluated. The variations in mixture stoichiometry were found to have a strong effect on engine combustion variability. Rich cyclic mixture compositions exhibit lower coefficient of variation (COV) for the indicated mean effective pressure (IMEP) and NO emissions (COVNO) compared with lean mixtures. The mean value of CO emission was found to be mainly affected by stoichiometry while COVCO is affected by lambda fluctuations. At higher engine loads, maximum cylinder pressure and IMEP are increased, while COVIMEP decreased. Furthermore, ignition timing was found to strongly affect combustion and NO emissions, as it is related with early flame kernel development and thereby with flame propagation. Maximum braking torque (MBT) operation exhibits maximum IMEP and minimum COVIMEP. Compared to MBT operating conditions, advanced ignition timing leads to higher maximum cylinder pressure, higher NO and COVNO, while retarded ignition timings lead to lower maximum cylinder pressure, lower NO concentration and higher NO variability (COVNO).

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... Some of the main factors on which it depends include mixture composition, oxygen availability, burning rate, the peak combustion temperature, and residence period in a critical temperature window. All these factors are known to vary in every cycle leading to cyclic variations in engine-out emissions [31,123,124]. Milkins et al. [103] indicated a definite relation of HC and CO emissions with the combustion rate, which varies due to cycle-to-cycle variations in a SI engine. Thus, a reduction in CCV could result in a decrease in CO and HC emissions. ...
... Analyzers with a fast response of an order of few milliseconds are required for cycle resolved measurement of emissions level. The chemiluminescence detector (CLD) was used for measurements of NO emissions, and the Non-Dispersive Infra-Red (NDIR) detectors were used for measurement of CO and carbon dioxide (CO 2 ) emissions [31,123]. The nature of cyclic variations in NO, CO, and CO 2 emissions is investigated for a highspeed PFI SI engine [123]. ...
... The chemiluminescence detector (CLD) was used for measurements of NO emissions, and the Non-Dispersive Infra-Red (NDIR) detectors were used for measurement of CO and carbon dioxide (CO 2 ) emissions [31,123]. The nature of cyclic variations in NO, CO, and CO 2 emissions is investigated for a highspeed PFI SI engine [123]. An attempt is made to relate cyclic emission variations with cyclic variations in IMEP and heat release [31]. ...
... Pollutants formation during engine combustion is correlated both with mixture properties such as air-fuel equivalence ratio, residual gas fraction and fuel properties as well as with the combustion type. At normal combustion conditions (deflagration), NOx formation is primarily controlled by oxygen availability under lean or rich conditions while within the stoichiometric window formed NOx concentration is correlated with the combustion burn rate [24]. Under no knocking combustion, previous studies showed that as in-cylinder peak pressure is increased, NOx emissions are proportionally increased [24e26]. ...
... A similar procedure was followed to detect HC concentration at each combustion cycle, taking into account the variations in signal delay, due to the different positioning of the sampling probes for NO and HC species. More details on the exact process per pollutant can be found in open literature [24,26,51], [52]. ...
... Fig. 9 represents the relationship between maximum cylinder pressure and NO emissions for 100 consecutive cycles under normal combustion conditions (ignition timing 5 BTDC). The trend of these points is found close to linear, validating similar observations from previous studies [24,46,53]. In fact, deviations from this linear correlation can be related with the cyclic dispersion of mixture parameters such as residual gas fraction, fuel trapped mass or airfuel equivalence ratio at each combustion cycle. ...
Article
The aim of this experimental study is to investigate the pollutants formation and cyclic emission variability under knocking combustion conditions. A great number of studies extensively describe the phenomenon of knock and its combustion characteristics as well as the effect of knock on engine performance; however the impact of knocking combustion on pollutants formation and how it affects cyclic emission variability has not been previously explored. In this study, an optical single cylinder SI research engine and fast response analyzers were employed to experimentally correlate knocking combustion characteristics with cyclic resolved emissions from cycle to cycle. High-speed natural light photography imaging and simultaneous in-cylinder pressure measurements were obtained from the optical research engine to interpret emissions formation under knocking combustion. The test protocol included the investigation of the effect of various engine parameters such as ignition timing and mixture air/fuel ratio on knocking combustion and pollutant formation. Results showed that at stoichiometric conditions by advancing spark timing from MBT to knock intensity equal to 6 bar, instantaneous NO and HC emissions are increased by up to 60% compared to the MBT operating conditions. A further increase of knock intensity at the limits of pre-ignition region was found to significantly drop NO emissions. Conversely, it was found that when knocking combustion occurs at lean conditions, NO emissions are enhanced as knock intensity is increased.
... It is known from mean cycle studies that CO emissions are mainly controlled by the overall mixture equivalence ratio [20]. However the impact of air/fuel ratio on the actual scatter of CO levels has been investigated in the literature only from the stochastic point of view [21]. On the other hand, NO formation is linked to oxygen availability, burn rate, and maximum cylinder pressure [5,22e24]. ...
... Cyclic variations of combustion and pressure development [25], cyclic fluctuations of mixture air/fuel ratio [26], and heterogeneities of cylinder charge [27] are the main sources of NO variation. One study [25] showed that NO formation exhibits a non-linear correlation with indicated mean effective pressure (IMEP), while a more recent study investigated the impact of various engine parameters such as equivalence, load, and ignition timing on NO CEV [21]. However, a detailed experimental study that explains the origins of NO variability into deterministic, which can be controlled, and stochastic, which cannot be controlled, has not yet been conducted. ...
... The code initially transforms the recorded signals to physical magnitudes and then matches incylinder pressure with pollutants traces (NO, NO x , CO, CO 2 ) for each individual engine cycle. Details of the algorithm developed have been presented in an earlier study [21]. The uncertainty of the calculated parameters presented in the results section, namely the cumulative heat release and the IMEP, has been determined applying the RMS (root mean square) method, taking into consideration the individual error of the measured parameters, and it is estimated within 1% of the calculated value. ...
Article
This study contributes to the understanding of cycle-to-cycle emissions variability (CEV) in premixed spark-ignition combustion engines. A number of experimental investigations of cycle-to-cycle combustion variability (CCV) exist in published literature; however only a handful of studies deal with CEV. This study experimentally investigates the impact of CCV on CEV of NO and CO, utilizing experimental results from a high-speed spark-ignition engine. Both CEV and CCV are shown to comprise a deterministic and a stochastic component. Results show that at maximum break torque (MBT) operation, the indicated mean effective pressure (IMEP) maximizes and its coefficient of variation (COVIMEP) minimizes, leading to minimum variation of NO. NO variability and hence mean NO levels can be reduced by more than 50% and 30%, respectively, at advanced ignition timing, by controlling the deterministic CCV using cycle resolved combustion control. The deterministic component of CEV increases at lean combustion (lambda = 1.12) and this overall increases NO variability. CEV was also found to decrease with engine load. At steady speed, increasing throttle position from 20% to 80%, decreased COVIMEP, COVNO and COVCO by 59%, 46%, and 6% respectively. Highly resolved engine control, by means of cycle-to-cycle combustion control, appears as key to limit the deterministic feature of cyclic variability and by that to overall reduce emission levels.
... Variation in NO formation is primarily dependent on excess oxygen availability, fuel burn rate, peak combustion chamber temperature, and peak cylinder pressure [22][23][24]. It was reported in some studies that the fluctuations in NO formation are primarily due to cyclic fluctuations, heterogeneity of air/fuel ratio, and variations in ignition timings [25][26][27]. ...
... However, in LI mode, SoC advanced to 2.12°CA bTDC at 0.66 bar and 3.42°CA aTDC at 3.96 bar BMEP. It was reported that advancing SoC could possibly mitigate the problem of cyclic variations in the engine [26]. In LI mode, 30HCNG showed the earliest SoC amongst all HCNG mixtures at MBT ST and λ = 1.2. ...
Article
In this experimental study, a prototype laser ignited engine was developed and fuelled with hydrogen enriched compressed natural gas (HCNG; mixture of H2 and CNG). Engine performance, emissions and combustion characteristics were compared for laser ignition (LI) and spark ignition (SI) modes. The maximum brake torque (MBT) timing was employed to reduce cycle-to-cycle variations (CCV) and to improve the engine performance, combustion and emission characteristics. Composition of HCNG mixture was changed by dynamically blending H2 with CNG on a volumetric basis. MBT timing was determined for naturally aspirated engine in conventional SI mode, by varying the spark timing (ST) between 22° CA bTDC to 46° CA bTDC and by varying relative air–fuel ratio (λ) from rich-to-lean. Optimum torque for HCNG mixtures was observed at 31° CA bTDC. The 10% mass fraction burn (MFB10) duration reduced continuously with advancing ignition timing up to 31°CA bTDC, which then increased with further advanced ST. For any particular ST, MFB10 and MFB90 decreased with increasing H2 enrichment of CNG. At high λ (lean mixtures), CCV would be higher due to lower engine efficiency and increased emissions. LI mode exhibited lower coefficient of variation in indicated mean effective pressure (COVIMEP) compared to SI mode. The COVIMEP for all HCNG mixtures were within 2% up to λ = 1.2 and it increased further with increasing λ but the variation was within ± 6%. Lower CCV (< 2% of COVIMEP), reduced emissions and improved brake thermal efficiency (BTE) were observed at 31°CA bTDC MBT timing compared to other spark timings. This experimental study indicated that laser ignition is a suitable technology for deployment in HCNG engines.
... To conclude the discussion of this section, it is important to give some details on the influence of water injection on the cycle variability that has an effect on torque, thermo-dynamic efficiency as well on fuel consumption. As well known, a reduction of the cyclic variability may reduce intrinsically the knock tendency because of a lower dispersion between lower and fast cycles [25,26,27]. In addition, experimental studies have shown as the reduction in the cyclic variability contributes also to decrease engine noise. ...
... On the contrary, a decreasing trend along the spark advance was observed. Results indicate that for the considered commercial light duty SI engine, the different operating conditions give a CoV IMEP below 5% that guarantees an acceptable combustion stability and should cause a negligible impact on fuel consumption all over the engine operating plane [26]. Moreover, for each investigated engine speed, at W/G=0.30 and the most advanced spark timings, the IMEP CoV is comparable to the gasoline reference cases. ...
Article
The potential benefits of water injection on performance and emissions were investigated on a downsized PFI twin-cylinder turbocharged spark ignition engine. Experiments were carried out at high load condition (~15.5 bar IMEP) within the engine speed range from 3500 to 4500rpm with a step of 500 rpm. For each test case the effect of the injected water quantity on combustion and exhaust emissions was investigated by sweeping from 10%w to 30%w the water to gasoline ratio. The water was injected at the same timing as the gasoline by a low pressure injection system external controlled. Tests were performed at WOT conditions exploring, for each operating condition, a spark sweep from knock-free up to knock-limited operation. Compared to the full gasoline reference case, the water injection allowed to advance extensively the spark timing without knock occurrence. The 20% water to gasoline mass fraction gave the best improvements in terms of IMEP. The reduction of combustion temperature, due to the water injection, coupled to the spark timing advance without knock, led to a stable reduction of the temperature at the turbine inlet.
... With emission legislation becoming stricter around the world [1], the development of the spark-ignition (SI) engine primarily focuses on the improvement of combustion to achieve lower emissions and better fuel efficiency. Cyclic fluctuations in the air-to-fuel equivalence ratio, residual gas fraction and turbulence, even at nominally steady state operating conditions, result to a variance of the burn rate and of engine-out emissions [2][3][4]. The variance in engine-out emissions because of cyclic variability compromises the optimization of the engine, in particular considering the NO trade-off with fuel efficiency [5][6][7][8][9][10]. ...
... Experimental data from previous research [2], conducted at the Laboratory of Applied Thermodynamics (LAT), were utilized for the validation of the proposed emission model. An in-line fourcylinder high-speed PFI SI engine from a motorcycle (HONDA CDR600RR) was employed (Table 1). ...
Article
This study proposes a novel emissions model for the prediction of spark ignition (SI) engine emissions at homogeneous combustion conditions, using post combustion analysis and a detailed chemistry mechanism. The novel emissions model considers an unburned and a burned zone, where the latter is considered as a homogeneous reactor and is modeled using a detailed chemical kinetics mechanism. This allows detailed emission predictions at high speed practically based only on combustion pressure and temperature profiles, without the need for calibration of the model parameters. The predictability of the emissions model is compared against the extended Zeldovich mechanism for NO and a simplified two-step reaction kinetic model for CO, which both constitute the most widespread existing approaches in the literature. Under various engine load and speed conditions examined, the mean error in NO prediction was 28% for the existing models and less than 1.3% for the new model proposed. The novel emissions model was also used to predict emissions variation due to cyclic combustion variability and demonstrated mean prediction error of 6% and 3.6% for NO and CO respectively, compared to 36% (NO) and 67% (CO) for the simplified model. The results show that the emissions model proposed offers substantial improvements in the prediction of the results without significant increase in calculation time.
... One of the fundamental challenges of spark-ignition combustion is the inherent cyclic variability in the combustion process [30]. This variability in burn-rate leads to variability in end-gas conditions, causing cycles with combustion phasing advanced of the mean cycle to experience higher in-cylinder pressures and temperatures, thereby increasing their likelihood of end-gas autoignition and knock. ...
Article
Propane has demonstrated significant potential for reductions in greenhouse gas and pollutant emissions in medium-and heavy-duty engine applications, but further improvements require accurate, compact, and scalable chemical kinetic mechanisms to design the next generation of propane fueled engines, particularly at the boosted operating conditions necessary to meet the power density demand of medium-and heavy-duty applications. In this work, six key chemical reactions were identified in a reduced mechanism with 70 species and 352 reactions through a sensitivity analysis performed at conditions typical of thermodynamic trajectories observed in a high compression ratio, long stroke engine operated on propane from throttled to boosted operating conditions. While the original mechanism was validated against rapid compression machine (RCM) data, it was found to over-predict experimental autoignition tendencies in 2-zone, 0-D SI engine simulations performed in Chemkin Pro. Subsequently, a genetic algorithm approach was used to optimize the six reaction rate parameters within established uncertainty bounds by performing RCM simulations and comparing to two independent sets of literature ignition delay times for propane, thus generating two new kinetic mechanisms. The first optimization achieved a mean absolute percent error (MPE) reduction in 2nd stage ignition delay of 61.4% in seven generations , while the second optimization utilized a newer experimental RCM dataset, and achieved MPE reduction of 56.7% in seven generations, and further marginal improvement to 57.8% reduction in 34 generations. The two mechanisms were then evaluated again in the 2-zone 0-D SI engine model in Chemkin Pro comparing typical mean and knocking cycle trajectories, and it was found that the second optimized mechanism provided better prediction of knock onset at the representative conditions evaluated in this work, particularly for higher load operating conditions.
... 31,32 The different physical and chemical properties of biofuels widely affect the combustion characteristics. 14,33 Many researches were conducted to measure the diesel engine performance running with different types of bio oils. Puhan et al. 34 and Godiganur et al. 35 studied the diesel engine performance fueled by Mahua biodiesel. ...
Article
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Castor biodiesel (CBD) was manufactured by slow pyrolysis of oil from highly yielded seeds with anhydrous sodium hydroxide catalyst. An experimental study of engine's performance, emissions and combustion characteristics using bio-diesel blended with gas oil in volumetric ratios of 0, 10, 25, 50, 75, and 100% at different loads was performed. Increase of CBD percentage in the blend led to a reduction in engine's thermal efficiency, cylinder pressure, net heat release rate, and smoke emission. The exhaust gas temperature, specific fuel consumption, unburned hydrocarbon, CO, and nitrogen oxide emissions were increased with the increase of CBD ratio. Biodiesel showed the maximum increase in specific fuel consumption by 10% and the thermal efficiency was decreased by 10.5% about pure diesel. Smoke emissions were decreased for CBD100 by 12% about gas oil. The maximum increases in NO x , CO, HC emissions, and exhaust gas temperature for CBD 100 were 22, 34, 48, and 11%, respectively related to diesel oil. The maximum reductions in cylinder pressure and net heat release rate were 5 and 13% for CBD100 about gas oil, respectively. Biodiesel percentage of 10% showed near values of performance parameters and emissions to gas oil, so, it is recommended as the optimum percentage.
... 21 The combustion characteristics have been affected by the physical and chemical properties of biofuels. 11,22 Thus, biofuels with higher hydrogen contents produced lower cycle to cycle variations and burning rates because of the higher flame speed obtained, as mentioned by Attai et al. 4 Thus, cyclic variation has two distinctive natures as deterministic, stochastic and this would simply contribute to address and classify the combustion variations. 23,24 The cyclic variability was revealed by observing the cylinder pressure development for several cycles. ...
Article
Full-text available
Pyrolysis of castor oil with anhydrous sodium hydroxide as a catalyst was performed to produce Catalytic Castor pyrolytic oil (CCPO). The physical and chemical properties of the pyrolytic and gas oils were recorded according to ASTM standards. Gas oil was blended with castor pyrolytic oil at different volumetric ratios of 0%, 25%, 75%, and 100% as CCPO00, CCPO25, CCPO75, and CCPO100, respectively. Coefficient of variation (COV) of combustion parameters proved to be a profound method of assessing combustion characteristics and engine performance. COV of combustion parameters (IMEP, P max , and dP/dY max) for gas oil blends with pyrolysis oil were measured. Recorded pressure crank angle traces of 150 consecutive cycles were used for COV's determination. A single cylinder diesel engine equipped with calibrated measuring techniques was used at different engine loads. Higher volumetric blending ratios of pyrolytic oil with diesel oil increased the COV's within an acceptable range of engine operating conditions. Minor modifications might be valuable for engines fueled by pyrolysis oil blends to obtain smoother, lower noise operation, and combustion stability.
... Cyclic variability in SI engines has been extensively examined by several research groups, trying to understand its main causes and ways of resolving these [7]. To this aim, a large diversity of experiments have been conducted focusing on a variety of parameters [8], such as the measurement of the velocity field, flame propagation and specifications [9][10][11][12], and the heat losses to the electrodes of the spark plug [13]. Recently, large focus was also given on the variability of emissions, which requires the use of advanced measuring equipment with a high sampling rate to capture the highly transient effects [14]. ...
Article
Full-text available
A methodology for determining the cyclic variability in spark-ignition (SI) engines has been developed recently, with the use of an in-house computational fluid dynamics (CFD) code. The simulation of a large number of engine cycles is required for the coefficient of variation (COV) of the indicated mean effective pressure (IMEP) to converge, usually more than 50 cycles. This is valid for any CFD methodology applied for this kind of simulation activity. In order to reduce the total computational time, but without reducing the accuracy of the calculations, the methodology is expanded here by simulating just five representative cycles and calculating their main parameters of concern, such as the IMEP, peak pressure, and NO and CO emissions. A regression analysis then follows for producing fitted correlations for each parameter as a function of the key variable that affects cyclic variability as has been identified by the authors so far, namely, the relative location of the local turbulent eddy with the spark plug. The application of these fitted correlations for a large number of engine cycles then leads to a fast estimation of the key parameters. This methodology is applied here for a methane-fueled SI engine, while future activities will examine cyclic variations in SI engines when fueled with different fuels and their mixtures, such as methane/hydrogen blends, and their associated pollutant emissions.
... On the other hand, stoichiometric and lean mixtures exhibit higher NOx emission variability. As it is revealed in Fig. 11, stoichiometric and lean mixtures lead to higher COV of IMEP, translated into more intense combustion variability, which leads to higher NOx emission variability [49]. Fig. 18 shows the influence of the engine operating equivalence ratios on the indicated specific HC emissions (g/kW h) for three different values of the spark plug gaps. ...
... At increasing the air-fuel ratio (AFR), the cyclic variability becomes stronger. The influence of engine parameters, namely engine load, speed, AFR and spark advance (SA), to the cyclic combustion variability has been investigated by Ref. [6] where it has been shown that SA affects cyclic combustion variability mostly when engine geometry is determined. ...
Article
In this paper, a spark advance self-optimization strategy is presented for lean-burn operation mode of spark-ignition (SI) engine which aims on-board combustion phase tuning to achieve high efficiency under a probability constraint of knocking events. Firstly, the effects of spark advance (SA) on combustion phase under lean-condition are analyzed in a statistical perspective based on experiments. Then, based on conclusion of the analysis, a SA control scheme, which combines extremum seeking loop with likelihood-based knock limit control loop, is proposed to optimize SA for maximal fuel economy with knock probability threshold. Finally, experimental validation results are demonstrated that are conducted on a test bench with a V6 commercial SI engine.
... Cycle-by-cycle variations (CCVs) are in fact commonly observed during the combustion process of a SI engine [19,20]. They mainly cause fluctuations in the rate of heat release, turning in oscillations in the Indicated Mean Effective Pressure (IMEP), power output, fuel consumption and exhaust emissions [21]. ...
Article
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This paper investigates a technique of calculating the completeness of combustion on a cycle- by-cycle basis. The technique introduces the normalized pressure rise due to the combustion parameter, ψ to describe the completeness of combustion. This parameter is based on the Rassweiler-Withrow method of calculating the mass fraction burned and is derived from the pressure-crank angle record of the engine. Experimental data were obtained from a Rover K4 optical access engine and analysed with a combustion analysis package. A computer simulation was then used to model the data on a cycle-by-cycle basis, both with and without the completeness of combustion parameter. The paper discusses the conditions under which it is suitable to model mean engine cycles, compared with the need to model cycle-by-cycle variability, and comments on the situations in which each type of modelling would be most appropriate. The engine simulation model is also used to investigate cycle-by-cycle variability of NO emissions that have recently been obtained experimentally. The successful aspects of this investigation are that the cycle-by-cycle variability in the completeness of combustion can be determined by use of the parameter ψ, that the inclusion of the completeness of combustion parameter improves the simulation's ability to model the experimental data both in a statistical sense (the coefficient of variation of the indicated mean effective pressure) and on a cycle-by-cycle basis and that cycle-by-cycle NO modelling results are found to compare well with experiment.
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The operating range of lean-burn SI engines is limited by the level of cycle-by-cycle variability in the early flame development, which typically corresponds to the 0–5% mass fraction burned. An experimental investigation was undertaken to study this flame variability in an optical, stratified-charge, SI engine close to the lean limit of stable operation (A/F=22). Double-exposed flame images acquired through either a pentroof window (“tumble plane” of view) or the piston crown (“swirl plane” of view) were processed to calculate the intra-cycle flame growth and convection rates under 1500 RPM low-load conditions. Projected flame-boundary analysis was also performed to investigate the effect of flame shape/wrinkling on the subsequent timing of 5% mass fraction burned on a cycle-by-cycle basis. The images showed that the flame always preserved its shape while growing in size (even when it had been initiated with a highly convoluted shape); image processing demonstrated the manner with which the flame-growth speed varied as the flame propagated and approached the pentroof and piston-crown walls for slow, “typical” or fast burning cycles. It was found that it was beneficial to have a high convection velocity in the swirl plane of flow during the first 10° CA after ignition timing (corresponding to less than 0.1% mass fraction burned), but after this stage it was beneficial to have a moderate convection velocity for the flame. However, on the tumble plane of flow, a high convection velocity was preferable up to 30° CA after ignition timing (corresponding, typically, to 1% mass fraction burned). Slow development of a flame was associated with higher stretch rates for the same flame radius than fast-developing flames during the period of growth from 3 to 6 mm in radius (about 0.1–1% mass fraction burned). Extended analysis of the projected flame front's shape and its wrinkling showed that the fastest lean-condition flames had contour characteristics similar to those of the flames recorded for stoichiometric conditions. This suggested that the fastest lean flames on a cycle-by-cycle basis might have been richer than the average in the vicinity of the spark plug at ignition.
A detailed chemical mechanism to predict NO cycle-to-cycle variation in homogeneous engine combustion E-COSM'12-IFAC Workshop on Engine and Powertrain Control
  • A Karvountzis-Kontakiotis
  • L Ntziachristos
Karvountzis-Kontakiotis, A. and Ntziachristos, L., " A detailed chemical mechanism to predict NO cycle-to-cycle variation in homogeneous engine combustion, " E-COSM'12-IFAC Workshop on Engine and Powertrain Control, Simulation and Modeling, vol. 3, pp. 408-415, 2012, doi:10.3182/20121023-3FR-4025.00046.