There are a lot of close but incorrect answers here. The knocking sound comes from the rapid pressure increase that comes from injecting fuel directly into the compressed air in the cylinder at 3000 psi. Modern diesels pulse the injectors a few times for each combustion event which is why modern diesels are quieter. Had a GM engineer demonstrate this 10 years ago on a Duramax. 1 injector pulse per event caused a very loud and distinct diesel clatter. Changing it back to its default (I believe it was 4) caused most of the clatter to go away.
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