BR112019000747A2 - método de controle de torque e dispositivo de controle de torque - Google Patents
método de controle de torque e dispositivo de controle de torqueInfo
- Publication number
- BR112019000747A2 BR112019000747A2 BR112019000747-4A BR112019000747A BR112019000747A2 BR 112019000747 A2 BR112019000747 A2 BR 112019000747A2 BR 112019000747 A BR112019000747 A BR 112019000747A BR 112019000747 A2 BR112019000747 A2 BR 112019000747A2
- Authority
- BR
- Brazil
- Prior art keywords
- torque
- torque control
- requested
- motor
- control method
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/10—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for automatic control superimposed on human control to limit the acceleration of the vehicle, e.g. to prevent excessive motor current
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2045—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for optimising the use of energy
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18072—Coasting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
- B60L2250/28—Accelerator pedal thresholds
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/24—Coasting mode
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/081—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/90—Vehicles comprising electric prime movers
- B60Y2200/91—Electric vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
um método de controle de torque para controlar o torque de um motor, compreende detectar a solicitação de controle de velocidade solicitada de um condutor usando-se um sensor, calculando um torque solicitado com base na solicitação, atuando, controlando o torque gerado no motor com base no torque solicitado, quando o torque solicitado é menor do que um valor limiar predeterminado do torque, um controle de movimento por inércia para ajustar o torque solicitado para zero e controlar o motor com base no torque solicitado que é ajustado para zero.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2016/070955 WO2018011968A1 (ja) | 2016-07-15 | 2016-07-15 | トルク制御方法及びトルク制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
BR112019000747A2 true BR112019000747A2 (pt) | 2019-04-24 |
BR112019000747B1 BR112019000747B1 (pt) | 2023-04-11 |
Family
ID=60952874
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BR112019000747-4A BR112019000747B1 (pt) | 2016-07-15 | 2016-07-15 | Método de controle de torque e dispositivo de controle de torque |
Country Status (11)
Country | Link |
---|---|
US (1) | US10486546B2 (pt) |
EP (1) | EP3486111B1 (pt) |
JP (1) | JP6690712B2 (pt) |
KR (1) | KR102012159B1 (pt) |
CN (1) | CN109476235B (pt) |
BR (1) | BR112019000747B1 (pt) |
CA (1) | CA3030812C (pt) |
MX (1) | MX2019000575A (pt) |
MY (1) | MY196096A (pt) |
RU (1) | RU2714094C1 (pt) |
WO (1) | WO2018011968A1 (pt) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017205871A1 (de) * | 2017-04-06 | 2018-10-11 | Volkswagen Aktiengesellschaft | Verfahren zum Kompensieren von Leerlaufverlusten in einem Elektrofahrzeug, Computerprogrammprodukt, Datenträger und Elektrofahrzeug |
KR102322924B1 (ko) * | 2017-06-02 | 2021-11-08 | 현대자동차주식회사 | 차량 및 차량의 제어방법 |
JP7176360B2 (ja) * | 2018-11-06 | 2022-11-22 | トヨタ自動車株式会社 | 電動車両 |
CN111055724B (zh) * | 2019-12-30 | 2022-12-09 | 重庆长安汽车股份有限公司 | 纯电动汽车的能量管理系统、方法、车辆及存储介质 |
CN111409450B (zh) * | 2020-03-31 | 2022-03-15 | 东风航盛(武汉)汽车控制系统有限公司 | 一种车辆的单踏板模式控制方法 |
CN111688664B (zh) * | 2020-05-11 | 2021-11-30 | 武汉理工大学 | 一种无人驾驶碰撞目标平台车的车速控制方法及系统 |
JP7510604B2 (ja) * | 2020-07-01 | 2024-07-04 | マツダ株式会社 | 電気自動車のパワートレインシステム |
US11685262B2 (en) * | 2020-12-03 | 2023-06-27 | GM Global Technology Operations LLC | Intelligent motor vehicles and control logic for speed horizon generation and transition for one-pedal driving |
CN112706624B (zh) * | 2021-01-25 | 2023-02-17 | 一汽解放汽车有限公司 | 电机扭矩过零控制方法、系统及电动汽车 |
JP2022119590A (ja) * | 2021-02-04 | 2022-08-17 | ダイハツ工業株式会社 | インバータの制御装置 |
CN114123917A (zh) * | 2021-10-25 | 2022-03-01 | 东风汽车集团股份有限公司 | 电机零扭矩控制方法及相关设备 |
CN114454868B (zh) * | 2022-02-25 | 2023-09-26 | 奇瑞汽车股份有限公司 | 混合动力车的控制方法及装置 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0549106A (ja) * | 1991-08-09 | 1993-02-26 | Nissan Motor Co Ltd | モータ制御装置 |
JPH05168108A (ja) | 1991-12-19 | 1993-07-02 | Honda Motor Co Ltd | 電気走行車 |
DE112008004118T5 (de) * | 2008-11-20 | 2012-09-27 | Toyota Jidosha Kabushiki Kaisha | Steuervorrichtung für eine Fahrzeug-Getriebevorrichtung |
JP5652118B2 (ja) * | 2010-10-22 | 2015-01-14 | 日産自動車株式会社 | 車両用走行制御装置及び車両用走行制御方法 |
JP2012116272A (ja) * | 2010-11-30 | 2012-06-21 | Daimler Ag | ハイブリッド電気自動車の回生制御装置 |
US9242640B2 (en) * | 2011-02-16 | 2016-01-26 | Suzuki Motor Corporation | Hybrid vehicle control device |
WO2013065167A1 (ja) * | 2011-11-04 | 2013-05-10 | トヨタ自動車株式会社 | 車両および車両の制御方法 |
JP6071725B2 (ja) * | 2013-04-23 | 2017-02-01 | カルソニックカンセイ株式会社 | 電気自動車の駆動力制御装置 |
RU2548832C2 (ru) * | 2013-08-26 | 2015-04-20 | Общество с ограниченной ответственностью "Русэлпром-Электропривод" | Способ управления тяговым приводом транспортного средства |
JP6201210B2 (ja) * | 2013-09-24 | 2017-09-27 | 日立オートモティブシステムズ株式会社 | 電動車両の制御装置及び電動車両の制御方法 |
CN105015549B (zh) * | 2014-04-21 | 2017-08-29 | 上海汽车集团股份有限公司 | 电驱动系统的扭矩控制方法及装置 |
-
2016
- 2016-07-15 CN CN201680087690.6A patent/CN109476235B/zh active Active
- 2016-07-15 KR KR1020197001727A patent/KR102012159B1/ko active IP Right Grant
- 2016-07-15 JP JP2018527349A patent/JP6690712B2/ja active Active
- 2016-07-15 RU RU2019104081A patent/RU2714094C1/ru active
- 2016-07-15 WO PCT/JP2016/070955 patent/WO2018011968A1/ja unknown
- 2016-07-15 BR BR112019000747-4A patent/BR112019000747B1/pt active IP Right Grant
- 2016-07-15 CA CA3030812A patent/CA3030812C/en active Active
- 2016-07-15 MY MYPI2019000338A patent/MY196096A/en unknown
- 2016-07-15 US US16/317,181 patent/US10486546B2/en active Active
- 2016-07-15 MX MX2019000575A patent/MX2019000575A/es active IP Right Grant
- 2016-07-15 EP EP16908869.7A patent/EP3486111B1/en active Active
Also Published As
Publication number | Publication date |
---|---|
EP3486111B1 (en) | 2020-09-23 |
CA3030812A1 (en) | 2018-01-18 |
KR20190021347A (ko) | 2019-03-05 |
MY196096A (en) | 2023-03-14 |
WO2018011968A1 (ja) | 2018-01-18 |
EP3486111A1 (en) | 2019-05-22 |
CA3030812C (en) | 2023-01-24 |
EP3486111A4 (en) | 2019-07-31 |
JP6690712B2 (ja) | 2020-04-28 |
CN109476235A (zh) | 2019-03-15 |
JPWO2018011968A1 (ja) | 2019-05-16 |
US20190241075A1 (en) | 2019-08-08 |
CN109476235B (zh) | 2020-05-01 |
US10486546B2 (en) | 2019-11-26 |
RU2714094C1 (ru) | 2020-02-11 |
MX2019000575A (es) | 2019-07-04 |
KR102012159B1 (ko) | 2019-08-19 |
BR112019000747B1 (pt) | 2023-04-11 |
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