CN101189433A - Regulator device and method for operating a regulator device - Google Patents
Regulator device and method for operating a regulator device Download PDFInfo
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- CN101189433A CN101189433A CNA2006800196769A CN200680019676A CN101189433A CN 101189433 A CN101189433 A CN 101189433A CN A2006800196769 A CNA2006800196769 A CN A2006800196769A CN 200680019676 A CN200680019676 A CN 200680019676A CN 101189433 A CN101189433 A CN 101189433A
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- regulator
- controlling device
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- monitor unit
- pressure
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- 238000000034 method Methods 0.000 title claims description 16
- 230000001105 regulatory effect Effects 0.000 claims abstract description 22
- 239000012530 fluid Substances 0.000 claims abstract description 21
- 230000001276 controlling effect Effects 0.000 claims description 25
- 230000000694 effects Effects 0.000 claims description 5
- 230000007704 transition Effects 0.000 claims description 3
- 230000002195 synergetic effect Effects 0.000 claims 2
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 239000000243 solution Substances 0.000 description 12
- 238000013461 design Methods 0.000 description 4
- 238000011017 operating method Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000001143 conditioned effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D16/00—Control of fluid pressure
- G05D16/20—Control of fluid pressure characterised by the use of electric means
- G05D16/2006—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means
- G05D16/2066—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means using controlling means acting on the pressure source
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
- F04B49/065—Control using electricity and making use of computers
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Hardware Design (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
- Feedback Control In General (AREA)
- Control Of Positive-Displacement Pumps (AREA)
Abstract
The invention relates to a regulator device, preferably as a component of a hydraulic circuit, in particular for regulating fluid-bearing units or units that are driven using a fluid, such as adjustable fluid pumps, which respectively co-operate with at least one actuator, which can be controlled by means of at least one governor in accordance with a predefinable guide variable (pd), said governor detecting output variables (alpha,pI) at least partially via a recirculation line. The fact that at least one recirculation line comprises at least one monitor (estimator), which estimates the output variables (condition x) that are at least in part unknown for the assignable governor, enables the provision of a regulator device, in which the governor comprises a linear or non-linear monitor for estimating the unknown load. Said regulator device continuously monitors the load, (load volumetric flow), independently of the regulation type, (volumetric and/or pressure regulation) and its implementation, (in analogous or discrete form), in order to regulate the operation in a dynamic, precise manner (devoid of spikes).
Description
Technical field
The present invention relates to controlling device, this controlling device is preferably as the parts of oil hydraulic circuit, the method that also relates to the operating regulation device, be particularly useful for regulating respectively and the collaborative fluid delivery system of actuator or can be by fluid-operated device, as can regulate fluid pump, wherein actuator can be by at least one regulator according to definable dominant parameters (guide variable) control, regulator by at least one feedback gather controlled system to the small part output quantity.
Background technique
DE 41 35 277 C2 disclose a kind of controlling device that is used for the can regulate oil hydraulic pump, wherein the quantity delivered of oil hydraulic pump can be changed by actuator, controlling device has two regulators that activated by actuator at least, and the hydraulic switch element that at least one is connected to regulator actuator automatically is set, and actuator provides high or minimum corresponding pilot pressure.In an embodiment of known solution, this controlling device has the pressure-flow regulator, and it mainly comprises switch valve plate, the adjustable orifice plate unit that is arranged on place, pump unit and is independent of the flow control board that pressure regulator panel ground is arranged on switch valve plate place equally.According to known solution, pilot pressure is applied to an end of pump unit that is positioned at the there, i.e. pilot pressure of being carried by flow control board or the pilot pressure of being carried by pressure regulator panel.Wherein, be that flow control board or pressure regulator panel carry control signal corresponding to described end by the decision of switch valve plate.In known solution, these two regulators, promptly flow regulator and pressure regulator are worked independently of one another, and directly do not influence each other.Be called as the flow of standard adjustment device and the characteristic of pressure regulator and in known solution, keep, and by utilizing standard adjustment device these economy, that can produce in batches, for known controlling device provides economic solution.
In particular, known solution can realize having the operation that the volume flowrate of ultimate pressure function is regulated.The adjusting of such can regulate pump is also referred to as " load-transducing (LOADSENSING) ".In this operator scheme, pump is adjusted to specific volume flowrate, and on the contrary, induced pressure is given by " this structure structure (the constitutive law) " of load.In order to prevent that to damage of elements in pump or the oil hydraulic circuit, " load-transducing " notion comprises so-called ultimate pressure function, promptly from reaching certain stress level, the operation of regulating from volume flowrate switches to pressure controlled operation.
The problem that current known volume flowrate with ultimate pressure function is regulated method of operating is the operation regulated from the volume flowrate switching to pressure controlled operation.For example, should carry out this switching, make with (unknown) load irrespectively, the pressure of expectation is not conditioned with having toning.This point is particularly important in injection machine and/or machine tool field, because under these circumstances, often must obtain the pressure that load was determined that is changed by sudden change with the level of explication in no toning ground.
US 6468046B1 discloses a kind of pressure controlled apparatus and method of oil hydraulic pump that are used for, and it uses PID commonly known in the art to regulate notion.In an embodiment of known solution, for axial piston pump, the finger plate (pivoting plate) that revolution is connected to pump changes the relative angle of itself and pump by control valve.This adjusting allows control valve only to control according to the induced pressure of pump.
US 6375433 B1 disclose the method and apparatus of control load pressure in a kind of oil hydraulic pump.In this solution, adopt nonlinear method by using two kinds of control laws (the first modified feedback linearization control law, the second modified feedback linearization control law), wherein carry out the accurate input and output linearization of pressure volume flowrate in load side.
Main problem is in the operating method that current known pressure is regulated, because load variations, the amplification of open loop obviously changes, and this may cause the unstability of closed regulating loop in current technology.Usually, in the whole operating range of pump, quality of regulation is proposed high requirement, and these methods can not sufficiently satisfy such requirement.
Summary of the invention
From these prior aries, the objective of the invention is further to improve known solution so that particularly when switching to pressure from the volume flowrate operation and regulate operation, with the load situation of the unknown irrespectively, the pressure of expecting is regulated on no toning ground.And, according to the stable control characteristic of being characterized as of solution of the present invention, and can realize the dynamic adjustments process with very high degree.This purpose is to realize by controlling device with claim 1 feature and the method with claim 11 feature.
According to claim 1 characteristic, but at least one feedback has the output quantity (state to small part the unknown that at least one is used to estimate distribution regulator
x) monitor unit (estimator), thereby design controlling device, wherein regulator comprises linear or may comprise nonlinear monitor unit under the situation, be used to estimate unknown load, this controlling device and adjusting type (volume-adjustment and/or pressure are regulated) and implementation type (simulation or discrete) irrespectively monitor load (load volume flowrate) continuously, so that height is dynamic and precision is regulated (no toning).Therefore, the constant pressure that can realize very accurately being adjusted to the constant volume flow of pump and/or be adjusted to the device load side.The associative operation that relates to controlling device according to method of the present invention.By introducing aforementioned variable (state
x), can also be adjusted to for example firm power of the fluid delivery system of fluid pump form.In a word, by the present invention, realized for example multiple single regulation scheme of the fluid delivery system of oil hydraulic motor form.
Other advantageous embodiments according to controlling device of the present invention are themes of other dependent claims.
Description of drawings
To describe in detail according to controlling device of the present invention and operating method thereof by means of two embodiments with reference to the accompanying drawings below.
Wherein, Fig. 1 and Fig. 2 schematically show to not to scale (NTS) basic structure according to controlling device of the present invention with the form of circuit diagram.
Specific embodiment
Regulate operation if be used to so-called pressure according to solution of the present invention, then the regulator shown in the figure is constructed to the form of linearity or dead-band regulator, and preferably be equipped with the interference effect compensation, and realize with non-linear and linear monitor unit (load estimator).Output quantity, as p
Actuator, α, ω, p
1Being used as wherein can be by means of the state variable (state of the axial-flow pump of regulating the cylinder body adjusting as the simplified model of fluid pump
x), p wherein
ActuatorShould be corresponding to the pressure of regulating in the cylinder body, α is the angle of revolution, ω is an angle of revolution speed, p
1Pump or induced pressure corresponding to the depletion load output terminal.P with scale factor
ActuatorCan be corresponding to Fluid Volume q
Actuator, as shown in the figure, it further is sent to axial piston pump from actuator through spring-loaded slave cylinder (not shown).Preferably, use the axial piston pump with can regulate rotary disk, its load can be used as " fluid flow controller (the fluid choke) " of fluid circuit.Gou Zao axial piston pump is for example open in Mannesmann Rexroth publication Grundlagenund Komponenten der Fluidtechnik Hydraulik (1991) like this.In pressure controlled operation, especially can be in regulation structure shown in Figure 1 realize advantageously that as it its advantage is better to guide pressure and regulates, because in this adjusted design, dynamic characteristic can be at random and is irrespectively given with each operation point.
So-called by using " self adaption reverse recursion (Adaptive Backstepping) " method (M.Krstic, I.Kanellakopoulos, P.Kokotovic, Nonlinear andAdaptive Control Design, John Wiley﹠amp; Sons company, New York, 1995), obtain the adjusting law (K that is used for load situation according to constitutive law
1Be constant, but unknown,
Corresponding to the K that estimates
1Value)
K wherein
pAnd c
2Be regulator parameter, p
1(induced pressure) and α (angle of revolution) are measurment, p
dBe the induced pressure of expectation, V
1, β and K
qFor specific to pump with specific to the parameter of load.Monitor unit (load estimator) is:
Wherein γ is a customized parameter.Exemplarily illustrate in Fig. 1 based on regulating the structure that law and monitor unit drew.In this embodiment, not regulated quantity u, but q
ActuatorSelected regulated quantity as pump because be generally the actuator of switch valve (not shown) form can be assumed to fast ideally, and thus at q
ActuatorAnd only having algebraically (non-linear) relation between other regulated quantitys u, this can gather in the actuating law (servo compensation).
The feature of regulating loop shown in Figure 1 is, on the meaning of vector signal, and the angle of revolution α of pump and the induced pressure p in load downstream
1Be combined into (a state
x), it once directly is provided to regulator, and once is provided to monitor unit/estimator.Monitor unit/estimator is carried out the estimation load (K of regulator then in feedback
1) interference effect compensation, regulator obtains it as dominant parameters p in the input side collection
d
In embodiment illustrated in fig. 2, previously described solution is corrected, so as with vector signal in be combined into the parameter of (state x): angle of revolution α and induced pressure p
1Ceded territory to be provided to regulator as input quantity by branch again, promptly to estimate by factor k1 and by induced pressure and dominant parameters p
dOne and the form of signal forming, and another and parameter are formed by angle of revolution and the estimated load (or angle of revolution of estimating) of monitor unit/estimator, and the factor k2 ground that the load of this estimation has regulator again forms the regulated quantity u of summation signals as actuator with the value according to k1.
Regulate operation in order to realize volume flowrate with ultimate pressure function, and in processing procedure, regulate level and smooth as far as possible and the no toning ground of operation and carry out the transition to the pressure adjusting and operate (vice versa) from volume flowrate, the design of explaining above is expanded with so-called flatness (flatness) notion (referring to people's such as M.J.Fliess " Flatness and Defect of Non-linearSystems; Introductory Theory and Examples ", Int.J.Control, Vol.61, No.6.pp 1327-1361,1995), promptly, surpass or be lower than specified pressure and/or pressure gradient, switch to pressure controlled operation so that can regulate operation " leniently " from volume flowrate.For this situation, " gentleness " means from switching instant, generates the track of induced pressure by this way, and promptly at switching instant, the absolute value of pressure is with this pressure is identical to the first derivative of switching instant at least.Wherein, (specific to using) determines switching instant according to stress level and pressure gradient; (for example, maximum admissible pressure gradient be stress level function).This method also has pressure and is not adjusted to advantage on the determined level with can having toning.
Under the comparable framework condition shown in operating with above-mentioned pressure control, the adjusting law of expansion is as follows:
And load estimator is defined by following formula:
P wherein
dBe can the double at least pressure reference of differential continuously.
The volume flowrate of combination and pressure regulator may be implemented as linearity or nonlinear state regulator or the series controller that has or do not have the interference effect compensation and have monitor unit (estimator).The output quantity that can pass through the controlled system of each monitor unit detection forms state
x, wherein except already mentioned variable, state
xAlso can be monitored based on other measurands.The output quantity of monitor unit (load estimator) can be corresponding to the load volume flowrate, and therefore can be designed to adjust the function (for adjustable axial piston pump, adjusting the angle [alpha] that the path corresponds essentially to steering wheel) in path.
Represent that in the practice test even change for the load of very large sudden change, induced pressure is not adjusted to the rating value of expectation with can having toning, for example 180 cling to, thereby especially in injection molding machine field and/or machine tool field, a plurality of application are possible.
Claims (11)
1. controlling device, preferably as the parts of oil hydraulic circuit, be particularly useful for regulating respectively and the synergistic fluid delivery system of at least one actuator or can be by means of fluid-operated device, as the adjustable fluid pump, wherein said actuator can be by at least one regulator according to definable dominant parameters (p
d) control, described regulator through at least one feedback gather controlled system to small part output quantity (α, p
1), it is characterized in that at least one feedback has at least one monitor unit (estimator), described monitor unit (estimator) is that assignable regulator is estimated the output quantity (state to small part the unknown
x).
2. controlling device as claimed in claim 1 is characterized in that, can pass through output quantity (α, the p of the controlled system of each monitor unit collection
1) the formation state
x, described state can be used as to the vector signal of small part descriptive system state and is fed to monitor unit.
3. controlling device as claimed in claim 2 is characterized in that, each vector signal comprises at least one fluid pump angle of revolution (α) and/or the relevant pressure value (p of the load that links to each other with fluid pump
1).
4. as each described controlling device in the claim 1 to 3, it is characterized in that each vector signal can be fed to monitor unit, and as a whole or at least one or a plurality of component of vector signal, be used as the input variable of assignable regulator.
5. as claim 3 or 4 described controlling devices, it is characterized in that described controlling device is designed to operation pressure controlled or that volume flowrate is regulated.
6. as each described controlling device in the claim 1 to 5, it is characterized in that, the estimated value of monitor unit output terminal (
But) as the input value of distribution regulator corresponding to the load volume flowrate relevant with respective load, described load volume flowrate can be used as the function in the adjusting path of fluid pump and assesses.
7. controlling device as claimed in claim 6 is characterized in that, each regulator carries out the interference effect compensation by detectable or known load volume flowrate.
8. as each described controlling device in the claim 1 to 7, it is characterized in that each regulator is implemented as linearity or nonlinear state regulator or the series controller that has or do not have the interference effect compensation.
9. as each described controlling device in the claim 1 to 8, it is characterized in that fluid pump is an axial piston pump, its detectable output quantity is its angle of revolution (α).
10. as each described controlling device in the claim 2 to 9, it is characterized in that at least one regulator obtains at least two and signal at input side, one of them and signal are by dominant parameters (p
d) and at least one component of vector signal form, and another and signal are formed by at least one other component of monitor unit estimated value and vector signal.
11. the method for an operating regulation device, be particularly useful for regulating respectively and the synergistic fluid conveying device of at least one actuator or can be by means of fluid-operated device, as the adjustable fluid pump, wherein said actuator by at least one regulator according to definable dominant parameters (p
d) control, described regulator through at least one feedback with monitor unit (estimator) gather controlled system to small part output quantity (α, p
1), it is characterized in that, switch to the transition the pressure adjusting operation and preferably also have advantageously generation leniently in the following manner of opposite transition from volume flowrate adjusting operation and ultimate pressure operation,, be used for the force value (p of the part of vector signal at least promptly at switching instant
1) and the first derivative of time changed continuously.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102005025590A DE102005025590A1 (en) | 2005-06-03 | 2005-06-03 | Regulating device and method for operating a control device |
| DE102005025590.6 | 2005-06-03 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101189433A true CN101189433A (en) | 2008-05-28 |
Family
ID=36592891
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2006800196769A Pending CN101189433A (en) | 2005-06-03 | 2006-04-07 | Regulator device and method for operating a regulator device |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US20090304523A1 (en) |
| EP (1) | EP1886022A1 (en) |
| CN (1) | CN101189433A (en) |
| DE (1) | DE102005025590A1 (en) |
| WO (1) | WO2006128516A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102165387A (en) * | 2008-09-25 | 2011-08-24 | 株式会社小金井 | Pressure reducing valve |
| CN102193564A (en) * | 2010-03-06 | 2011-09-21 | 罗伯特·博世有限公司 | Electric hydraulic pressure adjusting device and method for adjusting pressure |
| CN104895775A (en) * | 2014-03-03 | 2015-09-09 | 丹佛斯动力系统公司 | Variable load sense spring setting for axial piston open circuit pump |
| CN108071568A (en) * | 2016-11-11 | 2018-05-25 | 罗伯特·博世有限公司 | For running the method for the axial piston engine of swash plate make |
| CN110325080A (en) * | 2017-03-08 | 2019-10-11 | 雀巢产品有限公司 | By pre-wetting the method for preparing beverage by capsule |
| CN114641620A (en) * | 2019-10-31 | 2022-06-17 | 卡莫齐自动化股份公司 | Method for controlling the force of a pneumatic actuator |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102010027183A1 (en) * | 2010-07-14 | 2012-01-19 | Robert Bosch Gmbh | hydraulic unit |
| AT514116A1 (en) * | 2013-04-09 | 2014-10-15 | Ttcontrol Gmbh | A control system and method for controlling the orientation of a segment of a manipulator |
| CN104251201B (en) * | 2013-06-28 | 2016-12-28 | 伊顿公司 | The control system of pump based on converter and method and pumping system |
| CN104251202B (en) | 2013-06-28 | 2017-03-01 | 伊顿公司 | Offset the control system of fluctuation method for implanting and device and pump |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3532931C3 (en) * | 1985-09-14 | 1993-09-30 | Rexroth Mannesmann Gmbh | Hydraulic drive device |
| JPS6432081A (en) * | 1987-07-28 | 1989-02-02 | Tokyo Keiki Kk | Pressure flow controller for variable delivery pump |
| US4930992A (en) * | 1987-07-09 | 1990-06-05 | Tokyo Keiki Company Ltd. | Control apparatus of variable delivery pump |
| DD276711A1 (en) * | 1988-11-04 | 1990-03-07 | Werkzeugmasch Forschzent | CIRCUIT ARRANGEMENT FOR THE DYNAMIC STABILIZATION OF A HYDRAULIC PISTON REVERSING DRIVE WITH SERVOPUMPE |
| DE4102087A1 (en) * | 1991-01-24 | 1992-07-30 | Rexroth Mannesmann Gmbh | Pressure regulation circuit for hydraulic pressure system - limits press regulator output signal when feed press rate exceeds threshold |
| DE19536697A1 (en) * | 1995-09-30 | 1997-04-03 | Bosch Gmbh Robert | Arrangement for influencing a controlled system |
| KR100466753B1 (en) * | 1997-04-16 | 2005-04-14 | 스미도모쥬기가이고교 가부시키가이샤 | A control device for a slanting plate type variable capacity pump |
| DE10006977A1 (en) * | 2000-02-16 | 2001-09-13 | Mannesmann Rexroth Ag | Regulator for hydro transformer has pressure regulator, delivery flow regulator, limiter driving revolution rate regulator that produces control parameter for motor intake volume actuator |
| US6986646B2 (en) * | 2002-04-12 | 2006-01-17 | Caterpillar Inc. | Electronic trim for a variable delivery pump in a hydraulic system for an engine |
-
2005
- 2005-06-03 DE DE102005025590A patent/DE102005025590A1/en not_active Ceased
-
2006
- 2006-04-07 WO PCT/EP2006/003186 patent/WO2006128516A1/en active Application Filing
- 2006-04-07 EP EP06724126A patent/EP1886022A1/en not_active Withdrawn
- 2006-04-07 US US11/921,274 patent/US20090304523A1/en not_active Abandoned
- 2006-04-07 CN CNA2006800196769A patent/CN101189433A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102165387A (en) * | 2008-09-25 | 2011-08-24 | 株式会社小金井 | Pressure reducing valve |
| CN102165387B (en) * | 2008-09-25 | 2013-04-24 | 株式会社小金井 | Pressure regulating device |
| CN102193564A (en) * | 2010-03-06 | 2011-09-21 | 罗伯特·博世有限公司 | Electric hydraulic pressure adjusting device and method for adjusting pressure |
| CN104895775A (en) * | 2014-03-03 | 2015-09-09 | 丹佛斯动力系统公司 | Variable load sense spring setting for axial piston open circuit pump |
| CN104895775B (en) * | 2014-03-03 | 2017-06-09 | 丹佛斯动力系统公司 | Variable load detection spring for axial piston open circuit pump is set |
| US9879667B2 (en) | 2014-03-03 | 2018-01-30 | Danfoss Power Solutions Inc. | Variable load sense spring setting for axial piston open circuit pump |
| CN108071568A (en) * | 2016-11-11 | 2018-05-25 | 罗伯特·博世有限公司 | For running the method for the axial piston engine of swash plate make |
| CN108071568B (en) * | 2016-11-11 | 2021-08-10 | 罗伯特·博世有限公司 | Method for operating an axial piston machine of swash plate construction |
| CN110325080A (en) * | 2017-03-08 | 2019-10-11 | 雀巢产品有限公司 | By pre-wetting the method for preparing beverage by capsule |
| CN114641620A (en) * | 2019-10-31 | 2022-06-17 | 卡莫齐自动化股份公司 | Method for controlling the force of a pneumatic actuator |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102005025590A1 (en) | 2006-12-07 |
| WO2006128516A1 (en) | 2006-12-07 |
| US20090304523A1 (en) | 2009-12-10 |
| EP1886022A1 (en) | 2008-02-13 |
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