CN101261294B - Permanent-magnetic electric machine inductance parameter measuring apparatus and method - Google Patents

Abstract

The invention discloses a simple testing method for testing the inductance of a direct axis and a quadrature axis of a permasyn motor, which has the following procedures that: any two phases of a stator are short-circuited, then a magnetic pole of a rotator is fixed in the position of an included angle of 0 degree or 90 degrees between the d axis of the magnetic pole and the phase of the stator which is not short-circuited by a simple rotator position adjusting mechanism; a voltage pulse signal is imposed on a series circuit which is formed by the non-short circuited phase of the stator and any other phase, the information of the whole current i which flows through the series circuit, the information of the voltage u at the two ends of the series circuit and the information of sampling time t are recorded, then the direct axis inductance and the quadrature axis inductance of the stator winding at the time t can be obtained after simple calculations. The simple testing method for testing the inductance of a direct axis and a quadrature axis of a permasyn motor also discloses a simple testing device for testing testing inductance of a direct axis and a quadrature axis of a permasyn motor. By using the techniques of the simple testing method for testing the inductance of a direct axis and a quadrature axis of a permasyn motor, a precise test of the inductance of a direct axis and a quadrature axis of a permasyn motor can be realized, and the calculation is simple, without occupying a great amount of calculating resources.

Description

A kind of permanent-magnetic electric machine inductance parameter measuring apparatus and method

Technical field

The invention belongs to automation field, relate in particular to electric machine control system.

Background technology

The d-axis of permagnetic synchronous motor and friendship axle inductance have very big influence for the stable state and the dynamic property of permagnetic synchronous motor, the accuracy of d-axis and friendship axle inductance parameters is not only for prediction moment of torsion and weak magnetic property, and for the design maximal efficiency, the design of power factor dispatch control system is very crucial, therefore how to determine d-axis and hands over the axle inductance parameters extremely important.Because permagnetic synchronous motor permanent magnet excitation, it is handed over, the method for testing and the electric excitation synchronous motor of d-axis inductance parameters have very big difference, its content of the test and measuring technology have its singularity, and be therefore much no longer suitable for magneto about the test method and the testing requirements of electric excitation.The method of testing that does not have at present concrete relevant magneto in country and the international standard, and the shape and the position of permanent magnet is varied in the permagnetic synchronous motor, rotor is handed over, the d-axis magnetic circuit is complicated unusually, inductance parameters is not only saturated relevant with magnetic circuit, cross saturation phenomenon between friendship, d-axis magnetic circuit also occurs, measured more complicated.At present, can utilize limited element analysis technique to determine inductance parameters, yet,, need analyze, need a lot of computational resources a plurality of current distributions in the winding though limited element analysis technique can be used if magnetic saturation is obvious, relatively complicated loaded down with trivial details.Direct current attenuation method commonly used at present and voltage integration require than higher for test unit, and be relatively complicated.

Summary of the invention

Primary and foremost purpose of the present invention is to propose a kind of simple test method of testing the permagnetic synchronous motor d-axis and handing over the axle inductance.

This method elder generation is with any two-phase short circuit of stator, making rotor magnetic pole be fixed on magnetic pole d axle by an easy rotor-position adjusting mechanism then is not the position of 0 degree or 90 degree by short circuit angle mutually with stator, do not applied voltage pulse signal to stator then by any series circuit of being formed mutually of short circuit and all the other, recorded stream is through the total current i of this series circuit information, the voltage u information at these series circuit two ends and sampling time t information.

When rotor magnetic pole is fixed on magnetic pole d axle and is not 0 degree during the position by short circuit angle mutually, calculate stator winding at t d-axis inductance constantly according to following formula:

${\mathrm{\ψ}}_d\left(t\right)={\mathrm{\ψ}}_d(t-1)+[\frac{2}{3}u\left(t\right)-R\×i\left(t\right)]\mathrm{\Δt}$

$L_d\left(t\right)=\frac{{\mathrm{\ψ}}_d\left(t\right)}{i_d\left(t\right)}=\frac{{\mathrm{\ψ}}_d\left(t\right)}{i\left(t\right)}$

When rotor magnetic pole is fixed on magnetic pole d axle and is not 90 degree during positions by short circuit angle mutually, calculate stator winding at t friendship axle inductance constantly according to following formula:

${\mathrm{\ψ}}_q\left(t\right)={\mathrm{\ψ}}_q(t-1)+[\frac{2}{3}u\left(t\right)-R\×i\left(t\right)]\mathrm{\Δt}$

$L_q\left(t\right)=\frac{{\mathrm{\ψ}}_q\left(t\right)}{i_q\left(t\right)}=\frac{{\mathrm{\ψ}}_q\left(t\right)}{-i\left(t\right)}$

Wherein R is not by the resistance of the winding of short circuit phase, ψ _d, ψ _qBe stator winding d-axis and magnetic cross flux amount, i _d, i _qBe stator winding d-axis and friendship shaft current, L _d, L _qBe respectively the stator winding d-axis and hand over the axle inductance, sampling time t is less than or equal to 0.1 millisecond.

Second purpose of the present invention is to propose a kind of simple measurement mechanism of testing the permagnetic synchronous motor d-axis and handing over the axle inductance.

This measurement mechanism comprises the rotor-position monitoring device at detectable rotor magnetic pole position angle, can make the rotational fixation device and the test signal generation unit of rotor location.Detector is fixed on the stator by detector carriage in the rotor-position monitoring device, and destination disk is fixed on the rotor by rotor field spider, and the rotor-position monitoring means receives and handle the test data of detector, the information at output rotor position of magnetic pole angle.Described rotational fixation device comprises slide bar, regulates fixed mechanism and end plate, one end of slide bar is fixed on the rotor shaft, the other end is the center of circle with the end that slide bar is fixed on the rotor shaft, in plane, rotate, regulate fixed mechanism and be used for the rotation end and the end plate of slide bar are fixed perpendicular to rotor shaft.Described test signal generation unit provides test required voltage pulse signal to motor.

During test at first with any two-phase short circuit of stator, monitor the position of rotor then by the rotor-position monitoring device, utilizing the rotational fixation device to make rotor be positioned at magnetic pole d axle is not the position of 0 degree or 90 degree by short circuit angle mutually with stator, utilize the test signal generation unit not applied voltage pulse signal at last by any series circuit of being formed mutually of short circuit and all the other to stator, recorded stream is through the total current i of this series circuit information, the voltage u information at these series circuit two ends and sampling time t information can obtain the d-axis of permagnetic synchronous motor and hand over the axle inductance through simple calculating.

By technology provided by the invention, we can realize permagnetic synchronous motor d-axis and the accurate measurement of handing over the axle inductance parameters, and used measurement mechanism is simple in structure, and easy to use, measurement parameter is few, and computing is simple, does not need to take a large amount of computational resources.

Description of drawings

Fig. 1 is measuring-signal generation unit and metering circuit connection diagram;

Fig. 2 is a rotor-position monitoring device scheme of installation;

Fig. 3 is a rotational fixation device synoptic diagram.

Embodiment

Embodiment 1:

This method elder generation is with B, the C two-phase short circuit of stator, making rotor magnetic pole be fixed on magnetic pole d axle by rotor-position monitoring device and rotational fixation device then is the position of 0 degree with A angle mutually, apply voltage pulse signal mutually to stator AB then, recorded stream is through the total current i of this series circuit information, the electric current of the A phase of just flowing through, the voltage u information at these series circuit two ends and sampling time t information.

When rotor magnetic pole is fixed on magnetic pole d axle and A angle mutually when being 0 degree position, calculate stator winding at t d-axis inductance constantly according to following formula:

${\mathrm{\ψ}}_d\left(t\right)={\mathrm{\ψ}}_d(t-1)+[\frac{2}{3}{u}_{\mathrm{ab}}\left(t\right)-R\×i_a\left(t\right)]\mathrm{\Δt}$

$L_d\left(t\right)=\frac{{\mathrm{\ψ}}_d\left(t\right)}{i_d\left(t\right)}=\frac{{\mathrm{\ψ}}_d\left(t\right)}{i_a\left(t\right)}$

When rotor magnetic pole is fixed on magnetic pole d axle and A angle mutually when being 90 degree positions, calculate stator winding at t friendship axle inductance constantly according to following formula:

${\mathrm{\ψ}}_q\left(t\right)={\mathrm{\ψ}}_q(t-1)+[\frac{2}{3}{u}_{\mathrm{ab}}\left(t\right)-R\×i_a\left(t\right)]\mathrm{\Δt}$

$L_q\left(t\right)=\frac{{\mathrm{\ψ}}_q\left(t\right)}{i_q\left(t\right)}=\frac{{\mathrm{\ψ}}_q\left(t\right)}{-i_a\left(t\right)}$

Wherein R is the resistance of A phase winding, ψ _d, ψ _qBe stator winding d-axis and magnetic cross flux amount, i _d, i _qBe stator winding d-axis and friendship shaft current, L _d, L _qBe respectively the stator winding d-axis and hand over the axle inductance, sampling time t is less than or equal to 0.1 millisecond.

Embodiment 2:

Present embodiment and the difference of embodiment 1 are that the A with stator replaces with the B phase mutually, are about to A, the C two-phase short circuit of stator, apply voltage pulse signal mutually to stator AB, measurement be the flow through electric current and BC voltage mutually of B phase, when calculating at last with the u in the formula _Ab(t) use u _Bc(t) replace i _a(t) use i _b(t) replace.

Embodiment 3:

Present embodiment and the difference of embodiment 1 are that the A with stator replaces with the C phase mutually, are about to A, the B two-phase short circuit of stator, apply voltage pulse signal mutually to stator CB, measurement be the flow through electric current and CB voltage mutually of C phase, when calculating at last with the u in the formula _Ab(t) use u _Cb(t) replace i _a(t) use i _c(t) replace.

Embodiment 4:

As shown in Figure 1, the test signal generation unit comprises stabilized voltage supply and three phase inverter bridge, and whether the conducting by each triode of control in the three phase inverter bridge, just can utilize stabilized voltage supply generation pulse voltage test signal.Concrete control method can send pwm signal to the base stage of each triode, the conducting of controlling it whether, adjust the dutycycle and the frequency of pwm signal, just can adjust the frequency of triode ON time length and switch, thereby produce the required voltage pulse signal of test.

Fig. 2 is a rotor-position monitoring device scheme of installation of the present invention, and the rotor-position monitoring device comprises detector 2, destination disk 1 and rotor-position monitoring means (not drawing among the figure).Destination disk 1 is the structuring destination disk, and detector 2 is sensor elements, and both combine and have constituted position transducer based on eddy effect.Destination disk 1 is fixed on the rotor 4 by rotor field spider 7, with rotor 4 submounts axle 6 rotation that rotates.The outside vertical of destination disk 1 is sine or cosine curve shape in the card direction, is made by metal materials such as aluminium or iron, and it is in order to cooperate with detector 2 that destination disk 1 adopts the purpose of above-mentioned shape and material.Detector 2 is fixed on the stator 3 by detector carriage 5.The sinusoidal signal and the cosine signal at detector 2 output rotor position of magnetic pole angles, this two-way output is connected to two AD passages of rotor-position monitoring means (not drawing among the figure), it is the dsp chip of TMS320f2808 that the rotor-position monitoring means adopts model, it receives and handles the test data that detector transmits, the information at the position of magnetic pole angle of output rotor.

As shown in Figure 3, the rotational fixation device comprises slide bar 10, regulate fixed block 11,12,13 and end plate 8, one end of slide bar 10 is circular, can be fixed as one by engagement or other modes with rotor shaft 16, the other end of slide bar 10 can be in the deep-slotted chip breaker 9 of end plate 8 is that circular motion is done in the center of circle to be fixed on rotor shaft one end, when rotor shaft 16 forwards near required rotor magnetic pole position, can be by regulating two coarse adjustment fixed blocks 12,13 make rotor shaft 16 to rotate in small range at one, make rotor shaft 16 be positioned at the demand position by regulating fine setting fixed block 11.

Concrete measuring process is as follows:

1, stator winding is pressed wiring shown in Figure 1, three-phase stator winding A links to each other with first brachium pontis of inverter, and B links to each other with second brachium pontis mutually with behind the C phase short circuit, and the 3rd brachium pontis suspends.

2, adopt the dsp chip of TI company to carry out rotor position detection.Move this rotor position detection code, rotary rotor slowly, the test data of utilizing the detector 2 of Fig. 2 to transmit, through calculating rotor position angle, constantly adjust rotor-position by rotational fixation device shown in Figure 3 and reach the precalculated position up to rotor position angle, as 0 position (or 90 degree positions), angle herein is meant synchronous rotating frame d axle and A angle mutually, makes rotor shaft 16 be positioned at the precalculated position by regulating coarse adjustment fixing fast 12,13 and finely tuning fixed block 11.

3, utilize the test signal generation unit to the voltage pulse signal that AB applies a certain size mutually, write down AB line voltage u _Ab(u _Ac) and A phase current i _aWhen rotor position angle is positioned in 0 when spending, i _d=i _a, $u_{\mathrm{ab}}=u_{\mathrm{ac}}=3/2u_d,$ Through type (1) and (2) can obtain the d axle inductance L with the variation of d shaft current _d(t); When rotor position angle is positioned in 90 when spending, i _q=-i _a, $u_{\mathrm{ab}}=u_{\mathrm{ac}}=3/2u_q,$ Through type (3) and (4) can obtain the q axle inductance L with the variation of q shaft current _d(t).

${\mathrm{\ψ}}_d\left(t\right)={\mathrm{\ψ}}_d(t-1)+[\frac{2}{3}{u}_{\mathrm{ab}}\left(t\right)-R\×i_a\left(t\right)]\mathrm{\Δt}---\left(1\right)$

$L_d\left(t\right)=\frac{{\mathrm{\ψ}}_d\left(t\right)}{i_d\left(t\right)}=\frac{{\mathrm{\ψ}}_d\left(t\right)}{i_a\left(t\right)}---\left(2\right)$

${\mathrm{\ψ}}_q\left(t\right)={\mathrm{\ψ}}_q(t-1)+[\frac{2}{3}{u}_{\mathrm{ab}}\left(t\right)-R\×i_a\left(t\right)]\mathrm{\Δt}---\left(3\right)$

$L_q\left(t\right)=\frac{{\mathrm{\ψ}}_q\left(t\right)}{i_q\left(t\right)}=\frac{{\mathrm{\ψ}}_q\left(t\right)}{-i_a\left(t\right)}---\left(4\right)$

Wherein R is the resistance of A phase winding.ψ _d, ψ _qBe stator winding d-axis and magnetic cross flux amount, i _d, i _qBe stator winding d-axis and friendship shaft current, L _d, L _qBe respectively the stator winding d-axis and hand over the axle inductance, sampling time t is less than or equal to 0.1 millisecond.

Be similar to embodiment 2 or embodiment 3, the A phase winding in the embodiment 4 can be replaced with remaining winding, the measurement that also can realize d-axis and hand over axle inductance inductance parameters, measuring process is with embodiment 4.

By technology provided by the invention, we can realize permagnetic synchronous motor d-axis and the accurate measurement of handing over the axle inductance parameters, and used measurement mechanism is simple in structure, and easy to use, measurement parameter is few, and computing is simple, does not need to take a large amount of computational resources.

Claims (9)

1. a permanent-magnetic electric machine inductance parameter measuring apparatus is characterized in that rotational fixation device and test signal generation unit that this device comprises the rotor-position monitoring device at detectable rotor magnetic pole position angle, rotor is located; Detector is fixed on the stator by detector carriage in the described rotor-position monitoring device, and destination disk is fixed on the rotor by rotor field spider, and the rotor-position monitoring means receives and handle the test data of detector, the information at output rotor position of magnetic pole angle; Described rotational fixation device comprises slide bar, regulates fixed mechanism and end plate, one end of slide bar is fixed on the rotor shaft, the other end is the center of circle with the end that slide bar is fixed on the rotor shaft, in plane, rotate, regulate fixed mechanism and be used for the rotation end and the end plate of slide bar are fixed perpendicular to rotor shaft.

2. permanent-magnetic electric machine inductance parameter measuring apparatus according to claim 1 is characterized in that described adjusting fixed mechanism for regulating fixed block, is provided with deep-slotted chip breaker in the described end plate, and an end of slide bar is provided with the bearing pin parts and cooperates with the deep-slotted chip breaker of end plate.

3. permanent-magnetic electric machine inductance parameter measuring apparatus according to claim 1, the position transducer of constituting that it is characterized in that described destination disk and detector based on eddy effect, destination disk is the endless member that is made of metal, and the profile of two end face is sine or cosine curve shape.

4. according to the described permanent-magnetic electric machine inductance parameter measuring apparatus of above arbitrary claim, it is characterized in that described test signal generation unit is to being provided voltage pulse signal by measured motor.

5. permanent-magnetic electric machine inductance parameter measuring method comprises following steps:

A: with any two-phase short circuit of stator;

B: it is not the position of 0 degree or 90 degree by the angle mutually of short circuit with stator that rotor magnetic pole is fixed on magnetic pole d axle;

C: do not applied voltage pulse signal by any series circuit of being formed mutually of short circuit and all the other to stator, recorded stream is through the total current i of this series circuit information, the voltage u information at these series circuit two ends and sampling time t information;

D: when rotor magnetic pole is fixed on magnetic pole d axle and is not 0 degree during the position by short circuit angle mutually, calculate stator winding at t d-axis inductance constantly according to following formula:

${\mathrm{\ψ}}_d\left(t\right)={\mathrm{\ψ}}_d(t-1)+[\frac{2}{3}u\left(t\right)-R\×i\left(t\right)]\mathrm{\Δt}$

$L_d\left(t\right)=\frac{{\mathrm{\ψ}}_d\left(t\right)}{i_d\left(t\right)}=\frac{{\mathrm{\ψ}}_d\left(t\right)}{i\left(t\right)}$

When rotor magnetic pole is fixed on magnetic pole d axle and is not 90 degree during positions by short circuit angle mutually, calculate stator winding at t friendship axle inductance constantly according to following formula:

${\mathrm{\ψ}}_q\left(t\right)={\mathrm{\ψ}}_q(t-1)+[\frac{2}{3}u\left(t\right)-R\×i\left(t\right)]\mathrm{\Δt}$

$L_q\left(t\right)=\frac{{\mathrm{\ψ}}_q\left(t\right)}{i_q\left(t\right)}=\frac{{\mathrm{\ψ}}_q\left(t\right)}{-i\left(t\right)}$

Wherein R is not by the resistance of the winding of short circuit phase, ψ _d, ψ _qBe stator winding d-axis and magnetic cross flux amount, i _d, i _qBe stator winding d-axis and friendship shaft current, L _d, L _qBe respectively the stator winding d-axis and hand over the axle inductance.

6. permanent-magnetic electric machine inductance parameter measuring method according to claim 5 is characterized in that:

In the A step B, C two-phase short circuit with stator;

Be that rotor magnetic pole is fixed on the positions that magnetic pole d axle and A angle mutually are 0 degree or 90 degree in the B step;

Be to apply voltage pulse signal mutually in the C step to AB, the current i of record A phase _aInformation, the voltage u of AB phase _AbInformation and sampling time t information;

Be fixed on magnetic pole d axle and A angle mutually when being 0 degree position when rotor magnetic pole in the D step, calculate stator winding at t d-axis inductance constantly according to following formula:

${\mathrm{\ψ}}_d\left(t\right)={\mathrm{\ψ}}_d(t-1)+[\frac{2}{3}{u}_{\mathrm{ab}}\left(t\right)-R\×i_a\left(t\right)]\mathrm{\Δt}$

$L_d\left(t\right)=\frac{{\mathrm{\ψ}}_d\left(t\right)}{i_d\left(t\right)}=\frac{{\mathrm{\ψ}}_d\left(t\right)}{i_a\left(t\right)}$

When rotor magnetic pole is fixed on magnetic pole d axle and A angle mutually when being 90 degree positions, calculate stator winding at t friendship axle inductance constantly according to following formula:

${\mathrm{\ψ}}_q\left(t\right)={\mathrm{\ψ}}_q(t-1)+[\frac{2}{3}{u}_{\mathrm{ab}}\left(t\right)-R\×i_a\left(t\right)]\mathrm{\Δt}$

$L_q\left(t\right)=\frac{{\mathrm{\ψ}}_q\left(t\right)}{i_q\left(t\right)}=\frac{{\mathrm{\ψ}}_q\left(t\right)}{-i_a\left(t\right)}$

Wherein R is the resistance of A phase winding, ψ _d, ψ _qBe stator winding d-axis and magnetic cross flux amount, i _d, i _qBe stator winding d-axis and friendship shaft current, L _d, L _qBe respectively the stator winding d-axis and hand over the axle inductance.

7. permanent-magnetic electric machine inductance parameter measuring method according to claim 5 is characterized in that:

In the A step A, C two-phase short circuit with stator;

Be that rotor magnetic pole is fixed on the positions that magnetic pole d axle and B angle mutually are 0 degree or 90 degree in the B step;

Be to apply voltage pulse signal mutually in the C step to BC, the current i of record B phase _bInformation, the voltage u of BC phase _BcInformation and sampling time t information;

Be fixed on magnetic pole d axle and B angle mutually when being 0 degree position when rotor magnetic pole in the D step, calculate stator winding at t d-axis inductance constantly according to following formula:

${\mathrm{\ψ}}_d\left(t\right)={\mathrm{\ψ}}_d(t-1)+[\frac{2}{3}{u}_{\mathrm{bc}}\left(t\right)-R\×i_b\left(t\right)]\mathrm{\Δt}$

$L_d\left(t\right)=\frac{{\mathrm{\ψ}}_d\left(t\right)}{i_d\left(t\right)}=\frac{{\mathrm{\ψ}}_d\left(t\right)}{i_b\left(t\right)}$

When rotor magnetic pole is fixed on magnetic pole d axle and B angle mutually when being 90 degree positions, calculate stator winding at t friendship axle inductance constantly according to following formula:

${\mathrm{\ψ}}_q\left(t\right)={\mathrm{\ψ}}_q(t-1)+[\frac{2}{3}{u}_{\mathrm{bc}}\left(t\right)-R\×i_b\left(t\right)]\mathrm{\Δt}$

$L_q\left(t\right)=\frac{{\mathrm{\ψ}}_q\left(t\right)}{i_q\left(t\right)}=\frac{{\mathrm{\ψ}}_q\left(t\right)}{-i_b\left(t\right)}$

Wherein R is the resistance of B phase winding, ψ _d, ψ _qBe stator winding d-axis and magnetic cross flux amount, i _d, i _qBe stator winding d-axis and friendship shaft current, L _d, L _qBe respectively the stator winding d-axis and hand over the axle inductance.

8. permanent-magnetic electric machine inductance parameter measuring method according to claim 5 is characterized in that:

In the A step A, B two-phase short circuit with stator;

Be that rotor magnetic pole is fixed on the positions that magnetic pole d axle and C angle mutually are 0 degree or 90 degree in the B step;

Be to apply voltage pulse signal mutually in the C step to CA, the current i of record C phase _cInformation, the voltage u of CA phase _CaInformation and sampling time t information;

Be fixed on magnetic pole d axle and C angle mutually when being 0 degree position when rotor magnetic pole in the D step, calculate stator winding at t d-axis inductance constantly according to following formula:

${\mathrm{\ψ}}_d\left(t\right)={\mathrm{\ψ}}_d(t-1)+[\frac{2}{3}{u}_{\mathrm{ca}}\left(t\right)-R\×i_c\left(t\right)]\mathrm{\Δt}$

$L_d\left(t\right)=\frac{{\mathrm{\ψ}}_d\left(t\right)}{i_d\left(t\right)}=\frac{{\mathrm{\ψ}}_d\left(t\right)}{i_c\left(t\right)}$

When rotor magnetic pole is fixed on magnetic pole d axle and C angle mutually when being 90 degree positions, calculate stator winding at t friendship axle inductance constantly according to following formula:

${\mathrm{\ψ}}_q\left(t\right)={\mathrm{\ψ}}_q(t-1)+[\frac{2}{3}{u}_{\mathrm{ca}}\left(t\right)-R\×i_c\left(t\right)]\mathrm{\Δt}$

$L_q\left(t\right)=\frac{{\mathrm{\ψ}}_q\left(t\right)}{i_q\left(t\right)}=\frac{{\mathrm{\ψ}}_q\left(t\right)}{-i_c\left(t\right)}$

Wherein R is the resistance of C phase winding, ψ _d, ψ _qBe stator winding d-axis and magnetic cross flux amount, i _d, i _qBe stator winding d-axis and friendship shaft current, L _d, L _qBe respectively the stator winding d-axis and hand over the axle inductance.

9. according to the described permanent-magnetic electric machine inductance parameter measuring method of arbitrary claim in the claim 5～8, it is characterized in that described sampling time t is less than or equal to 0.1 millisecond.

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