CN101631707A - Fuel engine load servo device and optimal efficiency operation control method - Google Patents
Fuel engine load servo device and optimal efficiency operation control method Download PDFInfo
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Abstract
A fuel engine load servo device comprises a permanent magnet motor which has a first rotor and a second rotor, the first rotor being directly connected to the output shaft of the fuel engine, the second rotor being directly connected to the driving shaft, and the first rotor and the second rotor transmitting power each other by electromagnetic coupling, wherein the fuel engine load servo device also having a servo driver which controls the electromagnetic torque between the first rotor and the second rotor according to setting condition, so as to control the torque loading of the fuel engine and the output torque of the driving shaft; a speed/ position sensor disposed on the first rotor shaft, a position sensor disposed on the second rotor shaft, and an electric slip ring disposed on the rotor shaft of the coils to connect the coils with the servo driver. The invention can make the engine always operate on the optimal fuel consumption curve and output maximal power on same fuel consumption.
Description
Fuel engine load servo device and its optimal efficiency operation control method technical field
The present invention relates to a kind of fuel engine load servo device and its optimal efficiency operation control method.Relate more specifically to the servo-loading unit and optimal efficiency operation control method of such fuel engines, it makes engine be always worked under different rotating speeds on optimum efficiency operation curve, so that engine obtains maximum mechanical energy when consuming the fuel oil of equivalent, the purpose for saving the energy is reached.Background technology
Experiment shows, if fuel engines, which exports some mechanical output, there may be the operating point that thousand different rotating speeds and moment of torsion coordinate, there is an oil consumption minimum point, as the best match operating point of rotating speed-moment of torsion in multiple operating points of some mechanical output of engine output identical.It is exactly the optimum efficiency operation curve of the engine by the curve that the oil consumption minimum point under different output power is connected and made smoothing processing acquisition.The fuel engines efficiency highest on the curve, the mechanical energy that the fuel oil of consumption equivalent is obtained is maximum.Fig. 1 is certain 1.8L discharge capacity petrol engine optimum efficiency operation curve, and ordinate is engine output shaft moment of torsion in figure（Unit is N m, Newton meter）, abscissa is engine output shaft rotating speed（Unit is rpm, revolutions per minute）, wherein thin Virtual lines are equipower line（Unit is kW, kilowatt）, fine line for etc. energy consumption line BE (unit is g/kWh, every kilowatt-hour gram）, heavy line is engine optimum efficiency operation curve, and thick dashed line limits for maximum engine torque.
As can be seen here, when fuel engines is operated under certain rotating speed, if applied to the moment of torsion on its axle and the moment of torsion of the optimum efficiency operation curve requirement under current rotating speed are same, engine is to be operated on the best efficiency point of current rotating speed.Engine is under different rotating speeds, moment of torsion of the moment of torsion remained applied on axle always with optimum efficiency operation curve requirement is same, that is rotating speed-moment of torsion of engine matches with the requirement of optimum efficiency operation curve, the fuel oil of engine consumption equivalent will can obtain the mechanical energy of maximum, reach most economical running status.
Various fuel engines are each equipped with the mechanical transmission mechanism such as grade speed changer and buncher (CVT) in current vehicle, to adjust the rotating speed and moment of torsion of matching, it is expected that rotating speed-moment of torsion matching of fuel engines approaches optimum efficiency operation curve.
Most commonly used step change transmission has 4-5 speed stage, can carry out easy speed regulation, but gear ratio can not be continuously adjusted.When load torque because windage, load-carrying, road conditions,
When situations such as environment, abrasion changes, the moment of torsion put in the case where the difference of different shelves turns on engine shaft seldom can be consistent with the requirement of optimum efficiency operation curve.
A kind of buncher it is main by active wheels, driven wheels, metal tape and hydraulic pressure pump group into, and the consecutive variations of gear ratio are realized with the radius of clean-up that V-type transmission belt is engaged by changing driving wheel, driven pulley pheasant face, so as to realize that engine speed-moment of torsion is preferably matched.But there is also obvious limitation for buncher：It is that mechanical structure is more complicated thus its manufacturing cost is high first；Furthermore the inertia of mechanical structure and hydraulic system it is big thus governing speed it is slow, when engine throttle or external loading moment of torsion dynamic change, particularly road conditions frequently change, throttle frequently changes, busy shift when, buncher（CVT gear ratio) can not be rapidly and accurately adjusted, the probability that fuel engines is operated in optimum efficiency operation curve is still very low；Other buncher (CVT) transmission efficiency is less than general gear-shift mechanism.These shortcomings all have influence on CVT popularization and application.
Fuel engines configures moment of torsion servo-loading unit, can be according to the optimum efficiency operation curve prestored in the actual speed and main control unit computer of engine, the torque data for being obtained-being matched somebody with somebody by current rotating speed, corresponding moment of torsion is applied to fuel engines by the motor of servomechanism installation, can be so that fuel engines be operated on the optimum efficiency operation curve prestored, the operational efficiency of fuel engines is substantially increased, energy-conservation is obvious.The content of the invention
The purpose of the present invention is a kind of fuel engine load servo device of design and its optimal efficiency operation control method.The present apparatus and control method are not influenceed by the external loading state such as speed and resistance, the moment of torsion of separately adjustable engine output shaft, when the fuel engines is operated in different rotating speeds, the load torque that engine shaft is born is matched by requirement and the rotating speed of optimum efficiency operation curve almost without delayed all the time, realizes engine continuous, stably energy-saving run.
According to an aspect of the present invention, there is provided a kind of fuel engine load servo device, including with the first rotor and bitrochanteric magneto, the first rotor of the motor and the output shaft of fuel engines are directly connected to, the second rotor and the drive shaft of the motor are directly connected to, power is transmitted by electromagnetic coupled between the first rotor and the second rotor, it is characterised in that：The fuel engine load servo device also includes servo-driver, and the moment of torsion servo-driver is according to the electromagnetic torque imposed a condition between control the first rotor and the second rotor, so as to control the torque loads of fuel engines and the output torque of drive shaft；Speed/positional sensor is wherein installed on the first rotor axle, position sensor is installed on the second armature spindle, for implementing moment of torsion servo
Control；And the conducting slip ring of connection winding and servo-driver is installed on the armature spindle for installing armature winding.
According to another aspect of the present invention, there is provided a kind of optimal efficiency operation control method of fuel engine load servo device, wherein the fuel engines is provided with the fuel engine load servo device described above matched with its peak torque and maximum speed, it is characterised in that this method comprises the following steps：
1) motor first rotor rotating speed when the engine is running, is monitored by speed/positional sensor in real time；
2) main control unit is according to rate signal, the rotating speed of the optimum efficiency operation curve prestored by computer-internal-moment of torsion matched data or rotating speed-moment of torsion matching relationship formula try to achieve the best torque matched with the speed, and the torque setting value is sent into moment of torsion servo-driver；
3) relative position signal between first, second rotor that servo-driver is tried to achieve according to the first rotor, the second rotor absolute position signal, the direction to the first rotor or bitrochanteric winding output current vector is tried to achieve according to the principle of electric current and back-emf same-phase；
4) the torque setting value that servo-driver is sent according to main control unit tries to achieve the size to the first rotor or bitrochanteric winding output current vector；
5) servo-driver determines the size of the current instantaneous value of each phase winding according to the direction and size of the current phasor tried to achieve, motor is set to realize moment of torsion SERVO CONTROL by each phase current closed-loop control, realize and loaded according to the matching best torque value of present engine rotating speed, engine is set to be operated on optimum efficiency operation curve, while the second rotor axial loads output torque；With
6) main control unit and servo-driver repeat the 1st to the 5th step, so as to cyclically dynamic access present engine rotating speed, new torque setting value is dynamically asked for according to current new rotating speed and the optimum efficiency curve data prestored, corresponding new torque value is applied on engine shaft by moment of torsion servo-driver, follows the moment of torsion of engine optimum efficiency operation curve requirement to run according to rotating speed.
According to another aspect of the invention, there is provided a kind of PTO, including fuel engines and with the first rotor and bitrochanteric magneto, the first rotor of the motor and the output shaft of fuel engines are directly connected to, the second rotor and the drive shaft of the motor are directly connected to, power is transmitted by electromagnetic coupled between the first rotor and the second rotor, it is characterised in that：Motor is applied to the torque loads matched under current rotating speed with optimum efficiency operation curve by the first rotor under the driving of servo-driver to engine.
Fuel engine load servo device and its optimal efficiency operation control method of the present invention it is excellent
Put and be：1st, the motor external torque servo-driver on engine shaft instead of mechanical gearbox and clutch, the moment of torsion for allowing moment of torsion servo-driver to be applied to moment of torsion servo mode regulation motor on engine shaft, ensure fuel engines real-time working on optimum efficiency operation curve, output maximum mechanical energy when realizing the fuel oil of consumption equivalent；2, present apparatus fuel engines output shaft is with outer load without directly mechanical connection, even if frequently change or fuel engines rotating speed frequently change outer load torque, moment of torsion servo-driver is remained to continuously, rapidly, apply matching moment of torsion in real time to engine according to the requirement of optimum efficiency operation curve exactly, requirement of the moment of torsion of fuel engines its output shaft under different rotating speeds always with optimum efficiency operation curve matches, i.e. engine is always operating on the optimum efficiency operation curve prestored, the mechanical energy for making engine be exported when consuming the fuel oil of equivalent is maximum；3rd, moment of torsion servo-driver takes the control mode of moment of torsion servo to adjust the electromagnetic torque between the second rotor and the first rotor, adjust the output shaft torque of fuel engines, therefore moment of torsion servo-driver can continuously adjust moment of torsion, and the response speed of moment of torsion servo-driver regulation moment of torsion is far superior to mechanical infinitely variable transmission up to Bo second level, its precision adjusted and the speed of response（CVT) and stepped transmission case, oil-saving effect is obvious；4th, the present apparatus and control method can be applied to various fuel engines, be particularly suitable for use in oil electric mixed dynamic electric car, reach the purpose of energy-conservation and drop low exhaust gas emission.Brief description of the drawings
Fig. 1 is certain 1.8L discharge capacity petrol engine optimum efficiency operation curve, and ordinate is engine output shaft moment of torsion in figure（Unit is N ' m, Newton meter）, abscissa is engine output shaft rotating speed（Unit is rpm, revolutions per minute）, wherein fine dotted line is equipower line（Unit is kW, kilowatt）, fine line for etc. energy consumption line BE (unit is g/kWh, every kilowatt-hour gram）, heavy line is engine optimum efficiency operation curve, and thick dashed line limits for maximum engine torque.
Fig. 2 for the servo-loading unit embodiment of this fuel engines structural representation, in figure mark for：1 fuel engines, the pleased shaft of 2 engines, 3 speed/positional sensors, 4 the first rotors, 5 second rotors, 6 collector rings, 7 output shafts, 8 servo-drivers, 9 main control units, 10 position sensors.Embodiment
The structure of the servo-loading unit embodiment of this fuel engines is as shown in Fig. 2 motor described in the present embodiment is three-phase permanent magnet synchronous motor.The connection of fuel engines 1 includes the servo-loading unit of permagnetic synchronous motor, servo-driver and main control unit.The first rotor 4 of motor and combustion
The output shaft 2 of oil turbine 1 is direct-connected.The first rotor 4 of motor embeds permanent-magnet material, and it is the second rotor 5 that it is interior.Second rotor 5 is the winding being wound on iron core, and the axle of the second rotor 5 is the output shaft 7 of the present apparatus.Speed/positional sensor 3 is installed on the first rotor 4 of motor, the sensor 3 is connected with main control unit 9 and servo-driver 8.Position sensor 10 is installed, the position sensor 10 is connected with moment of torsion servo-driver 8 on the output shaft 7 of the present apparatus.Main control unit 9 is connected with servo-driver 8.Servo-driver 8 is connected by the collector ring 6 installed on the second armature spindle with the winding of the second rotor 5.The main body of main control unit 9 can be computer, the rotating speed-torque data matched or rotating speed of the optimum efficiency operation curve of its memory storage fuel engines 1-moment of torsion matching relationship formula.The servo-loading unit of this fuel engines can also use brshless DC motor, and structure is same as described above.
The first rotor 4 of the present apparatus or the winding being wound on iron core, collector ring 6 are arranged on engine shaft 2, and the winding is connected by collector ring 6 with moment of torsion servo-driver 8.Second rotor 5 is then the rotor of embedding permanent-magnet material, is that the first rotor 4 provides magnetic field.Other settings can be with same as described above.
The optimum efficiency operation curve of every kind of model engine can be provided by manufacturer, can also be obtained with special test equipment by testing.Optimum efficiency operation curve data can be stored in the computer of main control unit 9 with form or function representation mode.
Fig. 1 show certain 1.8L discharge capacity petrol engine optimum efficiency operation curve.The computer of the present embodiment main control unit 9 can use forms mode storage speed and moment of torsion best match data, i.e. by engine speed in Fig. 1 from idling to maximum speed by making vertical line at equal intervals, from vertical line with obtaining matching torque data corresponding with rotating speed on the intersection point of optimum efficiency curve, rotating speed-moment of torsion best match data list is stored in the computer of main control unit 9.When engine speed is between two nodes, the computer of main control unit 9 is calculated according to the tach signal from sensor 3 by interpolation method obtains its matching moment of torsion.Obvious rotating speed vertical line interval is smaller, and the precision that form describes curve is higher.As shown in figure 1, with 500 revolutions per minutes（Rpm it is) interval, 11 groups of rotating speed N- moment of torsion M datas can be obtained from the revolutions per minute of low speed 1000 to 6000 revolutions per minutes at a high speed.If using 100 revolutions per minutes as interval, 51 groups of data can be obtained.If using 1 revolutions per minute as interval, 5001 groups of data can be obtained.
The computer of main control unit 9 also can store rotating speed and torque data using function fashion, according to optimum efficiency operation curve by calculate, fitting etc. Mathematical treatment can reed obtain piecewise function M=F (N), by this function be stored in main control unit 9 computer.According to the tach signal of sensor 3, thus function calculates corresponding best torque value to the computer of main control unit 9.
According to the present invention, fuel engines installs the above-mentioned servo-loading unit matched with its peak torque with maximum speed.The optimal efficiency operation control method of fuel engine load servo device of the present invention is：
The first step is when fuel engines 1 is run, the first rotor 4 concomitant rotation direct-connected with its output shaft.Speed/positional sensor 3 present speed of monitoring the first rotor 4 and position, and rate signal is delivered into the computer of main control unit 9, position signalling in real time deliver to servo-driver 8 in real time;Position sensor 10 monitors the current location of the second rotor 5 in real time, and position signalling is delivered into servo-driver 8;
The present engine tach signal that second step main control unit 9 is transmitted according to velocity sensor 3, and it is pre-stored within the optimum efficiency operation curve in the computer of main control unit 9, ask for the best torque desired value matched with current rotating speed, and using this desired value as servo-driver 8 torque setting signal；
Relative position signal is with the direction of the current phasor of the winding of dynamic control motor second rotor 5 between first, second rotor that 3rd step servo-driver 8 is tried to achieve according to the first rotor, the second rotor absolute position signal；
4th step servo-driver 8 instructs the size for the current phasor for trying to achieve the winding output to the second rotor 5 according to the torque setting value of main control unit 9；With
5th step servo-driver 8 determines the size of the current instantaneous value of three-phase windings according to the direction and size of the current phasor tried to achieve, motor is set to realize moment of torsion SERVO CONTROL by three-phase current closed-loop control, realize and loaded according to the matching best torque value of present engine rotating speed, engine is set to be operated on optimum efficiency operation curve, the output axial load of the second rotor 5 exports an equal amount of moment of torsion simultaneously, if the output shaft driving load is rotated, mechanical energy is outputed.
6th step main control unit 9 and servo-driver 8 repeat the first step to the action of the 5th step, so as to the cyclically rotating speed of dynamic access present engine 1, new torque setting value is dynamically asked for according to current new rotating speed and the optimum efficiency curve data prestored, corresponding new torque value is applied on engine shaft 2 by moment of torsion servo-driver 8, engine is run all the time on its optimum efficiency curve.
When the rotating speed of engine 1 exports rotating speed higher than the second rotor 5, the mechanical energy part from engine 1 is directly sent out by the electromagnetic transfer between first, second rotor, and another part is changed into electric energy through motor servo system and sent out.
When the rotating speed of engine 1, which is equal to the second rotor 5, exports rotating speed, the mechanical energy from engine 1 is all directly sent out by the electromagnetic transfer between first, second rotor.
When the rotating speed of engine 1 is less than 57 rotating speed of output shaft of the second rotor, mechanical energy from engine 1 is all directly sent out by the electromagnetic transfer between first, second rotor, and servo-driver 8 also becomes mechanical energy through controlled motor using additional electric energy and is superimposed upon submitting on output shaft.
For example, Fig. 1 optimum efficiency operation curve data have divided 11 Groups Lists to be stored in the computer of main control unit 9.The current rotating speed of fuel engines 1 is 1500 revolutions per minutes, and it is 118 Newton meters that the computer of main control unit 9, which is tabled look-up and obtains the desired value for matching moment of torsion,（N.m ) .Therefore by the current phasor of the winding of 8 the second rotor of controlled motor of moment of torsion servo-driver 5, the output shaft 2 to fuel engines 1 applies the moment of torsion of 118 Newton meters.Now the axle of the second rotor 5 also connects the moment of torsion of load 1 18 Newton meters of output to it.If current rotating speed is 1800 revolutions per minutes, between prestoring between the revolutions per minute of table node data 1500 and 2000 revolutions per minutes, the computer of main control unit 9 by linear interpolation obtain the moment of torsion desired value that should apply be 128.8 newton not, and apply the moment of torsion of 128.8 Newton meters to output shaft in the same way.So, the current rotating speed of dynamic access fuel engines of sensor 3, the current phasor of the winding of 8 dynamic control motor second rotor of moment of torsion servo-driver 5 makes motor dynamics apply the load torque matched to fuel engines, so as to realize that fuel engines 1 is always worked on the optimum efficiency operation curve of precognition.
Calculated according to optimum efficiency operation curve when the calculator memory storage of main control unit 9, the piecewise function of the engine speed that process of fitting treatment is obtained and moment of torsion, the computer of main control unit 9 according to the real-time tach signal of the transmission of velocity sensor 3 calculated in real time by function reed the torsion that be matched with current rotating speed is huge.- according to the example of the present invention, 1.8L discharge capacity petrol engines are provided with this servo-loading unit, and using the operation of this optimal efficiency operation control method.As shown in A points in Fig. 1, in the case where engine works in the kW of power output 15 operating mode and keeps constant, if engine is operated in the revolutions per minute of non-economy operating point 3500,40.9 Newton meters, the oil consumption of its unit output mechanical energy amount is 335 grams/kilowatt-hour（g/kWh ) .But engine working point is adjusted to the B points on optimum efficiency operation curve by this add load control and this progress control method, that is 1302 revolutions per minutes, 1 daNm, the oil consumption of its unit output mechanical energy amount is reduced to 250 grams/kilowatt-hour, reduces oil consumption 25.4%.Depending on operating point, different oil consumption reduce ratio.
Claims (10)
- Claim1. a kind of fuel engine load servo device, including with the first rotor and bitrochanteric magneto, the first rotor of the motor and the output shaft of fuel engines are directly connected to, the second rotor and the drive shaft of the motor are directly connected to, power is transmitted by electromagnetic coupled between the first rotor and the second rotor, it is characterised in that：The fuel engine load servo device also includes servo-driver, and the moment of torsion servo-driver is according to the electromagnetic torque imposed a condition between control the first rotor and the second rotor, so as to control the torque loads of fuel engines and the output torque of drive shaft；Speed/positional sensor is wherein installed on the first rotor axle, position sensor is installed on the second armature spindle, for implementing moment of torsion SERVO CONTROL；AndThe conducting slip ring of connection winding and servo-driver is installed on the armature spindle for installing armature winding.2. the fuel engine load servo device according to claim 1, also include main control unit, there are the rotating speed-torque relationship data form or functional relation formula of engine optimum efficiency operation curve in it, for controlling engine to be run according to the rotating speed stored-torque relationship by servo-driver.3. the optimal efficiency operation control method of-kind of fuel engine load servo device, wherein the fuel engines is provided with the fuel engine load servo device according to claim 1 or 2 matched with its peak torque and maximum speed, it is characterised in that this method Bao include Yi Xia Bu Sudden：1) motor first rotor rotating speed when the engine is running, is monitored by speed/positional sensor in real time；2) main control unit is according to rate signal, the rotating speed of the optimum efficiency operation curve prestored by computer-internal-moment of torsion matched data or rotating speed-moment of torsion matching relationship formula try to achieve the best torque matched with the speed, and the torque setting value is sent into moment of torsion servo-driver；3) relative position signal between first, second rotor that servo-driver is tried to achieve according to the first rotor, the second rotor absolute position signal, the direction to the first rotor or bitrochanteric winding output current vector is tried to achieve according to the principle of electric current and back-emf same-phase；4) the torque setting value that servo-driver is sent according to main control unit tries to achieve the size to the first rotor or bitrochanteric winding output current vector；5) servo-driver determines each phase winding according to the direction and size of the current phasor tried to achieve Current instantaneous value size, motor, which is realized, by each phase current closed-loop control turns round ^ SERVO CONTROLs, realize and loaded according to the matching best torque value of present engine rotating speed, engine is operated on optimum efficiency operation curve, while the second rotor axial loads output torque;' and6) main control unit and servo-driver repeat the 1st to the 5th step, so as to cyclically dynamic access present engine rotating speed, new torque setting value is dynamically asked for according to current new rotating speed and the optimum efficiency curve data prestored, corresponding new torque value is applied on engine shaft by moment of torsion servo-driver, follows the moment of torsion of engine optimum efficiency operation curve requirement to run according to rotating speed.4. a kind of PTO, including fuel engines and with the first rotor and bitrochanteric magneto, the first rotor of the motor and the output shaft of fuel engines are directly connected to, the second rotor and the drive shaft of the motor are directly connected to, power is transmitted by electromagnetic coupled between the first rotor and the second rotor, it is characterised in that：Motor is applied to the torque loads matched under current rotating speed with optimum efficiency operation curve by the first rotor under the driving of servo-driver to engine.5. the PTO according to claim 4, the size of wherein servo-driver controlled motor output torque is to be determined by main control unit according to the engine optimum efficiency operation curve of the current rotating speed of engine and internal memory.6. rotating speed-torque relationship the form for the fuel engines optimum efficiency operation curve that the PTO according to claim 5, wherein main control unit are stored therefrom according to the current operating parameter of fuel engines is found or functional relation formula is calculated.7. the PTO according to claim 4, when motor applies the load torque of matching by the first rotor to engine, its second rotor of output shaft axle outwards loads an equal amount of moment of torsion of output, and the torque direction is identical with engine rotation direction.8. the PTO according to claim 4, when engine speed is higher than the second rotor of output shaft axle rotating speed, a mechanical energy part from engine is directly sent out by the electromagnetic transfer between first, second rotor, and another part is converted to electric energy through motor servo system and sent out.9. the PTO according to claim 4, when engine speed is equal to the second rotor of output shaft axle rotating speed, the mechanical energy from engine all grows transmission directly submitting by the electricity between first, second rotor.10. the PTO according to claim 4, when engine speed is less than the second rotor of output shaft axle rotating speed, the mechanical energy from engine all passes through first, second turn Electromagnetic transfer between son is directly sent out, and additional electric energy is also converted into mechanical energy by controlled motor and is superimposed upon submitting on output shaft by servo-driver.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710048570.8 | 2007-03-01 | ||
| CN2007100485708A CN101257243B (en) | 2007-03-01 | 2007-03-01 | Fuel engine servo-loading unit and optimum efficiency operation control method |
| CN200720078746.X | 2007-03-06 | ||
| PCT/CN2007/002792 WO2008104109A1 (en) | 2007-03-01 | 2007-09-21 | Fuel engine load servo device |
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| CN101631707A true CN101631707A (en) | 2010-01-20 |
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| CN2007100485708A Active CN101257243B (en) | 2007-03-01 | 2007-03-01 | Fuel engine servo-loading unit and optimum efficiency operation control method |
| CN200780051944A Pending CN101631707A (en) | 2007-03-01 | 2007-09-21 | Fuel engine load servo device and optimal efficiency operation control method |
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| CN101793605B (en) * | 2010-03-31 | 2012-01-25 | 哈尔滨工业大学 | Dynamic loading methods based on servo motor |
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| CN101873053B (en) * | 2010-06-24 | 2012-02-22 | 大连理工大学 | Flexible electromagnetic coupling torque transmission method for electric automobile |
| CN101968943B (en) * | 2010-09-17 | 2012-06-27 | 上海本安仪表系统有限公司 | Method and device for prompting vehicle energy efficiency state for driver in real time |
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| CN101257243A (en) | 2008-09-03 |
| CN101257243B (en) | 2012-06-27 |
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