CN102025307B - Motor system, the device of measurement motor system medium speed and the method for tachometric survey - Google Patents
Motor system, the device of measurement motor system medium speed and the method for tachometric survey Download PDFInfo
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- CN102025307B CN102025307B CN201010284010.4A CN201010284010A CN102025307B CN 102025307 B CN102025307 B CN 102025307B CN 201010284010 A CN201010284010 A CN 201010284010A CN 102025307 B CN102025307 B CN 102025307B
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- Prior art keywords
- brush
- motor system
- motor
- measuring
- detectable signal
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000005259 measurement Methods 0.000 title description 5
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000006698 induction Effects 0.000 claims description 2
- 229930014626 natural product Natural products 0.000 claims description 2
- 238000004804 winding Methods 0.000 description 7
- 238000004458 analytical method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 239000004020 conductor Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 230000010363 phase shift Effects 0.000 description 2
- 230000000717 retained effect Effects 0.000 description 2
- 241001311547 Patina Species 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000010358 mechanical oscillation Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000012916 structural analysis Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/2805—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K23/00—DC commutator motors or generators having mechanical commutator; Universal AC/DC commutator motors
- H02K23/66—Structural association with auxiliary electric devices influencing the characteristic of, or controlling, the machine, e.g. with impedances or switches
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/0094—Arrangements for regulating or controlling the speed or torque of electric DC motors wherein the position is detected using the ripple of the current caused by the commutator
Abstract
The present invention relates to motor system, measure the device of motor system medium speed and the method for tachometric survey.A kind of motor system (1), it has electro-motor and one or more measuring unit of brush rectification, wherein electro-motor (2) comprises the rectifier (3) with at least three brushes (4), the brush (4) of multiple identical polar is wherein at least set, described brush is connected with power supply electromotive force by common supply line (6), the measuring unit (9) for measuring about the data of the brush current by corresponding brush (4) is arranged between at least one brush wherein in described supply line (6) and described multiple brush.
Description
Technical field
The present invention relates to the d.c. motor of brush rectification, wherein measuring rotating speed by analyzing current characteristic curve.
Background technology
Usually the rotating speed of d.c. motor is detected in known manner by means of extra position transducer, such as Hall element, GMR transducer and similar transducer.The rotor of position transducer and d.c. motor is coupled, thus makes a part for position transducer move equally when rotor motion.At this, by the pulse of position transducer generation current or potential pulse.Analyze current impulse or potential pulse, such as in predetermined time window, paired pulses counts, thus obtains the data about the rotating speed of d.c. motor.
The replacement scheme of sensorless determination rotating speed defines the analysis to the current fluctuation in the supply line of d.c. motor.At this, analyze the electric current in supply line, this electric current when the rotor motion of d.c. motor due to the fluting of armature and the rectification depending on rotor motion the well-regulated fluctuation of tool.Due to the irregular patina on rectifier, mechanical oscillation or deviation in roundness, described current fluctuation can become irregular, thus can not reliably use this method measured rotating speed to all applicable cases.
In addition, there is shortcoming in the tachometric survey that sensorless carries out when use has the d.c. motor of rectifier, wherein d.c. motor has plural brush.In this motor system, usually provide electric current by common supply line at least two described brushes.Thus, due to the layout that brush staggers on rectifier, the current fluctuation of the electric current caused by the brush of multiple identical polar is superposed in common supply line, to be added in common supply line and to weaken due to its phase difference.Thus, in this motor system, significantly improve the cost current fluctuation in supply line being carried out to determination and analysis, because the susceptibility of the tachometric survey must correspondingly selecting sensorless to carry out.
Summary of the invention
Task of the present invention is to provide a kind of motor system with d.c. motor, can according to current characteristic curve or by trying to achieve rotating speed better to the analysis of current fluctuation with this motor system.In addition, task of the present invention is to provide a kind of device for trying to achieve motor system medium speed and a kind of method for this.
This task is by by motor system according to claim 1 and by being resolved by the apparatus and method described in claim arranged side by side.
Other favourable design is described in the dependent claims.
According to first aspect, be provided with a kind of motor system, this motor system has electro-motor and one or more measuring unit of brush rectification.Electro-motor comprises the rectifier with at least three brushes, wherein be provided with the brush of multiple identical polar, described brush is connected with power supply electromotive force by common supply line, arranges measuring unit for measuring the data about the brush current by corresponding brush between at least one brush wherein in described supply line and described multiple brush.
Design of the present invention is, provides a kind of motor system, can try to achieve the rotating speed of electro-motor with this motor system in a better way.By arranging the measuring unit for detecting electric current between one of brush in supply line and multiple identical polar, the current fluctuation that caused by the rectification of electro-motor can be detected and use described current fluctuation to try to achieve rotary speed data before being added in common supply line.
In addition, rectifier can comprise the commutator segment of some, and described commutator segment can contact with multiple brush, and described quantity is not the integral multiple of number of pole-pairs.
According to a kind of execution mode, the quantity of described commutator segment can add 1 or deduct 1 corresponding to number of pole-pairs and natural product.
Thus, when there is each polarity and being greater than and ensureing different in the d.c. motor of a brush, rectification is carried out to the brush with identical polar.This causes the phase difference between brush current, current fluctuation is superimposed upon in common supply line, and eliminates described current fluctuation at least in part due to the rectification of non-concurrent.This is worth yearning for, because described current fluctuation can cause voltage fluctuation that supplying DC voltage disturbs thus.But this makes the detection of current fluctuation resistant frequency become difficulty, and this frequency is the data about electro-motor rotating speed.Can detect each brush current with motor system above, wherein in supply line, only there is small current fluctuation, this current fluctuation is corresponding to the summation of the brush current of multiple phase shifting simultaneously.Also torque ripple can be kept very little thus.
In addition, measuring unit can be arranged respectively for multiple brush.According to a kind of execution mode, described measuring unit can have the coupling element of measuring resistance or induction.
According to a kind of execution mode, described measuring unit can be arranged between the brush of supply line and multiple identical polar.
In addition, described multiple brush can stagger each other equably.
According on the other hand, be provided with the device for measuring electro-motor rotary speed data in superincumbent motor system.Described device comprises analytic unit, and this analytic unit receives at least one detectable signal of one or more measuring unit, and for trying to achieve rotary speed data according to one or more detectable signal.
In addition, can be used for trying to achieve rotary speed data as the frequency of one or more detectable signal by structural analysis unit.As an alternative, described analytic unit can be constructed for trying to achieve signal difference as the difference of multiple described detectable signal and frequency as signal difference tries to achieve rotary speed data.
According on the other hand, be provided with the method for measuring electro-motor rotary speed data in superincumbent motor system.Said method comprising the steps of:
-receive at least one detectable signal of one or more measuring unit; And
-the frequency as one or more detectable signal or the frequency as signal difference try to achieve rotary speed data, and this signal difference is corresponding to the difference of multiple described detectable signal.
Accompanying drawing explanation
With reference to the accompanying drawings the preferred embodiment of the present invention is explained in detail below.Wherein:
Fig. 1 is the schematic diagram of the motor system with d.c. motor, and this d.c. motor has four poles and 15 commutator segments, and described commutator segment is contacted by every identical polar two brushes;
Fig. 2 is the schematic diagram of the motor system with d.c. motor, and this d.c. motor has six rotor poles, 20 commutator segments and every identical polar three brushes, and
Fig. 3 is the schematic diagram of the motor system with d.c. motor, and this d.c. motor has two brushes of six rotor poles, 20 commutator segments and a polarity and a brush of another polarity.
Element that is that identical Reference numeral represents identical function or similar functions.
Embodiment
Diagrammatically illustrate motor system 1 in FIG.This motor system 1 comprises d.c. motor 2, and this d.c. motor has the rectifier 3 be positioned on rotor 12.This rotor 12 has rotor windings 11, and described rotor windings can carry out electrical contact by the commutator segment 13 of rectifier 3.Described commutator segment 13 carries out electrical contact by brush 4, wherein said brush 4 when rotor 12 rotates on commutator segment 13 along slip, and thus respectively with commutator segment described in one or two 13 realize electrical connection.The voltage be applied on brush 4 has just been loaded into attaches troops to a unit on the rotor windings 11 of the commutator segment 13 of contact.
Described d.c. motor 2 has four rotor poles 14, namely two extremely right, described rotor pole can be configured to permanent magnet respectively, thus provides exciting field.Usually arrange the brush 4 of some for rectifier 3, wherein every two brushes 4 have identical polarity.Described brush 4 is arranged evenly distributedly around rectifier 3 in this embodiment, and that is described brush 4 is arranged around rectifier 3 with 90 ° with staggering, and mutually adjacent brush has different polarity.
The quantity of described commutator segment 13 is defined as 15 in the embodiment of figure 1, make to contact with corresponding nearest commutator segment 5 at different time points with 90 ° of brushes staggered 4 around rectifier, thus be electrically connected with the rotor windings 11 of attaching troops to a unit in nearest commutator segment 5.The brush 4 of identical polar is interconnected respectively by electrical connection and is connected with the supply line 6 of attaching troops to a unit.The supply power voltage applied between two brushes 4 of opposed polarity respectively is thus provided by supply line 6.Thus, total current flows in the supply line 6 be connected with the brush 4 of identical polar as the summation of brush current of the brush 4 flowing through identical polar.
Quantity due to commutator segment 13 is not even number, and rotor windings is arranged with the form of lap winding, and wherein each described rotor windings 11 is contacted by mutually adjacent commutator segment 13.
In the total current of flowing in supply line 6 flowing through two right brushes 4 of brush, eliminated the first-harmonic (speeds on 15 rank) of brush current by the superposition of brush current.The first high order harmonic component is only had to be retained in supply line 6 with remarkable less amplitude.But the signal of the first high order harmonic component is significantly less than the signal of first-harmonic, and be therefore difficult to detect.Therefore, in order to provide enough large current signal, propose to arrange corresponding measurement mechanism, the electric current of a brush 4 for two identical polars is in other words flow through in this measurement mechanism analysis.
In the motor system of Fig. 1, be connected respectively by the supply line 6 of measuring resistance 9 with electromotive force of powering for height with the brush 4 that electromotive force of just powering loads, thus only have brush current to flow through corresponding measuring resistance as portion of electrical current.Self-evident, as an alternative or additional project, measuring resistance also can be connected to the brush 4 for low power supply electromotive force.Corresponding to brush current, measuring voltage declines on measuring resistance 9 respectively as detectable signal, and this measuring voltage is qualitatively shown in the voltage time chart of measuring resistance 9.Can analyze the current fluctuation of measuring there by means of analytic unit 10, this analytic unit is connected with measuring resistance 9, thus the measuring voltage that detection applies there is as the data for corresponding brush current.
For this reason, can analyze corresponding detectable signal, this detectable signal is attached troops to a unit in one of brush 4.Thus, provide signal to analytic unit 10, wherein do not eliminated the first-harmonic of brush current by superposition, thus from corresponding detectable signal, rotating speed can be identified in a straightforward manner.
Not only according to one of detectable signal but also can analyze by means of multiple detectable signal for multiple brush 4.At this, can carry out separately analyzing and obtained substantially proportional with the frequency of detectable signal rotating speed is inputted and carry out confidence level test each other.
As an alternative or additional project, the difference of detectable signal can be formed, thus obtain signal difference.The formation of this difference such as can realize by means of difference amplifier (not shown) and like in analytic unit 10.In the illustrated embodiment, detect the data about the brush current of brush 4 mutually opposing on rectifier 3 as detectable signal, described brush current has the phase difference of 180 ° each other.Thus, the doubled in amplitude of signal difference to be analyzed will be had when difference is formed.Which considerably simplifies the analysis in analytic unit 10.
Fig. 2 shows the schematic diagram of the motor system 1 with d.c. motor 2, and wherein d.c. motor 2 has six rotor poles 14 and with 20 commutator segments 13.Described 20 commutator segments 13 are contacted with the brush 4 of three negative polarity by the brush 4 of three positive polaritys.The brush 4 of described three negative polarity is with the phase shifting of 120 °.The brush 4 of positive polarity respectively relative to the brush 4 of negative polarity with the phase shifting of 60 °.In other words, described brush 4 has the deviation of 60 ° each other, and wherein adjacent brush 4 has different polarity.The measuring unit of measuring resistance 9 form is arranged between the brush 4 of supply line 6 and negative polarity.
The first-harmonic (speeds on 20 rank) of brush current is eliminated in the total current of brush 4 flowing through all negative polarity.As a result, corresponding supply line 6 is retained with obviously very little amplitude by the second high order harmonic component (speeds on 60 rank), and the brush current flowing through the brush 4 of negative polarity is added in described supply line.
In the embodiment shown in figure 2, detect the brush current flowing through the brush of all negative polarity by means of measuring resistance 9, and by corresponding detectable signal input analytic unit 10.Rotating speed can be determined there as described above by the frequency measurement on one of detectable signal, or determine rotating speed according to the difference between multiple described detectable signal, because described detectable signal carries out phase shifts due to the phase shifts of the rectification caused by brush 4 of commutator segment 13.
Figure 3 illustrates another execution mode of the motor system 1 with d.c. motor 2, wherein d.c. motor 2 has six rotor poles and 20 commutator segments 13.Described 20 commutator segments 13 are contacted with the brush of a negative polarity by the brush 4 of two positive polaritys.The brush of described two positive polaritys is arranged on rectifier with the phase difference of 120 °, and the brush of negative polarity relative to one of the brush of positive polarity with between the brush of 60 ° of positive polaritys that stagger, are preferably placed in.In total current in the supply line 6 of the brush 4 for two positive polaritys, the first-harmonic (speeds on 20 rank) of brush current is reduced by phase difference, and only by a measuring unit, be here measuring resistance 9 be arranged in the input branch for the brush 4 of positive polarity time can Loss reducing power because only need be guided the roughly half of whole supply current by measuring unit.
Described measuring unit is preferably configured as measuring resistance, thus can intercept with the form of detecting voltage the electric current flowing through this measuring unit.As measuring the replacement scheme of electric current, equally can as by inductively and similar fashion measure the AC portion of electric current, this also has such advantage, and namely the direct current component of supply current can not arrive analytic unit 10.As the replacement scheme of measuring resistance 9, the simple conductor circuit for electric current being inputted corresponding brush 4 also can be set, wherein be provided in the detectable signal of the voltage drop on the section of conductor circuit as analytic unit.
In order to realize the present invention, importantly, the brush 4 of multiple identical polar is set, by the supply power voltage electromotive force of corresponding part incoming line to described brush input supply power voltage.D.c. motor 2 described herein has the number of pole-pairs being greater than 1, because the brush otherwise arranging multiple identical polar is just nonsensical.
In order to there is phase difference when corresponding nearest commutator segment 13 carries out rectification on one of brush between the brush being provided with measuring unit, the quantity of described commutator segment is not the integral multiple of number of pole-pairs as far as possible.This such as can by following following condition to realize:
L＝j×p+/-1
Wherein L is corresponding to the quantity of commutator segment 13, p corresponding to number of pole-pairs and j corresponding to natural integer.
Claims (1)
1.
motor system (1), there is electro-motor and one or more measuring unit (9) of brush rectification, wherein, described electro-motor (2) comprises the rectifier (3) with at least three brushes (4), the brush (4) of multiple identical polar is wherein at least set, described brush is connected with power supply electromotive force by common supply line (6), wherein, the measuring unit (9) for measuring about the data of the brush current by corresponding brush (4) is arranged between at least one brush in described supply line (6) and described multiple brush, described rectifier comprises the commutator segment (13) of some, described commutator segment can contact with multiple brush (4), described quantity is not the integral multiple of number of pole-pairs.
2. by motor system according to claim 1 (1), wherein, the quantity of described commutator segment (13) adds 1 or deduct 1 corresponding to number of pole-pairs and natural product.
3. by the motor system (1) described in claim 1 or 2, wherein, for multiple brush has arranged measuring unit (9) respectively.
4., by the motor system (1) described in claim 1 or 2, wherein, described measuring unit (9) has the coupling element of measuring resistance or induction.
5., by the motor system (1) described in claim 1 or 2, wherein, described measuring unit is arranged between the brush (4) of described supply line (6) and multiple identical polar.
6., by the motor system (1) described in claim 1 or 2, wherein, described multiple brush (4) is staggered each other equably.
7. for measuring the device of the rotary speed data by the electro-motor (2) in the motor system (1) according to any one of the claims, there is analytic unit (10), this analytic unit receives at least one detectable signal of one or more measuring unit (9), and for trying to achieve rotary speed data according to one or more detectable signal.
8., by device according to claim 7, wherein, construct described analytic unit (10) for trying to achieve rotary speed data as the frequency of one or more detectable signal described.
9., by device according to claim 7, wherein, construct described analytic unit (10) for trying to achieve signal difference differing from and trying to achieve the frequency of rotary speed data as signal difference as multiple described detectable signal.
10., for measuring the method for the rotary speed data by the electro-motor (2) in the motor system (1) according to any one of the claims, there are following steps:
-receive at least one detectable signal of one or more measuring unit;
-try to achieve the frequency of rotary speed data as one or more detectable signal or the frequency as signal difference, this signal difference is corresponding to the difference of multiple described detectable signal.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102009029410.4 | 2009-09-14 | ||
| DE102009029410A DE102009029410A1 (en) | 2009-09-14 | 2009-09-14 | Motor system has brush-commutated electric motor and one or more measurement units, where electric motor has commutator with three brushes, and multiple brushes are provided with similar polarity |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102025307A CN102025307A (en) | 2011-04-20 |
| CN102025307B true CN102025307B (en) | 2015-08-05 |
Family
ID=43571030
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010284010.4A Expired - Fee Related CN102025307B (en) | 2009-09-14 | 2010-09-13 | Motor system, the device of measurement motor system medium speed and the method for tachometric survey |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN102025307B (en) |
| DE (1) | DE102009029410A1 (en) |
| FR (1) | FR2950207B1 (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3648090A (en) * | 1968-12-26 | 1972-03-07 | Robert Voin | Dynamo-electric machine |
| CN1470095A (en) * | 2000-09-06 | 2004-01-21 | ĩ������ | DC-or AC-commutator motors with concentrated windings |
| CN1691438A (en) * | 2004-04-28 | 2005-11-02 | 法国阿文美驰轻型车系统有限公司 | Commutator for an electric motor |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62189945A (en) * | 1986-02-12 | 1987-08-19 | Konishiroku Photo Ind Co Ltd | Motor |
| EP0359855B1 (en) * | 1988-09-21 | 1992-11-19 | Siemens Aktiengesellschaft | Tachometer device for a commutator motor |
| DE19513094A1 (en) * | 1995-04-07 | 1996-10-10 | Kostal Leopold Gmbh & Co Kg | Reversible DC motor with inherent biodirectional capability |
| DE19526820C2 (en) * | 1995-07-12 | 1998-01-22 | Brose Fahrzeugteile | Device for detecting the speed, direction of rotation and / or angle of rotation position of a commutator motor |
| FR2791486B1 (en) * | 1999-03-24 | 2001-06-08 | Valeo Systemes Dessuyage | DIRECT CURRENT ELECTRIC MOTOR HAVING IMPROVED ROTATION DETECTION MEANS |
| EP1079232A1 (en) * | 1999-08-27 | 2001-02-28 | Ford Motor Company | Speed sensing circuit for a motor |
| FR2877161B1 (en) * | 2004-10-25 | 2008-10-10 | Carbone Lorraine Applications Electriques | ENGINE WITH A MANIFOLD HAVING A DEVICE FOR MONITORING THE ANGULAR POSITION AND THE SPEED OF ROTATION OF ITS INDUCTION |
| US20060145549A1 (en) * | 2005-01-04 | 2006-07-06 | Greene Darrell F | Electric motor position sensing device and method |
-
2009
- 2009-09-14 DE DE102009029410A patent/DE102009029410A1/en not_active Withdrawn
-
2010
- 2010-09-01 FR FR1056935A patent/FR2950207B1/en not_active Expired - Fee Related
- 2010-09-13 CN CN201010284010.4A patent/CN102025307B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3648090A (en) * | 1968-12-26 | 1972-03-07 | Robert Voin | Dynamo-electric machine |
| CN1470095A (en) * | 2000-09-06 | 2004-01-21 | ĩ������ | DC-or AC-commutator motors with concentrated windings |
| CN1691438A (en) * | 2004-04-28 | 2005-11-02 | 法国阿文美驰轻型车系统有限公司 | Commutator for an electric motor |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102009029410A1 (en) | 2011-03-17 |
| FR2950207B1 (en) | 2018-04-06 |
| FR2950207A1 (en) | 2011-03-18 |
| CN102025307A (en) | 2011-04-20 |
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Granted publication date: 20150805 Termination date: 20190913 |