CN102069728B - Power-assisted control method of electric bicycle - Google Patents
Power-assisted control method of electric bicycle Download PDFInfo
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Abstract
The invention provides a power-assisted control method of an electric bicycle. In the invention, running conditions are acquired through detecting the frequency parameter M of a Hall sensor in an original electromotor, thereby the convenience of mounting and using the control system of the method is effectively improved, and the fault rate and the cost are reduced. In addition, during controlling, the phenomena of waste electric energy due to increased power, battery loss and galloping because assisted power is still subjected to hard drive when the riding speed of the electric bicycle does not reach a certain speed are avoided, and more energy is saved; the period time of assisted power starting and an assisted power interval and the mode for setting the output power current value of a power-assisted electromotor correspond to the standard moment of normal riding of people, thereby the energy saving effect is further enhanced, and the electric bicycle is more stable without pause while running. Furthermore, the invention also respectively provides corresponding power-assisted control methods aiming at manual and automatic assisted electric bicycles, which can be conveniently suitable for various prior power-assisted electric bicycles.
Description
[technical field]
The present invention relates to a kind of method of motor control, refer in particular to a kind of control method that the motor power-assisted of riding is provided for Electrical Bicycle.
[background technology]
Electrical Bicycle substitutes the vehicle as a kind of bicycle of environmental protection, nowadays has been obtained widespread use.The driver train of known Electrical Bicycle comprises DC motor, storage battery and corresponding electric machine controller, DC motor is arranged in the trailing wheel of Electrical Bicycle usually, controller connects DC motor and storage battery, it also connects speed control and the brake on the handle in addition, can when brake, automatically stop the power supply to electrical motor, drive the bicycle operation thereby then the storage battery electric energy is exported to the DC motor power supply when usually working.
Existing on the market main flow Electrical Bicycle can be divided into two classes, one class is commonly called as " zero start Electrical Bicycle ", although being provided with the foot-operated function of riding, this Electrical Bicycle also can rely on the driven by power form fully simultaneously, yet the capacity that is limited to storage battery, this type of Electrical Bicycle is through once often moving the 30-50 kilometer and continue running without electric energy after the charging, its cruising range is limited, and frequently charging can affect its service life on Vehicular accumulator cell, and then causes the reliability of this type of Electrical Bicycle not high.For this reason, the comparatively popular another kind of Electrical Bicycle in existing market then is assisted electric bicycle, and it additionally installs an assistant sensor additional by the foot-operated chain drum place at Electrical Bicycle, keeps operation by the mode of electric power and manpower double startup.During use, the bicyclist also needs suitably firmly treadmill, ride to feed back in the controller after reaching given pace the cyclist and be equipped with the driving motor power-assisted by controller again when its foot-operated assistant sensor detects it, and the motor power-assisted be directly proportional with manpower (being commonly called as the 1:1 power-assisted) of output, reached thus purpose energy-conservation, that prolong cruising range, be well received by consumers.But also there is certain shortcoming in this type of assisted electric bicycle: 1. need to be to Electrical Bicycle additional configuration assistant sensor, be arranged at its compatible controller again and can realize the assisted electric function, the assistant sensor that installs additional has increased the cost of Electrical Bicycle undoubtedly; 2. whole Electrical Bicycle installs many parts additional, and the stability of its overall work also can be beaten certain discount, and the assistant sensor that installs additional in addition also is subject to the impact of rainwater and mud and desensitization easily, directly affects the power-assisted ability of Electrical Bicycle; 3. this type of Electrical Bicycle is when inhuman riding in the hand/electric car process, also can follow wheel because foot-operated chain drum is accidental rotates together, assistant sensor lacks corresponding checkout system, can produce erroneous judgement and triggering electric machine controller startup power-assisted, the danger that produces the Electrical Bicycle driving; 4. assistant sensor and the motor driver conformability that is difficult to reach higher synchronism cooperates, when the Electrical Bicycle power-assisted starts with the maximum power driving motor, thereby producing for the people that rides to be difficult to parallelly rides or produces the problem such as the pause and transition in rhythm or melody sense of riding.
[summary of the invention]
The object of the invention is to overcome defects, provide a kind of need not to realize the more power-assisted control method of electric bicycle of stable and consistent of Electrical Bicycle Power assisted control and control effect by setting up assistant sensor.
The object of the present invention is achieved like this: a kind of power-assisted control method of electric bicycle, it comprises step
A), the initialization setting, set assistant mode output power of motor current value, set power-assisted and start speed per hour Mm, set power-assisted drive cycle time P1 and power-assisted resting period time P2;
Set the dynamic pulse duration frequency of the corresponding Hall element of electrical motor with reference to parameter M ', corresponding setting power-assisted starts speed per hour Mm and becomes the multiple of M ' * m to concern with the dynamic pulse duration frequency of Hall element with reference to parameter M ';
Described power-assisted drive cycle time P1 and power-assisted resting period time P2 are 1-10 second;
Described power-assisted drive cycle time P1 is less than power-assisted resting period time P2.
Described power-assisted drive cycle time P1 is less than power-assisted resting period time P2, and P1 becomes the multiple relation with the P2 value;
B), whether speed-regulating handle bar set speed per hour, if then by the power stage current drives electrical motor of setting speed per hour, otherwise continues step.
C), whether arrive power-assisted and start speed per hour, obtain instantly dynamic pulse duration frequency parameter M of Hall element, dynamic pulse duration frequency parameter M is moved speed per hour Mn with the sampling elapsed time instantly through can be calculated, more instantly the power-assisted of moving speed per hour Mn and setting starts speed per hour Mm, until Mn 〉=Mm continues step;
D), detect brake lever and whether operate, in case brake lever operation control then stops the power supply of described electrical motor is driven, whether the detection of returning step C arrives power-assisted starts speed per hour, then continues if not;
E), power-assisted starts, to the driving signal of electrical motor output power-assisted drive cycle time P1;
F), power-assisted intermittently, stop motor drive signal output power-assisted resting period time P2, get back to step C after finishing.
Another kind of power-assisted control method of electric bicycle, it comprises step
A), the initialization setting, set assistant mode output power of motor current value, set power-assisted and start speed per hour Mm, set power-assisted drive cycle time P1 and power-assisted resting period time P2;
Set the dynamic pulse duration frequency of the corresponding Hall element of electrical motor with reference to parameter M ', corresponding setting power-assisted starts speed per hour Mm and becomes the multiple of M ' * m to concern with the dynamic pulse duration frequency of Hall element with reference to parameter M ';
Described power-assisted drive cycle time P1 and power-assisted resting period time P2 are 1-10 second;
Described power-assisted drive cycle time P1 is less than power-assisted resting period time P2.
Described power-assisted drive cycle time P1 is less than power-assisted resting period time P2, and P1 becomes the multiple relation with the P2 value;
B), detect to start assistant mode and whether start, when assistant mode starts, skip to step e, otherwise carry out following step;
C), whether speed-regulating handle bar set speed per hour, detects speed-regulating handle bar and whether do not set speed per hour when starting assistant mode, if without then returning previous step, have then and continue;
D), driving motor, according to the speed per hour of setting on the speed-regulating handle bar, to moment power direct drive motor running corresponding to electrical motor output.
E), whether arrive power-assisted and start speed per hour, obtain instantly dynamic pulse duration frequency parameter M of Hall element, dynamic pulse duration frequency parameter M is moved speed per hour Mn with the sampling elapsed time instantly through can be calculated, more instantly the power-assisted of moving speed per hour Mn and setting starts speed per hour Mm, until Mn 〉=Mm continues step;
F), detect brake lever and whether operate, in case brake lever operation control then stops the power supply of described electrical motor is driven, whether the detection of returning step e arrives power-assisted starts speed per hour, then continues if not;
G), detect speed-regulating handle bar and whether operate, if then by the power-assisted power stage current drives electrical motor of setting, otherwise continue step.
H), power-assisted starts, to the driving signal of electrical motor output power-assisted drive cycle time P1;
I), power-assisted intermittently, stop motor drive signal output power-assisted resting period time P2, get back to step e after finishing.
Thereby beneficial effect of the present invention has been to provide a kind of operation conditions that obtains Electrical Bicycle by the dynamic pulse duration frequency parameter M that detects in the Hall element in original electrical salf-walking tramcar motor to carry out Power assisted control, Effective Raise use convenience that this method control system installs and uses and low fault, low cost.Start speed per hour Mm by having set power-assisted in the control in addition, avoided when the speed that Electrical Bicycle is ridden does not reach certain speed, power-assisted is hard-drive still, the generation of the waste of energy of the increase of output power, battery loss and driving phenomenon, more energy-conservation, and power-assisted drive cycle time P1 and power-assisted resting period time P2 and set boosting motor horsepower output current value type of drive corresponding especially people's standard moment of normally riding, further strengthened energy-saving effect so that the Electrical Bicycle that uses this method control when riding more steadily without the pause and transition in rhythm or melody sense.Further, the present invention also provides respectively corresponding power assist control method for manually reaching the autoamtic boosting Electrical Bicycle, can conveniently be applicable to use on all kinds of existing assisted electric bicycles.
[description of drawings]
Below in conjunction with accompanying drawing in detail concrete structure of the present invention is described in detail
Fig. 1 is method flow diagram of the present invention
Fig. 2 is the method flow diagram of the embodiment of the invention 1
Fig. 3 is the method flow diagram of the embodiment of the invention 2
[specific embodiment]
Known ordinary Electrical Bicycle, the electric assisted bicycle of manpower double startup formula particularly, its control system all includes storage battery, electric machine controller, assistant sensor, DC motor (being provided with Hall element in the motor), brake lever and speed-regulating handle bar usually, the electric assisted bicycle of manual assistant mode of having part ownership also is provided with the power-assisted start key, thereby realizes intelligentized core control by unified above-mentioned each parts of electric machine controller.
The maximum difference of the control of control method of the present invention and original Electrical Bicycle is to have cancelled these parts of assistant sensor, and realizes the purpose of simulation power-assisted by the control method that electric machine controller is set.
As shown in Figure 1, the present invention relates to a kind of power-assisted control method of electric bicycle, it comprises step
A), initialization setting
Set assistant mode output power of motor current value, this value is determined according to the standard moment that the people normally rides, the standard moment that the people normally rides transfers running velocity to all about 10 kilometers/hour, the motor output power square of setting assistant mode should be corresponding with the moment under this speed, the correspondence of moment and assist torque thereby realization is ridden, increase the steady row that Electrical Bicycle is ridden, the Electrical Bicycle that has overcome original external assistant sensor all only can be with the power stage of maximum when power-assisted, horsepower output is not corresponding with the speed of riding (moment), thereby gives the sensation sense of insecurity problem of this generation to layback of riding when power-assisted starts.
Set the dynamic pulse duration frequency of the corresponding Hall element of electrical motor with reference to parameter M ', this obtains by real-time detection usually with reference to parameter M ', when manpower is ridden battery-driven car to the dynamic pulse duration frequency M ' parameter sampling of electrical motor Hall element output, the pulsewidth analog to digital conversion circuit is started working, and the rotating speed of motor draws the dynamic pulse duration frequency parameter M ' that answers Hall element that system is used for reference under the bicycle thereby sample mode is stepped on usually according to the people.
Set power-assisted and start speed per hour Mm, this Mm becomes the multiple of M ' * m to concern with the dynamic pulse duration frequency of Hall element with reference to parameter M ', the wheel diameter that again Mn is multiplied by common power-assisted electric vehicle can draw its operation speed per hour, common the determined operation speed per hour of Mm value is set in about actual vehicle speed about 10 kilometers/hour or 7 kilometers/hour (analogue value).Start speed per hour Mm by setting this power-assisted, can realize the energy-conserving action in the Electrical Bicycle operational process, avoided when the speed that Electrical Bicycle is ridden does not reach certain speed, power-assisted is hard-drive still, the generation of phenomenon under the waste of energy of the increase of output power and the driving.
Set the cycle of run P of one group of direct motor drive, P=P1+P2, wherein P1 is the power-assisted drive cycle time, and P2 is time power-assisted resting period.Can directly adopt the time when definition P1, P2, namely be set as some seconds and also can turn time corresponding to the required number of turns according to the actual electric bicycle wheel that records and determine this duration, the time value of common P1, P2 is at 1-10 between second, and the duration of P1 should be less than the P2 duration, and best P1 duration becomes the multiple relation with the P2 duration.
B), whether arrive power-assisted and start speed per hour
Dynamically pulse duration frequency parameter M and sampling elapsed time t process can be calculated the speed per hour Mn of wheel during sampling elapsed time t instantly to obtain Hall element, instantly the power-assisted of moving speed per hour Mn and setting is started speed per hour Mm to be compared, then continue until instantly move the power-assisted startup speed per hour Mm of speed per hour Mn 〉=setting, open assistant mode.
C), power-assisted starts
To the driving signal of electrical motor output power-assisted drive cycle time P1, the direct motor drive dynamic pulse signal level of output P1 time.
D), power-assisted intermittently
Stop motor drive signal output power-assisted resting period time P2, intermittently close output motor and drive the dynamic pulse signal level P2 time, get back to step B after finishing.
Thus through the process that judges whether power-assisted startup, power-assisted drive cycle time P1, resistance resting period time P2 of step B-D ceaselessly, cooperate moment output and the intermittence of people in riding, and when Electrical Bicycle uses in case when riding moment, speed is from after changing slowly, in case system's power-assisted also stops automatically when satisfying Mn＜Mm, be to ride not to power, do not give equally the function of power-assisted, thereby simulation has realized original same control effect that is provided with the assisted electric bicycle Power assisted control of external assistant sensor.
Specific embodiment 1
Present embodiment is for a kind of Electrical Bicycle of full automaticity power-assisted, correspondingly in the control method added the judgement that whether operates for Electrical Bicycle brake lever and speed-regulating handle bar, and it comprises step:
A), initialization setting
Set assistant mode output power of motor current value, this value is determined according to the standard moment that the people normally rides, the standard moment that the people normally rides transfers running velocity to all about 10 kilometers/hour, the motor output power square of setting assistant mode should be corresponding with the moment under this speed, the correspondence of moment and assist torque thereby realization is ridden, increase the steady row that Electrical Bicycle is ridden, the Electrical Bicycle that has overcome original external assistant sensor all only can be with the power stage of maximum when power-assisted, horsepower output is not corresponding with the speed of riding (moment), thereby gives the sensation sense of insecurity problem of this generation to layback of riding when power-assisted starts.
Set the dynamic pulse duration frequency of the corresponding Hall element of electrical motor with reference to parameter M ', this obtains by real-time detection usually with reference to parameter M ', when manpower is ridden battery-driven car to the dynamic pulse duration frequency M ' parameter sampling of electrical motor Hall element output, the pulsewidth analog to digital conversion circuit is started working, and the rotating speed of motor draws the dynamic pulse duration frequency parameter M ' that answers Hall element that system is used for reference under the bicycle thereby sample mode is stepped on usually according to the people.
Set power-assisted and start speed per hour Mm, this Mm becomes the multiple of M ' * m to concern with the dynamic pulse duration frequency of Hall element with reference to parameter M ', the wheel diameter that again Mn is multiplied by common power-assisted electric vehicle can draw its operation speed per hour, common the determined operation speed per hour of Mm value is set in about actual vehicle speed about 7 kilometers/hour (analogues value).
Set the cycle of run P of one group of direct motor drive, P=P1+P2, wherein P1 is the power-assisted drive cycle time, and P2 is time power-assisted resting period.Can directly adopt the time when definition P1, P2, namely be set as some seconds and also can turn time corresponding to the required number of turns according to the actual electric bicycle wheel that records and determine this duration, the time value of common P1, P2 is at 1-10 between second, and the duration of P1 should be less than the P2 duration, and best P1 duration becomes the multiple relation with the P2 duration.
B), whether speed-regulating handle bar set speed per hour, if then by the power stage current drives electrical motor of setting speed per hour, otherwise continues step.
C), whether arrive power-assisted and start speed per hour
Dynamically pulse duration frequency parameter M and sampling elapsed time t process can be calculated the speed per hour Mn of wheel during sampling elapsed time t instantly to obtain Hall element, instantly the power-assisted of moving speed per hour Mn and setting is started speed per hour Mm to be compared, then continue until instantly move the power-assisted startup speed per hour Mm of speed per hour Mn 〉=setting, open assistant mode.
D), detect brake lever and whether operate, in case brake lever operation control then stops the power supply of described electrical motor is driven, whether the detection of returning step C arrives power-assisted starts speed per hour, then continues if not.
E), power-assisted starts
To the driving signal of electrical motor output power-assisted drive cycle time P1, the direct motor drive dynamic pulse signal level of output P1 time.
F), power-assisted intermittently
Stop motor drive signal output power-assisted resting period time P2, intermittently close output motor and drive the dynamic pulse signal level P2 time, get back to step C after finishing.
Specific embodiment 2
For a kind of Electrical Bicycle that is provided with the manual power-assisted of power-assisted switching push button, except adding the judgement that whether operates such as the brake lever among the embodiment 1 and speed-regulating handle bar, also added the pattern switching judging in the control method, it comprises step:
A), initialization setting
Set assistant mode output power of motor current value, this value is determined according to the standard moment that the people normally rides, the standard moment that the people normally rides transfers running velocity to all about 10 kilometers/hour, the motor output power square of setting assistant mode should be corresponding with the moment under this speed, the correspondence of moment and assist torque thereby realization is ridden, increase the steady row that Electrical Bicycle is ridden, the Electrical Bicycle that has overcome original external assistant sensor all only can be with the power stage of maximum when power-assisted, horsepower output is not corresponding with the speed of riding (moment), thereby gives the sensation sense of insecurity problem of this generation to layback of riding when power-assisted starts.
Set the dynamic pulse duration frequency of the corresponding Hall element of electrical motor with reference to parameter M ', this obtains by real-time detection usually with reference to parameter M ', when manpower is ridden battery-driven car to the dynamic pulse duration frequency M ' parameter sampling of electrical motor Hall element output, the pulsewidth analog to digital conversion circuit is started working, and the rotating speed of motor draws the dynamic pulse duration frequency parameter M ' that answers Hall element that system is used for reference under the bicycle thereby sample mode is stepped on usually according to the people.
Set power-assisted and start speed per hour Mm, this Mm becomes the multiple of M ' * m to concern with the dynamic pulse duration frequency of Hall element with reference to parameter M ', the wheel diameter that again Mn is multiplied by common power-assisted electric vehicle can draw its operation speed per hour, common the determined operation speed per hour of Mm value is set in about actual vehicle speed about 7 kilometers/hour (analogues value).
Set the cycle of run P of one group of direct motor drive, P=P1+P2, wherein P1 is the power-assisted drive cycle time, and P2 is time power-assisted resting period.Can directly adopt the time when definition P1, P2, namely be set as some seconds and also can turn time corresponding to the required number of turns according to the actual electric bicycle wheel that records and determine this duration, the time value of common P1, P2 is at 1-10 between second, and the duration of P1 should be less than the P2 duration, and best P1 duration becomes the multiple relation with the P2 duration.
B), detect to start assistant mode and whether start, when assistant mode starts, skip to step e, otherwise carry out following step;
C), whether speed-regulating handle bar set speed per hour, detects speed-regulating handle bar and whether do not set speed per hour when starting assistant mode, if without then returning previous step, have then and continue;
D), driving motor, according to the speed per hour of setting on the speed-regulating handle bar, to moment power direct drive motor running corresponding to electrical motor output.
E), whether arrive power-assisted and start speed per hour
Dynamically pulse duration frequency parameter M and sampling elapsed time t process can be calculated the speed per hour Mn of wheel during sampling elapsed time t instantly to obtain Hall element, instantly the power-assisted of moving speed per hour Mn and setting is started speed per hour Mm to be compared, then continue until instantly move the power-assisted startup speed per hour Mm of speed per hour Mn 〉=setting, open assistant mode;
F), detect brake lever and whether operate, in case operation control, then return step e when brake lever, stop the power supply of described electrical motor is driven, if otherwise continue;
G), detect speed-regulating handle bar and whether operate, if then by the power-assisted power stage current drives electrical motor of setting, otherwise continue step.
H), power-assisted starts, to the driving signal of electrical motor output power-assisted drive cycle time P1;
I), power-assisted intermittently, stop motor drive signal output power-assisted resting period time P2, get back to step e after finishing.
By experiment and the analysis showed that, adopt power-assisted control method of electric bicycle of the present invention to make electric machine controller after, reliable in function during use, and owing to saved assistant sensor, so integral body has been saved the saving cost, use more convenient.The Electrical Bicycle continuation of the journey of once charging is long and energy-conservation, satisfactory for result, and under 36V/14Ah and 48V/14Ah battery, the mileage number of riding on the level land that once charges can reach 150 kilometers.
Claims (9)
1. power-assisted control method of electric bicycle, it is characterized in that: it comprises step
A1), the initialization setting, set assistant mode output power of motor current value, set power-assisted and start speed per hour Mm, set power-assisted drive cycle time P1 and power-assisted resting period time P2;
B1), whether arrive power-assisted and start speed per hour, obtain instantly dynamic pulse duration frequency parameter M of Hall element, dynamic pulse duration frequency parameter M is moved speed per hour Mn with the sampling elapsed time instantly through can be calculated, more instantly the power-assisted of moving speed per hour Mn and setting starts speed per hour Mm, until Mn 〉=Mm continues step;
C1), power-assisted starts, to the driving signal of electrical motor output power-assisted drive cycle time P1;
D1), power-assisted intermittently, stop motor drive signal output power-assisted resting period time P2, get back to step B1 after finishing.
2. power-assisted control method of electric bicycle as claimed in claim 1, it is characterized in that: described power-assisted drive cycle time P1 and power-assisted resting period time P2 are 1-10 second.
3. power-assisted control method of electric bicycle as claimed in claim 2, it is characterized in that: described power-assisted drive cycle time P1 is less than power-assisted resting period time P2.
4. power-assisted control method of electric bicycle as claimed in claim 3 is characterized in that: described power-assisted drive cycle time P1 is less than power-assisted resting period time P2, and P1 becomes the multiple relation with the P2 value.
5. power-assisted control method of electric bicycle as claimed in claim 1 is characterized in that: described steps A 1), B1) between be provided with step,
A2), detect assistant mode and whether start continuation step B1 when assistant mode starts), otherwise carry out following step;
B2), whether speed-regulating handle bar set speed per hour, detects speed-regulating handle bar and whether do not set speed per hour when starting assistant mode, if without then returning previous step, have then and continue;
C2), driving motor, according to the speed per hour of setting on the speed-regulating handle bar, to moment power direct drive motor running corresponding to electrical motor output.
6. power-assisted control method of electric bicycle as claimed in claim 5 is characterized in that: be provided with step described step B1),
A3), detect brake lever and whether operate, in case brake lever operation control then stops the power supply of described electrical motor is driven, return step B1), detect and whether arrive power-assisted and start speed per hour, then continue if not;
B3), detect speed-regulating handle bar and whether operate, if then by the power-assisted power stage current drives electrical motor of setting, otherwise continue step.
7. power-assisted control method of electric bicycle as claimed in claim 1 is characterized in that: described steps A 1), B1) between be provided with step, whether speed-regulating handle bar sets speed per hour, if then by the power stage current drives electrical motor of setting speed per hour, otherwise continues step.
8. power-assisted control method of electric bicycle as claimed in claim 7, it is characterized in that: be provided with step described step B1), whether detect brake lever operates, in case brake lever operation control, then stop the power supply of described electrical motor is driven, return step B1, detect whether arrive power-assisted startup speed per hour, then continue if not.
9. power-assisted control method of electric bicycle as claimed in claim 1, it is characterized in that: also comprise described steps A 1), set the dynamic pulse duration frequency of the corresponding Hall element of electrical motor with reference to parameter M ', corresponding setting power-assisted starts speed per hour Mm and becomes the multiple of M ' * m to concern with the dynamic pulse duration frequency of Hall element with reference to parameter M '.
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| CN104163225B (en) * | 2014-08-27 | 2015-05-27 | 天津市弘塔科技有限公司 | Electric bicycle simulation torque assistance sensing control system and implementation method thereof |
| CN109533186A (en) * | 2018-10-19 | 2019-03-29 | 天津新日机电有限公司 | A kind of runaway method of electric bicycle |
| CN109533185A (en) * | 2018-10-19 | 2019-03-29 | 天津新日机电有限公司 | A kind of power assist control method of electric bicycle |
| CN109878627A (en) * | 2019-03-08 | 2019-06-14 | 南京科桥电气有限公司 | A kind of Moped Scooter and its control method with safe starting function |
| CN110949596B (en) * | 2019-11-27 | 2021-09-21 | 上海钧正网络科技有限公司 | Electric vehicle control system and electric vehicle |
| CN111469967B (en) * | 2020-03-30 | 2021-12-07 | 成都零启自动化控制技术有限公司 | Self-adaptive electric power-assisted bicycle control system and method |
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Non-Patent Citations (1)
| Title |
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| CN102069728A (en) | 2011-05-25 |
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