CN102177652A - Motor controller - Google Patents
Motor controller Download PDFInfo
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- CN102177652A CN102177652A CN2008801314954A CN200880131495A CN102177652A CN 102177652 A CN102177652 A CN 102177652A CN 2008801314954 A CN2008801314954 A CN 2008801314954A CN 200880131495 A CN200880131495 A CN 200880131495A CN 102177652 A CN102177652 A CN 102177652A
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- acceleration
- parameter group
- input voltage
- acceleration parameter
- servomotor
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- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/20—Controlling the acceleration or deceleration
Abstract
An acceleration/deceleration parameter group setting section (110) sets a plurality of acceleration/deceleration parameter groups (P1-Pn) for every input voltage (Vi) in accordance with the torque characteristics of a servo motor (11), an acceleration/deceleration parameter group selecting section (112) selects an acceleration/deceleration parameter group (P1-Pn) corresponding to an input voltage (Vi) measured at an input voltage measuring section (111) out of the acceleration/deceleration parameter groups (P1-Pn) set at the acceleration/deceleration parameter group setting section (110), and an acceleration/deceleration command section (113) commands a drive section (10) to perform acceleration/deceleration of a servo motor (11) based on the acceleration/deceleration parameter group (P1-Pn) selected at the acceleration/deceleration parameter group selecting section (112).
Description
Technical field
The present invention relates to a kind of control device of electric motor, particularly a kind of acceleration control when servomotor is carried out Position Control.
Background technology
Servomotor is being carried out under the situation of acceleration control, be accompanied by sometimes that input voltage to the inverter input reduces and the driving torque deficiency causes toning or the less stress of servomotor when acceleration.Therefore, proposed a kind of by with correspondingly prolong the acceleration time because input voltage reduces the in shortage of driving torque produces, thereby the toning of solution when acceleration or the method (patent documentation 1) of problem such as less stress.
In addition, proposed a kind of by correspondingly feeding unit quantity in the position control and acceleration unit quantity being proofreaied and correct with the DC bus-bar voltage or the AC-input voltage of inverter part, thereby be implemented in the method (patent documentation 2) that reduces positioning time when following the position command value.
Patent documentation 1: Japanese kokai publication sho 58-54894 communique
Patent documentation 2: Japanese kokai publication hei 10-337088 communique
Summary of the invention
But,, by prolonging the acceleration time constant, thereby reduce because toning or the less stress during the moment of torsion acceleration that causes in shortage according to the technology of above-mentioned existing patent documentation 1.Have following problems thus, that is, the time of being carried out location such as cutter by servomotor is elongated, uses prolong the process time of the cutter that is positioned by servomotor.
In addition,, feeding unit quantity or acceleration unit quantity are reduced owing to being accompanied by the input voltage reduction according to the technology of above-mentioned existing patent documentation 2, its result, the acceleration time constant prolongs.Therefore, have following problems, that is, the time of being carried out location such as cutter by servomotor is elongated, uses prolong the process time of the cutter that is positioned by servomotor.
The present invention proposes in view of the above problems, and its purpose is, obtains a kind of control device of electric motor, even it also can suppress the increase of acceleration time, toning when reducing acceleration simultaneously or less stress under the situation that input voltage reduces.
In order to solve above-mentioned problem, achieve the goal, control device of electric motor of the present invention is characterised in that, have: acceleration parameter group configuration part, it sets the acceleration parameter group at each input voltage, wherein, described acceleration parameter group is specified rate of acceleration, makes that rate of acceleration is compared change greatly with high rotary speed area in the low rotation speed area of servomotor; Acceleration parameter set selection portion, it selects the acceleration parameter group that is set by described acceleration parameter group configuration part based on the input voltage to the drive division input that drives described servomotor; And acceleration instruction department, it is based on by the selected acceleration parameter group of described acceleration parameter set selection portion, so that the mode that the load torque curve during acceleration drops in the torque characteristics of described servomotor generates acceleration model (pattern).
The effect of invention
According to the present invention, realize following effect, that is, even under the situation that input voltage reduces, also can be when suppressing the increase of acceleration time, toning or less stress when reducing acceleration.
Description of drawings
Fig. 1 is the block diagram of schematic configuration of the embodiment 1 of expression control device of electric motor involved in the present invention.
The figure of an example of Fig. 2 acceleration parameter group that to be expression set by the acceleration parameter group configuration part 110 of Fig. 1.
Fig. 3-the 1st, the figure of an example of the acceleration model that expression is generated by the acceleration instruction department 113 of Fig. 1.
Fig. 3-the 2nd, the figure of an example of the rate pattern that expression is generated by the acceleration instruction department 113 of Fig. 1.
Fig. 4 is the figure of the relation between the torque characteristics of the load torque curve that obtains according to acceleration parameter group P1～Pn of expression and servomotor.
Fig. 5 is the figure of expression by an example of the generation method of the acceleration instruction department 113 generation acceleration models of Fig. 1.
Fig. 6 is the figure of the numerical example of the acceleration parameter group set at each input voltage of expression.
Fig. 7-the 1st, expression is according to the figure of the acceleration model of the acceleration parameter group generation of Fig. 6.
Fig. 7-the 2nd, expression is according to the figure of the rate pattern of the acceleration model generation of Fig. 7-1.
The explanation of label
10 drive divisions
11 servomotors
100 control device of electric motor
P1～Pn acceleration parameter group
110 acceleration parameter group configuration parts
111 input voltage measurement section
112 acceleration parameter set selection portions
113 acceleration instruction departments
114 nonvolatile memories
115 volatile memory
121 trapezoid figure programs
122 input voltage values
123 parameter group sequence numbers
Embodiment
Below, based on accompanying drawing, describe the embodiment of control device of electric motor involved in the present invention in detail.In addition, the present invention is not limited by this embodiment.
Embodiment 1
Fig. 1 is the block diagram of schematic configuration of the embodiment 1 of expression control device of electric motor involved in the present invention.In Fig. 1, control device of electric motor 100 is provided with acceleration parameter group configuration part 110, input voltage measurement section 111, acceleration parameter set selection portion 112, acceleration instruction department 113, nonvolatile memory 114 and volatile memory 115.And control device of electric motor 100 is connected with the drive division 10 that servomotor 11 is driven.
In addition, can use for example flash memory or EEPROM etc. as nonvolatile memory 114.In addition, can use for example DRAM or SRAM etc. as volatile memory 115.In addition, can use for example inverter etc. as drive division 10.
Here, acceleration parameter group configuration part 110 can be stored in the nonvolatile memory 114 inputing to a plurality of acceleration parameter group P1～Pn of acceleration parameter group configuration part 110.
The figure of the example of Fig. 2 acceleration parameter group P1～Pn that to be expression set by the acceleration parameter group configuration part 110 of Fig. 1.In Fig. 2, can comprise for example fast feed speed v s, normal speed vk, the accelerating time tk till normal speed vk among acceleration parameter group P1～Pn respectively, with respect to the rate of acceleration ra of peak acceleration am.And, as acceleration parameter group P1～Pn, can be at each input voltage Vi, set fast feed speed v s, normal speed vk, the accelerating time tk till normal speed vk, with respect to the rate of acceleration ra of peak acceleration am.In addition, if the acceleration will reach fast feed speed v s the time is made as, then the rate of acceleration ra with respect to peak acceleration am can be provided by ra=as/am.
In addition, acceleration parameter group P1～Pn can be set at, and in the low rotation speed area of servomotor 11, rate of acceleration ra compares increase with high rotary speed area.That is, can have in the low rotation speed area of rich amount, the rate of acceleration ra of servomotor 11 is increased, in the high rotary speed area of driving torque deficiency, rate of acceleration ra be reduced at driving torque.
In addition, in Fig. 1, input voltage measurement section 111 can be measured the input voltage Vi to drive division 10 inputs.In addition, as input voltage Vi, can adopt the DC bus-bar voltage or the AC-input voltage of the inverter that uses as drive division 10.Acceleration parameter set selection portion 112 can select the acceleration parameter group P1～Pn that is set by acceleration parameter group configuration part 110 based on the input voltage Vi that is measured by input voltage measurement section 111.Acceleration instruction department 113 can generate the acceleration model based on by the 112 selected acceleration parameter group P1～Pn of acceleration parameter set selection portion, makes drive division 10 carry out the acceleration of servomotor 11.Here, acceleration instruction department 113 is so that the mode that the load torque curve during acceleration drops in the torque characteristics of servomotor 11 generates the acceleration model.In addition, acceleration instruction department 113 can be in the acceleration model, degree of will speed up is set at fixing till the normal speed vk of servomotor 11, till from normal speed vk to fast feed speed v s, acceleration is reduced stage by stage, to reach specified rate of acceleration ra by acceleration parameter group P1～Pn.
In addition, in nonvolatile memory 114, the acceleration parameter group P1～Pn that sets by acceleration parameter group configuration part 110 can be stored, and the trapezoid figure program 121 that the system of selection of acceleration parameter group P1～Pn is carried out appointment can be stored.In addition, trapezoid figure program 121 can make acceleration parameter set selection portion 112 select acceleration parameter group P1～Pn, to have surplus and to generate the acceleration model with respect to input voltage Vi.In addition, in volatile memory 115, can store and the corresponding input voltage value 122 of value by the measured input voltage Vi of input voltage measurement section 111, and the parameter group sequence number 123 of storage to determining by the 112 selected acceleration parameter group P1～Pn of acceleration parameter set selection portion.
And, if will speed up/deceleration parameters group P1～Pn inputs to acceleration parameter group configuration part 110, then acceleration parameter group configuration part 110 will speed up/deceleration parameters group P1～Pn is stored in the nonvolatile memory 114.And, the input voltage Vi of input voltage measurement section 111 subtend drive divisions 10 inputs measures, its measurement result is utilized averaging of average filter, thereby calculate input voltage value 122, and it is stored in the volatile memory 115, and to 112 outputs of acceleration parameter set selection portion.
And if calculate input voltage value 122, then acceleration parameter set selection portion 112 compares input voltage value 122 and rated voltage (for example 200V), calculates the input voltage Vi that has produced which kind of degree thus and reduces.Then, the corresponding acceleration parameter group P1～Pn of ratio with input voltage Vi reduction selects in acceleration parameter set selection portion 112, will be used for determining that the parameter group sequence number 123 of this acceleration parameter group P1～Pn is stored in volatile memory 115.
Then, acceleration instruction department 113 reads the acceleration parameter group P1～Pn that determines according to parameter group sequence number 123 from nonvolatile memory 114, generates the acceleration model based on this acceleration parameter group P1～Pn.And acceleration instruction department 113 generates acceleration model R according to this acceleration model, and this acceleration model R is exported to drive division 10.Then, 10 pairs of voltages that are applied on the servomotor 11 of drive division are controlled, so that the rotating speed of servomotor 11 is approaching by the specified speed of acceleration model R, thereby carry out the acceleration of servomotor 11.
Here, acceleration instruction department 113 is by generating the acceleration model based on the acceleration parameter group P1～Pn corresponding with input voltage Vi, and so that in the low rotation speed area of servomotor 11, rate of acceleration ra compares the big mode of change and sets acceleration parameter group P1～Pn with high rotary speed area, even thereby under the situation that input voltage Vi reduces, also can be so that the load torque curve during acceleration drops in the torque characteristics of servomotor 11, effectively use simultaneously the output torque of servomotor 11 to greatest extent, toning or less stress in the time of can when suppressing the increase of acceleration time, reducing acceleration.
On the other hand, if trapezoid figure program 121 is activated, then trapezoid figure program 121 is indicated to acceleration parameter set selection portion 112, to select and the corresponding acceleration parameter group of the voltage P1～Pn that is lower than input voltage Vi.Then, if the indication that acceleration parameter set selection portion 112 receives from trapezoid figure program 121, then select and be lower than the corresponding acceleration parameter group of voltage P1～Pn of current input voltage Vi, and will be used for determining that the parameter group sequence number 123 of this acceleration parameter group P1～Pn is stored in volatile memory 115.Then, acceleration instruction department 113 reads the acceleration parameter group P1～Pn that determines according to parameter group sequence number 123 from nonvolatile memory 114, generate the acceleration model based on this acceleration parameter group P1～Pn, thereby can make the acceleration model have surplus with respect to current input voltage Vi.
Fig. 3-the 1st, the figure of an example of the acceleration model that expression is generated by the acceleration instruction department 113 of Fig. 1.In Fig. 3-1, if by acceleration parameter group P1～Pn and given fast feed speed v s, normal speed vk and with respect to the rate of acceleration ra of peak acceleration am, then can be by peak acceleration am being multiply by rate of acceleration ra, obtain acceleration when reaching fast feed speed v s (below be also referred to as minimum acceleration) as.And, acceleration instruction department 113 generates the acceleration model in the following manner, promptly, degree of will speed up is maintained peak acceleration am till reaching normal speed vk, till from normal speed vk to fast feed speed v s, make acceleration be reduced to minimum acceleration as stage by stage, by such generation acceleration model, can have in the rich low rotation speed area of measuring at driving torque increases the acceleration rate, reduces the acceleration rate in the high rotary speed area of driving torque deficiency.
Here, till from normal speed vk to fast feed speed v s, make acceleration be reduced under the situation of minimum acceleration as stage by stage from peak acceleration am, can draw a straight line till from the peak acceleration am of normal speed vk to the minimum acceleration as at fast feed speed v s place, acceleration is reduced stage by stage along this straight line.
Fig. 3-the 2nd, the figure of an example of the rate pattern that expression is generated by the acceleration instruction department 113 of Fig. 1.In Fig. 3-2, if the acceleration instruction department 113 of Fig. 1 has generated the acceleration model of Fig. 3-1, then can be according to this acceleration model formation speed model, and to drive division 10 outputs.Here, in the rate pattern of Fig. 3-2, during the accelerating time tk till normal speed vk in, the speed straight line increases, in during the accelerating time ts till fast feed speed v s here, the straight slope of speed reduces gradually.
Fig. 4 is the figure of the relation between the torque characteristics of the load torque curve that obtains according to acceleration parameter group P1～Pn of expression and servomotor.In Fig. 4, till fast feed speed v s, make in the fixing acceleration processing of acceleration, if input voltage Vi reduces, then in high rotary speed area, load torque curve Rt0 can't drop in the torque characteristics Et of servomotor 11, toning or less stress when therefore, producing acceleration.
Relative therewith, by will speed up/deceleration parameters group P1～Pn is set at, rate of acceleration ra increases in low rotation speed area, rate of acceleration ra reduces in high rotary speed area, thereby can be created on the load torque curve Rt1 in the torque characteristics Et that also drops on servomotor 11 in the high rotary speed area, and the climbing of the speed in the low rotation speed area is increased, can suppress the increase of accelerating time.
Fig. 5 is the figure of expression by an example of the generation method of the acceleration instruction department 113 generation acceleration models of Fig. 1.In Fig. 5,, for example will be set at 58% with respect to the rate of acceleration ra of peak acceleration am according to acceleration parameter group P1～Pn.And, if till supposing from normal speed vk to fast feed speed v s, with 10% of peak acceleration am is that unit reduces acceleration by stages, then acceleration instruction department 113 is obtained number of stages by carrying out the such calculating of (100-58)/10+1=5, thereby the acceleration of carrying out 5 stages is handled.
Usually, if the reduced rate of the acceleration in each stage is made as D (%), the number of stages S of the acceleration till then from normal speed vk to fast feed speed v s can obtain according to following formula.
S＝(100-ra)/D+1
Fig. 6 is the figure of the numerical example of the acceleration parameter group that sets at each input voltage of expression.In Fig. 6, if for example be that acceleration parameter group under 0% the situation is made as P1 with respect to the reduced rate of rated voltage with input voltage value 122, be that acceleration parameter group under 10% the situation is made as P2 with input voltage value 122 with respect to the reduced rate of rated voltage, then at acceleration parameter group P1, P2, set fast feed speed v s, normal speed vk, the accelerating time tk till normal speed vk respectively, with respect to the rate of acceleration ra of peak acceleration am.
And, the acceleration parameter set selection portion 112 of Fig. 1 is under 0% the situation at the reduced rate of input voltage value 122, select acceleration parameter group P1, will be used for determining that the parameter group sequence number 123 of this acceleration parameter group P1 is stored in volatile memory 115.In addition, the acceleration parameter set selection portion 112 of Fig. 1 is under 10% the situation at the reduced rate of input voltage value 122, select acceleration parameter group P2, will be used for determining that the parameter group sequence number 123 of this acceleration parameter group P2 is stored in volatile memory 115.
Fig. 7-the 1st, expression is according to the figure of the acceleration model of the acceleration parameter group generation of Fig. 6.In Fig. 7-1, be stored in volatile memory 115 if will be used for the parameter group sequence number 123 of the acceleration parameter group P1 of definite Fig. 6, then acceleration instruction department 113 reads by parameter group sequence number 123 determined acceleration parameter group P1 from nonvolatile memory 114.And acceleration instruction department 113 calculates number of stages (being 7 in the case) when acceleration is reduced stage by stage according to acceleration parameter group P1, and generates acceleration model Q1 based on this acceleration parameter group P1.
In addition, be stored in volatile memory 115 if will be used for the parameter group sequence number 123 of the acceleration parameter group P2 of definite Fig. 6, then acceleration instruction department 113 reads by parameter group sequence number 123 determined acceleration parameter group P2 from nonvolatile memory 114.And acceleration instruction department 113 calculates number of stages (being 6 in the case) when acceleration is reduced stage by stage according to acceleration parameter group P2, and generates acceleration model Q2 based on this acceleration parameter group P2.
Fig. 7-the 2nd, expression is according to the figure of the rate pattern of the acceleration model generation of Fig. 7-1.In Fig. 7-2, be under 0% the situation,, then to generate acceleration model R1 at the reduced rate of input voltage Vi according to this acceleration model Q1 if acceleration instruction department 113 has generated acceleration model Q1, and to drive division 10 outputs of Fig. 1.And, if drive division 10 receives acceleration model R1 from acceleration instruction department 113, then drive servomotor 11, make its with by acceleration model R1 given speed consistent.
In addition, be under 10% the situation,, then to generate acceleration model R2 at the reduced rate of input voltage Vi according to this acceleration model Q2 if acceleration instruction department 113 has generated acceleration model Q2, and to drive division 10 outputs of Fig. 1.And, if drive division 10 receives acceleration model R2 from acceleration instruction department 113, then drive servomotor 11, make its with by acceleration model R2 given speed consistent.In addition, in the example of Fig. 6, be that the acceleration parameter group P1 under 0% and 10% the situation, the establishing method of P2 are illustrated at the reduced rate of input voltage value 122, but at the reduced rate of input voltage value 122 is 5% or 20% to wait under other situation, also can set the acceleration parameter group.
Embodiment 2
In the foregoing description 1, be illustrated at the method that input voltage measurement section 111 is arranged on control device of electric motor 100 inside, but also input voltage measurement section 111 can be arranged on the outside of control device of electric motor 100, for example also can be arranged in the drive division 10.
Industrial applicibility
As mentioned above, control device of electric motor involved in the present invention is applicable in the following method, namely, by generating the acceleration/deceleration instruction based on the acceleration/deceleration parameter group and to drive unit output, thereby be controlled at the drive unit that makes workpiece obtain processing when utilizing servomotor that workpiece and cutter are relatively moved.
Claims (4)
1. control device of electric motor is characterized in that having:
Acceleration parameter group configuration part, it sets the acceleration parameter group at each input voltage, wherein, described acceleration parameter group is specified rate of acceleration, makes that rate of acceleration is compared change greatly with high rotary speed area in the low rotation speed area of servomotor;
Acceleration parameter set selection portion, it selects the acceleration parameter group that is set by described acceleration parameter group configuration part based on the input voltage to the drive division input that drives described servomotor; And
The acceleration instruction department, it is based on by the selected acceleration parameter group of described acceleration parameter set selection portion, so that the mode that the load torque curve during acceleration drops in the torque characteristics of described servomotor generates the acceleration model.
2. control device of electric motor according to claim 1 is characterized in that,
Has nonvolatile memory, a plurality of acceleration parameter group that its storage is set at each described input voltage.
3. control device of electric motor according to claim 1 and 2 is characterized in that,
Described acceleration instruction department generates following acceleration model, promptly, degree of will speed up is set at fixing till the normal speed of described servomotor, till from described normal speed to fast feed speed, acceleration is reduced stage by stage, to reach rate of acceleration by the appointment of described acceleration parameter group.
4. according to each described control device of electric motor in the claim 1 to 3, it is characterized in that,
Also have the input voltage measurement section, its subtend drives the input voltage of the drive division input of described servomotor and measures.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2008/068282 WO2010041314A1 (en) | 2008-10-08 | 2008-10-08 | Motor controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102177652A true CN102177652A (en) | 2011-09-07 |
| CN102177652B CN102177652B (en) | 2014-12-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200880131495.4A Active CN102177652B (en) | 2008-10-08 | 2008-10-08 | Motor controller |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP5127930B2 (en) |
| CN (1) | CN102177652B (en) |
| BR (1) | BRPI0823121B1 (en) |
| WO (1) | WO2010041314A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108462428A (en) * | 2018-03-21 | 2018-08-28 | 上海小蚁科技有限公司 | Motor speed adjusting method and device, computer readable storage medium, terminal |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101611148B1 (en) | 2014-06-26 | 2016-04-08 | 미쓰비시덴키 가부시키가이샤 | Positioning control device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6395891A (en) * | 1986-10-08 | 1988-04-26 | Mitsubishi Electric Corp | Controlling device for inverter |
| JPH02299491A (en) * | 1989-05-12 | 1990-12-11 | Fanuc Ltd | Acceleration/deceleration control system for motor |
| JPH07303395A (en) * | 1994-04-28 | 1995-11-14 | Mitsubishi Electric Corp | Inverter system and its controlling |
| CN1682430A (en) * | 2002-09-13 | 2005-10-12 | 东京毅力科创株式会社 | Rotation drive device and rotation drive method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06121589A (en) * | 1992-10-03 | 1994-04-28 | Mita Ind Co Ltd | Motor drive control circuit |
-
2008
- 2008-10-08 WO PCT/JP2008/068282 patent/WO2010041314A1/en active Application Filing
- 2008-10-08 CN CN200880131495.4A patent/CN102177652B/en active Active
- 2008-10-08 BR BRPI0823121A patent/BRPI0823121B1/en not_active IP Right Cessation
- 2008-10-08 JP JP2010532731A patent/JP5127930B2/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6395891A (en) * | 1986-10-08 | 1988-04-26 | Mitsubishi Electric Corp | Controlling device for inverter |
| JPH02299491A (en) * | 1989-05-12 | 1990-12-11 | Fanuc Ltd | Acceleration/deceleration control system for motor |
| JPH07303395A (en) * | 1994-04-28 | 1995-11-14 | Mitsubishi Electric Corp | Inverter system and its controlling |
| CN1682430A (en) * | 2002-09-13 | 2005-10-12 | 东京毅力科创株式会社 | Rotation drive device and rotation drive method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108462428A (en) * | 2018-03-21 | 2018-08-28 | 上海小蚁科技有限公司 | Motor speed adjusting method and device, computer readable storage medium, terminal |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2010041314A1 (en) | 2010-04-15 |
| BRPI0823121A2 (en) | 2015-06-16 |
| JP5127930B2 (en) | 2013-01-23 |
| JPWO2010041314A1 (en) | 2012-03-01 |
| CN102177652B (en) | 2014-12-10 |
| BRPI0823121B1 (en) | 2018-11-27 |
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