CN102353535B - Low-power-consumption hardware-in-loop test platform and method for stepless speed changer of vehicle - Google Patents
Low-power-consumption hardware-in-loop test platform and method for stepless speed changer of vehicle Download PDFInfo
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Abstract
本发明公开了一种车辆无级变速器低功耗硬件在环试验台,包括目标机、宿主机、数据采集单元和硬件单元;硬件单元包括依次连接的驱动电机、无级变速器和负载电机,宿主机内建立simulink车辆传动模型,运行时利用RTW编译模型下载至目标机;目标机分别与驱动电机和负载电机对应的变频器连接,通过对车辆传动模型的仿真参数的设置,目标机使驱动电机具有和发动机相同的转速特性并使负载电机的运转情况接近于实车运行;数据采集单元采集无级变速器的运行数据,并输出数据,本发明利用无级变速器中变速机构的受力平衡,在进行控制系统和液压系统性能研究时,采用小功率驱动电机及负载电机代替发动机和大功率加载设备,变速器处于空载/轻载状态运行,大大降低了试验台的建设成本。
The invention discloses a low-power hardware-in-the-loop test bench for vehicle continuously variable transmission, which includes a target machine, a host machine, a data acquisition unit and a hardware unit; The simulink vehicle transmission model is established in the host computer, and the RTW compiled model is used to download the model to the target machine during operation; the target machine is connected to the inverters corresponding to the drive motor and the load motor respectively, and the target machine makes the drive motor It has the same speed characteristics as the engine and makes the running condition of the load motor close to that of the real vehicle; the data acquisition unit collects the running data of the continuously variable transmission and outputs the data. The present invention utilizes the force balance of the speed change mechanism in the continuously variable transmission to When researching the performance of the control system and hydraulic system, low-power drive motors and load motors are used to replace the engine and high-power loading equipment, and the transmission operates in no-load/light-load conditions, which greatly reduces the construction cost of the test bench.
Description
技术领域 technical field
本发明涉及变速器试验装置,具体涉及一种车辆无级变速器低功耗硬件在环试验台。 The invention relates to a transmission test device, in particular to a low-power consumption hardware-in-the-loop test bench for a vehicle continuously variable transmission.
背景技术 Background technique
常规车辆无级变速器试验台的设计目标是尽可能模仿车辆实际行驶工况,试验台由发动机、变速器、飞轮、加载设备等组成,其中发动机可由功率相当的电机代替,飞轮和加载设备可由满足要求的电机代替,这种试验台结构复杂,成本高,运行过程中能耗较大。 The design goal of conventional vehicle continuously variable transmission test bench is to imitate the actual driving conditions of the vehicle as much as possible. The test bench is composed of engine, transmission, flywheel, loading equipment, etc., in which the engine can be replaced by a motor with equivalent power, and the flywheel and loading equipment can be replaced by a motor that meets the requirements. Instead of a motor, this kind of test bench has a complex structure, high cost, and large energy consumption during operation.
目前国内对无级变速器研究的一个重点是控制系统和液压系统,由于无级变速器的变速机构自身具有的受力平衡关系,液压系统的运行状况几乎不受变速器负载的影响,在空载或轻载工况也能够进行正常的速比控制和夹紧力控制。 At present, one focus of domestic research on continuously variable transmissions is the control system and hydraulic system. Due to the force balance relationship of the transmission mechanism of the continuously variable transmission itself, the operating status of the hydraulic system is almost not affected by the load of the transmission. Normal speed ratio control and clamping force control can also be performed under load conditions.
为了降低试验建设及运行成本,在不对无级变速器的效率和钢带寿命进行研究时,则不需要施加与实际工况相同的负载,而只要保证转速及速比变化等与真实情况接近皆可。将动力源改为小功率电机,只需保证变速器能够在空载或轻载工况运行即可,加载设备亦改为小功率电机,同时减小或取消惯量飞轮,从而大大降低了试验台建设成本。 In order to reduce the cost of test construction and operation, when the efficiency and steel belt life of the CVT are not studied, it is not necessary to apply the same load as the actual working condition, but as long as the speed and speed ratio change are close to the real situation. . To change the power source to a low-power motor, it is only necessary to ensure that the transmission can run under no-load or light-load conditions, and the loading equipment is also changed to a low-power motor, while reducing or canceling the inertia flywheel, which greatly reduces the construction of the test bench. cost.
快速控制原型是现在控制策略和控制算法研究的趋势,商业平台比较昂贵,因此利用MATLAB软件的xPC target功能设计车辆无级变速器低功耗硬件在环试验台是一种值得考虑的低成本方法,而目前未有基于空载/轻载的无级变速器硬件在环试验台。 Rapid control prototyping is the current trend in the research of control strategies and control algorithms. Commercial platforms are relatively expensive. Therefore, using the xPC target function of MATLAB software to design vehicle CVT low-power hardware-in-the-loop test benches is a low-cost method worth considering. At present, there is no hardware-in-the-loop test bench for CVT based on no-load/light-load.
发明内容 Contents of the invention
有鉴于此,本发明的目的之一是提供一种车辆无级变速器低功耗硬件在环试验台,利用无级变速器中变速机构自身具有的受力平衡关系,在进行控制系统和液压系统性能研究时,采用小功率驱动电机及负载电机代替发动机和大功率加载设备,大大降低了试验台的建设成本;本发明的目的之二是提供了一种车辆无级变速器低功耗硬件在环试验方法。 In view of this, one of the objectives of the present invention is to provide a low-power consumption hardware-in-the-loop test bench for vehicle continuously variable transmission, which utilizes the force balance relationship of the transmission mechanism itself in the continuously variable transmission to test the performance of the control system and hydraulic system. During the research, a low-power driving motor and a load motor are used to replace the engine and high-power loading equipment, which greatly reduces the construction cost of the test bench; the second purpose of the present invention is to provide a low-power hardware-in-the-loop test for a continuously variable transmission of a vehicle method.
本发明的目的是通过以下技术方案实现的: The purpose of the present invention is achieved through the following technical solutions:
该车辆无级变速器低功耗硬件在环试验台,所述试验台包括目标机、宿主机、数据采集单元和硬件单元; The vehicle CVT low-power hardware-in-the-loop test bench includes a target machine, a host machine, a data acquisition unit and a hardware unit;
所述硬件单元包括依次连接的驱动电机、无级变速器和负载电机,所述宿主机内建立simulink车辆传动模型,所述车辆传动模型的仿真参数通过宿主机进行输入,运行时,利用RTW编译模型下载至目标机; The hardware unit includes a drive motor, a continuously variable transmission and a load motor connected in sequence, and a simulink vehicle transmission model is established in the host computer, and the simulation parameters of the vehicle transmission model are input through the host computer. During operation, the model is compiled using RTW Download to the target machine;
所述目标机通过不同的通信接口分别与驱动电机和负载电机控制连接,通过对车辆传动模型的仿真参数的设置,目标机使驱动电机具有和发动机相同的转速特性,同时使负载电机的运转情况接近于实车运行; The target machine is respectively connected to the drive motor and the load motor through different communication interfaces. Through the setting of the simulation parameters of the vehicle transmission model, the target machine makes the drive motor have the same speed characteristics as the engine, and at the same time makes the load motor run. Close to real vehicle operation;
所述数据采集单元通过传感器采集真实CVT的夹紧力和主、从动轮转速信号,输入车辆传动仿真模型,用于研究夹紧力控制算法和速比控制算法的控制效果,并用于计算车速和发动机转速,所得数据保存至目标机或上传至宿主机。 The data acquisition unit collects the clamping force of the real CVT and the speed signals of the driving and driven wheels through the sensor, and inputs the vehicle transmission simulation model for studying the control effect of the clamping force control algorithm and the speed ratio control algorithm, and for calculating the vehicle speed and speed ratio. Engine speed, the obtained data is saved to the target machine or uploaded to the host machine.
进一步,所述控制单元分别通过变频器I和变频器II实现对驱动电机和负载电机的转速控制; Further, the control unit realizes the speed control of the driving motor and the load motor through the frequency converter I and the frequency converter II respectively;
进一步,所述数据采集单元包括采集卡与CVT接口板,所述CVT接口板与无级变速器上的传感器输出端相连接,并将采集的运行数据通过采集卡输出至目标机; Further, the data acquisition unit includes an acquisition card and a CVT interface board, the CVT interface board is connected to the sensor output terminal on the continuously variable transmission, and outputs the collected operating data to the target machine through the acquisition card;
进一步,所述simulink车辆传动模型包括驾驶员、发动机、控制器、行驶阻力、行驶动力学、运动控制模块。 Further, the simulink vehicle transmission model includes a driver, an engine, a controller, driving resistance, driving dynamics, and motion control modules.
进一步,所述仿真参数包括发动机、CVT和路况参数,计算发动机转矩、行驶阻力、速比和系统压力,并进一步计算目标车速和目标发动机转速。 Further, the simulation parameters include engine, CVT and road condition parameters, calculate engine torque, running resistance, speed ratio and system pressure, and further calculate target vehicle speed and target engine speed.
本发明的目的之二是通过以下技术方案实现的: Two of the purpose of the present invention is achieved through the following technical solutions:
该车辆无级变速器低功耗硬件在环试验方法,包括以下步骤: The vehicle CVT low-power hardware-in-the-loop test method includes the following steps:
1)将驱动电机、无级变速器和负载电机依次联接,组成硬件单元; 1) Connect the drive motor, continuously variable transmission and load motor in sequence to form a hardware unit;
2)在宿主机内建立simulink车辆传动模型,并输入车辆传动模型的仿真参数,利用RTW编译模型下载至目标机; 2) Establish a simulink vehicle transmission model in the host machine, and input the simulation parameters of the vehicle transmission model, and download the model to the target machine using RTW compilation;
3)运行目标机程序,硬件单元开始运转,驱动电机具有和发动机相同的转速特性,同时使负载电机的运转情况接近于实车运行; 3) Run the target machine program, the hardware unit starts to run, the driving motor has the same speed characteristics as the engine, and at the same time, the running condition of the load motor is close to that of the actual vehicle;
4)数据采集单元通过传感器采集真实CVT的夹紧力和主从动轮转速信号,输入车辆传动仿真模型,用于研究夹紧力控制算法和速比控制算法的控制效果,并用于计算车速和发动机转速,所得数据保存至目标机或上传至宿主机。 4) The data acquisition unit collects the real CVT clamping force and the speed signal of the main and driven wheels through the sensor, and inputs the vehicle transmission simulation model to study the control effect of the clamping force control algorithm and the speed ratio control algorithm, and to calculate the vehicle speed and engine speed. Speed, the obtained data is saved to the target machine or uploaded to the host machine.
本发明的有益效果是: The beneficial effects of the present invention are:
1.利用无级变速器中变速机构自身具有的受力平衡关系,在进行控制系统和液压系统性能研究时,采用小功率驱动电机及负载电机代替发动机和大功率加载设备,变速器处于空载/轻载状态运行,大大降低了试验台的建设成本; 1. Utilizing the force balance relationship of the transmission mechanism itself in the continuously variable transmission, when conducting performance research on the control system and hydraulic system, the low-power drive motor and load motor are used to replace the engine and high-power loading equipment, and the transmission is in the no-load/light-load state operation, greatly reducing the construction cost of the test bench;
2.相对于纯模型仿真系统而言,本发明将变速器包含在硬件在环之中,提高运行精度; 2. Compared with the pure model simulation system, the present invention includes the transmission in the hardware-in-the-loop to improve the operation accuracy;
3.本发明采用基于xPC的宿主机—目标机结构,保证系统运行的实时性。 3. The present invention adopts a host machine-target machine structure based on xPC to ensure the real-time performance of system operation.
4.该系统将变速器和电机进行联合控制,通过控制变频器使电机具有和发动机相同的转速特性,同时控制负载电机,使试验台的运转情况和实车运行接近,具有常规试验台的大部分功能,包括开发和验证控制策略和控制算法,便于对液压执行机构进行性能测试和分析,实现了低能耗,低成本。 4. The system jointly controls the transmission and the motor. By controlling the frequency converter, the motor has the same speed characteristics as the engine. At the same time, it controls the load motor, so that the operation of the test bench is close to that of the real vehicle. It has most of the functions of the conventional test bench. Including the development and verification of control strategies and control algorithms, it is convenient for performance testing and analysis of hydraulic actuators, achieving low energy consumption and low cost.
本发明的其他优点、目标和特征在某种程度上将在随后的说明书中进行阐述,并且在某种程度上,基于对下文的考察研究对本领域技术人员而言将是显而易见的,或者可以从本发明的实践中得到教导。本发明的目标和其他优点可以通过下面的说明书和权利要求书来实现和获得。 Other advantages, objects and features of the present invention will be set forth in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the investigation and research below, or can be obtained from Taught in the practice of the present invention. The objects and other advantages of the invention will be realized and attained by the following description and claims.
附图说明 Description of drawings
为了使本发明的目的、技术方案和优点更加清楚,下面将结合附图对本发明作进一步的详细描述,其中: In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with the accompanying drawings, wherein:
图1是本发明的试验台结构简图; Fig. 1 is a schematic diagram of the test bench structure of the present invention;
图2为本发明的离合器和变矩器闭锁工况下的动力学模型示意图。 Fig. 2 is a schematic diagram of the dynamic model of the clutch and the torque converter in the lock-up condition of the present invention.
具体实施方式 Detailed ways
以下将参照附图,对本发明的优选实施例进行详细的描述。应当理解,优选实施例仅为了说明本发明,而不是为了限制本发明的保护范围。 Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the preferred embodiments are only for illustrating the present invention, but not for limiting the protection scope of the present invention.
如图1所示,本发明的车辆无级变速器低功耗硬件在环试验台,包括宿主机1、目标机2、数据采集单元3和硬件单元; As shown in Figure 1, the low-power consumption hardware-in-the-loop test bench of the vehicle continuously variable transmission of the present invention includes a host machine 1, a target machine 2, a data acquisition unit 3 and a hardware unit;
硬件单元包括依次连接的驱动电机5、无级变速器6和负载电机7,通过在宿主机1内建立simulink车辆传动模型,所述车辆传动模型的仿真参数通过宿主机进行输入,运行时,利用RTW编译模型下载至目标机; The hardware unit includes a drive motor 5, a continuously variable transmission 6, and a load motor 7 connected in sequence. By establishing a simulink vehicle transmission model in the host computer 1, the simulation parameters of the vehicle transmission model are input through the host computer. When running, use RTW Download the compiled model to the target machine;
RTW是MATLAB的一个工具软件,可以将simulink模型编译并自动下载至目标机。 RTW is a tool software of MATLAB, which can compile and automatically download the simulink model to the target machine.
XPC是simulink的一个功能模块,用于实现一种宿主机-目标机式的硬件在环结构,其中,目标机为通用PC兼容机,在宿主机上建立simulink模型,通过RTW编译后,下载至目标机并实时运行。目标机是裸机,无需windows等操作系统,只运行编译后的模型程序,保证了运行速度,因此可以实时运行。 XPC is a functional module of simulink, which is used to implement a host-target hardware-in-the-loop structure. The target machine is a general-purpose PC compatible machine, and the simulink model is built on the host machine, compiled through RTW, and downloaded to target machine and run in real time. The target machine is bare metal, without operating systems such as windows, and only runs the compiled model program to ensure the running speed, so it can run in real time.
目标机通过不同的通信接口分别与驱动电机和负载电机控制连接,simulink车辆传动模型包括驾驶员、发动机、控制器、行驶阻力、行驶动力学、运动控制模块。通过对车辆传动模型的仿真参数的设置(仿真参数包括发动机、CVT和路况参数),计算发动机转矩、行驶阻力、速比和系统压力,并进一步计算目标车速和目标发动机转速。 The target machine is connected to the drive motor and the load motor through different communication interfaces. The simulink vehicle transmission model includes the driver, engine, controller, driving resistance, driving dynamics, and motion control modules. By setting the simulation parameters of the vehicle transmission model (the simulation parameters include engine, CVT and road condition parameters), the engine torque, driving resistance, speed ratio and system pressure are calculated, and the target vehicle speed and target engine speed are further calculated.
目标机使驱动电机具有和发动机相同的转速特性,同时使负载电机的运转情况接近于实车运行;本实施例中,控制单元分别通过变频器I 8和变频器II 9实现对驱动电机和负载电机的转速控制。 The target machine makes the driving motor have the same speed characteristics as the engine, and simultaneously makes the operating condition of the load motor close to the actual vehicle operation; Motor speed control.
所述数据采集单元通过传感器采集无级变速器的运行数据,并输出数据保存至目标机或上传至宿主机。本实施例中,数据采集单元包括采集卡与CVT接口板4, CVT接口板4与无级变速器上的传感器输出端相连接,并将采集的运行数据通过采集卡输出至目标机。 The data acquisition unit collects the operation data of the continuously variable transmission through the sensor, and outputs the data and saves them to the target machine or uploads them to the host machine. In the present embodiment, the data acquisition unit includes an acquisition card and a CVT interface board 4, and the CVT interface board 4 is connected with the sensor output terminal on the continuously variable transmission, and the running data collected is output to the target machine through the acquisition card.
Simulink是MATLAB中的一种可视化仿真工具,是一种基于MATLAB的框图设计环境,是实现动态系统建模、仿真和分析的一个软件包,被广泛应用于线性系统、非线性系统、数字控制及数字信号处理的建模和仿真中。Simulink可以用连续采样时间、离散采样时间或两种混合的采样时间进行建模,它也支持多速率系统,也就是系统中的不同部分具有不同的采样速率。为了创建动态系统模型,Simulink提供了一个建立模型方块图的图形用户接口(GUI) ,这个创建过程只需单击和拖动鼠标操作就能完成,它提供了一种更快捷、直接明了的方式,而且用户可以立即看到系统的仿真结果。 Simulink is a visual simulation tool in MATLAB. It is a block diagram design environment based on MATLAB. It is a software package for dynamic system modeling, simulation and analysis. It is widely used in linear systems, nonlinear systems, digital control and In modeling and simulation of digital signal processing. Simulink can model with continuous sample time, discrete sample time, or a mixture of the two. It also supports multirate systems, that is, different parts of the system have different sample rates. In order to create a dynamic system model, Simulink provides a graphical user interface (GUI) for building a model block diagram. This creation process can be completed by simply clicking and dragging the mouse, which provides a faster, more straightforward way , and the user can immediately see the simulation results of the system.
与完全在PC机上运行的纯仿真模型比较,本发明的车辆无级变速器低功耗硬件在环试验台具有以下特性: Compared with the pure simulation model fully running on the PC, the vehicle continuously variable transmission low power consumption hardware-in-the-loop test bench of the present invention has the following characteristics:
1)用实际CVT代替CVT模型,其仿真效果与纯软件环境相比,更接近于真实情况; 1) Replace the CVT model with the actual CVT, and the simulation effect is closer to the real situation than the pure software environment;
2)运动控制模块根据传动系统动力学,计算得到的目标发动机转速和车速,运动控制模块控制变频器使驱动电机和负载电机转速跟踪目标发动机转速和车速,试验台的运转特性与实际车辆相近; 2) The motion control module calculates the target engine speed and vehicle speed according to the dynamics of the transmission system. The motion control module controls the frequency converter to make the drive motor and load motor speed track the target engine speed and vehicle speed. The operating characteristics of the test bench are similar to the actual vehicle;
3)CVT接口板是CVT和采集卡的信号转换接口,将CVT上的传感器信号转换成采集卡可以采集的信号,同时根据采集卡输出的控制信号对电磁阀进行驱动。电磁阀包括与变速机构有关的夹紧力阀和速比阀,其中夹紧力阀用于控制从动轮的夹紧力,速比阀用于控制主动轮的夹紧力,主动轮和从动轮都由固定盘和滑动盘组成,通过控制两个阀来调节主从动轮的夹紧力比值,改变主动轮和从动轮的工作半径,从而实现速比连续改变。 3) The CVT interface board is the signal conversion interface between the CVT and the acquisition card, which converts the sensor signal on the CVT into a signal that can be collected by the acquisition card, and drives the solenoid valve according to the control signal output by the acquisition card. The solenoid valve includes a clamping force valve and a speed ratio valve related to the transmission mechanism. The clamping force valve is used to control the clamping force of the driven wheel, and the speed ratio valve is used to control the clamping force of the driving wheel. The driving wheel and the driven wheel Both are composed of a fixed plate and a sliding plate. By controlling the two valves, the clamping force ratio of the driving wheel and the driven wheel can be adjusted, and the working radius of the driving wheel and the driven wheel can be changed, so that the speed ratio can be continuously changed.
基于以上试验台,本发明的车辆无级变速器低功耗硬件在环试验方法,包括以下步骤: Based on the above test bench, the vehicle continuously variable transmission low power consumption hardware-in-the-loop testing method of the present invention comprises the following steps:
1)将驱动电机、无级变速器和负载电机依次联接,组成硬件单元; 1) Connect the drive motor, continuously variable transmission and load motor in sequence to form a hardware unit;
2)在宿主机内建立simulink车辆传动模型,并输入车辆传动模型的仿真参数,利用RTW编译模型下载至目标机; 2) Establish a simulink vehicle transmission model in the host machine, and input the simulation parameters of the vehicle transmission model, and download the model to the target machine using RTW compilation;
3)运行目标机程序,硬件单元开始运转,驱动电机具有和发动机相同的转速特性,同时使负载电机的运转情况接近于实车运行; 3) Run the target machine program, the hardware unit starts to run, the driving motor has the same speed characteristics as the engine, and at the same time, the running condition of the load motor is close to that of the actual vehicle;
4)对试验过程进行监控,并将数据保存在目标机或上传至宿主机; 4) Monitor the test process, and save the data in the target machine or upload it to the host machine;
5)试验运转结束后,对试验数据进行处理。 5) After the test run is over, process the test data.
如图2所示,离合器和变矩器在闭锁工况下的动力学模型为: As shown in Figure 2, the dynamic model of the clutch and torque converter under the lock-up condition is:
; ;
式中,速比i通过采集试验台变速器输入/输出轴转速计算得到。 In the formula, the speed ratio i is calculated by collecting the input/output shaft speed of the transmission on the test bench.
CVT目前最常见的一种结构为:发动机-离合器-变矩器-变速机构-主减速-车轮。由于离合器控制和变矩器控制是通用技术,并不是CVT特有的技术,因此不是CVT研究的重点,通常对CVT的控制研究主要集中在离合器闭合且变矩器闭锁状态的研究,此时的控制内容包括速比控制和夹紧力控制,是CVT特有的控制内容。 The most common structure of CVT is: engine-clutch-torque converter-transmission mechanism-final reduction-wheel. Since clutch control and torque converter control are common technologies and not unique to CVT, they are not the focus of CVT research. Usually, the research on CVT control mainly focuses on the research of the clutch closed and torque converter locked state. At this time, the control The content includes speed ratio control and clamping force control, which is the unique control content of CVT.
动力学仿真得到发动机转速和车速分别作为试验台驱动电机和负载电机的目标转速。由于CVT自身的受力平衡关系,速比变化率及控制特性只和转速有关,与传递的扭矩无关,因此只要使驱动电机转速特性与发动机转速相同,负载电机转速与驱动轮转速相同,就可准确地反映CVT的速比特性。 The engine speed and vehicle speed are obtained from the dynamic simulation as the target speeds of the drive motor and the load motor of the test bench, respectively. Due to the force balance relationship of CVT itself, the speed ratio change rate and control characteristics are only related to the speed, not the transmitted torque. Therefore, as long as the speed characteristics of the drive motor are the same as the engine speed, and the speed of the load motor is the same as the speed of the driving wheel, it can be achieved. Accurately reflect the speed ratio characteristics of CVT.
通过上述方程仿真得到发动机转速和车速,通过变频器使驱动电机转速跟踪计算得到的发动机转速,调节负载电机转速,跟踪目标车速对应的车轮转速。此时CVT就工作在与实际工况相同的发动机转速和车速下。 The engine speed and vehicle speed are simulated through the above equations, and the drive motor speed is tracked to the calculated engine speed through the frequency converter, and the load motor speed is adjusted to track the wheel speed corresponding to the target vehicle speed. At this time, the CVT works at the same engine speed and vehicle speed as the actual working conditions.
最后说明的是,以上实施例仅用以说明本发明的技术方案而非限制,尽管参照较佳实施例对本发明进行了详细说明,本领域的普通技术人员应当理解,可以对本发明的技术方案进行修改或者等同替换,而不脱离本技术方案的宗旨和范围,其均应涵盖在本发明的权利要求范围当中。 Finally, it is noted that the above embodiments are only used to illustrate the technical solutions of the present invention without limitation. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be carried out Modifications or equivalent replacements, without departing from the spirit and scope of the technical solution, should be included in the scope of the claims of the present invention.
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