CN102495645B - Gyro-stabilized platform for high-speed rolling carrier and control method thereof - Google Patents
Gyro-stabilized platform for high-speed rolling carrier and control method thereof Download PDFInfo
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- CN102495645B CN102495645B CN 201110385683 CN201110385683A CN102495645B CN 102495645 B CN102495645 B CN 102495645B CN 201110385683 CN201110385683 CN 201110385683 CN 201110385683 A CN201110385683 A CN 201110385683A CN 102495645 B CN102495645 B CN 102495645B
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Abstract
The invention discloses a gyro-stabilized platform for a high-speed rolling carrier and a control method thereof. The platform body is provided with a stabilized object and a gyroscope; the gyroscope measures the angular motion information of the platform body; an encoder measures the information of a rotor of a servo motor relative to a stator of the servo motor; and a servo drive controller analyzes the angular motion state of the platform body relative to a reference plane according to the angular motion information, performs space vector transformation on current by use of the angle information provided by the encoder and the phase current of the servo motor detected in real time according to a PID control strategy, and controls the output torque of the servo motor to counteract the corresponding rotation of the platform body. The gyro-stabilized platform disclosed by the invention is applied to a high-speed rolling carrier, and can accurately ensure the attitude reference in severe operation conditions.
Description
Technical field
The present invention relates to a kind of gyrostabilized platform.
Background technology
Gyrostabilized platform can be isolated the carrier disturbance, sets up under the carrier movement state and stablize reference field, make the equipment that is installed on the platform not can because of shake and the rolling of carrier movement generation can't operate as normal.Its principal character is to adopt Inertial Measurement Unit as the angular motion sensitive element, and constantly the variation of measuring table posture position makes the angular motion of platform stage body and carrier isolated by servo actuation mechanism, accurately keeps platform stage body attitude reference.
Gyrostabilized platform integrates inertial navigation, data acquisition and signal processing, precision optical machinery Dynamic Modeling and multinomial technology such as emulation, motor movement control, be based on electromechanical integration and target identification automatic control technology, the product that a plurality of subjects organically combine, demand is widely used.For example: in the drilling well mining operations, the gyrostabilized platform of rotary steering drilling tool is the key component in the whole steering tool, stable platform can not be subjected to the influence of drilling rod rotation and relatively stable a given angle, thereby make the rotary steering system can be when the rotation of drilling tool and orienting lug, wellbore trace is preset in the stable tracking of drilling tool, realizes the drilling of well.
Publication number is that the patent " directional stabilizing platform of gyro " of CN1305091 has provided a kind of directional stabilizing platform of gyro, when motion carrier jolts when making platform stage body deflection, by drive unit the platform stage body is corrected back to horizontal attitude.Publication number is that the patent " two antenna assemblies of gyrostabilized platform " of CN2204069 has provided two antenna assemblies of a kind of gyrostabilized platform, when hull waves, utilize the gyroscopic couple that rotary flyweights forms on the gyrostabilized platform opposite with the disturbance torque direction, reach and keep the former horizontality of antenna assembly.Publication number is that the patent " a kind of Aerophotography gyrostabilized platform with three freedom degrees and large load " of CN101619971 provides a kind of Aerophotography gyrostabilized platform with three freedom degrees and large load, the platform stage body angular motion information that angular motion causes according to airframe, drive systems platform stage body rotates the isolation that realizes the airframe angular motion.Publication number is that the patent " rate gyro stabilizing platform type antenna followup system " of CN101382805 provides a kind of high-precision two-degrees-of-freedom stable platform, realizes rotating, rotating two degree of freedom motions around Y-axis around X-axis under different sea situations.For high speed lift-over carrier, carrier can rotate at a high speed around axle, and their roll angle acceleration is very big, therefore needs stable platform to have good dynamic quality.Carrier big overload can occur in operational process, moment needs the bigger moment overcome friction of drive motor output.Shafting structure inhomogeneous makes stable platform stuck phenomenon might occur, causes the platform can't operate as normal, needs stable platform to have and overcomes the inhomogeneous ability of physical construction.Stable platform is installed in the high speed lift-over carrier, and the space is limited, and work under bad environment need be born harsh conditions such as high low temperature, strong vibration, big centrifugal force.Above-mentioned several stable platform method for designing can't be applied to high speed lift-over carrier.Document " based on the single axis stable platform servo-control system design of DSP " has provided a kind of single axis stable platform servo-control system method for designing.The controller of this method and driver do not adopt the electrical isolation design, and the work of drive motor produces serious electromagnetic interference (EMI) to the work of controller and gyro, and the document does not propose corresponding control method according to high speed lift-over carrier operation characteristic.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of gyrostabilized platform and control method thereof for high speed lift-over carrier, make the platform stage body in high speed lift-over carrier operational process, accurately keep attitude reference, be applicable to the stable reference field problem of various lift-over carriers, overcome electromagnetic interference (EMI) simultaneously.
The technical solution adopted for the present invention to solve the technical problems is: a kind of gyrostabilized platform for high speed lift-over carrier, comprise platform stage body, servomotor, scrambler and servo driving controller, and be equipped with on the platform stage body and stablized object and gyro.Gyro is as the angular motion information sensor, and the angular motion information on measuring table stage body relative datum plane provides the control feedback information for the servo driving controller.Scrambler is measured the angle information of servo motor rotor relative stator, and controlling for the high precision tracking of servo driving controller provides angle information.The angular motion information that the servo driving controller sends according to gyro, the analysis platform stage body is with respect to the angular motion state of reference plane, with this angular motion information as feedback information, adopt the PID control strategy, the angle information and the real-time servomotor phase current that detects that utilize scrambler to provide carry out the space vector conversion to electric current, by turning on and off of space vector pulse width modulation control power switch pipe, realize the control to servomotor.The servomotor output torque overcomes the rotation of the inhomogeneous platform stage body that causes of spring bearing friction and load, offsets corresponding platform stage body rotation, makes the platform stage body isolate the motion of carrier, highly keeps dynamic attitude reference.
Described servomotor adopts permagnetic synchronous motor.
Described servo driving controller is made up of control circuit and motor-driven two parts.Control circuit with the TMS320F2812 dsp chip as CPU.Motor-driven adopts three-phase full-controlled bridge that DC bus-bar voltage is transformed into symmetrical three-phase alternating current, gives the stator power supply of servomotor, makes servomotor have good performances such as wide speed regulating range, high steady speed precision, fast dynamic response.The control circuit of servo driving controller partly adopts different circuit boards to realize corresponding function with motor-driven, and the design of three-phase full-controlled bridge adopts discrete component to make up, and makes compact overall structure, and volume takies little, quality is little, adapts to high speed lift-over carrier narrow space.
The control circuit of described servo driving controller and motor-driven adopt the electrical isolation design, reduce owing to adopt chopping way control permagnetic synchronous motor to carry out the electromagnetic interference (EMI) that can cause that turns on and off of power switch pipe.The 27V power supply that system provides directly offers servomotor.The power supply that the control circuit of servo driving controller and the power supply of gyro adopt the 27V of system power supply to obtain through isolated variable; Adopt Hall current sensor to carry out the phase current sampling of servomotor.Thereby realize the complete electrical isolation of motor-driven part and control circuit.
The present invention also provides the control method of said apparatus, comprises following link:
1) the angular motion information of gyro to measure is carried out filtering and handle, to reduce vibratory impulse and space electromagnetic interference (EMI) to the influence of gyro to measure.Then the angle of filtered angle information as platform stage body relative datum plane in the controlling unit; Filtered angular velocity information is as the angular velocity on platform stage body relative datum plane in the controlling unit.
2) adopt segmentation PI control strategy.Electric current loop is adopted in interior ring control, and middle controlling unit is speed ring, and outer shroud control is position ring.The angle that is fed back to platform stage body relative datum plane of position ring; Being given as of position ring is zero.The feedback of speed ring be position ring output with platform stage body relative datum plane angle speed and; Being given as of speed ring is zero.The output that is given as speed ring of electric current loop; The phase current that is fed back to servomotor of electric current loop.
Position ring and speed ring PI control strategy increase anti-integration saturation element in this link, make that stable platform can operate as normal after the stuck phenomenon disappearance inhomogeneous and axially big overload reason appearance because of shafting structure.
The threshold value of electric current loop output direct-axis current and friendship shaft current is determined by the speed of servo motor rotor relative stator in this link; suppress the rising rapidly of phase current; avoid high acceleration in the carrier operational process and the axial direct-axis current that causes of big overload and hand over shaft current to raise rapidly and burn out the power switch pipe phenomenon; protect power switch pipe, improved control performance and the reliability of system.Hand over shaft current max-thresholds (i
Q-max) can determine according to following formula:
i
q-max＝a
11+v·a
12
Wherein, a
11Be the 0.1 times operation of permagnetic synchronous motor with rated speed, the friendship shaft current of correspondence during the output nominal torque.V is the speed of permanent-magnetic synchronous motor rotor relative stator, and value is more than or equal to 0 and smaller or equal to rated speed.a
12Be rate factor, value is
a
12＝(i
qN-a
11)/v
N
Wherein, i
QNThe friendship shaft current of correspondence when exporting nominal torque for permagnetic synchronous motor with the rated speed operation; v
NBe the permagnetic synchronous motor rated speed.The direct-axis current max-thresholds is identical with friendship shaft current max-thresholds.Direct-axis current minimum threshold and friendship shaft current minimum threshold be cut-off shaft current max-thresholds and the opposite number of handing over the shaft current max-thresholds respectively.
3) adopt the vector controlled based on the space vector pulse width modulation technology to drive the permagnetic synchronous motor output torque.According to the output of electric current loop, produce different modulating waves, turn on and off power switch pipe corresponding in the three-phase full-controlled bridge, make the different moment of permagnetic synchronous motor output, overcome the rotation of the inhomogeneous platform stage body that causes of spring bearing friction and load.
The invention has the beneficial effects as follows: 1) adopt permagnetic synchronous motor to drive stable platform and segmentation PID control strategy, have higher angle dynamically, the stable state lasting accuracy, and higher angular velocity dynamically, the stable state lasting accuracy; 2) can adapt to the carrier that high lift-over speed is moved; 3) can adapt to high acceleration lift-over carrier movement; 4) can overcome since machining inhomogeneous moment of causing stuck; 5) can be under big axially overload, operate as normal.Therefore, apparatus of the present invention are applied in the high speed lift-over carrier, can guarantee accurately to guarantee under abominable service condition attitude reference.
Description of drawings
Fig. 1 is the gyrostabilized platform composition frame chart.
Among the figure, 1-platform stage body, 2-servomotor, 3-scrambler, 4-servo driving controller.
Fig. 2 is the servo controller structured flowchart.
Among the figure, 5-imports power supply, the 6-power conversion, and the 7-current sample, the 8-isolated variable, the 9-gyro, 10-CPU, 11-isolates output, the 12-power drive.
Embodiment
The present invention is further described below in conjunction with drawings and Examples.
The structure of apparatus of the present invention embodiment is made up of platform stage body 1, servomotor 2, scrambler 3 and servo driving controller 4 with reference to Fig. 1.Servo motor rotor, scrambler rotor and the coaxial connection of platform stage body; And servo motor stator, the scrambler stator then links to each other with carrier shell.Servomotor is installed in the carrier end position.The control circuit of servo driving controller and driving circuit discrete design are installed in the servomotor afterbody.Scrambler adopts axle sleeve and servo motor rotor axle to connect, and is convenient and reliable.The device compact overall structure, volume takies little, is convenient to transplant between different carriers, is convenient to the integrated electromagnetic shielding, improves Electromagnetic Compatibility.
This device servomotor 2 is selected permagnetic synchronous motor for use, has advantages such as volume is little, simple in structure, regulating and controlling convenient, speed adjustable range is wide, dynamic response is fast, satisfies lasting accuracy height, the fast requirement of dynamic response.Its main performance is as follows: brushless, and rated voltage 27V, rated speed 1800rpm, working temperature-40 ℃～+ 80 ℃, the design of electrical motor magnet steel is selected Nd-Fe-B for use, and core material is selected DW360 for use.
This device code device 3 adopts the Hall magnetism encoders as position detecting element, and volume is little, and is in light weight, and the precision height is for the high-precision servo control of permagnetic synchronous motor provides angle information.The Hall magnetism encoder is installed to after the servo motor rotor, with aluminium foil the scrambler body shield is got up, and reduces outside electromagnetic interference to the influence of scrambler.
Input power supply 5 offers total system work through power conversion.The power supply that DSP needs is provided through isolated variable 8 by input power supply 5; Motor-driven partly needs+the 5V power supply and+the 15V power supply provides through power conversions 6 by input power supply 5.
The gyro 9 that is installed on this apparatus platform stage body adopts rate gyros, and range is-250 °/s～250 °/s, and the angular velocity information of platform stage body is provided.
Isolate and export 11 with control section and the isolation mutually of motor driving part branch, prevent that permagnetic synchronous motor from producing interference, assurance device reliability of operation to the work of DSP.Consider volume and the reliability of device, isolating chip adopts ADUM1401.
This device circuit plate bulk is less, and is low-power circuit, and power drive 12 adopts discrete component to build.Select power MOSFET IRFR3412 for use, have that input impedance height, switching frequency height, on state voltage are low, a Heat stability is good, advantage such as the conducting resistance is low, volume is little, thermal value is little, low price, holding circuit are simple, be convenient to the densification design.The maximum input current of this power switch pipe can be avoided in the stable platform operational process because current spikes produces the phenomenon of damaging power switch pipe up to 40A.Take all factors into consideration selected capacity motor and switching frequency demand, drive chip and select for use the high-speed power field effect transistor to drive chip I R2103S.
This device servo driving controller CPU 10 adopts the TMS320F2812 dsp chip, clock frequency is 150MHz, take full advantage of the high speed signal processing power of dsp chip and the peripheral circuit that Electric Machine Control is optimized, and advantage such as control accuracy height, antijamming capability are strong and cost is lower, for high-performance servo tracking control provides reliably, signal is handled and hardware controls efficiently.The needed peripheral circuit of DSP is made of power interface, supply voltage conversion chip, clock circuit, jtag interface circuit, SCI interface circuit, AD interface circuit, CAP interface circuit, EV interface circuit and holding circuit.For reduced in size, adopt four layers of pcb board, and power supply ground has been carried out cutting apart to reduce interference.
The output signal of servo driving controller CPU analyzing and processing gyro, the angular velocity signal that gyro is exported carries out the angle signal that integration obtains platform relative datum plane, as the feedback of position ring; Being given as of position ring is zero.The feedback of speed ring is made up of the output of position ring and the angular velocity of gyro output, and the two mates by weighting factor, determines the loop feedback value.The electric current loop part is according to the output of speed ring, and the phase current of the positional information of permanent-magnetic synchronous motor rotor and rotor, carries out the space vector conversion, sends steering order.Steering order is sent into IR2103S after ADUM1401 isolates, 6 MOSFET IRFR3412 of control turn on and off, and drives the permagnetic synchronous motor operation, keeps the high-precision attitude of platform stage body stable.
Control method in apparatus of the present invention embodiment is as described below.
1) adopts the average value filtering method in this embodiment, the angular velocity information of gyro to measure is carried out filtering.Filtered angular velocity information is as the angular velocity on platform stage body relative datum plane in the controlling unit.The angle information that filtered angular velocity integration obtains is as the angle on platform stage body relative datum plane in the controlling unit.This embodiment also can adopt middle position value filtering method, median average filter method.
2) adopt segmentation PI control strategy in this embodiment.Electric current loop is adopted in interior ring control, and middle controlling unit is speed ring, and outer shroud control is position ring.The electric current loop performance period is 100 microseconds; The performance period of speed ring is 1 millisecond; The performance period of position ring is 5 milliseconds.The position ring performance period in this embodiment can also be 10 milliseconds.
The angle that is fed back to platform stage body relative datum plane of position ring; Being given as of position ring is zero.The feedback of speed ring be position ring output with platform stage body relative datum plane angle speed and; Being given as of speed ring is zero.The output that is given as speed ring of electric current loop; The phase current that is fed back to servomotor of electric current loop.
Position ring and speed ring are different according to error, and different scale factors and integrating factor are set, and improve response speed and the control accuracy of system.The parameter of respectively encircling in the segmentation PI control strategy is set to: in the position ring, when site error was spent less than 2, scale factor was 0.8, integrating factor 0.01; When site error was spent greater than 2, scale factor was 0.6, integrating factor 0.005.In the speed ring, when error less than 20 the degree/second the time, scale factor is 8, integrating factor 0.05; When site error greater than 20 the degree/second the time, scale factor is 3, integrating factor 0.01.The electric current loop scale factor of direct-axis current is 0.7, integrating factor 0.01; Handing over the electric current loop scale factor of shaft current is 0.5, integrating factor 0.045.
The anti-integration saturation element of position ring max-thresholds is 180, and minimum threshold is-180.When the position ring output quantity greater than 180, negative error only adds up; When the position ring output quantity less than-180, positive error only adds up.The anti-integration saturation element of position ring in this embodiment max-thresholds can also be 270,360, and minimum threshold can also be-270 ,-360.
The anti-integration saturation element of speed ring max-thresholds is 900, and minimum threshold is-900.When the speed ring output quantity greater than 900, negative error only adds up; When the speed ring output quantity less than-900, positive error only adds up.The anti-integration saturation element of speed ring in this embodiment max-thresholds can also be 1800,3600, and minimum threshold can also be-1800 ,-3600.
Direct-axis current maximum output threshold value and the maximum output of friendship shaft current threshold value i in the electric current loop
Max=3+v0035, wherein v is the speed of permanent-magnetic synchronous motor rotor relative stator.Direct-axis current minimum threshold and friendship shaft current minimum threshold be cut-off shaft current max-thresholds and the opposite number of handing over the shaft current max-thresholds respectively.
3) direct-axis current and the friendship shaft current of exporting according to electric current loop, produce different modulating waves, turn on and off power switch pipe corresponding in the three-phase full-controlled bridge, make the different moment of permagnetic synchronous motor output, offset corresponding platform stage body rotation, make the platform stage body isolate the motion of carrier, highly keep dynamic attitude reference.
Claims (2)
1. a gyrostabilized platform that is used for high speed lift-over carrier comprises platform stage body, servomotor, scrambler and servo driving controller, it is characterized in that: be equipped with on the platform stage body and stablized object and gyro; Gyro is as the angular motion information sensor, and the angular motion information on measuring table stage body relative datum plane provides the control feedback information for the servo driving controller; Scrambler is measured the angle information of servo motor rotor relative stator, for the servo driving controller provides angle information; The angular motion information that the servo driving controller sends according to gyro, the analysis platform stage body is with respect to the angular motion state of reference plane, with this angular motion information as feedback information, adopt the PID control strategy, the angle information and the real-time servomotor phase current that detects that utilize scrambler to provide carry out the space vector conversion to electric current, by turning on and off of space vector pulse width modulation control power switch pipe, realize the control to servomotor; The servomotor output torque overcomes the rotation of the inhomogeneous platform stage body that causes of spring bearing friction and load, offsets corresponding platform stage body rotation, makes the platform stage body isolate the motion of carrier, highly keeps dynamic attitude reference; Described servomotor adopts permagnetic synchronous motor; Described servo driving controller is made up of control circuit and motor-driven two parts, control circuit with the TMS320F2812DSP chip as CPU, motor-driven adopts three-phase full-controlled bridge that DC bus-bar voltage is transformed into symmetrical three-phase alternating current, gives the stator power supply of servomotor; The control circuit of described servo driving controller and motor-driven adopt the electrical isolation design; The 27V power supply that system provides directly offers servomotor, and the power supply that the control circuit of servo driving controller and the power supply of gyro adopt the 27V of system power supply to obtain through isolated variable adopts Hall current sensor to carry out the phase current sampling of servomotor.
2. the control method of the described gyrostabilized platform for high speed lift-over carrier of a claim 1 is characterized in that comprising the steps:
1) the angular motion information of gyro to measure being carried out filtering handles, the angle of filtered angle information as platform stage body relative datum plane in the controlling unit, the angular velocity of filtered angular velocity information as platform stage body relative datum plane in the controlling unit;
2) adopt segmentation PI control strategy, electric current loop is adopted in interior ring control, and middle controlling unit is speed ring, and outer shroud control is position ring; The angle that is fed back to platform stage body relative datum plane of position ring; Being given as of position ring is zero; The feedback of speed ring be position ring output with platform stage body relative datum plane angle speed and, speed ring be given as zero; The output that is given as speed ring of electric current loop, the phase current that is fed back to servomotor of electric current loop;
3) adopt the vector controlled based on the space vector pulse width modulation technology to drive the permagnetic synchronous motor output torque; According to the output of electric current loop, produce different modulating waves, turn on and off power switch pipe corresponding in the three-phase full-controlled bridge, make the different moment of permagnetic synchronous motor output, overcome the rotation of the inhomogeneous platform stage body that causes of spring bearing friction and load;
Described step 2) position ring and speed ring PI control strategy increase anti-integration saturation element in.
Described step 2) threshold value of electric current loop output direct-axis current and friendship shaft current is determined by the speed of servo motor rotor relative stator in, hands over shaft current max-thresholds i
Q-max=a
11+ va
12Wherein, a
11Be the 0.1 times operation of permagnetic synchronous motor with rated speed, the friendship shaft current of output correspondence during nominal torque, v is the speed of permanent-magnetic synchronous motor rotor relative stator, value is more than or equal to 0 and smaller or equal to rated speed, a
12Be rate factor, a
12=(i
QN-a
11)/v
N, wherein, i
QNThe friendship shaft current of correspondence when exporting nominal torque for permagnetic synchronous motor with the rated speed operation; v
NBe the permagnetic synchronous motor rated speed; The direct-axis current max-thresholds is identical with friendship shaft current max-thresholds, the opposite number of direct-axis current minimum threshold and friendship shaft current minimum threshold difference cut-off shaft current max-thresholds and friendship shaft current max-thresholds.
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| CN 201110385683 CN102495645B (en) | 2011-11-28 | 2011-11-28 | Gyro-stabilized platform for high-speed rolling carrier and control method thereof |
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| CN103017790B (en) * | 2012-12-03 | 2015-05-20 | 西北工业大学 | Loading device for overload shock of gyro-stabilized platform |
| CN104714407B (en) * | 2013-12-17 | 2018-02-09 | 北京自动化控制设备研究所 | A kind of rotating mechanism PID/H∞Control method |
| CN103823481B (en) * | 2014-02-19 | 2016-09-28 | 中国科学院光电技术研究所 | Method for compensating unbalanced interference moment of photoelectric tracking system on inclined platform |
| CN105159087B (en) * | 2015-09-11 | 2017-09-15 | 北京贯中精仪科技有限公司 | A kind of stabilized platform control device and method of no current feedback |
| CN105450130A (en) * | 2015-11-06 | 2016-03-30 | 连云港杰瑞电子有限公司 | Segmented-PI-control-based low-voltage direct-current servo driver |
| CN106843293A (en) * | 2017-01-06 | 2017-06-13 | 西北工业大学 | A kind of gyro-stabilized platform drift rejection method for high speed rolling carrier |
| CN107315340A (en) * | 2017-05-27 | 2017-11-03 | 中国科学院上海技术物理研究所 | It is a kind of that the steady as device and control method of feedback is measured based on micro electromechanical IMU |
| CN107796392B (en) * | 2017-09-11 | 2020-04-10 | 北京航天控制仪器研究所 | Three-axis stable platform, full-digital control system and method |
| CN108318017B (en) * | 2017-12-27 | 2020-07-14 | 中国船舶重工集团公司第七一0研究所 | Data processing method for eliminating random magnetic interference of differential magnetic compass |
| CN115571328A (en) * | 2022-09-19 | 2023-01-06 | 亿航智能设备（广州）有限公司 | Single encoder actuator for aircraft and power-on self-detection method thereof |
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| US5539646A (en) * | 1993-10-26 | 1996-07-23 | Hk Systems Inc. | Method and apparatus for an AGV inertial table having an angular rate sensor and a voltage controlled oscillator |
| JP3863043B2 (en) * | 2002-03-22 | 2006-12-27 | 防衛庁技術研究本部長 | Position detection method for underwater vehicle |
| RU2285902C1 (en) * | 2005-04-15 | 2006-10-20 | Федеральное государственное унитарное предприятие "Научно-производственный центр автоматики и приборостроения им. акад. Н.А. Пилюгина" (ФГУП "НПЦ АП") | Method for determining and compensating for deviation of gyro-stabilized platform and device for realization of said method |
| CN101709975B (en) * | 2009-11-27 | 2012-05-23 | 北京航空航天大学 | Estimation and compensation method for unbalanced moment of aerial remote sensing inertially stabilized platform |
| CN202351714U (en) * | 2011-11-28 | 2012-07-25 | 西北工业大学 | Gyroscope stabilization platform for high-speed rolling carrier |
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