CN102713174B - Control arrangement of an electro-hydraulic gas exchange valve actuation system - Google Patents
Control arrangement of an electro-hydraulic gas exchange valve actuation system Download PDFInfo
- Publication number
- CN102713174B CN102713174B CN201080062004.2A CN201080062004A CN102713174B CN 102713174 B CN102713174 B CN 102713174B CN 201080062004 A CN201080062004 A CN 201080062004A CN 102713174 B CN102713174 B CN 102713174B
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- error
- valve
- envelope
- lift
- controller
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
- F01L9/00—Valve-gear or valve arrangements actuated non-mechanically
- F01L9/10—Valve-gear or valve arrangements actuated non-mechanically by fluid means, e.g. hydraulic
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
- F01L2800/00—Methods of operation using a variable valve timing mechanism
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
- F01L2820/00—Details on specific features characterising valve gear arrangements
- F01L2820/04—Sensors
- F01L2820/045—Valve lift
Abstract
The inventive control arrangement comprises a feedback controller, in an iterative learning controller (1), and a delay controller (16). The feedback controller drives EHVA system. The EHVA systems means in this context the system needed to drive one valve or the system driving several valves. For simplicity, it is easier and more understandable to think about the driving of one valve. It is clear that the drive of one valve is expandable to the system driving several valves
Description
Technical field
The present invention relates to the device controlling electrically-hydraulic pressure gas exchange valve actuating system (EHVA system).EHVA system uses together with internal-combustion engine.
Background technique
Internal-combustion engine comprises the cylinder that fuel combustion occurs.Combustion-supporting air is fed in cylinder by suction valve, and waste gas is discharged outside cylinder by outlet valve.These valves are driven by actuator, and actuator is controlled by hydrovalve.Hydrovalve is manipulated by electricity again.This device is called electrically-hydraulic pressure gas exchange valve actuating system, i.e. EHVA system.
The difficulty that the Nonlinear Dynamic change of EHVA system and delay provide in control system.Simple feedback control precision as required can not adjust EHVA.Therefore, more complicated and advanced controller is used.But the adjustment of the parameter of such controller is very time-consuming, and this makes the use of Dynamic matrix control device unrealistic in many cases.
Summary of the invention
The object of the invention is the control problem described in reducing.This object is realized by the control gear according to electrically of the present invention-hydraulic pressure gas exchange valve actuating system.Control gear of the present invention comprises the feedback control in iterative learning controller, and delay controller.Feedback control drives EHVA system.EHVA system represents system required for driving valve in this context or drives the system of multiple valve.In order to simply, more easily and be more understandable that, consider the driving of a valve.It is clear that the driving of a valve extends to the system driving multiple valve.
This iterative learning controller carrys out drive feedback controller by adjustment reference signal, and this delay compensator drives this iterative learning controller by revising reference signal to be adjusted.Thus, iterative learning controller provides new reference signal to feedback control.Device also comprises valve stroke envelope element, and this valve stroke envelope element is used for iterative learning controller and provides lift envelope to delay compensator.
This iterative learning controller comprises: input interface, for the actual valve lift data of receiving valve actuating system; Error memory cell, for maintaining valve position tracking error in memory; Output command memory cell, for keeping the output command of iterative learning controller in memory; And iteration actuator, for opening and cut off the iterative processing of iterative learning controller.
This delay compensator comprises: the second input interface, for receiving actual valve lift data; 3rd interface, for receiving the crankangle data of engine; And comparator.Comparator by the corresponding data of actual valve lift and crankangle data pair and lift envelope to comparing, and as a comparison compared with response and perform shift signal, and shift signal is sent to iterative learning controller to drive iteration actuator.Iterative processing is set to stop when being shifted to lift envelope, and restarts when next circulation of valve actuation system starts.
The mode that three controllers of this device operationally do not disturb each other according to them is arranged.
Accompanying drawing explanation
Below, in more detail the present invention is described by accompanying drawing, in the accompanying drawings:
Fig. 1 partly illustrates the example of device of the present invention,
Fig. 2 illustrates the example of device of the present invention,
Fig. 3 illustrates the example according to delay compensation of the present invention,
Fig. 4 illustrates the example of command memory unit of the present invention, and
Fig. 5 illustrates the example of error memory cell of the present invention.
Embodiment
Fig. 1 illustrates iterative learning controller 1(ILC of the present invention) example and it how can be connected to other parts of the present invention.In this example, ILC controller drives P-controller 2, namely provides new benchmark to P-controller, but it should be noted, can be just any position or tracking control unit (such as, PI-, PD-, PID-or state controller) and feedforward loop circuit at driven controller.P-controller comprise booster element 6 and for by from valve actuation system 3(and EHVA system) feedback signal adjust the element 7 of the reference signal sent from ILC controller 1.Feedback signal comprises actual valve lift data 5.These data are also sent to ILC controller 1 and delay controller 16, that is, delay compensator (Fig. 2).P-controller transmits control signal 4 to raise valve in EHVA.
ILC controller 1 has the interface 24 for receiving described actual valve lift data.As noted, this description does not refer to whole interfaces of element of the present invention.Such as, between lift element 13 and ILC1 and between delay compensator 16 and ILC1, there is interface, with signal transmission between which, these are not mentioned particularly.In addition, the quantity due to interface depends on the structure of actual mode of execution, it should be noted, in fact an interface can be responsible for sending or receiving multiple signal.Like this, there is the interface that in fact can be used for creating connection in the connection instruction illustrated between the element in figure.
ILC tracking and controlling method is the method for control system from the Control experiment previously repeated (no matter successful or failed) learning.The error of the previous repetition observed, for adjusting current operating order, makes order in fact produce the track of hope.This is realized by the study based on storage.The simplest ILC scheme represents in equation 1, and wherein u is control inputs, and i is iteration index, and q is constant learning gains, and Δ y is tracking error.
u
i+1(t)=u
i(t)+qΔy
i(t) (1)
Thus, measure tracking error at each data point place, and preserve in memory as the curve similar with valve-lift curve.In the circulation that next repeats, " curve of error " of last circulation is added to the reference valve lifting curve previously used, and preserves modified curve.When processing continuation, valve-lift curve little by little changes the shape of the minimum tracking error causing system into.
Thus, lift envelope element 13 provides the valve stroke data of hope to ILC controller 1, and Error Calculator element 8 calculates tracking error according to the valve stroke of the valve stroke of reality and hope, and positional error is sent to error memory cell 9.Error memory cell 9 keeps tracking error in memory.Positional error, from error memory cell receiving position error, is multiplied with gain factor by booster element 10.By iteration actuator adjustment gain.Tracking error through gain received and in summator 11 with up-to-date control to output signal sue for peace, to be sent to P controller 2 and command memory.
Control output signal, namely for the reference valve lift of P-controller 2, be maintained in the storage of command memory unit 12, from this storage, up-to-date order (ILC controls to export) is sent to summator 11.
The character of ILC stops declining in certain some place tracking error, and may start to increase.Due to the dynamic of system, error to zero, but can not learn process continuation to revise datum curve during whole event.At certain some place, system suitably can not follow the reference value of increase, and error also increases.In the present invention, during by being when error in predetermined tolerance, stopping study process and solving this problem.Such as, by the change of the value of learning gains 10, can stop and restarting study process.If error is too large, engine needs protected.Therefore, apparatus of the present invention can comprise the tracking error indicating member 28 for tracking error.If error is too large, alarm can be produced in alarm monitoring cell 29 and valve actuation system 3 can stop or running to particular state.
Fig. 2 illustrates the device of the present invention with delay compensator 16.Find, the delay of valve actuation system can cause the major part of tracking error.Therefore, control gear Continuous Observation is as the alternate position spike (lift is poor) between desired location and physical location of function of crank angle.When compensator detect be greater than such as 1CA degree poor time, the direction of valve-lift curve (being namely fed to the lift envelope of controller) to hope is shifted by device.Diesel engine startup and stop during sequence when rotational speed is just at Rapid Variable Design, and when other of the engine RPM of run duration change once in a while, this is useful feature.
Thus, delay compensator 16 comprises: the second input interface 25, for receiving actual valve lift data; 3rd interface 30, for receiving the crankangle data 20 of engine; Comparator 17, for by the data of actual valve lift and crankangle data pair and corresponding lift envelope to comparing, and as a comparison compared with response and perform shift signal 15,23, and shift signal 15,23 is sent to valve stroke envelope element 13 to keep used offset in memory, and shift signal is sent to iterative learning controller 1 to drive iteration actuator 21,23 '.When envelope reset or new envelope variation, use the length of delay stored.Along with curve-initialized, then the value of delay compensation is sent to command memory unit 12.In order to the initialization of envelope comparing element 17 or when envelope variation, lift envelope element 13 is set to send relevant lift envelope to comparing element 17.Iterative processing is set to stop when making lift envelope be shifted, and restarts when completing displacement lift envelope.
As can be seen in Figure 1, iterative learning controller 1 comprises: error memory cell 9, for maintaining valve position tracking error in memory; Output command memory cell 12, for keeping the output command of iterative learning controller in memory; And iteration actuator (21,14 ', 18 ', 19 ', 22 ', 23 '), for connecting and cut off the iterative processing of iterative learning controller.According to centralized system, device being shown in the drawings, namely having for receiving shift signal 23, the change information of lift envelope 14 and the element 21 of positional error 19.Element is set to the element (9,10) by boot order storage 12 and process positional error, connects and cuts off iterative processing.Device can also realize according to distributed way, when distributed way, there is not central member 21, but similar functions is arranged in the element activated.The signal needed can directly be sent to these elements, but not is transmitted by lift envelope element 13 and/or central member 21.
The reference character of signal indicates specific signal.Such as, reference character 23 indicates the envelope shift signal from delay compensator 16 to ILC controller 1.The shift signal received is enabled in the switch motion of the element in ILC.These actions and corresponding actuated signal carry out reference with the same numbers with " marks of similar 23 ".Thus, numeral 18 represents that iterative learning process can start artificially, and in this case, learning gains 10 energized 18 ' is to have the yield value being greater than zero.
When the delay due to actuating system cause lift envelope is shifted, learning gains 10 is excited to zero, this represent study stop.Be shifted at command memory unit 12 and the vector in error memory cell in addition, this is explaining after a while.When being shifted period ILC process inaction, what avoiding problems between delay compensation and ILC process is possible alternately negative.
Fig. 3 illustrates how the example of lift envelope and it are shifted.Lift range value is in Y-axis, and crank angle value is in X-axis.Thus, in specific crank angles value, valve is raised certain amount.Real curve 31 is benchmark lift envelopes.If the actual measurement from valve actuation system illustrates the lift range value Y1 at crank angle value X2 place, can notice from the curve 32 with dotted line, Y1 should occur at crankangle X1 place.This represents that benchmark lift envelope should be shifted measurement result and benchmark to be mated.Measuring point that can be more more than one before the decision making displacement.Thus, Documents Comparison element carries out this relatively and provide envelope shift information to lift envelope and ILC1.
Thus, in order to make lift envelope be shifted, the vector elements of command memory unit and error memory cell can be indexed by crank angle value.If the crank angle value of hope of the crankangle that the comparison of comparator 17 illustrates measurement and the lift location with measurement has enough difference, then the index of lift envelope and described vector is shifted by according to the mode reducing difference.
Fig. 4 illustrates in greater detail command memory unit 12.This unit comprises vector elements 41, in vector elements 41, keep ILC output command in memory according to vector form.If displacement occurs, then unit 9 receives shift signal 23 ', is shifted to make the crankangle index of vector.Be shifted according to the value of which vector, this corresponds to displacement shown in Figure 3.By making vector be shifted, the error of iterative learning is maintained at rational level in next circulation.Thus, consider displacement, command memory unit comprises shift component 42, and this shift component 42 is for receiving shift signal also as making the content of the first vector elements be shifted to the response of the shift signal received.
Fig. 5 illustrates in greater detail error memory cell 9.This unit comprises vector elements 51, and in vector elements 51, tracking error keeps in memory according to vector form.If displacement occurs, then unit 9 receives shift signal 23 ', is shifted to make the crankangle index of vector.Be shifted according to the value of which vector, this corresponds to displacement shown in Figure 3.By making vector be shifted, the error change of iterative learning is maintained at rational level in next circulation, and synchronous with the lift envelope in command memory unit 12.Thus, consider displacement, error memory cell comprises shift component 52, and this shift component 52 is for receiving shift signal and making the content of the second vector elements be shifted as the response to the shift signal received.
For the error differently calculated, error vector can be produced.Different errors may be used for different objects.
Crankangle data are received by command memory unit and error memory cell, to make to obtain the true crank angle value for shift motion.
Error can be observed as the mean value during the specific part of valve stroke or valve stroke.When mean error is in permissible range, that is, time in the specific limited field around the error amount of hope, ILC iterative processing stops 22,22 '.If mean error falls the outside of the outside of tolerance, the second scope namely around the error amount of hope, then ILC iterative processing restarts 22,22 '.If the outside of three scope of valve position tracking error around the error amount of hope, then iterative processing resets.In the 3rd situation, error is considered to very large, makes to break down in ILC process, and preferably returns initial valve lifting curve and restart ILC process.
Also can differently error of calculations.Such as, can measure whole valve stroke Time Duration Error and.Or substitute should and, can mean square deviation be used.The error of any for lift envelope can also be calculated.Thus, dissimilar error vector can be calculated for different object simultaneously.Therefore after error reaches particular range, the iterative processing for certain errors point can be stopped, and still continue for the iterative processing of other error pattern.Such as, if a point tolerance iteration is stopped, then error is in acceptable level in the point that this is concrete, but continues, because it does not reach acceptable level with error iteration.
Embodiments of the present invention can also comprise such feature, and it allows to change lifting curve in engine-operated period.Due to the system based on storage of ILC, the displacement of the correct timing between curve is important.Device allows the lifting curve of a large amount of preload, and user can participate in implementing at any time.Device is responsible for overshoot not occurring between curve, and makes a change in the suitable moment.
Order for the envelope variation in hasty is given 14 devices.After providing the order for changing, controller is waited for till really closing gas exchange valve, and is after this changing envelope.Because ILC process uses the error signal of previous operational cycle, only this change can be used afterwards in a work cycle (that is, a circulation of valve).Meanwhile, the correct target fiducials being fed to tracking error system is delayed by and reaches a circulation.If the tracking error with new datum curve is maintained at below the 3rd margin of error above-mentioned, the valve place maintenance that delay compensation is in the end known, is stored in valve stroke envelope element 13.Even if new envelope is the envelope of basic the unknown in the beginning of change, the error of which need not increase very high.Therefore, the change of valve timing does not produce alarm.
Therefore, with reference to Fig. 1, lift envelope element 13 comprises multiple lift envelope, and the change of lift envelope is set to run when receiving the order 14 for change, under these circumstances, when valve position indicating valve is closed, iterative processing is set to stop, and when restarting after the circulation in the circulation of valve actuation system, i.e. valve.In order to change envelope, ILC comprises the necessary element for instructing 14 ' command memory unit with new envelope.If tracking error too large 19,19 ', identical element can be responsible for restarting of ILC.
Feedback control 2, iterative learning controller 1, delay compensator 16 and valve stroke envelope element 13 can realize in an entity 27, and this entity comprises controller, connection between compensator and envelope element and the interface for valve actuation system and internal-combustion engine.The grouping can carrying out element of the present invention, assembly and function according to many modes.Such as realization of the present invention can be undertaken by printed circuit or the software program installed on a computing means.
Be clear that in the scope of claim, the present invention can be obtained according to many different modes according to this specification.
Claims (10)
1. a control gear for electrically-hydraulic pressure gas exchange valve actuating system, described device comprises the feedback control (2) for driving described valve actuation system, and it is characterized in that, described device also comprises:
-iterative learning controller (1), for driving described feedback control;
-delay compensator (16), for driving described iterative learning controller; And
-valve stroke envelope element (13), for providing lift envelope to described iterative learning controller with to described delay compensator,
Described iterative learning controller (1) comprising:
-input interface (24), for receiving the actual valve lift data (5) of described valve actuation system;
-error memory cell (9), for maintaining valve position tracking error in memory;
-output command memory cell (12), for keeping the output command of described iterative learning controller in memory; And
-iteration actuator (21,14 ', 18 ', 19 ', 22 ', 23 '), for opening and cut off the iterative processing of described iterative learning controller,
Described delay compensator (16) comprising:
-the second input interface (25), for receiving described actual valve lift data;
-three interface (30), for receiving the crankangle data (20) of engine; And
-comparator (17), for by described actual valve lift data (5) and crankangle data (20) to the corresponding data with described lift envelope to comparing, and provide shift signal as to the response of described comparison, described shift signal is sent to described iterative learning controller (1) to drive described iteration actuator (21,23 '), wherein iterative processing is set to stop when being shifted to described lift envelope, and restarts iterative processing after being shifted to described lift envelope.
2. control gear according to claim 1, it is characterized in that, described output command memory cell (12) comprises for keeping first vector elements (41) of output command and for the first shift component (42) receiving described shift signal and make the content of described first vector elements be shifted as the response of the shift signal to described reception, and described error memory cell (9) comprise for keep second vector elements (51) of tracking error and for receive described shift signal and as the shift signal to described reception response and make the second shift component (52) that the content of described second vector elements is shifted.
3. control gear according to claim 2, it is characterized in that, described lift envelope and described first vector elements and described second vector elements are indexed by crank angle value, and if the comparison of described comparator (17) illustrates that the crank angle value of the crankangle measured and the hope with the lift location measured has enough difference, the mode that the content of described first vector elements and the content of described second vector elements reduce according to described difference is shifted.
4. control gear according to claim 3, is characterized in that, if described valve position tracking error is in the specific limited range around the error amount of hope, then described iterative processing is interrupted, and
If described valve position tracking error is the outside of the second scope around the error amount of described hope, then described iterative processing restarts, and
If described valve position tracking error is the outside of the 3rd scope around the error amount of described hope, then described iterative processing resets.
5. control gear according to claim 4, is characterized in that, described valve stroke envelope element (13) comprises multiple lift envelope, and the change of described lift envelope is set to run when receiving the order for changing, in the case,
Described iterative processing is set to stop when valve position indicates described valve to cut out, and restarts after the circulation of described valve actuation system.
6. the control gear according to claim 4 or 5, is characterized in that, described iterative learning controller (1) comprising:
Error Calculator element (8), for calculating described valve position tracking error according to described actual valve lift data and the described lift envelope in using, and is sent to described error memory cell (9) by described positional error; And
Booster element (10), for receiving described positional error from described error memory cell, is multiplied described positional error with gain factor, and wherein gain can be adjusted by described iteration actuator; And
Summator (11), for the positional error that is multiplied described in receiving from described output command memory cell and up-to-date output command, the positional error received and described output command are sued for peace, and by described and be sent to described feedback control (2) and be sent to described output command memory cell.
7. control gear according to claim 6, it is characterized in that, described iteration actuator (21,22) comprises for receiving described shift signal, the change of described lift envelope and the element (21) of described positional error, and described element is set to by guiding the element (8,9,10,11) of described output command memory cell (12) and the described positional error of process and opens and cut off described iterative processing.
8. control gear according to claim 7, it is characterized in that, described feedback control (2), described iterative learning controller (1), described delay compensator (16) and described valve stroke envelope element (13) realize in an entity, and described entity comprises described controller, connection between described compensator and described envelope element and the interface for described valve actuation system and internal-combustion engine.
9. the control gear according to claim 7 or 8, is characterized in that, when the difference between the crank angular position and physical location of hope is greater than 0.5 degree, the described displacement of described lift envelope occurs.
10. control gear according to claim 9, is characterized in that, described feedback control (2) is P-controller, PI-controller, PD-controller, PID-controller or state controller.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FI20105082A FI20105082A0 (en) | 2010-01-29 | 2010-01-29 | ELECTRIC HYDRAULIC OPERATING SYSTEM FOR GAS SHIFT VALVE |
| FI20105082 | 2010-01-29 | ||
| PCT/FI2010/050904 WO2011092372A2 (en) | 2010-01-29 | 2010-11-10 | Control arrangement of an electro-hydraulic gas exchange valve actuation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102713174A CN102713174A (en) | 2012-10-03 |
| CN102713174B true CN102713174B (en) | 2015-04-01 |
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ID=41620918
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201080062004.2A Active CN102713174B (en) | 2010-01-29 | 2010-11-10 | Control arrangement of an electro-hydraulic gas exchange valve actuation system |
Country Status (5)
| Country | Link |
|---|---|
| EP (1) | EP2529090B1 (en) |
| KR (1) | KR101573110B1 (en) |
| CN (1) | CN102713174B (en) |
| FI (1) | FI20105082A0 (en) |
| WO (1) | WO2011092372A2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9394848B2 (en) | 2014-01-13 | 2016-07-19 | Caterpillar Inc. | End-of current trim for common rail fuel system |
| EP3102744B1 (en) * | 2014-01-24 | 2023-07-05 | Epiroc Rock Drills Aktiebolag | Autonomous loading vehicle controller |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6810841B1 (en) * | 2003-08-16 | 2004-11-02 | Ford Global Technologies, Llc | Electronic valve actuator control system and method |
| US6966285B1 (en) * | 2004-07-21 | 2005-11-22 | General Motors Corporation | Engine valve actuation control and method |
| DE102005062551A1 (en) * | 2005-12-27 | 2007-07-05 | Robert Bosch Gmbh | Method to control gas change valve with variable valve stroke whereby control event leads to closing phase of valve and closes valve at end time and control phase is calculated by comparing closing start with closing end time |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7314026B2 (en) * | 2004-01-21 | 2008-01-01 | Ford Global Technologies, Llc | Electronic valve actuator having hydraulic displacement amplifier |
| DE102007025619B4 (en) * | 2007-06-01 | 2012-11-15 | Robert Bosch Gmbh | Method and device for controlling a hydraulic actuator |
| DE102007043250A1 (en) * | 2007-09-11 | 2009-03-12 | Robert Bosch Gmbh | Error handling in the operation of electrohydraulic valve controls |
-
2010
- 2010-01-29 FI FI20105082A patent/FI20105082A0/en not_active Application Discontinuation
- 2010-11-10 CN CN201080062004.2A patent/CN102713174B/en active Active
- 2010-11-10 WO PCT/FI2010/050904 patent/WO2011092372A2/en active Application Filing
- 2010-11-10 KR KR1020127019952A patent/KR101573110B1/en active IP Right Grant
- 2010-11-10 EP EP10795030.5A patent/EP2529090B1/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6810841B1 (en) * | 2003-08-16 | 2004-11-02 | Ford Global Technologies, Llc | Electronic valve actuator control system and method |
| US6966285B1 (en) * | 2004-07-21 | 2005-11-22 | General Motors Corporation | Engine valve actuation control and method |
| DE102005062551A1 (en) * | 2005-12-27 | 2007-07-05 | Robert Bosch Gmbh | Method to control gas change valve with variable valve stroke whereby control event leads to closing phase of valve and closes valve at end time and control phase is calculated by comparing closing start with closing end time |
Also Published As
| Publication number | Publication date |
|---|---|
| EP2529090B1 (en) | 2013-07-03 |
| CN102713174A (en) | 2012-10-03 |
| WO2011092372A3 (en) | 2011-09-29 |
| FI20105082A0 (en) | 2010-01-29 |
| KR20120118022A (en) | 2012-10-25 |
| EP2529090A2 (en) | 2012-12-05 |
| KR101573110B1 (en) | 2015-11-30 |
| WO2011092372A2 (en) | 2011-08-04 |
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