CN102882463A - Control parameter setting method of speed regulating controller in speed regulating device of torque motor - Google Patents
Control parameter setting method of speed regulating controller in speed regulating device of torque motor Download PDFInfo
- Publication number
- CN102882463A CN102882463A CN2012104347680A CN201210434768A CN102882463A CN 102882463 A CN102882463 A CN 102882463A CN 2012104347680 A CN2012104347680 A CN 2012104347680A CN 201210434768 A CN201210434768 A CN 201210434768A CN 102882463 A CN102882463 A CN 102882463A
- Authority
- CN
- China
- Prior art keywords
- speed
- speed regulating
- torque motor
- speed governing
- actuator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention discloses a control parameter setting method of a speed regulating controller in a speed regulating device of a torque motor; a speed regulating device on which the method is based is composed of a speed regulating order generator, a speed regulating controller, a power driving module, a speed regulating executing mechanism and a speed sensor; the setting method comprises the steps of forming a parameter identifying device of the speed regulating executing mechanism; according to a phase step output response feature of the speed regulating executing mechanism, identifying an equivalent viscous damping coefficient and an equivalent inertia of the speed regulating executing mechanism, dividing the maximal output voltage of the power driving module by the maximal value of a speed regulating order, squaring the obtained quotient, multiplying by 5 times and dividing by the equivalent inertia to obtain an integral coefficient of the speed regulating controller; multiplying the equivalent inertia by the integral coefficient of the speed regulating controller and calculating a square root, multiplying by twice, and subtracting the equivalent viscous damping coefficient from the obtained product to obtain a probability distribution function (PDF) coefficient of the speed regulating controller. According to the control parameter setting method, the controlling parameter of the speed regulating controller is precisely set, and the speed of the torque motor is stably regulated within a wide range.
Description
Technical field:
The present invention relates to a kind of torque motor wide-range-timing device design and adjustment method, particularly the control parameter of speed setting controller size setting method in a kind of torque motor wide-range-timing device.
Background technology:
In the speed adjusting device, the torque motor speed governing often runs in many plant equipment and weaponry, such as the revolution of mechanical arm, process equipment rotatablely move the transmission of workpiece in the automatic production line, the search of radar antenna etc.In the torque motor speed regulating device, the variable of adjusting is the movement velocity of mechanical load.In order to obtain the lower speed of service of mechanical load, must the configuration deceleration device between torque motor and the mechanical load.Like this, not only increase the cost of speed regulating device, and increased the volume and weight of speed regulating device.Even in the situation of configuration deceleration device; torque motor speed regulating device performance when low cruise is still unstable, particularly when extremely low speed moves, because load variations or external interference; often can occur can not continuous and stable the situation of operation, i.e. so-called creeping phenomenon.
In order to obtain good speed adjusting function, the torque motor speed regulating device must adopt speed-regulating control device.That is to say, in the mechanized equipment speed of moving component after testing sensor feedback to the speed regulating device input, compare the generation error signal with the speed-regulating instruction signal, and then by speed setting controller error signal is carried out sending control signal behind the control algorithm, the speed of moving component is implemented control.Yet, even adopt now widely used feedback or other so-called modern control method, though the torque motor speed adjusting performance can obtain certain improvement, still can not even running when low speed, in load change or external interference situation, creeping phenomenon is comparatively obvious especially.Trace it to its cause, traditional feedback or the common corrective measure of other control method are that error is increased control algorithm.In fact, to a kind of computing of the every increase of error, speed governing command signal and feedback signal have been increased control algorithm simultaneously in the forward direction control loop.Each computing of speed governing command signal just is equivalent to increase a forced term on the right of the dynamic differential equation of speed regulating device, makes control device a plurality of forced term occur.Like this, speed regulating device output just can not accurately reappear the speed-regulating instruction signal.
Raising along with running precision, response speed and the automaticity of various plant equipment and weaponry has proposed more and more higher requirement to the torque motor speed adjusting performance.Current widely used general feedback control method can not meet the demands, particularly can't satisfy the performance requirement under low speed or the utmost point low cruise condition.In order to guarantee that torque motor can not only run well under high-speed case, and also can smooth operation in low speed and utmost point low speed situation, the realizable force torque motor in without the reducing gear situation its speed zero to thousands of turn in the wide region can the stable and continuous adjusting purpose, adopting new speed regulating device is further to improve one of speed adjusting performance problem to be solved.
At present, the known speed setting controller of the prior art of torque motor speed regulating device, its control parameter is not that the parameter according to speed governing actuator designs with a definite target in view, but the control parameter that directly adopts trial and error procedure or empirical method to adjust speed setting controller.This just causes the adjusting of control parameter size of speed setting controller to have phenomenon blindly, and the debugging of torque motor speed regulating device is wasted time and energy, and speed adjusting performance is difficult to engineering demands.Therefore, when torque motor speed regulating device designs and debugging, the control parameter of how adjusting quantitatively speed setting controller according to the characterisitic parameter of speed governing actuator, then be in the prior art problems to be solved two.
Summary of the invention:
The objective of the invention is for above-mentioned problems of the prior art and defective, for realizable force torque motor its speed in without the reducing gear situation can stable and continuous be regulated to thousands of turning in the wide region zero, and guarantee that torque motor speed has good Static and dynamic performance in adjustable extent.The control parameter tuning method of speed setting controller in a kind of torque motor speed regulating device is provided.
For achieving the above object, the technical solution used in the present invention is:
The control parameter tuning method of speed setting controller in a kind of torque motor speed regulating device, this setting method is comprised of speed-regulating instruction generator, speed setting controller, power driver module, speed governing actuator and velocity transducer based on a kind of torque motor speed regulating device; Wherein said speed setting controller is by comparator, integrator, integral coefficient multiplier, subtracter, PDF(Pseudo-Derivative-Feedback) coefficient multiplier, PDF follower, feedback follower and the saturated limiter of integration form; Described speed governing actuator is comprised of torque motor, coupling and mechanical load; Comparator, integrator, integral coefficient multiplier, subtracter, power driver module, torque motor, coupling, mechanical load, velocity transducer and feedback follower are connected clockwise direction annular and are connected; Described comparator also is connected with described speed-regulating instruction generator; Described subtracter also is connected with PDF coefficient multiplier, PDF follower, velocity transducer successively; The saturated limiter of described integration is connected with the output sum-product intergrator of integral coefficient multiplier respectively.
The performance of described torque motor speed regulating device is not only closely related with the version of speed setting controller, but also is subject to integral coefficient and these two impacts of controlling the parameter size of PDF coefficient in the speed setting controller.Only have the size of these two the control parameters of adjusting exactly, just can make torque motor obtain good speed adjusting performance.
The size of these two the control parameters of will adjusting exactly, the characterisitic parameter that at first will exchange speed actuating mechanism carries out Quantitative." know yourself as well as the enemy, can be victorious in every battle ", only on the basis of speed governing actuator characterisitic parameter Quantitative, could carry out quantitative accurately adjusting to the control parameter of speed setting controller.
The control parameter tuning method of speed setting controller in the torque motor speed regulating device of the present invention may further comprise the steps:
(1) the parameter identification device of speed governing actuator in the establishment torque motor speed regulating device, this device is comprised of step signal generator, power driver module, speed governing actuator, velocity transducer and register instrument, and described step signal generator, power driver module, speed governing actuator, mechanical load, velocity transducer and register instrument are linked in sequence; Described step signal generator also is connected with register instrument;
(2) utilize step input signal to measure the output response of speed governing actuator, register instrument is recorded step input signal and speed governing actuator output response temporal evolution process simultaneously, until the output response reaches steady-state value;
(3) amplitude of step input signal is exported the steady-state value of response divided by speed governing actuator, pick out the equivalent viscous damping ratio of speed governing actuator;
(4) obtain 0.632 times of time value of locating that the output response of speed governing actuator reaches steady-state value;
(5) above-mentioned equivalent viscous damping ratio and time value are multiplied each other, pick out the equivalent inertia of speed governing actuator;
(6) determine selected power driver module maximum output voltage;
(7) require and the actual maximum speed that can reach according to the torque motor speed governing, set the maximum of speed-regulating instruction signal;
(8) with the maximum of power driver module maximum output voltage divided by the speed-regulating instruction signal, the merchant of gained carries out square, then quintuples doubly again divided by the equivalent inertia of speed governing actuator, obtains the integral coefficient of speed setting controller;
(9) integral coefficient of speed setting controller be multiply by equivalent inertia and open the root of redressing, multiply by two times again, the long-pending equivalent viscous damping ratio that deducts speed governing actuator of gained obtains the PDF coefficient of speed setting controller.
Advantage of the present invention and beneficial effect are:
(1) the present invention torque motor and with mechanical load between without any need for reduction box, can realize the continuous adjusting in the wide region that zero rotating speed to per minute several thousand turns, dwindle the volume of speed regulating device and reduce cost.
(2) speed regulating device of the present invention not only have the feedback of the state information of regulated variable own, and have the feedback of regulated variable rate of change state information, have realized the feedback of regulated variable two states information.But, only adopted a kind of transducer just to realize the feedback of two states information in the speed regulating device, the structure of speed setting controller has distinctive feature, and is convenient and easy in engineering construction.
(3) the control parameter tuning of speed setting controller is to be based upon on the basis of exchanging speed actuating mechanism characterisitic parameter Quantitative to carry out.Adjusting of torque motor speed regulating device control parameter shoots the arrow at the target, and reduces the blindness of speed regulating device control parameter tuning, increases work efficiency.
(4) no matter owing to the distinguished version of speed setting controller in these speed regulating device, and control precisely adjusting of parameter, be high-speed cruising or low cruise, can both increase substantially static properties and the dynamic property of torque motor speed regulating device.When low speed and the utmost point low speed operation very steady, without creeping phenomenon.
Description of drawings
Fig. 1 is that the torque motor speed regulating device of the embodiment of the invention consist of block diagram;
Fig. 2 is the control parameter tuning method flow chart of speed setting controller in the torque motor speed regulating device of the embodiment of the invention.
Embodiment:
In order to deepen the understanding of the present invention, below in conjunction with accompanying drawing 1 and Fig. 2 specific embodiments of the invention further are described in detail.
As shown in Figure 1, be the torque motor speed regulating device formation block diagram of the embodiment of the invention.These torque motor speed regulating device are comprised of speed-regulating instruction generator 110, speed setting controller 120, power driver module 130, speed governing actuator 140 and velocity transducer 150; Wherein said speed setting controller 120 is comprised of comparator 121, integrator 122, integral coefficient multiplier 123, subtracter 124, PDF coefficient multiplier 125, PDF follower 126, feedback follower 127 and the saturated limiter 128 of integration, and described speed governing actuator 140 is comprised of torque motor 141, coupling 142 and mechanical load 143; Described speed-regulating instruction generator 110, comparator 121, integrator 122, integral coefficient multiplier 123, subtracter 124, power driver module 130, torque motor 141, coupling 142, mechanical load 143, velocity transducer 150 and be connected follower 127 according to the order of sequence clockwise direction connect; Described comparator 121 also is connected with speed-regulating instruction generator 110, described subtracter 124 also is connected with the PDF follower and is connected with velocity transducer 150 by PDF coefficient multiplier 125, and the saturated limiter 128 of described integration is connected with the output sum-product intergrator 122 of integral coefficient multiplier 123 respectively.
After speed-regulating instruction generator 110 provides speed-regulating instruction, comparator 121 compares the actual motion rate signal of the mechanical load 143 that itself and velocity transducer 150 feed back through feedback follower 127, the error signal that produces is at first carried out integral operation by integrator 122, and then multiply by integral coefficient by integral coefficient multiplier 123, at this moment the signal and the signal subtraction of velocity transducer 150 after PDF follower 126 and 125 computings of PDF coefficient multiplier that produce, in fact realized the rate of change of speed at this---the feedback of acceleration condition information.Therefore, torque motor wide-range-timing device of the present invention is realized the feedback of more variable state information than known feedback device, and speed adjusting performance can increase substantially.Another ingenious part is, has not both adopted acceleration transducer here, also rate signal is not differentiated, but is controlling the feedback that has but realized acceleration on the function, and convenient and easy for engineering construction, tool is of great significance.Speed setting controller output signal then power ratio control driver module 130 provides the energy of timely and appropriate discovery to torque motor, through coupling the movement velocity of mechanical load is regulated.Power driver module can be amplidyne, bidirectional triode thyristor rectifying device etc.
What should draw attention especially is, the performance of speed regulating device is not only closely related with the version of speed-regulating control device, but also with speed setting controller in integral coefficient and these two control of PDF coefficient parameter closely related.Only have the sizes of these two the control parameters of adjusting exactly, just can make speed regulating device obtain good dynamic property and static properties, realizable force torque motor its speed in without the reducing gear situation turns the purposes that stable and continuous is regulated in the wide region zero to thousands of.
As shown in Figure 2, the control parameter tuning method of speed setting controller in the torque motor speed regulating device of the present invention may further comprise the steps:
(1) the 01st step, set up speed governing parameter of actuating mechanism device for identifying, with the power driver module 130 among Fig. 1, speed governing actuator 140, velocity transducer 150 and other step signal generator and the register instrument of increasing, set up the parameter identification device of speed governing actuator in the speed regulating device, described step signal generator, power driver module 130, speed governing actuator 140, velocity transducer 150 and register instrument are linked in sequence; Described step signal generator also is connected with register instrument;
In (2) the 02nd steps, utilize the output response of step input signal measurement speed governing actuator, register instrument that step input signal and actuator's output response temporal evolution process are recorded simultaneously, until the output response reaches steady-state value;
(3) the 03rd steps, the amplitude of step input signal is exported the steady-state value of response divided by speed governing actuator, pick out the equivalent viscous damping ratio of speed governing actuator;
In (4) the 04th steps, obtain 0.632 times of time value of locating that the output response of speed governing actuator reaches steady-state value;
(5) the 05th steps, above-mentioned equivalent viscous damping ratio and time value are multiplied each other, pick out the equivalent inertia of speed governing actuator;
In (6) the 06th steps, determine selected power driver module maximum output voltage;
(7) the 07th steps required and the actual maximum speed that can reach according to the torque motor speed governing, set the maximum of speed-regulating instruction signal;
In (8) the 08th steps, with the maximum of power driver module maximum output voltage divided by the speed-regulating instruction signal, the merchant of gained carries out square, then quintuples doubly again divided by the equivalent inertia of speed governing actuator, obtains the integral coefficient of speed setting controller;
(9) the 09th steps, the integral coefficient of speed setting controller be multiply by equivalent inertia open the root of redressing, multiply by again two times, the long-pending equivalent viscous damping ratio that deducts speed governing actuator of gained obtains the PDF coefficient of speed setting controller.
By above-mentioned steps as seen, in the torque motor speed regulating device during control parameter tuning of speed setting controller, utilize step response method, at first with the equivalent viscous damping ratio of speed governing actuator and equivalent inertia identification out, then just can according to selected other known conditions, determine that quantitatively the control parameter in the speed setting controller is the size of integral coefficient and PDF coefficient.Facts have proved that the method for the invention not only can be sparing of one's energy and the time in the design of torque motor wide-range-timing device and debugging, and can make speed regulating device obtain good static properties and dynamic property.Not only can even running during high speed, and also can even running when low speed and utmost point low speed, without creeping phenomenon, the realizable force torque motor without in the reducing gear situation in wide region smoothly adjustable-speed.
Claims (1)
1. the control parameter tuning method of speed setting controller in the torque motor speed regulating device, this setting method based on a kind of torque motor speed regulating device formed by speed-regulating instruction generator, speed setting controller, power driver module, speed governing actuator and velocity transducer; Wherein said speed setting controller is comprised of comparator, integrator, integral coefficient multiplier, subtracter, PDF coefficient multiplier, PDF follower, feedback follower and the saturated limiter of integration; Described speed governing actuator is comprised of torque motor, coupling and mechanical load; Described comparator, integrator, integral coefficient multiplier, subtracter, power driver module, torque motor, coupling, mechanical load, velocity transducer and feedback follower are connected clockwise direction annular and are connected; Described comparator also is connected with described speed-regulating instruction generator; Described subtracter also is connected with PDF coefficient multiplier, PDF follower, velocity transducer successively; The saturated limiter of described integration is connected with the output sum-product intergrator of integral coefficient multiplier respectively; It is characterized in that: setting method comprises the steps:
(1) the parameter identification device of speed governing actuator in the establishment torque motor speed regulating device, this device is comprised of step signal generator, power driver module, speed governing actuator, velocity transducer and register instrument, and described step signal generator, power driver module, speed governing actuator, mechanical load, velocity transducer and register instrument are linked in sequence; Described step signal generator also is connected with register instrument;
(2) utilize step input signal to measure the output response of speed governing actuator, register instrument is recorded step input signal and speed governing actuator output response temporal evolution process simultaneously, until the output response reaches steady-state value;
(3) amplitude of step input signal is exported the steady-state value of response divided by speed governing actuator, pick out the equivalent viscous damping ratio of speed governing actuator;
(4) obtain 0.632 times of time value of locating that the output response of speed governing actuator reaches steady-state value;
(5) above-mentioned equivalent viscous damping ratio and time value are multiplied each other, pick out the equivalent inertia of speed governing actuator;
(6) determine selected power driver module maximum output voltage;
(7) require and the actual maximum speed that can reach according to the torque motor speed governing, set the maximum of speed-regulating instruction signal;
(8) with the maximum of power driver module maximum output voltage divided by the speed-regulating instruction signal, the merchant of gained carries out square, then quintuples doubly again divided by the equivalent inertia of speed governing actuator, obtains the integral coefficient of speed setting controller;
(9) integral coefficient of speed setting controller be multiply by equivalent inertia and open the root of redressing, multiply by two times again, the long-pending equivalent viscous damping ratio that deducts speed governing actuator of gained obtains the PDF coefficient of speed setting controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210434768.0A CN102882463B (en) | 2012-11-02 | 2012-11-02 | Control parameter setting method of speed regulating controller in speed regulating device of torque motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210434768.0A CN102882463B (en) | 2012-11-02 | 2012-11-02 | Control parameter setting method of speed regulating controller in speed regulating device of torque motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102882463A true CN102882463A (en) | 2013-01-16 |
| CN102882463B CN102882463B (en) | 2014-11-05 |
Family
ID=47483664
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210434768.0A Expired - Fee Related CN102882463B (en) | 2012-11-02 | 2012-11-02 | Control parameter setting method of speed regulating controller in speed regulating device of torque motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102882463B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018188021A1 (en) * | 2017-04-13 | 2018-10-18 | 深圳市海浦蒙特科技有限公司 | Method and system for controlling torque motor |
| CN110572107A (en) * | 2019-08-28 | 2019-12-13 | 哈尔滨工业大学 | Debugging-free control method and device for servo system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006046388A1 (en) * | 2006-03-07 | 2007-09-20 | Hitachi Industrial Equipment Systems Co. Ltd. | Motor control device for e.g. industrial device, has estimation section receiving speed and acceleration detection values, and controller for correcting control constant based on measure of inertia to adjust torque current instruction value |
| CN101394146A (en) * | 2008-10-31 | 2009-03-25 | 江苏科技大学 | Parameter recognition system and method for DC electric motor speed control object |
| CN101499755A (en) * | 2008-10-31 | 2009-08-05 | 江苏科技大学 | PID control system for DC motor speed and control method thereof |
-
2012
- 2012-11-02 CN CN201210434768.0A patent/CN102882463B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006046388A1 (en) * | 2006-03-07 | 2007-09-20 | Hitachi Industrial Equipment Systems Co. Ltd. | Motor control device for e.g. industrial device, has estimation section receiving speed and acceleration detection values, and controller for correcting control constant based on measure of inertia to adjust torque current instruction value |
| CN101394146A (en) * | 2008-10-31 | 2009-03-25 | 江苏科技大学 | Parameter recognition system and method for DC electric motor speed control object |
| CN101499755A (en) * | 2008-10-31 | 2009-08-05 | 江苏科技大学 | PID control system for DC motor speed and control method thereof |
Non-Patent Citations (2)
| Title |
|---|
| 安维胜: "PDF和PDFSV在直流电动机速度控制中的应用研究", 《制造业自动化》, vol. 30, no. 7, 31 July 2008 (2008-07-31), pages 24 - 29 * |
| 曾文火等: "电枢控制式直流电机伪微分反馈速度调节系统设计", 《电机与控制学报》, vol. 9, no. 2, 31 March 2005 (2005-03-31), pages 171 - 174 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018188021A1 (en) * | 2017-04-13 | 2018-10-18 | 深圳市海浦蒙特科技有限公司 | Method and system for controlling torque motor |
| CN110313125A (en) * | 2017-04-13 | 2019-10-08 | 深圳市海浦蒙特科技有限公司 | The method and system of control moment motor |
| CN110313125B (en) * | 2017-04-13 | 2023-02-28 | 深圳市海浦蒙特科技有限公司 | Method and system for controlling torque motor |
| CN110572107A (en) * | 2019-08-28 | 2019-12-13 | 哈尔滨工业大学 | Debugging-free control method and device for servo system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102882463B (en) | 2014-11-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108227756B (en) | High-precision valve control method | |
| CN108099908B (en) | A kind of vehicle adaptive cruise optimal control calculation method | |
| CN101499755B (en) | PID control method for DC motor speed | |
| CN103611861B (en) | Zero pressure sensor control device and method of servo pressure machine | |
| CN104133490A (en) | Automatic position control method in automatic system of round billet roughing mill | |
| CN102739151A (en) | Online adjustment method for PI (proportion integrate) parameter of asynchronous motor | |
| CN102882463B (en) | Control parameter setting method of speed regulating controller in speed regulating device of torque motor | |
| CN103678829A (en) | Optimum design method of drawing processing technology locus of servo press | |
| CN104139778A (en) | Hybrid power automobile work mode control method | |
| CN108667363A (en) | The control method and device of stepper motor movement | |
| CN109856968A (en) | A kind of reversible pendulum system modified Auto-disturbance-rejection Control based on phase plane fuzzy self-adjustment | |
| CN104135205A (en) | Control method for maximum torque current rate of induction motor | |
| CN102128303B (en) | Recognition device and method for parameters of execution mechanism in electro-hydraulic linear velocity servo system | |
| CN105888970B (en) | The adaptive inner mould vibration control method that intelligent blower blade is optimized based on grey information | |
| CN102522944A (en) | Servo-motor acceleration-deceleration control method for servo pressure machine | |
| CN103326646A (en) | Method for speed control of motion controller based on stepping motor | |
| CN102882469B (en) | Wide range speed regulation device for torque motor | |
| CN103029697A (en) | Electronically controllable brake booster | |
| CN104407628A (en) | Direct-current torque motor EGR (exhaust-gas recirculation) position closed-loop control method and device | |
| CN105363982A (en) | Electronic cam and controlling method for cold header transmission system | |
| CN110647183B (en) | Vibration reduction method, device and equipment for high-precision positioning platform | |
| CN103611767A (en) | Method for controlling position of sliding block of electro-hydraulic double-cylinder bending machine | |
| CN102331716A (en) | Method for regulating control parameters of electrohydraulic linear velocity servo system | |
| Huo et al. | Position control of servo press system based on fuzzy PID | |
| KR101939908B1 (en) | Global Power Regulation of Wind Turbines |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141105 Termination date: 20171102 |