CN102893028A - Phase shift controller for reciprocating pump system - Google Patents
Phase shift controller for reciprocating pump system Download PDFInfo
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- CN102893028A CN102893028A CN2011800222444A CN201180022244A CN102893028A CN 102893028 A CN102893028 A CN 102893028A CN 2011800222444 A CN2011800222444 A CN 2011800222444A CN 201180022244 A CN201180022244 A CN 201180022244A CN 102893028 A CN102893028 A CN 102893028A
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- pump
- control device
- shift control
- phase shift
- phase
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- 230000010363 phase shift Effects 0.000 title claims abstract description 53
- 238000005086 pumping Methods 0.000 claims description 31
- 230000000737 periodic effect Effects 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000010349 pulsation Effects 0.000 abstract description 14
- 238000006073 displacement reaction Methods 0.000 abstract description 3
- 239000012071 phase Substances 0.000 description 22
- 239000007788 liquid Substances 0.000 description 8
- 229910052500 inorganic mineral Inorganic materials 0.000 description 7
- 239000011707 mineral Substances 0.000 description 7
- 238000005065 mining Methods 0.000 description 5
- 230000001788 irregular Effects 0.000 description 3
- 238000007599 discharging Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009514 concussion Effects 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000008384 inner phase Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000002002 slurry Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B11/00—Equalisation of pulses, e.g. by use of air vessels; Counteracting cavitation
- F04B11/005—Equalisation of pulses, e.g. by use of air vessels; Counteracting cavitation using two or more pumping pistons
- F04B11/0075—Equalisation of pulses, e.g. by use of air vessels; Counteracting cavitation using two or more pumping pistons connected in series
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B23/00—Pumping installations or systems
- F04B23/04—Combinations of two or more pumps
- F04B23/06—Combinations of two or more pumps the pumps being all of reciprocating positive-displacement type
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B15/00—Pumps adapted to handle specific fluids, e.g. by selection of specific materials for pumps or pump parts
- F04B15/02—Pumps adapted to handle specific fluids, e.g. by selection of specific materials for pumps or pump parts the fluids being viscous or non-homogeneous
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/007—Installations or systems with two or more pumps or pump cylinders, wherein the flow-path through the stages can be changed, e.g. from series to parallel
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/20—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by changing the driving speed
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Positive-Displacement Pumps (AREA)
- Reciprocating Pumps (AREA)
- Control Of Transmission Device (AREA)
Abstract
The present invention discloses a pump system using multiple reciprocating positive displacement pumps which phase shift is controlled by a phase shift controller. The phase shift controller uses a virtual master pump inside the phase shift controller which is used as a phase reference against which the phase shifts of the individual pumps is calculated. The phase shift controller adjusts the speed reference set-point for the variable speed drives of the individual pumps such that a desired phase shift is obtained and maintained. The operation op multiple reciprocating pumps using phase shift control can significantly reduce the pressure pulsation levels in the pump system. The use of a virtual master pump eliminates master slave scheduling and increases system reliability and availability as is the operating of the phase control is not depending on the reliability of a real master pump as is the case in prior art phase shift controllers.
Description
Technical field
The disclosure is usually directed to a kind of pump-unit, relates more specifically to a plurality of reciprocating pumps for the treatment of of mineral slurries.
Background technique
Reciprocating pump (reciprocating positive displacement pumps) is used in the situation that the relatively high pressure pumping liquid is for example compared with single stage centrifugal pump.The further feature of this reciprocating pump comprises efficient and accurate the outflow, but relative with the centrifugal pump specific discharge low.When single pump can not satisfy the traffic requirement that the typical case uses, installations that can walk abreast of more reciprocating pumps was so that their suction and/or discharging connection are connected with single suction and/or takeoff line.This means that the sum total flow of each pump can satisfy the bulk flow requirement of this application.The combination of each pump and interconnective suction and takeoff line consists of pumping system.
In reciprocating pump, for example the movable component of piston or plunger (displacement element) moves reciprocatingly in cylinder sleeve, and liquid pumped when forward was moved.In the particular of reciprocating pump, the to-and-fro motion of movable component is produced by mechanical device, and described mechanical device is converted into the to-and-fro motion of movable component with rotatablely moving of pump driving.The particular of described mechanical device can comprise bent axle, eccentric shaft, camshaft or cam disk mechanical device.
In the following description, only describe the embodiment of crankshaft, further relate to for example reciprocating pump of crank-driven.The schematic cross-section that shows the reciprocating pump of three cylinders or three cylinder single-acting crank-driven among Fig. 1.Described movable component can directly move and pump liquid or media fluid, and this media fluid is used for the mobile flexible movable component that pumps liquid (such as mud).The disclosure is applicable to the embodiment of reciprocating pump, but because the improvement of mud reciprocating pump as described below is paid close attention to especially, what Fig. 1 specifically showed is the embodiment of working medium liquid and flexible movable component.A characteristic feature of crank-driven reciprocating pump is the non-constant reciprocating speed of movable component.Thereby the crank-driven reciprocating pump produces variable flow rate or the flow pulsation of each crankshaft rotating inherently.Fig. 2 shows the exemplary traffic pulsation that three cylinder single-acting reciprocating pumps produce in the cycle at a crankshaft rotating or pump.Certainly be taken at the hydraulic response of institute's connected system, the flow pulsation meeting causes pumping the pressure pulsation of liquid, and then causes pipeline that liquid flows through and the vibrations of its supporting structure, and this pressure pulsation meeting produces the unbalanced load of pipe-line system.
When be connected to single suction and/or discharging entrance or outlet more than one crank-driven reciprocating pump, the interaction between the flow pulsation that each pump produces may appear.Still the hydraulic response that depends on institute's connected system, the aggregate level of pumping system flow and pressure pulsation can be offset or increase to this interaction.Equally, the hydraulic resonance that appears in the pumping system can be excited by the flow pulsation that each pump produces.Phase shift between the bent axle that an important parameter measuring the total flow of given pumping system and pressure pulsation is each pump.Thereby, in the given pumping system that uses the crank-driven reciprocating pump, control this phase shift and help to control flow and pressure pulsation.
Described phase shift control also relates to pump synchronous, is described below in conjunction with shown in Figure 3.Phase shift is controlled and is required pump configuration variable speed drives (VSD), regulates by the speed to each driving, and variable speed drives can be used for the phase shift between adjusting and the maintenance pump.Further, each pump and/or their driving device have phase detector, and phase detector provides the pump period position of each pump, further provide the phase place of each pump.The phase shift calculator calculates phase shift between each pump with this phase information afterwards, and then phase shift controller is regulated the speed of each pump with this phase shift, to regulate or to keep described phase shift as the phase shift of expection.
In known prior art, a pump is designated as main pump in the pumping system.Main pump is followed the speed reference setting value of pumping system and is carried out phase shift control, does not do any adjusting.Other pump is designated as from pump, must follow main pump.Phase shift controller calculates main pump and produces each from the speed setting value of pump from the phase difference between the pump and based on main pump and each from the phase shift between the pump with each, to obtain and to keep main pump and from constant phase shift with expecting between the pump.
Said method has several shortcomings:
1, before opening pumping system, the Systems Operator must determine which pump will operate as main pump, measures from pump afterwards with respect to the phase shift of selecting main pump.Can cause so complicated master/slave and phase shift dispatch procedure, and equally certainly be taken at specific system.
2, when main pump is made mistakes or must be turned off, phase shift control is disappearance then.Because main pump and need to start to reinitialize from the initialization of pump depends on specific phase shift control embodiment, might need to turn off whole pumping system.Therefore, the reliability of the phase shift of whole pumping system control depends on the reliability of the single pump that is designated as main pump.
3, when the fluctuation of service of main pump, the fault of suction and/or escape cock for example, main pump may the concussion of generation speed.The irregular operation that main pump produces causes the irregular operation of all other pumps of pumping system, thereby causes the irregular operation of whole pumping system.
Described shortcoming is particularly related to for mining and mineral and processes industrial crank-driven reciprocating pump, pump very coarse mud.Mining is processed the continuous service that the application in the industry needs the pumping system zero accident to shut down with mineral.In addition, the described shortcoming of known configurations is processed in the industry at mining and mineral, also is typically to pay close attention in the application of high flow capacity, becomes more serious.
Known and be used for the embodiment of prior art, each pumping system is limited to three or four pumps usually, and master/slave dispatch procedure is relatively simple.In addition, be restricted with the total discharge of the prior art pumping system of phase shift control, therefore because the unbalance load that pressure pulse produces is relatively low, system still can stable operation, and can be used by some and accept.
Yet, during the high power capacity mud in mining and mineral processing industry is used, in single pumping system, may use the pump of quite a lot of quantity.Known embodiment is typically used the pump of 10 of as many as in single pumping system, so that master/slave scheduling is very complicated.The scale that is used for the pumping system increase of mining and mineral processing industry can cause the pressure pulsation of the connecting tube of pumping system to produce unbalance load, and for such quantity amplitude, phase shift control is the precondition of pumping system reliable operation.
In addition, it should be noted that owing to pumping the roughness properties of mud, can cause the higher wear rate of pump element, the time lag of maintenance mud reciprocating pump is compared with non-mud reciprocating pump can be shorter.When each main pump needs repairing, need to close pumping system and specify new main pump, again the usability take continuous service as preferential whole pumping system be produced greatly impact.
Summary of the invention
The disclosure is devoted to solve the described shortcoming of the phase shift control system of prior art crank-driven reciprocating pump.In prior art systems, real pump is used as the main pump in the master/slave Control and Schedule, controls main pump and from the phase shift between the pump.Its shortcoming comprises complicated master/slave dispatch procedure, owing to the pumping system reliability that depends on that single main pump reliability reduces, and moves the performance of the whole system that reduces owing to unsettled main pump.
The disclosure relates to the pumping system that uses a plurality of reciprocating pumps, and the phase shift of reciprocating pump is controlled by phase shift controller.Phase shift controller uses at the virtual main pump of the phase shift controller inside phase reference as the phase shift of calculating each pump.Phase shift controller is regulated the speed reference setting value of the variable speed drives of each pump, with the phase shift that obtains and keep expecting.The operation of many reciprocating pumps of use phase shift control can significantly reduce the pressure pulsation level of pumping system.Because the operation of phase control is different from the reliability that depends on true main pump in the phase controller of prior art, the use of virtual main pump has been eliminated master/slave scheduling and has been increased the reliabilty and availability of system.
Virtual main pump just as true main pump, based on the reference speed setting value of single pumping system at the inner phase reference signal that creates of phase shift controller.The conduct in phase shift controller of all real pumps moves from pump in the pumping system.The phase place of each pump compares with the phase place that is positioned at the virtual main pump of controller inside, is used as afterwards the input of phase shift control.Fig. 4 shows the control flow chart of virtual main pump phase shift controller.
The use of virtual main pump can provide for the phase shift control system of known prior art crank-driven reciprocating pump certain operations to improve.From pump always take identical virtual main pump as reference, therefore do not need scheduling.Can think that virtual main pump is can use in all time, because compare with real mechanical pump, it does not need repairing and has higher reliability.In addition, owing to not affected by the single primary pump performance, the speed of main pump all is stable in institute is free, and when reciprocating pump is used to dig up mine and mineral are processed the coarse mud of pump in the industry, this puts effective especially.
The disclosure is not limited to three cylinder single-acting reciprocating pumps, but can be applicable to single-acting or the double action for reciprocating pump of all lists or multi-cylinder.
Description of drawings
Other form still may be arranged in the scope of the described device of summary of the invention, and as an example, the below will describe specific embodiments, and accompanying drawing is for your guidance, wherein:
Fig. 1 shows the schematic cross-section of prior art three cylinder single-acting reciprocating pumps, also shows the embodiment of working medium liquid and additional flexibility movable component;
Fig. 2 shows the flow pulsation of prior art three cylinder single-acting reciprocating pumps;
Fig. 3 shows and uses true pump to do the prior art control flow chart that main pump carries out the reciprocating pump phase control of master-slave control scheduling;
Fig. 4 shows according to the disclosure, uses virtual main pump to carry out the control flow chart of the reciprocating pump phase control of master-slave control scheduling.
Embodiment
The disclosure comprises several embodiments of the various piece of phase shift controller.For completeness, provide the tabulation of some embodiments:
Variable speed drives
The disclosure is not limited to the particular of used variable speed drives, but the embodiment below special the proposition:
1, the AC electricity drives
2, the DC electricity drives
3, Diesel Driven
4, hydraulic driving
Pump periodic phase sensor
The disclosure is not limited to the particular of used phase detector, but the embodiment below special the proposition:
1, the sensor embodiment can produce the absolute parallax information in pump cycle.
2, the sensor embodiment can produce the relative phase information in the pump cycle that combines with the zero reference of pump periodic phase.
3, the sensor embodiment can produce based on the angular orientation of main rotatable member in the pump pump periodic phase information, and described main rotatable member is converted into for example to-and-fro motion of bent axle of movable component with rotatablely moving of pump driving.
4, the sensor embodiment can produce based on the linear position of one or more movable components in the pump pump periodic phase information.
5, the sensor embodiment can produce pump periodic phase information based on the angular orientation of variable speed drives, described variable speed drives can direct-coupling or the deceleration device by known rate of descent be coupled to main rotatable member in the pump.
6, the sensor embodiment can produce pump periodic phase information based on the individual pulse that is created in pump cycle precalculated position.
7, the sensor embodiment can produce pump periodic phase information based on a plurality of pulses that are created in pump cycle precalculated position.
8, the sensor embodiment can produce pump periodic phase information based on a plurality of pulses that are created in pump cycle precalculated position, so that the pulse number in each pump cycle equates with the number of movable component in the pump.
9, the sensor embodiment can be made of the combination in any of sensor embodiment described above.
Phase shift controller
The disclosure is not limited to the particular of used phase shift controller, but the embodiment below special the proposition:
1, simulation electronic control circuit
2, based on the digital and electronic control circuit of solid-state circuit
3, use the programmable controller of microprocessor technology
4, programmable logic controller (PLC)
5, embedded microcontroller
For the sake of clarity, in the first-selected embodiment of describing in front, used specific term.Yet the disclosure is not to be to be defined in selected particular term, and people know, and these particular term comprise all technical equivalences terms of carrying out to reach the similar technique purpose with similar method.Some terms are used as the vocabulary being convenient to illustrate so that reference to be provided, and are not interpreted as the restriction term.
The existing publication that specification is known oneself (or the information that therefrom obtains), or the reference of any method, can not, should not be counted as yet to existing publication (or the information that therefrom obtains) or known method admit perhaps can or any type of suggestion its form the prior art of specification association area.
At last, should be appreciated that various changes, modification and/or additional, only otherwise break away from the spirit and scope of the present invention, in can incorporating the various structures of each several part into and arranging.
Claims (14)
1. shift control device, be used for controlling each speed of a plurality of reciprocating pumps, to obtain and to keep the expection phase shift of pump between the cycle of each pump, it is characterized in that, comprise phase detector, to produce the pump periodic phase information of each pump, each pump periodic phase information is compared with the virtual reference phase place that results from described shift control device inside, and phase difference is used for the speed setting value of each variable speed drives of each pump of adjusting.
2. shift control device according to claim 1, it is characterized in that described pump comprises that the mechanical device of some forms is to be converted into the to-and-fro motion of movable component in the pump with rotatablely moving of pump driving, it is bent axle, eccentric shaft, camshaft or cam disk that described movable component may be, but not limited to.
3. shift control device according to claim 1, it is characterized in that variable speed drives may be, but not limited to, be AC or DC circuit drives, Diesel Driven and hydraulically powered any one.
4. shift control device according to claim 1 is characterized in that described sensor produces the absolute parallax information in pump cycle.
5. shift control device according to claim 1 is characterized in that described sensor produces the pump cycle relative phase information of being combined with the zero reference of pump periodic phase.
6. shift control device according to claim 1, it is characterized in that described sensor produces pump periodic phase information based on the angular orientation of main rotatable member in the pump, described main rotatable member is converted into for example to-and-fro motion of bent axle of movable component with rotatablely moving of pump driving.
7. shift control device according to claim 1 is characterized in that described sensor produces pump periodic phase information based on the linear position of one or more movable components in the pump.
8. shift control device according to claim 1, it is characterized in that described sensor produces pump periodic phase information based on the angular orientation of described variable speed drives, described variable speed drives can direct-coupling or is coupled to described main rotatable member in the pump by deceleration device.
9. shift control device according to claim 1 is characterized in that described sensor produces pump periodic phase information based on the monopulse that is created in pump cycle precalculated position.
10. shift control device according to claim 1 is characterized in that described sensor produces pump periodic phase information based on a plurality of pulses that are created in pump cycle precalculated position.
11. shift control device according to claim 1, it is characterized in that described sensor produces pump periodic phase information based on a plurality of pulses that are created in pump cycle precalculated position, so that the pulse number in each pump cycle equates with the number of described movable component in the pump.
12. shift control device according to claim 1 is characterized in that described sensor is made of claim 4,5,6,7,8,9,10 and 11 described sensor combination in any.
13. a pumping system, its use have a plurality of reciprocating pumps of the described shift control device of aforementioned any claim.
14. a method, it is used for controlling the speed separately of a plurality of reciprocating pumps, and the phase shift to obtain and to keep the pump of each pump to expect between the cycle said method comprising the steps of:
Produce the pump periodic phase information of each pump,
In shift control device, produce the virtual reference phase place,
Described pump periodic phase information and described virtual reference phase place are compared,
Measure the phase difference between described phase information and the virtual reference phase place, and
Regulate the speed setting value of each variable speed drives of each pump based on described phase difference.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US32160110P | 2010-04-07 | 2010-04-07 | |
| US61/321,601 | 2010-04-07 | ||
| NL2004979A NL2004979C2 (en) | 2010-04-07 | 2010-06-28 | Phase shift controller for a reciprocating pump system. |
| NL2004979 | 2010-06-28 | ||
| PCT/NL2011/050230 WO2011126367A2 (en) | 2010-04-07 | 2011-04-05 | Phase shift controller for a reciprocating pump system. |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102893028A true CN102893028A (en) | 2013-01-23 |
| CN102893028B CN102893028B (en) | 2016-09-28 |
Family
ID=43971690
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201180022244.4A Active CN102893028B (en) | 2010-04-07 | 2011-04-05 | Shift control device, pumping system and the method controlling multiple reciprocating pump each speed |
Country Status (11)
| Country | Link |
|---|---|
| US (1) | US20130078114A1 (en) |
| CN (1) | CN102893028B (en) |
| AR (1) | AR080839A1 (en) |
| AU (1) | AU2011239051B2 (en) |
| CA (1) | CA2795538C (en) |
| DE (1) | DE112011101269B4 (en) |
| MX (1) | MX2012011512A (en) |
| PE (1) | PE20130791A1 (en) |
| RU (1) | RU2012147256A (en) |
| TW (1) | TW201207236A (en) |
| WO (1) | WO2011126367A2 (en) |
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| CN112727752A (en) * | 2020-12-28 | 2021-04-30 | 广东拓斯达科技股份有限公司 | Multi-pump confluence flow pulsation eliminating method and device |
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| NL2019357B1 (en) | 2017-07-27 | 2019-02-18 | Weir Minerals Netherlands Bv | Pump system for handling a slurry medium |
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- 2011-04-05 CA CA2795538A patent/CA2795538C/en active Active
- 2011-04-05 WO PCT/NL2011/050230 patent/WO2011126367A2/en active Application Filing
- 2011-04-05 PE PE2012001999A patent/PE20130791A1/en active IP Right Grant
- 2011-04-05 RU RU2012147256/06A patent/RU2012147256A/en not_active Application Discontinuation
- 2011-04-05 MX MX2012011512A patent/MX2012011512A/en unknown
- 2011-04-05 DE DE112011101269.1T patent/DE112011101269B4/en active Active
- 2011-04-05 US US13/639,929 patent/US20130078114A1/en not_active Abandoned
- 2011-04-06 TW TW100111875A patent/TW201207236A/en unknown
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| CN110894826A (en) * | 2018-09-13 | 2020-03-20 | 诺沃皮尼奥内技术股份有限公司 | Method for reducing pulsation level in a multi-compressor installation using reciprocating compressors |
| US11306707B2 (en) | 2018-09-13 | 2022-04-19 | Nuovo Pignone Tecnologie—S.R.L. | Method for reducing the pulsation level in a multi-compressor plant employing reciprocating compressors |
| CN112727752A (en) * | 2020-12-28 | 2021-04-30 | 广东拓斯达科技股份有限公司 | Multi-pump confluence flow pulsation eliminating method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| PE20130791A1 (en) | 2013-07-25 |
| AR080839A1 (en) | 2012-05-09 |
| CA2795538C (en) | 2018-02-20 |
| AU2011239051A1 (en) | 2012-11-01 |
| TW201207236A (en) | 2012-02-16 |
| CN102893028B (en) | 2016-09-28 |
| CA2795538A1 (en) | 2011-10-13 |
| WO2011126367A3 (en) | 2015-07-02 |
| DE112011101269T5 (en) | 2013-05-02 |
| DE112011101269B4 (en) | 2021-05-06 |
| WO2011126367A2 (en) | 2011-10-13 |
| US20130078114A1 (en) | 2013-03-28 |
| MX2012011512A (en) | 2012-11-29 |
| AU2011239051B2 (en) | 2015-12-24 |
| RU2012147256A (en) | 2014-05-27 |
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