CN105281348A - Motor energy feedback control method and device - Google Patents
Motor energy feedback control method and device Download PDFInfo
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- CN105281348A CN105281348A CN201410347287.5A CN201410347287A CN105281348A CN 105281348 A CN105281348 A CN 105281348A CN 201410347287 A CN201410347287 A CN 201410347287A CN 105281348 A CN105281348 A CN 105281348A
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Abstract
The invention relates to the technical field of motor energy feedback control and provides a motor energy feedback control method and device. The motor energy feedback control method comprises steps of: when it is detected that motor energy feedback is in a critical state, acquiring a voltage phase control change value according to the current output voltage phase and the current output current phase of a motor; acquiring a output voltage phase set value according to the current preset operating frequency of the motor; acquiring a new output voltage phase according to the voltage phase control change value and the output voltage phase set value; and acquiring a new preset operating frequency according to the acquired new output voltage phase, and performing loop execution on the previous operation so as to effectively control the energy feedback caused by the power generation of the motor, achieve a purpose of suppressing an increase in bus voltage, and further prevent a frequency converter overvoltage fault shutdown caused by over-high bus voltage.
Description
Technical field
The present invention relates to motor power feedback control technology field, particularly relate to control method and the control device of motor power feedback.
Background technology
When frequency converter drive motor runs, likely run on the generating state of motor, especially in band large inertia load and when being in quick deceleration running status, or accelerate fast frequency go forward side by side the process of Mobile state adjustment time, or when in running, load causes the occasions such as the fluctuation of speed, motor all likely enters generating state, and now motor is equivalent to a generator, the energy feedback that motor produces when generating electricity can flow to frequency converter, causes busbar voltage acutely to rise.Because frequency converter front end is generally diode rectification; not there is the ability of controlled rectification; if now system is not equipped with brake resistance or ability feedback unit; the place that energy does not just consume; the energy feedback produced is with regard to busbar voltage of likely leaping high; reach the busbar voltage protection point of frequency converter, cause frequency converter overvoltage protection and shut down, this is definitely unallowed in industrial applications.And increase brake resistance or ability feedback unit and significantly can increase equipment cost and reduce system reliability, thus the avoidance function of the energy feedback of frequency conversion drive occasion is essential, and this seriously constrains the practical application effect of frequency converter at some time.
Avoid energy feedback, the most direct suppressing method adopted at present introduces busbar voltage negative feedback control, as depicted in figs. 1 and 2, comprises the integral element 1/SC of a bulky capacitor in whole control loop, i.e. bus capacitor link.Because capacitance is not identical when each power grade; load inertia under different application occasion is also different; thus the difficult parameters of PID is to determine; simultaneously; in loop, the integral element of bulky capacitor must cause the vibration of whole loop to regulate; and allow running frequency significantly vibration can make the vibration overshoot of busbar voltage, as easy as rolling off a log reach bus cross pressure point, cause frequency converter overvoltage protection and shut down.
Summary of the invention
The object of the present invention is to provide a kind of control method and control device of motor power feedback, be intended to solve in prior art in control loop because the integral element that there is bulky capacitor causes the vibration of whole loop to regulate, make the problem of the vibration overshoot of busbar voltage.
The present invention is achieved in that a kind of control method of motor power feedback, and described control method comprises the following steps:
A. when detecting that motor power feedback is in critical condition, according to current output voltage phase place and the current output current phase place acquisition voltage-phase control variable quantity of motor;
B. output voltage phase settings amount is obtained according to the current preset running frequency of motor;
C. new output voltage phase place is obtained according to described voltage-phase control variable quantity and described output voltage phase settings amount;
D. obtain new preset operating frequency according to described new output voltage phase place, and return the described steps A of execution.
Further comprising the steps of before described steps A:
The three-phase output current of motor is carried out coordinate transform to obtain the instantaneous phase of described three-phase output current;
The instantaneous phase of current output voltage phase place and described three-phase output current is carried out subtraction and obtains power perspective;
When described power perspective is 90 °, judge that the energy feedback of motor is in critical condition.
The step that the current output voltage phase place according to motor in described steps A and current output current phase place obtain voltage-phase control variable quantity is specially:
Calculate described voltage-phase according to following relational expression and control variable quantity:
Wherein, θ
vfor output voltage phase place, θ
ifor output current phase place, K is phase control gain, and 0.5≤K≤1.
Described step C is specially:
New output voltage phase place is obtained after described voltage-phase control variable quantity and described output voltage phase settings amount are carried out add operation.
The step obtaining new preset operating frequency according to described new output voltage phase place in described step D is specially:
Actual motion frequency is obtained after described new output voltage phase place is carried out differential calculation and filtering;
Slope variable quantity is calculated according to ramp time;
New preset operating frequency is obtained after described actual motion frequency and slope variable quantity are carried out add operation.
The another kind of embodiment of the present invention also provides a kind of control device of motor power feedback, and described control device comprises:
First acquiring unit, for when motor power feedback is in critical condition, according to current output voltage phase place and the current output current phase place acquisition voltage-phase control variable quantity of motor;
Second acquisition unit, for obtaining output voltage phase settings amount according to the current preset running frequency of motor;
3rd acquiring unit, for obtaining new output voltage phase place according to described voltage-phase control variable quantity and described output voltage phase settings amount;
4th acquiring unit, for obtaining new preset operating frequency according to described new output voltage phase place and driving described first acquiring unit work.
Described control device also comprises energy feedback detecting unit, whether is in critical condition for detected energy feedback;
Described energy feedback detecting unit comprises:
Current phase calculator, for carrying out the instantaneous phase that coordinate transform obtains described three-phase output current to three-phase output current;
Subtracter, obtains power perspective for the instantaneous phase of described current output voltage phase place and described three-phase output current is carried out subtraction;
Angle measurement equipment, when the described power perspective for calculating when described subtracter is 90 °, judges that energy feedback is in critical condition.
Described first acquiring unit obtains voltage-phase control variable quantity according to the current output voltage phase place of motor and current output current phase place and is specially:
Calculate described voltage-phase according to following relational expression and control variable quantity:
Wherein, θ
vfor output voltage phase place, θ
ifor output current phase place, K is phase control gain, and 0.5≤K≤1.
Described 3rd acquiring unit obtains new output voltage phase place according to described voltage-phase control variable quantity and described output voltage phase settings amount and is specially:
New output voltage phase place is obtained after described voltage-phase control variable quantity and described output voltage phase settings amount are carried out add operation.
Described 4th acquiring unit comprises:
Differentiator, for carrying out differential calculation by described new output voltage phase place;
Filter, obtains actual motion frequency after the result of calculation of described differentiator is carried out filtering;
Frequency slope generator, for calculating slope variable quantity according to ramp time;
Adder, obtains new preset operating frequency after described actual motion frequency and slope variable quantity are carried out add operation.
The control method of a kind of motor power feedback of the present invention and control device; effective control has been carried out to the energy feedback caused due to electric power generation in frequency converter translator running; thus reach the rising that inhibit busbar voltage, further avoid busbar voltage too high and cause the situation of frequency converter overvoltage disorderly closedown.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the control principle drawing of the control method of motor power feedback in prior art;
Fig. 2 is the control principle sketch of the control method of motor power feedback in prior art;
Fig. 3 is the flow chart of the control method of a kind of motor power feedback that an embodiment of the present invention provides;
Fig. 4 is the control principle drawing of the control method of a kind of motor power feedback that an embodiment of the present invention provides;
Fig. 5 is the control principle sketch of the control method of a kind of motor power feedback that an embodiment of the present invention provides;
Fig. 6 is the voltage wave cardon in the control method of a kind of motor power feedback that an embodiment of the present invention provides;
Fig. 7 is the power pin wave pattern in the control method of a kind of motor power feedback that an embodiment of the present invention provides;
Fig. 8 is the flow chart of the control method of a kind of motor power feedback that the another kind of embodiment of the present invention provides;
Fig. 9 is the structural representation of the control device of a kind of motor power feedback that the another kind of embodiment of the present invention provides;
Figure 10 is the 4th acquiring unit structural representation in the control device of a kind of motor power feedback that the another kind of embodiment of the present invention provides;
Figure 11 is the structural representation of the control device of a kind of motor power feedback that the another kind of embodiment of the present invention provides;
Figure 12 is the energy feedback detecting unit structural representation in the control device of a kind of motor power feedback that the another kind of embodiment of the present invention provides.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
In order to technical scheme of the present invention is described, be described below by specific embodiment.
An embodiment of the present invention provides a kind of control method of motor power feedback, as shown in Figures 3 to 5, comprises the following steps:
Step S101. when detecting that motor power feedback is in critical condition, according to the current output voltage phase theta of motor
vwith current output current phase theta
iobtain voltage-phase and control variation delta θ;
Step S102. is according to the current preset running frequency f of motor
runobtain output voltage phase settings amount
Step S103. controls variation delta θ and output voltage phase settings amount according to voltage-phase
obtain new output voltage phase place;
Step S104. obtains new preset operating frequency according to described new output voltage phase place, and returns the described step S101 of execution;
In step S101, be specially according to the current output voltage phase place of motor and the step of current output current phase place acquisition voltage-phase control variable quantity:
Calculate described voltage-phase according to following relational expression and control variable quantity:
Wherein, θ
vfor output voltage phase place, θ
ifor output current phase place, K is phase control gain, and 0.5≤K≤1.
Wherein, voltage-phase control variation delta θ is applied directly in current output voltage phase place, because stator magnetic flux is the integration of voltage, so the SPA sudden phase anomalies of voltage effectively can change the track of stator magnetic flux.And stator magnetic flux phase place has very large gain to motor torque, therefore the sudden change of voltage-phase can reduce motor output torque fast, thus reduces electric power generation amount.Δ θ is by output voltage phase theta
vwith output current phase theta
icomputing obtains, and Δ θ is known variables, θ
ican obtain through changes in coordinates again through detecting three-phase current, K is the direct ride gain of phase place, determine the sensitivity of phase place change, the value of K is larger, inhibition is better, but too large gain can cause the problem that motor output torque fluctuates greatly and the fluctuation of output frequency is large, cause larger mechanical oscillation, even make system unstable, the value of K can adjust according to actual effect, the value selection about 0.5 ~ 1.5 that found through experiments K is proper, and preferably, the general value selecting K is about 1.
In step s 102, voltage-phase set amount
by preset operating frequency f
runintegration gained, this and VVVF of the prior art control to be consistent, and when not having energy feedback, Δ θ is 0, and output voltage is pressed
run, now energy feedback avoidance function does not come into force, and is equivalent to be in closed condition.
In step s 103, step S103 is specially:
Described voltage-phase is controlled variation delta θ and described output voltage phase settings amount
new output voltage phase theta is obtained after carrying out add operation
v.
Owing to directly controlling phase place, so output voltage phase theta now
vcan change, according to formula
calculate the output voltage phase theta made new advances
v.
In step S104, the step obtaining new preset operating frequency according to new output voltage phase place is specially:
Actual motion frequency is obtained after new output voltage phase place is carried out differential calculation and filtering;
Slope variable quantity is calculated according to ramp time;
New preset operating frequency is obtained after actual motion frequency and slope variable quantity are carried out add operation.
Concrete, due to the control of voltage-phase, there are differences between actual motion frequency and setpoint frequency, need to obtain actual frequency according to the change of virtual voltage phase place, take differential to add filtering method in the present invention, that is:
wherein θ
vfor new output voltage phase place, drawn by step S103, if directly to output voltage phase differential, can there is very large fluctuation in the frequency obtained, so need to carry out filtering again, wherein τ is time constant filter, is generally selected in about 10ms, if τ selects oversize, be equivalent to energy avoidance and be only subject to phase control, because whole loop does not have integral part, so need the gain strengthening K to be effective, be unfavorable for system stability like this.If τ is too little, the fluctuation that differential part causes will be transmitted on output frequency, cause phase place given
fluctuation, thus weaken phase control above.Preferably, experimentally effect draws, if derivative time, step-length was chosen as 1ms, to be then chosen as 10ms proper for time constant filter τ.
Concrete, the ramp frequency that normal condition low-converter adopts occurs not by other state modulator, determined by target frequency and ramp time, but because there is no integral element in the present invention, so need to add up frequency change herein, present invention employs the slope production method based on current operation frequency, that is:
wherein Δ f is determined by ramp time, so slope carries out increment change on current operation frequency.Therefore, by the cooperation of the acquisition with above-mentioned actual motion frequency, achieve the integral action of a FREQUENCY CONTROL, be equivalent to an outer shroud at a slow speed and control, by achieving inner ring fast control with above-mentioned phase place directly actuated cooperation, reach good control effects.
In step S104, after obtaining new preset operating frequency, then return execution step S101, realize the control of motor power feedback.
Measured result of the present invention as shown in Figure 6 and Figure 7, can be seen and substantially not rise at moderating process median generatrix voltage, and power perspective swings near 90 ° simultaneously.
The another kind of embodiment of the present invention provides a kind of control method of motor power feedback, and as shown in Figure 8, control method comprises the following steps:
The three-phase output current of motor is carried out coordinate transform to obtain the instantaneous phase of three-phase output current by step S201.;
The instantaneous phase of output voltage phase place and three-phase output current is carried out subtraction and is obtained power perspective by step S202.;
Step S203., when power perspective is 90 °, judges that the energy feedback of motor is in critical condition.
Step S204. when detecting that motor power feedback is in critical condition, according to the current output voltage phase theta of motor
v1with current output current phase theta
iobtain voltage-phase and control variation delta θ;
Step S205. is according to the current preset running frequency f of motor
runobtain output voltage phase settings amount
Step S206. controls variation delta θ and output voltage phase settings amount according to voltage-phase
obtain new output voltage phase place;
Step S207. obtains new preset operating frequency according to described new output voltage phase place, and returns the described step S204 of execution.
Wherein the main purpose of step S201 to step S203 is whether detected energy feedback is in critical condition, when power perspective is 90 °, judge that energy feedback is in critical condition, start to perform step S204, step 204 is that step S101 in embodiment is identical to step S104 to step S207 with above-mentioned, does not repeat them here.
The another kind of embodiment of the present invention provides a kind of control device of motor power feedback, and described control device comprises:
First acquiring unit 301, for when motor power feedback is in critical condition, according to current output voltage phase place and the current output current phase place acquisition voltage-phase control variable quantity of motor;
Second acquisition unit 302, for obtaining output voltage phase settings amount according to the current preset running frequency of motor;
3rd acquiring unit 303, for obtaining new output voltage phase place according to described voltage-phase control variable quantity and described output voltage phase settings amount;
4th acquiring unit 304, for obtaining new preset operating frequency according to described new output voltage phase place and driving described first acquiring unit work.
Described first acquiring unit 301 obtains voltage-phase control variable quantity according to the current output voltage phase place of motor and current output current phase place and is specially:
Calculate described voltage-phase according to following relational expression and control variable quantity:
Wherein, θ
vfor output voltage phase place, θ
ifor output current phase place, K is phase control gain, 0.5≤K≤1.
3rd acquiring unit 303 obtains new output voltage phase place according to described voltage-phase control variable quantity and described output voltage phase settings amount and is specially:
New output voltage phase place is obtained after described voltage-phase control variable quantity and described output voltage phase settings amount are carried out add operation.
Described 4th acquiring unit 304 comprises:
Differentiator 401, for carrying out differential calculation by described new output voltage phase place;
Filter 402, obtains actual motion frequency after the result of calculation of described differentiator is carried out filtering;
Frequency slope generator 403, for calculating slope variable quantity according to ramp time;
Adder 404, obtains new preset operating frequency after described actual motion frequency and slope variable quantity are carried out add operation.
The another kind of embodiment of the present invention provides a kind of control device of motor power feedback, and described control device also comprises energy feedback detecting unit 307, whether is in critical condition for detected energy feedback;
Described energy feedback detecting unit 307 comprises:
Current phase calculator 501, for carrying out the instantaneous phase that coordinate transform obtains described three-phase output current to three-phase output current;
Subtracter 502, obtains power perspective for the instantaneous phase of described current output voltage phase place and described three-phase output current is carried out subtraction;
Angle measurement equipment 503, when the described power perspective for calculating when described subtracter is 90 °, judges that energy feedback is in critical condition.
The control method of a kind of motor power feedback of the present invention and control device; effective control has been carried out to the energy feedback caused due to electric power generation in frequency converter translator running; thus reach the rising that inhibit busbar voltage, further avoid busbar voltage too high and cause the situation of frequency converter overvoltage disorderly closedown.And the overvoltage that energy feedback produces can affect the application of frequency converter in actual industrial occasion, time serious, security incident may be caused.The present invention through specialized designs and experimental verification, can under different power grades and different loading conditions steady operation, there is very strong consistency and stability.And can be embedded in universal frequency converter, professional frequency converter and other motor drivers.Core of the present invention directly controls the instantaneous phase of voltage, the frequency of voltage is controlled simultaneously, basic process is: when motor reach generating critical time, namely when the power perspective detected reaches 90 °, first with one, the yield value of power perspective is gone to the phase place of direct control voltage, the phase place of quick change stator magnetic flux, thus the moment reducing motor, inhibit energy feedback.Monitor the mean value of output voltage phase place change simultaneously, thus obtain the actual frequency of output voltage, according to actual frequency and target frequency, rerun through frequency slope generator, produce running frequency set point.Due to the design of control structure, the gain of whole control loop adoption rate, does not have integral operation, and whole controller stability is very high, controls thinking clear and definite, and application is simple.
What the present invention proposed is control fast the inner ring of frequency converter and electric system to the directly actuated core concept of output voltage phase place, and the variable quantity participating in inner ring control is voltage-phase and current phase, and being can fast-changing electric parameter variable.Avoid the control of the large time constant variablees such as the bus bulky capacitor to outer shroud, load large inertia, thus rapidity and the validity of control can be realized.The essential difference that the present invention and prior art median generatrix Voltage Feedback control is exactly the difference of Fig. 2 and Fig. 5, can see bulky capacitor integration in Fig. 5 by contrast
link is included in bus voltage feedback control loop, but is not included in the directly actuated control loop of voltage-phase.Torque current I
activebe an intermediate variable when bus FEEDBACK CONTROL, have vibration and overshoot in working control process, and phase place directly control directly I
activeas control objectives.Found through experiments, the control method that the present invention proposes has good control effects, and all has good stability to different capacity grade and different loads occasion.
Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention; make some equivalent alternative or obvious modification without departing from the inventive concept of the premise; and performance or purposes identical, all should be considered as belonging to the scope of patent protection that the present invention is determined by submitted to claims.
Claims (10)
1. a control method for motor power feedback, is characterized in that, described control method comprises the following steps:
A. when detecting that motor power feedback is in critical condition, according to current output voltage phase place and the current output current phase place acquisition voltage-phase control variable quantity of motor;
B. output voltage phase settings amount is obtained according to the current preset running frequency of motor;
C. new output voltage phase place is obtained according to described voltage-phase control variable quantity and described output voltage phase settings amount;
D. obtain new preset operating frequency according to described new output voltage phase place, and return the described steps A of execution.
2. the control method of motor power feedback as claimed in claim 1, is characterized in that, further comprising the steps of before described steps A:
The three-phase output current of motor is carried out coordinate transform to obtain the instantaneous phase of described three-phase output current;
The instantaneous phase of current output voltage phase place and described three-phase output current is carried out subtraction and obtains power perspective;
When described power perspective is 90 °, judge that the energy feedback of motor is in critical condition.
3. the control method of motor power feedback as claimed in claim 1, is characterized in that, the step that the current output voltage phase place according to motor in described steps A and current output current phase place obtain voltage-phase control variable quantity is specially:
Calculate described voltage-phase according to following relational expression and control variable quantity:
Wherein, θ
vfor output voltage phase place, θ
ifor output current phase place, K is phase control gain, and 0.5≤K≤1.
4. the control method of motor power feedback as claimed in claim 1, it is characterized in that, described step C is specially:
Described voltage-phase control variable quantity and described output voltage phase settings amount are carried out add operation to obtain new output voltage phase place.
5. the control method of motor power feedback as claimed in claim 1, is characterized in that, the step obtaining new preset operating frequency according to described new output voltage phase place in described step D is specially:
Actual motion frequency is obtained after described new output voltage phase place is carried out differential calculation and filtering;
Slope variable quantity is calculated according to ramp time;
New preset operating frequency is obtained after described actual motion frequency and slope variable quantity are carried out add operation.
6. a control device for motor power feedback, is characterized in that, described control device comprises:
First acquiring unit, for when motor power feedback is in critical condition, according to current output voltage phase place and the current output current phase place acquisition voltage-phase control variable quantity of motor;
Second acquisition unit, for obtaining output voltage phase settings amount according to the current preset running frequency of motor;
3rd acquiring unit, for obtaining new output voltage phase place according to described voltage-phase control variable quantity and described output voltage phase settings amount;
4th acquiring unit, for obtaining new preset operating frequency according to described new output voltage phase place and driving described first acquiring unit work.
7. the control device of motor power feedback as claimed in claim 6, it is characterized in that, described control device also comprises energy feedback detecting unit, whether is in critical condition for detected energy feedback;
Described energy feedback detecting unit comprises:
Current phase calculator, for carrying out coordinate transform to obtain the instantaneous phase of described three-phase output current to the three-phase output current of motor;
Subtracter, obtains power perspective for the instantaneous phase of described current output voltage phase place and described three-phase output current is carried out subtraction;
Angle measurement equipment, when the described power perspective for calculating when described subtracter is 90 °, judges that the energy feedback of motor is in critical condition.
8. the control device of motor power feedback as claimed in claim 6, is characterized in that, described first acquiring unit obtains voltage-phase control variable quantity according to the current output voltage phase place of motor and current output current phase place and is specially:
Calculate described voltage-phase according to following relational expression and control variable quantity:
Wherein, θ
vfor output voltage phase place, θ
ifor output current phase place, K is phase control gain, and 0.5≤K≤1.
9. the control device of motor power feedback as claimed in claim 6, is characterized in that, described 3rd acquiring unit obtains new output voltage phase place according to described voltage-phase control variable quantity and described output voltage phase settings amount and is specially:
New output voltage phase place is obtained after described voltage-phase control variable quantity and described output voltage phase settings amount are carried out add operation.
10. the control device of motor power feedback as claimed in claim 6, it is characterized in that, described 4th acquiring unit comprises:
Differentiator, for carrying out differential calculation by described new output voltage phase place;
Filter, obtains actual motion frequency after the result of calculation of described differentiator is carried out filtering;
Frequency slope generator, for calculating slope variable quantity according to ramp time;
Adder, obtains new preset operating frequency after described actual motion frequency and slope variable quantity are carried out add operation.
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| CN109687794A (en) * | 2017-10-19 | 2019-04-26 | 发那科株式会社 | Control device of electric motor |
| CN112234905A (en) * | 2020-09-30 | 2021-01-15 | 深圳市阿尔法电气技术有限公司 | Motor energy-saving method and device based on frequency converter and electronic equipment |
| CN112682392A (en) * | 2020-12-15 | 2021-04-20 | 苏州伟创电气科技股份有限公司 | Hydraulic control method and device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106655908A (en) * | 2016-09-09 | 2017-05-10 | 珠海格力节能环保制冷技术研究中心有限公司 | Motor control method and system |
| CN106655908B (en) * | 2016-09-09 | 2019-06-04 | 珠海格力电器股份有限公司 | Motor control method and system |
| CN109687794A (en) * | 2017-10-19 | 2019-04-26 | 发那科株式会社 | Control device of electric motor |
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| CN112234905A (en) * | 2020-09-30 | 2021-01-15 | 深圳市阿尔法电气技术有限公司 | Motor energy-saving method and device based on frequency converter and electronic equipment |
| CN112234905B (en) * | 2020-09-30 | 2023-10-10 | 深圳市阿尔法电气技术有限公司 | Motor energy saving method and device based on frequency converter and electronic equipment |
| CN112682392A (en) * | 2020-12-15 | 2021-04-20 | 苏州伟创电气科技股份有限公司 | Hydraulic control method and device |
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| CN105281348B (en) | 2018-03-06 |
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