CN105510665A - Diesel generating set controller-based online digital oscilloscope device - Google Patents
Diesel generating set controller-based online digital oscilloscope device Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R13/00—Arrangements for displaying electric variables or waveforms
- G01R13/02—Arrangements for displaying electric variables or waveforms for displaying measured electric variables in digital form
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R13/00—Arrangements for displaying electric variables or waveforms
- G01R13/02—Arrangements for displaying electric variables or waveforms for displaying measured electric variables in digital form
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Abstract
The invention provides a diesel generating set controller-based online digital oscilloscope device. The device includes a signal input unit, a signal conditioning circuit, an A/D conversion unit, a data processing unit and a waveform display unit; the signal input unit inputs alternating-current voltage signals and alternating-current current signals from a controller to the signal conditioning circuit for processing the signals, so that alternating-current voltage conditioned signals and alternating-current current conditioned signals can be obtained; the alternating-current voltage conditioned signals and the alternating-current current conditioned signals are inputted into the A/D conversion unit for A/D conversion, so that voltage sampling signals and current sampling signals are obtained; the voltage sampling signals and current sampling signals are inputted into the data processing unit; conversion processing is performed on the voltage sampling signals and current sampling signals, so that a voltage value and a current value can be obtained; and the waveform display unit performs waveform display on the voltage value and the current value. With the diesel generating set controller-based online digital oscilloscope device adopted, the functions of a digital oscilloscope can be integrated on a diesel generating set controller; the waveforms of the alternating-current voltage and current can be detected online in a real-time manner; and a basis can be provided for the evaluation of the quality of a power source. The device has the advantages of safety, reliability, low cost and easiness in implementation.
Description
Technical field
The present invention relates to the Waveform display apparatus of controller of diesel generator set, particularly a kind of online digital oscilloscope device based on controller of diesel generator set.
Background technology
Diesel generator set is a kind of small-sized generating set, means with diesel oil to be fuel, take diesel engine as the motive power machine device of prime mover drive electrical generators generating.Diesel generator set due to its light and flexible, integrated level high, simple to operate, be convenient to the features such as maintenance, be widely used in boats and ships, railway, mine, military affairs, communication, field construction and the important place such as enterprises and institutions, administration, use as conventional, for subsequent use or emergency power pack.
Controller of diesel generator set, can provide intelligentized control method and safeguard protection for genset, can detect and show every operational factor, have the controlling functions such as machine and shutdown, and automatically disposed when breaking down, the safety of timely proterctive equipment and personnel.
The controller of diesel generator set existed in the market, no matter be foreign brand name, or home brands, although can both measure, show three-phase voltage and electric current, but these parameters are all the results obtained through true root mean square computing by original AC signal, and the original waveform of these parameters does not provide.For the user paying close attention to power quality, usually need to use electric power analysis instrument to check actual waveform, but electric power analysis instrument price is expensive, wiring is complicated, and access is ac high-voltage, both inconvenient, also dangerous.
Summary of the invention
The object of the present invention is to provide a kind of online digital oscilloscope device based on controller of diesel generator set cannot the problem of direct display waveform to solve existing controller of diesel generator set.
For achieving the above object, the invention provides a kind of online digital oscilloscope device based on controller of diesel generator set, comprising:
Signal input unit, signal conditioning circuit, A/D converting unit, data processing unit and waveform display unit;
Described signal input unit is connected with the connection terminal of the controller of diesel generator set, and the ac voltage signal received from described controller and ac current signal; Described ac voltage signal and ac current signal input described signal conditioning circuit and carry out signal transacting, obtain the signal after the signal after alternating voltage conditioning and alternating current conditioning; Signal after described alternating voltage conditioning and the signal after alternating current conditioning input described A/D converting unit and carry out A/D conversion, obtain voltage sampling signal and current sampling signal; Described voltage sampling signal and current sampling signal input described data processing unit, carry out conversion process and obtain magnitude of voltage and current value; Described magnitude of voltage and current value input described waveform display unit and carry out waveform display.
Preferably, described controller is connected with diesel-driven generator, the three-phase alternating voltage output line of diesel-driven generator, three-phase alternating current output line, electric current common port and voltage N phase are held and are connected with 8 connection terminals of controller respectively, so that 3 road ac voltage signals of diesel-driven generator and 3 road ac current signals are inputted described controller.
Preferably, described signal conditioning circuit comprises voltage signal conditioning circuit and current signal conditioning circuit, described voltage signal conditioning circuit comprises operational amplifier A 1, resistance R1, resistance R2, resistance R3, resistance R4, electric capacity C1, described resistance R3, electric capacity C1 is in parallel, resistance R3 in parallel, one end of electric capacity C1 is connected with the reverse input end of described operational amplifier A 1, the other end is connected with the output terminal of described operational amplifier A 1, one end of described resistance R2 is connected with the reverse input end of described operational amplifier A 1, the other end is connected with resistance R1, described ac voltage signal is from resistance R1, the common port input of resistance R2, the signal after the conditioning of described alternating voltage is exported through described resistance R4 after described operational amplifier A 1 reduces,
Described current signal conditioning circuit comprises operational amplifier A 2, operational amplifier A 3, operational amplifier A 4, operational amplifier A 5, described operational amplifier A 2, operational amplifier A 3 in the same way input end through an inductance L of connecting successively 1, resistance R5, inductance L 2 is connected, described operational amplifier A 2, the reverse input end of operational amplifier A 3 is connected with output terminal respectively through the inductance of one group of parallel connection and electric capacity, described operational amplifier A 2, the output terminal of operational amplifier A 3 respectively through a resistance and operational amplifier A 4 reverse input end and in the same way input end be connected, the output terminal of described operational amplifier A 5 is connected with the input end in the same way of operational amplifier A 4 through the inductance of parallel connection and resistance, and ac current signal is through inductance L 1, the common port input of resistance R5, the signal that electric current common port exports is through resistance R5, the common port input of inductance L 2, described ac current signal is sampled by described resistance R5, is converted to ac voltage signal, then through operational amplifier A 2, operational amplifier A 3, operational amplifier A 4 exports the signal after the conditioning of described alternating current by the output terminal of described operational amplifier A 4 after amplifying,
Signal after described alternating voltage conditioning and the signal after alternating current conditioning input described A/D converting unit and carry out A/D conversion, obtain the digital signal of voltage and the digital signal of electric current.
Preferably, described A/D converting unit is a single-chip microcomputer, described single-chip microcomputer carries out scan transformation to obtain described current sampling signal and current sampling signal respectively in the mode of DMA to the signal after the alternating voltage conditioning of the analog form of input and the signal after alternating current conditioning
Preferably, have timer in described single-chip microcomputer, described timer is for sampling period during control DMA scan transformation.
Preferably, the described sampling period is 5kHz ~ 8kHz.
Preferably, be provided with the first data buffer and the second data buffer in described A/D converting unit, described first data buffer and the second data buffer are used for writing data in turn successively and completely laggard row data processing is write in a buffer zone wherein.
One of them data buffer is write and is continued completely afterwards to write data in another data buffer, and write data in another data buffer while, the data write in full data buffer are write in process.
Preferably, described data processing unit comprises a signal digital filtration module and signals revivification module, described signal digital filtration module is used for described voltage sampling signal and current sampling signal to carry out digital filtering process by median filtering algorithm, obtain voltage data and the current data of digital filtering, described signals revivification module is used for the voltage data of digital filtering and current data being carried out calculating described magnitude of voltage and current value according to the attenuation multiple of proven data, described signal input unit and signal conditioning circuit.
Preferably, described waveform display unit is LCD display, described magnitude of voltage and current value input described LCD display and carry out waveform display, wherein, described magnitude of voltage and current value with the mobile mode refreshed from left to right mobile update to show the actual waveform of voltage or electric current in described LCD display.
Preferably, the resolution of described LCD display is more than 320*240, and what described LCD display transverse shifting refreshed is spaced apart below 10ms.
Online digital oscilloscope device based on controller of diesel generator set provided by the invention is by signalization modulate circuit, A/D converting unit, data processing unit and waveform display unit, achieve digital oscilloscope function i ntegration on controller of diesel generator set, and this device is for the characteristic of diesel generator set, adopt single-chip microcomputer can complete data processing and be shown by LCD.
By this device display generator waveform, without the need to other electric power oscilloscope apparatus external, get final product the waveform that real-time online detects alternating voltage and electric current, for the quality evaluating power supply puies forward foundation.Equipment safety of the present invention, reliable, cost is lower, be easy to realize, and can be controller of diesel generator set increases added value.
Accompanying drawing explanation
Fig. 1 is the online digital oscilloscope apparatus structure schematic diagram based on controller of diesel generator set provided by the invention;
Fig. 2 is diesel generator controller and the generator connection diagram of the preferred embodiment of the present invention;
Fig. 3 is the voltage signal conditioning circuit composition diagram of the preferred embodiment of the present invention;
Fig. 4 is the current signal conditioning circuit composition diagram of the preferred embodiment of the present invention;
Fig. 5 is the local data display effect figure of the preferred embodiment of the present invention.
Embodiment
For better the present invention being described, hereby with a preferred embodiment, and accompanying drawing is coordinated to elaborate to the present invention, specific as follows:
As shown in Figure 1, the invention provides a kind of online digital oscilloscope device based on controller of diesel generator set, this device comprises: signal input unit 10, signal conditioning circuit 20, A/D converting unit 30, data processing unit 40 and waveform display unit 50.
Signal input unit 10 is connected with the connection terminal of the controller of diesel generator set, and receives ac voltage signal and the ac current signal of self-controller; Ac voltage signal and ac current signal input signal conditioning circuit 20 carry out sampling processing, obtain the signal after the signal after alternating voltage conditioning and alternating current conditioning; Signal input A/D converting unit 30 after signal after alternating voltage conditioning and alternating current conditioning carries out A/D conversion, obtains voltage sampling signal and current sampling signal; Voltage sampling signal and current sampling signal input data processing unit 40, carry out conversion process and obtain magnitude of voltage and current value; Magnitude of voltage and current value input waveform display unit 50 carry out waveform display.
As shown in Figure 2, controller in the present embodiment is UGC300 type controller, this controller is connected with diesel-driven generator, signal input unit 10 in the present embodiment comprises 3 mutual inductors, 3 cartridge fuses (be generally arranged in switch board, can according to power match) and attached wire composition thereof.Three-phase alternating voltage output line L1, L2, L3 of this diesel-driven generator and voltage N phase are connected with load by switch GB, think load supplying.Carry out voltage, electric current numerical monitor time, in the present invention, three-phase alternating voltage output line L1, L2, L3 of diesel-driven generator export L1 phase current, L2 phase current, L3 phase current respectively, be connected with 54 pin of controller by a mutual inductor in particular by L1 phase current, L2 phase current is connected with 55 pin of controller by a mutual inductor, L3 phase current is connected with 56 pin of controller by a mutual inductor, makes mutual inductor export three-phase alternating current; The three-phase alternating voltage output line of this diesel-driven generator exports 3 ac voltage signals respectively by 3 cartridge fuses, particularly, these 3 ac voltage signals are connected respectively by 46 pin of three-phase alternating voltage output line L1, L2, L3 and controller, 47 pin and 48 pin; Electric current common port is connected with 58 pin of controller; Voltage N phase is held and is connected with controller 49 pin, so that 3 road ac voltage signals of diesel-driven generator and 3 road ac current signals are inputted UGC300 type controllers.
Signal input unit 10 is connected with the connection terminal of the controller of diesel generator set, and receives the ac voltage signal of self-controller and ac current signal and by its input signal conditioning circuit 20.Wherein, signal conditioning circuit 20 comprises voltage signal conditioning circuit and current signal conditioning circuit.
As shown in Figure 3, voltage signal conditioning circuit comprises operational amplifier U55B, 150 Ω resistance R282 of two series connection, R283 can be considered the resistance R1 of 300 Ω, the 1M Ω resistance R286 of four series connection, R287, R288, R289 can be considered the resistance R2 of 4M Ω, resistance R290 is in parallel with electric capacity C201C, resistance R290 in parallel is connected with the reverse input end 6 of described operational amplifier U55B with one end of electric capacity C201C, the other end is connected with the output terminal 7 of operational amplifier U55B, one end of resistance R2 is connected with the reverse input end 6 stating operational amplifier U55B, the other end is connected with resistance R1, the output terminal 7 of operational amplifier U55B is connected with resistance R291, and resistance R291 is by electric capacity C200A ground connection, ac voltage signal inputs from the common port of resistance R1, resistance R2, the signal after operational amplifier U55B reduces after the common port output AC voltage of resistance R291 and electric capacity C200A is nursed one's health.In the present embodiment, the half (1.65V) being biased to reference voltage by resistance R291 after the voltage of a road ac voltage signal of input is reduced 400 times by operational amplifier U55B exports afterwards for alternating voltage nurse one's health after signal, for subsequent sampling.
As shown in Figure 4, current signal conditioning circuit comprises 4 operational amplifiers and is respectively operational amplifier U47D, U47C, U49C, U49D, and the inductance RP18B of input end in the same way through connecting successively, resistance R257, the inductance RP18C of operational amplifier U47D, operational amplifier U47C are connected; The reverse input end 13 of operational amplifier U47D is connected with output terminal 14 respectively through the inductance RP18A of one group of parallel connection and electric capacity C159A; The reverse input end 9 of operational amplifier U47C is connected with output terminal 8 respectively through the inductance RP18D of one group of parallel connection and electric capacity C159B; The output terminal 14 of operational amplifier U47D is connected with the reverse input end 13 of operational amplifier U49D through a resistance R251, the output terminal 8 of operational amplifier U47C through a resistance R262 and operational amplifier U49D in the same way input end 12 be connected; The output terminal 8 of operational amplifier U49C is connected with the input end in the same way 12 of operational amplifier U49D through the inductance C158B of parallel connection and resistance R261.In this circuit, one road ac current signal inputs through the common port of inductance RP18B, resistance R257, and the signal that electric current common port exports inputs through the common port of resistance R257, inductance RP18C, the resistance of resistance R257 is 20m Ω, ac current signal is by the resistance sampling of this 20m Ω, the alternating current of 0 ~ 5A is converted to the ac voltage signal of 0 ~ 0.1V, after operational amplifier U47D, operational amplifier U47C, operational amplifier U49D amplify, the alternating voltage of 0 ~ 0.1V is amplified about 50 times again, then reduce 3 times.And exported by the output terminal of operational amplifier U49D, wherein, in the present embodiment, alternating voltage to be biased to after 1.65V as the signal after alternating current conditioning by resistance R253 by operational amplifier U49D, samples for follow-up.
Above-mentioned voltage signal conditioning circuit only processes 3 voltage signal Zhong mono-road, road ac voltage signals, and in like manner, above-mentioned current signal conditioning circuit only processes 3 current signal Zhong mono-road, road ac current signals.Those skilled in the art are to be understood that, for realizing the present invention to 3 road ac voltage signal signals and the process to 3 road ac current signals, signal conditioning circuit 20 provided by the invention comprises 3 identical voltage signal conditioning circuits as shown in Figure 3 and 3 identical current signal conditioning circuits as shown in Figure 4.
A/D converting unit 30 in the present embodiment is a single-chip microcomputer, single-chip microcomputer is preferably the LPC1788 chip of NXP company, this chip is the microcontroller based on ARMCortex-M3, and its highest frequency is 120MHz, for the treatment of the Embedded Application requiring high integration and low-power consumption.This chip has sdram interface and LCD interface, and has 12 ADC of 8 passages, allows the polydispersity index with 400kHz.In the present invention, LPC1788 chip carries out scan transformation to obtain current sampling signal and current sampling signal respectively in the mode of DMA to the signal after the alternating voltage conditioning of the analog form of input and the signal after alternating current conditioning, particularly, LPC1788 chip carries out scan transformation in the mode of DMA to 6 AD passages, and the signal after above-mentioned voltage conditioning and the signal after alternating current conditioning input this single-chip microcomputer by these 6 AD passages.In addition, there are in this single-chip microcomputer several timers, in the present embodiment, adopt one of them timer to sampling period during control DMA scan transformation.Sampling period in the present embodiment is 5kHz, and namely every 200us to 6 channel acquisition once.
In other preferred embodiments, the sampling period can be 5kHz ~ 8kHz, all can obtain the less voltage signal of degree of distortion and current signal.
In addition, in order to avoid the read/write conflict of sampled data, be provided with the first data buffer and the second data buffer in LPC1788 chip, the first data buffer and the second data buffer are used for writing data in turn successively and completely laggard row data processing (reading) is write in a buffer zone wherein.
Particularly, write completely when one of them data buffer and continue to write data in another data buffer, carry out processing the data write and write in full data buffer write data in another data buffer while, the data of carrying out in turn successively circulating write and process.
Data processing unit 40 comprises a signal digital filtration module and signals revivification module, signal digital filtration module is used for voltage sampling signal and current sampling signal to carry out digital filtering process by median filtering algorithm, obtains voltage data and the current data of digital filtering; Signals revivification module is used for according to proven data (nominal data, before apparatus of the present invention are measured (before factory inspection), by the linear revise data that standard signal generator tool Actual measurement obtains, be used for the difference of compensating signal modulate circuit, to reach the object eliminating systematic error), the voltage data of digital filtering and current data carry out calculating magnitude of voltage and current value by the signal input unit of this device and the attenuation multiple of signal conditioning circuit.In the present embodiment, for the AD of 12, the data area of sampling is 0-0xFFF, and therefore each sampled value needs 2 bytes to represent.The data gathered need the conversion carrying out voltage and current before display, by signal digital filtration module and signals revivification module, original code value are converted to actual magnitude of voltage and current value.
Waveform display unit in the present embodiment is LCD display, magnitude of voltage and current value input LCD display carry out waveform display, wherein, magnitude of voltage and current value with the mobile mode refreshed from left to right mobile update to show the actual waveform of voltage or electric current on an lcd display.
In the present embodiment, the resolution of LCD display is more than 320*240, and what LCD display transverse shifting refreshed is spaced apart below 10ms.Data always carry out mobile update from left to right, and the indication range of whole screen data is adjustable, as shown in following table one:
Table one: under different situations, the whole screen display of LCD display shows time range
| Time/lattice | The time range that whole screen display is shown |
| 20ms/div | 0.16 second |
| 50ms/div | 0.4 second |
| 100ms/div | 0.8 second |
| 200ms/div | 1.6 second |
| 500ms/div | 4 seconds |
| 1000ms/div | 8 seconds |
As shown in Figure 5, in the example shown in this figure, the resolution of LCD display is 800*480 to final local repressentation effect, and the viewing area of waveform, laterally using 800 pixels, is divided into 8 lattice, every lattice 100 pixels, and that moves refreshing is spaced apart 0.1s.The data of sampling, through Graphics Processing, just directly can check the actual waveform of power supply by apparatus of the present invention that controller is arranged.By Wave data, computational analysis can also be carried out to transient overvoltage, voltage surge, voltage sag, voltage time-out, voltage harmonic etc. further.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, any those skilled in the art is in the technical scope that the present invention discloses; the distortion do the present invention or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of described claim.
Claims (10)
1. based on an online digital oscilloscope device for controller of diesel generator set, it is characterized in that, comprising: signal input unit, signal conditioning circuit, A/D converting unit, data processing unit and waveform display unit;
Described signal input unit is connected with the connection terminal of the controller of diesel generator set, and the ac voltage signal received from described controller and ac current signal; Described ac voltage signal and ac current signal input described signal conditioning circuit and carry out signal transacting, obtain the signal after the signal after alternating voltage conditioning and alternating current conditioning; Signal after described alternating voltage conditioning and the signal after alternating current conditioning input described A/D converting unit and carry out A/D conversion, obtain voltage sampling signal and current sampling signal; Described voltage sampling signal and current sampling signal input described data processing unit, carry out conversion process and obtain magnitude of voltage and current value; Described magnitude of voltage and current value input described waveform display unit and carry out waveform display.
2. the online digital oscilloscope device based on controller of diesel generator set according to claim 1, it is characterized in that, described controller is connected with diesel-driven generator, the three-phase alternating voltage output line of diesel-driven generator, three-phase alternating current output line, electric current common port and voltage N phase are held and are connected with 8 connection terminals of controller respectively, so that 3 road ac voltage signals of diesel-driven generator and 3 road ac current signals are inputted described controller.
3. the online digital oscilloscope device based on controller of diesel generator set according to claim 2, it is characterized in that, described signal conditioning circuit comprises voltage signal conditioning circuit and current signal conditioning circuit, described voltage signal conditioning circuit comprises operational amplifier A 1, resistance R1, resistance R2, resistance R3, resistance R4, electric capacity C1, described resistance R3, electric capacity C1 is in parallel, resistance R3 in parallel, one end of electric capacity C1 is connected with the reverse input end of described operational amplifier A 1, the other end is connected with the output terminal of described operational amplifier A 1, one end of described resistance R2 is connected with the reverse input end of described operational amplifier A 1, the other end is connected with resistance R1, described ac voltage signal is from resistance R1, the common port input of resistance R2, the signal after the conditioning of described alternating voltage is exported through described resistance R4 after described operational amplifier A 1 reduces, described current signal conditioning circuit comprises operational amplifier A 2, operational amplifier A 3, operational amplifier A 4, operational amplifier A 5, described operational amplifier A 2, operational amplifier A 3 in the same way input end through an inductance L of connecting successively 1, resistance R5, inductance L 2 is connected, described operational amplifier A 2, the reverse input end of operational amplifier A 3 is connected with output terminal respectively through the inductance of one group of parallel connection and electric capacity, described operational amplifier A 2, the output terminal of operational amplifier A 3 respectively through a resistance and operational amplifier A 4 reverse input end and in the same way input end be connected, the output terminal of described operational amplifier A 5 is connected with the input end in the same way of operational amplifier A 4 through the inductance of parallel connection and resistance, and ac current signal is through inductance L 1, the common port input of resistance R5, the signal that electric current common port exports is through resistance R5, the common port input of inductance L 2, described ac current signal is sampled by described resistance R5, is converted to ac voltage signal, then through operational amplifier A 2, operational amplifier A 3, operational amplifier A 4 exports the signal after the conditioning of described alternating current by the output terminal of described operational amplifier A 4 after amplifying,
Signal after described alternating voltage conditioning and the signal after alternating current conditioning input described A/D converting unit and carry out A/D conversion, obtain the digital signal of voltage and the digital signal of electric current.
4. the online digital oscilloscope device based on controller of diesel generator set according to claim 1, it is characterized in that, described A/D converting unit is a single-chip microcomputer, and described single-chip microcomputer carries out scan transformation to obtain described current sampling signal and current sampling signal respectively in the mode of DMA to the signal after the alternating voltage conditioning of the analog form of input and the signal after alternating current conditioning.
5. the online digital oscilloscope device based on controller of diesel generator set according to claim 4, is characterized in that having timer in described single-chip microcomputer, and described timer is for sampling period during control DMA scan transformation.
6. the online digital oscilloscope device based on controller of diesel generator set according to claim 5, it is characterized in that, the described sampling period is 5kHz ~ 8kHz.
7. the online digital oscilloscope device based on controller of diesel generator set according to claim 1 or 4, it is characterized in that, be provided with the first data buffer and the second data buffer in described A/D converting unit, described first data buffer and the second data buffer are used for writing data in turn successively and completely laggard row data processing is write in a buffer zone wherein.
8. the online digital oscilloscope device based on controller of diesel generator set according to claim 1, it is characterized in that, described data processing unit comprises a signal digital filtration module and signals revivification module, described signal digital filtration module is used for described voltage sampling signal and current sampling signal to carry out digital filtering process by median filtering algorithm, obtain voltage data and the current data of digital filtering, described signals revivification module is used for according to proven data, the voltage data of digital filtering and current data carry out calculating described magnitude of voltage and current value by the attenuation multiple of described signal input unit and signal conditioning circuit.
9. the online digital oscilloscope device based on controller of diesel generator set according to claim 1, it is characterized in that, described waveform display unit is LCD display, described magnitude of voltage and current value input described LCD display and carry out waveform display, wherein, described magnitude of voltage and current value with the mobile mode refreshed from left to right mobile update to show the actual waveform of voltage or electric current in described LCD display.
10. the online digital oscilloscope device based on controller of diesel generator set according to claim 9, is characterized in that, the resolution of described LCD display is more than 320*240, and what described LCD display transverse shifting refreshed is spaced apart below 10ms.
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