CN105673235A - Method and apparatus for knock control of an internal combustion engine - Google Patents
Method and apparatus for knock control of an internal combustion engine Download PDFInfo
- Publication number
- CN105673235A CN105673235A CN201510870166.3A CN201510870166A CN105673235A CN 105673235 A CN105673235 A CN 105673235A CN 201510870166 A CN201510870166 A CN 201510870166A CN 105673235 A CN105673235 A CN 105673235A
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- interference noise
- signal
- burning
- internal combustion
- reference value
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D35/00—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for
- F02D35/02—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for on interior conditions
- F02D35/027—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for on interior conditions using knock sensors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/22—Safety or indicating devices for abnormal conditions
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L23/00—Devices or apparatus for measuring or indicating or recording rapid changes, such as oscillations, in the pressure of steam, gas, or liquid; Indicators for determining work or energy of steam, internal-combustion, or other fluid-pressure engines from the condition of the working fluid
- G01L23/22—Devices or apparatus for measuring or indicating or recording rapid changes, such as oscillations, in the pressure of steam, gas, or liquid; Indicators for determining work or energy of steam, internal-combustion, or other fluid-pressure engines from the condition of the working fluid for detecting or indicating knocks in internal-combustion engines; Units comprising pressure-sensitive members combined with ignitors for firing internal-combustion engines
- G01L23/221—Devices or apparatus for measuring or indicating or recording rapid changes, such as oscillations, in the pressure of steam, gas, or liquid; Indicators for determining work or energy of steam, internal-combustion, or other fluid-pressure engines from the condition of the working fluid for detecting or indicating knocks in internal-combustion engines; Units comprising pressure-sensitive members combined with ignitors for firing internal-combustion engines for detecting or indicating knocks in internal combustion engines
- G01L23/225—Devices or apparatus for measuring or indicating or recording rapid changes, such as oscillations, in the pressure of steam, gas, or liquid; Indicators for determining work or energy of steam, internal-combustion, or other fluid-pressure engines from the condition of the working fluid for detecting or indicating knocks in internal-combustion engines; Units comprising pressure-sensitive members combined with ignitors for firing internal-combustion engines for detecting or indicating knocks in internal combustion engines circuit arrangements therefor
- G01L23/226—Devices or apparatus for measuring or indicating or recording rapid changes, such as oscillations, in the pressure of steam, gas, or liquid; Indicators for determining work or energy of steam, internal-combustion, or other fluid-pressure engines from the condition of the working fluid for detecting or indicating knocks in internal-combustion engines; Units comprising pressure-sensitive members combined with ignitors for firing internal-combustion engines for detecting or indicating knocks in internal combustion engines circuit arrangements therefor using specific filtering
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
- F02D2041/1413—Controller structures or design
- F02D2041/1432—Controller structures or design the system including a filter, e.g. a low pass or high pass filter
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/24—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means
- F02D41/26—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using computer, e.g. microprocessor
- F02D41/28—Interface circuits
- F02D2041/286—Interface circuits comprising means for signal processing
Abstract
The invention provides a method and apparatus for knock control of an internal combustion engine. The signals of a knock sensor are analyzed and processed. The signals of multiple combustion processes in an internal combustion engine are continuously converted into reference values, and during the combustion, a measuring signal (30) that is allocated to the combustion is compared with the reference value (31) so as to determine the combustion has a knock or not. Moreover, interference noise information (26) is analyzed and processed. The interference noise information (26) judges the measuring signal (30) that is allocated to the measuring signal (30) is false or not due to the interference noise. The measured signal of the internal combustion (30), to which the interference noise information (26) indicates a distortion by a noise is not taken into account for the formation of the reference value (31).
Description
Technical field
The present invention relates to the method and apparatus that a kind of pinking for internal combustion engine according to independent claims type adjusts.
Background technology
By the known a kind of method and apparatus for pinking identification of DE10154422, wherein, carry out the abatement of interference noise. At this, when measuring detonation signal, the appearance of interference noise so considers: remove interference noise signal from measuring. In addition carrying out the determination of reference value, the detonation signal of each measurement compares with this reference value. Described reference value was formed by former measurement signal. When interference noise occurs, then measure signal and be corrected and then in a usual manner for calculating datum (Referenzpegel). This causes, interference signal in short-term causes the change of datum. Therefore pinking identification is made to be deteriorated and thus also make pinking adjustment be deteriorated.
Summary of the invention
Relatively, there is the method according to the invention of the feature of independent claims and the advantage according to assembly of the invention is, when interference signal occurs, be left out the signal of so measurement for forming reference value. Therefore without the signal section including interference noise in so that the reference value so formed is without the mistakeization due to interference noise. Therefore the quality making pinking identification is enhanced and thus also makes the quality of pinking adjustment be enhanced.
Further advantage and improvement are drawn by the feature of dependent claims. Particularly simple carry out: form reference value by measuring the sliding average (gleitendenDurchschnitt) of signal. Signal is not only interpreted as initial primary signal at this but also is interpreted as all signals obtained by process by initial primary signal. Advantageously, in the measurement window arranged relative to burning, the analyzing and processing of hot spot signal is carried out so that use the pith of the signal important for pinking identification. (drive control by described control information when analyzing and processing control information and produce the execution device of this execution noise), particularly simple identify interference noise. Typically, this execution device relates to other actuators of being driven in the valve of internal combustion engine of control or vehicle by control equipment. The appearance of interference noise can be reliably identified by the analyzing and processing of the control information of described execution device. By using the distinct methods about pinking identification according to interference noise presence or absence, it is possible to carry out reliable pinking identification when interference noise occurs. In addition also it is possible that make relatively differently with the type of interference noise, especially use measure that signal must have relative to reference value, for identifying the different size of difference of pinking. So can realize adapting to described difference the interference noise of correspondence.
Accompanying drawing explanation
Shown in the drawings and explain in detail embodiments of the invention in the description.Accompanying drawing illustrates:
Fig. 1 has the general view of the internal combustion engine that pinking adjusts;
The signal analysis and processing of Fig. 2 knock sensor signal.
Detailed description of the invention
Schematically show the cylinder 1 of internal combustion engine in FIG. Being provided with piston 11 in the cylinder, this piston constitutes combustor 13 together with cylinder 1. By air supply unit 14, the fresh air that burning is required is supplied in combustor 13. Additionally, or by spraying or introducing a fuel in combustor 13 by the directly injection in combustor 13 in air supply unit 14, fuel burns together with air in combustor 13. In order to light the mixture of air and fuel, being provided with spark plug 12, this spark plug drives control by controlling circuit 16 accordingly by controlling equipment 5. Additionally, combustor 13 is also connected with exhaustor 15, the burning waste gas in combustor 13 by described exhaustor from combustor 13 arrange from. The corresponding valve that controls guides air supply unit 14 and discharge duct 15. Introduced a fuel into by this injection valve or respective spray valve in air supply unit 14 or in combustor 13 is not shown in FIG. 1 for simplicity reasons. Further according to Fig. 1, described internal combustion engine also has detonation sensor 2 in the outside of cylinder 1, and this detonation sensor is connected with control equipment 5 by signal line 3. Therefore, what herein relate to is the common internal combustion engine being lighted air-fuel mixture by pilot spark. Additionally, such setting for this internal combustion engine, the operation near the knock limits of this internal combustion engine of this internal combustion engine can be realized by the signal of analyzing and processing detonation sensor 2.
Additionally, drive control also by what control equipment 5 carried out other executors of described internal combustion engine or actuator, for instance for controlling or regulate the valve of air inlet or for the valve of fuel injection or for controlling the valve etc. of compressor of air conditioner.
Detonating combustion relates to a kind of burning: in combustor 13 not only with spark plug 12 for starting point and also be starting point with other hot spots in combustor burning. Owing to the while of multiple, ignition position produces the burning of multiple salf dispersions, these burn and encounter one another and cause high pressure and temperature. In continuous service, detonating combustion owing to that high temperature and bridging phenomenon (Br ü cken) may result in is on described internal combustion engine, the especially material damage on piston 11. Therefore this operation with detonating combustion is avoided. On the other hand, in the operation area before pinking, the burning in combustor 13 carries out effective especially so that internal combustion engine operation near so-called knock limits is desired.
Detonation sensor 2 is usually directed to shaking sensor or the noise transducer of corresponding vibrations or the intense vibration determining in combustor 13. Except the signal produced due to the burning in combustor 13, detonation sensor 2 is yet measured and is not derived from other vibrations or noises of burning in combustor 13. At this, especially can relate to the vibrations or the noise that cause owing to being handled other executive components of internal combustion engine by control equipment 5. Such as produce vibrations owing to handling injection valve by control equipment 5 or noise, described vibrations or noise can be measured by detonation sensor 2. Other sources of interference noise are such as the closedown of air inlet valve and air exhaust valve or the switching of the change of camshaft location or clutch.
And then after causing burning by the pilot spark on spark plug 12, in very short time window, carry out the analyzing and processing of the signal of detonation sensor 2.Phenomenon of detonation according to the present invention occurs in this region, because due to the burning started by the pilot spark of spark plug 12 with thus the pressure in the combustor that realizes improves the self-ignition probability also improving other positions in combustor.
Arranged according to the present invention one special method: how to be in operation and carry out pinking identification and thus carrying out pinking adjustment, wherein, the noise or the vibrations development that cause for the measurement window of detonation signal and the executor that handled by control equipment 5 are met in time in for the measurement window of detonation signal. Described for pinking knowledge method for distinguishing or device in order to explain, figure 2 illustrates the details of pinking identification.
It is shown schematically for each method step of pinking identification in fig. 2 or for the device of pinking identification. Device for pinking identification shown in figure 2 can be separate member by the configuration of structural elements of the part that is similar to control equipment. Alternatively, also this structural detail illustrated can be achieved in that, its mode is, the signal of detonation sensor 2 is done analog-digital conversion (passing through analog/digital converter) and then passes through each structural detail shown in the realization of corresponding software function module. Hybrid mode between both frame modes is also feasible.
The signal of detonation sensor 2 is supplied directly on booster 20. Booster 20 carries out enhancing and the preparation if desired of the signal of detonation sensor 2. The signal so strengthened is further provided on band filter 21 by booster 20. When there is pinking in combustor 13, the vibrations thus caused or noise signal have the determination frequency range depending on internal combustion engine geometry and internal combustion engine operation data if desired. Only allow the signal by the detonation sensor 2 being in described frequency range, and filter out lower and higher frequency by band filter 21.
The signal of such bandpass filtering is provided on commutator 22 by band filter 21. The rectification of signal is carried out by commutator 22. Not only producing positive signal by detonation sensor 2 and also produce negative signal, they pass through commutator 22 rectification. Rectified signal is further provided on integrator 23 by commutator 22. For the internal combustion engine operation section of fixing time really or determine that angular range carries out the integration of rectified signal in described integrator. Therefore integrator 23 must be driven control accordingly by control equipment 5, for guaranteeing the correct signal of analyzing and processing detonation sensor 2. For this it has to be understood that when carry out lighting a fire in combustor 13 and for how long with for what angular range, enhancing, bandpass filtering, the rectification signal of detonation sensor is integrated. Usually by the control equipment 5 rotating speed according to internal combustion engine and load and the selection carrying out to other operational factors the controlling value for integrator if desired, described controlling value is referred to below as measurement window.
In addition arrange the measurement window of multiple direct successive also for the burning in combustor 13, they are respectively to the process that itself performs an analysis. When such as short measurement window identifying pinking at two or three described, then it is determined with pinking.
Comparator 25 carries out the further analyzing and processing of the sensor signal of the integration hereinafter referred to as detonation signal. In comparator 25 detonation signal 30 is compared with reference signal 31. When difference between detonation signal 30 and reference signal 31 is sufficiently large, comparator 25 providing output signal 32, this output signal illustrates whether there is pinking.Reference signal generator 24 is constituted reference signal 31 by the detonation signal 30 before multiple. For this, also by integrator 23, detonation signal 30 is provided on reference signal generator 24. In reference signal generator 24 by before detonation signal 30 moving average produce reference signal 31. For this, each detonation signal 30 is multiplied by a coefficient between 0 and 1 and constitutes relative to the difference of reference signal existed. Described difference is added to current reference signal. So carry out the moving average of former detonation signal 30. When first time compared to before detonation signal recognize when strongly increasing of detonation signal 30, then the reference signal that the detonation signal 30 measured in corresponding burning is noticeably greater than in former burning to be formed so that reliably identify detonating combustion. When (by integrator 23, the signal of detonation sensor 2 being integrated) occurring owing to executor passes through when handling the interference noise produced of control equipment 5 regularly in measurement window in this measurement window, then consider together to be used for asking for of datum 31 by this interference noise. Datum 31 considers this interference noise. Therefore described interference noise causes the raising of datum 31.
Particularly critical: when interference noise no longer occurring and carrying out detonating combustion simultaneously. Due to datum 31 because it is contemplated that interference noise and the raising that causes, pinking identification is significantly insensitive and thus detonating combustion in nonrecognition combustor 13 for regular hour Duan Eryan. This damage causing can not reliably getting rid of internal combustion engine.
Propose, when constituting datum 31, the appearance of interference noise is also considered together. For this, control equipment 5 provide interference noise information 26. When provided by control equipment 5 carry out in the time window of detonation signal integration simultaneously executor handle or but when the manipulation of executor cause the interference noise that extends on the time and this interference noise with for the time window of integrator 23 overlapping time, then provided interference noise information 26 by control equipment 5 always. When being illustrated by interference noise information 26: occur when interference noise is overlapping with the measurement window of integrator 23, then the detonation signal 30 that reference value generator 24 is left out producing when this burning is for forming subsequent reference value 31. As long as therefore there is interference noise during the measurement time of integrator 23, thus detonation signal 30 is just not used in formation reference value 31 so that datum 31 does not comprise the signal section deriving from interference noise yet. So reliably avoid interference noise in datum 31.
Additionally, the identification of the change of detonation signal also must be carried out in this burning that disturbed noise is overlapping, because detonation signal 30 also additionally comprises interference noise except normal combustion noise. This such as can be carried out as follows, datum generator 24 provide the datum 31 analyzing and processing for this burning of change. Substitute also it is possible that thus the difference between detonation signal 30 and datum 31 is provided as output signal 32 by comparator 25. In this case, also will described difference have great in research comparator 25 output signal 32. The threshold value of comparator also can be improved when there is interference noise. When having burning interference noise occur simultaneously, then what correspondingly arranged by the level identifying pinking from this level is higher.
When really being fixed time by control equipment 5 window carries out when driving control of respective actuators being also used for driving control integrator 23, control equipment 5 provide interference noise information 26. Have to determine when when making control equipment 5 adapt to described internal combustion engine to provide interference noise information 26. For this, for instance operation of actuator and analyze and process consequent interference noise in the trail run of internal combustion engine. Described interference noise must be compared with the normal intensity of combustion noise, when analyzing and processing detonation signal 30 to form datum 31 or when determining recognition threshold, whether must take into described interference noise to determine. This also can carry out with the determination running status of internal combustion engine relatively, for instance the interference noise determined can be problematic when the slow-speed of revolution for pinking adjustment, and in the high rotating speed originally existing for higher noise level, identical signal is insignificant.
Additionally, also may also provide different interference noise information, they are for many making pinking identification adaptation critically important consumingly when there is described interference noise. So can such as when first kind interference noise little difference between detonation signal 30 and datum 31 be enough, and when another interference noise, need the more big-difference of detonation signal 30 and reference signal 31 due to the loudness of a sound of interference noise.
Claims (6)
1. the method adjusted for the pinking of internal combustion engine, wherein, the signal of the detonation sensor of analyzing and processing internal combustion engine, wherein, compare being attached with described reference value (31) to the measurement signal (30) of this burning in being formed continuously reference value by the signal of combustion processes multiple in internal combustion engine and burnt one, for determine described burning be pinking carry out or non-pinking carry out, wherein, analyzing and processing interference noise information (26), wherein, described interference noise information (26) shows to be attached the whether mistakeization due to interference noise to the measurement signal (30) of this burning, it is characterized in that, the measurement signal (30) being left out following burning is used for forming described reference value (31): described interference noise information (26) illustrates the mistakeization owing to interference noise causes for this measurement signal.
2. the method for claim 1, it is characterised in that use the sliding average of described measurement signal (30) to be used for forming described reference value (31).
3. the method as described in one of aforementioned claim, it is characterised in that analyze and process the signal of described detonation sensor (2) in a measurement window relative to burning.
4. method as claimed in claim 3, it is characterized in that, the execution device for controlling internal combustion engine is controlled by controlling equipment (5), described control equipment (5) provides the information of the manipulation about executor, and, when the information of the manipulation about executor is in the measurement window of the signal for described detonation sensor, the mistakeization of the described measurement signal (30) caused due to interference noise is identified.
5. the method as described in one of aforementioned claim, it is characterized in that, when identifying the mistake caused due to interference noise, the comparison of measurement signal (30) and the described reference value (31) being attached to this burning is carried out according to first method, when not identifying the mistake caused due to interference noise, the comparison of measurement signal (30) and the described reference value (31) being attached to this burning is carried out according to second method, wherein, described measurement signal (30) must have relative to described reference value (31), for be identified as the difference of pinking in first method from be different in the second approach.
6. the device adjusted for the pinking of internal combustion engine, described device analysis processes the signal of the detonation sensor of internal combustion engine, and this by the signal of the multiple combustion processes in internal combustion engine be continuously formed reference value and burning time compare being attached with described reference value (31) to the measurement signal (30) of described burning, for determine described burning be pinking carry out or non-pinking carry out, and interference noise information (26) is analyzed and processed at this, wherein, described interference noise information (26) shows to be attached the whether mistakeization due to interference noise to the measurement signal (30) of described burning, it is characterized in that, described device is left out the measurement signal (30) of following burning and is used for forming described reference value (31): described interference noise information (26) illustrates the mistakeization owing to interference noise causes for this measurement signal.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102014224800.0 | 2014-12-03 | ||
| DE102014224800.0A DE102014224800B4 (en) | 2014-12-03 | 2014-12-03 | Method and device for knock control of an internal combustion engine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105673235A true CN105673235A (en) | 2016-06-15 |
| CN105673235B CN105673235B (en) | 2020-10-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510870166.3A Active CN105673235B (en) | 2014-12-03 | 2015-12-02 | Method and device for knock control of an internal combustion engine |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN105673235B (en) |
| DE (1) | DE102014224800B4 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107870060A (en) * | 2016-09-28 | 2018-04-03 | 罗伯特·博世有限公司 | The method and apparatus that pinking for internal combustion engine identifies |
| CN110005522A (en) * | 2017-12-21 | 2019-07-12 | 罗伯特·博世有限公司 | The method and apparatus that pinking for internal combustion engine is adjusted |
| CN111344478A (en) * | 2017-11-13 | 2020-06-26 | 罗伯特·博世有限公司 | Method and device for knock control of an internal combustion engine |
| CN111630259A (en) * | 2017-11-21 | 2020-09-04 | Mtu 腓特烈港有限责任公司 | Method for operating an internal combustion engine having at least one combustion space and internal combustion engine for carrying out such a method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102017201801B4 (en) | 2017-02-06 | 2019-09-05 | Robert Bosch Gmbh | Method and device for controlling a combustion of an internal combustion engine |
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| US4478068A (en) * | 1981-09-17 | 1984-10-23 | Robert Bosch Gmbh | Internal combustion engine knock sensing method and system |
| CN1322295A (en) * | 1999-09-28 | 2001-11-14 | 罗伯特·博施有限公司 | Method for detecting knocking |
| JP2005509111A (en) * | 2001-11-06 | 2005-04-07 | ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング | Method and apparatus for fading out obstacle noise when knocking is detected in an internal combustion engine |
| WO2010037588A1 (en) * | 2008-09-30 | 2010-04-08 | Robert Bosch Gmbh | Method and device for detecting a knocking occurrence during a switching process between operating modes of an internal combustion engine |
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2014
- 2014-12-03 DE DE102014224800.0A patent/DE102014224800B4/en active Active
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2015
- 2015-12-02 CN CN201510870166.3A patent/CN105673235B/en active Active
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| US4478068A (en) * | 1981-09-17 | 1984-10-23 | Robert Bosch Gmbh | Internal combustion engine knock sensing method and system |
| CN1322295A (en) * | 1999-09-28 | 2001-11-14 | 罗伯特·博施有限公司 | Method for detecting knocking |
| JP2005509111A (en) * | 2001-11-06 | 2005-04-07 | ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング | Method and apparatus for fading out obstacle noise when knocking is detected in an internal combustion engine |
| WO2010037588A1 (en) * | 2008-09-30 | 2010-04-08 | Robert Bosch Gmbh | Method and device for detecting a knocking occurrence during a switching process between operating modes of an internal combustion engine |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107870060A (en) * | 2016-09-28 | 2018-04-03 | 罗伯特·博世有限公司 | The method and apparatus that pinking for internal combustion engine identifies |
| CN107870060B (en) * | 2016-09-28 | 2021-03-26 | 罗伯特·博世有限公司 | Method and device for knock detection in an internal combustion engine |
| CN111344478A (en) * | 2017-11-13 | 2020-06-26 | 罗伯特·博世有限公司 | Method and device for knock control of an internal combustion engine |
| CN111344478B (en) * | 2017-11-13 | 2022-11-04 | 罗伯特·博世有限公司 | Method and device for knock control of an internal combustion engine |
| CN111630259A (en) * | 2017-11-21 | 2020-09-04 | Mtu 腓特烈港有限责任公司 | Method for operating an internal combustion engine having at least one combustion space and internal combustion engine for carrying out such a method |
| CN110005522A (en) * | 2017-12-21 | 2019-07-12 | 罗伯特·博世有限公司 | The method and apparatus that pinking for internal combustion engine is adjusted |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102014224800B4 (en) | 2018-01-18 |
| DE102014224800A1 (en) | 2016-06-09 |
| CN105673235B (en) | 2020-10-16 |
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