CN106774282B - A kind of on-line parameter identification circuit - Google Patents
A kind of on-line parameter identification circuit Download PDFInfo
- Publication number
- CN106774282B CN106774282B CN201710071324.8A CN201710071324A CN106774282B CN 106774282 B CN106774282 B CN 106774282B CN 201710071324 A CN201710071324 A CN 201710071324A CN 106774282 B CN106774282 B CN 106774282B
- Authority
- CN
- China
- Prior art keywords
- interface
- circuit
- voltage regulator
- communication chip
- connect
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0275—Fault isolation and identification, e.g. classify fault; estimate cause or root of failure
- G05B23/0278—Qualitative, e.g. if-then rules; Fuzzy logic; Lookup tables; Symptomatic search; FMEA
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Quality & Reliability (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Test And Diagnosis Of Digital Computers (AREA)
- Dc Digital Transmission (AREA)
Abstract
A kind of on-line parameter identification circuit is related to isolation and the diagnostic field of flying vehicles control rudder face failure；Including computing unit circuit, debug circuit, the first communication chip, the second communication chip, data storage card interface circuit, interface circuit, 5V voltage regulator circuit and 3.3V voltage regulator circuit；Wherein, data storage card interface circuit and computing unit circuit connection；Debug circuit and computing unit circuit connection；Interface circuit is connect with the first communication chip, while the first communication chip and computing unit circuit connection；Interface circuit is connect with the second communication chip, while the second communication chip and computing unit circuit connection；Interface circuit is connect with 5V voltage regulator circuit；5V voltage regulator circuit is connect with 3.3V voltage regulator circuit；The present invention is suitable for the input of Width funtion external power supply, convenient for integrating with flight control system, convenient for storage flying quality and Identification Data, improves the reliability and accuracy of identification result.
Description
Technical field
The present invention relates to a kind of isolation of flying vehicles control rudder face failure and diagnostic field, especially a kind of on-line parameter is distinguished
Know circuit.
Background technique
When catastrophe failure occurs for vehicle rudder, as when steering engine is stuck or Control Surface Damage, classical control system is difficult to adapt to
And stabilization, On-line Estimation and identification need to be carried out to the stuck position of steering engine, Control Surface Damage situation by on-line Algorithm, according to failure feelings
Condition flight control system carries out redistributing online for control rudder face in time, or further implements the controls systems such as the online redesign of control law
System reconstruct measure, otherwise will lead to the serious consequence for being difficult to retrieve.Carried out the research of on-line parameter identification technique both at home and abroad,
But on-line parameter identification algorithm is typically directly realized on winged control machine, occupies the computing resource of winged control machine in this way；Parameter identification
Accuracy compare rely on for identification kinetic model accuracy, based on inaccuracy kinetic model will be difficult to obtain
Correct identification result；It is lower using only a kind of identification result reliability that Identification of parameter obtains.
Summary of the invention
It is an object of the invention to overcome the above-mentioned deficiency of the prior art, a kind of on-line parameter identification circuit, hardware are provided
System cost is low, is suitable for the input of Width funtion external power supply, convenient for integrated with flight control system, convenient for storage flying quality and identification
Data update convenient for program；Algorithm is based on filter-identifier group, by first judging fault mode, then carries out parameter identification
Mode carries out, and improves the reliability of identification result, and parameter identification is put to the vote using double redundancy algorithm and obtained with arithmetic average
To identification result, the accuracy of parameter identification is improved.
Above-mentioned purpose of the invention is achieved by following technical solution:
A kind of on-line parameter identification circuit, including computing unit circuit, debug circuit, the first communication chip, the second communication
Chip, data storage card interface circuit, interface circuit, 5V voltage regulator circuit and 3.3V voltage regulator circuit；Wherein, data storage card interface
Circuit and computing unit circuit connection；Debug circuit and computing unit circuit connection；Interface circuit is connect with the first communication chip,
First communication chip and computing unit circuit connection simultaneously；Interface circuit is connect with the second communication chip, while the second communication core
Piece and computing unit circuit connection；Interface circuit is connect with 5V voltage regulator circuit；5V voltage regulator circuit is connect with 3.3V voltage regulator circuit.
In a kind of above-mentioned on-line parameter identification circuit, 5V voltage regulator circuit receives external power supply, 3.3V by interface circuit
The power supply that 5V voltage regulator circuit transmits is converted into 3.3V power supply by voltage regulator circuit, and is led to for computing unit circuit, debug circuit, first
Interrogate chip, the second communication chip and the power supply of data memory card interface circuit.
In a kind of above-mentioned on-line parameter identification circuit, the debug circuit is provided with VDD interface, TRST interface, TDI and connects
Mouth, TMS/SWDIO interface, TCK/SWCLK interface, NC interface, TDO/SWO interface, RESET# interface, NC interface, VDD interface and
GND interface；Wherein, TRST interface, TDI interface, TMS/SWDIO interface, TCK/SWCLK interface, TDO/SWO interface and RESET#
Interface and computing unit circuit connection；VDD interface connects 3.3V voltage regulator circuit；TCK/SWCLK interfacing ground；GND interfacing ground.
In a kind of above-mentioned on-line parameter identification circuit, first communication chip is provided with V+ interface, V- interface, R1IN
Interface, R2IN interface, T1IN interface, T2IN interface, C1+ interface, C1- interface, VCC interface, GND interface, R1OUT interface,
R2OUT interface, T1OUT interface, T2OUT interface, C2+ interface and C2- interface；Wherein, T1OUT interface, T2OUT interface, R1IN
Interface and R2IN interface are connect with interface circuit；T1IN interface, T2IN interface, R1OUT interface and R2OUT interface and computing unit
Circuit connection；V- interface is grounded after connecting with external capacitive C2；V+ interface is grounded after connecting with external capacitive C1；C1+ interface with
It is connect after external capacitive C4 series connection with C1- interface；C2+ interface is connect after connecting with external capacitive C5 with C2- interface；VCC interface
Connect with 3.3V voltage regulator circuit, at the same VCC interface connect with external capacitive C3 after be grounded；GND interfacing ground.
In a kind of above-mentioned on-line parameter identification circuit, second communication chip be provided with R1IN interface, R2IN interface,
T1OUT interface, T2OUT interface, IN interface, OUT interface and GND interface；Wherein, R1IN interface, R2IN interface, T1OUT interface
It is connect with T2OUT interface with interface circuit；IN interface and OUT interface and computing unit circuit connection；GND interfacing ground.
In a kind of above-mentioned on-line parameter identification circuit, the 5V voltage regulator circuit is provided with Vo+ interface；The 3.3V pressure stabilizing
Circuit is provided with IN interface；The Vo+ interface of 5V voltage regulator circuit is connect with the IN interface of 3.3V voltage regulator circuit.
In a kind of above-mentioned on-line parameter identification circuit, the data storage card interface circuit be provided with DATA2 interface,
CD/DATA3 interface, CMD interface, VSS interface, VDD interface, CLK interface, DATA0 interface, DATA1 interface, CD interface, GND connect
Mouth and WP interface；Wherein, DATA2 interface, CD/DATA3 interface, CMD interface, CLK interface, DATA0 interface and DATA1 interface with
Computing unit circuit connection；VSS interfacing ground；VDD interface is connect with 3.3V voltage regulator circuit.
The invention has the following advantages over the prior art:
(1) hardware system in the present invention, using high efficiency, low cost under the premise of efficiently can execute identification algorithm
STM32F407 chip reduces hardware system cost；Comprising DC-DC power source management module, it is suitable for the Width funtion of 9V~18V
Input, and by output voltage stabilization in 3.3V and 5V；Comprising RS232 and two kinds of communication interfaces of RS422, it is convenient for and flight control system collection
At；Comprising SD card interface, a large amount of flying quality and Identification Data can be stored；Comprising jtag interface, facilitate program programming and
Debugging；
(2) inventive algorithm first judges fault mode by Kalman filter group, and is selected based on corresponding fault mode
Corresponding kinetic model is selected, identifier is reused and carries out parameter identification, the reliability of identification result can be improved.
Detailed description of the invention
Fig. 1 is on-line parameter identification circuit figure of the present invention；
Fig. 2 is debug circuit figure of the present invention；
Fig. 3 is the first communication chip of the invention；
Fig. 4 is the second communication chip of the invention；
Fig. 5 is data storage card interface circuit of the present invention.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments:
A kind of on-line parameter identification circuit is provided, the computing resource of winged control machine is not take up, independent operating algorithm passes through communication
Interface and winged control machine carry out data exchange；Device uses the computing chip of high efficiency, low cost, and includes to be suitable for Width funtion input
Power management module, common communication interface and external storage interface, program burn writing and debugging interface.
It is as shown in Figure 1 on-line parameter identification circuit figure, as seen from the figure, a kind of on-line parameter identification circuit, including it is efficient
Computing unit circuit, debug circuit, the first communication chip and the second communication chip of low cost are convenient for integrated with flight control system；Number
According to memory card interface circuit, a large amount of flying quality and Identification Data, interface circuit, the 5V for being suitable for Width funtion input can be stored
Voltage regulator circuit and 3.3V voltage regulator circuit；Wherein, data storage card interface circuit and computing unit circuit connection；Debug circuit and meter
Calculate element circuit connection；Interface circuit is connect with the first communication chip, while the first communication chip and computing unit circuit connection；
Interface circuit is connect with the second communication chip, while the second communication chip and computing unit circuit connection；Interface circuit is steady with 5V
Volt circuit connection；5V voltage regulator circuit is connect with 3.3V voltage regulator circuit.
Wherein, 5V voltage regulator circuit receives external power supply by interface circuit, and 3.3V voltage regulator circuit transmits 5V voltage regulator circuit
Power supply be converted into 3.3V power supply, and be computing unit circuit, debug circuit, the first communication chip, the second communication chip sum number
It powers according to memory card interface circuit.5V voltage regulator circuit is provided with Vo+ interface；The 3.3V voltage regulator circuit is provided with IN interface；5V
The Vo+ interface of voltage regulator circuit is connect with the IN interface of 3.3V voltage regulator circuit.
It is illustrated in figure 2 debug circuit figure, as seen from the figure, debug circuit is provided with VDD interface, TRST interface, TDI and connects
Mouth, TMS/SWDIO interface, TCK/SWCLK interface, NC interface, TDO/SWO interface, RESET# interface, NC interface, VDD interface and
GND interface；Wherein, TRST interface, TDI interface, TMS/SWDIO interface, TCK/SWCLK interface, TDO/SWO interface and RESET#
Interface and computing unit circuit connection；VDD interface connects 3.3V voltage regulator circuit；TCK/SWCLK interfacing ground；GND interfacing ground.
It is illustrated in figure 3 the first communication chip, as seen from the figure, the first communication chip is provided with V+ interface, V- interface, R1IN
Interface, R2IN interface, T1IN interface, T2IN interface, C1+ interface, C1- interface, VCC interface, GND interface, R1OUT interface,
R2OUT interface, T1OUT interface, T2OUT interface, C2+ interface and C2- interface；Wherein, T1OUT interface, T2OUT interface, R1IN
Interface and R2IN interface are connect with interface circuit；T1IN interface, T2IN interface, R1OUT interface and R2OUT interface and computing unit
Circuit connection；V- interface is grounded after connecting with external capacitive C2；V+ interface is grounded after connecting with external capacitive C1；C1+ interface with
It is connect after external capacitive C4 series connection with C1- interface；C2+ interface is connect after connecting with external capacitive C5 with C2- interface；VCC interface
Connect with 3.3V voltage regulator circuit, at the same VCC interface connect with external capacitive C3 after be grounded；GND interfacing ground.
Be illustrated in figure 4 the second communication chip, as seen from the figure, the second communication chip be provided with R1IN interface, R2IN interface,
T1OUT interface, T2OUT interface, IN interface, OUT interface and GND interface；Wherein, R1IN interface, R2IN interface, T1OUT interface
It is connect with T2OUT interface with interface circuit；IN interface and OUT interface and computing unit circuit connection；GND interfacing ground.
It is illustrated in figure 5 data storage card interface circuit, as seen from the figure, data storage card interface circuit is provided with DATA2
Interface, CD/DATA3 interface, CMD interface, VSS interface, VDD interface, CLK interface, DATA0 interface, DATA1 interface, CD interface,
GND interface and WP interface；Wherein, DATA2 interface, CD/DATA3 interface, CMD interface, CLK interface, DATA0 interface and DATA1
Interface and computing unit circuit connection；VSS interfacing ground；VDD interface is connect with 3.3V voltage regulator circuit.
On-line parameter identification need to include the movement-state (angle of attack, yaw angle, three axis angular rates) of aircraft with input, with
The inclined control instruction of the rudder of vehicle rudder, by flight control computer or used group connecing by the first communication chip or the second communication chip
Mouth inputs, and feeds back to flight control computer also by RS232 or RS422 after the parameter of identification.
When there is stuck rudder face or rudder face damage failure in a certain rudder face of unmanned plane, the filter residual error phase of the corresponding failure
It is smaller than for other filters, biggish probability of malfunction can be obtained according to Conditional Probability Computing Method.Algorithm monitor compared with
After major break down probability, suitable Active spurring signal will be applied to failure rudder face and be mentioned with inspiring enough body dynamic characteristics
The accuracy of high Fault Isolation.After carrying out rudder face Active spurring, algorithm can accurate positioning failure, and activate the failure pair
The identifier answered.Rudder face effect of the identifier after on-line parameter recognizes to obtain the stuck position of accurate rudder face or rudder face damage
Rate.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (3)
1. a kind of on-line parameter identification circuit, it is characterised in that: including computing unit circuit, debug circuit, the first communication chip,
Second communication chip, data storage card interface circuit, interface circuit, 5V voltage regulator circuit and 3.3V voltage regulator circuit；Wherein, data are deposited
Card storage interface circuit and computing unit circuit connection；Debug circuit and computing unit circuit connection；Interface circuit and the first communication
Chip connection, while the first communication chip and computing unit circuit connection；Interface circuit is connect with the second communication chip, while the
Two communication chips and computing unit circuit connection；Interface circuit is connect with 5V voltage regulator circuit；5V voltage regulator circuit and 3.3V pressure stabilizing electricity
Road connection；
5V voltage regulator circuit receives external power supply by interface circuit, and the power supply that 3.3V voltage regulator circuit transmits 5V voltage regulator circuit is converted
It is connect at 3.3V power supply, and for computing unit circuit, debug circuit, the first communication chip, the second communication chip and data storage card
Mouth circuit power supply；
The debug circuit is provided with VDD interface, TRST interface, TDI interface, TMS/SWDIO interface, TCK/SWCLK interface, NC
Interface, TDO/SWO interface, RESET# interface, NC interface, VDD interface and GND interface；Wherein, TRST interface, TDI interface,
TMS/SWDIO interface, TCK/SWCLK interface, TDO/SWO interface and RESET# interface and computing unit circuit connection；VDD interface
Connect 3.3V voltage regulator circuit；TCK/SWCLK interfacing ground；GND interfacing ground；
First communication chip is provided with V+ interface, V- interface, R1 IN interface, R2 IN interface, T1 IN interface, T2 IN and connects
Mouth, C1+ interface, C1- interface, VCC interface, GND interface, R1 OUT interface, R2 OUT interface, T1 OUT interface, T2 OUT connect
Mouth, C2+ interface and C2- interface；Wherein, T1 OUT interface, T2 OUT interface, R1 IN interface and R2 IN interface and interface circuit
Connection；T1 IN interface, T2 IN interface, R1 OUT interface and R2 OUT interface and computing unit circuit connection；V- interface and outer
It is grounded after portion's capacitor C2 connection；V+ interface is grounded after connecting with external capacitive C1；C1+ interface connect with external capacitive C4 after with
The connection of C1- interface；C2+ interface is connect after connecting with external capacitive C5 with C2- interface；VCC interface is connect with 3.3V voltage regulator circuit,
VCC interface is grounded after connecting with external capacitive C3 simultaneously；GND interfacing ground；
Second communication chip be provided with R1 IN interface, R2 IN interface, T1 OUT interface, T2 OUT interface, IN interface,
OUT interface and GND interface；Wherein, R1 IN interface, R2 IN interface, T1 OUT interface and T2 OUT interface and interface circuit connect
It connects；IN interface and OUT interface and computing unit circuit connection；GND interfacing ground；
The input parameter of on-line parameter identification includes the angle of attack, yaw angle and three axis angular rates of aircraft, with vehicle rudder
The inclined control instruction of rudder is inputted by flight control computer or used group by the interface of the first communication chip or the second communication chip, identification
Parameter after also by RS232 or RS422 feed back to flight control computer；
Fault mode is first judged by Kalman filter group, and corresponding kinetic simulation is selected based on corresponding fault mode
Type reuses identifier and carries out parameter identification；It is corresponding when stuck rudder face or rudder face damage failure occurs in a certain rudder face of unmanned plane
The filter residual error of the failure is smaller compared to for other filters, and biggish event can be obtained according to Conditional Probability Computing Method
Hinder probability；After algorithm monitors larger probability of malfunction, suitable Active spurring signal will be applied to failure rudder face, to inspire foot
Enough body dynamic characteristics, improve the accuracy of Fault Isolation；After carrying out rudder face Active spurring, algorithm can be positioned accurately
Failure, and activate the corresponding identifier of the failure；Identifier by on-line parameter recognize to obtain the stuck position of accurate rudder face or
Rudder effectiveness after rudder face damage.
2. a kind of on-line parameter identification circuit according to claim 1, it is characterised in that: the 5V voltage regulator circuit is provided with
Vo+ interface；The 3.3V voltage regulator circuit is provided with IN interface；The Vo+ interface and the IN of 3.3V voltage regulator circuit of 5V voltage regulator circuit connect
Mouth connection.
3. a kind of on-line parameter identification circuit according to claim 2, it is characterised in that: the data storage card interface electricity
Road be provided with DATA2 interface, CD/DATA3 interface, CMD interface, VSS interface, VDD interface, CLK interface, DATA0 interface,
DATA1 interface, CD interface, GND interface and WP interface；Wherein, DATA2 interface, CD/DATA3 interface, CMD interface, CLK interface,
DATA0 interface and DATA1 interface and computing unit circuit connection；VSS interfacing ground；VDD interface is connect with 3.3V voltage regulator circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710071324.8A CN106774282B (en) | 2017-02-09 | 2017-02-09 | A kind of on-line parameter identification circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710071324.8A CN106774282B (en) | 2017-02-09 | 2017-02-09 | A kind of on-line parameter identification circuit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106774282A CN106774282A (en) | 2017-05-31 |
| CN106774282B true CN106774282B (en) | 2019-09-06 |
Family
ID=58956706
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710071324.8A Active CN106774282B (en) | 2017-02-09 | 2017-02-09 | A kind of on-line parameter identification circuit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106774282B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109343507A (en) * | 2018-10-16 | 2019-02-15 | 北京理工大学 | A kind of fault detection and shielding system and method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102128995A (en) * | 2010-12-24 | 2011-07-20 | 上海电机学院 | Device and method for real-time online identifying piezoelectric parameters of piezoelectric ceramic |
| CN104102127A (en) * | 2014-07-17 | 2014-10-15 | 厦门大学 | Airborne aerodynamic parameter identification system |
| CN104391364A (en) * | 2014-11-26 | 2015-03-04 | 深圳市鸣鑫航空科技有限公司 | Optical cable laying based coaxial double-rotor-wing unmanned helicopter parameter identification test system |
-
2017
- 2017-02-09 CN CN201710071324.8A patent/CN106774282B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102128995A (en) * | 2010-12-24 | 2011-07-20 | 上海电机学院 | Device and method for real-time online identifying piezoelectric parameters of piezoelectric ceramic |
| CN104102127A (en) * | 2014-07-17 | 2014-10-15 | 厦门大学 | Airborne aerodynamic parameter identification system |
| CN104391364A (en) * | 2014-11-26 | 2015-03-04 | 深圳市鸣鑫航空科技有限公司 | Optical cable laying based coaxial double-rotor-wing unmanned helicopter parameter identification test system |
Non-Patent Citations (1)
| Title |
|---|
| 电机参数辨识和实时数据采集系统;王晓辉;《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》;20100930;电机参数辨识和实时数据采集系统" |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106774282A (en) | 2017-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203084553U (en) | Integrated unmanned aerial vehicle avionics system device | |
| CN101216788B (en) | Reset control chip and method | |
| CN104635690A (en) | Vehicle control unit of pure electric vehicle integrating gateway function | |
| CN106774282B (en) | A kind of on-line parameter identification circuit | |
| DE102015003194A1 (en) | Method and device for handling safety-critical errors | |
| CN113341814B (en) | Unmanned aerial vehicle flight control computer evaluation system | |
| CN108549591A (en) | A kind of black box device and its implementation of embedded system | |
| CN103645731A (en) | System for acquiring and storing vehicle data in real time | |
| CN103323008A (en) | Fiber-optic gyroscope strapdown inertial navigation computer based on DSP (Digital Signal Processor) and navigation calculating method thereof | |
| CN105786755A (en) | High-integration satellite-borne computer system for nano-satellite | |
| CN111708623B (en) | Star affair management and star map processing integrated platform | |
| CN206348668U (en) | A kind of design of UAV flight control system | |
| CN204856198U (en) | Data record appearance, based on long -range system that writes with a brush dipped in chinese ink of this record appearance | |
| EP4119986A1 (en) | Apparatus, system and method for generalized multi-mode state machine based localization engine and application of same | |
| CN207472420U (en) | Unmanned plane vibration-testing apparatus | |
| CN213027815U (en) | Flight controller power module and flight controller | |
| CN104912874A (en) | Testing and recording instrument for hydraulic system | |
| CN214470918U (en) | Rocket sled test intelligent control device based on multi-source data | |
| CN114443423A (en) | Circuit for mutual monitoring between CPU and FPGA | |
| CN103699750A (en) | Satellite control system reconfigurable modeling and evaluating method based on target analysis | |
| CN109240185B (en) | Star sensor on-orbit maintenance system and method | |
| CN201181443Y (en) | Time-delay reset control circuit | |
| CN104753581B (en) | A kind of satellite system irrespective of size Flouride-resistani acid phesphatase system and method | |
| CN202013600U (en) | Vehicle-mounted monitoring device for mass transit vehicles | |
| CN101963936A (en) | Method for storing working parameter state by DSP (Digital Signal Processor) equipment through CF (Compact Flash) memory card |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |