CN107187617A - A kind of multiple-unit Torque distribution method that control is taken over for spacecraft - Google Patents
A kind of multiple-unit Torque distribution method that control is taken over for spacecraft Download PDFInfo
- Publication number
- CN107187617A CN107187617A CN201710285419.XA CN201710285419A CN107187617A CN 107187617 A CN107187617 A CN 107187617A CN 201710285419 A CN201710285419 A CN 201710285419A CN 107187617 A CN107187617 A CN 107187617A
- Authority
- CN
- China
- Prior art keywords
- mrow
- msub
- energy
- node
- control
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/242—Orbits and trajectories
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of multiple-unit Torque distribution method that control is taken over for spacecraft, pass through the energy storage information exchange of actuator so that each actuator can be according to itself energy storage situation output control torque so that total Output Tracking Control signal of all actuators.In subsequent step description, the actuator of each independence energy supply is referred to as execution node.The limitation of control output amplitude and balancing energy limitation are met while tracking control signal is ensured；Suitable for the control moment distribution when pure thruster, pure counteraction flyback or mixed configuration, fuel consumption can be adjusted according to actual needs.It will not cause to transfinite in the short time in view of generally performing output, timed communication is without that excessively frequently, can reduce communication pressure.
Description
Technical field
The invention belongs to control distribution field, it is related to a kind of multiple-unit Torque distribution side that control is taken over for spacecraft
Method, and in particular to control distribution side of multiple independence energy supply execution units in the case where considering balancing energy and output amplitude limited case
Method.
Background technology
With the increasingly increase of satellite in orbit quantity, many high value satellites are due to running out of gas or control system failure is led
Cause can not carry out effective gesture stability, and being worth high payload can not normal work.In order to recover high value satellite
Function, extends its service life, and countries in the world propose a variety of in-orbit service methods, wherein adapter control is wherein most feasible
One of scheme of property.Docked by Servicing spacecraft with passive space vehicle, utilize the Attitude and orbit control system adapter mesh of Servicing spacecraft
Mark the rail control ability of spacecraft.So as to recover passive space vehicle rail control ability so that the high value of passive space vehicle has
Imitate load and recover normal work.
In spacecraft adapter control task, because usual high pay-off target spacecraft is generally relatively large satellite, therefore it is logical
Often need many set actuators, it is therefore desirable to which many set actuators are controlled with the control signal of distribution follow-up service spacecraft, its
In especially spatial cell robot, because the single usual executive capability of spatial cell robot is limited, while spatial cell machine
Each cell in device people is independence energy supply, therefore in addition to considering multiple actuator tracking control signals, in addition it is also necessary to examine
Consider the problem of load balancing in each cell, to avoid respective cells from causing energy quickly to consume due to working long hours, shadow
Ring functional completeness.
The content of the invention
The technical problem to be solved
In order to avoid the shortcomings of the prior art, the present invention proposes a kind of multiple-unit power that control is taken over for spacecraft
Square distribution method, is solved in spacecraft adapter control, it is considered to the Torque distribution problem of multiple control units of load balancing, this hair
Bright to give a kind of Torque distribution method, this method can not only ensure Output Tracking Control signal, while can cause each
The dump energy of actuator unit reaches unanimity.
Technical scheme
A kind of multiple-unit Torque distribution method that control is taken over for spacecraft, it is characterised in that step is as follows：
Step 1：Calculate each execution residue energy of node coefficient：It is described to perform the execution that node refers to each independence energy supply
Device is referred to as execution node；
Consumption-type actuator each performs residue energy of node coefficient：
Wherein, piFor current residual fuel reserves, in units of momentum；pmaxFor the fuel storing under fuel tank completely storage state
Amount, in units of momentum；k1For 0 ＜ k1Consumption-type in the range of≤1 performs node power consumption control coefrficient；
Accumulation energy type actuator each performs residue energy of node coefficient：
Wherein：uc=[ucx ucy ucz]TFor control signal,Control signal unit vector,k2For
In the range of accumulation energy type perform node power consumption control coefrficient；
The ri=[rix riy riz]T
Wherein：
Step 2：Calculate the estimation output for performing node i
Step 3：Calculate export-restriction coefficient
Wherein：umaxFor actuator maximum output, e is a positive number less than 0.01；
Step 4：Calculate complex weighting coefficient βi=αiεi
Step 5：Order amendment iteration count f=0, calculates final allocation result
Step a, calculating amendment allocation result
With season f=f+1
Step b, line overrun inspection is entered to the correction result obtained by step a, checked whether beyond output amplitude limitation and energy
Amount consumption limitation:
1st, check whether beyond output amplitude limitation
JudgeWhether three conditions are satisfied by,
It is that exporting does not transfinite, makes λa=0；Otherwise output is transfinited, and makes λa=1.
2nd, check whether beyond energy expenditure limitation
If the time step distributed per secondary control is Δ t.
(1) node is performed for consumption-type, if pi-Δpi＞ 0, then energy expenditure do not transfinite, otherwise transfinite.
Wherein, Δ piFor in the Δ t times, the quantity of fuel of consumption andaix, aiy, aizRespectively
For x, y, the thruster acting force arm in z directions is determined by actual thrust device layout.
(2) node is performed for accumulation energy type, if | ωix+Δωix|≤ωmax, | ωix+Δωix|≤ωmax, | ωix+Δ
ωix|≤ωmaxThree conditions meet then energy expenditure simultaneously not to transfinite, and otherwise transfinites.
Whereinlx, ly, lzThe reaction in respectively x, y, z direction flies
Take turns angular momentum, general lx=ly=lz。
If energy expenditure transfinites, λ is madee=1, otherwise λe=0.
If λa=0 and λe=0, then obtain final allocation result
When amendment iteration count f is more than fmaxWhen, obtain final allocation resultOtherwise makeReturn to step
Rapid a.
Beneficial effect
A kind of multiple-unit Torque distribution method that control is taken over for spacecraft proposed by the present invention, passes through the storage of actuator
Can information exchange so that each actuator can be according to itself energy storage situation output control torque so that all actuators it is total
Output Tracking Control signal.In subsequent step description, the actuator of each independence energy supply is referred to as execution node.
It is of the invention to have following good effect with domestic and international similar technique：
Method presents a kind of multiple-unit Torque distribution method that control is taken over for spacecraft, this method is especially suitable
Control moment distribution in the case of multiple execution unit independence energy supplies.This method compared with Traditional control allocation algorithm, with
There is advantage in lower aspect：
1) this method can meet the limitation of control output amplitude and balancing energy limit while tracking control signal is ensured
System；
2) this method goes for the control moment point when pure thruster, pure counteraction flyback or mixed configuration
Match somebody with somebody, fuel consumption can be adjusted according to actual needs.
3) make in the case that dump energy coefficient is 1, this method is also applied for the control distribution in the case of unified energy supply.
4) this method transform distributed allocation algorithm as, it is only necessary to the residual energy value of each other nodes of node, utilizes section
Each Node distribution formula calculating distribution knot can be achieved in timed communication between point, the dump energy numerical value stored for updating each node
Really.It will not cause to transfinite in the short time in view of generally performing output, timed communication is without that excessively frequently, can reduce
Communication pressure.
Brief description of the drawings
Perform node more Fig. 1 and carry out spacecraft adapter control schematic diagram
Wherein 1 is by adapter passive space vehicle；2 be the execution node being affixed on passive space vehicle
Fig. 2 algorithm flow schematic diagrames
Fig. 3, which is communicated by performing node, can transform this patent method as distributed allocation algorithm
Embodiment
In conjunction with embodiment, accompanying drawing, the invention will be further described：
The purpose of the present invention is to realize multiple independence energy supply actuator control distribution, and is handed over by the energy storage information of actuator
Mutually so that each actuator can be according to itself energy storage situation output control torque so that total output tracking of all actuators
Control signal.In subsequent step description, the actuator of each independence energy supply is referred to as execution node.
Assume initially that system n performs node, it is necessary to which the control signal of tracking is uc=[ucx ucy ucz]T, below according to
Actuator types calculate the dump energy coefficient for performing node i.Assuming that amendment iteration count is limited to fmax, voluntarily set by user
It is set to fmax＞ 1 integer.
To achieve these goals, the technical solution adopted in the present invention comprises the following steps：
Step one：Calculate dump energy coefficient
This step takes in control the actuator thruster and counteraction flyback commonly used for two class spacecrafts and defines it respectively
Dump energy.
1st, for consumption-type actuator such as thruster, the ratio that its dump energy coefficient is its residual fuel is calculated using following formula
Example：
Wherein, piFor current residual fuel reserves (in units of momentum), pmaxFor the fuel storing under fuel tank completely storage state
Amount is (in units of momentum), k1For 0 ＜ k1Consumption-type in the range of≤1 performs node power consumption control coefrficient.
2nd, for accumulation energy type actuator such as counteraction flyback, r is definedi=[rix riy riz]T
Wherein, ωix, ωiy, ωizRespectively x, y, the Speed of Reaction Wheels in z-axis direction, ωmaxFor flywheel saturation rotating speed.
Using following formula calculate accumulation energy type actuator dump energy coefficient be
WhereinFor control signal unit vector,k2ForIn the range of accumulation energy type perform node consumption
Can control coefrficient.
In addition when all execution nodes are consumption-type actuator, k1Value is meaningless, typically takes k1=1；Performed when all
When node is accumulation energy type actuator, k2Value is meaningless, typically takesIt is that consumption-type and accumulation energy type are held in node actuator
Row device mixes situation, k1, k2The ratio that consumption-type performs the control output that node and accumulation energy type execution node undertake is represented respectively,
According to the fuel consumption demand for control of consumption-type actuator is adjusted in practical application,Bigger fuel consumption is bigger, more
Small, counteraction flyback is easily saturated.
Step 2：Calculate estimation output
The execution residue energy of node coefficient ε that this step is drawn according to upper stepi, the estimation for performing node i is calculated using following formula
Output
Step 3：Calculate export-restriction coefficient
Execution node i estimation output of this step according to obtained by upper step, calculates it using following formula and estimates output valveAmplitude be
It is no to exceed itself export-restriction
Wherein umaxFor actuator maximum output, e is a positive number less than 0.01.
Step 4：Calculate complex weighting coefficient
Dump energy coefficient ε of this step according to obtained by step oneiWith the export-restriction factor alpha obtained by step 3iCalculate and integrate
Consider the complex weighting coefficient β of balancing energy and output violent changei, calculated using following formula
βi=αiεi
With season amendment iteration count f=0.
Step 5：Calculate amendment allocation result
This step complex weighting coefficient according to obtained by step 4 calculates amendment allocation result
With season f=f+1
Step 6：Inspection is transfinited
This step enters line overrun inspection to the correction result obtained by step 5, checks whether beyond output amplitude limitation and energy
Consumption limitation.
1st, check whether beyond output amplitude limitation
JudgeWhether three conditions are satisfied by,
It is that exporting does not transfinite, makes λa=0；Otherwise output is transfinited, and makes λa=1.
2nd, check whether beyond energy expenditure limitation
If the time step distributed per secondary control is Δ t.
(1) node is performed for consumption-type, if pi-Δpi＞ 0, then energy expenditure do not transfinite, otherwise transfinite.
Wherein, Δ piFor in the Δ t times, the quantity of fuel of consumption andaix, aiy, aizRespectively
For x, y, the thruster acting force arm in z directions is determined by actual thrust device layout.
(2) node is performed for accumulation energy type, if | ωix+Δωix|≤ωmax, | ωix+Δωix|≤ωmax, | ωix+Δ
ωix|≤ωmaxThree conditions meet then energy expenditure simultaneously not to transfinite, and otherwise transfinites.
Whereinlx, ly, lzThe reaction in respectively x, y, z direction
Flywheel angular momentum, general lx=ly=lz。
If energy expenditure transfinites, λ is madee=1, otherwise λe=0.
If λa=0 and λe=0, then carry out step 7.
Otherwise judge whether amendment iteration count f is more than fmax, be to carry out step 7；Otherwise makeReturn
Step 5.
Step 7：Obtain final allocation result
After amendment, final allocation result is obtained
Claims (1)
1. a kind of multiple-unit Torque distribution method that control is taken over for spacecraft, it is characterised in that step is as follows：
Step 1：Calculate each execution residue energy of node coefficient：The execution node refers to that the actuator of each independence energy supply is equal
Referred to as perform node；
Consumption-type actuator each performs residue energy of node coefficient：
Wherein, piFor current residual fuel reserves, in units of momentum；pmaxFor the fuel reserves under fuel tank completely storage state, with
Momentum is unit；k1For 0 ＜ k1Consumption-type in the range of≤1 performs node power consumption control coefrficient；
Accumulation energy type actuator each performs residue energy of node coefficient：
Wherein：uc=[ucx ucy ucz]TFor control signal,Control signal unit vector,k2ForScope
Interior accumulation energy type performs node power consumption control coefrficient；
The ri=[rix riy riz]T
Wherein：
<mrow>
<msub>
<mi>r</mi>
<mrow>
<mi>i</mi>
<mi>y</mi>
</mrow>
</msub>
<mo>=</mo>
<mn>1</mn>
<mo>-</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<msub>
<mi>&pi;&omega;</mi>
<mrow>
<mi>i</mi>
<mi>y</mi>
</mrow>
</msub>
</mrow>
<mrow>
<mn>2</mn>
<msub>
<mi>&omega;</mi>
<mi>max</mi>
</msub>
</mrow>
</mfrac>
<mo>)</mo>
</mrow>
<mi>sgn</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>u</mi>
<mrow>
<mi>c</mi>
<mi>y</mi>
</mrow>
</msub>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msub>
<mi>r</mi>
<mrow>
<mi>i</mi>
<mi>z</mi>
</mrow>
</msub>
<mo>=</mo>
<mn>1</mn>
<mo>-</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<msub>
<mi>&pi;&omega;</mi>
<mrow>
<mi>i</mi>
<mi>z</mi>
</mrow>
</msub>
</mrow>
<mrow>
<mn>2</mn>
<msub>
<mi>&omega;</mi>
<mrow>
<mi>m</mi>
<mi>a</mi>
<mi>x</mi>
</mrow>
</msub>
</mrow>
</mfrac>
<mo>)</mo>
</mrow>
<mi>sgn</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>u</mi>
<mrow>
<mi>c</mi>
<mi>z</mi>
</mrow>
</msub>
<mo>)</mo>
</mrow>
</mrow>
Step 2：Calculate the estimation output for performing node i
<mrow>
<msub>
<mover>
<mi>u</mi>
<mo>^</mo>
</mover>
<mi>i</mi>
</msub>
<mo>=</mo>
<mfrac>
<msub>
<mi>&epsiv;</mi>
<mi>i</mi>
</msub>
<mrow>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>j</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msub>
<mi>&epsiv;</mi>
<mi>j</mi>
</msub>
</mrow>
</mfrac>
<msub>
<mi>u</mi>
<mi>c</mi>
</msub>
</mrow>
Step 3：Calculate export-restriction coefficient
Wherein：umaxFor actuator maximum output, e is a positive number less than 0.01；
Step 4：Calculate complex weighting coefficient βi=αiεi
Step 5：Order amendment iteration count f=0, calculates final allocation result
Step a, calculating amendment allocation result
With season f=f+1
Step b, line overrun inspection is entered to the correction result obtained by step a, check whether and disappear beyond output amplitude limitation and energy
Consumption limitation:
1st, check whether beyond output amplitude limitation
JudgeWhether three conditions are satisfied by, and are then
Output is not transfinited, and makes λa=0；Otherwise output is transfinited, and makes λa=1.
2nd, check whether beyond energy expenditure limitation
If the time step distributed per secondary control is Δ t.
(1) node is performed for consumption-type, if pi-Δpi＞ 0, then energy expenditure do not transfinite, otherwise transfinite.
Wherein, Δ piFor in the Δ t times, the quantity of fuel of consumption andaix, aiy, aizRespectively x,
The thruster acting force arm in y, z direction, is determined by actual thrust device layout.
(2) node is performed for accumulation energy type, if | ωix+Δωix|≤ωmax, | ωix+Δωix|≤ωmax, | ωix+Δωix|
≤ωmaxThree conditions meet then energy expenditure simultaneously not to transfinite, and otherwise transfinites.
Whereinlx, ly, lzThe counteraction flyback angle in respectively x, y, z direction
Momentum, general lx=ly=lz。
If energy expenditure transfinites, λ is madee=1, otherwise λe=0.
If λa=0 and λe=0, then obtain final allocation result
When amendment iteration count f is more than fmaxWhen, obtain final allocation resultOtherwise makeReturn to step a.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710285419.XA CN107187617B (en) | 2017-04-27 | 2017-04-27 | A kind of multiple-unit Torque distribution method for spacecraft adapter tube control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710285419.XA CN107187617B (en) | 2017-04-27 | 2017-04-27 | A kind of multiple-unit Torque distribution method for spacecraft adapter tube control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107187617A true CN107187617A (en) | 2017-09-22 |
| CN107187617B CN107187617B (en) | 2019-06-21 |
Family
ID=59872465
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710285419.XA Active CN107187617B (en) | 2017-04-27 | 2017-04-27 | A kind of multiple-unit Torque distribution method for spacecraft adapter tube control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107187617B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108459907A (en) * | 2018-01-18 | 2018-08-28 | 西北工业大学 | A kind of balancing energy instruction distributing method of more execution units |
| CN109917801A (en) * | 2019-04-04 | 2019-06-21 | 北京航空航天大学 | A kind of load balancing control distribution method of MEMS microthrust array |
| CN111633656A (en) * | 2020-06-08 | 2020-09-08 | 西北工业大学 | Distributed energy balancing method for cooperative operation of multiple space robots |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105912005A (en) * | 2016-05-16 | 2016-08-31 | 西北工业大学 | Space non-cooperative target attitude joint takeover control method utilizing tether thruster |
| CN106502260A (en) * | 2016-12-01 | 2017-03-15 | 西北工业大学 | Robot of space rope system arrests the attitude adapter control method after flexibility target satellite |
-
2017
- 2017-04-27 CN CN201710285419.XA patent/CN107187617B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105912005A (en) * | 2016-05-16 | 2016-08-31 | 西北工业大学 | Space non-cooperative target attitude joint takeover control method utilizing tether thruster |
| CN106502260A (en) * | 2016-12-01 | 2017-03-15 | 西北工业大学 | Robot of space rope system arrests the attitude adapter control method after flexibility target satellite |
Non-Patent Citations (2)
| Title |
|---|
| 王明等: "空间机器人抓捕目标后姿态接管控制", 《航空学报》 * |
| 黄攀峰等: "失效航天器的姿态机动接管控制", 《宇航学报》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108459907A (en) * | 2018-01-18 | 2018-08-28 | 西北工业大学 | A kind of balancing energy instruction distributing method of more execution units |
| CN108459907B (en) * | 2018-01-18 | 2021-11-12 | 西北工业大学 | Energy balance instruction distribution method for multiple execution units |
| CN109917801A (en) * | 2019-04-04 | 2019-06-21 | 北京航空航天大学 | A kind of load balancing control distribution method of MEMS microthrust array |
| CN109917801B (en) * | 2019-04-04 | 2020-02-07 | 北京航空航天大学 | Load balance control distribution method of MEMS micro-thrust array |
| CN111633656A (en) * | 2020-06-08 | 2020-09-08 | 西北工业大学 | Distributed energy balancing method for cooperative operation of multiple space robots |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107187617B (en) | 2019-06-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107187617A (en) | A kind of multiple-unit Torque distribution method that control is taken over for spacecraft | |
| CN105883008B (en) | Satellite Engine layout method | |
| CN100451898C (en) | Method and system for controlling mini-satellite position by active magnetic force | |
| CN106599334B (en) | A kind of short-term payload work planning method improving satellite energy use efficiency | |
| CN104635741B (en) | Control System for Reusable Launch Vehicle reenters attitude control method | |
| CN103076807B (en) | A kind of control method of drive lacking flexible spacecraft attitude stabilization | |
| CN105353621A (en) | Fault mode thrust allocation method for geostationary orbit satellite electric thruster | |
| CN103543750B (en) | Based on the thrust of the Servicing spacecraft in-orbit allocation optimized method of quadratic programming | |
| Liao et al. | An improved energy management strategy of hybrid photovoltaic/battery/fuel cell system for stratospheric airship | |
| CN107966992B (en) | Control reconstruction method and system for repeatedly used carrier | |
| CN113361013B (en) | Spacecraft attitude robust control method based on time synchronization stability | |
| CN105892478A (en) | Attitude-orbit integrated control oriented multi-execution mechanism cooperative control distribution method | |
| CN105912005B (en) | Combine take over control method using the space non-cooperative target posture of tether thruster | |
| CN105388755A (en) | Energy efficiency optimization control method for leg swing and step taking of humanoid robot | |
| CN112572833A (en) | Intelligent attitude and orbit control system based on air suction type electric propulsion | |
| CN103336528B (en) | A kind of underactuated spacecraft three-axis attitude stabilization control method | |
| CN103853047B (en) | A kind of low thrust homing guidance method based on quantity of state feedback | |
| CN104656438B (en) | A kind of Spacecraft Control power layout optimization method for improving failure reconfigurability | |
| CN113609673A (en) | Attitude compensation method under low-thrust attitude and orbit coupling control of four east platforms | |
| CN104590587A (en) | Method for achieving satellite three-axis control moment decoupling based on time ratio | |
| CN109116730B (en) | Hybrid execution mechanism energy optimization management method based on TU cooperative game | |
| CN116495197A (en) | Satellite jet angular momentum unloading method, system, terminal and medium | |
| CN107153423B (en) | System and method for controlling attitude orbit of chip star under mixed action of internal power and external power | |
| CN109447525A (en) | More stars dispose the heuristic mission planning method of Upper Stage | |
| CN105353767A (en) | Satellite formation keeping control method capable of improving payload observation efficiency |
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 |