CN107345507A - A kind of method and system of yawing velocity detection - Google Patents
A kind of method and system of yawing velocity detection Download PDFInfo
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- CN107345507A CN107345507A CN201610290334.6A CN201610290334A CN107345507A CN 107345507 A CN107345507 A CN 107345507A CN 201610290334 A CN201610290334 A CN 201610290334A CN 107345507 A CN107345507 A CN 107345507A
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Abstract
The invention provides a kind of method and system of yawing velocity detection, after the master control system generation yaw command of wind power generating set, obtain the delay time value of the yawing velocity detection to prestore, the yaw command is sent to the wind power generating set simultaneously to be gone off course, after the delay time value, master control system obtains the actual yawing velocity of the wind power generating set, and then improve based on potentiometric yawing velocity detection accuracy, yawing velocity fault rate is reduced, and ensure that the safe and stable operation of wind power generating set.
Description
Technical field
The present invention relates to wind power generation field, is to be related to a kind of side of yawing velocity detection in particular
Method and system.
Background technology
Yaw system is one of essential composition system of wind power generating set, and its role is to work as wind speed
When the direction of vector changes, can quick and stable alignment wind direction, to make full use of wind energy, improve
The generating efficiency of wind power generating set.
The yawing velocity detection means of Large-scale Wind Turbines is broadly divided into photoelectric encoder and current potential at present
Two kinds of meter, wherein potentiometer device have higher superiority of effectiveness compared to photoelectric encoder, therefore obtain
To being widely applied both at home and abroad.However, due to wind power generating set related components action response characteristic
With the factor such as potentiometer inherent characteristic, cause yawing velocity reliability of the generating set under safe operation compared with
It is low, and then cause the yawing velocity failure based on potentiometric yawing velocity detection mode more.
Therefore, how to improve based on potentiometric yawing velocity detection accuracy, and then reduce yawing velocity
Fault rate, and ensure that the safe and stable operation of wind power generating set is the technical problem of a urgent need to resolve.
The content of the invention
In view of this, the invention provides a kind of method and system of yawing velocity detection, to improve base
In potentiometric yawing velocity detection accuracy, and then yawing velocity fault rate is reduced, and ensure that wind-force is sent out
The safe and stable operation of group of motors.
To achieve the above object, the present invention provides following technical scheme：
A kind of method of yawing velocity detection, including：
Yaw command is generated, the yaw command is used to control wind power generating set to be gone off course；
According to the yaw command, the delay time value that yawing velocity detects is obtained；
The yaw command is sent to the wind power generating set；
After the delay time value, the actual yawing velocity of the wind power generating set is obtained.
Preferably, it is described according to the yaw command, the delay time value of yawing velocity detection is obtained, is had
Body includes：
According to the yaw command, obtain yaw maneuver time delay, gear maximum engagement off time and
Potentiometer starts the time；
Calculate the yaw maneuver time delay, gear maximum engagement off time and potentiometer and start the time
Time and, as the yawing velocity detection delay time value.
Preferably, the acquisition yaw maneuver time delay, including：
Obtain adhesive electromagnetic relay time, software self-test time, send soft initiator AI signal times and
Soft initiator starts the time；
When calculating the adhesive electromagnetic relay time, software self-test time, sending soft initiator AI signals
Between and soft initiator start the time time and, as the yaw maneuver time delay.
Preferably, the acquisition gear maximum engagement off time, including：
Obtain gear maximum engagement gap and the ratio of specified yawing velocity；Wherein, the gear maximum is nibbled
Close gap existing maximum engagement gap between driftage gear wheel and drive pinion.
A kind of system of yawing velocity detection, including：
Directive generation module, for generating yaw command, wherein, the yaw command is used to control wind-force
Generating set is gone off course；
Time-obtaining module, for according to the yaw command, obtaining the time delay that yawing velocity detects
Value；
Sending module, for sending the yaw command to the wind power generating set；
Speed acquiring module, for after by the delay time value, obtaining the wind-driven generator
The actual yawing velocity of group.
Preferably, the time-obtaining module includes：
Very first time acquisition module, for according to the yaw command, obtaining yaw maneuver time delay；
Second time-obtaining module, for according to the yaw command, when obtaining gear maximum engagement gap
Between；
3rd time-obtaining module, for according to the yaw command, obtaining potentiometer and starting the time；
First computing module, during for calculating the yaw maneuver time delay, gear maximum engagement gap
Between and potentiometer start the time time and, wherein, the time and as the yawing velocity detect
Delay time value.
Preferably, the very first time acquisition module includes：
Relay acquisition module, for obtaining the time of adhesive electromagnetic relay；
Software self-test acquisition module, for obtaining the time of software self-test；
AI signal acquisition modules, the time of soft initiator AI signals is sent for obtaining；
Soft initiator starts acquisition module, starts the time for obtaining soft initiator；
Second computing module, for calculating the adhesive electromagnetic relay time, software self-test time, hair
Go out soft initiator AI signal times and soft initiator start the time time and, wherein the time and work
For the yaw maneuver time delay.
Preferably, second time-obtaining module includes：
Second time acquisition submodule, for obtaining the ratio in gear maximum engagement gap and specified yawing velocity
Value；Wherein, the gear maximum engagement gap is to go off course existing between gear wheel and drive pinion most
Big back lash.
Understood via above-mentioned technical scheme, compared with prior art, the invention provides one kind driftage speed
The method and system of detection are spent, after the master control system generation yaw command of wind power generating set, are obtained pre-
The delay time value for the yawing velocity detection deposited, while send the driftage to the wind power generating set and order
Order is gone off course, and after the delay time value, master control system obtains the wind power generating set
Actual yawing velocity, and then improve based on potentiometric yawing velocity detection accuracy, reduce driftage speed
Fault rate is spent, and ensure that the safe and stable operation of wind power generating set.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to reality
The required accompanying drawing used in example or description of the prior art is applied to be briefly described, it should be apparent that, below
Accompanying drawing in description is only embodiments of the invention, for those of ordinary skill in the art, not
On the premise of paying creative work, other accompanying drawings can also be obtained according to the accompanying drawing of offer.
Fig. 1 is a kind of method flow diagram of yawing velocity detection provided in an embodiment of the present invention；
Fig. 2 is the method flow diagram of another yawing velocity provided in an embodiment of the present invention detection；
Fig. 3 is a kind of system structure diagram of yawing velocity detection provided in an embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out
Clearly and completely describing, it is clear that described embodiment is only part of the embodiment of the present invention, and
The embodiment being not all of.Based on the embodiment in the present invention, those of ordinary skill in the art are not doing
Go out under the premise of creative work the every other embodiment obtained, belong to the scope of protection of the invention.
The embodiments of the invention provide a kind of method flow diagram of yawing velocity detection, accompanying drawing 1, institute are referred to
The method of stating specifically includes following steps：
Step 101：Generate yaw command；
Specifically, when the direction for detecting wind vector changes, it is necessary to when being gone off course, wind-force is sent out
The master control system generation yaw command of group of motors, for controlling wind power generating set to be gone off course.
Step 102：According to the yaw command, the delay time value that yawing velocity detects is obtained；
Specifically, the yaw command of the master control system of wind power generating set according to generation, is obtained advance
The delay time value of the yawing velocity detection of storage.
Step 103：The yaw command is sent to the wind power generating set；
Specifically, the master control system in wind power generating set is pre- according to the yaw command generated, acquisition
While the delay time value of the yawing velocity detection first stored, also institute is sent to the wind power generating set
Yaw command is stated, and then the related components of wind power generating set is carried out actual yaw maneuver.
Step 104：After the delay time value, the actual driftage speed of the wind power generating set is obtained
Degree；
Specifically, after the delay time value, the yawing velocity detected value of wind power generating set is extensive
Multiple normal, now, the master control system of wind power generating set obtains the actual driftage of the wind power generating set
Speed.
In the method that yawing velocity disclosed in the embodiment of the present invention detects, by generating yaw command, and according to
According to the yaw command, the delay time value that yawing velocity detects is obtained, meanwhile, to the wind-power electricity generation
Unit sends the yaw command, and after the delay time value, obtains the wind power generating set
Actual yawing velocity, and then improve based on potentiometric yawing velocity detection accuracy, reduce driftage
Speed failure rate, and ensure that the safe and stable operation of wind power generating set.
The embodiments of the invention provide the method flow diagram of another yawing velocity detection, accompanying drawing 2 is referred to,
Methods described specifically includes following steps：
Step 201：Generate yaw command.
Step 202：According to the yaw command, yaw maneuver time delay is obtained；
Specifically, according to the yaw command, obtain the adhesive electromagnetic relay time, the software self-test time,
Send soft initiator AI signal times and soft initiator starts the time, and calculate the adhesive electromagnetic relay
Time, software self-test time, the time for sending soft initiator AI signal times and soft initiator startup time
With as the yaw maneuver time delay；
Secondly, the yaw command according to master control system generation, first control driftage hydraulic system pressure release, release
Water brake pressure, then electromagnetic brake is discharged, and then make certain resistance in During yaw be present, ensure
The stability of driftage, and then the correlation step for starting driftage soft initiator is performed, finally obtain
To the yaw maneuver time delay.
Step 203：According to the yaw command, gear maximum engagement off time is obtained；
Specifically, the gear maximum engagement off time is gear maximum engagement gap and specified driftage speed
The ratio of degree；Wherein, due to back lash be present between driftage gear wheel and drive pinion, cause big
During pinion rotation, within off time, drive pinion does not follow gear wheel to rotate, therefore the tooth
Take turns maximum engagement gap existing maximum engagement gap between driftage gear wheel and drive pinion.
Step 204：According to the yaw command, obtain potentiometer and start the time；
Specifically, when master control system generates the yaw command, institute is sent to the wind power generating set
Yaw command is stated, and then the related components of wind power generating set is carried out actual yaw maneuver, now,
The yawing velocity that potentiometer measures will produce certain fluctuation, cause one section started in actual yaw maneuver
In time, the yawing velocity value measured by potentiometer is inaccurate, and then easily reports set yaw speed failure,
Therefore need to produce this section into the time value that the time value fluctuated postpones as potentiometer startup time needs.
Step 205：Calculate the yaw maneuver time delay, gear maximum engagement off time and potentiometer
Start the time of time and the delay time value as yawing velocity detection；
Specifically, be calculated the yaw maneuver time delay, gear maximum engagement off time and
Potentiometer starts the time of time with after, when wind power generating set carries out yaw maneuver again, Ke Yizhi
Connect and utilize the time calculated and the time delay as wind generating set yaw velocity measuring
Value, it is not necessary to calculated again.
Step 206：After the delay time value, the actual driftage speed of the wind power generating set is obtained
Degree；
In the method that yawing velocity disclosed in the embodiment of the present invention detects, by generating yaw command, and according to
According to the yaw command, the yaw maneuver time delay, gear maximum engagement off time are obtained successively
Start the time with potentiometer, and calculate the yaw maneuver time delay, gear maximum engagement off time
With potentiometer start the time time and, as the yawing velocity detection delay time value, passing through
After the delay time value, master control system obtains the actual yawing velocity of the wind power generating set, and then
Distinguish by starting in the soft initiator of wind power generating set, in gear engagement and potentiometer start-up course
Postpone the corresponding time, yawing velocity not high based on potentiometric yawing velocity accuracy in detection to solve
The problem of fault rate increases and wind power generating set is unable to safe and stable operation.
The embodiments of the invention provide a kind of system structure diagram of yawing velocity detection, accompanying drawing is referred to
3, including：
Directive generation module 301, time-obtaining module 302, sending module 303 and speed acquiring module
304；
Wherein, the directive generation module 301, for generating yaw command, wherein, the yaw command
For controlling wind power generating set to be gone off course；
Specifically, when the direction for detecting wind vector changes, it is necessary to when being gone off course, the finger
Generation module 301 is made just to generate yaw command.
The time-obtaining module 302, for according to the yaw command, obtaining prolonging for yawing velocity detection
Slow time value.
Specifically, when the directive generation module 301 generates the yaw command, the time obtains
Module 302 obtains the delay time value of the yawing velocity detection prestored.
The sending module 303, for sending the yaw command to the wind power generating set；
Specifically, prolonging for the yawing velocity detection prestored is obtained in the time-obtaining module 302
While slow time value, the sending module 303 also sends the driftage to the wind power generating set and ordered
Order, for making the related components of wind power generating set carry out actual yaw maneuver.
The speed acquiring module 304, for after by the delay time value, obtaining the wind-force
The actual yawing velocity of generating set；
Specifically, the time delay that the time-obtaining module 302 detects the yawing velocity got
Value is sent to the speed acquiring module 304, and the speed acquiring module 304 is passing through the time delay
After value, the actual yawing velocity of the wind power generating set is obtained, wherein, the driftage of wind power generating set
Speed detection value is recovering normal after the delay time value, and the yawing velocity now acquired is accurate
Exactness is higher.
In the system that yawing velocity disclosed in the embodiment of the present invention detects, the directive generation module 301 generates
Yaw command, obtained in the time-obtaining module 302 yawing velocity detection delay time value it is same
When, the sending module 303 also sends the yaw command to the wind power generating set, and then controls wind
Power generator group carries out actual driftage, the speed acquiring module 304 by the delay time value it
Afterwards, the actual yawing velocity of the wind power generating set is obtained, potentiometric driftage is based on so as to improve
Velocity measuring accuracy, yawing velocity fault rate is reduced, and ensure that the safety and stability of wind power generating set
Operation.
Alternatively, the time-obtaining module 302 includes：Very first time acquisition module 3021, the second time
Acquisition module 3022, the 3rd time-obtaining module 3023 and the first computing module 3024；
The very first time acquisition module 3021, for according to the yaw command, obtaining yaw maneuver and prolonging
The slow time；
Second time-obtaining module 3022, for according to the yaw command, obtaining gear maximum and nibbling
Close off time；
3rd time-obtaining module 3023, for according to the yaw command, obtaining potentiometer and starting
Time；
First computing module 3024, for calculating the yaw maneuver time delay, gear maximum is nibbled
Close off time and potentiometer start the time time and, wherein the time and being used as the yawing velocity
The delay time value of detection；
Specifically, the yaw maneuver time delay, tooth is calculated in first computing module 3024
Wheel maximum engagement off time and potentiometer start the time of time with after, when wind power generating set is entered again
During row yaw maneuver, the time that directly can have been calculated using first computing module 3024 and
Delay time value as wind generating set yaw velocity measuring, it is not necessary to calculated again.
The very first time acquisition module 3021 includes：Relay acquisition module 30211, software self-test obtain
Module 30212, AI signal acquisition modules 30213, soft initiator, which starts acquisition module 30214 and second, to be counted
Calculate module 30215；
The relay acquisition module 30211, for obtaining the time of adhesive electromagnetic relay；
The software self-test acquisition module 30212, for obtaining the time of software self-test；
The AI signal acquisition modules 30213, the time of soft initiator AI signals is sent for obtaining；
The soft initiator starts acquisition module 30214, starts the time for obtaining soft initiator；
Second computing module 30215, for calculating the adhesive electromagnetic relay time, software self-test
Time, send soft initiator AI signal times and soft initiator start the time time and, wherein described
Time and the conduct yaw maneuver time delay；
Specifically, second computing module 30215 be calculated the adhesive electromagnetic relay time,
The software self-test time, send soft initiator AI signal times and soft initiator start the time time and after,
When wind power generating set carries out yaw maneuver again, second computing module 30215 can be directly utilized
Time for calculating and as in the delay time value of wind generating set yaw velocity measuring it is described partially
Boat acts time delay, it is not necessary to is calculated again.
Second time-obtaining module 3022 includes：Second time acquisition submodule 30221, for obtaining
Take the ratio in gear maximum engagement gap and specified yawing velocity；Wherein, the gear maximum engagement gap
The existing maximum engagement gap between driftage gear wheel and drive pinion.
Specifically, between the second time acquisition submodule 30221 acquires the gear maximum engagement
After the ratio of gap and specified yawing velocity, when wind power generating set carries out yaw maneuver again, Ke Yizhi
The ratio connect by the use of the gear maximum engagement gap and specified yawing velocity is used as wind generating set yaw
The gear maximum engagement off time in the delay time value of velocity measuring, it is not necessary to counted again
Calculate.
In the system that yawing velocity disclosed in the embodiment of the present invention detects, generated by directive generation module 301
Yaw command, and according to the yaw command, the very first time acquisition module 3021, it is described second when
Between acquisition module 3022 and the 3rd time-obtaining module 3023 obtain the yaw maneuver successively respectively
Time delay, gear maximum engagement off time and potentiometer start the time, and calculate the yaw maneuver
Time delay, gear maximum engagement off time and potentiometer start the time time and, prolong as described
The delay time value of yawing velocity detection, described in after the delay time value, master control system obtains
The actual yawing velocity of wind power generating set, so by wind power generating set soft initiator start,
Postpone the corresponding time respectively in gear engagement and potentiometer start-up course, to solve based on potentiometric
Yawing velocity accuracy in detection is not high, and the increase of yawing velocity fault rate and wind power generating set can not be safe
The problem of stable operation.
Some the possible application scenarios being related to below to the technical scheme of the embodiment of the present invention carry out citing Jie
Continue.
When wind power generating set detects that the direction of wind vector changes, it is necessary to when being gone off course, wind
The master control system generation yaw command of power generator group, for controlling wind power generating set to carry out driftage operation,
But in driftage operating process is carried out, it can be needed due to each switch motion of wind power generating set certain
Time interval and the deadline, go off course between gear wheel and drive pinion and back lash be present, cause
During bull gear drive, within off time, drive pinion does not follow gear wheel to rotate and in wind-force
The related components of generating set carry out the actual yawing velocity value that yaw maneuver moment, potentiometer measures production
The reason for raw saltus step and vibration, causes the yawing velocity accuracy of wind power generating set, it is therefore desirable to first
Obtain yaw maneuver time delay, gear maximum engagement off time and potentiometer successively respectively and start the time,
And the time of three time and the delay as wind generating set yaw velocity measuring is calculated
Time value, after the delay time value, the master control system of wind power generating set carries out driftage speed again
Degree detection, can be directly using having calculated when wind power generating set carries out yaw maneuver again
Time and delay time value as wind generating set yaw velocity measuring, it is not necessary to counted again
Calculate, so as to be started by the soft initiator in wind power generating set, gear engages and potentiometer started
Postpone the corresponding time in journey respectively, it is not high based on potentiometric yawing velocity accuracy in detection to solve,
The problem of yawing velocity fault rate increases and wind power generating set is unable to safe and stable operation.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or use
The present invention.A variety of modifications to these embodiments will be aobvious and easy for those skilled in the art
See, generic principles defined herein can without departing from the spirit or scope of the present invention,
Realize in other embodiments.Therefore, the present invention is not intended to be limited to the embodiments shown herein,
And it is to fit to the most wide scope consistent with principles disclosed herein and features of novelty.
Claims (8)
- A kind of 1. method of yawing velocity detection, it is characterised in that methods described includes：Yaw command is generated, the yaw command is used to control wind power generating set to be gone off course；According to the yaw command, the delay time value that yawing velocity detects is obtained；The yaw command is sent to the wind power generating set；After the delay time value, the actual yawing velocity of the wind power generating set is obtained.
- 2. according to the method for claim 1, it is characterised in that it is described according to the yaw command, The delay time value of yawing velocity detection is obtained, is specifically included：According to the yaw command, obtain yaw maneuver time delay, gear maximum engagement off time and Potentiometer starts the time；Calculate the yaw maneuver time delay, gear maximum engagement off time and potentiometer and start the time Time and, as the yawing velocity detection delay time value.
- 3. according to the method for claim 2, it is characterised in that during the acquisition yaw maneuver delay Between, including：Obtain adhesive electromagnetic relay time, software self-test time, send soft initiator AI signal times and Soft initiator starts the time；When calculating the adhesive electromagnetic relay time, software self-test time, sending soft initiator AI signals Between and soft initiator start the time time and, as the yaw maneuver time delay.
- 4. according to the method for claim 2, it is characterised in that between the acquisition gear maximum engagement The gap time, including：Obtain gear maximum engagement gap and the ratio of specified yawing velocity；Wherein, the gear maximum is nibbled Close gap existing maximum engagement gap between driftage gear wheel and drive pinion.
- 5. a kind of system of yawing velocity detection, it is characterised in that the system includes：Directive generation module, for generating yaw command, wherein, the yaw command is used to control wind-force Generating set is gone off course；Time-obtaining module, for according to the yaw command, obtaining the time delay that yawing velocity detects Value；Sending module, for sending the yaw command to the wind power generating set；Speed acquiring module, for after by the delay time value, obtaining the wind-driven generator The actual yawing velocity of group.
- 6. system according to claim 5, it is characterised in that the time-obtaining module includes：Very first time acquisition module, for according to the yaw command, obtaining yaw maneuver time delay；Second time-obtaining module, for according to the yaw command, when obtaining gear maximum engagement gap Between；3rd time-obtaining module, for according to the yaw command, obtaining potentiometer and starting the time；First computing module, during for calculating the yaw maneuver time delay, gear maximum engagement gap Between and potentiometer start the time time and, wherein, the time and as the yawing velocity detect Delay time value.
- 7. system according to claim 6, it is characterised in that the very first time acquisition module bag Include：Relay acquisition module, for obtaining the time of adhesive electromagnetic relay；Software self-test acquisition module, for obtaining the time of software self-test；AI signal acquisition modules, the time of soft initiator AI signals is sent for obtaining；Soft initiator starts acquisition module, starts the time for obtaining soft initiator；Second computing module, for calculating the adhesive electromagnetic relay time, software self-test time, hair Go out soft initiator AI signal times and soft initiator start the time time and, wherein the time and work For the yaw maneuver time delay.
- 8. system according to claim 6, it is characterised in that the second time-obtaining module bag Include：Second time acquisition submodule, for obtaining the ratio in gear maximum engagement gap and specified yawing velocity Value；Wherein, the gear maximum engagement gap is to go off course existing between gear wheel and drive pinion most Big back lash.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111749846A (en) * | 2020-06-09 | 2020-10-09 | 明阳智慧能源集团股份公司 | Yaw control method for wind generating set |
| CN114530301A (en) * | 2022-02-24 | 2022-05-24 | 成都信息工程大学 | Full-angle infinite rotation single potentiometer and high-precision wind speed detection method |
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| EP2515122A1 (en) * | 2011-04-18 | 2012-10-24 | Siemens Aktiengesellschaft | Method for measuring the wind direction in the wake of a wind turbine rotor |
| CN102865191A (en) * | 2012-10-23 | 2013-01-09 | 南车株洲电力机车研究所有限公司 | Novel real-time damping control method of yaw system of wind generating set |
| KR20140120461A (en) * | 2013-04-03 | 2014-10-14 | 삼성중공업 주식회사 | Yawing apparatus, wind power generator including the same and operating method thereof |
| CN104373293A (en) * | 2014-11-18 | 2015-02-25 | 新疆金风科技股份有限公司 | Method and device for controlling wind generating set to yaw |
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| EP2515122A1 (en) * | 2011-04-18 | 2012-10-24 | Siemens Aktiengesellschaft | Method for measuring the wind direction in the wake of a wind turbine rotor |
| CN102865191A (en) * | 2012-10-23 | 2013-01-09 | 南车株洲电力机车研究所有限公司 | Novel real-time damping control method of yaw system of wind generating set |
| KR20140120461A (en) * | 2013-04-03 | 2014-10-14 | 삼성중공업 주식회사 | Yawing apparatus, wind power generator including the same and operating method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111749846A (en) * | 2020-06-09 | 2020-10-09 | 明阳智慧能源集团股份公司 | Yaw control method for wind generating set |
| CN114530301A (en) * | 2022-02-24 | 2022-05-24 | 成都信息工程大学 | Full-angle infinite rotation single potentiometer and high-precision wind speed detection method |
| CN114530301B (en) * | 2022-02-24 | 2023-08-08 | 成都信息工程大学 | Full-angle infinite rotation single potentiometer and high-precision wind speed detection method |
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| Publication number | Publication date |
|---|---|
| CN107345507B (en) | 2019-03-15 |
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Inventor after: Wang Manchang Inventor after: He Guohua Inventor after: Liu Jing Inventor after: Lan Yongsen Inventor after: Du Wei Inventor after: Cai Meiyuan Inventor after: Li Jianke Inventor after: Ran Jun Inventor before: He Guohua Inventor before: Liu Jing Inventor before: Lan Yongsen Inventor before: Du Wei Inventor before: Cai Meiyuan Inventor before: Li Jianke Inventor before: Ran Jun |