CN109301812A - A kind of multiple module paralleling DCDC control method based on retired battery - Google Patents
A kind of multiple module paralleling DCDC control method based on retired battery Download PDFInfo
- Publication number
- CN109301812A CN109301812A CN201811447228.XA CN201811447228A CN109301812A CN 109301812 A CN109301812 A CN 109301812A CN 201811447228 A CN201811447228 A CN 201811447228A CN 109301812 A CN109301812 A CN 109301812A
- Authority
- CN
- China
- Prior art keywords
- battery pack
- battery
- dcdc
- bus
- value
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J1/00—Circuit arrangements for dc mains or dc distribution networks
- H02J1/10—Parallel operation of dc sources
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Secondary Cells (AREA)
Abstract
The present invention relates to technical field of electric control, specifically a kind of multiple module paralleling DCDC control method based on retired battery, if including dry cell batteries, the output end of each battery pack is connected in parallel to DC bus after connecting with DCDC current transformer, and according to the current error value of DC bus-bar voltage error amount and each battery pack, each battery pack pulse width regulator error originated from input value is calculated, to generate pulse width adjustment signal and export to the DCDC current transformer in each battery pack.The present invention compared with the existing technology, connects in parallel again after DCDC current transformer and combines corresponding control strategy in the energy-storage system single battery group of retired battery, realizes that battery pack flow and individually control, and reduction is due to influence of the inconsistency to system of retired battery.
Description
Technical field
The present invention relates to technical field of electric control, specifically a kind of multiple module paralleling DCDC based on retired battery
Control method.
Background technique
When electric automobile power battery capacity attenuation is to 80%, just it is no longer appropriate for continuing to use on electric car.
It is scrapped and is disassembled one is directly as industrial wastes there are two types of feasible processing method at present.It is another
Mode is that retired battery echelon utilizes.Although consider that retired power battery has been unsatisfactory for the use condition of automobile, but still
There is certain complementary energy, the energy of these batteries is entirely capable of continuing to meet the use such as family's energy storage, distributed power generation, mobile power source.
But the problems such as retired battery is different from new battery, and there are consistency difference and higher failure rates.This is for energy storage system
The stability operation of system has a great impact.The control method and system of energy accumulation current converter are put forward new requirements simultaneously.
The control method and system of traditional energy accumulation current converter PCS is based on the access energy storage later in series and parallel by several groups of batteries
The DC side of current transformer, referring to Fig. 1.But due to the inconsistency of retired battery, such as when the capacity of some battery pack is than other
When the capacity of battery pack is much lower, the capacity of the charge and discharge of whole system can be seriously affected.And due to the failure of retired battery
Rate is high, and then whole system is caused to be not normally functioning.
In conclusion there are the following aspects for control method and system for traditional energy accumulation current converter of retired battery
Defect: 1) retired battery problem of inconsistency influence energy-storage system reliability service；2) it can not achieve the equal of each battery pack
Stream；3) individually control cannot be realized to each battery pack.
Summary of the invention
The purpose of the present invention is overcome the deficiencies in the prior art, after a DCDC current transformer of connecting in each battery pack
In parallel mode reduces influence of the inconsistency to system of retired battery again, and proposes corresponding control on this basis
System strategy realizes that battery pack flow and individually controlled, is further reduced influence of the inconsistency because of retired battery to system.
To achieve the above object, a kind of multiple module paralleling DCDC control method based on retired battery is designed, comprising: several
Battery pack, the output end of each battery pack are connected in parallel to DC bus after connecting with DCDC current transformer, and using side control as follows
Method:
(1), confirm the number k of DCDC current transformer that is current online and being independently controlled；
(2), the voltage U for the battery pack that acquisition is each connect with online DCDC current transformerk, the output electricity of each battery pack
Flow IkAnd DC bus-bar voltage sampled value Ubus；The integer that the k is >=1；
(3), according to DC bus-bar voltage given value U0With DC bus-bar voltage sampled value Ubus, calculate DC bus-bar voltage
Error amount eu=U0-Ubus；
(4), according to above-mentioned DC bus-bar voltage error amount euGenerate current error adjusted value ei；
(5), according to given power P0, calculate the equal galvanic electricity stream given value of battery
(6), according to the equal galvanic electricity stream given value I of battery0Current sampling data I is exported with each battery packk, calculate each battery
The current error value e of groupik=I0-Ik；
(7), according to current error adjusted value eiWith the current error value e of each battery packik, calculate each battery group pulse
Width adjustor error originated from input value ek=eik+ei；
(8), according to each battery pack pulse width regulator error originated from input value ekGeneration pulse width adjustment signal is simultaneously defeated
Out to the base stage of the DCDC converter switches pipe in each battery pack, stablize DC bus-bar voltage in voltage given value U0, often
Battery pack outputting current steadily is in given value of current value I0。
Further, the judgement that the DCDC current transformer is online and can be independently controlled is confirmed described in step (1)
Logic includes charged state logic and discharge condition logic.
Further, the charged state logic are as follows: when battery pack is charged state, be if the battery pack does not exit
System, and the electricity of battery pack fault-free alarm and the battery pack is not up to highest electricity and allows individually to control the battery pack
Charging, then it is assumed that DCDC current transformer is online and can be independently controlled.
Further, the discharge condition logic are as follows: when battery pack is discharge condition, be if the battery pack does not exit
System, and the battery pack fault-free is alarmed and the battery electric quantity is not up to minimum electricity and allows individually to control the battery pack and puts
Electricity, then it is assumed that DCDC current transformer is online and can be independently controlled.
Further, judge that the signal that the battery pack does not log off is defeated by the hot plug module in DCDC current transformer
Out.
Further, the fault alarm includes battery failures and DCDC current transformer failure；Battery capacity passes through battery pack
Monomer voltage and pressure difference judgement.
It further, further include to the DC bus-bar voltage error amount e in step (4)uCarry out pid control computation with
Current error adjusted value is generated, wherein pid calculation formula are as follows:Wherein
RtIt is output valve, etFor the voltage error value of input, kP、Ti、TdFor parameter；The error amount e in step (4)uFor et, electric current mistake
Poor adjusted value eiFor Rt。
Further, in step (8), each battery pack pulse width regulator input calculated in step (7) is missed
Difference ekAs the e in PID arithmetic formulat, corresponding pulse width modulation value is calculated separately out, is exported in each battery pack
DCDC current transformer switching tube base stage.
Further, the DC bus is connected by PCS and load.
The present invention compared with the existing technology, by mode that multiple battery packs are directly in parallel in the energy-storage system of retired battery
It is changed to mode in parallel again after single battery group series connection DCDC current transformer, reduces inconsistency due to retired battery to being
The influence of system；And on the basis of this structure a kind of control strategy is proposed, it can be achieved that battery pack flows and individually control, and
It is further reduced influence of the inconsistency due to retired battery to system.
Detailed description of the invention
Fig. 1 is the connection block diagram representation of original energy-storage system；
Fig. 2 is the connection block diagram representation of energy-storage system in the present invention；
Fig. 3 is the flow diagram of control method in the present invention.
Fig. 4 is the connection block diagram representation of energy-storage system in the embodiment of the present invention.
Specific embodiment
The present invention is further described now in conjunction with accompanying drawings and embodiments.
Embodiment 1
Referring to fig. 2, a kind of multiple module paralleling DCDC control method based on retired battery of the present invention, comprising: if dry cell
Group, the output end of each battery pack are connected in parallel to DC bus after connecting with DCDC current transformer；If energy-storage system exports in this case
Be direct current, then DC bus can directly connect load；If energy-storage system output is exchange, need in DC bus
Inverter PCS is set between load.
Referring to Fig. 3 and Fig. 4, method control as follows is used to realize to individually the controlling of each battery pack, make each battery
The size of current of group is identical and the switching of each battery pack does not influence power output.Now by taking 4 battery packs of PCS connection as an example into
Row detailed description.There are 27 single batteries in each battery pack.The power of each DCDC current transformer is 2kW.DC bus electricity
Pressure is 48V, and single phase ac exports 220V.After system boot, first detection battery pack organize number online, include whether access system,
Whether there is or not fault alarm, whether allow charge and discharge.Then wait charge and discharge and power command, or according to peak Pinggu of electricity price from
It is dynamic to carry out charge and discharge.When work, specially background control system issues charge command to energy-storage system, and power is 3kW, so
After carry out following processing step:
(1) battery organizes number online under system detection charge mode, such as 4 groups of batteries all access systems, and fault-free alarm,
And allow charge and discharge.But the 4th group of battery capacity has reached highest, it is not possible to recharge, then organizing number under charge mode online is
3；
(2) 3 battery voltage U are sampled1=92V, U2=86V, U3=88V, the electric current I of each battery pack output1=
0A、 I2=0A, I3=0A and DC bus-bar voltage Ubus=0V；
(3) DC bus-bar voltage given value U is calculatedbusr=48V and DC bus-bar voltage sampled value UbusError amount eu；
(4) according to above-mentioned DC bus-bar voltage error amount eu, and generate current error adjusted value ei=1；Further, originally
It further include to the DC bus-bar voltage error amount e in stepuCarry out pid control computation to generate current error adjusted value,
Wherein pid calculation formula are as follows:Wherein RtIt is output valve, etFor input
Voltage error value, kP、Ti、TdFor parameter, so in this step error amount euFor et, current error adjusted value eiFor Rt；
(5) according to given power P0, calculate the equal galvanic electricity stream given value of battery
(6) current sampling data I is exported according to the equal galvanic electricity stream given value 11.28A of battery and each battery pack1=0A, I2=
0A、 I3=0A calculates the error amount e of each battery packik；
(7) according to current error adjusted value eiWith the current error value e of each battery packik, calculate each battery group pulse
Width adjustor error originated from input value ek=eik+ei；
(8) according to each battery pack pulse width regulator error originated from input value ekIt generates pulse width adjustment signal and exports
To the base stage for the switching tube for numbering the dcdc converter for being 1,2,3；It further, further include that step (7) is fallen into a trap in this step
The each battery pack pulse width regulator error originated from input value e calculatedkAs the e in PID operational formulat, calculate separately out pair
The pulse width modulation value answered is exported to the base stage of the switching tube of the DCDC current transformer in each battery pack；
(9) system repeats (2)-(8) step, stablizes DC bus-bar voltage in voltage given value U0, every battery pack
Outputting current steadily is in given value of current value I0；
(10) when occurring a battery failure or being full of in above-mentioned charging process, then it is online to change battery pack automatically
Group number be 2, the power of 3kW is distributed into 2 online battery packs according to the step of above-mentioned steps (6).
Discharge mode is similar with above-mentioned charge mode, and the order of only charge and discharge is different.
As it can be seen that confirming that the DCDC current transformer is online in this case and the decision logic that can be independently controlled includes charging shape
State logic and discharge condition logic.
Further, the charged state logic are as follows: when battery pack is charged state, be if the battery pack does not exit
System, and the electricity of battery pack fault-free alarm and the battery pack is not up to highest electricity and allows individually to control the battery pack
Charging, then it is assumed that DCDC current transformer is online and can be independently controlled.
The discharge condition logic are as follows: when battery pack is discharge condition, if the battery pack does not log off, and the battery
Group fault-free is alarmed and the battery electric quantity is not up to minimum electricity and allows individually to control the battery power discharge, then it is assumed that
DCDC current transformer is online and can be independently controlled.
The fault alarm includes battery failures and DCDC current transformer failure；The monomer voltage that battery capacity passes through battery pack
Judge with pressure difference.
Further, judge that the signal that the battery pack does not log off is defeated by the hot plug module in DCDC current transformer
Out.
Claims (9)
1. a kind of multiple module paralleling DCDC control method based on retired battery, which is characterized in that including,
If dry cell batteries, the output end of each battery pack is connected in parallel to DC bus after connecting with DCDC current transformer, and using as follows
Control method:
(1), confirm the number k of DCDC current transformer that is current online and being independently controlled；
(2), the voltage U for the battery pack that acquisition is each connect with online DCDC current transformerk, the output electric current I of each battery packk, with
And DC bus-bar voltage sampled value Ubus；The integer that the k is >=1；
(3), according to DC bus-bar voltage given value U0With DC bus-bar voltage sampled value Ubus, calculate DC bus-bar voltage error amount
eu=U0-Ubus；
(4), according to above-mentioned DC bus-bar voltage error amount euGenerate current error adjusted value ei；
(5), according to given power P0, calculate the equal galvanic electricity stream given value of battery
(6), according to the equal galvanic electricity stream given value I of battery0Current sampling data I is exported with each battery packk, calculate each battery pack
Current error value eik=I0-Ik；
(7), according to current error adjusted value eiWith the current error value e of each battery packik, calculate each battery pack pulse width
Adjuster error originated from input value ek=eik+ei；
(8), according to each battery pack pulse width regulator error originated from input value ekIt generates pulse width adjustment signal and exports to every
The base stage of DCDC converter switches pipe in a battery pack stablizes DC bus-bar voltage in voltage given value U0, every battery pack
Outputting current steadily is in given value of current value I0。
2. a kind of multiple module paralleling DCDC control method based on retired battery as described in claim 1, which is characterized in that step
Suddenly confirm that the DCDC current transformer is online described in (1) and the decision logic that can be independently controlled includes charged state logic
With discharge condition logic.
3. a kind of multiple module paralleling DCDC control method based on retired battery as claimed in claim 2, which is characterized in that institute
State charged state logic are as follows: when battery pack is charged state, if the battery pack does not log off, and the battery pack fault-free report
Alert and the battery pack electricity is not up to highest electricity and allows individually to control battery pack charging, then it is assumed that DCDC current transformer exists
It line and can be independently controlled.
4. a kind of multiple module paralleling DCDC control method based on retired battery as claimed in claim 2, which is characterized in that institute
State discharge condition logic are as follows: when battery pack is discharge condition, if the battery pack does not log off, and the battery pack fault-free report
The alert and battery electric quantity is not up to minimum electricity and allows individually to control the battery power discharge, then it is assumed that DCDC current transformer is online
And it can be independently controlled.
5. a kind of multiple module paralleling DCDC control method based on retired battery as claimed in claim 4, which is characterized in that sentence
The signal that the battery pack does not log off that breaks is exported by the hot plug module in DCDC current transformer.
6. a kind of multiple module paralleling DCDC control method based on retired battery as claimed in claim 4, which is characterized in that institute
Stating fault alarm includes battery failures and DCDC current transformer failure；Battery capacity is sentenced by the monomer voltage and pressure difference of battery pack
It is disconnected.
7. a kind of multiple module paralleling DCDC control method based on retired battery as described in claim 1, which is characterized in that step
It suddenly further include to the DC bus-bar voltage error amount e in (4)uCarry out pid control computation to generate current error adjusted value,
Wherein pid calculation formula are as follows:Wherein RtIt is output valve, etFor input
Voltage error value, kP、Ti、TdFor parameter；The error amount e in step (4)uFor et, current error adjusted value eiFor Rt。
8. a kind of multiple module paralleling DCDC control method based on retired battery as claimed in claim 7, which is characterized in that step
Suddenly in (8), by each battery pack pulse width regulator error originated from input value e calculated in step (7)kAs PID arithmetic public affairs
E in formulat, corresponding pulse width modulation value is calculated separately out, is exported to the switch of the DCDC current transformer in each battery pack
The base stage of pipe.
9. a kind of multiple module paralleling DCDC control method based on retired battery as described in claim 1, which is characterized in that institute
The DC bus stated is connected by PCS and load.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811447228.XA CN109301812B (en) | 2018-11-29 | 2018-11-29 | Multi-module parallel DCDC control method based on retired battery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811447228.XA CN109301812B (en) | 2018-11-29 | 2018-11-29 | Multi-module parallel DCDC control method based on retired battery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109301812A true CN109301812A (en) | 2019-02-01 |
| CN109301812B CN109301812B (en) | 2022-03-18 |
Family
ID=65141952
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811447228.XA Active CN109301812B (en) | 2018-11-29 | 2018-11-29 | Multi-module parallel DCDC control method based on retired battery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109301812B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110970969A (en) * | 2019-11-01 | 2020-04-07 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | Alternate rest balance topology and control method of lithium ion power battery for electric ship |
| CN111106616A (en) * | 2020-01-08 | 2020-05-05 | 上海煦达新能源科技有限公司 | Group string framework hybrid battery energy storage system for stabilizing output of photovoltaic power station |
| CN112104053A (en) * | 2020-09-24 | 2020-12-18 | 南方电网综合能源股份有限公司 | Converter system for retired power battery, control method thereof and storage medium |
| CN112531649A (en) * | 2020-12-07 | 2021-03-19 | 厦门市爱维达电子有限公司 | Control method for storage battery sharing manager |
| CN113555929A (en) * | 2021-07-15 | 2021-10-26 | 长沙理工大学 | Retired battery energy storage system considering risks and optimal scheduling method thereof |
| CN113872258A (en) * | 2020-06-30 | 2021-12-31 | 比亚迪股份有限公司 | Battery current-sharing control method and battery current-sharing control system |
| CN114513036A (en) * | 2022-04-19 | 2022-05-17 | 深圳市德兰明海科技有限公司 | Portable energy storage power supply parallel packaging system and method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080258685A1 (en) * | 2007-04-17 | 2008-10-23 | The Boeing Company | Battery discharge current sharing in a tightly regulated power system |
| US20130214733A1 (en) * | 2012-02-16 | 2013-08-22 | Cheng Kung University | Battery equalization circuits for series charging/discharging and controlling methods thereof |
| US20170214246A1 (en) * | 2014-07-16 | 2017-07-27 | Wayne State University | Balanced control strategies for interconnected heterogeneous battery systems in smart grid applications |
| CN207069596U (en) * | 2017-05-03 | 2018-03-02 | 北京阳光普创新能源科技有限公司 | Modularization unsteady flow energy-storage system and energy conversion system PCS modules |
| CN207573017U (en) * | 2017-11-29 | 2018-07-03 | 上海国际汽车城（集团）有限公司 | A kind of electric power system using retired battery |
-
2018
- 2018-11-29 CN CN201811447228.XA patent/CN109301812B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080258685A1 (en) * | 2007-04-17 | 2008-10-23 | The Boeing Company | Battery discharge current sharing in a tightly regulated power system |
| US20130214733A1 (en) * | 2012-02-16 | 2013-08-22 | Cheng Kung University | Battery equalization circuits for series charging/discharging and controlling methods thereof |
| US20170214246A1 (en) * | 2014-07-16 | 2017-07-27 | Wayne State University | Balanced control strategies for interconnected heterogeneous battery systems in smart grid applications |
| CN207069596U (en) * | 2017-05-03 | 2018-03-02 | 北京阳光普创新能源科技有限公司 | Modularization unsteady flow energy-storage system and energy conversion system PCS modules |
| CN207573017U (en) * | 2017-11-29 | 2018-07-03 | 上海国际汽车城（集团）有限公司 | A kind of electric power system using retired battery |
Non-Patent Citations (1)
| Title |
|---|
| 凌开元等: "考虑电压控制的含移动储能的主动配电网调度策略", 《电力建设》 * |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110970969A (en) * | 2019-11-01 | 2020-04-07 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | Alternate rest balance topology and control method of lithium ion power battery for electric ship |
| CN110970969B (en) * | 2019-11-01 | 2021-10-15 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | Alternate rest balance topology and control method of lithium ion power battery for electric ship |
| CN111106616A (en) * | 2020-01-08 | 2020-05-05 | 上海煦达新能源科技有限公司 | Group string framework hybrid battery energy storage system for stabilizing output of photovoltaic power station |
| CN111106616B (en) * | 2020-01-08 | 2024-02-09 | 上海煦达新能源科技有限公司 | String architecture hybrid battery energy storage system for stabilizing output of photovoltaic power station |
| CN113872258A (en) * | 2020-06-30 | 2021-12-31 | 比亚迪股份有限公司 | Battery current-sharing control method and battery current-sharing control system |
| CN112104053A (en) * | 2020-09-24 | 2020-12-18 | 南方电网综合能源股份有限公司 | Converter system for retired power battery, control method thereof and storage medium |
| CN112531649A (en) * | 2020-12-07 | 2021-03-19 | 厦门市爱维达电子有限公司 | Control method for storage battery sharing manager |
| CN113555929A (en) * | 2021-07-15 | 2021-10-26 | 长沙理工大学 | Retired battery energy storage system considering risks and optimal scheduling method thereof |
| CN114513036A (en) * | 2022-04-19 | 2022-05-17 | 深圳市德兰明海科技有限公司 | Portable energy storage power supply parallel packaging system and method |
| CN114513036B (en) * | 2022-04-19 | 2022-07-19 | 深圳市德兰明海科技有限公司 | Portable energy storage power supply parallel packaging system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109301812B (en) | 2022-03-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109301812A (en) | A kind of multiple module paralleling DCDC control method based on retired battery | |
| US9300016B2 (en) | Battery system and energy storage system | |
| CN102130464B (en) | The method of electric power storing device, electrical power for operation storage device and power storage system | |
| WO2021129878A1 (en) | Charging system for swapping station or energy storage station | |
| CN103887834B (en) | A kind of accumulator battery flexibility balance charge/discharge management rectification module, Apparatus and system | |
| WO2011096430A1 (en) | Power supply device | |
| US20120056588A1 (en) | Use of Battery Energy for Power Grid Optimization and Electric Vehicle Charging | |
| CN101931238A (en) | Master-slave strategy-based microgrid system coordination control method | |
| JP2011200104A (en) | Quick charging system | |
| CN107069976A (en) | A kind of expansible group string data large-scale energy storage system | |
| CN110011344B (en) | Energy storage system and control method thereof | |
| CN105576814A (en) | DC power supply redundancy system | |
| CN108155657A (en) | Energy accumulation current converter and its main circuit topological structure and balance control method | |
| CN104333107B (en) | Direct-current screen power source device utilizing hybrid power sources | |
| CN111799880A (en) | Off-grid integrated communication power supply system, control method and storage medium | |
| CN112186822A (en) | Energy storage system based on low-voltage isolation battery unit | |
| WO2023093172A1 (en) | Energy control system of direct current networking ship hybrid power laboratory and control method therefor | |
| CN111431232A (en) | Retired battery module protected by flexible connection | |
| CN110445205B (en) | DC power supply balance management system and control method | |
| CN206712539U (en) | A kind of marine low-pressure continuous-current plant based on the autonomous management of multiple batteries | |
| CN112134319B (en) | Energy feedback type echelon battery charge-discharge equalization system and control method thereof | |
| TWI408865B (en) | Uninterruptible power supply and power suppling method thereof | |
| CN103187780B (en) | Ultra-large power supply system and monitoring method and system for ultra-large power supply system | |
| CN116014844A (en) | Control method of container energy storage system | |
| CN115719968A (en) | Energy storage system and control method thereof |
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 |