CN109672379B - Rail transit motor control system and control method - Google Patents
Rail transit motor control system and control method Download PDFInfo
- Publication number
- CN109672379B CN109672379B CN201710772462.9A CN201710772462A CN109672379B CN 109672379 B CN109672379 B CN 109672379B CN 201710772462 A CN201710772462 A CN 201710772462A CN 109672379 B CN109672379 B CN 109672379B
- Authority
- CN
- China
- Prior art keywords
- modulation
- flux linkage
- voltage
- motor
- torque
- 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
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/26—Rotor flux based control
Abstract
The invention discloses a rail transit motor control system and a control method. The system comprises: and the flux linkage forced modulation module is configured to regulate the flux linkage of the motor according to the real-time modulation output voltage, so that the motor is forced to enter a weak magnetic state in a low-voltage traction state. According to the system, the field weakening regulation of the motor can be carried out in a low-voltage state, so that the traction control of the motor is realized; compared with the prior art, the system greatly improves the reliability and stability of motor traction control.
Description
Technical Field
The invention relates to the field of rail transit, in particular to a rail transit motor control system and a rail transit motor control method.
Background
With the rapid development of urban rail transit, the safety and reliability of trains are also synchronously improved. When the running stability of the train is ensured, some emergency measures are still needed to face the emergency. When the power supply device (pantograph, collector shoe) of the train or the power supply line and the like are abnormal, so that the train cannot normally supply power, the train needs to be operated to return to the warehouse for maintenance or to a normal road section through other measures. At present, one measure is to utilize vehicle-mounted storage battery equipment to supply power to a train so as to realize the traction of the train to a motor car.
The traditional urban rail project power supply voltage grades mainly have two kinds: 1000V-1850V and 500V-900V, and the motor can continuously and stably run only within the normal power supply range. Under normal conditions, when the running rotating speed of the motor is higher than the rated rotating speed of the motor, the inverter output voltage can not be increased at the moment, the inverter output voltage is kept unchanged, and the speed is adjusted by weakening the magnetic field of the motor. However, in the battery traction mode, the inverter output voltage is insufficient due to the low power supply voltage, and at the moment, the running speed of the motor is far lower than the rated rotating speed, so that the traditional flux weakening regulation cannot be carried out.
Disclosure of Invention
The invention provides a rail transit motor control system, which comprises:
and the flux linkage forced modulation module is configured to regulate the flux linkage of the motor according to the real-time modulation output voltage, so that the motor is forced to enter a weak magnetic state in a low-voltage traction state.
In one embodiment, the flux linkage forced modulation module comprises:
a modulation voltage acquisition unit configured to acquire a real-time modulation output voltage;
an instruction voltage acquisition unit configured to acquire a forced modulation ratio instruction, determine an instruction modulation voltage;
a modulation ratio adjusting unit configured to determine a flux linkage forced modulation amount according to the real-time modulation output voltage and the command modulation voltage.
In one embodiment, the modulation voltage obtaining unit is based on a formula
Calculating the real-time modulation output voltage USWherein, UsαFor modulating the alpha-axis component of the voltage in a rotating coordinate system, UsβIs the component of the modulation voltage on the beta axis of the rotating coordinate system.
In one embodiment, the system further comprises:
the flux linkage adjusting module is configured to acquire a flux linkage instruction and determine a flux linkage modulation amount according to the flux linkage instruction and the flux linkage forcible modulation amount;
the torque adjusting module is configured to acquire a torque instruction and determine a torque modulation amount according to the torque instruction;
a modulation voltage calculation module configured to calculate a modulation voltage from the flux linkage modulation amount and the torque modulation amount;
a space vector pulse width modulation module configured to control an inverter unit to drive the motor according to the modulation voltage.
In one embodiment:
the system also comprises a motor model calculation module which is configured to collect the intermediate voltage of the inversion unit and the inversion current of the motor, calculate and output a calculation flux linkage and a feedback torque;
the flux linkage adjusting module is configured to determine the flux linkage modulation amount according to the flux linkage instruction, the flux linkage forced modulation amount and the calculated flux linkage;
the torque adjustment module is configured to determine the torque modulation amount based on the torque command and the feedback torque.
In one embodiment, the flux linkage adjustment module includes:
the flux linkage instruction acquisition module is configured to acquire a flux linkage instruction and determine an instruction flux linkage;
a flux linkage adjustment module configured to determine a flux linkage adjustment intermediate amount according to the instruction flux linkage and the flux linkage forced modulation amount;
a flux linkage feedback control unit configured to determine the flux linkage modulation amount based on the calculated flux linkage and the flux linkage adjustment intermediate amount.
In one embodiment, the torque adjustment module includes:
a torque command acquisition module configured to acquire a flux linkage command, determine a given torque;
a torque feedback control unit configured to determine the torque modulation amount according to the given torque and the feedback torque.
In one embodiment:
the system further comprises a speed measurement module configured to obtain an electrical angular speed of a rotor of the motor;
the modulation voltage calculation module is configured to calculate the modulation voltage according to the flux linkage modulation amount, the torque modulation amount, and the rotor electrical angular velocity;
the motor model calculation module is configured to calculate the calculated flux linkage and the feedback torque based on the intermediate voltage, the inverter current, and the rotor electrical angular velocity.
The invention also provides a rail transit motor control method, which regulates the motor flux linkage according to the real-time modulation output voltage, so that the motor is forced to enter a weak magnetic state in a low-voltage traction state.
In one embodiment, the method comprises the following steps:
acquiring real-time modulation output voltage;
acquiring a forced modulation ratio command and determining command modulation voltage;
and determining flux linkage forced modulation quantity according to the real-time modulation output voltage and the instruction modulation voltage.
According to the system, the field weakening regulation of the motor can be carried out in a low-voltage state, so that the traction control of the motor is realized; compared with the prior art, the system greatly improves the reliability and stability of motor traction control.
Additional features and advantages of the invention will be set forth in the description which follows. Also, some of the features and advantages of the invention will be apparent from the description, or may be learned by practice of the invention. The objectives and some of the advantages of the invention may be realized and attained by the process particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIGS. 1-5 are block diagrams of system architectures according to various embodiments of the present invention;
fig. 6 is a schematic diagram of a control principle according to an embodiment of the present invention.
Detailed Description
The following detailed description will be provided for the embodiments of the present invention with reference to the accompanying drawings and examples, so that the practitioner of the present invention can fully understand how to apply the technical means to solve the technical problems, achieve the technical effects, and implement the present invention according to the implementation procedures. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
With the rapid development of urban rail transit, the safety and reliability of trains are also synchronously improved. When the running stability of the train is ensured, some emergency measures are still needed to face the emergency. When the power supply device (pantograph, collector shoe) of the train or the power supply line and the like are abnormal, so that the train cannot normally supply power, the train needs to be operated to return to the warehouse for maintenance or to a normal road section through other measures. At present, one measure is to utilize vehicle-mounted storage battery equipment to supply power to a train so as to realize the traction of the train to a motor car.
The traditional urban rail project power supply voltage grades mainly have two kinds: 1000V-1850V and 500V-900V, and the motor can continuously and stably run only within the normal power supply range. Under normal conditions, when the running rotating speed of the motor is higher than the rated rotating speed of the motor, the inverter output voltage can not be increased at the moment, the inverter output voltage is kept unchanged, and the speed is adjusted by weakening the magnetic field of the motor. However, in the battery traction mode, the inverter output voltage is insufficient due to the low power supply voltage, and at the moment, the running speed of the motor is far lower than the rated rotating speed, so that the traditional flux weakening regulation cannot be carried out.
Aiming at the problems, the invention provides a rail transit motor control method. In one embodiment, the motor flux linkage is adjusted according to the real-time modulation output voltage, so that the motor is forced to enter a flux weakening state in a low-voltage traction state.
Specifically, in one embodiment:
acquiring real-time modulation output voltage;
acquiring a forced modulation ratio command and determining command modulation voltage;
and determining flux linkage forced modulation quantity according to the real-time modulation output voltage and the instruction modulation voltage.
The invention further provides a rail transit motor control system based on the rail transit motor control method. As shown in fig. 1, in one embodiment, the system includes a flux linkage forcing modulation module 110 configured to adjust the motor flux linkage based on the real-time modulated output voltage such that the motor is forced into a flux weakening state in a low-voltage traction state (battery traction state). Therefore, the flux weakening regulation of the motor can be realized in a low-voltage state, so that the traction control of the motor is realized, and the stable operation of the motor under extremely low power supply voltage is realized. Compared with the prior art, the system greatly improves the reliability and stability of motor traction control. On one hand, the reliability of vehicles running on the positive line is improved, on the other hand, the third rail can be omitted in the vehicle section maintenance garage, the safety of maintenance personnel, drivers and cleaning personnel is guaranteed, and meanwhile, the emergency traction of a parking lot can be realized, so that the number of shunting machines of the vehicle section is reduced, and the maintenance cost is reduced.
Further, as shown in fig. 2, in an embodiment, the flux linkage forcing modulation module includes:
a modulation voltage acquisition unit 111 configured to acquire a real-time modulation output voltage;
an instruction voltage acquisition unit 112 configured to acquire a forced modulation ratio instruction, determine an instruction modulation voltage;
a modulation ratio adjusting unit 113 configured to determine a flux linkage forced modulation amount according to the real-time modulation output voltage and the command modulation voltage.
Further, in an embodiment, the modulation voltage obtaining unit 111 is based on a formula
Calculating real-time modulation output voltage USWherein, UsαFor modulating the alpha-axis component of the voltage in a rotating coordinate system, UsβIs the component of the modulation voltage on the beta axis of the rotating coordinate system.
Further, as shown in fig. 3, in an embodiment, the system includes:
a modulation voltage acquisition unit 311 configured to acquire a real-time modulation output voltage;
an instruction voltage acquisition unit 312 configured to acquire a forced modulation ratio instruction, determine an instruction modulation voltage;
a modulation ratio adjusting unit 313 configured to determine a flux linkage forced modulation amount from the real-time modulation output voltage and the command modulation voltage;
a flux linkage adjusting module 320 configured to obtain a flux linkage instruction, and determine a flux linkage modulation amount according to the flux linkage instruction and the flux linkage forcible modulation amount;
a torque adjustment module 330 configured to obtain a torque command, determine a torque modulation amount from the torque command;
a modulation voltage calculation module 340 configured to calculate a modulation voltage from the flux linkage modulation amount and the torque modulation amount;
a Space Vector Pulse Width Modulation (SVPWM) module 350 configured to control the inverter unit 300 to drive the motor according to the modulation voltage.
Further, as shown in fig. 4, in an embodiment, the system further includes a motor model calculation module 460 configured to collect the intermediate voltage of the inverter unit 400 and the inverter current of the motor, calculate and output a calculated flux linkage and a feedback torque. Correspondingly, the flux linkage adjusting module 420 is configured to determine the flux linkage modulation amount according to the flux linkage instruction, the flux linkage forcible modulation amount and the calculated flux linkage; the torque adjustment module 430 is configured to determine a torque modulation amount based on the torque command and the feedback torque.
Specifically, in an embodiment, the flux linkage adjusting module includes:
the flux linkage instruction acquisition module is configured to acquire a flux linkage instruction and determine an instruction flux linkage;
a flux linkage adjusting module configured to determine a flux linkage adjusting intermediate quantity according to the command flux linkage and the flux linkage forced modulation quantity;
a flux linkage feedback control unit configured to determine a flux linkage modulation amount based on the calculated flux linkage and the flux linkage adjustment intermediate amount.
Specifically, in one embodiment, the torque adjustment module includes:
a torque command acquisition module configured to acquire a flux linkage command, determine a given torque;
a torque feedback control unit configured to determine a torque modulation amount based on the given torque and the feedback torque.
Further, as shown in fig. 5, in an embodiment, the system further includes a speed measurement module 570 configured to obtain an electrical angular speed of the rotor of the motor. Correspondingly, the modulation voltage calculation module 540 is configured to calculate a modulation voltage according to the flux linkage modulation amount, the torque modulation amount, and the rotor electrical angular velocity; the motor model calculation module 560 is configured to calculate flux linkage and feedback torque based on the intermediate voltage, the inverter current, and the rotor electrical angular velocity.
Specifically, in one embodiment, the system control principle is as shown in FIG. 6. T in FIG. 6*For a given torque, TfFor feedback of torque, UsαFor modulating the alpha-axis component of the voltage in a rotating coordinate system, UsβFor modulating the voltage component in the beta axis of the rotating coordinate system, USIn order to calculate the modulation voltage(s),
for modulating voltage, U, for commandsdIs an intermediate voltage, IABIs motor A, B phase inversion current, omeganFor the electrical angular velocity, psi, of the rotor of the machine*For command flux,. psi..
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. There are various other embodiments of the method of the present invention. Various corresponding changes or modifications may be made by those skilled in the art without departing from the spirit of the invention, and these corresponding changes or modifications are intended to fall within the scope of the appended claims.
Claims (4)
1. A rail transit motor control system, the system comprising:
a flux linkage forced modulation module configured to adjust a motor flux linkage according to a real-time modulation output voltage so that the motor is forced to enter a weak magnetic state in a low-voltage traction state, the flux linkage forced modulation module including:
a modulation voltage acquisition unit configured to acquire a real-time modulation output voltage;
an instruction voltage acquisition unit configured to acquire a forced modulation ratio instruction, determine an instruction modulation voltage;
a modulation ratio adjusting unit configured to determine a flux linkage forced modulation amount according to the real-time modulation output voltage and the instruction modulation voltage;
the motor model calculation module is configured to collect the intermediate voltage of the modulation voltage control inversion unit, the inversion current of the motor and the rotor electrical angular velocity of the motor, calculate and output a calculation flux linkage and a feedback torque;
a flux linkage adjusting module configured to determine a flux linkage modulation amount according to a flux linkage instruction, the flux linkage forced modulation amount, and the calculated flux linkage, wherein the flux linkage adjusting module includes:
the flux linkage instruction acquisition module is configured to acquire a flux linkage instruction and determine an instruction flux linkage;
a flux linkage adjustment module configured to determine a flux linkage adjustment intermediate amount according to the instruction flux linkage and the flux linkage forced modulation amount;
a flux linkage feedback control unit configured to determine the flux linkage modulation amount from the calculated flux linkage and the flux linkage adjustment intermediate amount;
the torque adjusting module is configured to determine a torque modulation amount according to a torque command and the feedback torque;
a modulation voltage calculation module configured to calculate a modulation voltage from the flux linkage modulation amount, the acquired rotor electrical angular velocity, and the torque modulation amount;
a space vector pulse width modulation module configured to control an inverter unit to drive the motor according to the modulation voltage.
2. The system of claim 1, wherein the modulation voltage acquisition unit is based on a formula
Calculating the real-time modulation output voltage USWherein, UsαFor modulating the alpha-axis component of the voltage in a rotating coordinate system, UsβIs the component of the modulation voltage on the beta axis of the rotating coordinate system.
3. The system of claim 1, wherein the torque adjustment module comprises:
a torque command acquisition module configured to acquire a torque command, determine a given torque;
a torque feedback control unit configured to determine the torque modulation amount according to the given torque and the feedback torque.
4. A rail transit motor control method is characterized in that a motor flux linkage is adjusted according to real-time modulation output voltage, so that a motor is forced to enter a weak magnetic state in a low-voltage traction state, wherein:
acquiring real-time modulation output voltage;
acquiring a forced modulation ratio command and determining command modulation voltage;
determining flux linkage forced modulation quantity according to the real-time modulation output voltage and the instruction modulation voltage;
acquiring intermediate voltage of a modulation voltage control inversion unit, inversion current of a motor and rotor electrical angular velocity of the motor, and calculating and outputting a calculation flux linkage and a feedback torque;
determining a command flux linkage according to a flux linkage command, then determining a flux linkage adjusting intermediate quantity according to the command flux linkage and the flux linkage forced modulation quantity, and determining a flux linkage modulation quantity according to the calculated flux linkage and the flux linkage adjusting intermediate quantity;
acquiring a torque command, and determining a torque modulation amount according to the torque command and the feedback torque;
calculating a modulation voltage according to the flux linkage modulation amount, the acquired rotor electrical angular speed of the motor and the torque modulation amount;
and controlling an inverter unit to drive the motor according to the modulation voltage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710772462.9A CN109672379B (en) | 2017-08-31 | 2017-08-31 | Rail transit motor control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710772462.9A CN109672379B (en) | 2017-08-31 | 2017-08-31 | Rail transit motor control system and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109672379A CN109672379A (en) | 2019-04-23 |
| CN109672379B true CN109672379B (en) | 2021-02-26 |
Family
ID=66138531
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710772462.9A Active CN109672379B (en) | 2017-08-31 | 2017-08-31 | Rail transit motor control system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109672379B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112087174B (en) * | 2020-07-31 | 2022-04-01 | 北方工业大学 | Induction motor control method and device, electronic device and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5032771A (en) * | 1990-08-09 | 1991-07-16 | Allen-Bradley Company, Inc. | Slip control based on sensing voltage fed to an induction motor |
| CN102710206A (en) * | 2012-06-18 | 2012-10-03 | 浙江大学 | Variable-speed permanent-magnet alternator system and double-port voltage stabilization control method therefor |
| CN102832874A (en) * | 2012-02-24 | 2012-12-19 | 株洲南车时代电气股份有限公司 | System and method for controlling motor |
| CN102843090A (en) * | 2011-06-21 | 2012-12-26 | 株洲南车时代电气股份有限公司 | Open-loop control method and open-loop control system of permanent magnet synchronous motor based on space vector pulse width modulation (SVPWM) |
| WO2013182781A1 (en) * | 2012-06-08 | 2013-12-12 | IFP Energies Nouvelles | Method for controlling a three-phase inverter by means of evolutive discontinuous random space vector modulation |
| CN103490675A (en) * | 2013-10-11 | 2014-01-01 | 南车株洲电力机车研究所有限公司 | Control method for frequency-conversion starting of diesel engine of alternating-current diesel locomotive |
| CN105406796A (en) * | 2015-12-31 | 2016-03-16 | 美的集团武汉制冷设备有限公司 | Variable-frequency compressor frequency control method, system and variable-frequency air conditioner |
-
2017
- 2017-08-31 CN CN201710772462.9A patent/CN109672379B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5032771A (en) * | 1990-08-09 | 1991-07-16 | Allen-Bradley Company, Inc. | Slip control based on sensing voltage fed to an induction motor |
| CN102843090A (en) * | 2011-06-21 | 2012-12-26 | 株洲南车时代电气股份有限公司 | Open-loop control method and open-loop control system of permanent magnet synchronous motor based on space vector pulse width modulation (SVPWM) |
| CN102832874A (en) * | 2012-02-24 | 2012-12-19 | 株洲南车时代电气股份有限公司 | System and method for controlling motor |
| WO2013182781A1 (en) * | 2012-06-08 | 2013-12-12 | IFP Energies Nouvelles | Method for controlling a three-phase inverter by means of evolutive discontinuous random space vector modulation |
| CN102710206A (en) * | 2012-06-18 | 2012-10-03 | 浙江大学 | Variable-speed permanent-magnet alternator system and double-port voltage stabilization control method therefor |
| CN103490675A (en) * | 2013-10-11 | 2014-01-01 | 南车株洲电力机车研究所有限公司 | Control method for frequency-conversion starting of diesel engine of alternating-current diesel locomotive |
| CN105406796A (en) * | 2015-12-31 | 2016-03-16 | 美的集团武汉制冷设备有限公司 | Variable-frequency compressor frequency control method, system and variable-frequency air conditioner |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109672379A (en) | 2019-04-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101351956B (en) | Electric motor drive control method and apparatus | |
| US9493175B2 (en) | Systems and methods for identifying different types of traction motors in a vehicle system | |
| CN103490675B (en) | Control method for frequency-conversion starting of diesel engine of alternating-current diesel locomotive | |
| US20160075350A1 (en) | Device for Operating at Least one Electrical Consumer of a Rail Vehicle | |
| US8988016B2 (en) | System and method for traction motor control | |
| CN104670221A (en) | Hybrid electric vehicle work mode switching process dynamic coordination control method | |
| US9067607B2 (en) | Communication system for multiple locomotives | |
| CN108736791B (en) | Vehicle and control method and system thereof | |
| JP5562491B1 (en) | Control device for hybrid vehicle | |
| CN106080266B (en) | A kind of startup control method and device of rail vehicle | |
| US11479127B2 (en) | All-wheel system for an electric motor vehicle, and method for operating an all-wheel system of such a vehicle | |
| CN106227189A (en) | A kind of Two axle drive electric automobile hardware-in-the-loop test system synchronization control method | |
| US10473446B2 (en) | System and method for determining rotor position offset of an electric machine | |
| CN103010229A (en) | Locomotive anti-slip sliding method based on rotational speed control | |
| CN102398589A (en) | Output torque management in a vehicle having an electric powertrain | |
| CN104682813A (en) | Torque Monitoring System And Method | |
| US9108518B2 (en) | Axle torque control corresponding to wheel sizes | |
| CN109672379B (en) | Rail transit motor control system and control method | |
| CN109291799B (en) | Drive system for a pipe track transport system | |
| CN108437851B (en) | Gear switching anti-impact method for pure electric vehicle | |
| CN105730435A (en) | Power motor auxiliary gear shifting control system and method | |
| EP2822175A1 (en) | Motor control device and control method therefor | |
| CN106394618A (en) | TCMS control-based train speed limiting method | |
| CN115071433A (en) | Semitrailer energy recycling system and method | |
| CN112977162B (en) | Control method of electric rail locomotive system of industrial and mining enterprises |
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 |