CN110995083B - High-reliability locking control method and control system for three-self-inertia-unit product - Google Patents

High-reliability locking control method and control system for three-self-inertia-unit product Download PDF

Info

Publication number
CN110995083B
CN110995083B CN201911327478.4A CN201911327478A CN110995083B CN 110995083 B CN110995083 B CN 110995083B CN 201911327478 A CN201911327478 A CN 201911327478A CN 110995083 B CN110995083 B CN 110995083B
Authority
CN
China
Prior art keywords
locking
stepping motor
locking mechanism
signal
acceleration
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
Application number
CN201911327478.4A
Other languages
Chinese (zh)
Other versions
CN110995083A (en
Inventor
冯维
曹振兴
夏旭
赵永力
李圆伟
陈广
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hunan Aerospace Institute of Mechanical and Electrical Equipment and Special Materials
Original Assignee
Hunan Aerospace Institute of Mechanical and Electrical Equipment and Special Materials
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hunan Aerospace Institute of Mechanical and Electrical Equipment and Special Materials filed Critical Hunan Aerospace Institute of Mechanical and Electrical Equipment and Special Materials
Priority to CN201911327478.4A priority Critical patent/CN110995083B/en
Publication of CN110995083A publication Critical patent/CN110995083A/en
Application granted granted Critical
Publication of CN110995083B publication Critical patent/CN110995083B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
    • H02P8/14—Arrangements for controlling speed or speed and torque
    • 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
    • H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
    • H02P8/24—Arrangements for stopping
    • H02P8/30—Holding position when stopped
    • 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
    • H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
    • H02P8/36—Protection against faults, e.g. against overheating, step-out; Indicating faults
    • H02P8/38—Protection against faults, e.g. against overheating, step-out; Indicating faults the fault being step-out

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Stepping Motors (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

The invention discloses a high-reliability locking control method and a high-reliability locking control system for a three-self-inertia-unit product, wherein the locking control method comprises the following steps of: the position sensor monitors the locking position of the locking mechanism of the three-self-inertia-assembly product in real time and outputs real-time locking position information f to the position detection circuit; the position detection circuit converts the signal f into a digital signal b and outputs the digital signal b to the stepping motor controller; the stepping motor controller outputs a direction signal c, an enable signal d and a speed pulse signal e to a driving circuit based on a set control strategy according to the instruction signal a and the digital signal b; the driving circuit generates current according to the signals c, d and e and inputs the current to the stepping motor, the stepping motor drives the locking mechanism to move, and the locking mechanism realizes the unlocking or locking function. The invention improves the locking control precision, ensures that the three-self-inertia assembly product is in a complete unlocking or locking state, solves the problems of locking of a locking mechanism and step-out of a stepping motor, and improves the reliability of locking control.

Description

High-reliability locking control method and control system for three-self-inertia-unit product
Technical Field
The invention belongs to the field of control over locking mechanisms of products of three self-inertia units, and particularly relates to a high-reliability locking control method and a high-reliability locking control system for products of the three self-inertia units.
Background
On the basis of realizing the function of the conventional strapdown inertial measurement unit, the three-self inertial measurement unit is provided with a transposition mechanism, a locking mechanism and a high-speed digital processing circuit, receives a control instruction of a flight control machine or a measurement and control device, realizes the functions of online self-calibration, self-alignment and self-detection of the strapdown inertial measurement unit, and provides powerful guarantee for reducing the difficulty in use and maintenance of troops and improving the maneuvering operation capacity of the troops.
The locking control system is indispensable in the three-self-inertia-group product of the missile system. At present, a locking control system applied to a three-self-inertia set product generally comprises a stepping motor controller, a driving circuit and a travel switch detection circuit, wherein a first input end of the stepping motor controller is an instruction signal input end, a second input end of the stepping motor controller is a travel switch detection circuit signal input end, an output end of the stepping motor controller is electrically connected with an input end of the driving circuit, and an output end of the driving circuit is connected with the stepping motor for driving the stepping motor to rotate.
In the locking and unlocking processes of the third self-inertia assembly product, the travel switch can only provide two kinds of information of locking in place and unlocking in place, and the position detection error range is large, so that the problem that a locking control system cannot operate in place or the problem that a mechanism is locked due to the fact that rotation blockage occurs when the locking control system operates excessively is caused.
Disclosure of Invention
The invention aims to provide a high-reliability locking control method and a high-reliability locking control system for a three-self-inertia unit product, aiming at the defects of the prior art, so that the locking control precision is improved, the three-self-inertia unit product is ensured to be in a complete unlocking or locking state, the problems of locking of a locking mechanism and step-out of a stepping motor are solved, and the reliability of locking control is improved.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a high-reliability locking control method for a three-self-inertia unit product is characterized by comprising the following steps:
step 1, a position sensor monitors the locking position of a product locking mechanism of a three-self-inertia assembly in real time and outputs real-time locking position information f to a position detection circuit; the position detection circuit converts the signal f into a digital signal b and outputs the digital signal b to the stepping motor controller; because the position sensor is used for monitoring the position information, the locking mechanism can be controlled to accurately stay at any position, and different use requirements are met.
Step 2, the stepping motor controller outputs a direction signal c, an enable signal d and a speed pulse signal e to a driving circuit based on a set control strategy according to the instruction signal a and the digital signal b;
and 3, generating current by the driving circuit according to the output direction signal c, the enable signal d and the speed pulse signal e, inputting the current to the stepping motor, driving the locking mechanism to move by the stepping motor, and realizing the unlocking or locking function by the locking mechanism.
As a preferable mode, the control strategy in step 2 includes: when the locking mechanism is started, the stepping motor drives the locking mechanism to move at the maximum torque by adopting the maximum current and the minimum design speed; when the locking mechanism is controlled to move, the locking mechanism operates in a mode of first acceleration, middle constant speed and final deceleration.
In order to ensure that the locking mechanism is not locked and the stepping motor does not run out of step, the invention adopts a control strategy of variable current and acceleration and deceleration to realize large-torque starting and small-torque stopping.
In a preferable mode, in the acceleration and deceleration stage, if the speed change is too large, the stepping motor may lose step, and once the step-out stepping motor stops rotating. In order to avoid step loss, an S-shaped curve trigonometric function acceleration and deceleration strategy is adopted, and the acceleration stage is divided into three parts of first acceleration, middle uniform acceleration and final deceleration and acceleration; the deceleration stage is divided into three parts of acceleration and deceleration firstly, uniform deceleration in the middle and deceleration finally. Therefore, the speed change rate is gradually increased and then gradually decreased in the acceleration and deceleration stage, and the speed change is not too large each time.
Further, to ensure reliable locking and unlocking of the locking mechanism, the locking mechanism needs to continue to advance for a short distance after moving to the set position, and at this time, stalling may occur. To avoid excessive stall, after the locking mechanism moves to the set position, the current is reduced while operating at the lowest design speed for the last distance, and the operation is stopped with less torque.
Based on the same inventive concept, the invention also provides a high-reliability locking control system for a three-self-inertia unit product, which is characterized by comprising a stepping motor controller, a driving circuit, a position detection circuit and a locking mechanism with a position sensor and a stepping motor; wherein:
a position sensor: the locking position monitoring circuit is used for monitoring the locking position of the three-self-inertia-assembly product locking mechanism in real time and outputting real-time locking position information f to the position detection circuit;
a position detection circuit: the stepping motor controller is used for converting the signal f into a digital signal b and outputting the digital signal b to the stepping motor controller;
a stepper motor controller: the control circuit is used for outputting a direction signal c, an enable signal d and a speed pulse signal e to the driving circuit based on a set control strategy according to the instruction signal a and the digital signal b;
a drive circuit: the stepping motor is used for generating current according to the output direction signal c, the enable signal d and the speed pulse signal e and inputting the current to the stepping motor;
a stepping motor: the locking mechanism is used for working according to the current output by the driving circuit and driving the locking mechanism to move;
a locking mechanism: the unlocking or locking function of the three-self-inertia unit product is realized under the action of the transmission force of the stepping motor.
As a preferred mode, the set control strategy includes: when the locking mechanism is started, the stepping motor drives the locking mechanism to move at the maximum torque by adopting the maximum current and the minimum design speed; when the locking mechanism is controlled to move, the locking mechanism operates in a mode of first acceleration, middle constant speed and last deceleration.
In a preferable mode, in the acceleration and deceleration stage, if the speed change is too large, the stepping motor may lose step, and once the stepping motor loses step, the stepping motor stops rotating. In order to avoid step loss, an S-shaped curve trigonometric function acceleration and deceleration strategy is adopted, and the acceleration stage is divided into three parts of first acceleration, middle uniform acceleration and final deceleration and acceleration; the deceleration stage is divided into three parts of acceleration and deceleration firstly, uniform deceleration in the middle and deceleration finally. Therefore, the speed change rate is gradually increased and then gradually decreased in the acceleration and deceleration stage, and the speed change is not too large each time.
Further, to ensure the locking mechanism is locked and unlocked reliably, the locking mechanism needs to be moved a short distance after moving to the set position, and at this time, the locked rotor may occur. To avoid excessive stalling, after the locking mechanism has moved to the set position, the current is reduced while the locking mechanism is operated for the last distance at the lowest design speed, and the locking mechanism is stopped at a lower torque.
Compared with the prior art, the invention improves the locking control precision, ensures that the three-self-inertia unit product is in a complete unlocking or locking state, solves the problems of locking of a locking mechanism and step-out of a stepping motor, and improves the reliability of locking control.
Drawings
FIG. 1 is a schematic diagram of a control system according to the present invention.
Wherein, 1 is a stepping motor controller, 2 is a driving circuit, 3 is a position detection circuit, 4 is a locking mechanism, 41 is a position sensor, and 42 is a stepping motor.
Detailed Description
The high-reliability locking control method for the three-self-inertia-unit product comprises the following steps of:
step 1, a position sensor 41 monitors the locking position of a product locking mechanism 4 of a three-self inertial measurement unit in real time and outputs real-time locking position information f to a position detection circuit 3; the position detection circuit 3 converts the signal f into a digital signal b and outputs the digital signal b to the stepping motor controller 1; because the position sensor 41 is used for monitoring the position information, the locking mechanism 4 can be controlled to accurately stay at any position, and different use requirements are met.
Step 2, the stepping motor controller 1 outputs a direction signal c, an enable signal d and a speed pulse signal e to the driving circuit 2 according to the instruction signal a and the digital signal b and based on a set control strategy;
and 3, the driving circuit 2 generates current according to the output direction signal c, the enable signal d and the speed pulse signal e and inputs the current to the stepping motor 42, the stepping motor 42 drives the locking mechanism 4 to move, and the locking mechanism 4 realizes an unlocking or locking function.
The control strategy in the step 2 comprises the following steps: when starting, the stepping motor 42 drives the locking mechanism 4 to move with the maximum torque by adopting the maximum current and the minimum design speed; when the locking mechanism 4 is controlled to move, the operation is carried out in a mode of first acceleration, middle uniform speed and last deceleration. In order to ensure that the locking mechanism 4 is not locked and the stepping motor 42 does not run out of step, the invention adopts a control strategy of variable current and acceleration and deceleration to realize large-torque starting and small-torque stopping.
During the acceleration and deceleration stage, if the speed change is too large, step loss of the stepping motor 42 may occur, and once step loss occurs, the stepping motor 42 stops rotating. In order to avoid step loss, an S-shaped curve trigonometric function acceleration and deceleration strategy is adopted, and the acceleration stage is divided into three parts of first acceleration, middle uniform acceleration and final deceleration and acceleration; the deceleration stage is divided into three parts of acceleration and deceleration firstly, uniform deceleration in the middle and deceleration finally. Therefore, the speed change rate is gradually increased and then gradually decreased in the acceleration and deceleration stage, and the speed change is not too large each time.
In order to ensure that the locking mechanism 4 is locked and unlocked reliably, the locking mechanism needs to continue to advance for a short distance after moving to the set position, and at the moment, the locked rotor can occur. To avoid excessive stalling, after the locking mechanism 4 has moved to the set position, the current is reduced while the lock is operated for the last distance at the lowest design speed, and the lock is stopped with a lower torque.
As shown in fig. 1, the highly reliable locking control system for a three-self inertial measurement unit product includes a stepping motor controller 1, a driving circuit 2, a position detection circuit 3, a locking mechanism 4 with a position sensor 41 and a stepping motor 42; the first input end of the stepping motor controller 1 is an instruction signal input end, the second input end of the stepping motor controller 1 is a signal input end of the position detection circuit 3, the output end of the stepping motor controller 1 is electrically connected with the input end of the driving circuit 2, and the output end of the driving circuit 2 is connected with the stepping motor 42 and used for driving the stepping motor 42 to rotate.
The position sensor 41: the locking position monitoring circuit is used for monitoring the locking position of the three-self-inertia-assembly product locking mechanism 4 in real time and outputting real-time locking position information f to the position detection circuit 3;
position detection circuit 3: used for converting the signal f into a digital signal b and outputting the digital signal b to the stepping motor controller 1;
stepping motor controller 1: the driving circuit is used for outputting a direction signal c, an enable signal d and a speed pulse signal e to the driving circuit 2 according to the instruction signal a and the digital signal b based on a set control strategy;
the drive circuit 2: for generating current according to the output direction signal c, the enable signal d and the speed pulse signal e and inputting the current to the stepping motor 42;
the stepping motor 42: is used for working according to the current output by the driving circuit 2 and driving the locking mechanism 4 to move;
the locking mechanism 4: the locking device is used for realizing the unlocking or locking function of the three-self-inertia-assembly product under the action of the transmission force of the stepping motor 42.
The set control strategy comprises the following steps: when starting, the stepping motor 42 drives the locking mechanism 4 to move with the maximum torque by adopting the maximum current and the minimum design speed; when the locking mechanism 4 is controlled to move, the operation is carried out in a mode of first acceleration, middle uniform speed and last deceleration.
During the acceleration and deceleration stage, if the speed change is too large, step loss of the stepping motor 42 may occur, and once step loss occurs, the stepping motor 42 stops rotating. In order to avoid step loss, an S-shaped curve trigonometric function acceleration and deceleration strategy is adopted, and the acceleration stage is divided into three parts of first acceleration, middle uniform acceleration and final deceleration and acceleration; the deceleration stage is divided into three parts of acceleration and deceleration firstly, uniform deceleration in the middle and deceleration finally. Therefore, the speed change rate is gradually increased and then gradually decreased in the acceleration and deceleration stage, and the speed change is not too large each time.
To ensure that the locking mechanism 4 is locked and unlocked reliably, the locking mechanism needs to move a short distance after moving to the set position, and at this moment, the locked rotor may happen. To avoid excessive stalling, after the locking mechanism 4 has moved to the set position, the current is reduced while the lock is operated for the last distance at the lowest design speed, and the lock is stopped with a lower torque.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (4)

1. A high-reliability locking control method for a three-self-inertia unit product is characterized by comprising the following steps:
step 1, a position sensor (41) monitors the locking position of a three-self inertial set product locking mechanism (4) in real time and outputs real-time locking position information f to a position detection circuit (3); the position detection circuit (3) converts the signal f into a digital signal b and outputs the digital signal b to the stepping motor controller (1);
step 2, the stepping motor controller (1) outputs a direction signal c, an enable signal d and a speed pulse signal e to the driving circuit (2) according to the instruction signal a and the digital signal b and based on a set control strategy;
step 3, the driving circuit (2) generates current according to the output direction signal c, the enable signal d and the speed pulse signal e and inputs the current to the stepping motor (42), the stepping motor (42) drives the locking mechanism (4) to move, and the locking mechanism (4) realizes the unlocking or locking function;
the control strategy in the step 2 comprises the following steps: when starting, the maximum current and the minimum design speed are adopted; when the locking mechanism (4) is controlled to move, the locking mechanism operates in a mode of first acceleration, middle constant speed and final deceleration;
after the locking mechanism (4) has moved to the set position, the current is reduced while running for the last distance at the lowest design speed.
2. The high-reliability locking control method for the three-self inertial measurement unit product as claimed in claim 1, wherein the acceleration stage is divided into three parts of first acceleration, middle uniform acceleration and final deceleration acceleration; the deceleration stage is divided into three parts of acceleration and deceleration firstly, uniform deceleration in the middle and deceleration finally.
3. A high-reliability locking control system for a three-self-inertia unit product is characterized by comprising a stepping motor controller (1), a driving circuit (2), a position detection circuit (3), a locking mechanism (4) with a position sensor (41) and a stepping motor (42); wherein:
position sensor (41): the locking position monitoring circuit is used for monitoring the locking position of the three-self-inertia-assembly product locking mechanism (4) in real time and outputting real-time locking position information f to the position detection circuit (3);
position detection circuit (3): the stepping motor controller is used for converting the signal f into a digital signal b and outputting the digital signal b to the stepping motor controller (1);
stepping motor controller (1): the control circuit is used for outputting a direction signal c, an enable signal d and a speed pulse signal e to the driving circuit (2) according to the instruction signal a and the digital signal b and based on a set control strategy;
drive circuit (2): the stepping motor (42) is used for generating current according to the output direction signal c, the enable signal d and the speed pulse signal e and inputting the current to the stepping motor;
stepping motor (42): the locking mechanism is used for working according to the current output by the driving circuit (2) and driving the locking mechanism (4) to move;
locking mechanism (4): the unlocking or locking function of the three-self-inertia unit product is realized under the action of the transmission force of the stepping motor (42);
the set control strategy comprises the following steps: when starting, the maximum current and the minimum design speed are adopted; when the locking mechanism (4) is controlled to move, the locking mechanism operates in a mode of first acceleration, middle constant speed and last deceleration;
after the locking mechanism (4) has moved to the set position, the current is reduced while running for a final distance at the lowest design speed.
4. The high reliability locking control system for the three self inertia unit product as claimed in claim 3, wherein the acceleration stage is divided into three parts of first acceleration, middle uniform acceleration and last deceleration acceleration; the deceleration stage is divided into three parts of acceleration and deceleration firstly, uniform deceleration in the middle and deceleration finally.
CN201911327478.4A 2019-12-20 2019-12-20 High-reliability locking control method and control system for three-self-inertia-unit product Active CN110995083B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911327478.4A CN110995083B (en) 2019-12-20 2019-12-20 High-reliability locking control method and control system for three-self-inertia-unit product

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911327478.4A CN110995083B (en) 2019-12-20 2019-12-20 High-reliability locking control method and control system for three-self-inertia-unit product

Publications (2)

Publication Number Publication Date
CN110995083A CN110995083A (en) 2020-04-10
CN110995083B true CN110995083B (en) 2023-01-06

Family

ID=70073628

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911327478.4A Active CN110995083B (en) 2019-12-20 2019-12-20 High-reliability locking control method and control system for three-self-inertia-unit product

Country Status (1)

Country Link
CN (1) CN110995083B (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101505964A (en) * 2006-08-22 2009-08-12 卡巴-乔利有限公司 Method and device for controlling the position of the numbering wheels of a numbering device
CN101938241A (en) * 2009-06-30 2011-01-05 河南中光学集团有限公司 Stepping motor control system and control method thereof
CN105007012A (en) * 2015-07-16 2015-10-28 湖北三江航天万峰科技发展有限公司 On-vehicle turntable control system and control method thereof
CN106341063A (en) * 2016-09-09 2017-01-18 奇瑞汽车股份有限公司 Stepping motor acceleration and deceleration control method
CN106887982A (en) * 2015-12-15 2017-06-23 北京京航计算通讯研究所 A kind of stepper motor speed control method based on FPGA

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101505964A (en) * 2006-08-22 2009-08-12 卡巴-乔利有限公司 Method and device for controlling the position of the numbering wheels of a numbering device
CN101938241A (en) * 2009-06-30 2011-01-05 河南中光学集团有限公司 Stepping motor control system and control method thereof
CN105007012A (en) * 2015-07-16 2015-10-28 湖北三江航天万峰科技发展有限公司 On-vehicle turntable control system and control method thereof
CN106887982A (en) * 2015-12-15 2017-06-23 北京京航计算通讯研究所 A kind of stepper motor speed control method based on FPGA
CN106341063A (en) * 2016-09-09 2017-01-18 奇瑞汽车股份有限公司 Stepping motor acceleration and deceleration control method

Also Published As

Publication number Publication date
CN110995083A (en) 2020-04-10

Similar Documents

Publication Publication Date Title
CN104819283A (en) Shift range switching apparatus
US5804941A (en) Dual mode position control system with speed profiling
WO2014156660A1 (en) Device and method for switching range of automatic transmission
US7997190B2 (en) Dual force ram drive for a screw press
US8618755B2 (en) Control device for a motor and method for controlling said motor
US9180838B2 (en) Motor control device
CN109019341B (en) Rotation control system and method for tower crane
CN109849046A (en) A kind of steering engine rotor returns to zero method, returns to zero system, steering engine and robot
GB2213550A (en) Three-stage clutch control
CN110995083B (en) High-reliability locking control method and control system for three-self-inertia-unit product
AU2004215599B2 (en) Elevator landing control
CN114257153A (en) Servo motor positioning method and servo positioning device
JPH09314399A (en) Controller in press machine
JP6077771B2 (en) Wiper device
US4210853A (en) Control device with an integrating position drive
US20170140582A1 (en) Method for operating a drive device of a motor vehicle and corresponding drive device
CN112865627A (en) Control method and device of stepping motor
US20240140427A1 (en) Method for stopping undesired continuation in a current direction of travel
CN111352385A (en) System and method for controlling deceleration motion of working machine
CN217516573U (en) S-curve start-stop control system of crane based on digital hydraulic rotation
US9184689B2 (en) Motor control device
JPH04298490A (en) Method of forming speed reference signal in motor for crane
US4254370A (en) Closed loop positioner for a stepping motor driven by a buffered translator
JP4310865B2 (en) Servo transfer feeder controller
JPH09174819A (en) Machine origin matching method for rotary press

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