CN111075799B - Variable-speed pump control cylinder speed closed-loop control method - Google Patents

Variable-speed pump control cylinder speed closed-loop control method Download PDF

Info

Publication number
CN111075799B
CN111075799B CN201911230372.2A CN201911230372A CN111075799B CN 111075799 B CN111075799 B CN 111075799B CN 201911230372 A CN201911230372 A CN 201911230372A CN 111075799 B CN111075799 B CN 111075799B
Authority
CN
China
Prior art keywords
pump
servo motor
oil
pressure
rotating speed
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
CN201911230372.2A
Other languages
Chinese (zh)
Other versions
CN111075799A (en
Inventor
张树忠
吴安根
唐一文
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.)
Fujian University of Technology
Original Assignee
Fujian University of Technology
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 Fujian University of Technology filed Critical Fujian University of Technology
Priority to CN201911230372.2A priority Critical patent/CN111075799B/en
Publication of CN111075799A publication Critical patent/CN111075799A/en
Application granted granted Critical
Publication of CN111075799B publication Critical patent/CN111075799B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6656—Closed loop control, i.e. control using feedback
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/75—Control of speed of the output member

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Positive-Displacement Pumps (AREA)

Abstract

According to the target speed, the flow, the pump outlet pressure, the elastic modulus and the viscosity of the oil liquid required by the hydraulic cylinder of the variable-speed single-pump-control differential cylinder closed system are calculated by utilizing the rotating speed and the torque of the servo motor and the oil liquid temperature measured by the temperature sensor, and the rotating speed of the servo motor required at the moment is further calculated; and combines this model-based velocity feedforward with velocity negative feedback adaptive control.

Description

Variable-speed pump control cylinder speed closed-loop control method
Technical Field
The invention relates to the field of automatic control, in particular to a closed-loop control method for controlling the speed of a cylinder of a variable-speed pump.
Background
Under the increasingly serious conditions of the rapid economic development and the problems of energy shortage, environmental pollution, labor cost rise and the like in China, a novel hydraulic energy-saving control technology capable of realizing low energy consumption, high efficiency and reliable operation is developed by combining the rapidly developed alternating current servo motor control technology, the hybrid power, the electromotion and the automation of mechanical equipment are promoted, and the hydraulic energy-saving control technology is one of the problems which need to be solved urgently in adapting to the social development of the manufacturing enterprises of the mechanical equipment in China and is also one of the research hotspots of the scientific research institutions and the manufacturing enterprises of the mechanical equipment all over the world.
Disclosure of Invention
According to the target speed, the flow required by the hydraulic cylinder, the pump outlet pressure, the elastic modulus and the viscosity of the oil are calculated by utilizing the rotating speed and the torque of the servo motor and the oil temperature measured by the temperature sensor, and the rotating speed of the servo motor required at the moment is further calculated; and combines this model-based velocity feedforward with velocity negative feedback adaptive control.
The invention is realized by adopting the following technical scheme:
a closed-loop control method for controlling the cylinder speed of a variable-speed pump comprises the following steps:
step one), determining the pressure difference of the inlet and the outlet of the pump through the output torque and the rotating speed of the servo motor, and calculating the pressure difference of the inlet and the outlet of the pump under the pump working condition through the following formula:
Ta=ΔpD+CvSΔpD+CfΔpD+Chσ2ΔpD
wherein T isaActually outputting torque for the servo motor; delta p is the pressure difference between the inlet and the outlet of the pump; d is the displacement of the pump; cv，Cf，ChSequentially comprises viscosity, friction and liquid dynamic loss coefficients of the oil liquid; s, sigma is a dimensionless number:
Figure GDA0003284275050000011
Figure GDA0003284275050000012
wherein v is the oil viscosity, p is the oil density, and omega is the angular velocity of the servo motor;
the viscosity of the oil changes along with the temperature, and the temperature of the oil is measured by a temperature sensor; the method for calculating the viscosity of the oil liquid comprises the following steps:
Figure GDA0003284275050000021
in the formula: t is oil temperature, rho is oil density, P0Is at atmospheric pressure; p is the pressure of the hydraulic component in which it is located, where the pressure P is measured by a pressure sensor between the tank and the pump/motor; c1、C2、C3Is a coefficient and is obtained by experimental fitting;
step two) calculating the effective bulk modulus BfThe calculation method is as follows:
Figure GDA0003284275050000022
in the formula p0Is the initial pressure of the system; p is the pump/motor output/input pressure calculated by the pressure calculation module; n is a gas polytropic index, the gas follows a certain rule in the compression process, and the gas polytropic index is a constant (1 is more than or equal to N is less than or equal to 1.4) describing the change process, and X is more than or equal to X0The relative content of free air, B is the rated elastic modulus of the oil; (note: the bulk modulus of elasticity of the hydraulic oil is related to the temperature, pressure and air in the oil, B in pure oilf=(1.2～2)×103MPa, trueIn the boundary (oil-gas mixture) engineering, (0.7-1.4) × 103MPa。
In order to make the modulus of elasticity more accurate, a minimum B is setmin：
Bf=max(Beff，Bmin)
Step three), flow calculation: the actual output flow of the hydraulic cylinder is obtained through the target speed and the inlet side pressure of the hydraulic cylinder, and the calculation formula is as follows:
q＝vA+KLΔp
wherein q is the actual output flow; v is the speed of the hydraulic cylinder; a is the effective working area of the hydraulic cylinder, the effective area of the rodless cavity under the working condition of the pump and the effective area of the rod cavity under the working condition of the motor; delta p is the pressure difference of two sides of the hydraulic cylinder, namely the pressure difference of the inlet and the outlet of the pump, K, calculated in the step one)LThe leakage coefficient of the hydraulic cylinder;
step four), calculating the rotating speed of the servo motor, wherein the calculating method comprises the following steps:
Figure GDA0003284275050000023
wherein n is the rotating speed of the servo motor; ω is the angular velocity of the servo motor, and its calculation formula is as follows:
Figure GDA0003284275050000031
wherein q is the actual output flow; x is pump displacement percentage; d is pump displacement; delta p is the pressure difference between the inlet and the outlet of the pump; s, sigma is a dimensionless number; cS，CStLaminar flow and turbulent flow leakage coefficients respectively; b isfThe effective elastic modulus of the oil liquid;
and step five), after the rotating speed of the servo motor is calculated by the rotating speed calculation module of the servo motor and is converted into a motor rotating speed signal, summing the output obtained by the speed negative feedback adaptive control, and sending the summation result to a controller of the servo motor so as to control the output rotating speed of the servo motor.
Compared with the prior art, the invention has the following advantages:
the model control and the adaptive control are combined, the speed of the hydraulic cylinder is close to the target speed through the feedforward control based on the model, the steady-state error is further eliminated through the adaptive control, the speed control precision of the hydraulic cylinder and the robustness of the system are improved, and the sensitivity of the system to the variation of the undetected and difficultly detected parameters is reduced, such as the increase of internal leakage after the abrasion of a pump or the reduction of the viscosity of oil is compensated through the adaptive control.
Drawings
Fig. 1 is a block flow diagram.
Detailed Description
The technical scheme of the invention is as follows: according to the target speed, calculating the flow required by the hydraulic cylinder, the pump outlet pressure, the elastic modulus and the viscosity of the oil by using the rotating speed and the torque of the servo motor and the oil temperature measured by the temperature sensor, and further calculating the rotating speed of the servo motor required at the moment; and the overall structure diagram of the model-based speed feedforward and speed negative feedback adaptive control is shown in fig. 1:
the system mainly comprises a servo motor, a constant delivery pump, a hydraulic cylinder, a working device, a temperature sensor, a displacement or speed sensor and the like. The connection mode is as follows: the servo motor drives the pump to control hydraulic oil in a hydraulic pump driving pipeline, and displacement control of the hydraulic cylinder is achieved. Acquiring the oil temperature through a temperature sensor, and inputting the measured oil temperature into a viscosity calculation module to obtain real-time viscosity; calculating the inlet-outlet pressure difference of the pump and the real-time outlet pressure of the pump by using the torque and rotating speed internal feedback signals of the servo motor and the calculated viscosity input pressure calculation model; the real-time elastic modulus is obtained by combining the outlet pressure of the pump with an elastic modulus calculation module; and calculating the required input flow of the hydraulic cylinder in real time by combining the target rotating speed and the system pressure, and inputting the flow, the elastic modulus, the viscosity and the pressure into a rotating speed calculation module to obtain a required motor rotating speed control signal for feedforward control. And speed negative feedback is carried out, the speed of the hydraulic cylinder is obtained through a differential or speed sensor of a displacement sensor of the hydraulic cylinder, and closed-loop control is carried out through self-adaptive control, such as fuzzy PID, neural network PID and other control methods, so that the speed control of the high-performance variable-speed pump cylinder control system is realized.
The pressure difference of the inlet and the outlet of the pump is determined by the output torque and the rotating speed of the servo motor, the system pressure is the pressure difference plus the pressure of the oil tank, and the pressure difference of the inlet and the outlet of the pump is mainly calculated by the following formula.
Ta＝ΔpD+CvSΔpD+CfΔpD+Chσ2ΔpD
Wherein T isaActually outputting torque for the servo motor; delta p is the pressure difference between the inlet and the outlet of the pump; d is the displacement of the pump; cv，Cf，ChThe viscosity, friction and liquid dynamic loss coefficient of the oil liquid are obtained; s and sigma are dimensionless numbers. The two dimensionless numbers in this formula are:
Figure GDA0003284275050000041
Figure GDA0003284275050000042
wherein v is the oil viscosity, p is the oil density, and ω is the motor angular velocity.
The elastic modulus is an effective bulk elastic modulus B (f) in consideration of the influence of the compression coefficients of the liquid, the gas and the container. The value of bulk modulus is influenced primarily by three factors: pressure, temperature and air content in the oil. Air exists in various forms: free air appears as pockets of air, entrained air (including air bubbles mixed with oil) and fully dissolved air.
The elastic modulus of the system is calculated mainly according to the formula (2) and an elastic modulus calculation formula, wherein the specific formula is as follows
Figure GDA0003284275050000043
In the formula p0Is the initial pressure of the system; p is the system pressure; n is gasThe number of the variable-body indexes,
X0the relative amount of free air and B is the nominal case modulus of elasticity of the oil.
The flow calculation module is mainly used for obtaining the flow of the hydraulic cylinder through the target speed and the inlet side pressure of the hydraulic cylinder, and the calculation formula is as follows:
q＝vA+KLΔp
wherein q is the hydraulic cylinder input flow (actual); v is the speed of the hydraulic cylinder; a is the effective working area of the hydraulic cylinder, and Deltap is the pressure difference between two sides of the hydraulic cylinder, i.e. the pump pressure difference, KLIs the leakage coefficient of the hydraulic cylinder.
The viscosity calculation module of the hydraulic system calculates the parameters influencing the output flow and the pressure of the constant delivery pump respectively to be the density rho of oil and the viscosity v of the oil, the density of the oil can be directly obtained through experimental measurement, and the viscosity of the oil changes along with the temperature change of the oil, so that a temperature sensor needs to be added into a hydraulic pipeline, and the temperature T of the oil in a hydraulic loop is monitored in real time. By carrying out polynomial fitting on experimental data, an expression of the relation between the oil viscosity and the temperature can be obtained:
Figure GDA0003284275050000051
in the formula: p is a radical of0-atmospheric pressure; p-is the pressure of the hydraulic component at which the pressure p is measured by the pressure sensor between the accumulator and the pump/motor; c1、C2、C3All are coefficients, obtained by fitting experimental data.
The servo motor rotating speed calculation module is used for calculating the rotating speed value of the servo motor by combining the flow value of the flow calculation module of the hydraulic cylinder, the pressure value of the pressure calculation module, the elastic modulus value calculated by the elastic module and the hydraulic oil viscosity of the viscosity calculation module, and converting the rotating speed value into a rotating speed signal. The specific rotating speed calculation formula is as follows:
Figure GDA0003284275050000052
wherein n is the motor speed; ω is the angular velocity of the servo motor, and its calculation formula is as follows:
Figure GDA0003284275050000053
wherein q isaOutput flow (actual); x pump displacement percentage; d, pump displacement; delta p pump inlet and outlet differential pressure; s, a dimensionless number of σ (same as 2 above); cS，CStLaminar flow, turbulent leakage coefficient; and B, effective elastic modulus of oil.
The servo motor rotating speed calculation module calculates the motor rotating speed and converts the motor rotating speed into a motor rotating speed signal, then the motor rotating speed signal and the output obtained by the speed negative feedback self-adaptive control are summed, and the summed result is sent to a controller of the servo motor, so that the output rotating speed of the servo motor is controlled, and the rapidity, the robustness and the like of the system are improved.

Claims (1)

1. A closed-loop control method for controlling the speed of a cylinder of a variable-speed pump is characterized by comprising the following steps:
step one), determining the pressure difference of the inlet and the outlet of the pump through the output torque and the rotating speed of the servo motor, and calculating the pressure difference of the inlet and the outlet of the pump under the pump working condition through the following formula:
Ta＝ΔpD+CvSΔpD+CfΔpD+Chσ2ΔpD
wherein T isaActually outputting torque for the servo motor; delta p is the pressure difference between the inlet and the outlet of the pump; d is the displacement of the pump; cv，Cf，ChSequentially comprises viscosity, friction and liquid dynamic loss coefficients of the oil liquid; s, sigma is a dimensionless number:
Figure FDA0003432260220000011
Figure FDA0003432260220000012
wherein v is the viscosity of the oil, rho is the density of the oil, and omega is the angular velocity of the servo motor;
the viscosity of the oil changes along with the temperature, and the temperature of the oil is measured by a temperature sensor; the method for calculating the viscosity of the oil liquid comprises the following steps:
Figure FDA0003432260220000013
in the formula: t is oil temperature, rho is oil density, P0Is at atmospheric pressure; p is the pressure of the hydraulic component in which it is located, where the pressure P is measured by a pressure sensor between the tank and the pump/motor; c1、C2、C3Is a coefficient and is obtained by experimental fitting;
step two) calculating the effective volume elastic modulus B of the oilfThe calculation method is as follows:
Figure FDA0003432260220000014
in the formula p0Is the initial pressure of the system; p is the pump/motor output/input pressure calculated by the pressure calculation module; n is a gas polytropic index, the gas follows a certain rule in the compression process, the gas polytropic index is a constant (N is more than or equal to 1 and less than or equal to 1.4) describing the change process, and X is0The relative content of free air, B is the rated elastic modulus of the oil;
in order to make the modulus of elasticity more accurate, a minimum B is setmin：
Bf＝max(Beff，Bmin)
Step three), flow calculation: the actual output flow of the hydraulic cylinder is obtained through the target speed and the inlet side pressure of the hydraulic cylinder, and the calculation formula is as follows:
q＝VA+KLΔp
wherein q is the actual output flow; v is the speed of the hydraulic cylinder; a is a hydraulic cylinderThe effective working area is the effective area of the rodless cavity under the working condition of the pump and the effective area of the rod cavity under the working condition of the motor; delta p is the pressure difference of two sides of the hydraulic cylinder, namely the pressure difference of the inlet and the outlet of the pump, K, calculated in the step one)LThe leakage coefficient of the hydraulic cylinder;
step four), calculating the rotating speed of the servo motor, wherein the calculating method comprises the following steps:
Figure FDA0003432260220000021
wherein n is the rotating speed of the servo motor; ω is the angular velocity of the servo motor, and its calculation formula is as follows:
Figure FDA0003432260220000022
wherein q is the actual output flow; x is pump displacement percentage; d is pump displacement; delta p is the pressure difference between the inlet and the outlet of the pump; s, sigma is a dimensionless number; cs，CstLaminar flow and turbulent flow leakage coefficients respectively; b isfThe effective volume elastic modulus of the oil liquid;
and step five), after the rotating speed of the servo motor is calculated and converted into a rotating speed signal of the servo motor by the rotating speed calculation module of the servo motor, summing the rotating speed signal with the output obtained by self-adaptive control of speed negative feedback, and sending the summation result to a controller of the servo motor so as to control the output rotating speed of the servo motor.
CN201911230372.2A 2019-12-04 2019-12-04 Variable-speed pump control cylinder speed closed-loop control method Active CN111075799B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911230372.2A CN111075799B (en) 2019-12-04 2019-12-04 Variable-speed pump control cylinder speed closed-loop control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911230372.2A CN111075799B (en) 2019-12-04 2019-12-04 Variable-speed pump control cylinder speed closed-loop control method

Publications (2)

Publication Number Publication Date
CN111075799A CN111075799A (en) 2020-04-28
CN111075799B true CN111075799B (en) 2022-02-22

Family

ID=70312859

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911230372.2A Active CN111075799B (en) 2019-12-04 2019-12-04 Variable-speed pump control cylinder speed closed-loop control method

Country Status (1)

Country Link
CN (1) CN111075799B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111237292B (en) * 2020-01-12 2022-07-12 福建工程学院 Speed closed-loop control method of variable-rotation-speed single-pump cylinder control closed system under four-quadrant working condition

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006124145A (en) * 2004-11-01 2006-05-18 Mitsubishi Heavy Ind Ltd Hydraulic device for battery type industrial vehicle
CN103307060A (en) * 2013-06-18 2013-09-18 南京埃尔法电液技术有限公司 Direct drive type servo pump control electro-hydraulic combined driving hydraulic cylinder control system and control method
CN103612257A (en) * 2013-12-02 2014-03-05 电子科技大学 External skeleton pump and valve combined control device and method
CN107218269A (en) * 2017-07-03 2017-09-29 深圳职业技术学院 A kind of direct drive type electrohydraulic servo pressure control system

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9163644B2 (en) * 2010-07-28 2015-10-20 Illinois Tool Works Inc. Hydraulic tool control with electronically adjustable flow

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006124145A (en) * 2004-11-01 2006-05-18 Mitsubishi Heavy Ind Ltd Hydraulic device for battery type industrial vehicle
CN103307060A (en) * 2013-06-18 2013-09-18 南京埃尔法电液技术有限公司 Direct drive type servo pump control electro-hydraulic combined driving hydraulic cylinder control system and control method
CN103612257A (en) * 2013-12-02 2014-03-05 电子科技大学 External skeleton pump and valve combined control device and method
CN107218269A (en) * 2017-07-03 2017-09-29 深圳职业技术学院 A kind of direct drive type electrohydraulic servo pressure control system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
四象限工况单双泵控差动缸控制性与效率对比;张树忠，黄豪杰;《农业机械学报》;20181031(第12期);第409-419页 *

Also Published As

Publication number Publication date
CN111075799A (en) 2020-04-28

Similar Documents

Publication Publication Date Title
CN101375293A (en) Apparatus and method for compressor and turbine performance simulation
CN103760777B (en) Boat diesel engine governor test stand
CN111075799B (en) Variable-speed pump control cylinder speed closed-loop control method
CN111648758B (en) Model-free self-adaptive control method and system for well drilling machine propulsion device
CN112096696B (en) Self-adaptive inversion control method for pump-controlled asymmetric hydraulic position system
CN111255771B (en) Soft measurement method for speed and displacement of hydraulic cylinder of variable-rotation-speed dual-pump cylinder control closed system under four-quadrant working condition
CN106640809B (en) Variable displacement and variable power adjusts load matched electro-hydraulic position tracking and controlling method
CN112925208A (en) Disturbance compensation method for data-driven electro-hydraulic servo system of well drilling machine
CN111351523B (en) Hydraulic cylinder displacement and speed soft measurement method of single-pump open system
CN111237292B (en) Speed closed-loop control method of variable-rotation-speed single-pump cylinder control closed system under four-quadrant working condition
CN108005971B (en) Double-valve-control-cylinder load-carrying-force-control compensation cooperative device and control method thereof
CN111412198B (en) Speed closed-loop control method for variable-rotation-speed dual-pump cylinder control closed system under four-quadrant working condition
CN109695598B (en) Water hydraulic motor rotating speed control system and method
CN110647190A (en) PID parameter setting method for cooling water temperature controller of diesel engine
CN116292466B (en) Digital liquid flow matching system and control method
CN106892369B (en) It is a kind of for pulling the constant control method of cable tension
CN110131064A (en) Common rail for diesel engine pressure and revolving speed coupling control system based on sliding moding structure
CN105436378A (en) Low speed control system for isothermal thermal forming hydraulic machine
CN111413867B (en) Rapid modeling and optimization method for equivalent controller of hydraulic control mechanism on Flowmaster platform
CN111396400B (en) Soft measurement method for speed and displacement of hydraulic cylinder of variable-rotation-speed single-pump cylinder control closed system under four-quadrant working condition
CN110611467B (en) Pump analog control system
CN103286250B (en) The control system and its control method of hydraulic forging press pump group flow
CN112697426A (en) Method for improving speed regulation accuracy of hydro-viscous speed regulation clutch based on linear regression fitting
CN114738338B (en) Sliding mode control method for underwater multi-degree-of-freedom hydraulic mechanical arm
CN114060159B (en) Engine characteristic estimating device, engine characteristic estimating method, and storage medium

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