CN111240208B - Fault-tolerant control method and system for spacecraft actuating mechanism faults - Google Patents
Fault-tolerant control method and system for spacecraft actuating mechanism faults Download PDFInfo
- Publication number
- CN111240208B CN111240208B CN202010153197.8A CN202010153197A CN111240208B CN 111240208 B CN111240208 B CN 111240208B CN 202010153197 A CN202010153197 A CN 202010153197A CN 111240208 B CN111240208 B CN 111240208B
- Authority
- CN
- China
- Prior art keywords
- controller
- fault
- spacecraft
- control system
- tolerant
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Spacecraft-oriented executionA fault-tolerant control method for mechanism faults includes designing a nominal controller K by considering the performance of a spacecraft system 0 So that the closed-loop control system has good response characteristic; then, a robust controller K is designed in consideration of the influence of the system failure 1 So that the closed-loop control system can still ensure stability when in failure; finally, K is assigned based on GIMC (generalized Internal Model control) controller architecture 0 And K 1 And synthesizing to obtain the fault-tolerant controller Q. Compared with the existing method, the method of the invention can ensure that the spacecraft can keep good dynamic performance when no fault exists, and simultaneously has good fault-tolerant capability when the actuating mechanism fails, and the designed control method and system have simple structural form, simple design flow and convenient on-orbit implementation.
Description
Technical Field
The invention relates to the field of aerospace control, in particular to a fault-tolerant control method and a fault-tolerant control system.
Background
The development trend of autonomy of the current spacecraft technology is oriented, the control system is required to continue to complete established tasks under the condition of faults, and the purposes of ensuring the service quality and prolonging the service life are achieved. Therefore, in the design process, the fault tolerance of the control system needs to be fully considered, so that the control system has robustness to a severe space environment, and meanwhile, system reconstruction and established function recovery can be realized under the constraint of limited resources, which has very important practical engineering significance.
At present, when a control system fails, a controller needs to be modified by technical means of sending related instructions or modifying an injection program to recover the established function of the controller, so as to realize the fault processing of the control system. However, the method has complex design flow and complicated operation process, and is difficult to meet the development requirements of autonomy and intellectualization of spacecraft control in the future.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method and the system for fault-tolerant control of the spacecraft, which overcome the defects of complex design, complex operation and the like in the prior art, consider the faults of the actuating mechanism, utilize an integrated design idea, consider the control performance and the robustness on the premise of ensuring the simple structure of the control system, and expand the design idea and the framework of the existing control system. The method can be directly applied to the design process of a spacecraft control system, the overall improvement of comprehensive performance indexes is realized, the emergency processing capacity of the spacecraft for processing emergency situations is further enhanced, the on-orbit operation life of the spacecraft is prolonged, the method provides theoretical basis and technical reserve for the subsequent rapid research and development of spacecraft constellations, constellation and other models, and the scheme design level is provided.
The technical scheme adopted by the invention is as follows: a fault-tolerant control method for spacecraft actuating mechanism faults comprises the following steps:
(1) establishing a mathematical model of a spacecraft control system, and setting a nominal controller K 0 The spacecraft control system has stable response characteristics;
(2) obtaining a robust controller K through calculation in combination with the failure mode of an actuating mechanism 1 The spacecraft control system can still ensure stability after a fault occurs;
(3) nominal controller K based on GIMC controller architecture 0 Harmony controller K 1 Synthesizing to obtain a fault-tolerant controller Q;
(4) and (4) carrying out fault-tolerant control on the spacecraft by using the fault-tolerant controller Q obtained in the step (3).
The specific method of the step (1) is as follows:
step 1.1: establishing a mathematical model of a spacecraft control system:
wherein G(s) represents a transfer function model of the spacecraft control system; A. b, C and D show mounting phases with dynamic models, actuators and sensorsA system matrix of interest;
A F ＝A+BF，C F ＝C+DF，A L ＝A+LC，B L b + LD, F and L respectively, such that the matrix a F And A L A stable constant matrix; s represents a laplace transform operator;
step 1.2: setting a controller K for stabilizing the spacecraft control system according to the transfer function model obtained in the step 1.1 0 The concrete form is as follows:
wherein:
the specific method of the step (2) is as follows:
step 2.1: according to the mathematical model of the spacecraft control system established in the step 1.1, in combination with the failure mode of the actuating mechanism, the following inequality is solved:
wherein: x denotes a positive definite matrix to be solved, W denotes an arbitrary matrix to be solved, and γ is a parameter of the settingCounting; b is 2 ＝BL，
Indicating a failure mode of the actuator mechanism,
step 2.2: based on the matrices X and W obtained in step 2.1, a robust controller K is obtained according to the following equation 1 ：K 1 ＝WX -1 。
Fault tolerant controller
A fault tolerant control system for spacecraft actuator faults, comprising:
a first module for establishing a mathematical model of a spacecraft control system, setting a nominal controller K 0 The spacecraft control system has stable response characteristics;
the second module is combined with the failure mode of the actuating mechanism to calculate and obtain a robust controller K 1 The spacecraft control system can still ensure stability after a fault occurs;
a third module, based on the GIMC controller architecture, for converting a nominal controller K to a nominal controller K 0 Henry stick controller K 1 And synthesizing to obtain a fault-tolerant controller Q for fault-tolerant control of the spacecraft.
The established mathematical model of the spacecraft control system is as follows:
Wherein g(s) represents a transfer function model of a spacecraft control system; A. b, C and D represent the system matrix associated with the dynamical model, actuator and sensor installation;
A F ＝A+BF，C F ＝C+DF，A L ＝A+LC，B L b + LD, F and L respectively so that the matrix a F And A L A stable constant matrix; s represents the laplace transform operator.
Controller K for stabilizing spacecraft control system 0 The concrete form is as follows:
wherein:
robust controller K 1 ：K 1 ＝WX -1 ；
X, W is obtained by solving the following inequality:
wherein: x represents a positive definite matrix to be solved, W represents an arbitrary matrix to be solved, and gamma is a set parameter; b is 2 ＝BL，
Indicating a failure mode of the actuator mechanism,
fault tolerant controller
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention provides a novel control method and system giving consideration to both system performance and fault robustness. According to the method and the system, two controllers are not needed to be designed, high-performance control indexes such as high-precision pointing, high stability and the like of the spacecraft in a fault-free state can be realized by only one controller, the control level can still keep high quality under the fault condition, and integrated control of multiple comprehensive indexes is realized. Therefore, the method has very important practical significance for ensuring high performance and high quality of the control level and improving the autonomy level of control, and effectively expands the design idea and framework of the existing spacecraft controller.
(2) The invention provides a fault-tolerant control method and a fault-tolerant control system which are simple in structure and have no special requirements on specific fault forms. According to the method and the system, a fault diagnosis unit is not required to be added, the robustness of the control system to the fault can be improved only by designing one GIMC controller, the structural form is simple, no special requirement is required for the specific mode of the fault, and the defect that the attitude fluctuation caused by switching of the controllers affects the control quality of the spacecraft is overcome. Therefore, the method effectively expands the application conditions and the application range of the existing fault diagnosis and fault tolerance control method.
(3) The fault-tolerant controller obtained by the invention can keep good dynamic performance of the spacecraft when no fault occurs in the actuating mechanism, and meanwhile, the fault-tolerant controller has good fault-tolerant capability after the actuating mechanism fails, and can autonomously realize system reconstruction and fault processing of the spacecraft.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a graph of attitude error curves for three controllers under a fault-free condition obtained by the method of the present invention;
FIG. 3 is a diagram showing attitude error curves of three controllers when an actuator has a deviation fault, which are obtained by the method of the present invention.
Detailed Description
The invention is further explained by the figures and the examples.
A fault-tolerant control method for spacecraft actuating mechanism faults comprises the following steps, and the flow is shown in figure 1:
(1) design of the nominal controller K taking into account the system performance 0 So that the spacecraft control system has good response characteristics, comprising the following steps:
step 1.1: establishing a mathematical model of a spacecraft control system, wherein the model is described in the following form:
wherein G(s) represents a transfer function model of the spacecraft control system; A. b, C and D represent the system matrix associated with the system and dynamics model, actuator and sensor mounting;
A F ＝A+BF，C F ＝C+DF，A L ＝A+LC，B L b + LD, F and L respectively so that the matrix a F And A L A stable constant matrix; s represents the laplace transform operator.
Step 1.2: based on the obtained transfer function model, a controller K for stabilizing a spacecraft control system is obtained through design 0 The concrete form is as follows:
wherein:
(2) design robust controller K considering fault of actuating mechanism 1 So that the spacecraft control system can still ensure stability after a fault occurs, and the method comprises the following steps:
step 2.1: according to the spacecraft control system mathematical model established in the step 1.1, considering that an actuating mechanism fails, solving the following inequality:
Wherein: x represents a positive definite matrix to be solved, W represents an arbitrary matrix to be solved, and gamma is a set parameter; b is 2 ＝BL，
Indicating a failure mode of the actuator mechanism,
step 2.2: based on the matrices X and W obtained in step 2.1, a robust controller K is obtained according to the following equation 1 ：
K 1 ＝WX -1
(3) Based on GIMC controller architecture, nominal controlDevice K 0 Henry stick controller K 1 Synthesizing to obtain a fault-tolerant controller Q, which is characterized in that:
a fault-tolerant controller Q that takes into account actuator faults is described in the following form:
(4) by using the fault-tolerant controller Q obtained in the step (3), the spacecraft can keep good dynamic performance when no fault occurs in the execution mechanism, and meanwhile, the spacecraft has good fault-tolerant capability after the execution mechanism fails, so that autonomous system reconstruction and fault processing of the spacecraft are realized.
A fault tolerant control system for spacecraft actuator faults, comprising:
a first module for establishing a mathematical model of a spacecraft control system, setting a nominal controller K 0 The spacecraft control system has stable response characteristics;
the second module is combined with the failure mode of the actuating mechanism to calculate and obtain a robust controller K 1 The spacecraft control system can still ensure stability after a fault occurs;
A third module, based on the GIMC controller architecture, for converting a nominal controller K to a nominal controller K 0 Harmony controller K 1 And synthesizing to obtain a fault-tolerant controller Q for fault-tolerant control of the spacecraft.
The established mathematical model of the spacecraft control system is as follows:
wherein G(s) represents a transfer function model of the spacecraft control system; A. b, C and D represent the system matrix associated with the dynamical model, actuator and sensor installation;
A F ＝A+BF，C F ＝C+DF，A L ＝A+LC，B L b + LD, F and L respectively so that the matrix a F And A L A stable constant matrix; s represents the laplace transform operator.
Controller K for stabilizing spacecraft control system 0 The concrete form is as follows:
wherein:
robust controller K 1 ：K 1 ＝WX -1 ；
X, W is obtained by solving the following inequality:
wherein: x represents a positive definite matrix to be solved, W represents an arbitrary matrix to be solved, and gamma is a set parameter; b is 2 ＝BL，
Indicating a failure mode of the actuator mechanism,
fault tolerant controller
Example (b):
the transfer function of the spacecraft attitude control system is written as follows:
the related simulation parameters are set as follows:
(1) pitch inertia: i is y ＝13.25kg·m 2 ；
(2) Maximum output torque of actuator: t is max ＝1N·m；
(3) Initial attitude angle: theta 0 ＝0；
(4) Target attitude angle: theta r ＝0.1rad。
Order to
The nominal controller K is designed in consideration of the system performance 0 It can be written as follows: f. of 1 ～f 4 Represents an element in F; l 1 ,l 2 Represents an element in L;
and obtaining:
further, the pole of the controller is arranged at lambda 1 ＝-4，λ 2 -6; the pole of the observer is arranged at lambda 3 ＝-3，λ 4 ＝-5，λ 1 ,λ 2 ,λ 3 ,λ 4 All represent the characteristic value of the system, then the nominal controller K is completed 0 The following expression is obtained:
solving the related inequality according to the step 2.1 to further obtain a nominal controller K when the executing mechanism has an output deviation fault 1 ：
And finally obtaining a fault-tolerant controller Q:
FIGS. 2 and 3 show a nominal control unit K of the prior art in the event of a fault and in the event of an offset fault of the actuator, respectively 0 Henry stick controller K 1 And the attitude error curve diagram of the controller Q (marked as GIMC in the figure) designed by the method of the invention.
Comparing the simulation curve results of fig. 2 and fig. 3 shows that: when no fault occurs, the existing nominal controller K 0 Henry stick controller K 1 And the controller Q designed by the method can realize the tracking control of the designated target attitude angle; wherein, the fault-tolerant controller Q designed by the invention and the existing nominal controller K 0 And has the same good dynamic characteristics. When an executing mechanism has an output deviation fault, the fault-tolerant controller Q designed by the invention has fault-tolerant capability on the premise of keeping the original dynamic characteristic, and can still complete tracking control on a specified target attitude angle; existing nominal controller K 0 Tracking control of a specified target attitude angle cannot be realized; existing robust controller K 1 Although the tracking control for specifying the target attitude angle can be realized, the dynamic characteristics are poor.
In summary, the fault-tolerant control method and system for the spacecraft actuating mechanism designed by the invention not only can have the same dynamic response characteristic as that of the existing nominal controller under the fault-free condition, but also can have the same fault-tolerant capability as that of the existing robust controller under the fault condition, and take the control performance and the fault robustness of the system into consideration. Meanwhile, the method has the advantages of simple design process and strong engineering applicability, provides a novel design idea for the scheme design of the spacecraft control system, and has remarkable market competitiveness.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (4)
1. A fault-tolerant control method for spacecraft actuating mechanism faults is characterized by comprising the following steps:
(1) establishing a mathematical model of a spacecraft control system, and setting a nominal controller K 0 The spacecraft control system has stable response characteristics;
(2) obtaining a robust controller K through calculation in combination with the failure mode of an actuating mechanism 1 The spacecraft control system can still ensure stability after a fault occurs;
(3) based on GIMC controller architecture, nominal controller K 0 Henry stick controller K 1 Synthesizing to obtain a fault-tolerant controller Q;
(4) carrying out fault-tolerant control on the spacecraft by using the fault-tolerant controller Q obtained in the step (3);
the specific method of the step (1) is as follows:
step 1.1: establishing a mathematical model of a spacecraft control system:
wherein G(s) represents a transfer function model of the spacecraft control system; A. b, C and D represent the system matrix associated with the dynamical model, actuator and sensor installation;
A F ＝A+BF，C F ＝C+DF，A L ＝A+LC，B L b + LD, F and L respectively so that the matrix a F And A L A stable constant matrix; s represents a laplace transform operator;
step 1.2: setting a controller K for stabilizing the spacecraft control system according to the transfer function model obtained in the step 1.1 0 The concrete form is as follows:
wherein:
the specific method of the step (2) is as follows:
step 2.1: according to the mathematical model of the spacecraft control system established in the step 1.1, in combination with the failure mode of the actuating mechanism, the following inequality is solved:
wherein: x represents a positive definite matrix to be solved, W represents an arbitrary matrix to be solved, and gamma is a set parameter; b is 2 ＝BL，
Indicating the failure mode of the actuator mechanism,
step 2.2: based on the matrices X and W obtained in step 2.1, a robust controller K is obtained according to the following equation 1 ：K 1 ＝WX -1 。
2. The method as claimed in claim 1, wherein the fault-tolerant controller is a fault-tolerant controller
3. A fault tolerant control system for spacecraft actuator faults, comprising:
a first module for establishing a mathematical model of a spacecraft control system, setting a nominal controller K 0 The spacecraft control system has stable response characteristics;
the second module is combined with the failure mode of the actuating mechanism to calculate and obtain a robust controller K 1 The spacecraft control system can still ensure stability after a fault occurs;
a third module, based on the GIMC controller architecture, for converting a nominal controller K to a nominal controller K 0 Henry stick controller K 1 Synthesizing to obtain a fault-tolerant controller Q for fault-tolerant control of the spacecraft;
the established mathematical model of the spacecraft control system is as follows:
wherein G(s) represents a transfer function model of the spacecraft control system; A. b, C and D represent the system matrix associated with the dynamical model, actuator and sensor installation;
A F ＝A+BF，C F ＝C+DF，A L ＝A+LC，B L ＝B+LD, F and L respectively denote so that the matrix A F And A L A stable constant matrix; s represents a laplace transform operator;
controller K for stabilizing spacecraft control system 0 The concrete form is as follows:
wherein:
robust controller K 1 ：K 1 ＝WX -1 ；
X, W is obtained by solving the following inequality:
wherein: x represents a positive definite matrix to be solved, W represents an arbitrary matrix to be solved, and gamma is a set parameter; b is 2 ＝BL，
Indicating a failure mode of the actuator mechanism,
4. a spacecraft actuator fault tolerant control system according to claim 3, wherein the fault tolerant controller is a fault tolerant controller
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010153197.8A CN111240208B (en) | 2020-03-06 | 2020-03-06 | Fault-tolerant control method and system for spacecraft actuating mechanism faults |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010153197.8A CN111240208B (en) | 2020-03-06 | 2020-03-06 | Fault-tolerant control method and system for spacecraft actuating mechanism faults |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111240208A CN111240208A (en) | 2020-06-05 |
| CN111240208B true CN111240208B (en) | 2022-07-29 |
Family
ID=70869819
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010153197.8A Active CN111240208B (en) | 2020-03-06 | 2020-03-06 | Fault-tolerant control method and system for spacecraft actuating mechanism faults |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111240208B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111913467B (en) * | 2020-07-20 | 2021-07-13 | 北京控制工程研究所 | System-level fault diagnosis method for spacecraft control system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104360679A (en) * | 2014-10-21 | 2015-02-18 | 南京航空航天大学 | Train suspension system fault diagnosis and fault-tolerant control method based on dynamic actuator |
| CN105843240A (en) * | 2016-04-08 | 2016-08-10 | 北京航空航天大学 | Spacecraft attitude integral sliding mode fault tolerance control method taking consideration of performer fault |
| CN107315415A (en) * | 2016-09-13 | 2017-11-03 | 北京理工大学 | The fault-tolerant control system and control method of three bang-bang actuators |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8224489B2 (en) * | 2008-03-03 | 2012-07-17 | Federspiel, Corporation | Method and apparatus for coordinating the control of HVAC units |
-
2020
- 2020-03-06 CN CN202010153197.8A patent/CN111240208B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104360679A (en) * | 2014-10-21 | 2015-02-18 | 南京航空航天大学 | Train suspension system fault diagnosis and fault-tolerant control method based on dynamic actuator |
| CN105843240A (en) * | 2016-04-08 | 2016-08-10 | 北京航空航天大学 | Spacecraft attitude integral sliding mode fault tolerance control method taking consideration of performer fault |
| CN107315415A (en) * | 2016-09-13 | 2017-11-03 | 北京理工大学 | The fault-tolerant control system and control method of three bang-bang actuators |
Non-Patent Citations (1)
| Title |
|---|
| 耿云海 等."执行机构故障的航天器姿态容错控制".《宇航学报》.2017,第38卷(第11期),第1186-1194页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111240208A (en) | 2020-06-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Shao et al. | Robust dynamic surface trajectory tracking control for a quadrotor UAV via extended state observer | |
| CN109630281B (en) | Active fault-tolerant control method for aircraft engine based on error interval observer | |
| Zhang et al. | Learning observer based and event-triggered control to spacecraft against actuator faults | |
| Chen et al. | A reconfiguration scheme for quadrotor helicopter via simple adaptive control and quantum logic | |
| CN106773679B (en) | A kind of spacecraft fault tolerant control method based on angular speed observer | |
| Hu et al. | Reaction wheel fault tolerant control for spacecraft attitude stabilization with finite‐time convergence | |
| Hu et al. | Spacecraft anti-unwinding attitude control with actuator nonlinearities and velocity limit | |
| CN111562793B (en) | Spacecraft attitude control method considering task time constraint | |
| Li et al. | Robust fuzzy adaptive fault-tolerant control for a class of nonlinear systems with mismatched uncertainties and actuator faults | |
| Liu et al. | Robust fault tolerant nonfragile H∞ attitude control for spacecraft via stochastically intermediate observer | |
| CN108563131B (en) | Self-adaptive compensation method for out-of-control fault of actuator of satellite attitude control system | |
| CN111240208B (en) | Fault-tolerant control method and system for spacecraft actuating mechanism faults | |
| Zhao et al. | Adaptive dynamic sliding mode control for near space vehicles under actuator faults | |
| Chen et al. | Improved adaptive fault‐tolerant control design for hypersonic vehicle based on interval type‐2 T‐S model | |
| Ming-Zhou et al. | Finite-time fault-tolerant control for flutter involving control delay | |
| CN115877717A (en) | Aircraft fault-tolerant control structure and control method based on active disturbance rejection control | |
| Gao et al. | Tracking control for a quadrotor via dynamic surface control and adaptive dynamic programming | |
| CN113433825B (en) | Self-adaptive fault-tolerant control method and system of single-link mechanical arm and storage medium | |
| Qian et al. | Integrated fault tolerant attitude control approach for satellite attitude system with sensor faults | |
| CN113859589A (en) | Spacecraft attitude control method based on model predictive control and sliding mode control | |
| CN107831774A (en) | Rigid body attitude of satellite system passive fault tolerant control method based on adaptive PI control | |
| Zhang et al. | Integrated fault estimation and fault-tolerant control for rigid spacecraft attitude system with multiple actuator faults | |
| Maciejowski | Modelling and predictive control: Enabling technologies for reconfiguration | |
| CN113485394B (en) | High-precision fixed-time-convergence relative-posture fault-tolerant tracking control method | |
| CN114924485A (en) | Over-driven underwater robot dynamic positioning self-adaptive fault-tolerant control architecture and method |
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 |