CN114415707A - Wide-range flight active disturbance rejection control method based on attitude decoupling - Google Patents
Wide-range flight active disturbance rejection control method based on attitude decoupling Download PDFInfo
- Publication number
- CN114415707A CN114415707A CN202210040225.4A CN202210040225A CN114415707A CN 114415707 A CN114415707 A CN 114415707A CN 202210040225 A CN202210040225 A CN 202210040225A CN 114415707 A CN114415707 A CN 114415707A
- Authority
- CN
- China
- Prior art keywords
- attitude
- wide
- disturbance
- controller
- switching
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000013461 design Methods 0.000 claims description 8
- 238000009499 grossing Methods 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000009194 climbing Effects 0.000 claims description 3
- 239000002131 composite material Substances 0.000 claims description 3
- 238000012938 design process Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000004590 computer program Methods 0.000 claims 1
- 238000002485 combustion reaction Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000005437 stratosphere Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000005436 troposphere Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
- G05D1/0833—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using limited authority control
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The invention relates to a wide-range flight active disturbance rejection control method based on attitude decoupling, which is used for solving the technical problem of poor practicability of the existing wide-range flight switching control method. Considering a wide-range flight attitude model with uncertainty and wind interference, obtaining a second-order attitude switching system by utilizing channel decoupling and modal division, and directly designing a multi-mode nonlinear switching controller; estimating lumped disturbance comprising system uncertainty, internal disturbance, decoupling function and external time-varying disturbance by using an extended state observer; designing an auto-disturbance rejection switching controller based on the extended state observer to ensure the effective estimation of the multi-mode controller on uncertainty and external time-varying disturbance; the method combines the characteristics of the wide-range flight multimode process, effectively improves the robustness of the controller by designing the wide-range flight active disturbance rejection switching control, realizes the effective switching of the multimode, ensures the flight safety, and is suitable for engineering application.
Description
Technical Field
The invention relates to an aircraft control method, in particular to a wide-range flight active disturbance rejection control method based on attitude decoupling.
Background
With the rapid development of aerospace technology, particularly the continuous maturity of the air-breathing combined engine technology, an aircraft can take off horizontally from the ground to fly across regions in dense atmosphere and adjacent space. The aircraft can reach high supersonic speed in the wide-area flight process, has wide application prospect, can realize intercontinental passenger-carrying aviation, transoceanic rapid transportation and space travel commercially, and can realize global rapid strike in military.
In the wide-range flight process, the aircraft speed range is subjected to subsonic velocity, supersonic velocity and hypersonic velocity, the airspace is subjected to a troposphere, a stratosphere and an intermediate layer, the flight environment is complex and changeable, the engine generates power mode conversion, the overall structure has multi-mode characteristics, and a switching controller needs to be designed to meet the requirements of the aircraft under different modes and the smooth conversion of the modes. The flight system has strong uncertainty and the wide-range flight process is easily affected by wind interference, and the flight safety is seriously threatened, so the uncertainty and the external disturbance influence need to be considered in the switching control. The existing control methods mostly take uncertainty and disturbance as lumped uncertainty, adopt intelligent systems such as a neural network and the like or a disturbance observer to carry out estimation compensation, are complex, have high requirements on computing resources and iteration speed, and have low feasibility in engineering. Therefore, the research of the switching control method for enhancing the reliability has important engineering significance and technical requirements for the large envelope stable flight research.
Disclosure of Invention
Technical problem to be solved
In order to overcome the defect that the control method of the existing wide-area flight switching system is poor in practicability, the invention provides a wide-area flight active disturbance rejection control method based on attitude decoupling.
Technical scheme
A wide-area flight active disturbance rejection control method based on attitude decoupling is characterized by comprising the following steps:
step 1: wide-range climbing aircraft attitude model with external disturbance considered
Wherein, the three-channel attitude angle theta is [ theta, psi, phi ═ theta]TAnd attitude angular velocity w ═ ωx，ωy，ωz]TIs a state variable, theta, psi, phi, omegax，ωy and ωzRespectively pitch angle, yaw angle, roll angleRoll angular velocity, yaw angular velocity and pitch angular velocity; fθ and FωIs an unknown smoothing function, and J is a rotational inertia function; u shapeM＝[Mx，My，Mz]TIs a pneumatic moment vector, Mx，My and MzRoll moment, yaw moment and pitch moment respectively; dω＝[dx，dy，dz]TIs an external time-varying perturbation vector;
converting the second equation in (1) into a linear equation by carrying out linear treatment on the aerodynamic moment coefficient
wherein ,fiI x, y, z is an unknown smoothing function, giIs a known smoothing function, δiIs the three-channel rudder deflection, miIs a system internal disturbance;
the first equation in (1) is transformed as follows
wherein ,hiX, y, z is a channel coupling function;
further deriving (3) and bringing (2) into availability
The state is defined as ζ ═ ζz，ζy，ζx]T＝[θ，ψ，φ]TZ, y, x, describing the aircraft attitude model as a nonlinear switching system according to the dynamic mode conversion
wherein ,ui，σ(t)＝[δz，σ(t)，δy，σ(t)，δx，σ(t)]TIs the control input, y is the system output; function σ (t): [0, ∞) → M ═ 1, 2., M } is the switching signal, M equals the number of divided modes, and σ (t) = l indicates that the l-th subsystem is active;
step 2: when σ (t) is l, the attitude controller design process is as follows
Defining trace instruction yd＝[ydz，ydy，ydx]T＝[θd，ψd，φd]TLet i be z, y, x. The tracking error is
ei＝ζi-ydi (6)
State ζiCan be written as
wherein ,
is a lumped perturbation;
aiming at the composite disturbance, a reduced-order extended state observer is designed as
wherein ,zi1As an estimate of attitude angular velocity, zi2For lumped disturbance Di，lEstimate of, ω0Is the observer bandwidth;
the controller is designed as
wherein ,kpi，l and kdi，lIs a positive design parameter;
due to control of the gain function gi，lWith errors, a control design parameter K can be usedi，lInstead, the final controller is
And step 3: according to the control quantity u obtained in the step 2i，lAnd returning to the system attitude model (5) to perform tracking control on the system output y.
Advantageous effects
The invention provides a wide-range flight active disturbance rejection control method based on attitude decoupling. According to the method, uncertainty and wind interference existing in the wide-area climbing process of the aircraft are considered, the aircraft attitude motion model is converted into a second-order nonlinear switching system of three attitude channels through channel decoupling, an active disturbance rejection switching controller is designed based on an extended state observer, the aggregate estimation of the uncertainty and the external interference is completed, the robustness of the controller is improved, the active disturbance rejection control and PID control have natural succession advantages, and engineering implementation is facilitated. The invention has the beneficial effects that:
(1) a second-order nonlinear system of three attitude channels is obtained through channel decoupling, and a controller can be directly designed for the decoupled system sub-channels, so that the design steps are simplified, and engineering realization is facilitated;
(2) for the multi-mode characteristics of large envelope flight, mode division and switching signal design are carried out based on power mode conversion, and a multi-mode switching controller is designed based on switching signals, so that wide-area flight is facilitated;
(3) the system lumped disturbance is estimated and compensated based on the extended state observer, and three attitude channel controllers are designed by utilizing an estimation result, so that the robustness of the controllers is improved, and the engineering application is facilitated.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a flow chart of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, the attitude decoupling-based wide-area flight active disturbance rejection control method specifically comprises the following steps:
step 1: a rocket turbine stamping three-combination aerospace vehicle is considered, and the wide-range flight process of the rocket turbine stamping three-combination aerospace vehicle can be divided into 4 sub-modes of a turbine mode, a sub-combustion stamping mode, a super-combustion stamping mode and a rocket mode. The attitude model of the aircraft with the external disturbance is
Wherein, the three-channel attitude angle theta is [ theta, psi, phi ═ theta]TAnd attitude angular velocity w ═ ωx，ωy，ωz]TIs a state variable, theta, psi, phi, omegax，ωy and ωzPitch angle, yaw angle, roll angular velocity, yaw angular velocity and pitch angular velocity, respectively; fθ and FωIs an unknown smoothing function, and J is a rotational inertia function; u shapeM＝[Mx，My，Mz]TIs a pneumatic moment vector, Mx，My and MzRoll moment, yaw moment and pitch moment respectively; dω＝[dx，dy，dz]TIs an external time-varying perturbation vector;
the expression of each function and vector is as follows
wherein ,JiX, y, and z are rotational inertia in x, y, and z directions, respectively; q is dynamic pressure, S is 334.73m2Is a reference area; l isb＝18.288m，Lc24.384m are lateral and longitudinal reference lengths, respectively; alpha is alphaw，βwRespectively an additional attack angle and an additional sideslip angle under wind interference;
the pneumatic moment coefficient is subjected to linearization treatment
Wherein, alpha is an attack angle, and beta is a sideslip angle;
j＝α，β，δx，δy，δz，ωx，ωy，ωzis a coefficient of aerodynamic moment, deltaiX, y and z are three-channel rudder offsets, and the delta term comprises parameters, model uncertainty and linearization errors;
converting the second equation in (1) into
wherein
The first equation in (1) is transformed as follows
wherein
Further deriving (4) and bringing (3) into availability
The state is defined as ζ ═ ζz，ζy，ζx]T＝[θ，ψ，φ]TZ, y, x, describing the aircraft attitude model as a nonlinear switching system according to the dynamic mode conversion
wherein ,ui，σ(t)＝[δz，σ(t)，δy，σ(t)，δx，σ(t)]TIs the control input, y is the system output; the function sigma (t) is a switching signal which belongs to {1,2, 3 and 4}, sequentially corresponds to a turbine mode, a sub-combustion punching mode, a super-combustion punching mode and a rocket mode, and when sigma (t) is l, and l is 1,2, 3 and 4, the first subsystem is activated;
step 2: when σ (t) is l, the attitude controller design process is as follows
Defining trace instruction yd＝[ydz，ydy，ydx]T＝[θd，ψd，φd]TLet i be z, y, x. The tracking error is
ei＝ζi-ydi (7)
State ζiCan be written as
wherein ,
is a lumped perturbation;
aiming at the composite disturbance, a reduced-order extended state observer is designed as
wherein ,zi1As an estimate of attitude angular velocity, zi2For lumped disturbance Di，lEstimate of, ω0Is the observer bandwidth;
the controller is designed as
wherein ,kpi，lIs kdi，lAnd a positive design parameter;
due to control of the gain function gi，lWith errors, a control design parameter K can be usedi，lInstead, the final controller is
And step 3: according to the control quantity u obtained in the step 2i，lAnd returning to the system attitude model (6) to perform tracking control on the system output y.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the present disclosure.
Claims (4)
1. A wide-area flight active disturbance rejection control method based on attitude decoupling is characterized by comprising the following steps:
step 1: wide-range climbing aircraft attitude model with external disturbance considered
Wherein, the three-channel attitude angle theta is [ theta, psi, phi ═ theta]TAnd attitude angular velocity w ═ ωx,ωy,ωz]TIs a state variable, theta, psi, phi, omegax，ωy and ωzPitch angle, yaw angle, roll angular velocity, yaw angular velocity and pitch angular velocity, respectively; fθ and FωIs an unknown smoothing function, and J is a rotational inertia function; u shapeM＝[Mx,My,Mz]TIs a pneumatic moment vector, Mx，My and MzRoll moment, yaw moment and pitch moment respectively; dω＝[dx,dy,dz]TIs an external time-varying perturbation vector;
converting the second equation in (1) into a linear equation by carrying out linear treatment on the aerodynamic moment coefficient
wherein ,fiI x, y, z is an unknown smoothing function, giIs a known smoothing function, δiIs the three-channel rudder deflection, miIs a system internal disturbance;
the first equation in (1) is transformed as follows
wherein ,hiX, y, z is a channel coupling function;
further deriving (3) and bringing (2) into availability
The state is defined as ζ ═ ζz,ζy,ζx]T＝[θ,ψ,φ]TZ, y, x, describing the aircraft attitude model as a nonlinear switching system according to the dynamic mode conversion
wherein ,ui,σ(t)＝[δz,σ(t),δy,σ(t),δx,σ(t)]TIs the control input, y is the system output; the function σ (t): [0, ∞) → M ═ 1,2, · M } is the switching signal, M equals the number of divided modes, and σ (t) → l indicates that the l-th subsystem is active;
step 2: when σ (t) is l, the attitude controller design process is as follows
Defining trace instruction yd＝[ydz,ydy,ydx]T＝[θd,Ψd,φd]TLet i be z, y, x. The tracking error is
ei＝ζi-ydi (6)
State ζiCan be written as
wherein ,
is a lumped perturbation;
aiming at the composite disturbance, a reduced-order extended state observer is designed as
wherein ,zi1As an estimate of attitude angular velocity, zi2For lumped disturbance Di,lEstimate of, ω0Is the observer bandwidth;
the controller is designed as
wherein ,kpi,l and kdi,lIs a positive design parameter;
due to control of the gain function gi,lWith errors, a control design parameter K can be usedi,lInstead, the final controller is
And step 3: according to the control quantity u obtained in the step 2i,lAnd returning to the system attitude model (5) to perform tracking control on the system output y.
2. A computer system, comprising: one or more processors, a computer readable storage medium, for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of claim 1.
3. A computer-readable storage medium having stored thereon computer-executable instructions for, when executed, implementing the method of claim 1.
4. A computer program comprising computer executable instructions which when executed perform the method of claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210040225.4A CN114415707B (en) | 2022-01-14 | 2022-01-14 | Gesture decoupling-based wide-range flight auto-disturbance rejection control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210040225.4A CN114415707B (en) | 2022-01-14 | 2022-01-14 | Gesture decoupling-based wide-range flight auto-disturbance rejection control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114415707A true CN114415707A (en) | 2022-04-29 |
| CN114415707B CN114415707B (en) | 2023-09-12 |
Family
ID=81274065
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210040225.4A Active CN114415707B (en) | 2022-01-14 | 2022-01-14 | Gesture decoupling-based wide-range flight auto-disturbance rejection control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114415707B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9694918B1 (en) * | 2016-05-26 | 2017-07-04 | Beihang University | Method for disturbance compensation based on sliding mode disturbance observer for spacecraft with large flexible appendage |
| CN108803649A (en) * | 2018-08-22 | 2018-11-13 | 哈尔滨工业大学 | A kind of VTOL Reusable Launch Vehicles active disturbance rejection sliding-mode control |
| CN110377045A (en) * | 2019-08-22 | 2019-10-25 | 北京航空航天大学 | A kind of aircraft complete section face control method based on Anti-Jamming Technique |
| CN111580534A (en) * | 2020-05-11 | 2020-08-25 | 广州亿航智能技术有限公司 | Aircraft control method, aircraft control device, electronic equipment and storage medium |
| CN112346470A (en) * | 2020-10-29 | 2021-02-09 | 中国地质大学（武汉） | Four-rotor attitude control method based on improved active disturbance rejection control |
| CN112965505A (en) * | 2021-01-29 | 2021-06-15 | 广东汇天航空航天科技有限公司 | Manned aircraft flight attitude control method and system and manned aircraft |
| CN113031449A (en) * | 2021-03-29 | 2021-06-25 | 西北工业大学 | Pneumatic unknown-oriented intelligent backstepping switching control method for wide-area flight |
| CN113093539A (en) * | 2021-03-29 | 2021-07-09 | 西北工业大学 | Wide-area flight robust self-adaptive switching control method based on multi-mode division |
-
2022
- 2022-01-14 CN CN202210040225.4A patent/CN114415707B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9694918B1 (en) * | 2016-05-26 | 2017-07-04 | Beihang University | Method for disturbance compensation based on sliding mode disturbance observer for spacecraft with large flexible appendage |
| CN108803649A (en) * | 2018-08-22 | 2018-11-13 | 哈尔滨工业大学 | A kind of VTOL Reusable Launch Vehicles active disturbance rejection sliding-mode control |
| CN110377045A (en) * | 2019-08-22 | 2019-10-25 | 北京航空航天大学 | A kind of aircraft complete section face control method based on Anti-Jamming Technique |
| CN111580534A (en) * | 2020-05-11 | 2020-08-25 | 广州亿航智能技术有限公司 | Aircraft control method, aircraft control device, electronic equipment and storage medium |
| CN112346470A (en) * | 2020-10-29 | 2021-02-09 | 中国地质大学（武汉） | Four-rotor attitude control method based on improved active disturbance rejection control |
| CN112965505A (en) * | 2021-01-29 | 2021-06-15 | 广东汇天航空航天科技有限公司 | Manned aircraft flight attitude control method and system and manned aircraft |
| CN113031449A (en) * | 2021-03-29 | 2021-06-25 | 西北工业大学 | Pneumatic unknown-oriented intelligent backstepping switching control method for wide-area flight |
| CN113093539A (en) * | 2021-03-29 | 2021-07-09 | 西北工业大学 | Wide-area flight robust self-adaptive switching control method based on multi-mode division |
Non-Patent Citations (5)
| Title |
|---|
| 万慧;齐晓慧;朱子薇;张莹;孟丽洁;: "基于LADRC的四旋翼姿态解耦控制方法", 火力与指挥控制, no. 04 * |
| 万慧;齐晓慧;李杰;朱子薇;孟丽洁;杨森;: "基于SADRC的四旋翼飞行器姿态解耦控制方法", 火力与指挥控制, no. 04 * |
| 刘敏;吉月辉;李俊芳;高强;: "四旋翼飞行器自抗扰姿态控制", 计算机仿真, no. 03 * |
| 李杰;齐晓慧;韩帅涛;: "基于自抗扰技术的四旋翼姿态解耦控制方法", 电光与控制, no. 03 * |
| 高少婷;黄静雯;陈兵彬;符文星;: "微型飞行器的自抗扰控制器设计", 计算机测量与控制, no. 07 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114415707B (en) | 2023-09-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Hall et al. | Sliding mode disturbance observer-based control for a reusable launch vehicle | |
| CN109189087B (en) | Self-adaptive fault-tolerant control method for vertical take-off and landing reusable carrier | |
| Liu et al. | Immersion and invariance-based output feedback control of air-breathing hypersonic vehicles | |
| Wang et al. | Sliding mode decoupling control of a generic hypersonic vehicle based on parametric commands | |
| CN104656447A (en) | Differential geometry nonlinear control method for aircraft anti-interference attitude tracking | |
| Oruc et al. | Coupled flight dynamics and computational fluid dynamics simulations of rotorcraft/terrain interactions | |
| CN113093539B (en) | Wide-area flight robust self-adaptive switching control method based on multi-mode division | |
| Luo et al. | Adaptive neural control of hypersonic vehicles with actuator constraints | |
| CN113031449B (en) | Pneumatic unknown-oriented intelligent backstepping switching control method for wide-area flight | |
| Wang et al. | Responses and suppression of Joined-Wing UAV in wind field based on distributed model and active disturbance rejection control | |
| CN114415707B (en) | Gesture decoupling-based wide-range flight auto-disturbance rejection control method | |
| Nguyen et al. | Adaptive linear quadratic gaussian optimal control modification for flutter suppression of adaptive wing | |
| Varriale et al. | A thrust-elevator interaction criterion for aircraft optimal longitudinal control | |
| Li et al. | Anti-disturbance dynamic surface control for air-breathing hypersonic vehicles based on NDO | |
| Oruc et al. | Coupled flight dynamics and CFD simulations of rotorcraft/terrain interactions | |
| CN113126494B (en) | Low-altitude flight pneumatic identification control method with reference track dynamically corrected | |
| CN112015201B (en) | Four-rotor aircraft position control method based on prediction correction | |
| Ligang et al. | Switching disturbance rejection attitude control of near space vehicles with variable structure | |
| Xu et al. | Modeling analysis and adaptive observer based fault diagnosis for Near Space Vehicle | |
| Wei et al. | Research on non-stationary control of advanced hypersonic morphing vehicles | |
| Zhuang | Adaptive sliding mode attitude control of quaternion model for aircraft based on neural network minimum parameter learning method | |
| Lian et al. | The Design of Nonlinear Flight Control System of Hypersonic Cruise Vehicle Based on Nonlinear Disturbance Observer | |
| Xu et al. | Reentry Attitude Control of Hypersonic Vehicle based on Sliding Mode Active Disturbance Rejection | |
| Chang | Characteristic model-based adaptive discrete-time sliding mode design for hypersonic vehicle attitude control | |
| Xu et al. | Sliding mode control of morphing-aided maneuver for folding aircraft |
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 |