CN116365939A - Full-speed domain position-free sensor control method suitable for synchronous reluctance motor - Google Patents
Full-speed domain position-free sensor control method suitable for synchronous reluctance motor Download PDFInfo
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- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
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- H02P25/022—Synchronous motors
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Abstract
The invention discloses a full-speed domain sensorless control method suitable for a synchronous reluctance motor, which aims at the problem that the nonlinear fluctuation of an angle signal influences the running stability of the motor, and adopts a way of smoothing an error signal to solve the problem that the motor is in step jump of rotating speed caused by different estimation errors of sensorless algorithm in the full-speed domain; and fusing error signals in a rotating speed transition interval by using the phase-locked loop, and adjusting error weights according to the system running speed to change the error quantity fed back to the phase-locked loop. The invention builds the compound observer by taking the position error signal as the phase-locked loop tracking signal, and the method can eliminate motor rotation speed estimated value oscillation caused by simple linear change of the weight coefficient, thereby reducing the risk of motor out-of-step and improving the running stability.
Description
Technical Field
The invention relates to the technical field of power electronics, in particular to a full-speed domain position-free sensor control method suitable for a synchronous reluctance motor.
Background
The synchronous reluctance motor is widely applied to various fields by virtue of the advantages of wide speed regulation range, low production cost, small torque pulsation, simple and reliable structure and the like. In the high-performance vector control of the synchronous reluctance motor, accurate rotor position information is required for closed-loop control and coordinate transformation of a current loop and a speed loop, but the introduction of a position sensor can reduce the reliability of the system, and the use of the sensor is limited in special occasions such as high temperature, vibration, long distance and the like. Therefore, the realization of the sensorless control of the synchronous reluctance motor is particularly urgent.
In the full motor speed range, a single sensorless control strategy is difficult to estimate accurately. Therefore, the full rotation speed of the motor is generally divided into two operation stages of zero low speed and medium high speed, and different algorithms are used at different rotation speeds. In the zero low-speed stage, the rotor position is obtained by using a traditional high-frequency voltage injection method, the fundamental wave component and the high-frequency component in the current response are separated through algebraic operation, the phase lag of an observer is reduced, and the dynamic performance of the system is improved. In the medium-high speed stage, a sliding mode control law is designed by using a saturated function with smooth continuous characteristics, a self-adaptive observer is designed by using a feedback link of back electromotive force, and the phase delay of a rotor is compensated by means of a phase-locked loop, so that the robustness and the observation precision of the system are improved.
The motor is estimated in sections by using different algorithms in the full rotation speed range, and the key is to ensure that two position-free sensor strategies are smoothly transited in a switching interval. In the conventional weighted composite control, the weight coefficient is linearly increased or decreased in the switching interval. Because the estimation errors of the two sensorless algorithms are different, the simple linear change of the weight coefficient can not eliminate the oscillation of the estimation error of the system, and the step jump of the rotating speed can be caused. Based on the problem, a novel compound observer is designed, and the core thought is to discard the use of the angle signal and smooth the error signal. And fusing position error signals of the two control strategies in a transition interval, and adjusting error weights according to the running speed to change the error quantity fed back to the phase-locked loop.
Disclosure of Invention
The invention aims to provide a full-speed domain position-free sensor control method suitable for a synchronous reluctance motor, which is used for solving the problems of motor rotation speed estimated value oscillation and motor step-out caused by linear change of a weight coefficient of a traditional observer.
The technical scheme for realizing the purpose of the invention is as follows: in a first aspect, the present invention provides a full-speed domain sensorless control method for a synchronous reluctance motor, comprising the steps of:
step 2, selecting a transition interval high-frequency signal injection strategy, and acquiring rotor information by using a high-frequency injection method when the rotating speed of the motor is in a zero low-speed section, wherein a high-frequency square wave signal with the amplitude being one tenth of the voltage of a direct-current bus is required to be injected into the system, and the range of the injected high-frequency signal should not exceed a rotating speed upper limit switching point;
step 3, designing a composite position observer based on a fusion phase-locked loop; combining a high-frequency injection method with a phase-locked loop of a sliding mode algorithm, feeding back position estimation information of the high-frequency injection method and the phase-locked loop to the phase-locked loop after making a difference with the final position of a composite observer, carrying out weighted fusion on position errors of two control strategies in a transition interval, and adjusting an error weight according to the running speed of a motor to change the error amount fed back to the phase-locked loop;
step 4, calculating a transition section switching point;
step 5, selecting a weight function of the composite observer; after combining the high-frequency injection method with a phase-locked loop of a sliding mode algorithm, determining a weighting coefficient of an error signal by utilizing the rotating speed switching point calculated in the step 4; when the rotating speed is smaller than the lower limit switching point, the position error signals are all provided by the difference value between the high-frequency injection method and the compound observer; if the rotating speed is higher than the upper limit switching point, the error amount is all the difference value between the sliding mode algorithm and the compound observer; when the rotating speed is in the transition zone, the error is composed of a high-frequency injection method and a sliding mode algorithm.
In a second aspect, the present invention provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of the first aspect when the program is executed.
In a third aspect, the present invention provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method of the first aspect.
In a fourth aspect, the invention provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the method of the first aspect.
Compared with the prior art, the invention has the remarkable advantages that:
the transition algorithm combined by the motor zero low-speed section and the middle-high speed section non-position sensor control scheme can improve the tracking precision of the composite observer and the anti-load disturbance capacity of the system, and simultaneously reduce phase delay and system buffeting caused by using a large amount of filters.
Drawings
Fig. 1 is a block diagram of a composite position observer based on a fused phase-locked loop in an embodiment of the present invention.
FIG. 2 is a flow chart of a composite observer in an embodiment of the invention.
FIG. 3 is a block diagram of a synchronous reluctance motor full speed domain sensorless composite control architecture.
FIG. 4 is a graph of a modified composite position observer rotational speed response based on a fused phase locked loop.
Fig. 5 is a graph of rotor position contrast for an improved composite position observer based on a fused phase locked loop.
Detailed Description
The synchronous reluctance motor is based on the combination position observer of the fusion phase-locked loop to carry out weighted fusion on the estimated errors of two position-sensor-free control strategies in a transition interval, and adjusts the error weight according to the running speed so as to change the error quantity fed back to the phase-locked loop, and the structural block diagram is shown in figure 1.
The invention provides a full-speed domain position-free sensor control method suitable for a synchronous reluctance motor, wherein a deduction flow chart is shown in fig. 2, and the method comprises the following steps:
and step 1, deducing a mathematical model of the motor under high-frequency excitation. The mathematical model of SynRM under high-frequency excitation is different from the basic mathematical model, and the high-frequency signal injection method relies on accurate model parameters and accurate extraction of high-frequency signal feedback quantity. Therefore, a mathematical model of the synchronous reluctance motor under high-frequency excitation needs to be built as a research basis, and the high-frequency model adopts the assumption of a traditional ideal motor model.
And 2, selecting a transition interval high-frequency signal injection strategy, and acquiring rotor information by using a high-frequency injection method when the rotating speed of the motor is in a zero low-speed section, wherein a high-frequency square wave signal with the amplitude being one tenth of the voltage of a direct-current bus is injected into the system, and the range of the injected high-frequency signal is not beyond the rotating speed upper limit switching point.
And 3, designing a composite position observer based on a fusion phase-locked loop. The method comprises the steps of combining a high-frequency injection method with a phase-locked loop of a sliding mode algorithm, feeding back the difference between the position estimation information of the high-frequency injection method and the phase-locked loop and the final position of a composite observer to the phase-locked loop, carrying out weighted fusion on position errors of two control strategies in a transition interval, and adjusting error weights according to the running speed of a motor to change the error quantity fed back to the phase-locked loop. The elimination of the use of angle signals to smooth the error signal is the core idea of the algorithm proposed by the present invention.
And 4, calculating a transition section switching point. Switching point omega 1 And omega 2 The range over which the control strategy is developed and the ultimate performance of the composite observer are particularly important in making the selection. The manner of empirically determining the switch point does not fully exploit the advantages of both algorithms in the respective intervals, affecting the observer effect. The sliding mode algorithm estimates rotor information by means of back electromotive force, and is not important to consider when designing a transition interval, so that a high-frequency injection method is used for calculating switching points.
And 5, selecting a weight function of the composite observer. And (3) after combining the high-frequency injection method with a phase-locked loop of a sliding mode algorithm, determining a weighting coefficient of the error signal by using the rotating speed switching point calculated in the step (4). When the rotation speed is smaller than the lower limitPoint omega 1 The position error signal is provided by the difference between the high frequency injection method and the composite observer. If the rotation speed is higher than the upper limit switching point omega 2 The error amounts are all from the difference between the sliding mode algorithm and the composite observer. When the rotating speed is in the transition zone, the error is composed of a high-frequency injection method and a sliding mode algorithm.
Further, the specific process of deducing the mathematical model of the motor under high-frequency excitation in the step 1 is as follows:
the rotor voltage drop of the synchronous reluctance motor can be ignored when the rotating speed is low and the injection voltage amplitude is large, so the voltage equation expression under high-frequency excitation is as follows:
u in the formula din And u qin For the high-frequency component, i of the stator voltage of the synchronous reluctance motor under the d-q shafting din And i qin Is the high-frequency component of the stator current under the same shafting, L d Is the direct axis inductance of the motor, L q Is motor quadrature axis inductance.
In the rotor shaft system d-q, the motor stator inductance is expressed as:
the inductance matrix in the stationary coordinate system can be converted from equation (2):
wherein L is αβ For the inductance value under the two-phase rotation coordinate system, the inductance matrix can be found to contain the rotor position information theta according to the formula (3) e Then observe the shafting
The relationship between the medium-high frequency voltage and the current is as follows:
in the middle of
And->
For estimating the rotor synchronous rotation coordinate system +.>
High frequency component of the lower voltage, < >>
And->
Is a high frequency component of the current; definition l= (L d +L q ) And/2 is the average inductance, Δl= (L q -L d ) And/2 is half difference inductance, the formula (4) can be simplified into:
further, the specific process of selecting the high-frequency signal injection strategy in the transition zone in the step 2 is as follows:
the zero low-speed stage utilizes a high-frequency injection method to acquire rotor information, and a high-frequency square wave signal with the amplitude being one tenth of the voltage of a direct-current bus is required to be injected into the system. The high-frequency voltage can introduce noise and torque pulsation to influence the estimation accuracy of the sliding mode observer of the middle and high speed sections, so that the injection range of the high-frequency signal does not exceed the upper limit switching point.
Immediately cutting off the high frequency signal when the rotation speed reaches the upper limit switching point can cause voltage mutation, so that the system oscillates. If injection is continued, the high frequency signal may cause disturbance to the sliding mode algorithm, which may exacerbate the systematic error. Based on this, when the rotation speed leaves the transition section and enters the medium-high speed stage, the high frequency signal is smoothly cut off in a mode of linear attenuation of the amplitude.
The high frequency signal amplitude variation function is expressed as follows:
wherein the method comprises the steps of
Estimating rotational speed for a compound observer, U in To inject high frequency signal amplitude, ω 2 For the upper limit of rotation speed switching point omega 3 Is the rotational speed at which the high frequency signal decays to zero.
When estimating the rotation speed
Less than omega 2 When the amplitude of the high-frequency signal is unchanged; the estimated rotational speed is located at ω 2 And omega 3 The signal amplitude is linearly attenuated along with the increase of the rotating speed; once the rotational speed exceeds omega 3 The high frequency signal is completely cut off. Compared with a mode of immediately stopping injection, the linear attenuation high-frequency signal switching strategy can effectively reduce system loss and improve observer precision.
Further, the specific process of designing the composite position observer based on the fusion phase-locked loop in the step 3 is as follows:
the injected high-frequency signals can cause fluctuation when the sliding mode algorithm estimates the rotor position angle, the angular speed is calculated by the change rate of the angle in two adjacent sampling periods, and the fluctuation of the position angle can cause severe oscillation of the speed amplitude, so that the accurate estimation result of the high-frequency injection method in a zero low-speed section is affected. This results in poor composite observations using angles, so a completely new composite observer needs to be built with the position error as the phase-locked loop tracking signal.
The method comprises the steps of combining a high-frequency injection method with a phase-locked loop of a sliding mode algorithm, feeding back the difference between the estimated position information of the high-frequency injection method and the estimated position information of the sliding mode algorithm and the final position of a composite observer to the phase-locked loop, carrying out weighted fusion on position errors of two control strategies in a transition interval, and adjusting error weights according to the running speed to change the error quantity fed back to the phase-locked loop.
The core idea of the composite position observer is to forgo smoothing the error signal using the angle signal instead.
Further, the specific process of calculating the transition section switching point in the step 4 is as follows:
switching point omega 1 And omega 2 The extent to which the control strategy works and the ultimate performance of the composite observer are of particular importance in making the selection. The manner of empirically determining the switch point does not fully exploit the advantages of both algorithms in the respective intervals, affecting the observer effect. The sliding mode algorithm estimates rotor information by means of back electromotive force, and is not considered seriously when designing a transition interval, and the deduction of the switching point by a high-frequency injection method is as follows.
High frequency current reduced equation in estimating synchronous rotation
The coordinate system can be expressed as:
wherein the method comprises the steps of
For the d-axis high-frequency current component, +.>
For q-axis high-frequency current component, U in To inject the amplitude of the high-frequency signal omega in For injecting the frequency of the high-frequency signal, R s Motor stator resistance->
Algebraic for rotor position error signal
Algebraic b=r s ω in (L d +L q ) Error signal function for rotor position>
Linearization can be achieved:
where η is a gain coefficient, if the effect of the back emf on the low speed operation of the motor is not ignored, the above equation may be expressed as:
wherein the method comprises the steps of
Substituting a, b into formula (9) yields:
the frequency of the injected high-frequency signal has high frequency separation from the fundamental wave, and the high-frequency impedance is far exceeding the stator resistance in value, so the formula (10) can be approximately equivalent to
The redevelopment of equation (9) yields:
the transition section switching point can be determined by using the system position error signal, the error section is set to be (m, n), and the rotation speed switching section (omega 1 ,ω 2 ). If the position error between the high frequency injection method and the composite observer reaches the lower limit of the error range, the weight function can readjust the estimated values of the two control strategies. The error between the sliding mode algorithm and the composite observer reaches the upper limit, and the weight functionAgain, the estimation is re-made. The transition interval switch point calculation formula can be:
where m is the lower error interval limit and n is the upper error interval limit. The upper and lower limits of the position error of the compound observer are 0.08rad and 0.12rad, and the rotation speed switching point omega can be obtained after substituting the position error into the calculation 1 ＝60r/min，ω 2 ＝100r/min。
Further, the specific process of selecting the weight function of the composite observer in the step 5 is as follows:
and (3) after combining the high-frequency injection method with a phase-locked loop of a sliding mode algorithm, determining a weighting coefficient of the error signal by using the rotating speed switching point calculated in the step (4). When the rotation speed is smaller than the lower limit switching point omega 1 The position error signal is provided by the difference between the high frequency injection method and the composite observer. If the rotation speed is higher than the upper limit switching point omega 2 The error amounts are all from the difference between the sliding mode algorithm and the composite observer. The rotating speed is in the transition interval, the error is composed of a high-frequency injection method and a sliding mode algorithm, and the weight function expression is as follows:
wherein:
for rotor position estimation based on improved high frequency injection method +.>
For an estimated value based on an improved sliding mode algorithm, < +.>
Then the rotor electrical angular velocity output by the composite observer, the weight coefficient λ may be defined as:
examples
The synchronous reluctance motor is designed based on a fused phase-locked loop and has no position sensor control system: the AC side is input with a 335V three-phase AC power grid, the pole pair number of the motor is 2 pairs, the rated rotation speed is 1500r/min, the rated torque is 9.5 (N.m), the stator resistance is 2 omega, and the rotational inertia is 4.2 (x 10) -4 kg·m 2 ) The direct axis inductance is 65mH, the quadrature axis inductance is 33mH, and the switching frequency of the system is 10kHz.
In order to verify the superiority of the fusion phase-locked loop-based position-sensor-free control system in terms of system buffeting inhibition and load disturbance resistance and the accuracy of motor rotation speed and rotor position estimation, under the condition that all parameters of the system are consistent, MATLAB simulation is utilized to compare the output rotation speed and rotor position information conditions of the system under the control of two transition algorithms:
FIG. 3 is a block diagram of a synchronous reluctance motor full speed domain sensorless composite control architecture.
FIG. 4 is a graph of a modified composite position observer rotational speed response based on a fused phase locked loop. From the graph, when the rotating speed is changed through the upper limit switching point and the lower limit switching point without the sensor control strategy, the fluctuation range of the rotating speed is reduced by about 12r/min compared with the fluctuation range before improvement.
Fig. 5 is a graph of rotor position contrast for an improved composite position observer based on a fused phase locked loop. It can be seen from the figure that the rotor position tracking delay in the transitional phase is effectively alleviated with the improved compound observer.
Therefore, the comparison of the simulation waveforms shows that the control system without the position sensor based on the fusion phase-locked loop is obviously superior to the traditional transition algorithm control system in the aspects of system buffeting inhibition and load disturbance resistance, and the accuracy of the output rotating speed and rotor position information is improved.
The above discussion is merely one example of the invention and any equivalent variations on the invention are intended to be included within the scope of the invention.
Claims (10)
1. A full-speed domain sensorless control method for a synchronous reluctance motor, comprising the steps of:
step 1, constructing a mathematical model of a synchronous reluctance motor under high-frequency excitation;
step 2, selecting a transition interval high-frequency signal injection strategy, and acquiring rotor information by using a high-frequency injection method when the rotating speed of the motor is in a zero low-speed section, wherein a high-frequency square wave signal with the amplitude being one tenth of the voltage of a direct-current bus is required to be injected into the system, and the range of the injected high-frequency signal should not exceed a rotating speed upper limit switching point;
step 3, designing a composite position observer based on a fusion phase-locked loop; combining a high-frequency injection method with a phase-locked loop of a sliding mode algorithm, feeding back position estimation information of the high-frequency injection method and the phase-locked loop to the phase-locked loop after making a difference with the final position of a composite observer, carrying out weighted fusion on position errors of two control strategies in a transition interval, and adjusting an error weight according to the running speed of a motor to change the error amount fed back to the phase-locked loop;
step 4, calculating a transition section switching point;
step 5, selecting a weight function of the composite observer; after combining the high-frequency injection method with a phase-locked loop of a sliding mode algorithm, determining a weighting coefficient of an error signal by utilizing the rotating speed switching point calculated in the step 4; when the rotating speed is smaller than the lower limit switching point, the position error signals are all provided by the difference value between the high-frequency injection method and the compound observer; if the rotating speed is higher than the upper limit switching point, the error amount is all the difference value between the sliding mode algorithm and the compound observer; when the rotating speed is in the transition zone, the error is composed of a high-frequency injection method and a sliding mode algorithm.
2. The method for full-speed domain sensorless control of synchronous reluctance motor according to claim 1, wherein the specific derivation of the mathematical model of synchronous reluctance motor under high frequency excitation in step 1 is:
the expression of the voltage equation under high frequency excitation is:
u in the formula din And u qin For the high-frequency component, i of the stator voltage of the synchronous reluctance motor under the d-q shafting din And i qin Is the high-frequency component of the stator current under the same shafting, L d Is the direct axis inductance of the motor, L q The motor quadrature axis inductance;
in the rotor shaft system d-q, the motor stator inductance is expressed as:
the inductance matrix in the stationary coordinate system can be converted from equation (2):
wherein L is αβ For the inductance value under the two-phase rotation coordinate system, the inductance matrix is found to contain the rotor position information theta according to the formula (3) e Then observe the shafting
The relationship between the medium-high frequency voltage and the current is as follows:
in the middle of
And->
For estimating the rotor synchronous rotation coordinate system +.>
High frequency component of the lower voltage, < >>
And->
Is a high frequency component of the current; definition l= (L d +L q ) And/2 is the average inductance, Δl= (L q -L d ) And/2 is half difference inductance, the formula (4) can be simplified into:
3. the method for controlling a full-speed domain sensorless control of a synchronous reluctance motor according to claim 1, wherein the specific process of selecting the transition interval high-frequency signal injection strategy in step 2 is as follows:
the rotor information is obtained by a high-frequency injection method at the zero low-speed stage, and a high-frequency square wave signal with the amplitude being one tenth of the voltage of a direct-current bus is required to be injected into the system; the injection range of the high-frequency signal should not exceed the upper limit switching point;
the high frequency signal amplitude variation function is expressed as follows:
wherein the method comprises the steps of
Estimating rotational speed for a compound observer, U in To inject high frequency signal amplitude, ω 2 For the upper limit of rotation speed switching point omega 3 A rotational speed at which the high-frequency signal is attenuated to zero;
when estimating the rotation speed
Less than omega 2 When the amplitude of the high-frequency signal is unchanged; the estimated rotational speed is located at ω 2 And omega 3 The signal amplitude is linearly attenuated along with the increase of the rotating speed; once the rotational speed exceeds omega 3 The high frequency signal is completely cut off.
4. The full-speed domain sensorless control method of claim 1, wherein the composite position observer design based on the fusion phase-locked loop in step 3 comprises the following specific procedures:
the method comprises the steps of combining a high-frequency injection method with a phase-locked loop of a sliding mode algorithm, feeding back the difference between the estimated position information of the high-frequency injection method and the estimated position information of the sliding mode algorithm and the final position of a composite observer to the phase-locked loop, carrying out weighted fusion on position errors of two control strategies in a transition interval, and adjusting error weights according to the running speed to change the error quantity fed back to the phase-locked loop.
5. The method for full-speed domain sensorless control of synchronous reluctance motor according to claim 1, wherein the specific process of calculating the transition zone switching point in step 4 is:
high frequency current reduced equation in estimating synchronous rotation
The coordinate system can be expressed as:
wherein the method comprises the steps of
For the d-axis high-frequency current component, +.>
For q-axis high-frequency current component, U in To inject the amplitude of the high-frequency signal omega in For injecting the frequency of the high-frequency signal, R s Motor stator resistance->
Algebraic +.>
Algebraic b=r s ω in (L d +L q ) Error signal function for rotor position>
Linearization can be achieved:
where η is a gain coefficient, if the effect of the back emf on the low speed operation of the motor is not ignored, the above equation may be expressed as:
wherein the method comprises the steps of
The arctangent coefficient containing rotor information and can be expressed as +.>
Substituting a, b into formula (9) yields:
formula (10) can be approximately equivalent to
The redevelopment of equation (9) yields:
determining a transition section switching point by using the system position error signal, setting an error section to (m, n), and a rotation speed switching section (ω 1 ,ω 2 ) The method comprises the steps of carrying out a first treatment on the surface of the If the position error between the high-frequency injection method and the composite observer reaches the lower limit of the error range, the weight function readjusts the estimated values of the two control strategies; the error between the sliding mode algorithm and the composite observer reaches the upper limit, and the weight function is estimated again; the transition interval switch point calculation formula can be:
where m is the lower error interval limit and n is the upper error interval limit.
6. The method for full-speed-domain sensorless control of synchronous reluctance motor according to claim 5, wherein the upper and lower limits of the position error of the composite observer are 0.08rad and 0.12rad, and the rotation speed switching point ω is obtained by substituting (12) 1 ＝60r/min，ω 2 ＝100r/min。
7. The method for full-speed domain sensorless control of synchronous reluctance motor according to claim 1, wherein the specific procedure of composite observer weight function selection in step 5 is:
after combining the high-frequency injection method with a phase-locked loop of a sliding mode algorithm, determining a weighting coefficient of an error signal by using the rotating speed switching point calculated in the step 4; when the rotation speed is smaller than the lower limit switching point omega 1 When the position error signal is completely obtained by the difference between the high-frequency injection method and the compound observerProviding; if the rotation speed is higher than the upper limit switching point omega 2 The error amount is all the difference value from the sliding mode algorithm and the compound observer; the rotating speed is in the transition interval, the error is composed of a high-frequency injection method and a sliding mode algorithm, and the weight function expression is as follows:
wherein:
for rotor position estimation based on improved high frequency injection method +.>
For an estimated value based on an improved sliding mode algorithm, < +.>
Then the rotor electrical angular velocity output by the composite observer, the weight coefficient λ is defined as:
8. an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1-7 when the program is executed.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the method according to any of claims 1-7.
10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1-7.
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