CN202940761U - Six-phase motor driving system - Google Patents
Six-phase motor driving system Download PDFInfo
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- CN202940761U CN202940761U CN 201220410931 CN201220410931U CN202940761U CN 202940761 U CN202940761 U CN 202940761U CN 201220410931 CN201220410931 CN 201220410931 CN 201220410931 U CN201220410931 U CN 201220410931U CN 202940761 U CN202940761 U CN 202940761U
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Abstract
The utility model discloses a six-phase motor driving system. The six-phase motor driving system comprises a six-phase alternating current motor (3) with a first group of three-phase windings (1) and a second group of three-phase windings (2), a first power supply (4), a second power supply (5), a logical algorithm circuit (6), a driving circuit (7), an alternating current and direct current conversion module (8) and a control module (9), wherein the first power supply (4) and the second power supply (5) are respectively coupled to the alternating current and direct current conversion module (8); the alternating current and direct current conversion module (8) is coupled to the wire outlet ends of the first group of three-phase windings (1) and the second group of three-phase windings (2) of the alternating current motor (3); the driving circuit (7) is coupled to the alternating current and direct current conversion module (8); the logical algorithm circuit (6) is coupled to the driving circuit (7); and the control module (9) is coupled to the logical algorithm circuit (6). Aiming at the defects of the traditional three-phase motor system for a vehicle, a motor driving system structure which can be used for optimizing the power supply and configuration and improving the operating reliability is designed.
Description
Technical field
The utility model relates to the electric motor and controller technical field, particularly a kind of six-phase motor drive system of dual power supply.
Background technology
At present, in hybrid vehicle and pure electric automobile automobile development, service behaviour, mode of operation and energy-saving effect to its automobile driving system under different road conditions have had higher requirement.Drive system needs to realize suitable programme of work under different road conditions, travel speed, operate power, reach the technical characterstic such as energy-conservation, safe and reliable, efficient, easy to operate, and traditional three phase electric machine drive system programme of work is difficult to realize diversification, and energy-saving effect and energy recovering effect are not good yet.Along with the continuous increase of power demand of motors, for the application scenario of frequency control that motor driven systems requires, traditional three phase electric machine system generally realizes by low-voltage, high-current or high pressure low current two schemes.For the low-voltage, high-current scheme, be subject to the restriction of power device maximum permissible current, the type selecting of power device and cost be bad control all; For high pressure low current scheme, require motor to have the higher class of insulation, increased the cost of motor and the difficulty of material type selecting.Waiting under fault mode of system's phase shortage, the three phase electric machine winding current sharply rises, and vibration noise increases, and affects runnability and the life-span of system, and reliability is relatively poor.Therefore, for the occasion that hybrid vehicle and pure electric automobile etc. are had relatively high expectations to motor driven systems reliability and practicality, motor driven systems need to upgrade and improve.
The utility model content
The purpose of this utility model is to provide a kind of various road conditions and transport condition of adapting to, and can be in the situation that the faults such as motor phase failure have six cross streams motor driven systems of certain ability that works on.
The utility model takes following technical scheme to realize: six cross streams motors, the first power supply, second source, logical algorithm circuit, drive circuit, AC-DC conversion module, control module with first group of three phase winding and second group of three phase winding, first group of three phase winding and second group of three phase winding are stator winding, have public electrical node between first group of three phase winding and second group of three phase winding; The first power supply, second source are coupled respectively to the AC-DC conversion module, the AC-DC conversion module is coupled to first group of three phase winding of six cross streams motors and the leading-out terminal of second group of three phase winding, drive circuit is coupled to the AC-DC conversion module, the logical algorithm which couple is to drive circuit, and control module is coupled to the logical algorithm circuit.
Drive circuit carries out power amplification to its input signal; The direct current that the AC-DC conversion module is inputted the first power supply and second source carries out direct current and becomes the conversion that exchanges, and the alternating current that alternating current machine is refluxed carries out the conversion of AC-DC.
The first power supply is DC power supply, and the first power supply and first group of three phase winding form the energy supply coupling; Second source is DC power supply, and second source and second group of three phase winding form the energy supply coupling.When the first power supply and second source were powered to six cross streams motors simultaneously, the first power supply was consistent with the frequency of the electric current that second source provides.
First group of three phase winding comprises the first sub-winding, the second sub-winding, the 3rd sub-winding; Second group of three phase winding comprises the 4th sub-winding, the 5th sub-winding, the 6th sub-winding.
Two group of three phase winding of six cross streams motors differs in the first sub-winding of first group of three phase winding and the electrical degree between the second sub-winding the electrical degree that the electrical degree between 120 degree, the second sub-winding and the 3rd sub-winding differs between 120 degree, the 3rd sub-winding and the first sub-winding and differs 120 degree when the fault of phase shortage not occurring; The 4th sub-winding of second group of three phase winding and the electrical degree between the 5th sub-winding differ the electrical degree that the electrical degree between 120 degree, the 5th sub-winding and the 6th sub-winding differs between 120 degree, the 6th sub-winding and the 4th sub-winding and differ 120 degree; Electrical degree between first group of three phase winding and second group of three phase winding differs 30 degree, i.e. electrical degree between electrical degree between electrical degree between the first sub-winding and the 4th sub-winding, the second sub-winding and the 5th sub-winding, the 3rd sub-winding and the 6th sub-winding all differs 30 degree or 0 degree.
When two group of three phase winding of six cross streams motors open-phase fault occurred simultaneously, that control module configuration driven system realizes was poor to the electrical degree between first group of three phase winding and second group of three phase winding, the electrical degree between each sub-winding of first group of three phase winding is poor and each sub-winding of second group of three phase winding between poor the carrying out from new configuration so that six cross streams motors work on of electrical degree; In two group of three phase winding of six cross streams motors wherein one group of three phase winding breaks down the time, that control module configuration driven system realizes is poor to the electrical degree between first group of three phase winding and second group of three phase winding, the electrical degree between each sub-winding of first group of three phase winding is poor and each sub-winding of second group of three phase winding between poor the carrying out from new configuration so that six cross streams motors work on of electrical degree, or control module configuration driven system make three phase windings that another group do not break down with its corresponding Power supply under realize that exchanging six-phase motor works on.
The utility model compared with prior art has significant advantage and beneficial effect, is embodied in the following aspects:
Automobile driving system by control module according to the first power supply, second source, six cross streams motors and the vehicle traveling information of its collection, traffic information etc., make rational Power supply scheme, and to subordinate's circuit output order, thereby realize the power division between the first power supply, second source, first group of three phase winding and second group of three phase winding, to realize best system works and energy-saving effect.
Specifically can be presented as: the first Power supply, second source is not powered, first group of three phase winding work; Or first power supply do not power, second source power supply, second group of three phase winding work; Or first power supply and second source jointly power, two group of three phase winding all worked; Thereby or the electric energy that the first power supply is accepted six cross streams motors and provided charges, and second source does not charge; Thereby or the electric energy that second source is accepted six cross streams motors and provided charges, and the first power supply does not charge; Thereby or the electric energy that the first power supply and second source are accepted simultaneously six cross streams motors and provided charges.When the first power supply and second source were powered to six cross streams motors simultaneously, the first power supply was consistent with the frequency of the electric current that second source provides.
In addition, can be from the electrical degree between new configuration double winding poor and electrical degree that respectively overlap between the sub-winding of winding is poor when a cover winding system wherein when breaking down, or worked on by that cover winding that does not break down, to guarantee that motor normally moves; When double winding open-phase fault occurs simultaneously, also can be poor by electrical degree poor from the electrical degree between new configuration double winding and that respectively overlap between the sub-winding of winding, to guarantee that motor normally moves, improved the reliability of system.
Description of drawings
Fig. 1 is the structural representation of six-phase motor drive system of the present utility model;
Fig. 2 is that between two group of three phase winding of the present utility model, electrical degree differs the schematic diagram of 30 degree and 0 when spending.
Embodiment
Below in conjunction with accompanying drawing, the utility model embodiment is further described; below just exemplary about the description of execution mode of the present utility model; be not in order to limit claimed theme of the present utility model; for other variations in the claim protection range that the described embodiment of the utility model also exists, all belong to the theme of the required protection of the utility model.
For mentioning getting " coupling " in the utility model, definition according to electric, electronics, mechanical field, refer to exist between the input of two or more circuit elements or electric network and output and closely cooperate and influence each other, and by interacting from the phenomenon of a side direction opposite side signal transmission or energy, summary say that coupling just refers to that two or more entities interdepend and measures in one of the other side.Can be understood as the transmission means of digital signal, voltage, electric current homenergic stream in the utility model, " coupling " in of the present utility model according to interactively under the different situations between each module is further understood that connected directly or indirectly.Although so announced a kind of exemplary layout and structure of each assembly in embodiment of the present utility model, also be included in other layouts and the structure that have in the scope of protecting theme under different coupled modes in the protection theme of this utility model.
To accompanying drawing 2, wherein, 1 is first group of three phase winding as accompanying drawing 1,2 is second group of three phase winding, and 3 is six cross streams motors, and 4 is first power supplys, the 5th, second source, the 6th, logical algorithm circuit, the 7th, drive circuit, the 8th, the AC-DC conversion module, the 9th, control module, 1a is the first sub-winding, 1b is the second sub-winding, and 1c is the 3rd sub-winding, and 2a is the 4th sub-winding, 2b is the 5th sub-winding, and 2c is the 6th sub-winding.
As shown in Figure 1, the first power supply 4, second source 5 are connected to respectively AC-DC conversion module 8, separate between the first power supply 4 and second source 5, AC-DC conversion module 8 with first group of three phase winding 1 be connected the leading-out terminal of group three phase windings 2 and be connected respectively, the first power supply 4 is originated as first group of three phase winding, 1 power supply of six cross streams motors 3, and second source 5 is as the power supply source of second group of three phase winding 2 of six cross streams motors 3.The first power supply 4 is battery or for electric capacity, second source 5 is battery or electric capacity.Control module 9 is connected to logical algorithm circuit 6, and logical algorithm circuit 6 is connected to drive circuit 7, and drive circuit 7 is connected to AC-DC conversion module 8.
Control module 9 receives information of voltage, current information, the state of charge information from the first power supply 4 and second source 5, and six cross streams motor 3 state informations, traffic information, speed information, driver's the information such as command information.and according to the information that receives to logical algorithm circuit 6 output orders, after receiving, 6 pairs of instructions of logical algorithm circuit will process the drive circuit 7 that is passed to next stage with the result of computing, drive circuit 7 carries out the signal that receives to be passed to AC-DC conversion module 8 after power amplification, the direct current that AC-DC conversion module 8 can be inputted the first power supply 4 and second source 5 is converted into alternating current, also the alternating current that is refluxed by six cross streams motors 3 can be converted into direct current, 8 pairs of AC-DC conversion modules by its energy flow carry out AC-DC or DC-AC conversion, and realize the switching of the break-make of energy flow between the first power supply 4 and second source 5 and six cross streams motors 3, complete six cross streams motors 3, the switching of the working method of the first power supply 4 and second source 5.First group of three phase winding 1 and second group of three phase winding 2 of six cross streams motors 3 are stator winding; Have a common node between first group of three phase winding 1 and second group of three phase winding 2, this common node is electric connecting point.
Control module 9 is completed the conversion of the operating state of the first power supply 4, second source 5 and six cross streams motors 3 according to the different situations configuration-system, the form of expression is: the first power supply 4 power supplies, and second source 5 is not powered; Or first power supply 4 do not power, second source 5 power supply; Or first power supply 4 and second source 5 jointly power; Thereby or the electric energy that the first power supply 4 acceptance six cross streams motors 3 provide charges; Thereby or the electric energy that second source 5 acceptance six cross streams motors 3 provide charges; Thereby or the first power supply 4 and second source 5 electric energy accepting simultaneously six cross streams motors 3 and the provide working method such as charge.
Next will be described further according to automobile execution mode to above working method under different road conditions and transport condition.
When automobile is in starting state, difference due to situations such as the load of automobile, road conditions, desired acceleration, the required starting power of automobile is also different, system can be configured to automatically according to the size of required starting power: power demand hour is configured to the independently-powered or second source 5 of the first power supply 4 and powers alone, is configured to the first power supply 4 and second source 5 when power demand is large and jointly powers.
When automobile was at the uniform velocity transport condition, system usually automatically is configured to the first power supply 4 or second source 5 is powered alone, if but the load of automobile is excessive, or also can automatically be configured to the first power supply 4 and second source 5 in the larger situation of road conditions resistance and jointly power.
When automobile is in when giving it the gun state, according to situations such as automobile load, road conditions, desired acceleration, system can be configured to automatically according to the size of power demand: power demand hour is powered alone by the first power supply 4 or second source 5 is powered alone, automatically is configured to the first power supply 4 and second source 5 when power demand is large and jointly powers.
When automobile was in the transport condition that brakes or slide, system was configured to reclaim electric energy to the first power supply 4 or the second source 5 that six cross streams motors 3 produce automatically.The alternating current machine 3 that determines according to the acceleration that slows down and braking strength produces callable electric energy, system can be configured to following electric energy recovery scheme according to state informations such as motor status, power supply status, transport conditions: the first power supply 4 receives electric energy, and second source 5 does not receive electric energy; Or second source 5 reception electric energy, the first power supply 4 does not receive electric energy; Or first power supply 4 and second source 5 receive simultaneously electric energy.
When system is in the state of a Power supply, system also can automatically configure another power supply and whether receive the electric energy that six cross streams motors 3 produce according to the supply and demand situation of different capacity, and when the first power supply and 4 second sources 5 are powered to six cross streams motors 3 simultaneously, configure by drive system and make the frequency of the electric current that the first power supply 4 and second source 5 provide consistent, can effectively turn round with the rotor that guarantees six cross streams motors 3.
Electric recoverable scheme about power supply 4 and 5 pairs of six cross streams motors 3 of power supply here is described further: control module 9 send instruction to logical algorithm circuit 6 again to the last best friend's DC conversion modules of drive circuit 7, complete the configuration of drive system working method.A kind of mode is to drive six cross streams motors 3 to one group of three phase winding power supply corresponding with it by a power supply after the inversion of AC-DC conversion module, another group three phase windings produce induced electromotive force under rotor rotates, give another power source charges after 8 rectifications of AC-DC conversion module; Another kind of mode is to be driven the rotor of six cross streams motors 3 by external impetus, and two group of three phase winding produces induced electromotive force (as transport conditions such as braking, slide), completes the charging effect to power supply after 8 rectifications of AC-DC conversion module.foregoing description is the programme of work of drive system in the loop situation of opening charging, drive system is in the driving process of reality, control module 9 can be by gathering six cross streams motor 3 state informations, the state information such as supply voltage and state-of-charge, driver's operation information and road conditions, velocity informations etc. determine that the current electric energy that whether carries out reclaims, and two power supplys charging scheme separately, thereby further drive system is configured, be full of electricity or existed other to be not suitable for power supply is charged in the situation that work as power supply, drive system will not opened charge circuit, or break charge circuit in charging process.The break-make of the break-make of the first power supply 4 charge circuits and the charge circuit of second source 5 is separate.If six cross streams motors 3 are AC induction motor, when opening the charge circuit of certain power supply, the winding that needs to mate to this power supply provides excitation; If six cross streams motors 3 are magneto, when opening the charge circuit of certain power supply, not needing provides excitation to the winding that this power supply mates.
About above working method, the first power supply 4 and first group of three phase winding 1 form the energy supply coupling, second source 5 and second group of three phase winding 2 form the energy supply coupling, no matter be namely that the electric energy that Power supply or motor reflux charges to power supply, its corresponding relation is: no matter the first power supply 4 is that power supply or charging are all corresponding with first group of three phase winding 1, and no matter second source 5 is that power supply or charging are all corresponding with second group of three phase winding 2.
As shown in Figure 2, first group of three phase winding 1 comprises the first sub-winding 1a, the second sub-winding 1b, the 3rd sub-winding 1c; Second group of three phase winding 2 comprises the 4th sub-winding 2a, the 5th sub-winding 2b, the 6th sub-winding 2c; There is the common electrical node between first group of three phase winding 1 and second group of three phase winding 2.
In Fig. 2, figure a is that the schematic diagrames that electrical degree between two group of three phase winding differs 30 degree do not appear under the fault of phase shortage in six cross streams motors 3, and figure b is that the schematic diagram that electrical degree between two group of three phase winding differs 0 degree does not appear under the fault of phase shortage in six cross streams motors 3.Electrical degree between the one or three phase winding 1 each sub-winding differs 120 degree, electrical degree between the two or three phase winding 2 each sub-windings differs 120 degree, for accompanying drawing is represented succinctly, between each sub-winding of first group of three phase winding and second group of three group that is nested, electrical degree is poor does not all identify.
When two group of three phase winding of six cross streams motors 3 open-phase fault occurs simultaneously, control module 9 configurable logic algorithm circuit 6, logical algorithm circuit 6 configuration driven circuit 7, drive circuit 7 configures AC-DC conversion module 8 again, realizes poor the carrying out from new configuration so that six cross streams motors 3 work on of electrical degree between each sub-winding of poor and second group of three phase winding 2 of electrical degree between each sub-winding of, first group of three phase winding 1 poor to the electrical degree between first group of three phase winding 1 and second group of three phase winding 2.
when in two group of three phase winding of six cross streams motors 3 wherein one group of three phase winding breaks down the time, control module 9 configurable logic algorithm circuit 6, logical algorithm circuit 6 configuration driven circuit 7, it is poor that the AC-DC conversion module 8 of configuring drive circuit 7 again realizes the electrical degree between first group of three phase winding 1 and second group of three phase winding 2, poor the carrying out from new configuration so that six cross streams motors 3 work on of electrical degree between each sub-winding of poor and second group of three phase winding 2 of electrical degree between each sub-winding of first group of three phase winding 1, or by control module 9 configuration logic algorithm circuit 6, logical algorithm circuit 6 configuration driven circuit 7, drive circuit 7 configures AC-DC conversion module 8 again makes three phase windings that another group does not break down realize that under Power supply corresponding with it six cross streams motors 3 work on.
For being one exemplary embodiment of the present utility model; should be understood to is wherein a certain demonstrative example in the protection range of claims of the present utility model; have the directiveness effect that those skilled in the art is realized corresponding technical scheme, but not to restriction of the present utility model.
Claims (9)
1. six-phase motor drive system, comprise: six cross streams motors (3) with first group of three phase winding (1) and second group of three phase winding (2), the first power supply (4), second source (5), logical algorithm circuit (6), drive circuit (7), AC-DC conversion module (8), control module (9), first group of three phase winding (1) and second group of three phase winding (2) are stator winding, there is public electrical node between first group of three phase winding (1) and second group of three phase winding (2), it is characterized in that: described the first power supply (4), second source (5) is coupled respectively to AC-DC conversion module (8), AC-DC conversion module (8) is coupled to first group of three phase winding (1) of six cross streams motors (3) and the leading-out terminal of second group of three phase winding (2), drive circuit (7) is coupled to AC-DC conversion module (8), logical algorithm circuit (6) is coupled to drive circuit (7), control module (9) is coupled to logical algorithm circuit (6).
2. a kind of six-phase motor drive system according to claim 1, it is characterized in that: described drive circuit (7) carries out power amplification to the signal of inputting it.
3. a kind of six-phase motor drive system according to claim 1, it is characterized in that: the direct current that described AC-DC conversion module (8) is inputted the first power supply (4) and second source (5) carries out direct current and becomes the conversion that exchanges, and the alternating current that alternating current machine (3) is refluxed carries out the conversion of AC-DC.
4. a kind of six-phase motor drive system according to claim 1 is characterized in that: described the first power supply (4) is DC power supply, and the first power supply (4) forms the energy supply coupling with first group of three phase winding (1); Second source (5) is DC power supply, and (5) second groups of three phase windings of second source (2) form the energy supply coupling.
5. a kind of pair of stator motor drive system according to claim 1, it is characterized in that: described the first power supply (4) and second source (5) are simultaneously to six cross streams motors (3) when powering, and the first power supply (4) is consistent with the frequency of the electric current that second source (5) provides.
6. a kind of six-phase motor drive system according to claim 1, it is characterized in that: described first group of three phase winding (1) comprises the first sub-winding (1a), the second sub-winding (1b), the 3rd sub-winding (1c); Second group of three phase winding (2) comprises the 4th sub-winding (2a), the 5th sub-winding (2b), the 6th sub-winding (2c).
7. according to claim 1 or a kind of six-phase motor drive system claimed in claim 6, it is characterized in that: two group of three phase winding of described six cross streams motors (3) be not when the fault of phase shortage occurring, and first sub-winding (1a) of first group of three phase winding (1) and the electrical degree between the second sub-winding (1b) differ electrical degree between 120 degree, the second sub-winding (1b) and the 3rd sub-winding (1c) and differ electrical degree between 120 degree, the 3rd sub-winding (1c) and the first sub-winding (1a) and differ 120 and spend; The 4th sub-winding (2a) of second group of three phase winding (2) and the electrical degree between the 5th sub-winding (2b) differ electrical degree between 120 degree, the 5th sub-winding (2b) and the 6th sub-winding (2c) and differ electrical degree between 120 degree, the 6th sub-winding (2c) and the 4th sub-winding (2a) and differ 120 and spend; Electrical degree between first group of three phase winding (1) and second group of three phase winding (2) differs 30 degree or 0 degree, i.e. electrical degree between electrical degree between electrical degree between the first sub-winding (1a) and the 4th sub-winding (2a), the second sub-winding (1b) and the 5th sub-winding (2b), the 3rd sub-winding (1c) and the 6th sub-winding (2c) all differs 30 degree or 0 degree.
8. according to claim 1 or a kind of six-phase motor drive system claimed in claim 6, it is characterized in that: when two group of three phase winding of described six cross streams motors (3) open-phase fault occurred simultaneously, that control module (9) configuration driven system realizes was poor to the electrical degree between first group of three phase winding (1) and second group of three phase winding (2), the electrical degree between each sub-winding of first group of three phase winding (1) is poor and each sub-winding of second group of three phase winding (2) between poor the carrying out from new configuration so that six cross streams motors (3) work on of electrical degree.
9. according to claim 1 or a kind of six-phase motor drive system claimed in claim 6, it is characterized in that: in two group of three phase winding of described six cross streams motors (3) wherein one group of three phase winding breaks down the time, it is poor to the electrical degree between first group of three phase winding (1) and second group of three phase winding (2) that control module (9) configuration driven system realizes, poor the carrying out from new configuration so that six cross streams motors (3) work on of electrical degree between each sub-winding of poor and second group of three phase winding (2) of electrical degree between each sub-winding of first group of three phase winding (1), or control module (9) configuration driven system make three phase windings that another group do not break down with its corresponding Power supply under realize that exchanging six-phase motor (3) works on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN 201220410931 CN202940761U (en) | 2012-08-20 | 2012-08-20 | Six-phase motor driving system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220410931 CN202940761U (en) | 2012-08-20 | 2012-08-20 | Six-phase motor driving system |
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| CN202940761U true CN202940761U (en) | 2013-05-15 |
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| CN 201220410931 Expired - Fee Related CN202940761U (en) | 2012-08-20 | 2012-08-20 | Six-phase motor driving system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103762916A (en) * | 2014-01-03 | 2014-04-30 | 哈尔滨工程大学 | VBR simulation method of double-Y six-phase synchronous generator capable of being shifted by 30 degrees |
| CN103715951B (en) * | 2014-01-15 | 2016-04-13 | 哈尔滨工业大学 | Energy consumption type bimorph transducer Passive Torque servo system |
| CN112078472A (en) * | 2020-10-16 | 2020-12-15 | 芜湖瑞来电子科技有限公司 | Cement transport vehicle stirring system and control method thereof |
-
2012
- 2012-08-20 CN CN 201220410931 patent/CN202940761U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103762916A (en) * | 2014-01-03 | 2014-04-30 | 哈尔滨工程大学 | VBR simulation method of double-Y six-phase synchronous generator capable of being shifted by 30 degrees |
| CN103762916B (en) * | 2014-01-03 | 2016-03-09 | 哈尔滨工程大学 | A kind of two Y moves 30 ° of six synchronised generator VBR analogy method |
| CN103715951B (en) * | 2014-01-15 | 2016-04-13 | 哈尔滨工业大学 | Energy consumption type bimorph transducer Passive Torque servo system |
| CN112078472A (en) * | 2020-10-16 | 2020-12-15 | 芜湖瑞来电子科技有限公司 | Cement transport vehicle stirring system and control method thereof |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130515 Termination date: 20180820 |