CN203554341U - Fault tolerance control system for double three-phase permanent magnet synchronous motor when one phase is in open circuit - Google Patents

Abstract

The utility model relates to a fault tolerance control system for a double three-phase permanent magnet synchronous motor when one phase is in open circuit. The fault tolerance control system consists of the double three-phase permanent magnet synchronous motor, a hardware driving circuit with fault isolation and tolerance functions and a novel fault tolerance control strategy. When any one phase of the double three-phase permanent magnet synchronous motor has faults, the system can cut off a fault phase in time, select the fault tolerance control strategy according to the running state of the motor before the faults occur and realize a fault tolerance control function of the double three-phase permanent magnet synchronous motor. The fault tolerance control system has the characteristics of simple hardware structure, high reliability and strong robustness; an optimal fault tolerance control strategy can be selected according to the running state of the motor before the faults occur and the excellent control performance of the system after the fault tolerance is realized is realized, and the like.

Description

The failure tolerant control system of double three-phase permanent-magnetic synchronous machine during one-phase open circuit

Technical field

The utility model relates to electric drive field, especially the failure tolerant control system of double three-phase permanent-magnetic synchronous machine during a kind of one-phase open circuit.

Background technology

Three-phase alternating current drive system is occupied absolute advantage always in traditional drive system.But in recent years, due to some special application scenarios as: Aero-Space, electronic/fuel combination vehicle, Ship Propulsion System etc., have higher requirement to the reliability of governing system and power bracket.Be limited by voltage and the power grade of power electronic device, in large-power occasions, the mode of the series, parallel of normal employing power electronic device realizes the output of many level Large Powers, but the thing followed is the problem such as all pressure and current-sharing etc. of power electronic device, affected the global reliability of governing system; Corresponding with many level structure is heterogeneous structure, improves the power of motor by increasing the number of phases of motor, realizes low-pressure high-power speed governing.

Compare and three traditional motors, polyphase machine has advantages of as follows:

1), in the restricted occasion of supply power voltage amplitude, can adopt polyphase machine to realize low-pressure high-power transmission;

2) polyphase machine is along with the increase of the number of phases, and the output torque of motor is balance more, pulses less, can greatly improve the dynamic and steady-state behaviour of drive system;

2) reliability of system is higher, has stronger fault-tolerant operation ability; In polyphase machine drive system, along with increasing of the number of phases, a certain phase winding in polyphase machine or a few phase winding are short-circuited or during open fault, or a certain phase in converters or several be short-circuited mutually or during open fault, by fault-tolerant control, excision fault phase, polyphase machine still can move.

Compare with induction machine, permagnetic synchronous motor has the advantages such as high torque (HT)/ratio of inertias, high power density, high efficiency.Permanent-magnetic synchronous motor rotor adopts permanent magnet, and without field circuit, rotor, without excitation loss and iron loss, has been simplified the structure of rotor, has reduced the moment of inertia of motor, and efficiency and the power factor of motor are higher.Along with improving constantly of rare earth permanent-magnetic material performance, the continuous maturation of permagnetic synchronous motor control technology, permagnetic synchronous motor has been widely used in the high accuracy control fields such as Digit Control Machine Tool, aerospace equipment.

Double three-phase permanent-magnetic synchronous machine is applied to permagnetic synchronous motor by polyphase machine technology, makes double three-phase permanent-magnetic synchronous machine not only have the feature of permagnetic synchronous motor, has inherited the advantage of polyphase machine simultaneously, and both have been carried out to good fusion.

For the Fault Tolerance Control Technology of polyphase machine, Chinese scholars has been carried out certain research, and Mathematical Modeling when Yifan Zhao opens a way to Six-phase Induction Motor one phase winding in its thesis for the doctorate has been carried out deep analysis; France researcher Fnaiech, M A, Betin, F adopts the control strategy of fuzzy control or sliding moding structure to control during to Six-phase Induction Motor one-phase open circuit, simplifies the parameter causing due to a phase winding open fault and changes the impact on system dynamic response.The control strategy that Faa-Jeng Lin opens a way at a phase winding to double three-phase permanent-magnetic synchronous machine by TSKF FUZZY ALGORITHMS FOR CONTROL and FNN is studied; Domestic scholars has also been carried out certain research to the fault-tolerant control algolithm of double three-phase permanent-magnetic synchronous machine, has proposed some improved control algolithms.But these control hardware circuit are comparatively complicated, fault-tolerant control strategy is comparatively complicated for the Mathematical Modeling of system, and larger to the dependence of parameter.

Summary of the invention

The utility model will solve the shortcoming of above-mentioned prior art, the failure tolerant control system of double three-phase permanent-magnetic synchronous machine when a kind of one-phase open circuit of fault-tolerant control simple optimizing is provided.

The utility model solves the technical scheme that its technical problem adopts: the failure tolerant control system of double three-phase permanent-magnetic synchronous machine during this one-phase open circuit, by double three-phase permanent-magnetic synchronous machine, the hardware driving circuit with Fault Isolation and fault tolerance, and novel fault-tolerant control strategy forms, when any one of double three-phase permanent-magnetic synchronous machine breaks down mutually, system can be excised fault phase in time, and can be according to the motor operating state before fault, select fault-tolerant control strategy, realize the fault-tolerant control function of double three-phase permanent-magnetic synchronous machine.It is simple that this fault-tolerant control system has hardware configuration, and reliability is high, and strong robustness can be according to the motor operating state before the system failure, selects best fault-tolerant control strategy, realizes the features such as superior control performance of system after failure tolerant.

The winding of double three-phase permanent-magnetic synchronous machine is followed successively by A, B, C and a, b, c, hardware driving circuit is comprised of six brachium pontis, the composition of each brachium pontis is respectively a fast acting fuse, two full-control type device for power switching and a normally closed relay from top to bottom, wherein one end of normally closed relay and the mid point of device for power switching are connected, and the other end is connected with the corresponding winding of double three-phase permanent-magnetic synchronous machine.

The neutral point o1 of the double winding in described double three-phase permanent-magnetic synchronous machine and o2 isolation.Wherein, as double winding ABC and the abc of unsymmetric structure form, double winding differs 30 degree electrical degrees.And as double winding ABC and the abc of symmetrical structure form, double winding differs 60 degree electrical degrees.

When one-phase open circuit, remaining five phase windings can be equivalent to the five-phase PMSM of asymmetrical pair of neutral point isolation, the dynamic mathematical models of the five-phase PMSM of isolating for this asymmetrical pair of neutral point adopt under rotation d-q and natural coordinates hybrid coordinate system carries out modeling analysis, for normal three phase windings, adopt under d-q coordinate system and carry out modeling analysis, for that a set of winding breaking down, under natural system of coordinates, residue two-phase is equivalent to single-phase permanent-magnet synchronous motor, and under this hybrid coordinate, set up the dynamic mathematical models of asymmetric five-phase PMSM.

When motor is normally worked, the control algolithm to winding ABC and the two d-q coordinate transforms of abc employing; When any one breaks down mutually, when load torque be less than or equal to nominal torque 50% time, by three normally closed relays that are connected with this cover winding are opened, a whole set of fault winding is excised away, to normal three phase windings, adopt the vector control algorithm of three-phase permanent magnet synchronous motor to carry out fault-tolerant, guarantee the Torque Ripple of system; When any one breaks down mutually, when load torque be greater than nominal torque 50% time, by that normally closed relay being connected with this phase winding is opened, fault phase is excised away, other does not do any variation; To normal three phase windings, adopt the vector control algorithm of three-phase permanent magnet synchronous motor to carry out fault-tolerant, for that a set of winding breaking down, residue two-phase can be equivalent to single-phase permanent-magnet synchronous motor, be about to that remaining five phase windings are equivalent to a three-phase permanent magnet synchronous motor with a single-phase permanent-magnet synchronous motor, realize fault-tolerant control, improve fault-tolerant torque fan-out capability.

The effect that utility model is useful is: compared with prior art, the hardware circuit of fault-tolerant control is simpler for the utility model, the more simple and optimization that the switching before the fault of double three-phase permanent-magnetic synchronous machine and after fault also becomes; Fault-tolerant control strategy after fault is more simple and effective; Whole fault-tolerant control system has more superior performance.

Accompanying drawing explanation

The winding construction figure of Fig. 1 double three-phase permanent-magnetic synchronous machine unsymmetric structure form;

The winding construction figure of Fig. 2 double three-phase permanent-magnetic synchronous machine symmetrical structure form;

During Fig. 3 one-phase open circuit double three-phase permanent-magnetic synchronous machine unsymmetric structure form winding construction figure;

During Fig. 4 one-phase open circuit double three-phase permanent-magnetic synchronous machine symmetrical structure form winding construction figure;

Fig. 5 has the double three-phase permanent-magnetic synchronous machine hardware system of fault tolerance;

The control system block diagram of double three-phase permanent-magnetic synchronous machine when Fig. 6 normally works;

The control system block diagram of double three-phase permanent-magnetic synchronous machine during Fig. 7 one-phase open circuit;

Embodiment

Below in conjunction with accompanying drawing, the utility model is described in further detail:

The failure tolerant control system of double three-phase permanent-magnetic synchronous machine during one-phase open circuit, by double three-phase permanent-magnetic synchronous machine, has the hardware driving circuit of Fault Isolation and fault tolerance, and novel fault-tolerant control strategy forms.Wherein there is the double three-phase permanent-magnetic synchronous machine hardware system of fault tolerance as shown in Figure 5; It is characterized in that this hardware system is comprised of six brachium pontis, the A phase brachium pontis of take is example, the composition of each brachium pontis is respectively a fast acting fuse FTF_A, two full-control type device for power switching S1, S2 from top to bottom, with a normally closed relay KA, wherein one end of normally closed relay KA and the mid point of device for power switching are connected, and the other end is connected with the A phase winding of double three-phase permanent-magnetic synchronous machine.The connected mode of all the other 5 phase windings is identical with A phase winding.

The winding of double three-phase permanent-magnetic synchronous machine is followed successively by A, B, C and a, b, c, the neutral point o1 of double winding and o2 isolation; Double winding ABC shown in Fig. 1 and abc are unsymmetric structure form, and double winding differs 30 degree electrical degrees.Double winding ABC shown in Fig. 2 and abc are symmetrical structure form, and double winding differs 60 degree electrical degrees.

One,, for electric drive control system, the type of fault mainly contains the short circuit of device for power switching and the turn-to-turn short circuit of open circuit and motor phase windings and these four kinds of situations of open circuit.The c of take is as shown in Figure 5 example mutually, above-mentioned four kinds of situations is analyzed, when c phase device for power switching S11 and S12 are short-circuited fault, FTF_c is by quick fuse, protection power device, will block the driving signal of S11 and S12 switching tube simultaneously, and opens normally closed relay Kc isolated fault phase c phase; When c phase device for power switching S11 or S12 generation open fault, block the driving signal of S11 and S12 switching tube, and open normally closed relay Kc isolated fault phase c phase; When c phase winding generation shorted-turn fault, block the driving signal of S11 and S12 switching tube, and open normally closed relay Kc isolated fault phase c phase; When c phase winding generation open fault, block the driving signal of S11 and S12 switching tube, and open normally closed relay Kc isolated fault phase c phase.

No matter as from the foregoing, there is any of above-mentioned four kinds of failure conditions in c phase winding, finally all will this fault phase be isolated by relay K c, thereby guarantee when system breaks down, can isolated fault, carry out fault-tolerant control, and prevent stretching of fault.From the angle of the fault-tolerant control of motor, these four kinds of faults are finally all equivalent to the open fault problem of a phase winding.Therefore Mathematical Modeling and fault-tolerant control strategy during below by normal operation to double three-phase permanent-magnetic synchronous machine and during one-phase open circuit fault are analyzed.

While two, normally working, as shown in Figure 1, 2, the dynamic mathematical models of double three-phase permanent-magnetic synchronous machine under two d-q coordinate systems are as follows:

Voltage equation is:

$\left[\begin{array}{c}{u}_{d1}\\ u_{q1}\\ u_{d2}\\ u_{\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="HDA0000395457840000041.png"\; state="\{\{state\}\}">q</figure-callout>}2}\end{array}\right]=\left[\begin{array}{cccc}{\mathrm{<figure-callout\; id="0"\; label="R\; s"\; filenames="HDA0000395457840000041.png,HDA0000395457840000042.png"\; state="\{\{state\}\}">R</figure-callout>}}_s& 0& 0& 0\\ 0& {\mathrm{<figure-callout\; id="0"\; label="R\; s"\; filenames="HDA0000395457840000041.png,HDA0000395457840000042.png"\; state="\{\{state\}\}">R</figure-callout>}}_s& 0& 0\\ 0& 0& {\mathrm{<figure-callout\; id="0"\; label="R\; s"\; filenames="HDA0000395457840000041.png,HDA0000395457840000042.png"\; state="\{\{state\}\}">R</figure-callout>}}_s& 0\\ 0& 0& 0& R_s\end{array}\right]\left[\begin{array}{c}{i}_{d1}\\ i_{q1}\\ i_{d2}\\ {\mathrm{<figure-callout\; id="2"\; label="i\; q"\; filenames="HDA0000395457840000041.png"\; state="\{\{state\}\}">i</figure-callout>}}_q\end{array}\right]+p\left[\begin{array}{c}{\mathrm{\&psi;}}_{d1}\\ {\mathrm{\&psi;}}_{q1}\\ {\mathrm{\&psi;}}_{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA0000395457840000041.png"\; state="\{\{state\}\}">d</figure-callout>}2}\\ {\mathrm{\&psi;}}_{\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="HDA0000395457840000041.png"\; state="\{\{state\}\}">q</figure-callout>}2}\end{array}\right]+{\mathrm{\&omega;}}_r\left[\begin{array}{c}{-\mathrm{\&psi;}}_{q1}\\ {\mathrm{\&psi;}}_{d1}\\ {-\mathrm{\&psi;}}_{\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="HDA0000395457840000041.png"\; state="\{\{state\}\}">q</figure-callout>}2}\\ {\mathrm{\&psi;}}_{d2}\end{array}\right]---\left(1\right)$

Magnetic linkage equation is:

$\left[\begin{array}{c}{\mathrm{\&psi;}}_{d1}\\ {\mathrm{\&psi;}}_{q1}\\ {\mathrm{\&psi;}}_{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA0000395457840000041.png"\; state="\{\{state\}\}">d</figure-callout>}2}\\ {\mathrm{\&psi;}}_{\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="HDA0000395457840000041.png"\; state="\{\{state\}\}">q</figure-callout>}2}\end{array}\right]=\left[\begin{array}{cccc}{L}_d& 0& {\mathrm{<figure-callout\; id="0"\; label="L\; dd"\; filenames="HDA0000395457840000041.png,HDA0000395457840000042.png"\; state="\{\{state\}\}">L</figure-callout>}}_{\mathrm{dd}}& 0\\ 0& L_q& 0& L_{\mathrm{qq}}\\ L_{\mathrm{dd}}& 0& {\mathrm{<figure-callout\; id="0"\; label="L\; d"\; filenames="HDA0000395457840000041.png,HDA0000395457840000042.png"\; state="\{\{state\}\}">L</figure-callout>}}_d& 0\\ 0& L_{\mathrm{qq}}& 0& L_q\end{array}\right]\left[\begin{array}{c}{i}_{d1}\\ i_{q1}\\ i_{d2}\\ {\mathrm{<figure-callout\; id="2"\; label="i\; q"\; filenames="HDA0000395457840000041.png"\; state="\{\{state\}\}">i</figure-callout>}}_q\end{array}\right]+\left[\begin{array}{c}{\mathrm{\&psi;}}_{\mathrm{<figure-callout\; id="0"\; label="f"\; filenames="HDA0000395457840000041.png,HDA0000395457840000042.png"\; state="\{\{state\}\}">f</figure-callout>}}\\ 0\\ {\mathrm{\&psi;}}_f\\ 0\end{array}\right]---\left(2\right)$

Torque equation is:

T _e＝p _n(ψ _s1×i _s1+ψ _s2×i _s2) （3）

＝p _n[(ψ _d1i _q1-ψ _q1i _d1)+(ψ _d2i _q2-ψ _q2i _d2)] （4）

Three, after breaking down, the c phase winding of take open circuit as example as shown in Figure 3,4, after fault winding excision open circuit, remaining five phase windings; The basic assumption of motor dynamics Mathematical Modeling:

1) three-phase stator winding is symmetrical, and Y type connects;

2) back electromotive force is sinusoidal;

3) ferromagnetic part magnetic circuit is linear, disregards the impacts such as saturated, remanent magnetism, eddy current, magnetic hysteresis loss;

4) rotor undamped winding, the effect of permanent magnet undamped;

5) not considering the magnetic circuit coupled relation between three-phase permanent magnet synchronous motor and single-phase permanent-magnet synchronous motor, is independently two stator winding motors of motor of two magnetic circuits by its Approximate Equivalent;

6) the two neutral point five-phase PMSMs that break down are equivalent to a three-phase permanent magnet synchronous motor and a single-phase permanent-magnet synchronous motor.

Remain ABC tri-phase windings in five phase windings and normally move, do not break down, according to the mode of three-phase permanent magnet synchronous motor, carry out dynamic mathematical modeling; C phase winding generation open fault in abc tri-phase windings, remaining ab phase winding can be equivalent to a single-phase permanent-magnet synchronous motor, therefore the dynamic mathematical models of the five-phase PMSM of asymmetrical pair of neutral point isolation adopt at rotation d-q and natural hybrid coordinate system and carry out modeling, and its dynamic mathematical models are analyzed as follows:

Voltage equation is:

$\left\{\begin{array}{c}{u}_d=R_S{i}_d+{\mathrm{p\&psi;}}_d-{\mathrm{\&omega;\&psi;}}_q\\ u_q=R_S{i}_q+{\mathrm{p\&psi;}}_q-{\mathrm{\&omega;\&psi;}}_d\end{array}\right.---\left(5\right)$

$u_{\mathrm{sab}}=R_{\mathrm{sab}}{i}_{\mathrm{sab}}+\frac{{\mathrm{d\&psi;}}_{\mathrm{sab}}}{\mathrm{dt}}---\left(6\right)$

Magnetic linkage equation is:

$\left\{\begin{array}{c}{\mathrm{\&psi;}}_d=L_d{i}_d+{\mathrm{\&psi;}}_f\\ {\mathrm{\&psi;}}_q=L_q{i}_q\end{array}\right.---\left(7\right)$

ψ _sab＝(L _sabi _sab+ψ _fcos(θ)) （8）

Torque equation is:

$T_{e1}=\frac{3}{2}{n}_p({\mathrm{\&psi;}}_d{i}_d-{\mathrm{\&psi;}}_q{i}_q)=\frac{3}{2}{n}_p[{\mathrm{\&psi;}}_f{i}_q+(L_d-L_q)i_d{i}_q]---\left(9\right)$

T _e2＝n _pψ _fi _sabsinθ （10）

T _e＝T _e1+T _e2 （11）

The rotor mechanical equation of motion:

$J\frac{\mathrm{d\&omega;}}{\mathrm{dt}}=n_p(T_e-T_l-B\frac{\mathrm{\&omega;}}{n_p})---\left(12\right)$

The control strategy of the double three-phase permanent-magnetic synchronous machine while four, normally moving as shown in Figure 6; Employing is the decoupling zero control under dq axle to ABC winding and abc winding respectively under two d-q coordinate systems, and for asymmetric double three-phase permanent-magnetic synchronous machine, d1-q1 and d2-q2 differ 30 degree electrical degrees; For symmetric form double three-phase permanent-magnetic synchronous machine, d1-q1 and d2-q2 differ 60 degree electrical degrees.Shown in formula (4), can observe the value of load torque, and the policy selection standard of fault-tolerant control during as double three-phase permanent-magnetic synchronous machine one-phase open circuit.

Five, the fault-tolerant control strategy of double three-phase permanent-magnetic synchronous machine is as shown in Figure 7 during one-phase open circuit; When inverter or winding generation open circuit or short trouble, by hardware, fault is isolated, the c of take is example mutually;

When fault occurs, the value of the load torque detecting when normal is compared with nominal torque value, when the value of actual loading torque is more than or equal to 50% nominal load;

1) as shown in Figure 5, block the driving signal of device for power switching S11 and S12, open normally closed relay Kc, isolated fault phase c phase;

2) Mathematical Modeling of motor is equivalent to the five-phase PMSM of one asymmetrical pair of neutral point isolation, under rotation d-q and natural hybrid coordinate system, this 5 phase permagnetic synchronous motor is controlled;

3) normal three phase winding ABC are adopted to the vector control strategy under rotation d-q coordinate system, carry out the control of torque; For equivalent single-phase permanent-magnet synchronous motor winding ab, adopt the winding current control mode under natural system of coordinates.Its implementation for obtaining the value of feedback of the set point of speed and speed the set-point I of torque current after PI computing _qref, this set-point is both as the set-point of normal three phase winding ABC q shaft current under d1-q1 coordinate system, simultaneously I _qref* Kp is also as the phase current magnitude of ab phase winding single-phase permanent-magnet synchronous motor.COEFFICIENT K p is used for guaranteeing that the electric current of ABC phase is identical with the current amplitude of ab phase, realizes power and between this five phase winding, carries out equilibrium distribution.In order to produce torque stably, it is sinusoidal wave that ab phase current should be, and with ab phase back electromotive force same-phase; θ ₀for the phase difference electrical degree between single-phase permanent-magnet synchronous motor ab phase back electromotive force and A phase winding.For normal three phase winding ABC, set I _dref=0, carry out obtaining the voltage given value under d1-q1 coordinate system after PI computing with current feedback value id1, iq1 under d1-q1 coordinate system through coordinate transform, and finally by coordinate transform, obtain the drive control signal of S1-6 six brachium pontis that three phase winding ABC are connected.For single-phase ab winding, by I _qref* Kp * sin (θ ₀) after PI computing, obtain the value of duty ratio with actual feedback current value ia, realize the control that S7-10 tetra-brachium pontis drive signal, thereby guarantee phase current and back electromotive force same-phase.The fault-tolerant control of double three-phase permanent-magnetic synchronous machine while finally realizing a phase winding open circuit.

When fault occurs, the value of the load torque detecting when normal is compared with nominal torque value, when the value of actual loading torque is less than 50% nominal load;

1) as shown in Figure 5, block the driving signal of six device for power switching S7-12, open normally closed relay Ka, Kb, Kc, the mutually corresponding a whole set of winding abc of isolated fault phase c; Double three-phase permanent-magnetic synchronous machine is switched to three-phase permanent magnet synchronous motor; The control strategy adopting is the vector control of traditional field orientation.

This fault-tolerant control system goes in the fault-tolerant control application of multiphase permanent magnet synchronous motor of neutral point isolation of 3n phase (n>=2) equally.

In addition to the implementation, the utility model can also have other execution modes.All employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop on the protection range of the utility model requirement.

Claims (4)

1. the failure tolerant control system of double three-phase permanent-magnetic synchronous machine during an one-phase open circuit, by double three-phase permanent-magnetic synchronous machine, the hardware driving circuit with Fault Isolation and fault tolerance, and novel fault-tolerant control strategy forms, it is characterized in that: the winding of described double three-phase permanent-magnetic synchronous machine is followed successively by A, B, C and a, b, c, hardware driving circuit is comprised of six brachium pontis, the composition of each brachium pontis is respectively a fast acting fuse from top to bottom, two full-control type device for power switching and a normally closed relay, wherein one end of normally closed relay and the mid point of device for power switching are connected, the other end is connected with the corresponding winding of double three-phase permanent-magnetic synchronous machine.

2. the failure tolerant control system of double three-phase permanent-magnetic synchronous machine during one-phase open circuit according to claim 1, is characterized in that: the neutral point o1 of the double winding in described double three-phase permanent-magnetic synchronous machine and o2 isolation.

3. the failure tolerant control system of double three-phase permanent-magnetic synchronous machine during one-phase open circuit according to claim 2, it is characterized in that: the double winding ABC in described double three-phase permanent-magnetic synchronous machine and abc are unsymmetric structure form, double winding differs 30 degree electrical degrees.

4. the failure tolerant control system of double three-phase permanent-magnetic synchronous machine during one-phase open circuit according to claim 2, is characterized in that: the double winding ABC in described double three-phase permanent-magnetic synchronous machine and abc are symmetrical structure form, and double winding differs 60 degree electrical degrees.

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