EP0980575A1 - Circuit de commande electronique - Google Patents

Circuit de commande electronique

Info

Publication number
EP0980575A1
EP0980575A1 EP98924050A EP98924050A EP0980575A1 EP 0980575 A1 EP0980575 A1 EP 0980575A1 EP 98924050 A EP98924050 A EP 98924050A EP 98924050 A EP98924050 A EP 98924050A EP 0980575 A1 EP0980575 A1 EP 0980575A1
Authority
EP
European Patent Office
Prior art keywords
valve
voltage
value
control circuit
switch
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP98924050A
Other languages
German (de)
English (en)
Inventor
Wolfram Breitling
Horst Singer
Reinhold Weible
Rolf Falliano
Florian Richter
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GKR Gesellschaft fuer Fahrzeugklimaregelung mbH
Original Assignee
GKR Gesellschaft fuer Fahrzeugklimaregelung mbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by GKR Gesellschaft fuer Fahrzeugklimaregelung mbH filed Critical GKR Gesellschaft fuer Fahrzeugklimaregelung mbH
Publication of EP0980575A1 publication Critical patent/EP0980575A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/08—Electromagnets; Actuators including electromagnets with armatures
    • H01F7/18—Circuit arrangements for obtaining desired operating characteristics, e.g. for slow operation, for sequential energisation of windings, for high-speed energisation of windings
    • H01F7/1844—Monitoring or fail-safe circuits
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/08—Electromagnets; Actuators including electromagnets with armatures
    • H01F7/18—Circuit arrangements for obtaining desired operating characteristics, e.g. for slow operation, for sequential energisation of windings, for high-speed energisation of windings
    • H01F7/1805—Circuit arrangements for holding the operation of electromagnets or for holding the armature in attracted position with reduced energising current

Definitions

  • the invention relates to an electronic control circuit for controlling an electromagnetic valve having an armature, in particular for a heating and / or air conditioning system of a motor vehicle, with an electronic switching element lying in series with the coil of the valve.
  • a control circuit for a solenoid valve is known from the publication WO 94/19810, which changes the drive current of the solenoid valve as a function of time when the solenoid valve is to be brought from a passage position into a closed position. This is done by reducing the drive current of the valve in such a way - but not to zero that the solenoid valve drops. Immediately afterwards, the control current is increased again, but the current value remains below a value at which the solenoid valve is moved into its closed position. The control circuit consequently controls the drive current during a switch-off phase. It is also known in the prior art to operate solenoid valves with a rectangular pulse-shaped drive current. This means that the excitation of the magnetic coil is either switched off or switched on, and it is maximum when switched on.
  • a disadvantage of the solenoid valves known in the prior art is that they produce relatively loud switching noises when closing, when the armature and / or the valve hit a stop when closing. If the valve is used, for example, in a motor vehicle to control the air conditioning system, the switching noise disturbs in particular when driving slowly and when the vehicle is stationary, since the engine and driving noise are then low.
  • the electronic control circuit according to the invention for controlling an electromagnetic valve having an armature, in particular for a heating and / or air conditioning system of a motor vehicle, with an electronic switching element lying in series with the coil of the valve therefore offers compared to the advantage that the switching element controls the valve voltage (or the valve current) on the coil such that the valve voltage reaches a first value when the valve is switched on, that the valve voltage is subsequently reduced to a second value that is less than the first value and that subsequently the valve voltage assumes a third value which is greater than the second value and which represents a holding voltage for holding the armature in its switched-on position.
  • the armature is initially accelerated to such an extent that the initial spring forces and static friction are overcome.
  • the armature thus set in motion subsequently experiences a reduced acceleration due to a reduced electromagnetic energy, since the second value of the valve voltage is lower than the first value, the second, however, preferably being chosen so that the armature essentially maintains its speed.
  • the valve voltage assumes the third value, which is greater than the second value, so that the armature of the valve reaches the end position in a very short time in spite of the voltage drop from the first to the second value which occurred previously.
  • the first value of the valve voltage or the valve current is in the form of a switch-on pulse.
  • the amplitude of the switch-on pulse is greater than half of the nominal value.
  • the duration of the switch-on pulse is approximately 0.1 to 0.6 times the valve switching time when the valve is suddenly energized with a voltage above the holding voltage.
  • the switch-on pulse is composed of several successive pulses.
  • the second value of the valve voltage or the valve current forms an initial value for a switch-on ramp.
  • the maximum value of the second value is 0.8 times the nominal value of the valve voltage or the valve current.
  • the switch-on pulse is followed by a voltage or current curve which increases linearly.
  • the rise of the switch-on ramp is non-linear, preferably progressive or degressive. It can be deduced from this that the electromagnetic valve is operated during the switch-on ramp with reduced, but specifically controlled, increasing magnetic energy, so that the acceleration of the armature is reduced.
  • the switch-on pulse is followed by a "dead time" during which the valve voltage or the valve current is kept constant at the second value, so that the startup of the switch-on ramp is delayed.
  • the end value of the switch-on ramp preferably forms the third value, the third value in particular corresponding to the nominal value of the valve voltage or the valve current.
  • the third value has at least a height which corresponds to the holding voltage of the armature in its switch-on position.
  • the valve voltage or the valve current is kept constant over a period of time during which the valve is in the closed position. This period can be varied depending on the requirement.
  • the valve voltage or the valve current is suddenly reduced, to a value that lies between the third value and the voltage-free state.
  • this value simultaneously forms an initial value for a switch-off ramp.
  • the valve voltage or the valve current will drop linearly to zero.
  • the course of the switch-off ramp can be non-linear, in particular progressively or degressively decreasing.
  • the duration of the switch-off ramp is determined by a coil freewheel, which is formed, for example, by a freewheeling diode connected in parallel to the coil.
  • the individual control sections are not determined by predefined conditions, but that current status parameters determine the amplitude and / or the duration of at least one control section.
  • state parameters are, for example, the battery voltage, the speed of a water pump of an internal combustion engine, the fluid pressure of a water circuit in an air conditioning system and the coil temperature.
  • a thermocouple can be provided for detecting the coil temperature.
  • the level of the switch-on pulse that is the level of the first value
  • the electronic switching element independently of the supply voltage — for example, the on-board electrical system voltage of a motor vehicle, that is, the battery voltage — of the electronic control circuit to a desired level.
  • the duration of the switch-on pulse can be set automatically.
  • the duration of the switch-on pulse depends on the position of the armature.
  • the position of the anchor is derived from the course of the valve voltage and / or the valve current by means of a suitable electronic circuit which can be assigned to the electronic control circuit.
  • an evaluation device is assigned to the electronic control circuit.
  • the assignment not only includes the provision of information to one another, but also the spatial assignment to one another.
  • the evaluation device is part of the electronic control circuit.
  • the evaluation device determines from the slope of the valve current and / or the valve voltage a point in time at which the valve current will assume a plateau value which is below the holding current of the armature and at which the slope of the valve current Is zero or approximately zero.
  • the increase in the valve current in this time range corresponds to the switch-on pulse mentioned at the beginning, but the valve current increase — depending on the inductance of the coil — is preferably non-linear.
  • the course of the valve current or the valve voltage during a switch-on process is first detected when no or only known magnitudes affect the valve.
  • This curve corresponds to a set curve curve from which the gradient is determined at any desired point in time, so that if the curve deviates therefrom, this also results in a deviating gradient of the valve. current or the valve voltage, conclusions can be drawn as to the conditions under which the valve operates. If disturbance variables act on the valve or if the valve itself causes disturbance variables, the course and the gradient of the valve current or the valve voltage change. It is therefore possible to make a statement about the magnitude of the disturbance variable (s) acting on the basis of a comparison between the desired curve shape and the course of the valve current or the valve voltage, so that the course of the valve current or the valve voltage can be adapted to the desired curve shape by means of the electronic circuit is.
  • At least one disturbance variable occurs with every control or regulation process.
  • several disturbance variables occur, after which is discussed in more detail below.
  • an electromagnetic field is formed which acts on the armature, causing the armature to set in motion.
  • the movement of the armature acts on a valve unit that is to close the circuit of the heating or cooling water circuit.
  • the water pressure in the medium circuit counteracts the valve unit and thus the armature, which in turn counteracts the electromagnetic force generated by the coil.
  • a disturbance variable therefore occurs on the valve unit, which also acts indirectly on the coil via the armature.
  • a further disturbance variable produces the armature itself, namely by friction in its mechanical guidance and / or by the fact that the movement of the armature is damped, for example by a spring.
  • Another disturbance variable acts on the coil, which results from an electrical coil resistance that can be changed depending on the coil temperature, the change in the magnetic circuit caused by the armature movement (the armature is moved out of the coil) and the resulting change in the valve current put together.
  • a voltage is induced by the movement of the armature in the coil, which causes a current against the valve current. Due to these internal and external influences, when the valve is switched on, the valve current or the valve voltage does not increase in accordance with the desired curve profile, but rather deviates from it.
  • This deviation can preferably be detected by means of the evaluation device, so that it provides information about the electronic control circuit the disturbance variables acting on the valve are transmitted, as a result of which the course of the valve current or the valve voltage can be adapted to the desired curve course. This advantageously enables a noise-reduced closing operation of the valve in a sufficiently short time.
  • the target curve profile of the valve current or the valve voltage is not determined by means of a switch-on operation of the valve, in which no or only known magnitudes are involved, but it is of course also possible - in one embodiment variant - to use a simulation and the target curve profile / or to determine a (laboratory) experiment.
  • the values determined in this way serve as standard values and can in particular be stored in the evaluation device.
  • the evaluation device uses the slope and / or individual values of the valve current and / or the valve voltage from the time the valve is switched on until the plateau value is reached, depending on the disturbance variables acting on the valve, control parameters for influencing the course of the valve current and / or the valve voltage of a later time range. Furthermore, a prediction of the expected total closing time of the valve is possible from the initial course of the control signal of the valve. For example, if the predicted total closing time is too long due to high water pressure, the electronic control circuit can Increase the valve current or the valve voltage so that the armature is accelerated more, which results in a shorter closing time compared to the expected total closing time.
  • FIG. 1 shows a first exemplary embodiment of the electronic control circuit with an electromagnetic valve to be controlled
  • FIG. 2 shows a time-dependent course of the valve voltage applied to the coil
  • FIG. 3 shows a block diagram of a second exemplary embodiment of the electronic control circuit
  • FIG. 4 shows a block diagram of a third exemplary embodiment of the electronic control circuit and 5 shows a time-dependent course of a valve current when the valve is actuated with the electronic circuit according to FIG. 4.
  • FIG. 1 shows an electronic control circuit 1, hereinafter referred to as control unit 2, which is supplied with voltage via connections 3.
  • a connection 3 ' represents a connection to a positive pole of an on-board electrical system of a motor vehicle, not shown here.
  • FIG. 1 shows an electromagnetic valve 4 with a coil freewheel 5.
  • the electromagnetic valve 4 is assigned to a medium circuit, not shown here, in such a way that it regulates a heating and / or cooling water supply for a heat exchanger of a heating and / or air conditioning system.
  • the control unit 2 includes a control device 6, a control circuit 7, an electronic switching element 8 and a shunt resistor 10.
  • the switching element 8 is designed as a field effect transistor, hereinafter referred to as FET 9 for short.
  • the electromagnetic valve 4 has a coil 12, an armature 13 movably mounted within the coil 12 and a valve unit 14, the movable part of the valve unit 14, not shown here, being actuated by means of the armature 13.
  • a connection 15 of the coil 12 of the electromagnetic valve 4 is connected to a positive pole of the vehicle electrical system, not shown here, this is the positive pole of the motor vehicle battery. With their other connection 16 the coil 12 is connected to the control unit 2.
  • the coil freewheel 5 is connected parallel to the coil 12, that is to say a connection 17 of the coil freewheel is connected to the connection 15 of the coil and a further connection 18 of the coil freewheel 5 to the other connection 16 of the coil 12.
  • the coil freewheel 5 can also be used be integrated in the control unit 2 (not shown).
  • the coil freewheel 5 then acts either between the connections 3 'and 16 or it is connected in parallel to the switching element 8 and acts between the connection 16 and the ground (negative pole of the on-board battery) of the on-board electrical system.
  • the control device 6 of the control device 2 transmits information via a connection 19 to the control circuit 7 and receives information from the control circuit 7 via a connection 20.
  • the control circuit 7 controls the gate 22 of the FET 9 with its output 21, so that the through-wi -
  • the control circuit 7 has connections 25 and 26, the connection 25 being connected to the source 23 and the connection 26 being connected to the drain 24.
  • the shunt resistor 10 is connected to its one terminal 27 at the drain 24.
  • Another connection 28 of the shunt resistor 10 is connected to ground, namely the negative pole of the battery of the motor vehicle.
  • the overall result is a current path in which the coil 12, the FET 9 and the shunt resistor 10 are connected in series, the coil 12 with its connection 15 - as already mentioned - at the positive pole of the battery and the shunt resistor 10 is connected to ground. Due to the series connection of the components, a partial voltage, namely a valve voltage 29, is applied to the coil 12.
  • the diagram in FIG. 2 shows a time-dependent course of the valve voltage 29 during a switching process, which consists of a switch-on phase E (0 to t 3 ), a phase with constant valve voltage K (t 4 -t 3 ) and a switch-off phase A (t 5 ⁇ t 4 ) is divided.
  • the voltage U is plotted on the ordinate axis and the time t on the abscissa axis.
  • the course of the valve voltage 29 is composed of a switch-on pulse 30, a switch-on ramp 32, a closing time 41 and a switch-off ramp 34 when the valve 4 is switched on.
  • the switch-on ramp 32 has a dead time 31 and a run-up 33.
  • the magnitude of the switch-on pulse 30 represents a first value u, which can be greater or less than a nominal value N and which is applied to the coil 12 for a period of time - j ⁇ -tg.
  • the switch-on ramp 32 begins at the time t 1 and the valve voltage 29 drops to a second value U ′′ 2.
  • the second value U 2 thus forms the initial value of the switch-on ramp 32, the switch-on ramp 32 having a total duration of 3 ⁇ t 1 Dead time 31 is the second value U 2.
  • the start-up time 33 starting at time t 2 has a linearly increasing valve voltage 29 up to time t 3 to the nominal value N.
  • valve voltage 29 is applied to the coil 12 during the closing time 41 for a period t 4 ⁇ t 3 and thus forms a holding voltage.
  • valve voltage 29 drops to a third value U 3 , which at the same time represents an initial value for switch-off ramp 34.
  • the valve voltage 29 drops to a voltage-free state 35.
  • the electromagnetic valve 4 is therefore preferably in its switch-off position at the time t 5 .
  • the course of the valve voltage 29 shown in FIG. 2 is generated in that the gate 22 of the FET 9 is controlled with a signal via the output 21 of the drive circuit 7 in such a way that such a volume resistance is established between the source 23 and the drain 24, that the desired voltage drop occurs on the switching element 8, that is to say the valve voltage 29 arises after the course of FIG. 2.
  • the voltage drop is sensed via the connections 25 and 26, taking into account the level of the battery voltage. This makes it possible to set the level of the valve voltage 29 precisely to the desired curve shape by the control device 6.
  • the control unit 2 For the operation of the electromagnetic valve 4, the control unit 2 generates a number of switching operations in succession with the time period t 5 -t Q , the period between two switching operations being determined by the power demanded by the heat exchanger of the heating and / or air conditioning system.
  • the exemplary embodiment in FIG. 3 shows an electronic circuit 1 a, which is designed as a control unit 2 a.
  • the connection 16 of the electromagnetic valve 4 is located at the connection 25 of the control device 2a, so that the same basic structure as shown in FIG. 1 results.
  • the control device 2a has connections 36 and 37 to which sensors 38 are connected.
  • thermocouple 39 measures the temperature - as a disturbance variable - of the coil, so that the control unit 2a regulates the valve voltage 29 depending on the temperature of the coil 12.
  • the sensor 38 connected to the outlet 37 is a pressure sensor 40, which senses a water pressure - as a further disturbance variable - in the heating or cooling water inlet, namely that which the electromagnetic valve 4 is to open or close.
  • the variables ascertained by sensors 38 thus serve to determine control parameters, as a result of which the individual control sections are optimally adapted to changing operating states of a heating or air conditioning system with regard to their duration and amplitude.
  • further sensors 38 can be assigned to control unit 2a via further connections, but this has been omitted in FIG. 3 for the sake of simplicity.
  • valve current can also be controlled instead of the valve voltage
  • valve current is adopted.
  • a control device 2b is assigned a digital and / or analog evaluation device 42. It detects the signal which drives the valve 4, namely a valve flow 44 (FIG. 5). From its time profile, it determines the slope of the valve flow 44 at least at a definable point in time, as a result of which a movement profile of the armature 13 can be derived in comparison with an increase in the setpoint curve (not shown).
  • valve current 44 first increases as a function of the inductance and the ohmic resistance of the coil 12.
  • the switching element 8 is preferably connected in parallel with the coil 12.
  • an electromagnetic field is formed in the coil 12 which is based on the Anchor 13 acts, which thereby sets in motion, which acts in its movement on valve unit 14, which is intended to interrupt or close the circuit of the heating or cooling water circuit (not shown)
  • the closing of the interrupted medium circuit transmits a disturbance variable Z 14 the valve unit 14.
  • the disturbance variable Z 14 is caused by the differential pressure between inlet and A outlet (not shown) set) of the valve unit 14 and caused by the amount of the flow rate to be blocked.
  • the disturbance variable Z 14 depends on the temperature and the viscosity of the medium, on the speed of the pump that pumps the medium and on the operating status of any branched media circuits that may be present. Since the disturbance variable Z 14 acts on the valve unit 14, it also counteracts the armature 13.
  • a disturbance variable Z 13 caused by friction in its mechanical guidance and by a damping (electrical, magnetic and / or mechanical) which acts on it.
  • the armature 13 thus counteracts the electromagnetic force generated by the coil 12.
  • a disturbance variable Z 12 acts on the coil 12, which is composed of an electrical coil resistance that can be changed as a function of the coil temperature, the change in the magnetic circuit caused by the armature movement and the resulting change in the coil current (valve current 44).
  • a voltage is induced in the coil 12 by the movement of the armature 13, which causes a current against the current feeding the coil 12.
  • Control device 2b is controllable. This makes it possible for it to optimally match the operating status of the heating or air conditioning location can be adjusted. This advantageously enables a noise-reduced closing process of the valve 4, which will be discussed in more detail below with reference to FIG. 5.
  • valve current 44 rises non-linearly over a time range t- ⁇ t Q , as already described.
  • the movement of the armature 13 induces a voltage in the coil 12, which causes a current direction counter to the supplying valve current 44.
  • the gradient of the valve current 44 decreases with increasing time t.
  • the valve current 44 reaches a plateau value, which is preferably below a nominal value N j , which corresponds to the holding current of the armature in its switched-on position.
  • the slope of the valve current 44 is zero.
  • the evaluation device 42 derives information from this, namely that the armature 13 must have moved.
  • the valve current 44 decreases in the further course until it assumes a relative minimum with the value I 2 at a time t 2 , which is below the value 1- ⁇ .
  • the slope of the valve current 44 is negative in the time range t 2 -t 1 .
  • valve unit 14 reaches its end stop and thus valve 4 reaches its switched-on position. The movement of the armature 13 is now complete.
  • valve current 44 also called total coil current
  • the valve current 44 can thus build up unhindered in the time range t 3 ⁇ t 2 up to a nominal value N j .
  • This course of the valve current 44 corresponds to a digital actuation of the valve 4 by means of a valve voltage 29 ′, which is stepped from a value equal to zero, abruptly to a nominal value U, at the time t Q.
  • valve with a valve voltage 29 (according to FIG. 2 to operate in the time range t 5 ⁇ t 2 ). Accordingly, at time t- ⁇ the valve voltage 29 'is reduced with the nominal value U at time t ⁇ - to a value U 2 , as a result of which the electromagnetic energy in the coil 12 decreases. This leads to a reduced acceleration of the armature 13.
  • the time ranges would be t - ⁇ - t g , t 2 -t- j _ and t 3 -t 2 not constant with each switching operation of the valve 4, but changeable depending on the disturbance variables 12 , Z 13 and Z 14 acting. If, for example, there is a particularly high fluid pressure in the medium circuit, the time t 1 would be delayed when the valve 4 is actuated, since the valve unit 14 and thus the armature 13 are opposed to higher forces. The valve flow 44 rises less steeply, this is recognized by the evaluation device 42 and, in comparison with an increase in the desired curve, determines the expected time t 1,.
  • the evaluation device 42 determines information on the acting disturbance variables Z 12 , Z 13 and Z 14 from the gradient of the valve current 44 in the time range t -tg, so that, depending on their amplitude, the valve current 44 also depends on its amplitude in the subsequent time range t 3 -t 1 is changeable.
  • valve voltage 29 ' is briefly interrupted by the control unit 2b, so that a dead time, as in the exemplary embodiment according to FIG. 1-, in the valve voltage 29' can be integrated.
  • a dead time as in the exemplary embodiment according to FIG. 1-
  • several brief interruptions of the valve voltage 29 ' are possible in all control sections.
  • an optimal closing process of the valve 4 is carried out taking into account the disturbance variables z 12 ′ z 13 unc ⁇ z 14.
  • valve 4 To open the valve 4 after the closing time, it can be provided either to switch off the valve flow 44 in a controlled manner or in an uncontrolled manner. However, it must be ensured that the valve flow 44 drops to zero in the switch-off phase, corresponding to the exemplary embodiment according to FIG. 1-, so that the valve 4 can assume its switch-off position.

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Magnetically Actuated Valves (AREA)

Abstract

L'invention concerne un circuit de commande électronique destiné à la commande d'une électrovanne présentant une armature, en particulier pour un système de chauffage et/ou de climatisation d'un véhicule, comprenant un élément de commutation électronique monté en série avec la bobine de la vanne, caractérisé en ce que l'élément de commutation (8) commande la tension (29) de la vanne, sur la bobine (12) (éventuellement l'intensité (44) de la vanne), de telle façon que la tension (29) de la vanne atteigne, lorsque la vanne est enclenchée, une première valeur (U1) telle que la tension (29) de la vanne revienne ensuite à une deuxième valeur (U2) inférieure à la première valeur (U1), et en ce que ladite tension (29) prenne une troisième valeur (N) supérieure à la deuxième valeur (U2) et représentant une tension d'arrêt pour le maintien de l'armature (13) en sa position d'enclenchement.
EP98924050A 1997-05-09 1998-05-07 Circuit de commande electronique Withdrawn EP0980575A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19719602 1997-05-09
DE19719602A DE19719602A1 (de) 1997-05-09 1997-05-09 Elektronische Steuerschaltung
PCT/DE1998/001253 WO1998052201A1 (fr) 1997-05-09 1998-05-07 Circuit de commande electronique

Publications (1)

Publication Number Publication Date
EP0980575A1 true EP0980575A1 (fr) 2000-02-23

Family

ID=7829089

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98924050A Withdrawn EP0980575A1 (fr) 1997-05-09 1998-05-07 Circuit de commande electronique

Country Status (5)

Country Link
US (1) US6394414B1 (fr)
EP (1) EP0980575A1 (fr)
JP (1) JP2001525125A (fr)
DE (1) DE19719602A1 (fr)
WO (1) WO1998052201A1 (fr)

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JP2001525125A (ja) 2001-12-04
US6394414B1 (en) 2002-05-28
WO1998052201A1 (fr) 1998-11-19

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