EP1815110B1 - Procede pour etalonner un capteur de trajectoire d'un dispositif d'actionnement rotatif servant a commander une soupape de changement des gaz d'un moteur a combustion interne - Google Patents

Procede pour etalonner un capteur de trajectoire d'un dispositif d'actionnement rotatif servant a commander une soupape de changement des gaz d'un moteur a combustion interne Download PDF

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Publication number
EP1815110B1
EP1815110B1 EP05799743A EP05799743A EP1815110B1 EP 1815110 B1 EP1815110 B1 EP 1815110B1 EP 05799743 A EP05799743 A EP 05799743A EP 05799743 A EP05799743 A EP 05799743A EP 1815110 B1 EP1815110 B1 EP 1815110B1
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EP
European Patent Office
Prior art keywords
positional sensor
rotor
gas exchange
electric motor
exchange valve
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.)
Not-in-force
Application number
EP05799743A
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German (de)
English (en)
Other versions
EP1815110A1 (fr
Inventor
Rudolf Seethaler
Ralf Cosfeld
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.)
Bayerische Motoren Werke AG
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Bayerische Motoren Werke AG
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Publication date
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Publication of EP1815110A1 publication Critical patent/EP1815110A1/fr
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L9/00—Valve-gear or valve arrangements actuated non-mechanically
    • F01L9/20—Valve-gear or valve arrangements actuated non-mechanically by electric means
    • F01L9/22—Valve-gear or valve arrangements actuated non-mechanically by electric means actuated by rotary motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L1/00—Valve-gear or valve arrangements, e.g. lift-valve gear
    • F01L1/02—Valve drive
    • F01L1/04—Valve drive by means of cams, camshafts, cam discs, eccentrics or the like
    • F01L1/044—Reciprocating cams
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L9/00—Valve-gear or valve arrangements actuated non-mechanically
    • F01L9/20—Valve-gear or valve arrangements actuated non-mechanically by electric means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L9/00—Valve-gear or valve arrangements actuated non-mechanically
    • F01L9/20—Valve-gear or valve arrangements actuated non-mechanically by electric means
    • F01L9/21—Valve-gear or valve arrangements actuated non-mechanically by electric means actuated by solenoids
    • F01L2009/2167—Sensing means
    • F01L2009/2169—Position sensors

Definitions

  • the present invention relates to a method for calibrating a displacement sensor of a Drehaktuatorvortechnik for controlling a gas exchange valve of an internal combustion engine according to the preamble of claim 1.
  • the method finds application in Drehaktuatorvortechniken without mechanical stops.
  • the camshaft for controlling the gas exchange valves is mechanically driven by a timing chain or a timing belt from the crankshaft.
  • a so-called fully variable (variable timing and variable valve lift) for example, a so-called electromagnetic valve train.
  • an "actuator unit” is assigned to each valve or "valve group" of a cylinder.
  • stroke actuators a valve or a valve group is associated with an opening and a closing magnet.
  • valves By energizing the magnets, the valves can be moved axially, ie opened or closed.
  • the other basic type (so-called rotary actuator) is a control shaft provided with a cam, wherein the control shaft is pivotable by an electric motor back and forth.
  • valve spring and additional spring are such that during periodic operation of the rotary actuator device according to the position of the gas exchange valve, the kinetic energy is stored either in the valve spring (closing spring) or in the additional spring (opening spring).
  • the device described proposes for the unique positioning of the control cam in its end positions, which is clearly positioned by means of a first and by means of a second rotation stop.
  • a disadvantage of this arrangement is that the calibration of displacement sensors for position determination by approaching mechanical stops does not have a satisfactory accuracy for all applications.
  • the mechanical tolerances of the system are so large that a required accuracy can not be achieved.
  • the object of the invention is to provide a method for measuring and calibrating a displacement sensor for a rotary actuator device, by means of which a more accurate positioning or position determination of the actuating element (and thus also of the gas exchange valve) is ensured.
  • a method is to be specified, which ensures a measurement or calibration in both operating phases with low engine speed and operating phases with high engine speed in a reliable manner.
  • the object is achieved by the entirety of the features of the independent claim.
  • at least one state variable of the electric motor is determined and compared with a stored reference variable.
  • the stored nominal path is controlled by means of which the electric motor or the rotor of the electric motor is controlled and / or the value detected by the displacement sensor as a function of the height the deviation of the state quantity from the reference value, changed.
  • the determination of the state variable is preferably carried out by measuring the corresponding value.
  • the state variable can also be calculated on the basis of a stored model.
  • the state variable is the rotor angle, a time derivative of the rotor angle, and / or the motor current of the electric motor or one to the motor current proportional size (motor power, supply voltage of the electric motor) determined.
  • the change in the stored nominal trajectory and / or the detected travel sensor value preferably takes place by multiplying the stored desired trajectory values or travel sensor values by a correction factor and / or by adding a stored offset value.
  • Correction factor and / or offset value are referred to below as the correction value.
  • the correction value is determined as a function of the determined path deviation. The determination can be made by selecting from a stored stored table or by online calculation. At a high deviation (above a predetermined first deviation threshold), due to which the rotor threatens to fall, for example, in an unwanted intermediate position, a correspondingly high correction value is assigned, so that even in the same cycle or in the immediately subsequent cycle of the rotor this highly corrected values is regulated. A drop of the rotor in the described intermediate position is effectively prevented.
  • the at least one monitored state value determined with each or every nth cycle can be averaged over a plurality of working cycles.
  • An assignment or determination of a corresponding correction factor then takes place in particular on the basis of the averaged correction factor.
  • a working cycle in the context of the invention, in particular the opening or closing operation of a gas exchange valve or the immediately attributable thereto associated pivoting operation of the rotor of the electric motor is called. Also possible is a definition of the work cycle which includes closing and opening operation.
  • the method according to the invention preferably takes place during the calibration of the displacement sensor during the closing process of the gas exchange valve assigned to the displacement sensor.
  • the method according to the invention comprises two different strategies for measuring or calibrating the rotary actuator.
  • a first strategy is to detect smaller deviations of the rotor from the predetermined desired path by means of which it is controlled, averaging over a plurality of work cycles and depending on the averaged deviation to make a change in the desired path based on the rotor in the future and / or to change the path sensor signals in such a way that a correspondingly corrected path profile is adjusted in future due to the changed path sensor signals.
  • This strategy extends over several working cycles (slow intervention).
  • the second strategy is to counteract larger deviations with a quick rule intervention.
  • FIG. 1 shows the schematic representation of a rotary actuator for driving a gas exchange valve 2 of an internal combustion engine, not shown.
  • the essential components of this device are, in particular designed as a servomotor electric motor 4 (drive means), one driven by this, preferably two cams 6a, 6b different hubs and rotationally fixed with the Rotor shaft connected camshaft 6 (actuator), one with the camshaft 6 on the one hand and with the gas exchange valve 2 on the other hand operatively connected rocker arm 8 (transmission element) for transmitting movement of the given by the cam 6a, 6b lifting height on the gas exchange valve 2 and a, the gas exchange valve 2 in Closing direction with a spring force acting on and designed as a closing spring first energy storage means 10 and, via the camshaft 6 and the drag lever 8, the gas exchange valve 2 with an opening force beauf fileddes and designed as an opening spring second energy storage means 12.
  • a servomotor electric motor 4 drive means
  • actuator Rotor shaft connected camshaft 6
  • rocker arm 8 transmission
  • control device In order to ensure the lowest possible operation of the electric motor 4, which drives the existing gas exchange valve 2 via the camshaft 6, in addition to the optimal design of the counteracting springs (closing spring 10, opening spring 12) and the ideal positioning of rotation and articulation points in the Geometry of the device itself, the electric motor 4 via a control and regulating device 20 (hereinafter referred to as control device) according to a nominal path, which maps the ideal swing-out behavior of the spring-mass-spring system regulated. In particular, this control is done by controlling the rotor profile of the, at least one actuator 6, 6a, 6b driving electric motor 4.
  • the ideal path of the rotor, which resonates as part of the vibration system is calculated analogously to the ideal waveform of the overall system and forms the desired path to Regulation of the electric motor 4.
  • a non-illustrated displacement sensor is present, which transmits a sensor signal S to the control device 20 or another control device.
  • the electric motor 4 is so by the Controlled control device 20 that the at least one gas exchange valve 2 from a first Ventilendlage E1, which corresponds for example to the closed valve position, in a second Ventilendlage E2, E2 ', for example, a partial (E2': partial stroke) or maximum open (E2: full stroke) Valve position corresponds, is transferred and vice versa.
  • the system is ideally designed so that the actuator 6, 6a, 6b in the exclusion (targeted disregard) of environmental influences (in particular friction and gas back pressure) the way between two end positions R1 - R2 (full stroke) or R1 '- R2' (partial stroke) without Infeed additional energy, ie without active drive by the drive device 4, travels and thus engages supportive only in the environmental conditions occurring in practice.
  • the system is preferably designed such that it is in the maximum end positions R1, R2 of the rotor (vibration end positions at maximum vibration) each in a metastable torque neutral position in which the forces are in an equilibrium of forces and in which the rotor without applying a additional holding force is held.
  • the gas exchange valve 2 in the first metastable and torque-neutral position R1 (shown in Figure 1) the gas exchange valve 2 is closed and thus the closing spring 10 while maintaining a residual preload maximum relaxed, while the opening spring 12 is biased to the maximum.
  • the force of the prestressed opening spring 12 is via a stationary Supporting member 6c of the camshaft 6 transmitted to this and is directed in the position R1 exactly through the center of the camshaft 6 and thus virtually neutralized.
  • the existing due to the residual bias force of the closing spring 10 is neutralized in the described position, as this is also directed via the cam followers 8 in the center of the camshaft 6.
  • the gas exchange valve 2 In the second metastable and torque-neutral position R2, not shown, the gas exchange valve 2 would be opened with its maximum stroke according to the main cam 6b and the closing spring 10 arranged around the gas exchange valve 2 is biased to a maximum while the opening spring 12 would be maximally relaxed while maintaining a residual bias.
  • the arrangement of the individual components is chosen such that again the force of the maximum prestressed spring means (now: closing spring 10) and the maximum relaxed spring means (now: opening spring 12) respectively directed through the center of the camshaft 6 and thus virtually neutralized in this position are.
  • a third, also not shown, stable and torque-neutral position R0 is present when the system assumes a so-called dropped state in which the camshaft 6 occupies a position between the two first metastable and torque-neutral positions R1, R2. From the fallen position, the system can be brought out again only by means of a high energy expenditure, in which, for example, by swinging or swinging the rotor, the camshaft 6 is again transferred to one of the first two metastable torque-neutral positions R1, R2 or the camshaft 6 at least up to a partial lift is swung, in which a regular operation of the rotary actuator device is possible again.
  • the rotor therefore oscillates from one end position E1, E1 'into the other end position E2, E2' solely on the basis of the energy stored in the energy storage means 10, 12 without the introduction of additional energy, for example by the electric motor 4.
  • FIGS. 2 and 3 the state variables rotor angle, rotor angular velocity and output torque or current consumption of the electric motor are shown in three different diagrams ac in the case of smaller displacement sensor errors, while FIGS. 4 and 5 show the state variables for the sensor analogous to FIGS Case of larger sensor error show.
  • FIGS. 2-5 the setpoint values or the values to be expected on the basis of the setpoint path are in each case shown as uninterrupted lines and the actual values resulting from a deviation are shown as dashed lines.
  • FIGS. 2a-c describe the case in which the rotor of the electric motor 4 moves beyond the setpoint end position due to a faulty path sensor signal S (smaller extent error - within a predetermined first deviation range or below a first deviation threshold, respectively).
  • the calibration of the displacement sensor takes place by evaluation of the state variables of the electric motor 4, preferably during the closing phase P closing of a gas exchange valve 2.
  • FIGS. 3a-c Analogous to FIGS. 2a-c, the case is described in FIGS. 3a-c in that the rotor of the electric motor 4 does not reach the desired setpoint end position due to a faulty displacement sensor signal S (minor error - within a predetermined first deviation range). Due to a present faulty displacement sensor signal S, the control device 20 is suggested that already before reaching the desired rotor end position at R2; R2 '(target rotor end position) has already been reached (comparison of the actual control path IB due to the control for the rotor angle profile with the predetermined desired path SB on the basis of which the rotor angle was adjusted due to the (erroneous) displacement sensor signals).
  • a correction value for compensating the present error is also determined here.
  • the setpoint path to be corrected and / or the path sensor (value) to be corrected are subjected to a correction factor (multiplication) and / or an offset (addition).
  • the change of the setpoint path SB and / or the Wegsensorsignals S made such that during a later cycle increased maximum stroke of the gas exchange valve 2 (compared to the maximum stroke reached in faulty Wegsensorsignalen according to actual IB), and in the event that the target value is exceeded, the change in the setpoint path SB and / or the path sensor signal S is made such that a reduced maximum lift of the gas exchange valve 2 is achieved during a later work cycle.
  • This essentially results in a targeted displacement of the control technology defined end stops (and thus an adjustment of the maximum stroke) for the rotor of the electric motor.
  • a rapid intervention immediately counteracts (FIG. 4a-c, FIG. 5a-c) by using a correction value associated with the present deviation (FIG. Correction factor and / or offset) as far as possible during the same or current work arcade, but at the latest in the next working cycle of the rotor this is controlled by means of a modified reference path SB or a modified path signal S of a newly calibrated displacement sensor.
  • the change of the setpoint path SB and / or the Wegsensorsignals S is such that during the same cycle a delayed closing operation of the gas exchange valve 2 is achieved and in the following working cycle (without averaging the measured variables over several Working cycles) the maximum stroke is reduced and a previous closing time is set again.
  • a delayed closing operation of the gas exchange valve 2 is achieved and in the following working cycle (without averaging the measured variables over several Working cycles) the maximum stroke is reduced and a previous closing time is set again.
  • FIG. 6 shows the linear relationship between the signal S of the displacement sensor (which depicts the position of the rotor) and the actually set rotor angle RW of the electric motor 4.
  • a characteristic according to K1 originating at zero point arises.
  • a characteristic curve / straight line according to K2 or K3 is established, which is in each case rotated by one point on the error-free straight line.
  • the displacement sensor can again supply error-free signals to the control device 20.
  • the setpoint path SB can also be adapted for the control of the rotor, or both correction options for parts can be carried out.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Valve Device For Special Equipments (AREA)
  • Output Control And Ontrol Of Special Type Engine (AREA)
  • Fluid-Driven Valves (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)

Claims (10)

  1. Procédé d'étalonnage d'un capteur de trajectoire d'un dispositif d'actionneur rotatif pour commander une soupape d'échange de gaz d'un moteur à combustion interne, le dispositif d'actionneur rotatif comprenant :
    - un moteur électrique (4) commandé, avec un élément d'actionnement (6, 6a, 6b) pour actionner la soupape d'échange de gaz (2),
    - deux moyens accumulateurs d'énergie (10, 12) agissant sur la soupape d'échange de gaz (2) dans deux directions d'entraînement opposées,
    - un dispositif de commande et de régulation (20) qui commande le moteur électrique (4) au niveau de son angle de rotor selon une trajectoire de consigne enregistrée (SB) pour ainsi amener le rotor du moteur électrique (4) d'une première position finale (R1; R2) dans une seconde position finale (R2 ; R2') et inversement, et
    - un capteur de trajectoire pour déterminer la position du rotor,
    - caractérisé en ce qu'
    - on détermine au moins une grandeur d'état du moteur électrique (4),
    - on compare au moins cette grandeur d'état avec une grandeur de référence, et
    - en cas d'écart entre les grandeurs à comparer on modifie la trajectoire de consigne enregistrée (SB) et/ou le signal (S) du capteur de trajectoire déterminé en fonction de la grandeur d'état.
  2. Procédé selon la revendication 1,
    caractérisé en ce qu'
    en tant que grandeur d'état pour le moteur électrique (4) on détermine l'angle du rotor (RW) ou une dérivée dans le temps de l'angle du rotor (RW) et/ou la consommation de courant ou la tension d'alimentation du moteur électrique (4).
  3. Procédé selon l'une ou plusieurs des revendications précédentes,
    caractérisé en ce que
    l'adaptation de la trajectoire de consigne (SB) et/ou l'adaptation du signal (S) du capteur de trajectoire déterminé s'effectue par multiplication avec un facteur de correction.
  4. Procédé selon l'une ou plusieurs des revendications précédentes,
    caractérisé en ce que
    l'adaptation de la trajectoire de consigne (SB) et/ou l'adaptation du signal (S) du capteur de trajectoire déterminé s'effectue par addition d'une valeur offset.
  5. Procédé selon l'une ou plusieurs des revendications précédentes,
    caractérisé en ce que
    l'étalonnage du capteur de trajectoire s'effectue pendant le processus de fermeture de la soupape d'échange de gaz (2) associée au capteur de trajectoire.
  6. Procédé selon l'une ou plusieurs des revendications précédentes,
    caractérisé en ce que
    lors d'un écart entre la grandeur d'état déterminée et la grandeur de référence à l'extérieur d'une plage prédéfinie, on effectue une modification de la trajectoire de consigne (SB) et/ou du signal (S) du capteur de trajectoire, afin de réguler le rotor dans le cycle de travail immédiatement suivant à l'aide d'une trajectoire de consigne modifiée et/ou d'un signal de capteur de trajectoire modifié.
  7. Procédé selon la revendication 6,
    caractérisé en ce que
    dans le cas où la valeur de consigne n'est pas atteinte à l'extérieur de la plage prédéfinie, la modification de la trajectoire de consigne (SB) et/ou du signal (S) du capteur de trajectoire s'effectue pour obtenir pendant le même cycle de travail un processus de fermeture précoce de la soupape d'échange de gaz (2), et dans le cas où la valeur de consigne est dépassée à l'extérieur de la plage prédéfinie, la modification de la trajectoire de consigne (SB) et/ou du signal (S) du capteur de trajectoire s'effectue pour obtenir pendant le même cycle de travail un processus de fermeture temporisé de la soupape d'échange de gaz (2).
  8. Procédé selon l'une ou plusieurs des revendications précédentes,
    caractérisé en ce que
    lors d'un écart entre la grandeur d'état déterminée et la grandeur de référence à l'intérieur d'une plage prédéfinie, une modification de la trajectoire de consigne (SB) et/ou de la valeur du capteur de trajectoire est effectuée afin de réguler le rotor après une multitude de cycles de travail à l'aide d'une trajectoire de consigne modifiée et/ou d'un signal de capteur de trajectoire modifié.
  9. Procédé selon la revendication 8,
    caractérisé en ce que
    dans le cas où la valeur de consigne n'est pas atteinte à l'intérieur de la plage prédéfinie, la modification de la trajectoire de consigne (SB) et/ou du signal (S) du capteur de trajectoire s'effectue pour obtenir pendant un cycle de travail ultérieur une plus grande course maximale de la soupape d'échange de gaz (2), et dans le cas où la valeur de consigne est dépassée, la modification de la trajectoire de consigne (SB) et/ou du signal (S) du capteur de trajectoire s'effectue pour obtenir pendant un cycle de travail ultérieur une course maximale plus petite de la soupape d'échange de gaz (2).
  10. Procédé selon la revendication 8 ou 9,
    caractérisé en ce que
    la grandeur d'état déterminée est pondérée sur la multitude de cycles de travail, et à l'aide de la grandeur d'état pondérée on effectue une modification de la trajectoire de consigne (SB) et/ou du signal du capteur de trajectoire.
EP05799743A 2004-11-12 2005-10-19 Procede pour etalonner un capteur de trajectoire d'un dispositif d'actionnement rotatif servant a commander une soupape de changement des gaz d'un moteur a combustion interne Not-in-force EP1815110B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004054759A DE102004054759B4 (de) 2004-11-12 2004-11-12 Verfahren zur Kalibrierung eines Wegsensors einer Drehaktuatorvorrichtung zur Ansteuerung eines Gaswechselventils einer Brennkraftmaschine
PCT/EP2005/011222 WO2006050790A1 (fr) 2004-11-12 2005-10-19 Procede pour etalonner un capteur de trajectoire d'un dispositif d'actionnement rotatif servant a commander une soupape de changement des gaz d'un moteur a combustion interne

Publications (2)

Publication Number Publication Date
EP1815110A1 EP1815110A1 (fr) 2007-08-08
EP1815110B1 true EP1815110B1 (fr) 2008-02-06

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EP05799743A Not-in-force EP1815110B1 (fr) 2004-11-12 2005-10-19 Procede pour etalonner un capteur de trajectoire d'un dispositif d'actionnement rotatif servant a commander une soupape de changement des gaz d'un moteur a combustion interne

Country Status (5)

Country Link
US (1) US7380433B2 (fr)
EP (1) EP1815110B1 (fr)
AT (1) ATE385539T1 (fr)
DE (2) DE102004054759B4 (fr)
WO (1) WO2006050790A1 (fr)

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Publication number Priority date Publication date Assignee Title
DE102004054776B3 (de) * 2004-11-12 2006-03-16 Bayerische Motoren Werke Ag Verfahren zur Kalibrierung eines Wegsensors einer Drehaktuatorvorrichtung zur Ansteuerung eines Gaswechselventils einer Brennkraftmaschine
DE102009036061B3 (de) * 2009-08-04 2011-02-10 Mtu Friedrichshafen Gmbh Verfahren zur Steuerung und Regelung einer Brennkraftmaschine
US8222760B2 (en) * 2010-06-29 2012-07-17 General Electric Company Method for controlling a proximity sensor of a wind turbine
JP5609509B2 (ja) * 2010-10-04 2014-10-22 富士通株式会社 指示システム、指示方法、及び記憶制御装置。

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DE19739840C2 (de) 1997-09-11 2002-11-28 Daimler Chrysler Ag Verfahren zur Steuerung einer elektromagnetisch betätigbaren Stellvorrichtung, insbesondere eines Ventils für Brennkraftmaschinen
DE10140461A1 (de) 2001-08-17 2003-02-27 Bayerische Motoren Werke Ag Drehaktor-Vorrichtung zur Hubsteuerung eines Gaswechselventils im Zylinderkopf einer Brennkraftmaschine
JP4092917B2 (ja) * 2002-01-21 2008-05-28 トヨタ自動車株式会社 内燃機関の電磁駆動弁制御装置
US6659053B1 (en) * 2002-06-07 2003-12-09 Eaton Corporation Fully variable valve train
US6722326B1 (en) * 2002-10-14 2004-04-20 Ford Global Technologies, Llc Variable lift cylinder valve system for internal combustion engine
DE10252991A1 (de) 2002-11-14 2004-05-27 Bayerische Motoren Werke Ag Schwenkaktor-Vorrichtung zur Hubsteuerung eines Gaswechselventils im Zylinderkopf einer Brennkraftmaschine
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DE602004025560D1 (de) * 2003-04-26 2010-04-01 Camcon Ltd Elektromagnetische ventilbetätigungsvorrichtung

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DE102004054759B4 (de) 2006-08-10
EP1815110A1 (fr) 2007-08-08
WO2006050790A1 (fr) 2006-05-18
DE102004054759A1 (de) 2006-05-24
DE502005002781D1 (de) 2008-03-20
US20070208487A1 (en) 2007-09-06
US7380433B2 (en) 2008-06-03
ATE385539T1 (de) 2008-02-15

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