EP1888899A1 - Procede et dispositif de commande d'une charge capacitive - Google Patents

Procede et dispositif de commande d'une charge capacitive

Info

Publication number
EP1888899A1
EP1888899A1 EP06763528A EP06763528A EP1888899A1 EP 1888899 A1 EP1888899 A1 EP 1888899A1 EP 06763528 A EP06763528 A EP 06763528A EP 06763528 A EP06763528 A EP 06763528A EP 1888899 A1 EP1888899 A1 EP 1888899A1
Authority
EP
European Patent Office
Prior art keywords
charging
envelope
charging process
during
injection
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Withdrawn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
EP06763528A
Other languages
German (de)
English (en)
Inventor
Christian Hauser
Klaus Kiel
Manfred Kramel
Heinz Lixl
Gabriel Marzahn
Walter Schrod
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.)
Continental Automotive GmbH
Original Assignee
Siemens VDO Automotive AG
VDO Automotive AG
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 Siemens VDO Automotive AG, VDO Automotive AG filed Critical Siemens VDO Automotive AG
Publication of EP1888899A1 publication Critical patent/EP1888899A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/20—Output circuits, e.g. for controlling currents in command coils
    • F02D41/2096—Output circuits, e.g. for controlling currents in command coils for controlling piezoelectric injectors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
    • H02N2/06—Drive circuits; Control arrangements or methods
    • H02N2/065—Large signal circuits, e.g. final stages
    • H02N2/067—Large signal circuits, e.g. final stages generating drive pulses
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N30/00—Piezoelectric or electrostrictive devices
    • H10N30/80—Constructional details
    • H10N30/802—Circuitry or processes for operating piezoelectric or electrostrictive devices not otherwise provided for, e.g. drive circuits
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/20—Output circuits, e.g. for controlling currents in command coils
    • F02D2041/202—Output circuits, e.g. for controlling currents in command coils characterised by the control of the circuit
    • F02D2041/2034—Control of the current gradient

Definitions

  • the present invention relates to a method for driving a capacitive load, in particular a piezoelectric actuator for an injection valve of an internal combustion engine, according to the preamble of claim 1. Furthermore, the invention relates to a device for carrying out such a driving method.
  • Such methods and devices are known, for example, from DE 199 44 733 A1, DE 198 14 594 A1 and DE 199 52 950 A1.
  • piezoelectric elements are usually composed as a stack of piezoceramic disks, which are operated via an electrical parallel circuit in order to achieve the necessary for a sufficient stroke electric field strengths can.
  • a circuit arrangement for controlling a piezoelectric actuator in which the actuator is charged by a charging capacitor via a transformer.
  • a charging switch arranged on the primary side of the transformer is activated with a pulse-width-modulated control signal.
  • the charging switch, as well as a discharge switch, are designed as controllable semiconductor switches there.
  • the piezoelectric actuator are supplied or removed during charging and discharging predetermined energy packets.
  • the known arrangement is based on the principle of a "bidirectional flyback converter" and enables an accurate metering of energy portions during charging and discharging of the piezoelectric actuator.
  • a drive unit for a piezoelectric actuator in which the piezoelectric actuator is driven by a designed as a "fly-back converter" output stage.
  • the fly-back converter with a transformer used in this case makes it possible to largely recover the electrical energy fed in during a charging process during discharging, to buffer it in the converter and to reuse it during the subsequent charging process.
  • a charging switch arranged in series with the primary side of the transformer is operated intermittently. When the charging switch is closed, the current flowing on the primary side is compared with a reference current value. When the primary current reaches the reference current value, the charging switch opens again.
  • each charging operation is accomplished by time-sequential (secondary-side) Operaladestrompulse corresponding time-sequential Operalade orientalspulsen.
  • the time integral of each secondary-side partial charge power pulse represents an energy pulse on the secondary side of the
  • the reference current value is set to a constant value during the charging process, so that pulses of constant energy that are consecutive in time are generated on the secondary side for charging the piezoactuator.
  • the charging process is started with a relatively large energy pulse, which is successive smaller energy pulses follow.
  • a substantially cosine-shaped profile of the reference current value is predetermined.
  • the problem is the comparatively rapid driving of the capacitive load, as in particular z. B. for the operation of an injection valve of an internal combustion engine is required, the risk of ringing of the actuator due to mechanical and / or electrical resonances at the end of each charging or discharging.
  • it may, for. B. come to a ringing in the hold phase and / or discontinuities in activating or deactivating the actuator. All the more, the faster the charging and discharging operations effected by a pulsed energization take place.
  • capacitive loads in practice have a variable large signal capacity or non-linearities, which makes a particularly well-defined course of the energy input or energy discharge difficult and tends to increase and complicate the above-mentioned vibration or Nachschwing bine.
  • the capacitive load is a piezo stack, in addition to the nonlinearities, polarization losses, creeping defects, etc. are added in practice.
  • further coupling elements eg hydraulic converters, hydraulic lash adjusters, levers, coupling rods etc.
  • the envelope of the partial charge power pulses during charging increases in an initial phase strictly monotonically and the slope of the envelope hereby decreases monotonically.
  • An essential feature of this initial phase of the "performance curve" is that the signs on the one hand the temporal change and on the other hand the temporal change of the slope are opposite to each other.
  • the inventive curve of the power curve are in principle known per se circuit concepts in which a corresponding output stage is operated clocked to generate the load current.
  • a corresponding output stage is operated clocked to generate the load current.
  • inductive elements are used to charge the capacitive load controlled (eg fly-back, buck-boost or SEPIC converter).
  • the charging process is composed of a plurality of individual partial charging operations, wherein each partial charging process represents a partial charging current pulse flowing to the load or a partial charging power pulse transmitted to the load.
  • each partial charging process represents a partial charging current pulse flowing to the load or a partial charging power pulse transmitted to the load.
  • the output stage varies the transferred energy of the individual partial charge power pulses in the initial phase of each charging process in the manner described above.
  • the envelope of the partial charge power pulses during the charging process in a final phase falls strictly monotonically and the slope of the envelope increases monotonically in this case.
  • the envelope of the partial charge power pulses as a whole (viewed over the start and end pulses) has approximately the shape of a shark fin.
  • the final phase can in this case immediately follow the initial phase of the charging process.
  • a further phase may be provided, in which the slope of the envelope is preferably constant.
  • Such a constant slope can z. B. have the value 0 or a value which corresponds to the slope at the end of the initial phase.
  • more than ten partial charge current pulses are provided for the charging process.
  • at least 30% of these pulses account for the initial phase of the charging process. Provision of the above-mentioned final phase also eliminates at least 30% of the pulses to this final phase.
  • the individual partial charge current pulses or Partial charge power pulses a periodic grid, ie follow each other periodically over time.
  • the load current during charging is provided by smoothing of the secondary side of a transformer induced Colourladestrompulsen or partial charging power pulses for the capacitive load. It is further preferred that for this purpose, the primary side of the transformer is subjected to a pulsed primary current and this primary current between each
  • a maximum of the envelope is achieved during the charging process at a time that is 30% to 70% of the duration of the charging process from the beginning of the charging operation.
  • the total amount of gie ie the energy stored in the load during a charging process to adjust.
  • two options have been found to be particularly advantageous.
  • the amount of a maximum of the envelope reached during the charging process can be varied in terms of operation.
  • the point in time at which a maximum of the envelope is reached during the charging process can be variably varied. In both cases, the maximum of the envelope can be achieved, for example, at the end of the initial phase of the charging process.
  • the particular increase of the envelope in the initial phase of the charging process provided according to the invention can be provided substantially exponentially, for example.
  • Such an essentially exponential course is also suitable for realizing the end phase of the charging process described above (but then declining instead of increasing).
  • the envelope has a substantially exponential course both in the initial phase of the charging process and in the final phase of the charging process.
  • exponential partial progressions of the envelopes also have the practical advantage of being technically simple to realize.
  • each discharging process is accomplished by temporally successive Operaentladestrompulse corresponding temporally successive Operaentlade orientalspulsen, wherein the envelope of the sectionentlade orientalspulse during the discharge process in an initial phase strictly monotonically decreases and the slope of the envelope increases monotonically in this case.
  • a ringing of the actuator after the charging phase is very problematic if it comes in the context of an injection quantity control to determine the actual course of the injection valve (eg detect), in particular the times of reaching the full opening and the beginning of the valve closing operation (at the end of the holding phase).
  • vibrations of the Aktorhubs in the hold phase can significantly reduce the validity of such actual value detection.
  • ringing at the end of the discharge process plays a subordinate role in practice, since at this time the injection valve is closed and remains closed even with a ringing of the Aktorhubs (not too large amplitude).
  • the envelope of the sectionentlade orientalspulse during the discharge process in a final phase increase strictly monotonically and the slope of the envelope here fall monotonically (see claim 2).
  • a particularly preferred use of the invention is the control of a piezoelectric actuator for an injection valve of an internal combustion engine, in particular with a fuel injection during an injection interval in an injection sequence comprising a plurality of individual injections.
  • injection interval here refers to that period in the (cyclic) operation of the internal combustion engine, in which the combustion chamber is to supply fuel.
  • injection interval z For example, one or more main injections (in an internal combustion engine of conventional design, for example, at a crank angle of 0 ° OT) take place, whereas one or more possibly provided pilot injections and / or post-injections significantly before or after the main injection (s) can take place.
  • pre- and post-injections Another typical characteristic of the pre- and post-injections is their significantly lower maximum value of the individual injection quantity compared to a main injection. In turn, this necessitates a typically significantly greater maximum value of the injection valve opening duration (injection duration) in the case of main injections compared with pre- and post-injections.
  • injection duration injection duration
  • the accuracy of the amount of fuel injected in an injection interval can be significantly improved with the invention.
  • a preferred apparatus for carrying out the inventive method comprises means for specifying a time-dependent Operaladeenergievorgabewerts during the charging process and an output stage for generating the Operalade orientalspulse the load current, the energy of which corresponds to the currently predetermined Operaladeenergievorgabewert.
  • an inductance in the final stage, at least during a charging process, an inductance is applied to a current which falls between a minimum value (for example, a negative value). at least approximately 0) and a maximum value is oscillated (eg, periodically), wherein the time-dependent predetermined partial load energy input value corresponds to the maximum current.
  • a minimum value for example, a negative value
  • a maximum value is oscillated (eg, periodically)
  • the time-dependent predetermined partial load energy input value corresponds to the maximum current.
  • the final stage used in this case can be realized in many ways. Suitable circuit concepts are generally known to the person skilled in the art.
  • the final stage is implemented as a buck-boost converter.
  • a charging switch and a discharge switch can be arranged as a half-bridge between the terminals of a supply voltage source to set at a tap between the switches a Lastan Kunststoffschreib, which z. B. applied via a current-limiting component (eg., Choke coil), the capacitive load.
  • a current-limiting component eg., Choke coil
  • semiconductor switches for the charge and discharge switches these are designed, for example, as power MOS field effect transistors (MOSFETs) or as insulated gate bipolar transistors (IGBTs).
  • MOSFETs power MOS field effect transistors
  • IGBTs insulated gate bipolar transistors
  • this section can be implemented in a particularly simple manner by the fact that the means for specifying the time-dependent partial charging energy value is an RC element charged with a default voltage include.
  • 1 is a block diagram of a device for driving a piezoelectric actuator
  • Fig. 2 is an illustration of the time course of
  • FIG. 3 is an illustration of the time course of several charging and discharging processes, showing both the envelope of the power pulses (FIG. 3, top) and the resulting strokes (FIG. 3, bottom) of the piezoactuator.
  • FIG. 4a is an illustration of the time course of the
  • Actuator strokes in a conventional actuator control, 4b is a representation of the time course of the
  • Fig. 5a is an illustration for illustrating the
  • Fig. 5b is a diagram for illustrating the
  • FIG. 6 is a block diagram for illustrating a circuit-technically simple generation of exponential curves, as they can be used to form the charge or discharge curve.
  • FIG. 1 shows a block diagram of a circuit 10 for driving a piezoelectric actuator P, which is connected to an output stage 14 of the circuit 10.
  • the output stage 14 supplies a piezoelectric actuator P charging or discharging current Ip.
  • the output stage 14 can be embodied as a conventional switching converter or as a buck-boost, flyback or SEPIC converter and supplies the current as a function of a control signal S (eg one or more control voltages) from a control unit 12
  • the circuit 10 is based on a control input and taking into account measured variables which are determined in the region of the output stage 14 and / or the region of the piezoelectric actuator P (eg piezo voltage Up and / or piezoelectric current Ip).
  • the circuit 10 forms part of a so-called engine control unit for an internal combustion engine and serves to drive a plurality of piezo actuators of a fuel injection system.
  • FIG. 1 For simplicity of illustration, only one of the piezo actuators P to be triggered by charging and discharging is shown in FIG.
  • several injectors can be controlled with an output stage or a so-called "bank" of a final stage, z. B. by arrangement of selection switches in the line connection between the power amplifier and the individual piezo actuators P.
  • the final electric stage 14 must charge the piezoactuator P of the relevant injector (charging process), then leave this electric charge in the actuator for a certain time (holding phase) and then discharge the actuator again (discharge process).
  • the potential of a negative actuator pole ("lowside") of the actuator selected by means of a selector switch, not shown, is maintained at electrical ground potential GND during injection, whereas a positive actuator pole ("highside") during charging and discharging has variable potential.
  • the positive Aktorpol is charged to a voltage of z. B. 150 V brought.
  • the associated extension of the piezoceramic is usually not used directly for actuating the actual fuel injection valve, but acts on a so-called control valve, by which the hydraulic pressure conditions in the region of an injection valve body (nozzle needle) can be changed to this valve body hydraulically, by the pressure of the to be able to actuate the fuel supplied by the injector (servo principle).
  • the injectors can inject both very small, exactly measured, as well as very large fuel injection quantities in the combustion chamber of the relevant internal combustion engine, even after many cycles of operation.
  • Fuel is also injected in most cases in an injection sequence comprising a plurality of individual injections (pre-injections, main injections and post-injections).
  • the control unit 12 effects a pulsed operation of the output stage 14 in such a way that each charging process and each discharging process are each composed of many individual partial charging operations or partial discharging operations.
  • the resulting high frequencies allow the use of smaller and cheaper reactive elements in the range of the final stage 14.
  • FIG. 2 illustrates the temporal succession of partial charge power pulses pl, p2,... Pn, which in their entirety (n pulses) produce a charging power curve which is most easily characterized by the envelope E of the individual partial charging power pulses.
  • the envelope E of the charging power pulses pl, p2,... Pn hereby has a special shape with two different time progression phases before and after a "switching time" ts:
  • the envelope E increases in a strictly monotonous manner during the charging process, with the slope of the envelope E falling monotonically at the same time.
  • This initial phase ends at ts with a slope that is reduced by about a factor of 10 compared to the slope with which the charging process began.
  • the envelope E forms a maximum, which is immediately followed by a final phase of the charging process in which the envelope E decreases in a strictly monotonous manner, with the slope of the envelope E increasing monotonically at the same time.
  • the envelope E during charging thus has a total of approximately the shape of a shark fin, wherein in the illustrated example, the initial phase (rising edge) as well as the final phase (descent) each about half of the power pulses pl, p2, ... pn are formed.
  • FIG. 3 shows the time profile of the application of power to the piezoelectric actuator P over a relatively long period of time, in which two injections (for example main injections of an injection sequence) take place.
  • the time course (envelope E) of the output power Pp is plotted against the time t
  • the resulting stroke s of the piezoelectric actuator P is plotted as a function of time t.
  • the first single injection is initiated by a power pulse sequence selecting an envelope E of the type described with reference to FIG.
  • a period of time (holding phase) predetermined by the control unit 12 there is a clocked discharging of the actuator P with an envelope of the partial discharge power pulses, which essentially represents a point-symmetrical version of the envelope E described above during charging.
  • the charging process, the holding phase and the discharge process lead to the course of the Aktorhubs s (t) schematically shown in Fig. 3 below, which results in the period shown a second time.
  • FIG. 4a schematically shows the time-dependent course of the actuator stroke s (t) for a conventional pulsed drive.
  • FIG. 4 b schematically shows the time-dependent actuator stroke s (t) in the case of a control according to the invention with shark-finned envelopes of the power pulse sequences during charging and discharging.
  • FIGS. 5a and 5b illustrate two possibilities for varying the total charging energy with which the piezoactuator P is charged at the end of the charging process.
  • FIG. 5a illustrates in dashed lines a second charging power curve, in which the switching time was shifted from ts to ts' to the rear and the final phase (descending edge) commences accordingly later.
  • the hatched area in FIG. 5a characterizes the increase in the lecturladeenergie by this shift of the switching time.
  • the total duration of the charging process can be left unchanged by always “cutting off” the power curve Pp (t) after a predetermined total duration (not shown in FIG. 5a).
  • the amount of the maximum of the envelope E is operationally varied (while maintaining the switching time ts).
  • the amount of power Pp is varied both in the initial phase and in the final phase of the charging process.
  • This is illustrated in FIG. 5 b using the example of an envelope shown in dashed lines, the maximum of which has been increased by an amount ⁇ Pp.
  • the shaded area again characterizes the associated increase in the total charging energy achieved at the end of the charging process.
  • the power curve Pp (t) is cut off after a predetermined total duration in the illustrated example.
  • Fig. 5a and Fig. 5b for varying the total charging energy, be it z.
  • the shark fin shape of the envelope E can be maintained independently of the set total charging energy.
  • the switching time ts is shifted backwards and in this case the total charging duration is left unchanged, then at some point only becomes the rising flank of the shark fin scanned from the store.
  • the edge forms of the envelope E to be defined in the region of the control unit 12 (FIG. 1) or their scaling (eg, as shown in FIGS. 5a and 5b) may each have an exponential profile, for example.
  • Exponential curves of Einhüllendenflanken can be in circuit technology very simple way z. B. generate with an RC element. This will be explained below with reference to FIG.
  • Fig. 6 shows a circuit block for defining a signal (Uout) having the shark fin shape of the above-described envelope E at the time of charging.
  • the circuit block comprises two resistors R 1 and R 2 arranged parallel to one another, of which in each case a first connection is applied with a fixedly predetermined reference voltage Uref or Uref 2.
  • the second terminals of the resistors Rl, R2 are selectively connected by means of a controllable switching element Sl, which is implemented in practice by a transistor arrangement, to a first terminal of a capacitor C whose second terminal is connected to electrical ground GND.
  • Sl controllable switching element
  • the switch Sl is in the switching position shown in Fig. 6.
  • the second reference voltage Uref2 is z. B. to 0 V (electrical ground GND) is selected so that the output voltage Uout is 0V.
  • the charging process begins with the switching of the switch Sl in that position in which the capacitor C is connected via the resistor Rl to the first reference voltage Urefl. This leads to an exponential increase in the voltage Uout dropping across the capacitor C (initial phase of the charging process).
  • the switch S1 is returned to the switching position shown in FIG. 6, so that the charge stored in the capacitor C flows back again via the second resistor R2 and the voltage Uout dropped across the capacitor C exponentially again decreases. This results in the above-described shark fin shape of the output voltage Uout.
  • the time constants of the exponential edges are determined by the values of the reference voltages, the resistors and the capacitor.
  • the second reference voltage Uref2 is scaled together with the first reference voltage Uref.
  • This can be z. B. be realized in that Uref2 is tapped at a voltage divider, which is acted upon by Urefl.
  • the voltage divider can be dimensioned such that Uref2 corresponds to a small fraction of Urefl, z. B. about 1/10 Urefl.
  • the reference voltages are preferably provided at low impedance or at the output of an isolating amplifier (or voltage divider connected thereto).
  • the voltage Uout provided at the output of the circuit block illustrated in FIG. 6 is intended to represent the envelope E of the partial charge power pulse sequence pl, p2,... Pn, then this signal must finally be used in a suitable manner for controlling the output stage 14.
  • This is in a simple way z. B. in an output stage comprising a transformer (eg., According to the fly-back principle) can be realized by the signal Uout (preferably again led over a impdanzer Brunswicknden isolation amplifier) to define an envelope of current pulses on the primary side of the Transformer is used (eg, as the maximum current default value of a fluctuating between a minimum and a maximum primary current).
  • control according to the invention offers the advantage of a comparatively robust shaping of a desired course of the actuator stroke s (t) and thus, for B. the control valve stroke in a servo injection valve of an injection system.
  • a reduced ringing of the control valve in the hold phase allows easier detection of sensor effects in current and voltage and prevents disturbances in the pressure conditions in the control chamber of the injector.
  • the progression shaping of the charging power or discharging power is generally easy to implement in terms of circuitry, eg. B. by composition of exponential functions. Furthermore, the shape of the charge or discharge capacity of the currently required Adjust energy at runtime without the beneficial ones

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fuel-Injection Apparatus (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)

Abstract

Procédé de commande d'une charge capacitive, en particulier d'un piézo-actionneur pour une soupape d'injection d'un moteur à combustion interne, comportant des processus de charge et des processus de décharge pour la charge ou la décharge de la charge capacitive à l'aide d'un courant de charge, chaque processus de charge étant effectué à l'aide d'impulsions de courant de charge partielles successives correspondant à des impulsions de débit capacitif partielles successives (p1, p2, ... pn). L'objet de la présente invention est la réduction de la propension à osciller de la charge commandée. A cet effet, l'enveloppe (E) des impulsions de débit capacitif partielles (p1, p2, ... pn) monte de manière strictement monotone lors du processus de charge dans une phase initiale et après la montée, les enveloppes (E) retombent de manière monotone.
EP06763528A 2005-06-07 2006-06-06 Procede et dispositif de commande d'une charge capacitive Withdrawn EP1888899A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005026217A DE102005026217B4 (de) 2005-06-07 2005-06-07 Verfahren und Vorrichtung zum Ansteuern einer kapazitiven Last
PCT/EP2006/062928 WO2006131516A1 (fr) 2005-06-07 2006-06-06 Procede et dispositif de commande d'une charge capacitive

Publications (1)

Publication Number Publication Date
EP1888899A1 true EP1888899A1 (fr) 2008-02-20

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EP06763528A Withdrawn EP1888899A1 (fr) 2005-06-07 2006-06-06 Procede et dispositif de commande d'une charge capacitive

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US (1) US7709996B2 (fr)
EP (1) EP1888899A1 (fr)
CN (1) CN101253319B (fr)
DE (1) DE102005026217B4 (fr)
WO (1) WO2006131516A1 (fr)

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DE102005026217A1 (de) 2006-12-14
CN101253319B (zh) 2011-03-30
CN101253319A (zh) 2008-08-27
US20080211345A1 (en) 2008-09-04
US7709996B2 (en) 2010-05-04
WO2006131516A1 (fr) 2006-12-14

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