EP2100020B1 - Verfahren zum betreiben eines einspritzventils - Google Patents

Verfahren zum betreiben eines einspritzventils Download PDF

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Publication number
EP2100020B1
EP2100020B1 EP07822494.6A EP07822494A EP2100020B1 EP 2100020 B1 EP2100020 B1 EP 2100020B1 EP 07822494 A EP07822494 A EP 07822494A EP 2100020 B1 EP2100020 B1 EP 2100020B1
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EP
European Patent Office
Prior art keywords
actuator
voltage
injection valve
time
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
EP07822494.6A
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German (de)
English (en)
French (fr)
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EP2100020A1 (de
Inventor
Hans-Peter Lehr
Erik Tonner
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.)
Robert Bosch GmbH
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Robert Bosch GmbH
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Publication of EP2100020A1 publication Critical patent/EP2100020A1/de
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Publication of EP2100020B1 publication Critical patent/EP2100020B1/de
Not-in-force legal-status Critical Current
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    • 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
    • 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
    • F02D2041/2051—Output circuits, e.g. for controlling currents in command coils characterised by the control of the circuit using voltage control

Definitions

  • the invention relates to a method for operating an injection valve, in particular a fuel injection valve of an internal combustion engine of a motor vehicle, wherein the injection valve has a piezoelectric actuator for driving a with the actuator, preferably hydraulically coupled valve needle.
  • WO 2005/026516 is a method for operating an injection valve, in particular a fuel injection valve of an internal combustion engine, known.
  • This piezoelectric actuator has a switching valve, via which the movement of the valve needle is controlled.
  • the actuator voltage increases and the piezoelectric actuator changes its length. If the voltage reaches the value Uab, the charging process of the piezo actuator is terminated. Due to electrical effects, the voltage at the piezoelectric actuator still slightly increases to the value Umax. After reaching the value U max , the voltage drops to an undefined value. This waste is due to hydraulic effects. Subsequently, the piezoelectric actuator slowly discharges until it has reached the voltage U rule . The difference in voltage between the end of the charging process and the end of the injection process is regulated.
  • Injectors and methods of this type are known and usually include presetting an actuator voltage to which the piezoelectric actuator is to be loaded or reloaded to move the valve needle of the injector to a desired position or to put the injector in a desired operating condition , Due to aging effects, in particular of the piezoelectric actuator itself and the mechanical and hydraulic components contained in the injection valve, however, changes in the corresponding electrical or mechanical parameters of the injection valve result, so that, for example, the precise metering of an amount of fuel to be injected using the known methods in the long run is not possible.
  • the actuator starting from a first operating state of the injector corresponding output voltage by a predetermined voltage swing reloaded to a second operating state of the injector corresponding target voltage, d. H. charged or discharged, will. It was recognized that the valve needle during the opening of the injection valve and before reaching a Nadelhubanschlags corresponding to a fully open state of the injection valve, a reaction on the actuator exerts, which increases the actuator voltage by a reaction voltage. It is advantageously provided that the voltage swing is selected so that there is a desired feedback voltage.
  • valve needle The reaction of the valve needle to the actuator is caused by the fact that the valve needle, after one end of the energization of the actuator, initially moves toward the actuator and exerts a corresponding force on the actuator, which is essentially at rest after the end of the energization piezoelectric effect corresponding to the feedback voltage leads.
  • the specification according to the invention of the voltage lift used to open the injection valve allows a conclusion on the voltage stroke corresponding Aktorhub and thus also on the traversed by the valve needle path during the opening process of the injector or during the energization of the actuator.
  • valve needle With a relatively large voltage swing used for discharging the actuator or for opening the injection valve, the valve needle has already covered a corresponding, relatively large path away from its valve seat on its Nadelhubanschlag during actuation of the actuator, so that they subsequently only a relatively small way must travel back to their Nadelhubanschlag and this causes a correspondingly relatively low feedback voltage. With a comparatively small selected voltage stroke for the opening process of the injection valve, the valve needle accordingly has a longer path up to its needle stroke stop after the end of the energization, so that a comparatively large reaction voltage also occurs.
  • the inventive method can also be advantageously used to equalize the time of reaching the respective Nadelhubanschlags by the valve needles of a plurality of injectors to adjust their injection behavior or the injected through them fluid quantities to each other.
  • an actuator stroke caused by the piezoelectric actuator is approximately proportional to a corresponding voltage swing of the actuator voltage, regardless of aging effects of the piezoelectric actuator or, for example, a temperature-related change in the electrical capacitance of the piezoelectric actuator.
  • the actuator can be reloaded in a predefinable recharging time with a charge-dependent charging current. This ensures that the same predefinable recharging time is required for each transshipment, while the Umladestrom required for reloading the actuator can be selected accordingly.
  • a multiplicity of possible movement profiles of the valve needle during the transfer from a first operating state to a second operating state can be advantageously set. For example, hereby also characteristic working or lifting positions of the valve needle can be regulated or even equalized among several injection valves.
  • the voltage stroke is selected such that the valve needle reaches the valve seat and / or a needle stroke stop, when the current supply to the actuator is terminated.
  • the voltage swing for driving the actuator is selected so that an amount of the first time derivative of the actuator voltage is minimal between one end of the current supply of the actuator and a first change of sign of the first time derivative of the actuator voltage since the end of the energization of the actuator, the above described configuration in which the achievement of a valve seat or the Nadelhubanschlags takes place simultaneously with the end of the energization of the actuator, particularly precisely realized.
  • a recharging time which is required for the transfer of the injection valve from its open state to its closed state, regulated, thereby ensuring a precise adherence to the recharging even with changing properties of the injection valve and the piezoelectric actuator is.
  • the recharging time of a further variant of the invention can be selected as a function of a desired closing time, within which the valve needle moves from an initial position to its valve seat.
  • the regulation of the voltage stroke according to the invention is preferably carried out for each operating cycle of the injection valve, so that a particularly high accuracy in the control is achieved. Also, the above-mentioned recharging time can be controlled according to the invention advantageously for each operating cycle of the injector.
  • the regulation of the feedback voltage and / or the regulation of the first time derivative of the actuator voltage between one end of the current supply of the actuator and a first change of sign of the first time derivative of the actuator voltage since the end of energization of the actuator and / or the control of the closing time is carried out according to the invention advantageously in every n-th operating cycle of the injector, where n> 1, so that corresponding steps of the respective control method not in each Operating cycle of the injector must be performed, which in particular resources of the control method exporting processing unit can be spared, which is integrated, for example, in a control valve controlling the injection valve.
  • the computer program may be stored, for example, on an electronic storage medium, wherein the storage medium in turn may be contained for example in the control unit.
  • FIG. 1 a fuel injection valve 10 designed as an injection valve of an internal combustion engine of a motor vehicle is shown, which is provided with a piezoelectric actuator 12.
  • the piezoelectric actuator 12 is as in FIG. 1 indicated by the arrow driven by a control unit 20.
  • the fuel injection valve 10 has a valve needle 13, which can sit on a valve seat 14 a in the interior of the housing of the fuel injection valve 10.
  • a fully opened state of the fuel injection valve 10 is characterized in that the valve needle 13 is arranged on a needle stroke stop arranged in the region 14b and not shown, which prevents further movement of the valve needle 13 away from its valve seat 14a, ie towards the actuator 12 , If the valve needle 13 is seated on the valve seat 14a, the fuel injection valve 10 is closed. That is, the whole, according to the picture FIG. 1 vertically extending stroke, which the valve needle 13 can travel, is limited on the one hand by the valve seat 14a (closed position) and on the other hand by the Nadelhubanschlag in the area 14b (opening position).
  • the transition from the closed to the open state is effected by means of the piezoelectric actuator 12.
  • a voltage referred to below as the actuator voltage U is applied to the actuator 12, which causes a change in length of a arranged in the actuator 12 piezo stack, which in turn is used to open or close the fuel injection valve 10.
  • the fuel injection valve 10 further includes a hydraulic coupler 15.
  • the hydraulic coupler 15 is disposed within the fuel injection valve 10 and has a coupler housing 16 in which two pistons 17, 18 are guided.
  • the piston 17 is connected to the actuator 12 and the piston 18 is connected to the valve needle 13.
  • a volume 19 is included, which accomplishes the transmission of the force exerted by the actuator 12 on the valve needle 13.
  • the coupler 15 is surrounded by pressurized fuel 11.
  • the volume 19 is also filled with fuel. Via the guide gaps between the two pistons 17, 18 and the coupler housing 16, the volume 19 can be adapted over a longer period of time to the respectively existing length of the actuator 12. For short-term changes in the length of the actuator 12, however, the volume 19 remains virtually unchanged and the change in the length of the actuator 12 is transmitted to the valve needle 13.
  • FIG. 2a schematically shows the time course of the actuator voltage U for driving the piezoelectric actuator 12 of the injection valve 10 from FIG. 1 again.
  • the actuator voltage U is lowered from the time t 0 in the context of the inventive method, starting from an output voltage U 0 by a symbolized by the double arrow ⁇ U voltage swing to a corresponding target voltage U 1 , as well as from FIG. 2a can be seen at the time t 1 on the piezoelectric actuator 12 (FIG. FIG. 1 ) is present.
  • the time t 1 is also not one FIG. 2a apparent energization of the actuator 12, that is, an actuation of the actuator 12 with a voltage swing ⁇ U corresponding discharge current set.
  • the valve needle 13 continues to move towards its needle stroke stop 14 b located in the region of the coupler housing 16 and in this case exerts a corresponding force on the piezoelectric actuator 12.
  • This force is metrologically detected by the hereinafter also referred to as feedback voltage voltage .DELTA.U R , which is superimposed on the actual actuator voltage U of the actuator 12 and this changed.
  • the valve needle 13 has reached its Nadelhubanschlag 14 b and thus assumed its rest position corresponding to a fully open state of the injection valve 10. Accordingly, the valve needle 13 now exerts no further pressure on the actuator 12, and it turns from the time t 2 which is also referred to as the plateau voltage substantially time constant voltage U p .
  • the piezoelectric actuator 12 is driven again, in particular charged by a corresponding charging current, so that up to the time t 5, the actuator voltage U increases again to the value of the output voltage U 0 .
  • the actuator 12 undergoes the length change already described above, which moves the valve needle 13 from its rest position on the Nadelhubanschlag 14b again to its valve seat 14a, whereby the closed position of the injector 10 and its closed operating state is characterized.
  • the injection valve is ready for a new operating cycle.
  • FIG. 2b additionally shows a metrologically recorded, to the schematic representation FIG. 2a Comparable, time course of the actuator voltage U of the actuator 12 together with a time course of the charge / discharge current I, with which the actuator 12 during the intervals (t 0 ; t 1 ) or (t 3 ; t 5 ) ( FIG. 1 ) is applied.
  • a Hubverlauf h, ie the actually traversed by the valve needle 13 way is off FIG. 2b also visible.
  • the reloading of the actuator 12 according to the invention by triggering with a predefinable voltage swing .DELTA.U ( FIG. 2a ) or a corresponding charge-reversal l allows a particularly precise control of the valve needle 13 and thus, for example, a particularly precise metering of fuel through the injection valve 10.
  • a control method is used to implement the voltage to be applied during the discharge of the actuator 12 voltage ⁇ U, in which a Discharge current I E as a function of the voltage to be set ⁇ U should be set.
  • a corresponding controller structure is shown schematically in FIG FIG. 4a played.
  • the first part of R1 in FIG. 4a illustrated regulator receives as a target size to be set voltage deviation .DELTA.U soll , which is processed in a subtractor not specified in detail together with the actually occurring voltage swing .DELTA.U is to a corresponding control difference.
  • This control difference is fed to a function block 30, which may for example be formed as a characteristic curve and a transformation of the control difference in a discharge current I E , with which the piezoelectric actuator 12 is to be controlled in a subsequent control cycle to the control difference ⁇ U soll - ⁇ U is to minimize.
  • the discharge current I E is supplied to a function block representing the injection valve 10, and the quantities actuator voltage U and actuator current I resulting from the triggering with the discharge current I E , which are measured, for example, by the control unit 20 (FIG. FIG. 1 ), are supplied to an evaluation unit 25, which is preferably also implemented in the control unit 20.
  • the evaluation unit 25 determines, on the one hand, the actual voltage swing .DELTA.U from the measured quantities U, I supplied to it , for example by subtracting the instantaneous actuator voltage U from the output voltage U 0 . On the other hand, the evaluation unit 25 determines from the quantities U, I supplied to it also an actual quantity ⁇ U Rist to be described later.
  • control circuit R1 an efficient control of the desired voltage swing .DELTA.U during a discharging operation of the actuator 12 for opening the injection valve 10 is indicated.
  • a comparable voltage swing .DELTA.U can also be used, for example, to charge the actuator 12, in particular in order to shift the injection valve 10 from an open state to a closed state.
  • the regulator R1 described above can be used.
  • the regulation according to the invention of the voltage swing .DELTA.U always ensures that a desired actuator stroke h is established, independently of aging effects of the piezoelectric actuator 12 and / or of the further components of the injection valve 10.
  • the operating method according to the invention in addition to the above-described control of the voltage .DELTA.U also provides a regulation of the feedback voltage .DELTA.U R before.
  • the inventive specification of the voltage ⁇ U is - in addition to the defined reloading of the actuator 12 - advantageously determines which way the valve needle 13, starting from its closed position on the valve seat 14a during the intended for discharging Bestromungszeit t 0 to t 1 ( FIG. 2a ) covers. At the same time, this also defines the remaining path of the valve needle 13 as far as its needle stroke stop 14b, which it covers in the time t 1 to t 2 .
  • a regulation of the opening time t 2 -t 0 is by the invention, also in FIG. 4a illustrated additional loop R2 allows.
  • a set value ⁇ U Rsoll is set, which determines the desired feedback voltage ⁇ U R and, accordingly, also influences the time difference t 2 -t 1 and thus also t 2 itself.
  • a corresponding control difference ⁇ U Rsoll - ⁇ U Rist for the feedback voltage is again formed, which is fed to a function block 31 and thereby transformed into a corresponding desired value for the voltage deviation ⁇ U to be set according to the invention.
  • imaged inventive control circuits R1, R2 allows by their interaction the specification of the opening time t 2 -t 0 corresponding feedback voltage corresponding to the manner described above with a corresponding voltage swing .DELTA.U for the discharge of the actuator 12.
  • FIG. 3a gives a timing of the actuator voltage U for the actuator 12 in the time range between about t 1 and t 2 FIG. 2a again.
  • the in FIG. 3a The time designated by the reference symbol t BE indicates the end of a current supply of the actuator 12 and thus corresponds to the in FIG. 2a with the reference numeral t 1 designated time.
  • the first change in sign of the first time derivative U ⁇ of the actuator voltage U occurring after the lighting end t BE is evaluated and interpreted as a characteristic for the reaching of the needle stroke stop 14b by the valve needle 13, so that the time t 2 according to FIG FIG. 2a can be determined.
  • This first sign change of the first time derivative U ⁇ occurs in the scenario according to FIG. 3a at the time t VZW on.
  • a recharging time which is required for the transfer of the injection valve 10 from its open state into its closed state, is regulated.
  • the reloading time is out FIG. 2a as a time difference between the times t 3 and t 5 visible.
  • the inventive regulation of the recharging time allows a particularly precise closing of the injection valve 10 and can be advantageous by the in FIG. 4b imaged controller structure can be implemented.
  • a corresponding setpoint ⁇ t 35soll for this reloading time is the in FIG. 4b shown controller R3 and processed together with a corresponding, determined by the evaluation unit 25 actual size .DELTA.t 35ist processed in a conventional manner to a corresponding control difference, which is supplied to a downstream function block 32.
  • the function block 32 transforms the control difference into a charging current I L , with which the actuator 12 is to be charged during the recharging time t 5 -t 3 in order to maintain the desired recharging time ⁇ t 35soll .
  • I L charging current
  • FIG. 4a described also works in FIG.
  • Charging current I L shown on the injection valve symbolizing function block 10, which actually adjusting variables U, I can be detected in the manner already described by metrology by the evaluation unit 25 and processed.
  • a correction value K which is dependent on the control difference ⁇ U soll - ⁇ U and can be taken into account, for example, by the controller R1 ( FIG . FIG. 4a ).
  • the correction value K advantageously takes into account that the charging time for the reloading of the actuator 12 changes accordingly in the event of an enlarged voltage swing ⁇ U, for example.
  • the actuator 12 At the end t 5 ( FIG. 2a ) of the recharging time, the actuator 12 is charged again to its output voltage U 0 and ready for a renewed operating cycle, ie for a subsequent discharge.
  • valve needle 13 reaches its valve seat 14a during the transfer time t 5 -t 3 already at an earlier time t 4 (FIG. FIG. 1 ), ie the fully closed operating state of the injection valve 10 is already reached after a time subsequently referred to as the closing time t 4 - t 3 .
  • the valve needle 13 likewise exerts an already above in connection with the opening operation or reaching the stroke stop 14b described feedback effect on the actuator 12, which is detected as a change of the first time derivative U ⁇ , ie as a kink, the actuator voltage U.
  • a precise regulation of the actual closing time t 4 -t 3 is achieved according to the invention by presetting a value corresponding to the desired closing time ⁇ t 34soll for the reloading time ⁇ t 35soll . This is done by the likewise in FIG. 4b illustrated regulator R4, the corresponding control deviation .DELTA.t 34soll - .DELTA.t 34 is transformed in a function block 33 in the corresponding setpoint .DELTA.t 35soll for the Umladezeit.
  • Analogous to the controllers R1, R2 may also be the controller R3 preferably in each operating cycle of the injector 10, that is to be active during each charging of the actuator 12, while the controller R4 is preferably active only in each nth charging of the actuator 12.
  • the controller R3 preferably in each operating cycle of the injector 10, that is to be active during each charging of the actuator 12, while the controller R4 is preferably active only in each nth charging of the actuator 12.
  • FIG. 3b shows a detailed view of the time course of the second time derivative Ü of the actuator voltage U of the actuator 12.
  • the evaluation unit 25 of in FIG. 4b The controller structure shown accordingly evaluates the second time derivative Ü, determines the closing time tclose ( FIG. 3b ) and forms from this as in FIG. 4b represented the size At 34 is .
  • FIGS. 5a and 5b represent further time courses of the actuator voltage U, as they can occur during operation of the injection valve 10.
  • a particularly advantageous variant of the operating method according to the invention provides that the voltage swing .DELTA.U is selected such that the first time derivative U.sub.A of the actuator voltage U or the magnitude thereof becomes minimal between an end t BE (FIG. FIG. 3a ) of the energization of the actuator 12th and a first sign change t VZW ( FIG. 3a ) of the first time derivative U ⁇ of the actuator voltage U since the end t BE of the energization of the actuator 12th
  • the inventive method analyzes the first time derivative U ⁇ of the actuator voltage U of the actuator 12 and minimizes them in the time range in question t VZW - t BE , to which the valve needle 13 hits the valve seat 14a and the Nadelhubanschlag 14b.
  • the first time derivative of the actuator voltage U is determined, cf. the size U ⁇ is the regulator R5, R6 off FIG. 6 .
  • the value zero is set as desired value U ⁇ soll, and a corresponding control difference is supplied to the function block 26 of the regulator R6.
  • the function block 26 forms according to the invention a mean value of the control difference of the last example, three past cycles of operation of the injection valve 10. This average value is transformed by the downstream function block 35 in a target value for an inventively adjusted voltage swing .DELTA.U to which the minimization according to the invention of the first time derivative of U of Actuator voltage U causes the end of each reload.
  • a corresponding filtered variable can also be used in the method according to the invention.
  • Analogous to the averaging of the control difference by the function block 26 of the controller R6 can also be used with the controllers R2 ( FIG. 4a ), R4 ( FIG. 4b ) an averaging of the respective control difference may be provided in order to increase the stability of the respective controller.
  • the downstream controllers R1, R3 are preferably designed so that they operate faster than the higher-level controller R2, R4. As already described above, this can be achieved, for example, by a corresponding design of the cycle time for the higher-level controllers R2, R4, which are preferably activated only every nth operating cycle. In the sense of a particularly rapid control by the downstream controllers R1, R3, no averaging of the respective control difference is preferably provided here.
  • the regulators R1, .., R4 can have any suitable characteristic for the above operating purposes, wherein in particular a P (proportional) behavior and / or an I (integral) behavior is considered.
  • the inventive method allows by controlling the voltage .DELTA.U advantageously advantageous, for example, a precise constant holding the voltage .DELTA.U, so that the effects of temperature-induced changes in the properties of the actuator 12, resulting for example during operation, reduced to a fuel quantity actually injected or completely compensated , That is, by the inventive control of the voltage .DELTA.U to a predetermined, preferably constant, value can be achieved in conjunction with a certain corresponding discharge advantageously a temperature compensation of Einspritz stretchenschaften the fuel injection valve 10 and thus the injected fuel quantity.
  • Temperature-related changes of the actuator 12 such as a change in its electrical capacity also affect the Umladezeit .DELTA.t 35soll .
  • the inventive control of the recharge time .DELTA.t 35soll for realizing a temperature compensation, ie, for example, to keep constant a predetermined recharge time .DELTA.t 35soll can be used.
  • the use according to the invention of the voltage swing and the recharging time as a control variable also advantageously avoids the need for direct regulation of the corresponding currents I E , I L , which is disadvantageous due to a usually relatively low accuracy in the metrological detection of the currents.
  • the quantities required for the control according to the invention actuator voltage U and time t can be detected very precisely contrast and allow a correspondingly precise control.

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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)
EP07822494.6A 2006-12-12 2007-11-12 Verfahren zum betreiben eines einspritzventils Not-in-force EP2100020B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006058744A DE102006058744A1 (de) 2006-12-12 2006-12-12 Verfahren zum Betreiben eines Einspritzventils
PCT/EP2007/062208 WO2008071507A1 (de) 2006-12-12 2007-11-12 Verfahren zum betreiben eines einspritzventils

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Publication Number Publication Date
EP2100020A1 EP2100020A1 (de) 2009-09-16
EP2100020B1 true EP2100020B1 (de) 2014-04-02

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US (1) US8082903B2 (zh)
EP (1) EP2100020B1 (zh)
JP (1) JP4868554B2 (zh)
CN (1) CN101558228B (zh)
DE (1) DE102006058744A1 (zh)
WO (1) WO2008071507A1 (zh)

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DE102013220613B4 (de) * 2013-10-11 2024-03-14 Vitesco Technologies GmbH Verfahren und Computerprogramm zum Ansteuern eines Kraftstoffinjektors
EP3135886B1 (en) * 2014-04-25 2020-05-13 Hitachi Automotive Systems, Ltd. Control device for electromagnetic fuel injection valve
DE102016213522B4 (de) 2016-07-22 2023-10-12 Vitesco Technologies GmbH Verfahren und Vorrichtung zur Ansteuerung eines Piezoaktors eines Einspritzventils eines Kraftfahrzeugs

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US20100065022A1 (en) 2010-03-18
US8082903B2 (en) 2011-12-27
CN101558228B (zh) 2013-07-10
CN101558228A (zh) 2009-10-14
JP2010512485A (ja) 2010-04-22
EP2100020A1 (de) 2009-09-16
WO2008071507A1 (de) 2008-06-19
JP4868554B2 (ja) 2012-02-01

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