EP2165062A1 - Procédé et dispositif pour contrôler le fonctionnement d'un régulateur de vitesse - Google Patents

Procédé et dispositif pour contrôler le fonctionnement d'un régulateur de vitesse

Info

Publication number
EP2165062A1
EP2165062A1 EP08774056A EP08774056A EP2165062A1 EP 2165062 A1 EP2165062 A1 EP 2165062A1 EP 08774056 A EP08774056 A EP 08774056A EP 08774056 A EP08774056 A EP 08774056A EP 2165062 A1 EP2165062 A1 EP 2165062A1
Authority
EP
European Patent Office
Prior art keywords
manipulated variable
speed
maximum
max
time
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.)
Granted
Application number
EP08774056A
Other languages
German (de)
English (en)
Other versions
EP2165062B1 (fr
Inventor
Guenter Kettenacker
Sergiy Myronov
Klaus Schwarze
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
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2165062A1 publication Critical patent/EP2165062A1/fr
Application granted granted Critical
Publication of EP2165062B1 publication Critical patent/EP2165062B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02DCONTROLLING COMBUSTION ENGINES
    • F02D31/00Use of speed-sensing governors to control combustion engines, not otherwise provided for
    • F02D31/001Electric control of rotation speed
    • F02D31/007Electric control of rotation speed controlling fuel supply
    • F02D31/009Electric control of rotation speed controlling fuel supply for maximum speed control

Definitions

  • the invention relates to a method and a device for speed controller function monitoring, in particular in a thrust monitoring function of a diesel engine control.
  • an overrun monitoring function can be activated as an error handling function if the actual rotational speed is above the setpoint rotational speed by more than a predetermined threshold value.
  • a predetermined period of time say one second, including all other retarding functions, the injection is switched off, ie. the drive duration of the injectors has been brought to zero.
  • the provided in the engine control speed controller work depending on the application, ie type of manufacturer of the motor vehicle or depending on the motor vehicle with different parameter sets that lead to different response times of the speed controller.
  • the injection upon intervention of the thrust monitor, for each parameter set, the injection must be shut off within the predetermined period of time to avoid an unjustified thrust monitor replacement response.
  • a check of each parameter set must be carried out again for each vehicle type or field of application of the internal combustion engine. The checking is carried out with the aid of suitable simulations, wherein in particular it is checked that the manipulated variable is within the predetermined period of time, ie one second, leads to a stop of the injection. This is expensive.
  • a method for monitoring a function of a speed control of an internal combustion engine includes detecting a speed overshoot when an actual speed of the engine exceeds a desired speed by more than a predetermined threshold, and, when a speed over is detected, limiting a speed control variable to a time-out maximum speed.
  • the maximum manipulated variable may depend on a predetermined period of time after which the manipulated variable must be set to 0.
  • the gradient with which the maximum manipulated variable decreases over time is constant.
  • the gradient can be determined from a maximum manipulated variable, which indicates a maximum permissible manipulated variable in normal operation, divided by the predetermined period of time.
  • the gradient may be determined from the current maximum manipulated variable divided by the predetermined period of time.
  • the maximum manipulated variable may decrease over time in accordance with a gradient profile.
  • the manipulated variable of the rotational speed control can be limited to a temporally increasing maximum manipulated variable, wherein the maximum manipulated variable increases up to a maximum manipulated variable which indicates a maximum permissible manipulated variable in normal operation.
  • the maximum control variable when the setpoint speed is undershot by the actual speed, can be set directly to the maximum control variable, wherein the maximum control variable indicates a maximum permissible control variable during normal operation.
  • a motor control for operating an internal combustion engine is provided with a control unit for providing a manipulated variable as a function of a desired rotational speed and an actual rotational speed; and a limiting unit for detecting a speed exceeding when the actual speed of the internal combustion engine exceeds the target speed by more than a predetermined threshold, and for limiting a control variable of the speed control to a time-decreasing maximum control variable when a speed overshoot is detected.
  • control unit may comprise a P-controller part and an I-controller part, wherein the limiting unit has a common one of the P-controller part and the I-controller part.
  • the control unit may include a P-controller part and an I-controller part, wherein the limitation unit is coupled to the I-controller part such that the limitation unit updates an integration output value of an integrator of the I-regulator part when limiting with a limit integrator value in each control cycle.
  • Fig. 1 is a block diagram of a speed controller for a motor controller according to a first embodiment of the invention
  • FIG. 2 is a block diagram of a speed controller for a motor controller according to another embodiment of the invention
  • FIG. and Fig. 3 is a timing diagram illustrating the timing of the maximum torque depending on the actual engine speed.
  • an engine system 1 with an internal combustion engine 2 and a speed control is shown schematically.
  • the speed control is performed as an example as a PI controller and delivers depending on a differential speed .DELTA. ⁇ a manipulated variable S eg in the form of a set torque or an amount of fuel to be injected.
  • the speed control comprises a differential element 5 for calculating a rotational speed difference between a desired rotational speed ⁇ s o ii provided externally (eg according to a driver's desired torque in a motor vehicle) and an actual rotational speed ooi st determined in the internal combustion engine 2.
  • the differential rotational speed ⁇ becomes a proportional element 6 (P controller part) and an integrator 7 8I controller part) of the controller.
  • the proportional element 6 and the integration element 7 respectively provide partial manipulated variables Si and S 2 , which are added in a summing element 8 in order to generate the manipulated variable S.
  • a limiting member 10 is provided to which the information about the rotational speed difference ⁇ is supplied and which is activated as soon as the rotational speed difference ⁇ is greater than a threshold value SW, which is fixed. If the threshold value SW is not exceeded, the manipulated variable S is provided unchanged to the internal combustion engine 2. However, if the differential speed ⁇ is above the threshold value SW, the manipulated variable S of the speed control is limited to a maximum torque M max .
  • the limiting member 10 In order to ensure that the manipulated variable S, with which the internal combustion engine 2 is controlled, in such an activated case, ie when the differential rotational speed ⁇ is above the threshold, brought to 0 within a predetermined period of time, which is indicated by T A is, the maximum torque M max over time is reduced linearly or according to a predetermined gradient profile (see time Tl).
  • a manipulated variable S which corresponds to a torque above the maximum torque M max , is limited to M max .
  • the reduction of the maximum torque M max over time is continued until M max either indicates 0 Nm or the differential speed ⁇ falls below the threshold value (see time T2).
  • the maximum torque M max is continuously increased again from the currently attained maximum torque M max over the time t in the direction of a predefined maximum value, which, however, is not exceeded . If during the increase of the maximum torque M max again ⁇ exceeds the threshold value (see time T3), starting from the now reached maximum torque M max , the maximum torque M max is reduced linearly or according to a gradient profile until either 0 Nm is reached or until ⁇ falls below the threshold again. If ⁇ is above the threshold value SW and the maximum torque M max is already 0 Nm (see period between T3 and T4), then M max is kept at 0 Nm and thus the manipulated variable S is limited to 0 Nm.
  • the manipulated variable delivered to the engine 2 is zero, that is, no fuel is injected into the engine 2.
  • the maximum permissible torque M max is again increased according to a gradient.
  • the gradient with which the maximum torque M max is reduced, as soon as the threshold value SW is exceeded by the differential rotational speed ⁇ , is determined by the time period in which the manipulated variable must be brought to zero, if the differential rotational speed ⁇ exceeds the threshold SW ü-.
  • This time period T A can be, for example, one second.
  • the gradient of the decrease in the maximum torque M max results, for example, from a predetermined maximum torque (corresponds to a maximum torque permissible in normal operation, shown as a solid thin horizontal line in the upper diagram of FIG. 3) divided by the predetermined time duration, so that at a prevailing maximum torque, the limit value is 0 Nm at the latest after the predetermined time period T A.
  • the maximum torque M max can also be used for the gradient calculation.
  • the amount of the gradient in the case of increasing the maximum torque M max as soon as the threshold value is again undershot by the differential speed is preferably selected to be the same as the gradient of the falling ramp of the maximum torque curve M max in the aforementioned case.
  • the maximum torque M max is immediately set to the maximum torque. A torque jump does not arise because the manipulated variable components Si and S 2 are significantly below the maximum value.
  • the limit value is usually stored in an existing EEPROM upon intervention of the limitation in a static data memory. In this way, it can be determined in a test whether the limitation had to intervene or whether the control parameters allow sufficiently fast speed control to meet the requirement for the manipulated variable reduction time.
  • Fig. 2 shows a further embodiment of an engine system according to the invention.
  • the same elements or elements of the same function are provided with the same reference numerals.
  • the embodiment of FIG. 2 differs from the embodiment of FIG. 1 in that the limiting unit is not provided in the adjusting path between the summing member 8 and the internal combustion engine 2, but on the integrating member 7.
  • the limiting unit 11 of the embodiment of FIG. like the limiting unit 10 of the embodiment of FIG. 1, receives the differential rotational speed ⁇
  • Threshold SW and the predetermined period of time T A detects on the basis of an exceeding of the threshold value SW by the differential speed ⁇ , that the maximum torque M max should be limited.
  • the value of the maximum torque M max which determines the limiting value, is determined as previously described in the example of the embodiment of FIG. 1.
  • the partial manipulated variable Si provided by the proportional element 6 is subtracted, thereby determining a limit integration value with which before each integration cycle the integration output value (integration value from which at integration in one cycle is assumed) of the integration member 7 is updated. That is, when the present integrator value (integrator value after integration) is larger than the limit integration value provided by the constraint unit 11, the integration output value is updated to the limit integration value provided by the constraint unit 11. If the integration value 7 in the integration element 7 is smaller than the limit integration value provided by the limitation unit 11, no update takes place.
  • the inventive method has the advantage that it can be ensured that the manipulated variable of the speed control reaches zero in any case after the predetermined period of time.
  • T A a time period within which the maximum controller output torque (manipulated variable) is driven linearly from the maximum torque to the neutral value (manipulated variable 0) if the rotational speed is too high.
  • the internal thrust monitoring does not respond incorrectly, which is checked for unjustified injection after a certain period of time, such as one second, thrust.
  • a user can not unintentionally trigger such a fault, so that the controller application can be completely left to the user and does not have to be additionally checked with regard to the thrust monitoring.
  • a PI D controller may be provided, but the differential component of the manipulated variable should not be acted upon by the limiting element and therefore should be added to the possibly already limited manipulated variable of the P and I component of the manipulated variable.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
  • Control Of Electric Motors In General (AREA)
EP08774056A 2007-07-11 2008-06-09 Procédé et dispositif pour contrôler le fonctionnement d'un régulateur de vitesse Active EP2165062B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007032214A DE102007032214A1 (de) 2007-07-11 2007-07-11 Verfahren und Vorrichtung zur Drehzahlregler-Funktionsüberwachung
PCT/EP2008/057152 WO2009007186A1 (fr) 2007-07-11 2008-06-09 Procédé et dispositif pour contrôler le fonctionnement d'un régulateur de vitesse

Publications (2)

Publication Number Publication Date
EP2165062A1 true EP2165062A1 (fr) 2010-03-24
EP2165062B1 EP2165062B1 (fr) 2010-10-27

Family

ID=39855047

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08774056A Active EP2165062B1 (fr) 2007-07-11 2008-06-09 Procédé et dispositif pour contrôler le fonctionnement d'un régulateur de vitesse

Country Status (7)

Country Link
EP (1) EP2165062B1 (fr)
CN (1) CN101688485B (fr)
AT (1) ATE486204T1 (fr)
DE (2) DE102007032214A1 (fr)
ES (1) ES2352097T3 (fr)
RU (1) RU2461726C2 (fr)
WO (1) WO2009007186A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009036548A1 (de) 2009-08-07 2011-02-10 Daimler Ag Verfahren zum Betrieb eines Drehzahlreglers eines Verbrennungsmotors und Drehzahlregler
DE102012003020A1 (de) 2012-02-15 2013-08-22 Audi Ag Regelsystem zur Drehzahlregelung eines Antriebsmotors

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3828850A1 (de) * 1988-08-25 1990-03-08 Bosch Gmbh Robert Vorrichtung zur steuerung einer betriebskenngroesse einer brennkraftmaschine
US5429089A (en) * 1994-04-12 1995-07-04 United Technologies Corporation Automatic engine speed hold control system
DE10015320A1 (de) * 2000-03-28 2001-10-04 Bosch Gmbh Robert Verfahren und Vorrichtung zur Steuerung der Antriebseinheit eines Fahrzeugs
EP1495221B1 (fr) * 2002-04-08 2011-02-23 Robert Bosch Gmbh Procede et dispositif pour assurer la commande d'un moteur a combustion interne
DE10302263B3 (de) * 2003-01-22 2004-03-18 Mtu Friedrichshafen Gmbh Verfahren zur Drehzahl-Regelung einer Brennkraftmaschine
DE102005060540B3 (de) * 2005-12-17 2007-04-26 Mtu Friedrichshafen Gmbh Verfahren zur momentenorientierten Steuerung einer Brennkraftmaschine
DE102006061561A1 (de) * 2006-12-27 2008-07-03 Robert Bosch Gmbh Verfahren zum Betreiben einer Brennkraftmaschine

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2009007186A1 *

Also Published As

Publication number Publication date
ATE486204T1 (de) 2010-11-15
CN101688485B (zh) 2012-02-01
DE502008001667D1 (de) 2010-12-09
CN101688485A (zh) 2010-03-31
ES2352097T3 (es) 2011-02-15
EP2165062B1 (fr) 2010-10-27
RU2010104399A (ru) 2011-08-20
RU2461726C2 (ru) 2012-09-20
WO2009007186A1 (fr) 2009-01-15
DE102007032214A1 (de) 2009-01-15

Similar Documents

Publication Publication Date Title
DE19964424B3 (de) Vorrichtung zum Diagnostizieren von Störungen und Fehlerbedingungen in einer Kraftstoffanlage einer Verbrennungskraftmaschine
DE19739565B4 (de) Verfahren und Vorrichtung zur Steuerung des Drehmoments einer Antriebseinheit eines Kraftfahrzeugs
DE10210684A1 (de) Verfahren und Vorrichtung zur Überwachung eines Moments einer Antriebseinheit eines Fahrzeugs
WO2002077432A1 (fr) Procede et dispositif pour commander un piezo-actionneur
DE102006010542B3 (de) Verfahren zum Erkennen einer fehlerhaften Stelleinrichtung
DE10063080A1 (de) Aktorsteuerung und zugehöriges Verfahren
DE3400711A1 (de) Einrichtung zum steuern des einspritzzeitpunktes von einem verbrennungsmotor zugefuehrten kraftstoff
DE4029537A1 (de) Verfahren und vorrichtung zur steuerung und/oder regelung einer betriebsgroesse einer brennkraftmaschine
DE19726756A1 (de) System zum Betreiben einer Brennkraftmaschine insbesondere eines Kraftfahrzeugs
DE102014225920B4 (de) Verfahren zum Betrieb eines Dieselmotors
EP1826385B1 (fr) Procédé destiné au fonctionnement d'un système d'injection d'un moteur à combustion interne
DE102016214708A1 (de) Stetigventileinheit, hydraulische Achse und Verfahren zum Betreiben einer hydraulischen Achse
EP2165062B1 (fr) Procédé et dispositif pour contrôler le fonctionnement d'un régulateur de vitesse
DE4115647B4 (de) Steuersystem in einem Fahrzeug
DE102014226259B4 (de) Verfahren zum Betrieb eines Verbrennungsmotors
EP1826054A2 (fr) Procédé et dispositif destinés au réglage d'un système d'entraînement hydraulique
DE102010021448A1 (de) Verfahren und Vorrichtung zur Regelung der elektrischen Polarisation eines piezoelektrischen Aktuators
DE102004015973B3 (de) Verfahren zur Steuerung und Regelung einer Brennkraftmaschinen-Generator-Einheit
WO2008092755A1 (fr) Procédé de régulation de la température d'un générateur et unrégulateur de générateur
WO2012119625A1 (fr) Procédé de réglage d'un moteur à combustion interne
EP2729688A1 (fr) Procédé pour faire fonctionner un moteur à combustion interne
EP4134201B1 (fr) Procédé de régulation d'une visseuse
WO2018029145A1 (fr) Procédé permettant de vérifier la plausibilité de la compression déterminée d'un moteur à combustion interne
DE102021210117A1 (de) Verfahren für einen hydraulischen Antrieb, Steuereinheit, Computerprogramm, und maschinenlesbares Speichermedium
DE102007034190A1 (de) Verfahren und Vorrichtung zur Nullmengenkalibrierung bei einem Verbrennungsmotor

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20100211

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA MK RS

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

DAX Request for extension of the european patent (deleted)
AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REF Corresponds to:

Ref document number: 502008001667

Country of ref document: DE

Date of ref document: 20101209

Kind code of ref document: P

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Effective date: 20110203

REG Reference to a national code

Ref country code: NL

Ref legal event code: VDEP

Effective date: 20101027

LTIE Lt: invalidation of european patent or patent extension

Effective date: 20101027

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101027

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110127

REG Reference to a national code

Ref country code: IE

Ref legal event code: FD4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110227

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101027

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101027

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101027

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101027

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101027

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101027

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110127

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110228

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110128

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101027

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101027

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101027

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101027

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101027

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101027

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101027

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20110728

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502008001667

Country of ref document: DE

Effective date: 20110728

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101027

BERE Be: lapsed

Owner name: ROBERT BOSCH G.M.B.H.

Effective date: 20110630

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110630

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110630

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120630

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120630

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110609

Ref country code: CY

Free format text: LAPSE BECAUSE OF EXPIRATION OF PROTECTION

Effective date: 20101027

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101027

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101027

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 486204

Country of ref document: AT

Kind code of ref document: T

Effective date: 20130609

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20130609

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 9

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 10

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20170622

Year of fee payment: 10

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 11

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180609

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20190625

Year of fee payment: 12

REG Reference to a national code

Ref country code: ES

Ref legal event code: FD2A

Effective date: 20190916

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180610

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200630

REG Reference to a national code

Ref country code: DE

Ref legal event code: R084

Ref document number: 502008001667

Country of ref document: DE

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20230622

Year of fee payment: 16

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20230817

Year of fee payment: 16