EP2912272B1 - Procédé de désaccordage d'une matrice d'aube directrice - Google Patents

Procédé de désaccordage d'une matrice d'aube directrice Download PDF

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Publication number
EP2912272B1
EP2912272B1 EP14702486.3A EP14702486A EP2912272B1 EP 2912272 B1 EP2912272 B1 EP 2912272B1 EP 14702486 A EP14702486 A EP 14702486A EP 2912272 B1 EP2912272 B1 EP 2912272B1
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EP
European Patent Office
Prior art keywords
blade
rotor
frequency
natural frequency
mass
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
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EP14702486.3A
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German (de)
English (en)
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EP2912272A1 (fr
Inventor
Thomas Grönsfelder
Jan Walkenhorst
Armin De Lazzer
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Siemens AG
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Siemens AG
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Priority to PL14702486T priority Critical patent/PL2912272T3/pl
Priority to EP14702486.3A priority patent/EP2912272B1/fr
Publication of EP2912272A1 publication Critical patent/EP2912272A1/fr
Application granted granted Critical
Publication of EP2912272B1 publication Critical patent/EP2912272B1/fr
Not-in-force legal-status Critical Current
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01D—NON-POSITIVE DISPLACEMENT MACHINES OR ENGINES, e.g. STEAM TURBINES
    • F01D5/00—Blades; Blade-carrying members; Heating, heat-insulating, cooling or antivibration means on the blades or the members
    • F01D5/12—Blades
    • F01D5/14—Form or construction
    • F01D5/16—Form or construction for counteracting blade vibration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
    • F05D2220/00—Application
    • F05D2220/30—Application in turbines
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
    • F05D2230/00—Manufacture
    • F05D2230/10—Manufacture by removing material
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
    • F05D2260/00—Function
    • F05D2260/96—Preventing, counteracting or reducing vibration or noise
    • F05D2260/961—Preventing, counteracting or reducing vibration or noise by mistuning rotor blades or stator vanes with irregular interblade spacing, airfoil shape

Definitions

  • the invention relates to a method for detuning a blade lattice.
  • a turbomachine has rotor blades arranged in the rotor blades, which can be regarded as firmly clamped at their blade roots and can oscillate during operation of the turbomachine. Depending on the operating state of the turbomachine, this can lead to oscillation processes in which oscillation states occur with high and critical stresses in the rotor blade. When the blade is stressed for a long time due to critical stress conditions, material fatigue occurs, which can ultimately lead to a reduction in the service life of the blade, which necessitates replacement of the rotor blade.
  • the object of the invention is to provide a method for detuning a blade lattice of a turbomachine, wherein the rotor blades have a long service life during operation of the turbomachine.
  • the inventive method for detuning, in particular the rotor-dynamic detuning, of a turbine blade having a plurality of blades has the steps of: a) setting for each of the blades of the blade grid at least one desired natural frequency ⁇ F, S , which the blade for at least one predetermined vibration mode in normal operation of the turbomachine under a centrifugal force has such that the vibration load of the blade lattice under the centrifugal force is below a tolerance limit; b) setting up a table of values ⁇ F (m, S) r with selected discrete mass values m and radial center of gravity r S, resulting from variations of the Nenrigeometrie of the blade and determining the respective natural frequency ⁇ F of the centrifugal force for each selected pair of values m and rs; c) measuring the mass m I and the radial center of gravity position r S, I of one of the moving blades; d) determining an actual natural frequency ⁇ F, I of the blade
  • the natural frequency ⁇ F, I under the centrifugal force can advantageously be determined with high accuracy. It is the same with the method according to the invention advantageously possible to set this natural frequency ⁇ F, I with a high accuracy and to approximate the specified target natural frequency ⁇ F, S. Thus, the vibration load of the blade during operation of the turbomachine can be reduced, thereby extending the life of the blade.
  • the method is simple to perform because , surprisingly enough, for an accurate determination of the actual natural frequency ⁇ F, I , m 1 and r S, I of the blade are measured without their full geometry.
  • m I and r S, I are easily measured variables, for example, m I can be determined by means of a balance.
  • the predetermined vibration modes are preferably selected such that the natural frequencies ⁇ F, S associated with the vibration modes are equal to or lower than a multiple harmonic of the rotor rotational frequency, in particular eight times the harmonic, one value table ⁇ F (m, r s ) for a plurality or for all of the vibration modes is set up, the actual natural frequency ⁇ F, I is determined for each table of values and the value pair m S and r S, S is selected such that the determined ⁇ F, I to the set ⁇ F, S at least approximate.
  • the inventive method for detuning, in particular the rotor-dynamic detuning, of a turbine blade having a plurality of blades has the steps of: a) setting for each of the blades of the blade grid at least one desired natural frequency ⁇ F, S , which the blade for at least one predetermined vibration mode in normal operation of the turbomachine under a centrifugal force has such that the vibration load of the blade lattice under the centrifugal force is below a tolerance limit; b) establishing a table of values ⁇ F (m, r S ) and a table of values ⁇ S (m, r S ) with selected discrete mass values m and radial centroid r s , resulting from variations of the nominal geometry of the blade, and determining the respective natural frequency ⁇ F under the centrifugal force and the respective Natural frequency ⁇ S at standstill of the blade for each selected value pair m and r S ; c) measuring the mass m I and the radial center of gravity position
  • the actual natural frequency ⁇ F, I under the centrifugal force can advantageously be determined with an even higher accuracy. It is also possible to use only the measurement of the natural frequency ⁇ S, I at standstill to control the ablation, without repeating the measurement of m I and r S, I.
  • the predetermined oscillation modes are preferably selected such that the natural frequencies ⁇ F, S associated with the oscillation modes are equal to or lower than a multiple harmonic of the rotor rotational frequency, in particular the eightfold harmonics, one value table ⁇ F (m, r s ) and one each Value table ⁇ S (m, r S ) is set up for a majority or all of the vibration modes, the actual natural frequency ⁇ F, I and the actual natural frequency ⁇ S, I is determined for each table of values, the value pair m S and r S , S is selected such that the determined ⁇ F, I approach the fixed ⁇ F, S at least and the natural frequencies ⁇ S, I are measured for the predetermined vibration modes.
  • the variations in nominal geometry preferably include thickening and / or thinning of the blade in each radial cut or in radial sections. It is preferred that the variations in the nominal geometry have a linear variation in the thickness of the blade over the radius. It is advantageously possible to set up the value table by thickening and thinning the nominal geometry with an accuracy sufficient for determining the natural frequencies ⁇ F and ⁇ S.
  • the desired natural frequencies ⁇ F, S are preferably set such that adjacent blades arranged in the blade lattice have unequal nominal natural frequencies ⁇ F, S and that the desired natural frequencies ⁇ F, S are different from the rotor rotational frequency during normal operation of the turbomachine up to and including a multiple harmonic of the rotor rotational frequency, in particular the eightfold harmonics of the rotor rotational frequency.
  • the measurement of the mass m 1 and the radial center of gravity position r S, I takes place relative to a reference blade, which has been measured three-dimensionally, in particular by means of a coordinate measuring machine and / or by means of an optical method.
  • the accuracy of a measurement depends on the size of the measuring range, with a larger measuring range resulting in a lower accuracy.
  • the value pair m S and r S, S is selected such that the imbalance of the rotor is reduced and / or that the effort for removal is minimal.
  • the knowledge of the value pair m S and r S, S is sufficient for a balancing of the rotor, so that advantageous by the removal of the material can be done detuning and balancing of the blade grid in a common process step.
  • the removal of the material can also be done so that the amount of material to be removed is minimized.
  • the predetermined vibration mode is preferably selected such that the natural frequency ⁇ F, S of the predetermined vibration mode is equal to or lower than the multiple harmonic of the rotor rotational frequency, in particular the eightfold harmonic of the rotor rotational frequency.
  • the natural frequencies ⁇ F and / or ⁇ I are preferably determined by calculation, in particular by means of a finite element method.
  • the blade when measuring the natural frequency ⁇ S, I, the blade is clamped to its blade root, the vibration of the blade is excited and the vibration is measured.
  • the vibration is preferably measured by means of vibration sensors, acceleration sensors, strain gauges, piezoelectric sensors and / or optical methods. This is a simple method for determining the natural frequency.
  • FIG. 1 shows three blades 1 of a turbomachine, wherein the first blade in its nominal geometry 5, the second blade both in its nominal geometry 5 and in a first variation 6 and a second variation 7 and the third blade both in their nominal geometry 5 and in a third Variation 8 and a fourth variation 9 are shown.
  • the rotor blades 1 have a blade root 2, which is fixedly mounted on a rotor shaft 4 of the turbomachine, and a blade tip 3 facing away from the blade root 2.
  • a vibration node is arranged on the blade root 2.
  • the radius r of the blade 1 is directed from the blade root 2 to the blade tip 3.
  • the second blade shows variations 6, 7 of the nominal geometry 5, in which, starting from the nominal geometry 5, the mass m is not changed, however, the radial center of gravity position r S of the blade.
  • the mass m is increased by uniformly thickening the second blade at each radial distance r from the axis of rotation and in the second variation 7, the mass m is reduced by uniformly diluting the second blade at each radial distance r.
  • the thickness of the blade in the circumferential direction and / or the axial direction is varied linearly over the radius r.
  • the blade is thickened at its blade root 2 and thinned at its blade tip 3
  • the blade is thinned at its blade root 2 and thickened at its blade tip 3.
  • the variations 8, 9 can also be carried out such that both the mass m and the radial center of gravity r S are changed.
  • a multiplicity of variations of the nominal geometry 5 are carried out and for each variation a natural frequency ⁇ S of the lowest frequency bending vibration of the blade 1 clamped at its blade root 2 and at a standstill is calculated by means of a finite element method. Furthermore, the natural frequency ⁇ F of the same bending vibration is calculated for each variation, taking into account the centrifugal force acting on the moving blade 1 during normal operation of the turbomachine. Optionally, when calculating ⁇ F , an increased temperature and thus changing material properties can also be taken into account. For a given blade lattice, it is advantageously only necessary to perform the variations of the nominal geometry once.
  • the mass m and the radial center of gravity r S of the blade 1 are determined and a value table ⁇ S (m, r S ) with value triplets ⁇ S , m, r S and a table of values ⁇ F (m, r S ) with value triplets ⁇ F , m, r S.
  • ⁇ S (m, r S ) with value triplets ⁇ S , m, r S
  • ⁇ F (m, r S ) with value triplets ⁇ F , m, r S.
  • FIG. 3 the method according to the invention is shown in a flow chart. It is set for each of the blades 1 of the blade lattice a nominal natural frequency ⁇ F, S 14, which has the blade 1 for the lowest frequency bending vibration of the blade 2 fixedly clamped blade 1 during normal operation of the turbomachine under a centrifugal force, such that the Vibration load of the blade lattice below the centrifugal force is below a tolerance limit.
  • This is achieved by having rotor blades adjacently arranged in the blade lattice having unequal nominal natural frequencies ⁇ F, S and that the nominal natural frequencies ⁇ F, S are different from the rotor rotational frequency during normal operation of the turbomachine up to and including 8 times the rotor rotational frequency.
  • An actual target adjustment 21 is performed by comparing ⁇ F, I with ⁇ F, S.
  • a value pair m S and r S, S is selected from the value table ⁇ F (m, r S ) such that ⁇ F, I an ⁇ F, S is at least approximated, and material is removed from the blade 1 such that m I and r S, I correspond to the value pair m S and r S, S.
  • a plurality of value pairs m S and r S, S are generally available in order to achieve a certain natural frequency ⁇ F, S. From the plurality of value pairs, a pair of values m S and r S, S can be selected such that the rotor of the turbomachine is balanced and / or that the effort for removal is minimal.
  • the removal 24 can be done for example by grinding.
  • the natural frequency ⁇ S, I of the blade 1 can be measured 20 at a standstill.
  • the blade 1 is clamped to its blade root 2, the vibration of the blade 1 is excited, for example by a beat, and the sound emitted by the blade 1 is measured.
  • the mass m and radial center of gravity r S of the blade 1 can be measured 19. With a particularly high accuracy, the control can be performed by both the natural frequency ⁇ S, I 20 and the mass m and radial Center of gravity r S 19 are measured.
  • optional process steps 22 may be performed on the blade 1, such as applying a coating. Subsequently, the blades 1 is installed in the blade grid 23rd

Claims (13)

  1. Procédé pour désaccorder une grille d'aubes mobiles d'une turbomachine ayant une pluralité d'aubes ( 1 ) mobiles comprenant les stades :
    a ) fixation ( 14 ) pour chacune des aubes ( 1 ) mobiles de la grille d'aubes mobiles d'au moins une fréquence νF,S, propre de consigne que l'aube ( 1 ) mobile a sous l'effet d'une force centrifuge pour au moins un mode de vibration déterminé à l'avance en fonctionnement normal de la turbomachine, de manière à ce que la sollicitation en vibration de la grille d'aubes mobiles sous la force centrifuge soit inférieure à une limite de tolérance ;
    b ) établissement ( 16 ) d'une table νF ( m, rS ) de valeurs ayant des valeurs m de masse et des positions rS de centre de gravité radiales discrètes sélectionnées qui proviennent de variations ( 6 à 9 ) de la géométrie ( 5 ) nominale des aubes ( 1 ) mobiles et détermination de la fréquence νF propre respective du mode de vibration défini à l'avance sous la force centrifuge pour chaque couple ( m, rS ) de valeurs sélectionnées.
    c ) mesure ( 19 ) de la masse mI et de la position rS, I radiale du centre de gravité de l'une des aubes ( 1 ) mobiles ;
    d ) détermination ( 17 d'une fréquence νF,I propre réelle de l'aube ( 1 ) mobile sous la force de gravité par interpolation de la masse m1 mesurée et la position rS, I radiale du centre de gravité mesurée dans la table νF ( m, rS ) de valeurs ;
    e ) dans le cas où νF, I est en dehors d'une plage de tolérance autour de νF, S, sélection dans la table νF ( m, rS) de valeurs d'un couple mS et rS,S de valeurs de manière à ce que νF, I au moins se rapproche de νF, S et enlèvement ( 24 ) de matière de l'aube ( 1 ) mobile de manière à ce que mI et rS,I correspondent au couple mS et rS,S de valeurs ;
    f ) répétition des stades c ) à e ) jusqu'à ce que νF, I soit dans la plage de tolérance autour de νF, S.
  2. Procédé suivant la revendication 1,
    dans lequel en plus du stade b ), on effectue un stade ( b1 ) ayant les caractéristiques suivantes :
    b1 ) établissement ( 16 ) d'une table νF ( m, rS) de valeurs ayant des valeurs m de masse et des positions rS radiales de centres de gravité discrètes sélectionnées, qui proviennent de variations ( 6 à 19 ) de la géométrie ( 5 ) nominale des aubes ( 1 ) mobiles,
    et détermination de la fréquence νS propre respective du mode de vibration déterminé à l'avance dans l'état de repos de l'aube ( 1 ) mobile pour chaque couple mS et rS,S de valeurs sélectionné,
    le stade f ) de la revendication 1 étant remplacé par les stades suivants :
    f ) dans le cas où on a enlevé de la matière, mesure ( 20 ) de la fréquence νS, I propre de l'aube ( 1 ) mobile à l'état de repos ;
    g ) répétition des stades e ) à f ) ou c ) à f ) jusqu'à ce que νF,I soit à l'intérieur de la plage de tolérance autour de νF,S et jusqu'à ce que νF,I soit à l'intérieur d'une plage de tolérance autour de νS,S correspondant à la plage de tolérance.
  3. Procédé suivant la revendication 1,
    dans lequel on choisit les modes de vibration déterminés à l'avance de manière à ce que les fréquences νF,S propres associées aux modes de vibration aient des fréquences égales ou plus basses qu'un harmonique multiple supérieur de la fréquence de rotation du rotor,
    notamment de l'harmonique huitième,
    dans lequel on établit ( 16 ) respectivement une table νF ( m, rS) de valeurs pour une pluralité ou pour tous les modes de vibration, on détermine la fréquence νF,I propre et réelle pour chaque table de valeurs et on sélectionne le couple mS et rS,S de valeurs de manière à ce que les νF,I déterminées se rapprochent au moins de la νF,S fixée.
  4. Procédé suivant la revendication 2,
    dans lequel on sélectionne les modes de vibration déterminés à l'avance de manière à ce que les fréquences νF,S propres, associées aux modes de vibration aient des fréquences égales ou inférieures à un harmonique supérieur de la fréquence de rotation du rotor, notamment à l'harmonique huitième,
    dans lequel, on établit ( 16 ) respectivement une table νF ( m, rS ) de valeurs et respectivement une table νS ( m, rS ) de valeur pour une pluralité ou pour tous les modes de vibration, on détermine ( 17 ) la fréquence νF,I propre réelle et la fréquence νS,I propre réelle pour chaque table de valeurs, on sélectionne le couple mS et rS,S de valeurs de manière à ce que les νF,I déterminées se rapprochent au moins des νF,S fixées, et on mesure ( 20 ) les fréquences νF,S propres pour les modes de vibration déterminés à l'avance.
  5. Procédé suivant l'une des revendications 1 à 4,
    dans lequel les variations ( 6 à 9 ) de la géométrie ( 5 ) nominale sont un épaississement et/ou un amincissement des aubes ( 1 ) mobiles dans chaque coupe radiale ou dans des coupes radiales.
  6. Procédé suivant l'une des revendications 1 à 5,
    dans lequel les variations ( 6 à 9 ) de la géométrie ( 5 ) nominale sont une variation ( 8, 9 ) linéaire de l'épaisseur des aubes ( 1 ) mobiles sur le rayon.
  7. Procédé suivant l'une des revendications 1 à 6,
    dans lequel on fixe la fréquence νF,S propre de consigne de manière à ce que des aubes mobiles voisines dans la grille d'aubes mobiles aient des fréquences νF, propres de consigne inégales et en ce que des fréquences νF, propres de consigne soient différentes de la fréquence de rotation du rotor en fonctionnement normal de la turbomachine jusqu'à y compris un harmonique supérieur de la fréquence de rotation du rotor, notamment de l'harmonique huitième de la fréquence de rotation du rotor.
  8. Procédé suivant l'une des revendications 1 à 7,
    dans lequel la mesure de la masse mI et de la position rS,I radiale du centre de gravité s'effectue relativement sous la forme d'une mesure de différence par rapport à une aube de référence, qui a été mesurée en trois dimensions, notamment au moyen d'un appareil de mesure des coordonnées et/ou au moyen d'un procédé optique.
  9. Procédé suivant l'une des revendications 1 à 8,
    dans lequel on sélectionne le couple mS et rS,S de valeurs de manière à diminuer le balourd du rotor et/ou à rendre minimum la dépense d'enlèvement.
  10. Procédé suivant l'une des revendications 1 à 9,
    dans lequel on sélectionne des modes de vibration déterminés à l'avance de manière à ce que la fréquence νF,S propre des modes de vibration déterminés à l'avance soit égale ou plus basse qu'un harmonique supérieur de la fréquence de rotation du rotor, notamment que l'harmonique huitième de la fréquence de rotation du rotor.
  11. Procédé suivant l'une des revendications 1 à 10,
    dans lequel on détermine, par le calcul, les fréquences νF et/ou νI propres,
    notamment au moyen d'une méthode aux éléments finis.
  12. Procédé suivant l'une des revendications 2, 4 à 11,
    dans lequel, lors de la mesure de la fréquence νS,I propre, on bloque l'aube ( 1 ) mobile sur son emplanture ( 2 ), on excite la vibration de l'aube ( 1 ) mobile et on la mesure.
  13. Procédé suivant l'une des revendications 2, 4 à 12,
    dans lequel, au moyen d'une comparaison entre la fréquence νS,I propre mesurée et une fréquence propre réelle déterminée par interpolation de mI et rS,I dans la table νS ( m, rS ) de valeur, on effectue une adaptation du modèle pour la détermination des fréquences νF et νS propres.
EP14702486.3A 2013-02-05 2014-01-23 Procédé de désaccordage d'une matrice d'aube directrice Not-in-force EP2912272B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PL14702486T PL2912272T3 (pl) 2013-02-05 2014-01-23 Sposób przestrajania kratki łopat wirnika
EP14702486.3A EP2912272B1 (fr) 2013-02-05 2014-01-23 Procédé de désaccordage d'une matrice d'aube directrice

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP13153956.1A EP2762678A1 (fr) 2013-02-05 2013-02-05 Procédé de désaccordage d'une matrice d'aube directrice
EP14702486.3A EP2912272B1 (fr) 2013-02-05 2014-01-23 Procédé de désaccordage d'une matrice d'aube directrice
PCT/EP2014/051322 WO2014122028A1 (fr) 2013-02-05 2014-01-23 Procédé permettant de modifier les fréquences au sein d'un ensemble d'aubes mobiles

Publications (2)

Publication Number Publication Date
EP2912272A1 EP2912272A1 (fr) 2015-09-02
EP2912272B1 true EP2912272B1 (fr) 2016-11-02

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EP13153956.1A Withdrawn EP2762678A1 (fr) 2013-02-05 2013-02-05 Procédé de désaccordage d'une matrice d'aube directrice
EP14702486.3A Not-in-force EP2912272B1 (fr) 2013-02-05 2014-01-23 Procédé de désaccordage d'une matrice d'aube directrice

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EP13153956.1A Withdrawn EP2762678A1 (fr) 2013-02-05 2013-02-05 Procédé de désaccordage d'une matrice d'aube directrice

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US (1) US9835034B2 (fr)
EP (2) EP2762678A1 (fr)
JP (1) JP6054550B2 (fr)
KR (1) KR20150112989A (fr)
CN (1) CN104968894B (fr)
PL (1) PL2912272T3 (fr)
WO (1) WO2014122028A1 (fr)

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EP3187685A1 (fr) * 2015-12-28 2017-07-05 Siemens Aktiengesellschaft Procede de fabrication d'un corps de base d'un aube de turbine
EP3239460A1 (fr) * 2016-04-27 2017-11-01 Siemens Aktiengesellschaft Procede de profilage d'aubes d'une turbomachine axiale
DE102017113998A1 (de) 2017-06-23 2018-12-27 Rolls-Royce Deutschland Ltd & Co Kg Verfahren zur Erzeugung und Auswahl eines Verstimmungsmusters eines eine Mehrzahl von Laufschaufeln aufweisenden Laufrads einer Strömungsmaschine

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JP5725849B2 (ja) 2010-12-27 2015-05-27 三菱日立パワーシステムズ株式会社 固定治具

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JP6054550B2 (ja) 2016-12-27
JP2016507023A (ja) 2016-03-07
US20160010461A1 (en) 2016-01-14
CN104968894B (zh) 2016-11-09
US9835034B2 (en) 2017-12-05
CN104968894A (zh) 2015-10-07
EP2762678A1 (fr) 2014-08-06
PL2912272T3 (pl) 2017-04-28
WO2014122028A1 (fr) 2014-08-14
EP2912272A1 (fr) 2015-09-02
KR20150112989A (ko) 2015-10-07

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