EP3391520A1 - Voltage converter, electric drive system and method for reducing interference voltages - Google Patents
Voltage converter, electric drive system and method for reducing interference voltagesInfo
- Publication number
- EP3391520A1 EP3391520A1 EP16802054.3A EP16802054A EP3391520A1 EP 3391520 A1 EP3391520 A1 EP 3391520A1 EP 16802054 A EP16802054 A EP 16802054A EP 3391520 A1 EP3391520 A1 EP 3391520A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- inverter
- capacitor
- terminal
- voltage source
- input
- 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- Withdrawn
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/12—Arrangements for reducing harmonics from ac input or output
- H02M1/126—Arrangements for reducing harmonics from ac input or output using passive filters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/003—Constructional details, e.g. physical layout, assembly, wiring or busbar connections
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0083—Converters characterised by their input or output configuration
- H02M1/009—Converters characterised by their input or output configuration having two or more independently controlled outputs
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/12—Arrangements for reducing harmonics from ac input or output
- H02M1/123—Suppression of common mode voltage or current
Definitions
- the present invention relates to a voltage converter and an electric drive system with a voltage converter and a method for
- the present invention relates to the reduction of noise from a voltage converter.
- German patent application DE 41 07 391 AI discloses an electric vehicle with a battery powered inverter, in particular with a
- Pulse inverter A three-phase traction motor of an electric vehicle is powered by an inverter.
- the inverter gets its energy from a battery.
- Pulse inverters can cause common mode noise at a capacitive load, such as occur by stray capacitances in a connected electrical machine. In this case, it is desirable to reduce the interference voltage spectrum emitted in the vicinity of an electrical machine in order, for example, to receive the radio, in particular in the
- Pulse inverter and electrical machine to integrate a common mode choke Since the connected electrical machines are usually multiphase machines, such a common mode choke must include all connecting cables. Filter structures are also known which partially reduce the noise cancellation due to power electronics switching operations via the electric motor. Interference currents and interference voltages are caused by parasitic capacitances from the motor windings to the motor housing and to the motor rotor. On the one hand, the filter structures have a positive effect because the interference voltage on the rotor
- Capacitors are limited, filter resonance points are damped and additional negative effects on other emission problems and measuring methods are reduced.
- the present invention according to a first aspect provides a voltage converter with the features of independent patent claim 1.
- the present invention provides a voltage converter having an inverter and a reactor, in particular a current-compensated reactor.
- the inverter includes a two-phase DC input.
- the DC voltage input is connectable to a DC voltage source.
- the inverter comprises a multiphase AC voltage output.
- the AC voltage output may have at least three phase connections.
- the AC output can be connected to a consumer.
- the throttle the voltage converter is arranged between the DC voltage input of the inverter and the DC voltage source.
- the DC input of the inverter includes a first one
- the choke of the voltage converter further comprises a first winding and a second winding.
- the first winding of the throttle is between the first port of the
- the second winding of the choke is between the second terminal of the DC input of
- Inverter and a second terminal of the DC voltage source arranged. Furthermore, between the choke and the DC voltage source, a first capacitor is arranged, which on one side with the current path between the first terminal of the DC voltage source and the first winding of the inductor and on the other side with an additional
- a second capacitor is arranged, which is connected on one side with the current path between the second terminal of the DC voltage source and the second winding of the inductor and on the other side with the additional current conductor.
- the AC output of the inverter includes a plurality of phase terminals.
- a capacitor is arranged between the additional conductor and each phase connection of the inverter. At the phase connections a multiphase consumer can be connected.
- the additional conductor consists of an electrically conductive material and is a low-resistance electrical connection of the second terminals of the suppression capacitors. Compared to other electrically conductive connections or housings, the additional current conductor is insulated.
- Inverter to be isolated and filtered locally on the additional conductor.
- the disturbances are not connected to the housing of the voltage converter, one DC power source, a connected load or the electrical ground connection, for example. An electrically powered vehicle transmitted.
- the structure of the filter thus consists on the DC side of a choke between the inverter and a first and a second capacitor, in particular x-capacitors with center tap.
- the structure of the filter on the DC voltage side consists in particular of a throttle between a DC link capacitor and the first and the second capacitor.
- the two capacitors lead to an additional current conductor.
- the center tap between the DC voltage conductors is realized capacitively.
- Capacitance values of the two capacitors are generally the same. Depending on the application, however, capacitance values of the capacitors of different sizes are possible, in particular in the case of asymmetrical ones
- the filter On the AC side or motor side of the inverter consists of the filter, in particular small, capacitors, in particular
- the present invention provides a method for reducing interference voltages having the features of the independent patent claim 7. Accordingly, the present invention provides a method for reducing
- DC voltage source and a first winding of the throttle and on the other side is connected to an additional power conductor and the
- the throttle required for this purpose is provided on the DC side of the inverter between the inverter and a first and second input-side capacitor.
- the first and second capacitors are each between an additional conductor and a terminal of the
- An optional DC link capacitor can be placed between the two input terminals of the inverter and the choke.
- the voltage converter according to the invention thus enables a simple and cost-effective suppression of interference.
- Capacitors are connected on one side of the phase terminals of the inverter, the filtered interference advantageously not back to the Strukur (for example, ground plate or vehicle structure) but on a separate path to the source of interference (power electronics, in particular the inverter) around. This prevents the negative side effects described above.
- Another advantage is that the three inserted
- Capacitors on the three phases of the electric machine are no longer against the housing, or reference potential, are guided. As a result, a lower dielectric strength is sufficient. Accordingly, the components can be chosen cheaper and smaller and also be designed as a ceramic component instead of a film component.
- Capacitor and resistor and / or inductance thus form an RC or RCL element. In this way, it is possible to attenuate the interference voltage spectrum emitted by the inverter specifically for a given frequency range. By introducing the electrical / ohmic resistors of the decoupled common mode current can be minimized.
- capacitors or the RC or RCL members can be arranged on the consumer side in the vicinity of the terminals of the consumer.
- the voltage converter further comprises an intermediate circuit capacitor. This DC link capacitor is between the first terminal and the second terminal of the
- the method comprises a step for arranging in each case a capacitor or a series circuit of capacitor and
- the present invention provides an electric drive system with a DC voltage source, an electric motor and a voltage converter according to the invention.
- FIG. 1 shows a schematic representation of an electric drive system with a voltage converter according to an embodiment
- FIG. 2 shows a schematic representation of an electric drive system with a voltage converter according to a further embodiment
- Figure 3 a schematic representation of a flow chart, as it
- a method for reducing interference voltages according to one embodiment is based.
- FIG. 1 shows a schematic representation of an electric drive system according to an embodiment.
- the electric drive system comprises a DC voltage source 2, an electrical load 3 and a
- the electric drive system may optionally include other components as needed.
- the electric drive system may optionally include other components as needed.
- the DC voltage source 2 may be, for example, a battery.
- the traction battery of an electric vehicle is possible, for example, as a DC voltage source 2.
- the DC voltage source 2 may be, for example, a battery.
- the electrical consumer 3 may, as shown here, for example, be a three-phase electric motor. As an electrical consumer 3, for example, any electric motors are possible. In particular, the electric motor 3 may be an asynchronous machine or a synchronous machine. The number of three electrical phases for the electrical load 3 shown here is likewise to be understood only as an example. In addition, any electric motors, or also any other electrical consumers possible, which have one of three different number of phases. In particular, electrical consumers with six phases are possible. Even if the electric drive system will be described below in that a voltage converter 1 of a
- the DC power source 2 is fed and the inverter 1 is connected at the output to an electrical load 3, the drive system may also optionally in a further operating mode and electrical energy, which is provided by the electric motor in a generator mode, through the inverter 1 in a Reshape DC.
- This DC voltage can then be fed to the DC voltage source 2, for example, to charge a battery in this way.
- the voltage converter 1 in this case comprises an inverter 10.
- Inverter 10 may be, for example, a pulse-controlled inverter (PWR).
- PWR pulse-controlled inverter
- Pulse inverters however, is known, so that the structure here does not need to be described in detail.
- the inverter 10 On the DC side, the inverter 10 has a two-phase
- DC input 100 is connected to a terminal 21 of the
- DC input 110 of the inverter 10 is connected to a further terminal 22 of the DC voltage source 2.
- DC voltage source 2 and the inverter 10 includes the
- the choke 11 includes two windings IIa and IIb.
- a first winding IIa of the choke 11 is in this case between the first terminal 21 of the DC voltage source 2 and the first terminal 111 of the inverter 10 is arranged.
- the second winding IIb of the inductor 11 is arranged between the second terminal 22 of the DC voltage source 2 and the second terminal 112 of the DC input 110 of the inverter 10.
- DC link capacitor 12 include. This DC link capacitor 12 is connected to a connection with the current path between the first winding IIa of the throttle 11 and the first terminal 111 of the
- the other terminal of the DC link capacitor 12 is connected to the current path between the second winding IIb of the reactor 11 and the second terminal 112 of the DC input 110 of the inverter 10.
- the voltage converter 1 between the reactor 11 and the DC power source 2 includes first and second capacitors 13-1 and 13-2.
- the first capacitor 13-1 is connected on one side to the current path between the first terminal 21 of the DC voltage source and the first winding IIa of the reactor 11.
- the other terminal of the first capacitor 13-1 is connected to an additional current conductor 16.
- a second capacitor 13-2 is connected on the one side to a current path between the second terminal 22 of the DC voltage source 2 and the second winding IIb of the reactor 11.
- the other terminal of this second capacitor 13-2 is also connected to the additional current conductor 16.
- the voltage converter 1 can be connected to the DC voltage source 2 via a suitable cable connection 20.
- the inverter 10 of the voltage converter 1 On the output side of the inverter 10 of the voltage converter 1, the inverter 10 provides a multiphase AC voltage at an AC output 120.
- the three-phase alternating voltage output shown here is only an example understand.
- AC output 120 three connections 121, 122 and 123. Each of these
- Terminals 121 to 123 is connected to a corresponding terminal of the electrical load 3. Again, between the
- Voltage converter 1 and the electrical load 3 may be provided a suitable cable connection 30.
- this ground line 40 connects the housing of the DC voltage source 2, the connected consumer 3, the
- an output-side capacitor 14-1, 14-2 and 14-3 is provided in each case.
- a first terminal of a first capacitor 14-1 is electrically connected to a current path between the first terminal 121 of FIG.
- the other terminal of the first capacitor 14-1 is electrically connected to the additional current conductor 16.
- the second capacitor 14-2 with the current path between the second terminal 122 of the AC output 120 and the second phase terminal of the electrical load 3 on the one
- a third capacitor 14-3 is also connected to the current path between the third terminal 123 of the AC output 120 and the third one
- AC output 120 can be arranged, for example, together with the inverter 110 in a common power module.
- the inverter 10 and the capacitors 14-i for example, on a common carrier substrate.
- the capacitors 14-i disposed between the terminals 121, 122 and 123 at the AC voltage terminal 120 of the inverter 10 and the additional current conductor 16 may also be arranged together with the electrical load 3 together in one unit.
- the capacitors 14-i can be arranged at the connection terminals of the electrical load 3.
- FIG. 2 shows a further embodiment of an electric drive system with a voltage converter 1 according to an embodiment.
- Embodiment is largely identical to the embodiment described above.
- the two embodiments differ only in that in the embodiment of Figure 2 instead of the capacitors 14-i between the terminals 121, 122 and 123 of the
- AC output 120 and the additional current conductor 16 is now a series circuit of a respective capacitor 14-i and a
- electrical / ohmic resistor 15-1, 15-2, 15-3 and / or an inductance 17-1, 17-2, 17-3 is provided. It is irrelevant whether the electrical resistors 15-i and / or the inductors 17-i are arranged between the additional current conductor 16 and the corresponding capacitors 14-i, or alternatively, the resistors and / or the inductances between the capacitors 14-i. i and the individual terminals 121, 122 and 123 of the AC output 120 are arranged and thus all three
- Capacitors 14-i are connected on one side with the common additional current conductor 16.
- Each series connection of a resistor 15-i and / or an inductance 17-i and the corresponding capacitor 14-i thus forms an RC or RCL element.
- the additional ohmic resistors 15-i serve as Damping resistors.
- the additional inductances 17-i are used for frequency-specific tuning of the filter.
- the individual RC or RCL members can be optimized for filtering a predetermined frequency range, for suppressing resonance and / or for limiting the current.
- a frequency range to be filtered for example, a
- Frequency band for radio reception for example, in the medium wave band to be selected.
- the additionally introduced resistors 15-i and / or inductors 17-i thereby enable a minimization of the additionally decoupled common-mode current and a damping of the interference voltage spectrum emitted by the inverter 10, in particular for a specifically predetermined frequency range.
- the resistors 15-i and / or inductors 17-i or the RC or RCL members from the series connection of the resistors 15-i and / or inductors 17-i and the capacitors 14-i together with the
- Components of the inverter 10 arranged in a common power module, so a particularly efficient structure is possible in this case.
- the RC or RCL elements from the resistors 14-i and 15-i or 17-i can also be arranged in the electrical load 3 here.
- inductors 17-i or as capacitors 14-i in principle any desired embodiments can be selected.
- ceramic S MD capacitors and SMD chip resistors are possible.
- DC input of the inverter 10 can be used for any applications.
- electric current of the inverter 10 can be used for any applications.
- electric current of the inverter 10 can be used for any applications.
- electric current of the inverter 10 can be used for any applications.
- electric current of the inverter 10 can be used for any applications.
- electric current of the inverter 10 can be used for any applications.
- electric current of the inverter 10 can be used for any applications. For example, electric
- FIG. 3 shows a schematic representation of a flowchart for a
- step Sl becomes
- Inverter 10 is provided with a two-phase DC input 110 and a multi-phase AC output 120. In step S2, this provided inverter 10 is connected to the DC input
- step S3 is between a
- additional current conductor 16 and a respective phase connection 121, 122, 123 of the polyphase AC output 120 of the inverter each have a capacitor 14-i or alternatively a series circuit of a capacitor 14-i and an electrical resistance 15-i and / or an inductance 17-i arranged and a first capacitor 13-1 arranged on one side with a current path between a first terminal 21 of the
- DC voltage source 2 and a first winding IIa of the throttle 11 and on the other side is connected to the additional current conductor 16, and a second capacitor 13-2 arranged on the one side with a
- the present invention relates to a cost effective and efficient suppression of noise from an inverter.
- an inductor in particular a current-compensated inductor, is provided on the input side of an inverter, in particular a pulse inverter.
- This throttle is preferably arranged between a DC voltage source and a DC link capacitor of the inverter.
- Inverter omitted. Further, by the provision of an additional conductor, with which a first and second capacitor between the inductor and the DC voltage source and capacitors to the
- Phase connections of the inverter are unilaterally connected, the filtered
- Ground line or ground plate or vehicle structure back but on a separate path to the source of interference (power electronics, in particular the inverter) passed around.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Inverter Devices (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015225095.4A DE102015225095A1 (en) | 2015-12-14 | 2015-12-14 | Voltage converter, electric drive system and method for reducing interference voltages |
PCT/EP2016/079014 WO2017102296A1 (en) | 2015-12-14 | 2016-11-28 | Voltage converter, electric drive system and method for reducing interference voltages |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3391520A1 true EP3391520A1 (en) | 2018-10-24 |
Family
ID=57421851
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16802054.3A Withdrawn EP3391520A1 (en) | 2015-12-14 | 2016-11-28 | Voltage converter, electric drive system and method for reducing interference voltages |
Country Status (5)
Country | Link |
---|---|
US (1) | US10700591B2 (en) |
EP (1) | EP3391520A1 (en) |
CN (1) | CN108450046A (en) |
DE (1) | DE102015225095A1 (en) |
WO (1) | WO2017102296A1 (en) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102016001196B4 (en) * | 2016-02-03 | 2018-05-30 | Audi Ag | Circuit arrangement and electrical system for a motor vehicle |
DE102018204090A1 (en) * | 2018-03-16 | 2019-09-19 | Schmidhauser Ag | Filter unit and frequency converter |
US11012001B2 (en) * | 2018-03-28 | 2021-05-18 | James A. Allen, JR. | Transformer-less, tapped point AC voltage splitter for full bridge DC AC inverters |
EP3915187A1 (en) * | 2019-01-21 | 2021-12-01 | Sew-Eurodrive GmbH & Co. KG | Drive system having a first converter and at least one second converter |
DE102021203875A1 (en) * | 2021-04-19 | 2022-10-20 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung eingetragener Verein | converter circuit |
DE102021113386A1 (en) * | 2021-05-25 | 2022-12-01 | Bayerische Motoren Werke Aktiengesellschaft | Compensation network, system, electric machine and vehicle |
US20240227581A1 (en) * | 2023-01-11 | 2024-07-11 | Ford Global Technologies, Llc | Contained package for automotive inverter and y-snubber components |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4107391A1 (en) | 1991-03-08 | 1992-09-10 | Abb Patent Gmbh | Electric road vehicle with rechargeable battery - has DC=AC converter acting as DC regulator during battery recharging |
US5345375A (en) * | 1991-12-16 | 1994-09-06 | Regents Of The University Of Minnesota | System and method for reducing harmonic currents by current injection |
US7474081B2 (en) * | 2005-01-27 | 2009-01-06 | General Electric Company | AC/DC converter and method of modulation thereof |
US8115444B2 (en) | 2006-05-31 | 2012-02-14 | Honeywell International, Inc. | Common mode filter for motor controllers |
US9067483B2 (en) * | 2008-10-21 | 2015-06-30 | Maurice W. Raynor | Electric vechicle drive mechanism for driving multiple alternators |
TWI454028B (en) | 2010-01-13 | 2014-09-21 | Toshiba Kk | System interconnection converter |
US9391538B2 (en) * | 2011-09-21 | 2016-07-12 | Princeton Power Systems, Inc. | Switched power converter |
DE102012005622B4 (en) | 2012-03-22 | 2022-03-10 | Sew-Eurodrive Gmbh & Co Kg | circuit arrangement |
CN104811071A (en) | 2015-04-21 | 2015-07-29 | 山东大学 | Photovoltaic inverter and passive decoupling restraining method based on non-isolated LCL filtering |
DE102015215898A1 (en) | 2015-08-20 | 2017-02-23 | Robert Bosch Gmbh | Voltage converter, electric drive system and method for reducing interference voltages |
-
2015
- 2015-12-14 DE DE102015225095.4A patent/DE102015225095A1/en not_active Withdrawn
-
2016
- 2016-11-28 WO PCT/EP2016/079014 patent/WO2017102296A1/en unknown
- 2016-11-28 EP EP16802054.3A patent/EP3391520A1/en not_active Withdrawn
- 2016-11-28 US US16/062,169 patent/US10700591B2/en active Active
- 2016-11-28 CN CN201680073130.5A patent/CN108450046A/en active Pending
Also Published As
Publication number | Publication date |
---|---|
US10700591B2 (en) | 2020-06-30 |
WO2017102296A1 (en) | 2017-06-22 |
US20180367025A1 (en) | 2018-12-20 |
DE102015225095A1 (en) | 2017-06-14 |
CN108450046A (en) | 2018-08-24 |
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