EP4115511A1 - Converter assembly - Google Patents
Converter assemblyInfo
- Publication number
- EP4115511A1 EP4115511A1 EP21712402.3A EP21712402A EP4115511A1 EP 4115511 A1 EP4115511 A1 EP 4115511A1 EP 21712402 A EP21712402 A EP 21712402A EP 4115511 A1 EP4115511 A1 EP 4115511A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- arrangement according
- converter arrangement
- filter stage
- chokes
- phase
- 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.)
- Pending
Links
- 239000003990 capacitor Substances 0.000 claims abstract description 44
- 238000004804 winding Methods 0.000 claims abstract description 19
- 238000013016 damping Methods 0.000 claims abstract description 3
- 230000002457 bidirectional effect Effects 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 claims description 3
- 239000000446 fuel Substances 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 6
- 239000004020 conductor Substances 0.000 description 4
- 239000004065 semiconductor Substances 0.000 description 4
- 230000007935 neutral effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000035699 permeability Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000010363 phase shift Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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
- H02M1/14—Arrangements for reducing ripples from dc input or output
- H02M1/15—Arrangements for reducing ripples from dc input or output using active elements
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05F—SYSTEMS FOR REGULATING ELECTRIC OR MAGNETIC VARIABLES
- G05F1/00—Automatic systems in which deviations of an electric quantity from one or more predetermined values are detected at the output of the system and fed back to a device within the system to restore the detected quantity to its predetermined value or values, i.e. retroactive systems
- G05F1/10—Regulating voltage or current
- G05F1/12—Regulating voltage or current wherein the variable actually regulated by the final control device is ac
- G05F1/24—Regulating voltage or current wherein the variable actually regulated by the final control device is ac using bucking or boosting transformers as final control devices
- G05F1/253—Regulating voltage or current wherein the variable actually regulated by the final control device is ac using bucking or boosting transformers as final control devices the transformers including plural windings in series between source and load
-
- 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
-
- 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
- H02M7/42—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
- H02M7/493—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 the static converters being arranged for operation in parallel
-
- 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
- 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
- H02M7/53871—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 with automatic control of output voltage or current
-
- 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
- H02M1/0043—Converters switched with a phase shift, i.e. interleaved
Definitions
- the invention relates to a converter arrangement for converting a direct voltage from a direct voltage source, for example a battery, a fuel cell or a direct voltage intermediate circuit, into an N-phase alternating voltage or vice versa.
- a direct voltage source for example a battery, a fuel cell or a direct voltage intermediate circuit
- Converter arrangements are known in principle from the prior art. These usually use switched inverters with semiconductor bridge circuits that use a modulation method, for example pulse width modulation (PWM), to simulate a sinusoidal alternating voltage from short high-frequency pulses (a few kHz to over 20 kHz). Such inverters are also referred to as sine wave inverters.
- PWM pulse width modulation
- the semiconductor switches switch the DC voltage on and off at a high frequency; the mean value of the high-frequency, pulse-width-modulated switching frequency is the output alternating voltage.
- the output alternating voltage is thus composed of small pulses of different widths and thus approximates a normal network sinusoidal voltage curve.
- an island network with polyphase alternating voltage can be made available from a direct voltage source, usually a battery, for example in the form of an uninterruptible power supply (UPS).
- UPS uninterruptible power supply
- the converter arrangements are usually too large to be arranged, for example, directly on an electrical load machine to be driven on the test stand (e.g. a dynamometer). As a result, longer electrical leads are required.
- the high-frequency switching processes of the pulse width modulation can cause high-frequency interference in a DC voltage intermediate circuit of the test stand, and possibly also ripple currents in a power line or a connected electrical machine.
- EMC line filters are known to avoid this high-frequency interference. In the prior art, these are arranged in the phases of the AC voltage network. Such line filters are, however, due to the LC used Components are relatively large and thus make a compact design of the converter arrangement more difficult.
- the generation of high-frequency interference should be avoided or reduced to a minimum.
- a converter arrangement according to the invention is designed to convert a direct voltage into an N-phase alternating voltage or vice versa.
- the DC voltage can be provided by a DC voltage source, for example a battery, a fuel cell or a DC voltage intermediate circuit, and the AC voltage can be designed to supply an N-phase electrical machine.
- a DC voltage source for example a battery, a fuel cell or a DC voltage intermediate circuit
- the AC voltage can be designed to supply an N-phase electrical machine.
- the converter arrangement comprises a switched inverter unit which has a number M electronically controllable ground bridges for at least one, but preferably each of the N phases, M being greater than one.
- a control unit that controls the flagstones is designed to activate the half-bridges in a phase-shifted or time-shifted manner with an essentially identical switching frequency fr.
- the phases are each connected to a winding of a common-mode choke with a common magnetic core.
- the outputs of the half bridges which supply the same phase, are connected together via interleaving chokes.
- those M half bridges that are provided for supplying one of the N phases are interconnected on a common iron core via M interleaving chokes.
- the interleaving chokes are preferably current-compensated chokes, that is, the windings are arranged in opposite directions on a common core.
- a first LC filter stage and a second LC filter stage are provided to divert high-frequency interference.
- the first LC filter stage is formed by the interleaving chokes and a resistor-damped capacitor circuit.
- the second LC filter stage is formed by the common mode choke and a resistor-damped capacitor circuit.
- the first LC filter stage by the interleaving chokes and a first resistance-damped capacitor circuit is formed, and the second LC filter stage is formed by the common mode choke and a separate second resistor-damped capacitor circuit.
- the first capacitor circuit is arranged at the output of the interleaving chokes, that is to say between the interleaving chokes and the common-mode choke, and the second capacitor circuit is arranged at the output of the common-mode choke.
- the first LC filter stage is formed by the interleaving chokes and a combined resistor-damped capacitor circuit
- the second LC filter stage is formed by the common-mode choke and this combined resistor-damped capacitor circuit.
- only one resistor-damped capacitor circuit is provided for both LC filter stages; the combined capacitor circuit is arranged in this case between the interleaving chokes and the common mode choke.
- the interleaving chokes and common-mode chokes are dimensioned according to the invention in such a way that they divert interference that occurs due to the switched inverter.
- the inductances not required per se in the longitudinal direction that is to say the longitudinal reactance of the interleaving chokes or the leakage reactance of the common-mode chokes, are dimensioned in such a way that the desired filter effect is obtained.
- EMC filters such as DIN EN 55011 and DIN EN 61000.
- the first LC filter stage and the second LC filter stage are dimensioned in such a way that a total harmonic content (distortion factor) of 3% is not exceeded in each phase.
- the cutoff frequency of the first LC filter stage differs from the cutoff frequency of the second LC filter stage.
- the cutoff frequency of the first LC filter stage can be smaller than the cutoff frequency of the second LC filter stage.
- the cutoff frequency of one, preferably the first, LC filter stage is in the range of the M times the switching frequency fr, preferably in the range from about 0.8 x M x fT to 1.2 x M x fT.
- the cutoff frequency of one, preferably the second, LC filter stage is in the range of a multiple of the M-fold switching frequency fr, approximately in the range of 1 x M x ⁇ t, preferably 4 x M x fr to 10 x M x fr or above.
- this filter stage ensures the efficient derivation of harmonics of the switching frequency.
- the number of ground bridges per phase M can be two, three, four or even higher.
- the capacitor circuits used for the filter stages can be formed in the form of a star connection of at least N capacitors between the N phases. This means that a capacitor and a resistor connected in parallel are provided for each of the N phases and are arranged in a star connection with one another.
- the first capacitor circuit can have a capacitance of approximately 30 pF per phase.
- the second capacitor circuit can have a capacitance of approximately 11 pF per phase. However, these values depend on the desired area of application.
- the direct voltage is approximately 850 V and the inverter unit is designed to generate a 3-phase mains voltage with an amplitude of 400 V and a phase current of 630 A at a frequency of 50 Hz, or with an amplitude of 480 V and a phase current of 525 A at a frequency of 60 Hz.
- the windings of the common mode chokes can each have about 4 turns.
- the ratio of the inductance (longitudinal inductance) of the common-mode chokes to their leakage inductance can be around 200 or more.
- the windings of the common mode chokes can each have an inductance of about 1.8 mH and a leakage inductance of about 3.5 pH at a frequency of about 48 kHz.
- other values are also provided according to the invention.
- the interleaving chokes can be designed as current-compensated chokes, that is, their windings run in opposite directions on a common core.
- the interleaving chokes can in particular be designed in such a way that they do not have a bifilar winding, so that the longitudinal and transversal reactance can be set separately from one another.
- the ratio of the longitudinal inductance to the transverse inductance of the interleaving chokes can be in a range from approximately 100 to approximately 10,000.
- the interleaving chokes can in particular have a longitudinal inductance of approximately 7.5 pH and a transverse inductance of approximately 1.94 mH.
- the invention also extends to an active network converter, comprising a converter arrangement according to the invention with an AC side (network side) and a DC side (direct voltage side).
- the network converter can in particular be designed to be bidirectional, that is to say allow power flow in both directions.
- the invention also extends to an industrial application, for example a test stand, an island network or a production line, with such an active network converter, which is designed in particular for bidirectional operation for providing and receiving electrical power.
- FIG. 1a-1c show exemplary embodiments of converter arrangements according to the invention.
- a direct voltage source for example a battery, a fuel cell or a direct voltage intermediate circuit
- a switched inverter unit 1 is provided for this purpose.
- the ground bridges each comprise two electronically switchable ground conductor switches which are connected to an electronic control unit 3.
- the semiconductor switches are designed as SiC switches and have a high dielectric strength.
- the control unit 3 switches the semiconductor switches in a pulse width modulation method with a frequency of about 33 kFIz in order to be able to form the most ideal sinusoidal shape for each of the phases.
- the control unit 3 is designed to activate those half-bridge pairs which supply the same phase with a phase shift in such a way that the current of this phase is divided essentially equally between the two half-bridges.
- the control unit 3 first activates the first half bridge 2 for a certain period ton and then the half bridge 2 'for an identical period ton. This halves the power transmitted per half bridge and doubles the frequency of the PWM process per phase. As a result, the ripple in the output current decreases and disruptive repercussions in the DC voltage intermediate circuit are also reduced.
- the outputs of two half bridges each, which supply the same phase are interconnected via interleaving chokes 4, 4 ', 4a, 4a', 4b, 4b '.
- the interleaving chokes are current-compensated and wound on a common iron core for each phase. This enables particularly ripple-free operation of the converter arrangement.
- the phases L1, L2, L3 are each connected to a winding 5, 5 ‘, 5 ′′ of a common mode choke 10 with a common magnetic core in order to dampen electrical common-mode interference. This compensates for common-mode interference in the phases.
- a first resistance-damped capacitor circuit 6 is provided, which forms a first LC filter stage 8 in cooperation with the leakage reactance (transversal reactance) of the interleaving chokes.
- a second resistor-damped capacitor circuit 7 is provided which, in cooperation with the leakage reactance (transverse reactance) of the windings 5, 5', 5" of the common-mode choke 10, creates a second LC filter stage 9 forms.
- the first and the second capacitor circuit each comprise capacitors arranged in a star connection and provided with parallel resistors; the star point of the second capacitor circuit 7 can be grounded via a PEN or PE connection.
- a damping resistor is arranged between the center point of the DC voltage intermediate circuit and the star point of the second capacitor circuit 7.
- the intermediate circuit is thus stabilized with regard to common-mode interference (capacitively linked to PEN), and the common-mode interference then only develops in the form of an alternating signal at the star point of the first capacitor circuit
- the converter arrangement is designed for a direct voltage of approximately 850 V
- the inverter unit 1 is designed to generate a 3-phase line voltage with an amplitude of 400 V and a phase current of 630 A at a frequency of 50 Hz.
- the DC voltage Vdc in the DC voltage intermediate circuit is stabilized symmetrically with respect to the ground potential (not shown), for example +420 V / -420 V. This reduces ground currents and insulation stresses in downstream units.
- the inductance of each individual winding is about 500 pH, the coupling factor 0.97, the longitudinal inductance about 7.5 pH and the transverse inductance about 1.94 mH.
- the assigned first capacitor circuit 6 has a capacitance of approximately 30 pF per phase, so that the cutoff frequency of the low-pass filter formed by the first filter arrangement 8 assumes a value of approximately 67 kHz: 66.67 kHz
- the common-mode chokes 5, 5 ′, 5 ′′ each comprise approximately 4 turns on a nanocrystalline cut ribbon core with high relative magnetic permeability (pr of approximately 40,000) and a core cross-section of approximately 14 cm 2 .
- the inductance of each individual winding is about 1.8 mH; the leakage reactance is about 3.5 pH at a frequency of about 48 kHz.
- the assigned second capacitor circuit 7 has a capacitance of approximately 11 pF per phase, so that the Cutoff frequency of the low-pass filter formed by the second filter arrangement 9 assumes a value of approximately 161 kHz: 161.16 kHz
- this exemplary embodiment corresponds to the exemplary embodiment according to FIG. 1a.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ATA50173/2020A AT523576A1 (en) | 2020-03-05 | 2020-03-05 | Converter arrangement |
PCT/AT2021/060079 WO2021174280A1 (en) | 2020-03-05 | 2021-03-05 | Converter assembly |
Publications (1)
Publication Number | Publication Date |
---|---|
EP4115511A1 true EP4115511A1 (en) | 2023-01-11 |
Family
ID=74884759
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP21712402.3A Pending EP4115511A1 (en) | 2020-03-05 | 2021-03-05 | Converter assembly |
Country Status (7)
Country | Link |
---|---|
US (1) | US11863085B2 (en) |
EP (1) | EP4115511A1 (en) |
JP (1) | JP2023516599A (en) |
KR (1) | KR20220151642A (en) |
CN (1) | CN115211010A (en) |
AT (1) | AT523576A1 (en) |
WO (1) | WO2021174280A1 (en) |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE29800567U1 (en) * | 1998-01-14 | 1998-04-09 | Siemens Ag | Damping filter arrangement for converters with regulated voltage intermediate circuit and sinusoidal phase currents |
DE20222013U1 (en) * | 2002-06-07 | 2010-11-04 | Epcos Ag | Current-compensated choke and circuit arrangement with the current-compensated choke |
DE102008026870A1 (en) * | 2008-06-05 | 2009-12-10 | Siemens Aktiengesellschaft | Voltage intermediate circuit converter, has capacitor network with star points that are linked with connection of coils of throttle which is linked with direct current voltage-sided connections of network-sided inverter |
US8270191B2 (en) * | 2010-12-17 | 2012-09-18 | General Electric Company | Power generation system, power converter system, and methods of converting power |
US20130301327A1 (en) * | 2012-05-14 | 2013-11-14 | General Electric Company | System and method of parallel converter current sharing |
US20150349626A1 (en) * | 2014-05-30 | 2015-12-03 | Hamilton Sundstrand Corporation | Output filter for paralleled inverter |
WO2020061905A1 (en) * | 2018-09-27 | 2020-04-02 | Abb Schweiz Ag | Apparatus for conversion between ac power and dc power |
DE102019130602A1 (en) * | 2018-11-16 | 2020-05-20 | Schleifring Gmbh | Island network power supply for a CT scanner |
DE102020119108A1 (en) * | 2020-07-21 | 2022-01-27 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | DC filter device |
-
2020
- 2020-03-05 AT ATA50173/2020A patent/AT523576A1/en unknown
-
2021
- 2021-03-05 KR KR1020227034300A patent/KR20220151642A/en active Search and Examination
- 2021-03-05 JP JP2022551028A patent/JP2023516599A/en active Pending
- 2021-03-05 US US17/909,046 patent/US11863085B2/en active Active
- 2021-03-05 WO PCT/AT2021/060079 patent/WO2021174280A1/en unknown
- 2021-03-05 EP EP21712402.3A patent/EP4115511A1/en active Pending
- 2021-03-05 CN CN202180018693.5A patent/CN115211010A/en active Pending
Also Published As
Publication number | Publication date |
---|---|
AT523576A1 (en) | 2021-09-15 |
WO2021174280A1 (en) | 2021-09-10 |
CN115211010A (en) | 2022-10-18 |
US20230106145A1 (en) | 2023-04-06 |
JP2023516599A (en) | 2023-04-20 |
US11863085B2 (en) | 2024-01-02 |
KR20220151642A (en) | 2022-11-15 |
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