IN2014KN01023A - An electric motor or generator - Google Patents
An electric motor or generatorInfo
- Publication number
- IN2014KN01023A IN2014KN01023A IN1023/KOLNP/2014A IN1023KON2014A IN2014KN01023A IN 2014KN01023 A IN2014KN01023 A IN 2014KN01023A IN 1023KON2014 A IN1023KON2014 A IN 1023KON2014A IN 2014KN01023 A IN2014KN01023 A IN 2014KN01023A
- Authority
- IN
- India
- Prior art keywords
- sensor
- stator
- rotor
- flux angle
- rotor flux
- Prior art date
Links
Classifications
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/02—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit
- B60L15/025—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit using field orientation; Vector control; Direct Torque Control [DTC]
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2045—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for optimising the use of energy
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
- H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors
-
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
-
- 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
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/009—Circuit arrangements for detecting rotor position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/10—Electrical machine types
- B60L2220/14—Synchronous machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/10—Emission reduction
- B60L2270/14—Emission reduction of noise
- B60L2270/142—Emission reduction of noise acoustic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/10—Emission reduction
- B60L2270/14—Emission reduction of noise
- B60L2270/145—Structure borne vibrations
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/12—Machines characterised by the modularity of some components
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
- H02K3/28—Layout of windings or of connections between windings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
An electric motor or generator system comprising a rotor having a first set of magnet poles; a stator having a first sensor mounted on the stator and a second sensor mounted in substantially a diametrically opposite position on the stator relative to the first sensor wherein the first sensor is arranged to output a first signal indicative of a first rotor flux angle associated with the first set of magnet poles as the rotor rotates relative to the stator and the second sensor is arranged to output a second signal indicative of a second rotor flux angle associated with the first set of magnet poles as the rotor rotates relative to the stator; and means arranged to determine a corrected rotor flux angle by averaging the first rotor flux angle indicated by the first sensor and the second rotor flux angle indicated by the second sensor.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB1118059.3A GB2483177B (en) | 2011-10-19 | 2011-10-19 | An electric motor or generator |
PCT/IB2012/055309 WO2013057614A2 (en) | 2011-10-19 | 2012-10-03 | An electric motor or generator |
Publications (1)
Publication Number | Publication Date |
---|---|
IN2014KN01023A true IN2014KN01023A (en) | 2015-10-09 |
Family
ID=45219953
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
IN1023/KOLNP/2014A IN2014KN01023A (en) | 2011-10-19 | 2014-05-13 | An electric motor or generator |
Country Status (8)
Country | Link |
---|---|
US (1) | US9431939B2 (en) |
EP (1) | EP2771204A2 (en) |
JP (1) | JP6030142B2 (en) |
KR (1) | KR101673900B1 (en) |
CN (1) | CN103066756B (en) |
GB (1) | GB2483177B (en) |
IN (1) | IN2014KN01023A (en) |
WO (1) | WO2013057614A2 (en) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2829728B1 (en) * | 2013-07-22 | 2018-06-27 | Iveco France S.A.S. | Vehicle for the transportation of passengers comprising at least one axle having outer wheels including an energy recovery apparatus |
FR3018014B1 (en) | 2014-02-24 | 2016-03-25 | Lohr Electromecanique | SYNCHRONOUS MACHINE EQUIPPED WITH ANGULAR POSITION SENSOR |
FR3017961B1 (en) * | 2014-02-24 | 2017-11-03 | Lohr Electromecanique | METHOD FOR MEASURING THE VIBRATION OF PERMANENT MAGNETS OF A SYNCHRONOUS MACHINE EQUIPPED WITH AN ANGULAR POSITION SENSOR |
FR3017959B1 (en) | 2014-02-24 | 2017-08-25 | Lohr Electromecanique | METHOD FOR DETECTING A SHORT CIRCUIT IN A SYNCHRONOUS MACHINE EQUIPPED WITH AN ANGULAR POSITION SENSOR |
US9613539B1 (en) * | 2014-08-19 | 2017-04-04 | Amazon Technologies, Inc. | Damage avoidance system for unmanned aerial vehicle |
DE102015108617A1 (en) * | 2015-06-01 | 2016-12-01 | Brose Fahrzeugteile GmbH & Co. Kommanditgesellschaft, Würzburg | Brushless DC motor |
US9705436B2 (en) * | 2015-12-04 | 2017-07-11 | Texas Instruments Incorporated | Linear hall device based field oriented control motor drive system |
GB2552385B (en) * | 2016-07-22 | 2021-09-15 | Cmr Surgical Ltd | Calibrating position sensor readings |
GB2553112B (en) * | 2016-08-23 | 2018-10-03 | Protean Electric Ltd | A rotor for an electric motor or generator |
KR102497841B1 (en) | 2016-09-13 | 2023-02-08 | 인디고 테크놀로지스, 인크. | Multi-bar linkage electric drive system |
CH712932A2 (en) * | 2016-09-16 | 2018-03-29 | NM Numerical Modelling GmbH | Method for determining the position of a position sensor of a position measuring system. |
US10277084B1 (en) | 2016-10-19 | 2019-04-30 | Waymo Llc | Planar rotary transformer |
IT201600112719A1 (en) * | 2016-11-09 | 2018-05-09 | Metalrota S R L | A magnetic sensor for rotating electrical machines. |
TWI638512B (en) * | 2017-09-22 | 2018-10-11 | 陳富民 | Two-vector-based modeless predictive current control method for interior permanent magnet synchronous motor drive systems using prediction error correction technique |
JP6967040B2 (en) * | 2019-07-25 | 2021-11-17 | 株式会社ソニー・インタラクティブエンタテインメント | Electric angle calculation device, electric angle calculation method and program |
US20240007029A1 (en) * | 2020-12-04 | 2024-01-04 | Schaeffler Technologies AG & Co. KG | Method for ascertaining a rotary position, method for ascertaining an electrical angular position and method for driving an electric motor motor |
US11654780B2 (en) | 2020-12-17 | 2023-05-23 | Consolidated Metco, Inc. | Vehicle electronic control unit and method |
WO2024025848A1 (en) * | 2022-07-24 | 2024-02-01 | Navia Energy Inc. | Controlled energy system |
Family Cites Families (17)
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DE3240580A1 (en) * | 1982-11-03 | 1984-05-03 | Ebm Elektrobau Mulfingen Gmbh & Co, 7119 Mulfingen | DC external-rotor motor having no commutator |
JPS6218956A (en) * | 1985-02-07 | 1987-01-27 | Sanyo Electric Co Ltd | Detector for rotational angle for motor |
FR2670286B1 (en) * | 1990-12-05 | 1993-03-26 | Moving Magnet Tech | MAGNETIC POSITION AND SPEED SENSOR WITH HALL PROBE. |
US5161361A (en) * | 1991-08-30 | 1992-11-10 | Platt Saco Lowell Corporation | Motor-driven spindle assembly for ring spinning |
US5148070A (en) * | 1991-08-30 | 1992-09-15 | Platt Saco Lowell Corporation | Apparatus for commutation of an electric motor |
US5202610A (en) * | 1991-08-30 | 1993-04-13 | Platt Saco Lowell | Method and apparatus for yarn end-down detection in a textile yarn winding machine |
JPH05276783A (en) * | 1992-03-23 | 1993-10-22 | Matsushita Electric Ind Co Ltd | Speed signal detector for motor |
JP3568075B2 (en) * | 1996-07-31 | 2004-09-22 | 日本ビクター株式会社 | Drive control circuit for brushless motor |
JP2004023800A (en) * | 2002-06-12 | 2004-01-22 | Mitsuba Corp | Brushless motor |
DE10301271B3 (en) * | 2003-01-15 | 2004-05-13 | Siemens Ag | Electric submarine drive motor with detection of pole wheel angle and/or revs via spaced signal sources coupled to drive motor regulation device |
GB2413905B (en) * | 2004-05-05 | 2006-05-03 | Imra Europ S A S Uk Res Ct | Permanent magnet synchronous motor and controller therefor |
FR2872644B1 (en) * | 2004-06-30 | 2006-10-06 | Valeo Equip Electr Moteur | DEVICE FOR CONTROLLING A ROTATING ELECTRIC MACHINE |
JP4725109B2 (en) * | 2005-01-12 | 2011-07-13 | パナソニック株式会社 | Brushless motor |
TWI342664B (en) * | 2007-04-17 | 2011-05-21 | Delta Electronics Inc | Motor and control circiut thereof |
TWI361555B (en) * | 2008-01-31 | 2012-04-01 | Princeton Technology Corp | Control devices and methods |
CN101960698B (en) * | 2008-04-07 | 2013-12-25 | 三菱电机株式会社 | Brushless motor position detection device |
GB2472297B (en) | 2010-07-19 | 2014-04-23 | Protean Electric Ltd | Electric motor |
-
2011
- 2011-10-19 GB GB1118059.3A patent/GB2483177B/en active Active
-
2012
- 2012-10-03 EP EP12787515.1A patent/EP2771204A2/en active Pending
- 2012-10-03 JP JP2014536358A patent/JP6030142B2/en active Active
- 2012-10-03 WO PCT/IB2012/055309 patent/WO2013057614A2/en active Application Filing
- 2012-10-03 US US14/358,268 patent/US9431939B2/en active Active
- 2012-10-03 KR KR1020147013065A patent/KR101673900B1/en active IP Right Grant
- 2012-10-18 CN CN201210397926.XA patent/CN103066756B/en active Active
-
2014
- 2014-05-13 IN IN1023/KOLNP/2014A patent/IN2014KN01023A/en unknown
Also Published As
Publication number | Publication date |
---|---|
GB201118059D0 (en) | 2011-11-30 |
KR101673900B1 (en) | 2016-11-08 |
GB2483177A (en) | 2012-02-29 |
JP6030142B2 (en) | 2016-11-24 |
US9431939B2 (en) | 2016-08-30 |
WO2013057614A3 (en) | 2015-01-08 |
US20140265970A1 (en) | 2014-09-18 |
JP2015507910A (en) | 2015-03-12 |
GB2483177B (en) | 2013-10-02 |
EP2771204A2 (en) | 2014-09-03 |
WO2013057614A2 (en) | 2013-04-25 |
KR20140079833A (en) | 2014-06-27 |
CN103066756B (en) | 2016-03-02 |
CN103066756A (en) | 2013-04-24 |
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