JP6610586B2 - 駆動装置 - Google Patents
駆動装置 Download PDFInfo
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- JP6610586B2 JP6610586B2 JP2017047268A JP2017047268A JP6610586B2 JP 6610586 B2 JP6610586 B2 JP 6610586B2 JP 2017047268 A JP2017047268 A JP 2017047268A JP 2017047268 A JP2017047268 A JP 2017047268A JP 6610586 B2 JP6610586 B2 JP 6610586B2
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- 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
- H02M1/38—Means for preventing simultaneous conduction of switches
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/027—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an over-current
-
- 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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/003—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to inverters
-
- 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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/04—Cutting off the power supply under fault conditions
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
- H02H7/0852—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load directly responsive to abnormal temperature by using a temperature sensor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/10—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers
- H02H7/12—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers
- H02H7/122—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers for inverters, i.e. dc/ac converters
-
- 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
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
-
- 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
- B60L2210/00—Converter types
- B60L2210/40—DC to AC converters
-
- 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
- B60L2240/425—Temperature
-
- 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
- B60L2240/427—Voltage
-
- 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
- B60L2240/429—Current
-
- 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
- B60L2240/52—Drive Train control parameters related to converters
- B60L2240/525—Temperature of converter or components thereof
-
- 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
- B60L2240/52—Drive Train control parameters related to converters
- B60L2240/529—Current
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Inverter Devices (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Description
モータと、
複数のスイッチング素子および前記複数のスイッチング素子に並列に接続された複数のダイオードを有し、前記複数のスイッチング素子のスイッチングにより前記モータを駆動するインバータと、
前記インバータに電力ラインを介して接続された蓄電装置と、
前記インバータを制御する制御装置と、
を備える駆動装置であって、
前記モータの各相の相電流を検出する電流センサを備え、
前記制御装置は、
前記インバータをゲート遮断状態から三相オン状態に移行させる際には、
前記各相について前記相電流を用いて上アームのダイオードに電流が流れていると判定したときに前記上アームのスイッチング素子をオンにすることにより、上アーム三相オン状態に移行させる、または、
前記各相について前記相電流を用いて下アームのダイオードに電流が流れていると判定したときに前記下アームのスイッチング素子をオンにすることにより、下アーム三相オン状態に移行させる、
ことを要旨とする。
Claims (5)
- モータと、
複数のスイッチング素子および前記複数のスイッチング素子に並列に接続された複数のダイオードを有し、前記複数のスイッチング素子のスイッチングにより前記モータを駆動するインバータと、
前記インバータに電力ラインを介して接続された蓄電装置と、
前記インバータを制御する制御装置と、
を備える駆動装置であって、
前記モータの各相の相電流を検出する電流センサを備え、
前記制御装置は、
前記インバータをゲート遮断状態から三相オン状態に移行させる際には、
前記各相について前記相電流を用いて上アームのダイオードに電流が流れていると判定したときに前記上アームのスイッチング素子をオンにすることにより、上アーム三相オン状態に移行させる、または、
前記各相について前記相電流を用いて下アームのダイオードに電流が流れていると判定したときに前記下アームのスイッチング素子をオンにすることにより、下アーム三相オン状態に移行させる、
駆動装置。 - 請求項1記載の駆動装置であって、
前記制御装置は、前記インバータが前記ゲート遮断状態で、前記モータの回転に伴って発生する逆起電圧が前記インバータの直流側電圧よりも高いときに、前記インバータを前記三相オン状態に移行させる、
駆動装置。 - 請求項1記載の駆動装置であって、
前記制御装置は、前記インバータが前記ゲート遮断状態で、前記蓄電装置に入力される電力が所定電力よりも大きいときに、前記インバータを前記三相オン状態に移行させる、
駆動装置。 - 請求項1ないし3のうちの何れか1つの請求項に記載の駆動装置であって、
前記電力ラインに設けられたリレーを更に備え、
前記制御装置は、前記インバータを前記三相オン状態に移行させた後に、前記リレーをオフにする、
駆動装置。 - 請求項4記載の駆動装置であって、
前記電力ラインには、コンデンサが取り付けられており、
前記制御装置は、前記インバータが前記三相オン状態で、前記モータの温度が第1所定温度よりも高くなったときおよび/または前記インバータの温度が第2所定温度よりも高くなったときに、前記リレーをオフにし、その後に前記インバータを前記ゲート遮断状態に移行させる、
駆動装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017047268A JP6610586B2 (ja) | 2017-03-13 | 2017-03-13 | 駆動装置 |
US15/889,504 US10340834B2 (en) | 2017-03-13 | 2018-02-06 | Drive system |
CN201810185851.6A CN108574405B (zh) | 2017-03-13 | 2018-03-07 | 驱动装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017047268A JP6610586B2 (ja) | 2017-03-13 | 2017-03-13 | 駆動装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018152986A JP2018152986A (ja) | 2018-09-27 |
JP6610586B2 true JP6610586B2 (ja) | 2019-11-27 |
Family
ID=63445126
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017047268A Active JP6610586B2 (ja) | 2017-03-13 | 2017-03-13 | 駆動装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10340834B2 (ja) |
JP (1) | JP6610586B2 (ja) |
CN (1) | CN108574405B (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE112019005495T5 (de) * | 2018-11-02 | 2021-09-02 | Rohm Co., Ltd. | Halbleiterbauteil, halbleitermodul, relay-einheit, batterieeinheit und fahrzeug |
JP7151534B2 (ja) * | 2019-02-15 | 2022-10-12 | 株式会社デンソー | モータ駆動装置 |
JP2020162254A (ja) * | 2019-03-26 | 2020-10-01 | 日本電産株式会社 | インバータ装置 |
DE112019007096T5 (de) * | 2019-03-28 | 2021-12-16 | Mitsubishi Electric Corporation | Motorantriebsvorrichtung |
JP7424172B2 (ja) | 2020-04-01 | 2024-01-30 | 富士電機株式会社 | モータ駆動装置、モータ駆動方法、およびモータ駆動プログラム |
Family Cites Families (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101273517B (zh) * | 2005-10-24 | 2012-02-08 | 松下电器产业株式会社 | 逆变器装置 |
JP4729393B2 (ja) * | 2005-12-06 | 2011-07-20 | 東芝キヤリア株式会社 | 電力変換装置 |
JP4497149B2 (ja) * | 2005-12-16 | 2010-07-07 | パナソニック株式会社 | インバータ装置 |
JP2008193873A (ja) * | 2007-02-08 | 2008-08-21 | Denso Corp | 多相回転電機の制御装置 |
JP5104647B2 (ja) | 2008-08-20 | 2012-12-19 | トヨタ自動車株式会社 | ハイブリッド自動車の制御装置及び制御方法 |
JP4968698B2 (ja) * | 2008-12-26 | 2012-07-04 | 本田技研工業株式会社 | 電動機の制御装置 |
JP2011172343A (ja) * | 2010-02-17 | 2011-09-01 | Toyota Motor Corp | 駆動装置 |
DE112011102229T5 (de) * | 2010-06-29 | 2013-06-06 | Honda Motor Co., Ltd. | Elektrisches Automobil |
US9281776B2 (en) * | 2011-01-31 | 2016-03-08 | Mitsubishi Electric Corporation | Power conversion apparatus including different voltage-type bridge circuits |
JP5433608B2 (ja) * | 2011-03-03 | 2014-03-05 | 日立オートモティブシステムズ株式会社 | 電力変換装置 |
JP5397432B2 (ja) | 2011-08-22 | 2014-01-22 | トヨタ自動車株式会社 | 回転電機の駆動システム |
US8773063B2 (en) * | 2011-10-17 | 2014-07-08 | Panasonic Corporation | Motor drive system and control method thereof |
CN103229414A (zh) * | 2011-10-17 | 2013-07-31 | 松下电器产业株式会社 | 电动机驱动系统及其控制方法 |
CN104106205B (zh) * | 2012-03-30 | 2017-05-31 | 富士电机株式会社 | 交流电机系统及其控制方法 |
CN104410337B (zh) * | 2014-11-26 | 2017-11-03 | 联合汽车电子有限公司 | 高压永磁同步电机驱动系统 |
JP6119778B2 (ja) * | 2015-02-24 | 2017-04-26 | トヨタ自動車株式会社 | インバータの制御装置 |
JP6237699B2 (ja) | 2015-05-25 | 2017-11-29 | トヨタ自動車株式会社 | 異常検出装置 |
JP2017038484A (ja) * | 2015-08-11 | 2017-02-16 | トヨタ自動車株式会社 | 自動車 |
-
2017
- 2017-03-13 JP JP2017047268A patent/JP6610586B2/ja active Active
-
2018
- 2018-02-06 US US15/889,504 patent/US10340834B2/en not_active Expired - Fee Related
- 2018-03-07 CN CN201810185851.6A patent/CN108574405B/zh not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
US20180262149A1 (en) | 2018-09-13 |
CN108574405B (zh) | 2019-12-20 |
US10340834B2 (en) | 2019-07-02 |
CN108574405A (zh) | 2018-09-25 |
JP2018152986A (ja) | 2018-09-27 |
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