JPWO2018037981A1 - 電動パワーステアリング装置 - Google Patents
電動パワーステアリング装置 Download PDFInfo
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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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
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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
- 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
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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
- 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
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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
- 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
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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
- 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
- H02M7/539—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 with automatic control of output wave form or frequency
- H02M7/5395—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 with automatic control of output wave form or frequency by pulse-width modulation
-
- 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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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- 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
- H02P21/08—Indirect field-oriented control; Rotor flux feed-forward control
- H02P21/09—Field phase angle calculation based on rotor voltage equation by adding slip frequency and speed proportional frequency
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- 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
- H02P21/22—Current control, e.g. using a current control loop
-
- 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
- H02P21/50—Vector control arrangements or methods not otherwise provided for in H02P21/00- H02P21/36
-
- 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
- H02P27/12—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 pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
-
- 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
- H02M1/385—Means for preventing simultaneous conduction of switches with means for correcting output voltage deviations introduced by the dead time
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Inverter Devices (AREA)
Abstract
Description
テーブルは、EEPROM(Electrically Erasable and Programmable Read-Only Memory)に格納されているタイプでも、RAM(Random Access Memory)上に展開されているタイプでも良い。数3の使用において、sinθのみをテーブル化しておき、入力θを90°オフセットさせて使用することによりcosθを演算したり、120°オフセットさせるなどして、その他のsin関数項を演算しても良い。ROM容量に問題がなかったり、複雑な指令値モデル(例えば擬似矩形波モータなど)の場合は、数式全体をテーブル化しておく。
空間ベクトル制御におけるスイッチングパターンでは、インバータの出力電圧をFET(Q1〜Q6)のスイッチングパターンS1〜S6に応じて、図23の空間ベクトル図に示す8種類の離散的な基準電圧ベクトルV0〜V7(π/3[rad]ずつ位相の異なる非零電圧ベクトルV1〜V6と零電圧ベクトルV0,V7)で定義する。そして、それら基準出力電圧ベクトルV0〜V7の選択とその発生時間を制御するようにしている。また、隣接する基準出力電圧ベクトルによって挟まれた6つの領域を用いて、空間ベクトルを6つのセクター#1〜#6に分割することができ、目標電圧ベクトルVは、セクター#1〜#6のいずれか1つに属し、セクター番号を割り当てることができる。Vα及びVβの合成ベクトルである目標電圧ベクトルVが、α−β空間において正6角形に区切られた図23に示されたようなセクター内のいずれに存在するかは、目標電圧ベクトルVのα−β座標系における回転角γに基づいて求めることができる。また、回転角γはモータの回転角θとd−q座標系における電圧指令値vd **及びvq **の関係から得られる位相δの和として、γ=θ+δで決定される。
2 コラム軸(ステアリングシャフト、ハンドル軸)
10 トルクセンサ
12 車速センサ
20、100 モータ
30 コントロールユニット(ECU)
31 操舵補助指令値演算部
35、203、204 PI制御部
36、160 PWM制御部
37,161 インバータ
110 角度検出部
130 3相交流/dq軸変換部
140 d−q非干渉制御部
200 デッドタイム補償部(A)
201 電流制御遅れモデル
202 補償符号推定部
210、430 位相調整部
220 インバータ印加電圧感応ゲイン部
230U、230V、230W 角度−デッドタイム補償値関数部
240、440 3相交流/dq軸変換部
250 電流指令値感応ゲイン部
300 空間ベクトル変調部
301 2相/3相変換部
302 3次高調波重畳部
400 デッドタイム補償部(B)
420 3相電流指令値モデル
421 相電流補償符号推定部
500 補償値切換部
501、502 条件分岐部
510 切換判定部
Claims (10)
- 少なくとも操舵トルクに基づいてdq軸の操舵補助指令値を演算し、前記操舵補助指令値からdq軸電流指令値を演算し、前記dq軸電流指令値を3相のDuty指令値に変換し、PWM制御のインバータにより3相ブラシレスモータを駆動制御し、車両の操舵機構にアシストトルクを付与するベクトル制御方式の電動パワーステアリング装置において、
前記インバータのデッドタイム補償を行う性能が異なる複数のデッドタイム補償機能を有し、前記複数のデッドタイム補償機能1つから他のデッドタイム補償機能に所定条件で切り換えて前記デッドタイム補償を実施することを特徴とする電動パワーステアリング装置。 - 前記複数のデッドタイム補償機能が2つであり、低速・中速操舵状態において効果のある、モータ回転角の関数に基づく前記インバータのデッドタイム補償機能Aと、高速操舵状態において効果のある、電流指令値モデルに基づく前記インバータのデッドタイム補償機能Bとである請求項1に記載の電動パワーステアリング装置。
- 前記所定条件が、前記dq軸電流指令値及びモータ回転数で定まる切換条件である請求項1又は2に記載の電動パワーステアリング装置。
- 前記デッドタイム補償機能Aと前記デッドタイム補償機能Bの切り換えを、前記切換条件に基づくソフトウェアの条件分岐によって行う請求項3に記載の電動パワーステアリング装置。
- 少なくとも操舵トルクに基づいてdq軸の操舵補助指令値を演算し、前記操舵補助指令値からdq軸電流指令値を演算し、前記dq軸電流指令値を3相Duty指令値に変換し、PWM制御のインバータにより3相ブラシレスモータを駆動制御し、車両の操舵機構にアシストトルクを付与するベクトル制御方式の電動パワーステアリング装置において、
前記3相ブラシレスモータのモータ回転角に基づく前記インバータの前記dq軸に関する第1のdq軸補償値を演算するデッドタイム補償部Aと、
前記dq軸電流指令値を入力し、電流指令値モデルに基づく前記インバータの前記dq軸に関する第2のdq軸補償値を演算するデッドタイム補償部Bと、
前記dq軸電流指令値及び前記q軸の前記操舵補助指令値に基づいて前記第1のdq軸補償値と前記第2のdq軸補償値とを切り換えてdq軸デッドタイム補償値を出力する補償値切換部と、
を具備し、前記dq軸デッドタイム補償値により前記dq軸電流指令値を補正して前記インバータのデッドタイム補償を実施することを特徴とする電動パワーステアリング装置。 - 前記補償値切換部が、
前記dq軸電流指令値及び前記q軸の前記操舵補助指令値に基づいて補償値切換の判定を行う切換判定部と、
前記切換判定部からの切換判定フラグによって、前記第1のdq軸補償値又は前記第2のdq軸補償値を前記dq軸デッドタイム補償値として出力する条件分岐部と、
で構成されている請求項5に記載の電動パワーステアリング装置。 - 前記切換判定部が、
前記d軸電流指令値がゼロ近辺となった時に判定フラグ1を出力するゼロ判定部と、
前記q軸電流指令値の絶対値を得る第1の絶対値部と、
前記第1の絶対値部の出力が第1の閾値以上となった時に第2の判定フラグを出力すると共に、ヒステリシス特性を有する第1の閾値部と、
モータ回転数の絶対値を得る第2の絶対値部と、
前記第2の絶対値部の出力が第2の閾値以上となった時に第3の判定フラグを出力すると共に、ヒステリシス特性を有する第2の閾値部と、
前記第1の判定フラグ、前記第2の判定フラグ及び前記第3の判定フラグが入力された時に前記切換判定フラグを出力する切換条件判定部と、
で構成されている請求項6に記載の電動パワーステアリング装置。 - 前記ゼロ近辺が0.0〜0.1[A]である請求項7に記載の電動パワーステアリング装置。
- 前記条件分岐部が、前記切換判定フラグに基づくソフトウェアの条件分岐によって行う請求項6乃至8のいずれかに記載の電動パワーステアリング装置。
- 前記補正が、前記dq軸デッドタイム補償値と前記dq軸電流指令値の加算演算である請求項5乃至9のいずれかに記載の電動パワーステアリング装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016163715 | 2016-08-24 | ||
JP2016163715 | 2016-08-24 | ||
PCT/JP2017/029445 WO2018037981A1 (ja) | 2016-08-24 | 2017-08-16 | 電動パワーステアリング装置 |
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EP3301806A1 (en) * | 2016-09-28 | 2018-04-04 | NXP USA, Inc. | Electric motor drive apparatus and method therefor |
JP6644172B2 (ja) * | 2017-01-11 | 2020-02-12 | 三菱電機株式会社 | モータ制御装置 |
DE102019006935B4 (de) * | 2019-10-04 | 2021-07-22 | Man Truck & Bus Se | Technik zur Totzeitkompensation bei Quer- und Längsführung eines Kraftfahrzeugs |
CN113039696A (zh) * | 2019-10-09 | 2021-06-25 | 东芝三菱电机产业系统株式会社 | 电力变换装置 |
DE112020005076T5 (de) * | 2019-11-18 | 2022-07-21 | Hitachi Astemo, Ltd. | Leistungsumsetzungsvorrichtung und verfahren zum diagnostizieren einer störung der leistungsumsetzungsvorrichtung |
CN111525782B (zh) * | 2020-05-19 | 2021-08-13 | 深圳南云微电子有限公司 | 一种功率管的驱动控制方法及电路 |
DE102021202482B4 (de) * | 2021-03-15 | 2023-06-29 | Continental Automotive Technologies GmbH | Regelungseinrichtung und Verfahren zur Lenkwinkelregelung eines Fahrzeugs |
CN113824365B (zh) * | 2021-09-25 | 2024-04-05 | 中车永济电机有限公司 | 一种基于电流预测的适用于异步电机控制的死区补偿方法 |
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Also Published As
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US20190344824A1 (en) | 2019-11-14 |
EP3476695A1 (en) | 2019-05-01 |
CN109562780B (zh) | 2020-07-14 |
CN109562780A (zh) | 2019-04-02 |
BR112019001637A2 (pt) | 2019-05-07 |
US10597071B2 (en) | 2020-03-24 |
WO2018037981A1 (ja) | 2018-03-01 |
EP3476695A4 (en) | 2019-07-10 |
EP3476695B1 (en) | 2020-11-18 |
JP6512372B2 (ja) | 2019-05-15 |
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