MX2019014246A - Metodo de control y dispositivo de control para vehiculo electrico. - Google Patents
Metodo de control y dispositivo de control para vehiculo electrico.Info
- Publication number
- MX2019014246A MX2019014246A MX2019014246A MX2019014246A MX2019014246A MX 2019014246 A MX2019014246 A MX 2019014246A MX 2019014246 A MX2019014246 A MX 2019014246A MX 2019014246 A MX2019014246 A MX 2019014246A MX 2019014246 A MX2019014246 A MX 2019014246A
- Authority
- MX
- Mexico
- Prior art keywords
- motor
- command value
- torque command
- torque
- angular speed
- 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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/52—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another additionally providing control of relative angular displacement
-
- 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
-
- 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
- B60L15/2009—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 braking
-
- 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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
-
- 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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
-
- 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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- 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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
-
- 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
- B60L2220/42—Electrical machine applications with use of more than one motor
-
- 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
- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
-
- 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
- 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
- B60L2240/423—Torque
-
- 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
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/461—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
- B60L2270/145—Structure borne vibrations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/90—Vehicles comprising electric prime movers
- B60Y2200/91—Electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/90—Vehicles comprising electric prime movers
- B60Y2200/92—Hybrid vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/82—Four wheel drive systems
-
- 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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- 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)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Multiple Motors (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
El método de control para un vehículo eléctrico establece un valor de comando de momento de torsión de motor con base en la información del vehículo y controla el momento de torsión de un primer motor conectado a una primera rueda motriz que es una de una rueda motriz frontal y una rueda motriz trasera. El método de control para un vehículo eléctrico calcula un primer valor de comando de momento de torsión mediante un cómputo de prealimentación con base en el valor de comando de momento de torsión de motor, detecta una velocidad angular de rotación del primer motor, y estima una velocidad angular de rotación del primer motor con base en el primer valor de comando de momento de torsión utilizando un modelo Gp(s) de vehículo que simula una característica de transferencia de una entrada de momento de torsión a la primera rueda motriz a una velocidad angular de rotación del primer motor. Luego, el dispositivo de control calcula un segundo valor de comando de momento de torsión a partir de una desviación entre un valor detectado y un valor estimado de la velocidad angular de rotación del primer motor utilizando un filtro Hf(s)/Gp(s) compuesto de una característica inversa del modelo Gp(s) de vehículo y un filtro Hf(s) de paso de banda con una frecuencia central cerca de una frecuencia de vibración torsional del vehículo, controla el momento de torsión del primer motor de acuerdo con un valor de comando de momento de torsión final frontal obtenido sumando el primer valor de comando de momento de torsión y el segundo valor de comando de momento de torsión juntos, y corrige, cuando se ingresa un momento de torsión de frenado/accionamiento para una segunda rueda motriz que es la rueda motriz distinta de la primera rueda motriz, el valor estimado de la velocidad angular de rotación del primer motor con base en el momento de torsión de frenado/accionamiento.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2017/020521 WO2018220805A1 (ja) | 2017-06-01 | 2017-06-01 | 電動車両の制御方法、及び、制御装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
MX2019014246A true MX2019014246A (es) | 2020-02-03 |
Family
ID=64455254
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
MX2019014246A MX2019014246A (es) | 2017-06-01 | 2017-06-01 | Metodo de control y dispositivo de control para vehiculo electrico. |
Country Status (9)
Country | Link |
---|---|
US (1) | US10972020B2 (es) |
EP (1) | EP3632733B1 (es) |
JP (1) | JP6791377B2 (es) |
KR (1) | KR102131729B1 (es) |
CN (1) | CN110691710B (es) |
CA (1) | CA3065760C (es) |
MX (1) | MX2019014246A (es) |
RU (1) | RU2737640C1 (es) |
WO (1) | WO2018220805A1 (es) |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6984329B2 (ja) * | 2017-11-07 | 2021-12-17 | トヨタ自動車株式会社 | 自動車 |
KR102463487B1 (ko) * | 2018-06-04 | 2022-11-03 | 현대자동차주식회사 | 친환경자동차의 구동 토크 지령 생성 장치 및 방법 |
KR102529590B1 (ko) * | 2018-10-31 | 2023-05-08 | 현대자동차주식회사 | 하이브리드 자동차의 구동토크 지령 생성 장치 및 방법 |
KR102673012B1 (ko) * | 2019-08-13 | 2024-06-07 | 현대자동차주식회사 | 차량의 구동계 백래시 판단 장치 및 방법 |
CN114502414B (zh) * | 2019-10-16 | 2023-10-13 | 三菱自动车工业株式会社 | 电动车辆的电机控制装置 |
CN112092647B (zh) * | 2020-08-24 | 2021-11-05 | 奇瑞新能源汽车股份有限公司 | 车辆的控制方法与装置、存储介质、控制系统、车辆 |
CN111993904A (zh) * | 2020-09-09 | 2020-11-27 | 北京罗克维尔斯科技有限公司 | 一种驱动控制方法、装置和电动车辆 |
CN112009268B (zh) * | 2020-09-16 | 2021-10-22 | 北京车和家信息技术有限公司 | 一种车辆抖动控制方法及装置、驱动控制系统、车辆 |
JP6977849B1 (ja) * | 2020-09-30 | 2021-12-08 | 株式会社明電舎 | 車両システムの振動抑制制御装置および振動抑制制御方法 |
JP7334705B2 (ja) * | 2020-10-13 | 2023-08-29 | トヨタ自動車株式会社 | 電動車両の制御装置 |
DE102021111908B3 (de) * | 2021-05-07 | 2022-09-01 | Bayerische Motoren Werke Aktiengesellschaft | Geräuschminderung bei einem Getriebe eines elektrischen Fahrzeugantriebs |
IT202100018689A1 (it) * | 2021-07-15 | 2023-01-15 | Ferrari Spa | Procedimento ed apparato per controllare un motore elettrico |
JP7487747B2 (ja) * | 2022-01-13 | 2024-05-21 | トヨタ自動車株式会社 | ハイブリッド式電動車両の制御装置 |
CN118475490A (zh) * | 2022-01-18 | 2024-08-09 | 日产自动车株式会社 | 电动车辆控制方法以及电动车辆控制装置 |
WO2024154302A1 (ja) * | 2023-01-19 | 2024-07-25 | 日産自動車株式会社 | 電動車両の制御方法、及び、電動車両の制御装置 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3508742B2 (ja) | 2001-06-18 | 2004-03-22 | 日産自動車株式会社 | 電動モータを用いた車両の制振制御装置 |
RU2426660C2 (ru) * | 2009-01-15 | 2011-08-20 | Общество с ограниченной ответственностью "Центр технического сотрудничества" при МГТУ им. Н.Э. Баумана" | Способ управления многоприводной электрической трансмиссией многоосной колесной машины |
JP5228996B2 (ja) * | 2009-02-27 | 2013-07-03 | 日産自動車株式会社 | 電動車両の制振制御装置 |
JP5528768B2 (ja) | 2009-10-31 | 2014-06-25 | 暁林 張 | 協調制御装置 |
JP5573456B2 (ja) * | 2010-07-23 | 2014-08-20 | 日産自動車株式会社 | 電動車両の制振制御装置および電動車両の制振制御方法 |
CN104245408B (zh) | 2012-04-18 | 2017-04-12 | 日产自动车株式会社 | 电动车辆的控制装置以及电动车辆的控制方法 |
JP6330820B2 (ja) * | 2013-12-02 | 2018-05-30 | 日産自動車株式会社 | 電動車両の制御装置および電動車両の制御方法 |
WO2015105077A1 (ja) * | 2014-01-10 | 2015-07-16 | 日産自動車株式会社 | 電動車両の制御装置および電動車両の制御方法 |
US9809213B2 (en) * | 2014-01-14 | 2017-11-07 | Ford Global Technologies, Llc | Power split hybrid electric vehicle motor torque control using state estimation |
JP6272178B2 (ja) * | 2014-08-06 | 2018-01-31 | 株式会社デンソー | 回転電機の制御装置 |
CN107206914B (zh) | 2015-01-26 | 2019-04-16 | 日产自动车株式会社 | 电动车辆的控制装置以及电动车辆的控制方法 |
JP6728632B2 (ja) * | 2015-10-30 | 2020-07-22 | 日産自動車株式会社 | 電動車両の制御方法、及び、制御装置 |
CN109689422B (zh) * | 2016-07-29 | 2020-04-14 | 日产自动车株式会社 | 车辆的控制方法和控制装置 |
KR102241376B1 (ko) * | 2017-01-24 | 2021-04-19 | 닛산 지도우샤 가부시키가이샤 | 차량의 제어 장치 및 제어 방법 |
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2017
- 2017-06-01 CA CA3065760A patent/CA3065760C/en active Active
- 2017-06-01 WO PCT/JP2017/020521 patent/WO2018220805A1/ja active Application Filing
- 2017-06-01 MX MX2019014246A patent/MX2019014246A/es active IP Right Grant
- 2017-06-01 US US16/618,002 patent/US10972020B2/en active Active
- 2017-06-01 EP EP17911644.7A patent/EP3632733B1/en active Active
- 2017-06-01 RU RU2019139672A patent/RU2737640C1/ru active
- 2017-06-01 CN CN201780091355.8A patent/CN110691710B/zh active Active
- 2017-06-01 KR KR1020197035855A patent/KR102131729B1/ko active IP Right Grant
- 2017-06-01 JP JP2019521885A patent/JP6791377B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
EP3632733B1 (en) | 2021-01-06 |
EP3632733A1 (en) | 2020-04-08 |
CA3065760C (en) | 2020-11-03 |
CA3065760A1 (en) | 2018-12-06 |
JPWO2018220805A1 (ja) | 2020-05-21 |
EP3632733A4 (en) | 2020-04-08 |
KR20190138700A (ko) | 2019-12-13 |
US10972020B2 (en) | 2021-04-06 |
JP6791377B2 (ja) | 2020-11-25 |
BR112019025363A2 (pt) | 2020-06-16 |
CN110691710B (zh) | 2020-10-16 |
US20200259431A1 (en) | 2020-08-13 |
CN110691710A (zh) | 2020-01-14 |
WO2018220805A1 (ja) | 2018-12-06 |
RU2737640C1 (ru) | 2020-12-01 |
KR102131729B1 (ko) | 2020-07-08 |
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