MX356088B - Filtro de kalman dual para amortiguamiento torsional de unidades de tracción eléctrica. - Google Patents
Filtro de kalman dual para amortiguamiento torsional de unidades de tracción eléctrica.Info
- Publication number
- MX356088B MX356088B MX2016011163A MX2016011163A MX356088B MX 356088 B MX356088 B MX 356088B MX 2016011163 A MX2016011163 A MX 2016011163A MX 2016011163 A MX2016011163 A MX 2016011163A MX 356088 B MX356088 B MX 356088B
- Authority
- MX
- Mexico
- Prior art keywords
- torque
- kalman filter
- commanded
- electric traction
- torsional damping
- Prior art date
Links
Classifications
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- 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
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
- B60L50/62—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles charged by low-power generators primarily intended to support the batteries, e.g. range extenders
-
- 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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/14—Dynamic electric regenerative braking for vehicles propelled by ac motors
-
- 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
- B60L2240/10—Vehicle control parameters
- B60L2240/12—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
- B60L2240/421—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
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- 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
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- 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
- B60L2250/00—Driver interactions
- B60L2250/12—Driver interactions by confirmation, e.g. of the input
-
- 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
- B60L2250/00—Driver interactions
- B60L2250/16—Driver interactions by display
-
- 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
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/44—Control modes by parameter estimation
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- 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
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- 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
- Y02T10/62—Hybrid vehicles
-
- 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
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- 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)
Abstract
En un aspecto, un sistema para amortiguamiento torsional de unidades de tracción eléctrica comprende filtros de Kalman duales para corregir las oscilaciones con base en la velocidad del motor de tracción medida y el torque de motor de tracción instruido. Un primer filtro de Kalman puede realizar una estimación de espacio de estados del torque de eje que proporciona retroalimentación negativa a la instrucción de torque final con el fin de eliminar los componentes resonantes del torque instruido y rápidamente amortiguar perturbaciones externas. Un segundo filtro de Kalman proporciona una estimación de espacio de estados del torque de carga o, de manera equivalente, la aceleración de carga. Este segundo filtro de Kalman puede ignorar el torque instruido, y puede proporcionar una realimentación de amortiguamiento cuando la velocidad de la rueda se desvía de la velocidad del vehículo.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201461946556P | 2014-02-28 | 2014-02-28 | |
PCT/US2015/017684 WO2015130901A1 (en) | 2014-02-28 | 2015-02-26 | Dual kalman filter for torsional damping of electric traction drives |
Publications (2)
Publication Number | Publication Date |
---|---|
MX2016011163A MX2016011163A (es) | 2017-04-27 |
MX356088B true MX356088B (es) | 2018-05-14 |
Family
ID=54009606
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
MX2016011163A MX356088B (es) | 2014-02-28 | 2015-02-26 | Filtro de kalman dual para amortiguamiento torsional de unidades de tracción eléctrica. |
Country Status (9)
Country | Link |
---|---|
US (1) | US9950639B2 (es) |
EP (1) | EP3110657B1 (es) |
CN (1) | CN106458054B (es) |
BR (1) | BR112016019729B1 (es) |
CA (1) | CA2940779C (es) |
ES (1) | ES2869074T3 (es) |
MX (1) | MX356088B (es) |
PL (1) | PL3110657T3 (es) |
WO (1) | WO2015130901A1 (es) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6578584B2 (ja) * | 2015-08-25 | 2019-09-25 | 日立オートモティブシステムズ株式会社 | 電動車両の制御装置 |
CN105383326B (zh) * | 2015-12-01 | 2018-02-06 | 苏州海格新能源汽车电控系统科技有限公司 | 一种用于整车控制器的扭矩滤波控制方法 |
AT519092B1 (de) * | 2016-11-28 | 2018-04-15 | Avl List Gmbh | Verfahren und Vorrichtung zur Regelung einer Prüfstandsanordnung |
EP3683471B1 (en) | 2019-01-15 | 2024-03-06 | ABB Schweiz AG | Damping torsional oscillations in a drive system |
DE102019205326A1 (de) * | 2019-04-12 | 2020-10-15 | Robert Bosch Gmbh | Verfahren zum Synchronisieren von Signalen |
US11697424B2 (en) | 2020-02-14 | 2023-07-11 | Hamilton Sundstrand Corporation | Health diagnosis of hybrid powerplant |
JP7426319B2 (ja) * | 2020-09-28 | 2024-02-01 | 東洋電機製造株式会社 | 制御装置 |
KR20220096746A (ko) * | 2020-12-31 | 2022-07-07 | 현대자동차주식회사 | 차량 구동장치의 토크 제어 방법 |
US11987132B2 (en) * | 2021-01-11 | 2024-05-21 | GM Global Technology Operations LLC | Linear time varying model predictive torque control |
EP4303063A1 (en) * | 2021-03-03 | 2024-01-10 | Zhejiang Geely Holding Group Co., Ltd. | Vehicle control method and system, and vehicle |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3244184B2 (ja) | 1991-10-22 | 2002-01-07 | 東洋電機製造株式会社 | 状態空間法によるねじり系制御装置 |
CA2269562C (en) | 1998-04-29 | 2008-07-29 | Lockheed Martin Corporation | Drive-line damping control for an electric vehicle |
FR2825485B1 (fr) * | 2001-05-29 | 2005-02-18 | Alstom | Procede et dispositif de controle de vitesse angulaire d'une chaine electromecanique peu amortie |
SE519792C2 (sv) * | 2001-08-17 | 2003-04-08 | Volvo Lastvagnar Ab | Metod för estimering av massan hos ett fordon vilket framförs på en väg med en varierande lutning samt metod för estimering av lutningen av den väg där ett fordon framförs |
US7116068B2 (en) * | 2002-04-12 | 2006-10-03 | Ford Global Technologies, Llc | Diagnostic system and method for an electric motor using torque estimates |
US7369002B2 (en) * | 2005-07-28 | 2008-05-06 | Zarlink Semiconductor, Inc. | Phase locked loop fast lock method |
CN101507100B (zh) * | 2006-08-29 | 2011-10-26 | 三菱电机株式会社 | 交流电动机的矢量控制装置 |
WO2009071104A1 (en) * | 2007-12-03 | 2009-06-11 | Nira Dynamics Ab | Estimation of the load of a vehicle |
JP5339121B2 (ja) * | 2008-08-25 | 2013-11-13 | 国立大学法人横浜国立大学 | スリップ率推定装置及びその方法と、スリップ率制御装置及びその方法 |
US8344673B2 (en) * | 2008-12-04 | 2013-01-01 | Nuovo Pignone S.P.A. | Torsional mode damping apparatus |
DE102009001331A1 (de) * | 2009-03-04 | 2010-09-09 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur winkelsensorlosen Positionserfassung der Rotorwelle einer permanenterregten Synchronmaschine auf Basis von Stromsignalen und Spannungssignalen |
DE102010015425A1 (de) * | 2010-04-19 | 2011-10-20 | Audi Ag | Vorrichtung zum Betreiben einer Antriebseinheit eines Kraftfahrzeugs |
US20120083950A1 (en) * | 2010-09-30 | 2012-04-05 | GM Global Technology Operations LLC | Enhanced stability control for an electric powertrain |
-
2015
- 2015-02-26 BR BR112016019729-1A patent/BR112016019729B1/pt active IP Right Grant
- 2015-02-26 EP EP15754496.6A patent/EP3110657B1/en active Active
- 2015-02-26 CN CN201580023635.6A patent/CN106458054B/zh active Active
- 2015-02-26 CA CA2940779A patent/CA2940779C/en active Active
- 2015-02-26 ES ES15754496T patent/ES2869074T3/es active Active
- 2015-02-26 US US14/888,260 patent/US9950639B2/en active Active
- 2015-02-26 WO PCT/US2015/017684 patent/WO2015130901A1/en active Application Filing
- 2015-02-26 PL PL15754496T patent/PL3110657T3/pl unknown
- 2015-02-26 MX MX2016011163A patent/MX356088B/es active IP Right Grant
Also Published As
Publication number | Publication date |
---|---|
WO2015130901A1 (en) | 2015-09-03 |
US9950639B2 (en) | 2018-04-24 |
EP3110657A1 (en) | 2017-01-04 |
ES2869074T3 (es) | 2021-10-22 |
BR112016019729B1 (pt) | 2022-04-12 |
EP3110657B1 (en) | 2021-04-07 |
BR112016019729A2 (pt) | 2021-08-17 |
MX2016011163A (es) | 2017-04-27 |
CN106458054B (zh) | 2019-11-22 |
PL3110657T3 (pl) | 2021-11-02 |
EP3110657A4 (en) | 2018-02-21 |
CA2940779A1 (en) | 2015-09-03 |
CA2940779C (en) | 2018-06-26 |
US20160059735A1 (en) | 2016-03-03 |
CN106458054A (zh) | 2017-02-22 |
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