US20100054941A1 - Wind tracking system of a wind turbine - Google Patents

Wind tracking system of a wind turbine Download PDF

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Publication number
US20100054941A1
US20100054941A1 US12/199,019 US19901908A US2010054941A1 US 20100054941 A1 US20100054941 A1 US 20100054941A1 US 19901908 A US19901908 A US 19901908A US 2010054941 A1 US2010054941 A1 US 2010054941A1
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United States
Prior art keywords
rotor
yaw
wind
wind turbine
hub
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
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US12/199,019
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English (en)
Inventor
Till Hoffmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
General Electric Co
Original Assignee
Individual
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Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to US12/199,019 priority Critical patent/US20100054941A1/en
Assigned to GE WIND ENERGY GMBH reassignment GE WIND ENERGY GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: HOFFMANN, TILL
Assigned to GENERAL ELECTRIC COMPANY reassignment GENERAL ELECTRIC COMPANY ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: GE WIND ENERGY GMBH
Priority to EP09167791A priority patent/EP2159416A3/fr
Priority to CN200910172861A priority patent/CN101660494A/zh
Publication of US20100054941A1 publication Critical patent/US20100054941A1/en
Abandoned legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04—Automatic control; Regulation
    • F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
    • F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
    • F03D7/044—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic with PID control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0204—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/331—Mechanical loads
    • 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
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Definitions

  • the present disclosure relates to a wind turbine having a hub and at least one rotor blade connected to the hub. Further it relates to a controller for a wind turbine and a method for controlling a yaw angle of a wind turbine.
  • the measurement of the relative angle between a rotor and a wind direction or a wind stream with a nacelle mounted measurement device is prone to errors.
  • the influence of turbulences caused by the rotor is disturbing the wind vanes and therefore leading to an error in a yaw alignment.
  • the wind direction is only measured locally in the height of the nacelle. It is currently not possible to measure a collective angle representing the resulting relative yaw angle integrated over the complete rotor surface.
  • a wind turbine including a hub and at least one rotor blade connected to the hub
  • the hub and the at least one rotor blade forming a wind rotor that is rotatable about a rotor axis that converts kinetic energy of the wind into another form of energy and rotatable about a yaw axis that changes the yaw of the wind rotor
  • the wind turbine further comprising at least one sensing device that senses a yaw moment of the wind rotor and the wind turbine being adapted to control the yaw of the wind rotor depending on a signal of the sensor.
  • a controller for a wind turbine including a hub and at least one rotor blade connected to the hub, the hub and the at least one rotor blade forming a wind rotor that is rotatable about a rotor axis that converts kinetic energy of the wind into another form of energy, the wind rotor being rotatable about a yaw axis that changes the yaw of the wind rotor, the controller being adapted to control a yaw depending on a signal of a sensing device sensing a yaw moment of the wind rotor.
  • a method that controls a yaw angle of a wind turbine including a hub and at least one rotor blade connected to the hub, the hub and the at least one rotor blade forming a wind rotor that is rotatable about a rotor axis that converts kinetic energy of the wind into another form of energy, the wind rotor being rotatable about a yaw axis for changing the yaw of the wind rotor, the method comprising: sensing a yaw moment; and controlling the yaw depending on the yaw moment.
  • FIG. 1 shows a schematic drawing of a wind turbine
  • FIG. 2 shows a schematic top view of the wind turbine
  • FIG. 3 shows a perspective view of the wind rotor of the wind turbine
  • FIG. 4 shows a schematic graph of measured torsional moments
  • FIG. 5 shows a further schematic graph of measured torsional moments
  • FIG. 6 shows a schematic yaw control system of a wind turbine
  • FIG. 7 shows a flow chart of a method for controlling a wind turbine.
  • FIG. 1 shows a schematic drawing of a wind turbine 100 .
  • the wind turbine 100 includes a tower 110 onto which a nacelle 120 is arranged.
  • the nacelle 120 is rotatable about a yaw axis Y.
  • the yaw axis Y is substantial vertical in an embodiment.
  • Within the nacelle 120 a generator 125 for transforming a rotational energy into electrical energy is placed.
  • a hub 130 is connected with a rotor shaft 127 to the generator.
  • the hub 130 may be connected to the generator 125 via a rotor shaft 127 and a gearbox (not shown).
  • the hub is rotatable about a rotor axis X that is substantial horizontal in an embodiment.
  • Three rotor blades 140 are connected to the hub 130 .
  • the rotor blades 140 and the hub 130 are forming a wind rotor of the wind turbine 100 .
  • the nacelle 120 is rotated about the yaw axis Y such that the rotor axis X of the hub 130 is substantially parallel to a wind direction.
  • the wind turbine 100 works as follows. The wind is imparting a torque on the wind rotor due to a profiled section of the rotor blades 140 . Therefore, the wind rotor is rotating about its rotor axis X. The wind rotor is then driving via the rotor shaft 127 the generator 125 . The generator 125 is transforming the rotation into an electrical current. Hence, the kinetic energy of the wind is transformed into electrical energy.
  • the yaw of the wind turbine 100 is in the depicted embodiment of FIG. 1 an angular position about the yaw axis Y of the nacelle 120 .
  • horizontal-axis wind turbines have the rotor shaft 127 and electric generator 125 at the top of a tower, and are pointed into the wind W.
  • FIG. 2 a top view of a wind turbine is shown.
  • the same elements are numbered with the same reference numbers as in FIG. 1 .
  • the nacelle 120 is arranged with a yaw bearing 112 on the tower 110 .
  • the yaw bearing 112 is adapted to allow the nacelle 120 and therefore also the wind rotor to rotate about the yaw axis Y.
  • a yaw drive 115 also called azimuth drive, rotates the nacelle 120 relative to the tower 110 .
  • the wind turbine 110 may use a hydraulic and/or an electrical yaw drive 115 . In the case of an electrical yaw drive often at least one electric motor is used.
  • a yaw angle ⁇ is called the deviation of the rotor axis X from a wind direction W (see FIG. 2 ).
  • a substantial yaw angle a may cause a loss of power. If the rotor should fully capture the kinetic energy of the wind, the wind rotor should be oriented correctly to the wind direction. That means that the yaw angle ⁇ should be about 0° degrees.
  • a motor-driven yaw system of the nacelle e.g. the azimuth or yaw drive, has the task of reducing the yaw angle or automatically orienting the wind rotor into the wind W.
  • Some components of a yaw system may be located in the nacelle whereas other parts of the yaw system may be located in the tower 110 .
  • a wind vane is used (see FIG. 1 ).
  • the yaw drive 115 drives then the nacelle and therefore the wind rotor into the wind W.
  • the yaw drive 115 maintains the nacelle in the yaw position determined using the information about the wind direction W.
  • a yaw brake may be used.
  • FIG. 3 shows a perspective view of the wind rotor.
  • the tower 110 may be placed on the left side of the rotor shaft 127 such that the view of FIG. 3 corresponds to the wind direction W of FIG. 2 .
  • the wind impinges the wind rotor and forces the rotor to rotate.
  • a relative wind direction impinges on each rotor blade 140 .
  • the relative wind on each rotor blade 140 is combined the wind W and a relative air stream due to the rotation of the rotor blade 140 . Therefore, the relative wind for each blade and even for each blade segment is different.
  • the relative wind direction cause a tangential force that provokes the rotation of the rotor and an axial force F (thrust).
  • the arrows depicted in FIGS. 2 and 3 show only the direction of the axial force F and not a value of the force.
  • the axial force F depends not only on the yaw angle ⁇ , but also on the rotational speed of the rotor, the wind speed of wind W, a pitch angle of each rotor blade 140 , a form of the rotor blade, a rotational position of the rotor blade and/or a wind shear.
  • the wind shear may depend on the place where the wind turbine is erected (the roughness of the surface), in which height the rotor and/or the hub have been installed and on the wind speed.
  • the axial forces F on the rotor blades 140 create a torsional moment in particular around the yaw axis Y. If, for a certain given time substantially all torsional moments of the blades around the yaw are added, a resulting torsional moment M comes out.
  • This resulting torsional M moment depend on the yaw angle ⁇ and may also depend on the rotational speed of the wind rotor, a pitch angle of the rotor blades 140 , the wind speed of wind W, the rotational position of the rotor blades 140 . As all parameters with exception of the yaw angle ⁇ are known, the yaw angle ⁇ may be deducted from the resulting torsional moment M.
  • a resulting torsional moment M is shown in a simplified graph.
  • a period, and thus the time t 1 corresponds to the time of a complete revolution of the rotor.
  • the resulting torsional moment M may vary during a complete revolution around a certain value M0.
  • the amplitude A of the variation around M0 may depend on the wind strength, the form of the rotor blades 140 , the pitch angle and/or the rotational speed.
  • M0 is not close to zero, it may be deducted that the wind turbine is not perfectly aligned in the wind direction and thus do not capture the maximum of energy out of the wind.
  • the value M0 depends among other known values, e.g.
  • an integral of M about on period i.e. the time of a complete revolution of the rotor (t 1 ) may be calculated. If necessary, the value M may be also integrated about several revolution of the rotor. In a further embodiment a mean value M mean may be calculated about one or more periods to get M0.
  • the resulting torsional moment M varies more or less around zero (see FIG. 5 ).
  • an integration about a period or several periods of the resulting torsional moment M, i.e. one or several revolutions of the rotor, or a calculation of a mean value would lead to a value close to zero.
  • the yaw angle ⁇ may be calculated from the average or mean value of the resulting torsional moment. Then, the yaw drive may be activated to reduce the yaw angle ⁇ .
  • the calculation of the yaw angle ⁇ may, in a further embodiment, not be necessary as the M int or M Mean may be used as input value for control of the yaw and either the value M int or M Mean may be close to zero in an optimal alignment of the rotor to the wind.
  • the yaw drive of the wind turbine may be controlled for example with a proportional (P) controller, a proportional-integral (PI) controller or simply look-up table controls with either the yaw angle ⁇ , M int or M Mean as value to control (or output value).
  • P proportional
  • PI proportional-integral
  • a set point value for the P, PI or simply look-up table controls may be therefore the yaw angle ⁇ , M int or M Mean equal to zero.
  • the resulting torsional moment M around the yaw axis Y may be measured at the yaw bearing 112 , e.g. using strain gauge, or less preferably using another sensor known in the art, such as, for example, a piezoelectric device.
  • the resulting torsional moment M may be measured using the forces acting on the yaw drive 115 . This may be done, in case of a electric yaw motor in measuring the armature current of the motor that is depending on the resulting torsional moment M, if no brakes are used for fixing the yaw of the wind turbine 100 .
  • one or more strain gauges may be placed on the rotor shaft 127 for measuring a bending moment on the rotor shaft 127 .
  • the torsional moment on the tower 110 may be measured to deduce the resulting torsional moment M.
  • a proximity sensor at the rotor shaft 127 may be used to determine the resulting torsional moment M.
  • strain gauge equipped bolts in a hub-rotor shaft connection may be used.
  • strain gauges in the blade roots may be used for measuring the torsional moment of a rotor blade 140 . The measurement results may be further treated by a controller for determining the resulting torsional moment M.
  • the yawing moment may be also used to reduce the loads on the different components like the rotor shaft and the hub by adding interdependent or independent pitch offsets to each rotor blade 140 .
  • one or more of the cited measurement methods may be used to determine the resulting torsional moment M.
  • FIG. 6 shows a yaw control system with a controller 200 for the yaw of the wind turbine 100 .
  • the controller 200 may be connected to a classical anemometry 150 for determining a general yaw angle. Further, the controller 200 is connected to a sensing device 210 for sensing the present resulting yaw moment M of the wind turbine. This may be one or more sensors of the ones described here-above. In a further embodiment, one or several sensing devices are connected to the controller 200 , and the controller 200 is computing from the sensed values the resulting yaw moment M of the rotor. For example, the sensing device may be sensing the armature current of the yaw drive motor 115 . Depending on the resulting yaw moment M, the controller may regulate the yaw of the wind turbine 100 .
  • FIG. 7 a flow chart for controlling the yaw of the wind turbine 100 is shown.
  • First step 1000
  • a torsional moment M is measured using for example the measurement methods explained hereabove.
  • a mean or average torsional Moment M int or M Mean is calculated.
  • the final yaw moments that are continuously calculated by the controller 200 are low pass filtered.
  • the step 1010 of calculation of a mean or average torsional moment M int or M Mean is not necessary, as the low pass filter 202 would cut off of the oscillations of the resulting torsional moment M.
  • the cutoff frequency of the low pass filter 202 may be chosen arbitrary, but may have a high time constant.
  • the cutoff frequency may be 5.5 ⁇ 10 ⁇ 3 Hz, more specifically 8.3 ⁇ 10 ⁇ 3 Hz. These frequency values correspond to a duration of approximately 3 minutes or 2 minutes, respectively.
  • a low pass filter is used to avoid a yaw adjustment at every squall or gust of wind with a different direction than the generally predominant wind direction W. After the filtering of the final yaw moment, the resulting value may be checked for plausibility.
  • the filtered final yaw moment is then used to control the yaw of the wind turbine.
  • This may be done with a known control algorithm, e.g. closed loop controller, a P, PI or simply look-up table controls.
  • the setpoint value may be a resulting torsional moment M equal to zero for P, PI or simply look-up table controls.
  • it may be done with a simple comparison of the filtered final yaw moment with a predetermined value that may depend on the wind strength.
  • the predetermined value may be 3°.
  • the yaw angle remains below 3 degrees, the yaw system and thus the yaw drive 115 may not be activated.
  • the determined yaw angle ⁇ is above 3 degrees the yaw system may turn the nacelle about the yaw axis Y with a predetermined angle, in particular directly into the wind.
  • the wind turbine uses the nacelle anemometry 150 to roughly drive the nacelle into the wind.
  • the measurement of the yawing moment will represent a yaw angle error ⁇ .
  • the yawing moment is near zero and will only show the moment resulting from an in-plane force perpendicular to the wind and parallel to the ground that is caused by the wind shear. This in plane force is relatively small and may be neglected.
  • the measurement of a bending moment in yawing direction is used to fine tune the yaw position in a typical embodiment.
  • the actual bending moment has to be filtered with a high time constant.
  • the resulting filtered moment has to be checked for plausibility and then used to fine-tune the yaw position.
  • a fine-tune routing would override the yaw alignment routines using the anemometry 150 when the turbine is operating.
  • the measured bending moment signals could be used as addition to the nacelle anemometry or as a replacement of the nacelle anemometry when the turbine is in operation.
  • the accuracy of the yaw position is more accurate and thus the power capture of the wind turbine is increased.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Wind Motors (AREA)
US12/199,019 2008-08-27 2008-08-27 Wind tracking system of a wind turbine Abandoned US20100054941A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US12/199,019 US20100054941A1 (en) 2008-08-27 2008-08-27 Wind tracking system of a wind turbine
EP09167791A EP2159416A3 (fr) 2008-08-27 2009-08-13 Système pour la poursuite de la direction du vent direction pour une éolienne
CN200910172861A CN101660494A (zh) 2008-08-27 2009-08-27 风力涡轮机的风力追踪系统

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US12/199,019 US20100054941A1 (en) 2008-08-27 2008-08-27 Wind tracking system of a wind turbine

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Cited By (13)

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US20100133828A1 (en) * 2009-10-02 2010-06-03 Stegemann Klaus Condition monitoring system for wind turbine generator and method for operating wind turbine generator
US20100329842A1 (en) * 2009-06-24 2010-12-30 Henrik Stiesdal Arrangement and method to control the yawing of a wind turbine
US20110140422A1 (en) * 2010-06-29 2011-06-16 Detlef Menke Method for controlling a proximity sensor of a wind turbine
CN102278273A (zh) * 2010-12-23 2011-12-14 周振昆 一种叶片可自转式风车
WO2012158131A1 (fr) 2011-05-19 2012-11-22 Mita-Teknik A/S Procédé de commande de l'angle de lacet d'une éolienne et éolienne
US20130177417A1 (en) * 2010-07-14 2013-07-11 Ib Svend Olesen Ice detection method and system for wind turbine blades
US20130193686A1 (en) * 2012-01-27 2013-08-01 General Electric Company System and methods for determining pitch angles for a wind turbine during peak shaving
EP2466125A3 (fr) * 2010-12-15 2014-07-02 General Electric Company Système et méthode pour l'ajustement de l'angle de lacet d'une éolienne
US20160245262A1 (en) * 2015-02-24 2016-08-25 Mitsubishi Heavy Industries, Ltd. Method for detecting damage of wind turbine blade and wind turbine
US20160356266A1 (en) * 2015-06-03 2016-12-08 General Electric Company System and Method for Reducing Torsional Movement in a Wind Turbine Tower
US20180066629A1 (en) * 2015-03-02 2018-03-08 Wobben Properties Gmbh Method for operating a wind turbine
US10683842B2 (en) * 2014-10-15 2020-06-16 Guodian United Power Technology Company Limited Wind turbine yaw control method and system
US11391263B2 (en) * 2017-05-31 2022-07-19 Vestas Wind Systems A/S Wind turbine yaw control system with improved wind direction tracking

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US9551320B2 (en) * 2012-09-27 2017-01-24 General Electric Company Asymmetric load control for torsion fatigue reduction in a wind turbine tower
DE102014223183A1 (de) * 2014-11-13 2016-05-19 Robert Bosch Gmbh Verfahren und Steuergerät zum Betreiben einer Windenergieanlage
DE102015110715A1 (de) * 2015-07-02 2017-01-05 Ssb Wind Systems Gmbh & Co. Kg Verfahren zum Steuern einer Rotorblattverstelleinrichtung
ES2600861B1 (es) 2015-07-03 2017-11-21 Gamesa Innovation & Technology, S.L. Sistema de control para detectar y evitar situaciones de desalineamiento en aerogeneradores
CN106837692B (zh) * 2017-03-27 2018-10-26 上海电机学院 一种垂直方向的风力发电机偏航系统
EP3770425A1 (fr) * 2019-07-26 2021-01-27 Siemens Gamesa Renewable Energy A/S Procédé et appareil de surveillance mise en uvre par ordinateur d'un ou de plusieurs éoliennes dans un parc éolien

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Cited By (21)

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Publication number Priority date Publication date Assignee Title
US20100329842A1 (en) * 2009-06-24 2010-12-30 Henrik Stiesdal Arrangement and method to control the yawing of a wind turbine
US8506247B2 (en) * 2009-06-24 2013-08-13 Siemens Aktiengesellschaft Arrangement and method to control the yawing of a wind turbine
US20100133828A1 (en) * 2009-10-02 2010-06-03 Stegemann Klaus Condition monitoring system for wind turbine generator and method for operating wind turbine generator
US7855469B2 (en) * 2009-10-02 2010-12-21 General Electric Company Condition monitoring system for wind turbine generator and method for operating wind turbine generator
US20110140422A1 (en) * 2010-06-29 2011-06-16 Detlef Menke Method for controlling a proximity sensor of a wind turbine
US8222760B2 (en) * 2010-06-29 2012-07-17 General Electric Company Method for controlling a proximity sensor of a wind turbine
US9523354B2 (en) * 2010-07-14 2016-12-20 Vestas Wind Systems A/S Ice detection method and system for wind turbine blades
US20130177417A1 (en) * 2010-07-14 2013-07-11 Ib Svend Olesen Ice detection method and system for wind turbine blades
EP2466125A3 (fr) * 2010-12-15 2014-07-02 General Electric Company Système et méthode pour l'ajustement de l'angle de lacet d'une éolienne
CN102278273A (zh) * 2010-12-23 2011-12-14 周振昆 一种叶片可自转式风车
US20140167415A1 (en) * 2011-05-19 2014-06-19 Mita-Teknik A/S Method of wind turbine yaw angle control and wind turbine
WO2012158131A1 (fr) 2011-05-19 2012-11-22 Mita-Teknik A/S Procédé de commande de l'angle de lacet d'une éolienne et éolienne
US20130193686A1 (en) * 2012-01-27 2013-08-01 General Electric Company System and methods for determining pitch angles for a wind turbine during peak shaving
US10683842B2 (en) * 2014-10-15 2020-06-16 Guodian United Power Technology Company Limited Wind turbine yaw control method and system
US20160245262A1 (en) * 2015-02-24 2016-08-25 Mitsubishi Heavy Industries, Ltd. Method for detecting damage of wind turbine blade and wind turbine
US10167853B2 (en) * 2015-02-24 2019-01-01 Mitsubishi Heavy Industries, Ltd. Method for detecting damage of wind turbine blade and wind turbine
US20180066629A1 (en) * 2015-03-02 2018-03-08 Wobben Properties Gmbh Method for operating a wind turbine
US10487801B2 (en) * 2015-03-02 2019-11-26 Wobben Properties Gmbh Method for operating a wind turbine
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CN106246468A (zh) * 2015-06-03 2016-12-21 通用电气公司 用于减小风力涡轮塔架中的扭转移动的系统和方法
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CN101660494A (zh) 2010-03-03
EP2159416A2 (fr) 2010-03-03
EP2159416A3 (fr) 2012-03-14

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