WO2011124218A1 - Brennkraftmaschine und verfahren zum steuern des betriebs der brennkraftmaschine - Google Patents
Brennkraftmaschine und verfahren zum steuern des betriebs der brennkraftmaschine Download PDFInfo
- Publication number
- WO2011124218A1 WO2011124218A1 PCT/DE2011/050000 DE2011050000W WO2011124218A1 WO 2011124218 A1 WO2011124218 A1 WO 2011124218A1 DE 2011050000 W DE2011050000 W DE 2011050000W WO 2011124218 A1 WO2011124218 A1 WO 2011124218A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- internal combustion
- combustion engine
- fuel
- engine
- operating load
- Prior art date
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/30—Controlling fuel injection
- F02D41/38—Controlling fuel injection of the high pressure type
- F02D41/40—Controlling fuel injection of the high pressure type with means for controlling injection timing or duration
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/30—Controlling fuel injection
- F02D41/32—Controlling fuel injection of the low pressure type
- F02D41/34—Controlling fuel injection of the low pressure type with means for controlling injection timing or duration
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
- F02B21/00—Engines characterised by air-storage chambers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
- F02B29/00—Engines characterised by provision for charging or scavenging not provided for in groups F02B25/00, F02B27/00 or F02B33/00 - F02B39/00; Details thereof
- F02B29/02—Other fluid-dynamic features of induction systems for improving quantity of charge
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/0002—Controlling intake air
- F02D41/0007—Controlling intake air for control of turbo-charged or super-charged engines
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/04—Introducing corrections for particular operating conditions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/30—Controlling fuel injection
- F02D41/38—Controlling fuel injection of the high pressure type
- F02D41/40—Controlling fuel injection of the high pressure type with means for controlling injection timing or duration
- F02D41/401—Controlling injection timing
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2250/00—Engine control related to specific problems or objectives
- F02D2250/31—Control of the fuel pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/30—Controlling fuel injection
- F02D41/38—Controlling fuel injection of the high pressure type
- F02D41/3809—Common rail control systems
- F02D41/3836—Controlling the fuel pressure
-
- 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
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/12—Improving ICE efficiencies
-
- 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
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Definitions
- the invention relates to an internal combustion engine and a method for controlling the operation of the internal combustion engine.
- Compressor speed accelerates and thus promotes more air to the
- a compressed air assist system leads to a significant increase in the operating costs of the internal combustion engine because of the compressed air consumed. Further, such a compressed air assist system also takes a certain amount of time to allow the compressor impeller to be as desired beschteunigen so that a speed drop of Brennkraftmascbine can not be completely avoided.
- the invention has the object of providing a method with which the Radioiastaufschaitverhaiten an internal combustion engine can be improved in a simple way,
- the invention is also based on the object to provide a configured for carrying out the method according to the invention internal combustion engine.
- a method of controlling the operation of an internal combustion engine comprising: determining an operation load of the internal combustion engine, controlling the operation of the internal combustion engine based on a certain drive power
- Operating load of the internal combustion engine is constant, and, when the operating load of the internal combustion engine increases by a predetermined amount, activating at least one Steuenkenniinie for modifying the standard control map, so that the driving power of the internal combustion engine increased wind.
- Control characteristics for modifying the standard control map can be achieved in a simple, quick and cost-saving manner, a higher drive power of the internal combustion engine, such as a higher indexed moment, which in turn at a sudden load load on a lower Rotary speed break and a lower increase in the pollutant emission of the internal combustion engine leads.
- the activation of the at least one control characteristic modifies the standard control map so that an injection time of internal combustion engine fuel is temporally advanced and / or an injection pressure of the engine fuel is increased, resulting in the ignition pressure of the engine Engine fuel is increased.
- the injection instant of the internal combustion engine fuel with respect to a rotational angle is used for the temporal predverberation of the injection timing of the engine fuel.
- the injection pressure of the engine fuel is increased by 200 bar to 400 bar when increasing the injection pressure of the engine fuel.
- the at least one additional control characteristic is deactivated and the operation of the internal combustion engine with the unmodified standard control map is controlled as soon as the operating load of the internal combustion engine for a
- the operating load in determining the operating load of the internal combustion engine, is determined to increase to the predetermined extent; when a time-dependent increase of a fuel charge for combustion in the internal combustion engine exceeds a predetermined time-dependent Greetslimit or if a ratio of fuel fill to an amount of air for combustion in the internal combustion engine exceeds a predetermined fuel-air ratio limit value or if a time-dependent decrease in a speed Internal combustion engine exceeds a predetermined time-dependent Brennkraftmascbinen- speed drop limit or when a time-dependent increase in the consumer power exceeds a predetermined time-dependent load rise limit.
- a sudden load engagement is detected: with the aid of the fuel charge increase as a function of time or by means of a function fuel charge over air quantity (such as charge air quantity), as a function of the time or based on the RPM of the internal combustion engine, or with the help of load increase as a function of time.
- Control characteristic activated to modify the standard control map.
- Compressed air consumption) of the support system can be reduced.
- the support system can be made smaller, which in addition costs can be saved.
- an internal combustion engine comprises a control device which is adapted to carry out a method according to one, several or all of the above-described embodiments of the invention in any conceivable combination.
- the control i may be hardware,
- control device is integrated in an electronic engine control unit.
- the standard control map optimized for steady-state operation with the associated characteristic curves and the preferably several additional characteristic curves for modifying the standard control map are in the control device e.g. stored in an electronic memory,
- the internal combustion engine is formed by a large diesel engine and has a common rail fuel injection system coupled to the control device and an exhaust gas turbocharger for pressure-related
- large diesel engines are understood to mean those which are e.g. to drive ships or used in power plants for generator drive.
- the exhaust gas turbocharger has a compressed air assist system, wherein the compressed air assist system is coupled to the control device in a controlled manner, wherein the control device is set up
- Fig. 1 shows a schematic view of an internal combustion engine according to an embodiment of the invention.
- the internal combustion engine 1 shown in Fig. 1 is constituted by a large diesel engine (here, for example, a 12-cylinder V-engine) for operation (drive and / or power generation) of a ship (not shown)
- a large diesel engine here, for example, a 12-cylinder V-engine
- drive and / or power generation of a ship (not shown)
- the internal combustion engine 1 has a control device 10, a common rail fuel injection system 20, an exhaust gas turbocharger 30 for pressurizing
- Such an increase in the operating load of the internal combustion engine i by a predetermined amount can be e.g. by an increase in the load or speed of the ship initiated on the bridge of the ship or e.g. be caused in a diesel-electric system by sudden connection of a relevant electrical load.
- the common rail fuel injection system 20 has two main fuel lines 21, 22, the two fuel rail lines 23, 24 of the common rail fuel injection system 20 via a controlled by the common rail - fuel injection system 20 fuel pump (not shown) with high pressure (up to 1600 bar) standing diesel fuel from a
- Each of the fuel railways 23, 24 is connected via six fuel supply lines 25 and 26, respectively, to controllable fuel injectors at the six cylinders (not shown) of each longitudinal side of the twelve-cylinder internal combustion engine 1.
- the internal combustion engine i (in particular also its fuel injectors) and their common rail fuel injection system 20 are respectively coupled to the control device 10 via control lines 1 and 27, wherein in an electronic memory (not shown) of the control device 10 a plurality of standard control maps for a stationary operation
- the load load 43 is connected via a control line 44 to the control device 10.
- the turbocharger 30 comprises an exhaust gas turbine 31> the output of an exhaust gas via an exhaust gas line 32 (not designated) de internal combustion engine 1 is connected, and via a connection 31 while the
- Exhaust gas turbine 31 driven compressor 33 which is connected via a Ladeiuft effet 34 to an air inlet (not labeled) of the internal combustion engine 1.
- the Abgasturboiader 30 is coupled via a Steuerieitung 35 control moderately with the control device 10 and is preferably also controlled, for example by means of adjustable guide means also on the stored in the control device 10 standard control maps.
- Control line 42 coupled to the control device 10.
- the control device 10 is arranged according to the invention, the
- Compressed air assist system 40 to activate at a certain increase in the operating load of the internal combustion engine 10, so that the provided by the exhaust gas turbocharger 30 charge air amount for combustion in the internal combustion engine 1 is increased.
- a plurality of additional control characteristics are also stored in the memory of the control device 10. This extra
- Internal combustion engine 1 by means of sensors (not shown) in the control device 10 continuously determines the Betrtebslast the internal combustion engine 1.
- the operation time of the Bfennkfaftmaschfrie 1 is constant (steady state operation)
- the operation of the internal combustion engine 1 is controlled based on the stored in the control device 10 Standard Steuerkennefefder
- the standard control map is modified to have an injection timing of
- Engine fuel here diesel fuel
- an injection pressure of the engine fuel is increased, with the result that the ignition pressure of the internal combustion engine is increased.
- the injection pressure of the engine fuel is preferably increased by 200 bar to 400 bar.
- Injection pressure and / or the ignition pressure can be achieved by the control device 10 via corresponding control of the fuel injectors and the fuel pump.
- the additional control characteristics are determined by the control device 10
- Disabled control device 10 and the operation of the internal combustion engine 1 gesured with the unmodified standard control map as soon as the operating load of the internal combustion engine 1 is constant for a predetermined period and / or a certain drive power of the internal combustion engine 1 is exceeded.
- Control device 10 determines the operation load to increase to the predetermined extent: when a time-dependent increase of a fuel charge for combustion in the internal combustion engine 1 exceeds a predetermined time-dependent charge increase threshold or if a ratio of a fuel amount to the charge air amount for combustion in the internal combustion engine 1 exceeds a predetermined fuel-air ratio limit value or when a time-dependent increase in the consumer power exceeds a predetermined time-dependent load rise limit or when a time-dependent decrease in a rotational speed of the crankshaft of the internal combustion engine 1 a
- control device 10 increases the operating load of the internal combustion engine 1 as a function of the extent and / or the duration of the increase in the operating load
- control device 10 is configured, depending on the extent and / or the duration of the increase in the operating load
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
- Output Control And Ontrol Of Special Type Engine (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Supercharger (AREA)
Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013503001A JP6001527B2 (ja) | 2010-04-08 | 2011-01-24 | 内燃機関及び該内燃機関の運転の制御方法 |
KR1020127028009A KR20130001295A (ko) | 2010-04-08 | 2011-01-24 | 내연 기관 및 그 내연 기관의 작동을 제어하는 방법 |
EP11711021A EP2556234A1 (de) | 2010-04-08 | 2011-01-24 | Brennkraftmaschine und verfahren zum steuern des betriebs der brennkraftmaschine |
DE112011101237.3T DE112011101237A5 (de) | 2010-04-08 | 2011-01-24 | Brennkraftmaschine und Verfahren zum Steuern des Betriebs der Brennkraftmaschine |
US13/639,126 US10400704B2 (en) | 2010-04-08 | 2011-01-24 | Internal combustion engine and method for controlling the operation of the internal combustion engine |
CN201180018085.0A CN102822486B (zh) | 2010-04-08 | 2011-01-24 | 内燃机以及用于控制内燃机的运行的方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102010003736A DE102010003736A1 (de) | 2010-04-08 | 2010-04-08 | Brennkraftmaschine und Verfahren zum Steuern des Betriebs der Brennkraftmaschine |
DE102010003736.2 | 2010-04-08 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2011124218A1 true WO2011124218A1 (de) | 2011-10-13 |
Family
ID=44064691
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2011/050000 WO2011124218A1 (de) | 2010-04-08 | 2011-01-24 | Brennkraftmaschine und verfahren zum steuern des betriebs der brennkraftmaschine |
Country Status (7)
Country | Link |
---|---|
US (1) | US10400704B2 (de) |
EP (1) | EP2556234A1 (de) |
JP (1) | JP6001527B2 (de) |
KR (1) | KR20130001295A (de) |
CN (1) | CN102822486B (de) |
DE (2) | DE102010003736A1 (de) |
WO (1) | WO2011124218A1 (de) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103047027B (zh) * | 2012-12-28 | 2015-10-07 | 潍柴动力股份有限公司 | 一种发动机控制方法及装置 |
CN108104965A (zh) * | 2017-12-13 | 2018-06-01 | 天津雷沃发动机有限公司 | 一种柴油机智能扭矩控制方法 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0385189A1 (de) * | 1989-02-28 | 1990-09-05 | MAN Nutzfahrzeuge Aktiengesellschaft | Beschleunigungshilfe für eine abgasturboaufgeladene Brennkraftmaschine |
DE19708721A1 (de) * | 1997-03-04 | 1998-09-17 | Man Nutzfahrzeuge Ag | Aufladesystem für eine luftverdichtende Brennkraftmaschine |
DE19934833A1 (de) * | 1999-07-24 | 2001-01-25 | Bosch Gmbh Robert | Verfahren zur Steuerung eines Common-Rail-Einspritzsystems |
US6325044B1 (en) * | 1999-05-07 | 2001-12-04 | General Electric Company | Apparatus and method for suppressing diesel engine emissions |
DE10206030A1 (de) * | 2002-02-14 | 2003-09-04 | Bayerische Motoren Werke Ag | Verfahren zum Anpassen eines Einspritzparameters eines Verbrennungsmotors an instationäre bzw. dynamische Vorgänge |
DE102006055591A1 (de) * | 2005-11-28 | 2007-05-31 | Ford Global Technologies, LLC, Dearborn | Turboloch-Kompensationssystem mit einem Ejektor |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
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DE4029537A1 (de) * | 1990-09-18 | 1992-03-19 | Bosch Gmbh Robert | Verfahren und vorrichtung zur steuerung und/oder regelung einer betriebsgroesse einer brennkraftmaschine |
GB2265994B (en) * | 1992-04-09 | 1995-09-06 | Toyota Motor Co Ltd | Engine control apparatus |
DE4418731A1 (de) * | 1994-05-28 | 1995-11-30 | Bosch Gmbh Robert | Verfahren zur Steuerung/Regelung von Prozessen in einem Kraftfahrzeug |
US5553575A (en) * | 1995-06-16 | 1996-09-10 | Servojet Products International | Lambda control by skip fire of unthrottled gas fueled engines |
DE69826067T2 (de) * | 1997-06-10 | 2005-01-20 | Nissan Motor Co., Ltd., Yokohama | Brennkraftmaschine |
JP4250102B2 (ja) * | 2004-03-04 | 2009-04-08 | ダイハツディーゼル株式会社 | 主機関のエアーアシスト制御装置 |
US7877996B2 (en) * | 2005-11-28 | 2011-02-01 | Ford Global Technologies, Llc | Turbo-lag compensation system having an ejector |
US7685819B2 (en) * | 2006-03-27 | 2010-03-30 | Aqwest Llc | Turbocharged internal combustion engine system |
JP4197025B2 (ja) * | 2006-09-15 | 2008-12-17 | トヨタ自動車株式会社 | ハイブリッド車両 |
DE102006051439B4 (de) * | 2006-10-31 | 2009-01-29 | Continental Automotive Gmbh | Verfahren zur Steuerung einer Brennkraftmaschine |
US8527183B2 (en) * | 2007-09-20 | 2013-09-03 | General Electric Company | System and method for controlling the fuel injection event in an internal combustion engine |
JP2010053820A (ja) * | 2008-08-29 | 2010-03-11 | Toyota Motor Corp | 内燃機関の燃料噴射パターンの過渡補正パラメータの適合方法 |
US7945378B2 (en) * | 2008-09-22 | 2011-05-17 | Deere & Company | Method of selecting engine torque curves |
DE102008054405A1 (de) * | 2008-12-09 | 2010-06-10 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Steuerung einer Brennkraftmaschine |
WO2012162630A2 (en) * | 2011-05-25 | 2012-11-29 | Eaton Corporation | Supercharger-based twin charging system for an engine |
-
2010
- 2010-04-08 DE DE102010003736A patent/DE102010003736A1/de not_active Withdrawn
-
2011
- 2011-01-24 EP EP11711021A patent/EP2556234A1/de not_active Withdrawn
- 2011-01-24 DE DE112011101237.3T patent/DE112011101237A5/de not_active Ceased
- 2011-01-24 WO PCT/DE2011/050000 patent/WO2011124218A1/de active Application Filing
- 2011-01-24 KR KR1020127028009A patent/KR20130001295A/ko active Search and Examination
- 2011-01-24 JP JP2013503001A patent/JP6001527B2/ja not_active Expired - Fee Related
- 2011-01-24 US US13/639,126 patent/US10400704B2/en not_active Expired - Fee Related
- 2011-01-24 CN CN201180018085.0A patent/CN102822486B/zh not_active Expired - Fee Related
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0385189A1 (de) * | 1989-02-28 | 1990-09-05 | MAN Nutzfahrzeuge Aktiengesellschaft | Beschleunigungshilfe für eine abgasturboaufgeladene Brennkraftmaschine |
DE19708721A1 (de) * | 1997-03-04 | 1998-09-17 | Man Nutzfahrzeuge Ag | Aufladesystem für eine luftverdichtende Brennkraftmaschine |
US6325044B1 (en) * | 1999-05-07 | 2001-12-04 | General Electric Company | Apparatus and method for suppressing diesel engine emissions |
DE19934833A1 (de) * | 1999-07-24 | 2001-01-25 | Bosch Gmbh Robert | Verfahren zur Steuerung eines Common-Rail-Einspritzsystems |
DE10206030A1 (de) * | 2002-02-14 | 2003-09-04 | Bayerische Motoren Werke Ag | Verfahren zum Anpassen eines Einspritzparameters eines Verbrennungsmotors an instationäre bzw. dynamische Vorgänge |
DE102006055591A1 (de) * | 2005-11-28 | 2007-05-31 | Ford Global Technologies, LLC, Dearborn | Turboloch-Kompensationssystem mit einem Ejektor |
Also Published As
Publication number | Publication date |
---|---|
EP2556234A1 (de) | 2013-02-13 |
CN102822486A (zh) | 2012-12-12 |
US20130144513A1 (en) | 2013-06-06 |
JP2013524080A (ja) | 2013-06-17 |
KR20130001295A (ko) | 2013-01-03 |
JP6001527B2 (ja) | 2016-10-05 |
DE102010003736A1 (de) | 2011-10-13 |
US10400704B2 (en) | 2019-09-03 |
CN102822486B (zh) | 2016-05-25 |
DE112011101237A5 (de) | 2014-02-27 |
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