WO2018209637A1 - 机床主轴的定位控制方法及系统 - Google Patents
机床主轴的定位控制方法及系统 Download PDFInfo
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- WO2018209637A1 WO2018209637A1 PCT/CN2017/084874 CN2017084874W WO2018209637A1 WO 2018209637 A1 WO2018209637 A1 WO 2018209637A1 CN 2017084874 W CN2017084874 W CN 2017084874W WO 2018209637 A1 WO2018209637 A1 WO 2018209637A1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/045—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using logic state machines, consisting only of a memory or a programmable logic device containing the logic for the controlled machine and in which the state of its outputs is dependent on the state of its inputs or part of its own output states, e.g. binary decision controllers, finite state controllers
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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
- H02P17/00—Arrangements for controlling dynamo-electric gears
Definitions
- the invention relates to the field of industrial control, in particular to a positioning control method and system for a machine tool spindle.
- the electric spindle (referred to as the spindle) is a new technology that combines the machine tool spindle and the spindle motor in the field of CNC machine tools in recent years.
- the machine tool spindle refers to the axis on the machine that drives the workpiece or the tool to rotate.
- the spindle only performs speed control, but in some special cases, the spindle needs to be positionally controlled. For example, in the automatic tool change and the boring processing on the machining center, it is necessary to make the spindle and the lathe in the case of loading the workpiece, and the spindle needs to be accurately stopped at a specific position, that is, the spindle positioning is required.
- Positioning of the spindle motor requires position detection, usually by installing a rotary encoder with a z-phase pulse signal, while for a spindle motor drive, a signal capable of receiving a rotary encoder is required.
- closed-loop vector control is generally adopted.
- the closed-loop vector control can decompose the excitation current and torque current by coordinate transformation of the three-phase current of the motor, which can better control the output torque of the motor. And output speed.
- the spindle motor often requires high-frequency operation. Since the encoder pulse signal is a high-frequency signal, under the closed-loop vector control, if the motor is in a high-frequency operation state, the detection of the encoder pulse signal becomes extremely difficult, whether it is There are extremely high requirements for the detection circuit or the detection algorithm. Therefore, how to change the control mode of the spindle in the case of high-frequency operation of the spindle makes it unnecessary for the encoder to detect the pulse signal, and achieving accurate spindle positioning control becomes a technical problem to be solved.
- the positioning control method and system of the machine tool spindle capable of realizing the precise positioning of the spindle.
- a positioning control method for a machine tool spindle comprising:
- the machine tool spindle is started by using a closed loop vector control mode, and when the output frequency is greater than the first preset frequency, the closed loop vector control mode is converted into a V/F control mode, and the machine tool spindle is continuously controlled in the V/F control mode. run;
- the V/F control mode After receiving the positioning command or decelerating, after controlling the output frequency to decrease to the first preset frequency by the V/F control mode, converting the V/F control mode into a closed loop vector control mode, by using the closed loop vector
- the control mode controls the positioning of the machine tool spindle
- the closed loop vector control mode continues to reduce the output frequency.
- the output frequency is less than the second preset frequency
- the input positioning signal and the position signal fed back by the encoder pass through the position loop and the speed loop in the closed loop vector control mode. And the operation of the current loop to obtain a positioning control signal;
- the positioning control signal is output to the machine tool spindle, and the machine tool spindle is controlled to run to the corresponding position.
- a positioning control system for a machine tool spindle includes a driver for controlling a spindle of a machine tool and an encoder for measuring a position signal and a speed signal, the driver including a memory and a processor, wherein the memory stores computer readable instructions, When the instructions are executed by the processor, the processor is caused to perform the following steps:
- the machine tool spindle is started by using a closed loop vector control mode, and when the output frequency is greater than the first preset frequency, the closed loop vector control mode is converted into a V/F control mode, and the machine tool spindle is continuously controlled in the V/F control mode. run;
- the V/F control mode After receiving the positioning command or decelerating, after controlling the output frequency to decrease to the first preset frequency by the V/F control mode, converting the V/F control mode into a closed loop vector control mode, by using the closed loop vector
- the control mode controls the positioning of the machine tool spindle
- the closed loop vector control mode continues to reduce the output frequency.
- the output frequency is less than the second preset frequency
- the input positioning signal and the position signal fed back by the encoder pass through the position loop and the speed loop in the closed loop vector control mode. And the operation of the current loop to obtain a positioning control signal;
- the positioning control signal is output to the machine tool spindle, and the machine tool spindle is controlled to run to the corresponding position.
- the positioning control method and system of the above machine tool spindle realizes controlling the spindle operation of the machine tool by adopting the V/F control mode when the output is greater than the first preset frequency, and switching to the closed loop vector control mode to the spindle of the machine tool when the output is smaller than the first preset frequency Positioning control is performed so that it is not necessary to detect the encoder pulse signal in the case of high-frequency operation of the machine tool spindle.
- Positioning control is performed so that it is not necessary to detect the encoder pulse signal in the case of high-frequency operation of the machine tool spindle.
- FIG. 1 is a flow chart of a positioning control method of a machine tool spindle in an embodiment
- FIG. 3 is a process flow diagram of a control module in an embodiment
- Figure 4 is a block diagram of a positioning control system for a machine tool spindle in one embodiment.
- FIG. 1 it is a flowchart of a positioning control method for a machine tool spindle in an embodiment, and the method includes the following steps S110-S140.
- S110 Start the machine tool spindle by using a closed loop vector control mode, and when the output frequency is greater than the first preset frequency, convert the closed loop vector control mode into a V/F control mode, and continue to control in the V/F control mode.
- the machine tool spindle runs.
- the drive that controls the machine tool spindle starts the machine tool spindle by means of closed loop vector control. Since the drive spindle keeps the lower output frequency when the machine spindle is started, the output torque of the spindle motor gradually increases and the rotation speed gradually increases.
- the drive works in the closed-loop vector control mode to receive the torque of the spindle motor in real time. Current feedback and rotational speed feedback allow for more efficient control of the machine spindle.
- the spindle motor when the driver detects that the current output frequency is greater than the first preset frequency F1, the spindle motor is already in the high frequency running state at this time, and in the high speed operation, the operation of the spindle motor enters a steady state.
- the closed loop vector control mode is converted into a V/F control mode, and in the V/F control mode, the output voltage is ensured to be proportional to the output frequency, and the control of the spindle motor is simple, and the spindle motor can be kept stable. Operating status.
- the process of converting from the closed loop vector control mode to the V/F control mode is as shown in FIG. 2, first, the driver starts the V/F control mode, and then the current output frequency Fc in the closed loop vector control mode. Assigning to the output frequency Fv of the V/F control mode, and assigning the current output phase angle ⁇ c in the closed-loop vector control mode to the output phase angle ⁇ v of the V/F control mode, in which the output voltage of the driver remains unchanged. Change, close the closed-loop vector control mode, and output voltage from the V/F control mode is output to the PWM output module.
- the output frequency is reduced by the V/F control mode.
- the output frequency is detected to be less than the first preset frequency F1
- the spindle motor ends the high-frequency running state at this time.
- the V/F control mode is converted into a closed loop vector control mode to perform low frequency control on the spindle motor.
- the flow of converting from the V/F control mode to the closed-loop vector control mode is as shown in FIG. 2, and the closed-loop vector control mode is first started, because the position loop, the speed loop, and the current loop need to be adjusted in the closed loop vector control mode. Obtain the output voltage, so you need to get the position loop, speed loop and The input data of the current loop can complete the conversion of the closed loop vector control mode.
- the rotation speed of the machine tool spindle is detected by an encoder, and the rotation speed is fed back to a speed loop in the closed loop vector control, and the current loop is given after the operation of the speed loop.
- the output phase angle ⁇ v in the V/F control mode is assigned to the output phase angle ⁇ c of the closed-loop vector control method.
- the three-phase output currents Iu, Iv, Iw in the three-phase stationary coordinate system are transformed by the Clark transform into two-phase operating currents I ⁇ , I ⁇ in a two-phase stationary coordinate system.
- the two-phase operating currents I ⁇ , I ⁇ in the two-phase stationary coordinate system are transformed by the Parker transform into two-phase rotating currents ImFed and ItFed in a two-phase rotating coordinate system.
- the exciting current ImFed is taken as the current loop integral amount at this time, and the exciting current given ImRef is obtained by self-learning of the spindle motor parameters.
- the current loop performs PID adjustment (proportional-integral-derivative adjustment) on the torque current given ItRef, the excitation current given ImRef, the torque current ItFed, and the excitation current ImFed to obtain the output voltage vector UmOut, UtOut, and the formula
- the output voltage Uout is calculated, and the current loop outputs the output phase angle ⁇ c and the output voltage Uout to the PWM output module, and the PWM module outputs a PWM signal to the spindle motor.
- S130 continue to reduce the output frequency by using the closed loop vector control mode, and when the output frequency is less than the second preset frequency, pass the input positioning signal and the position signal fed back by the encoder to the position loop in the closed loop vector control mode, The positioning control signal is obtained after the operation of the speed loop and the current loop.
- the positioning instruction is executed, and the output frequency is continuously decreased in the closed loop vector control mode.
- the output frequency is detected to be smaller than the second preset frequency F2
- the second preset frequency F2 is smaller than the first preset frequency.
- F1 the position given module inside the driver outputs the positioning signal to the position loop in the closed loop vector control, and the position signal detected by the encoder to the spindle motor is also fed back to the position loop.
- the position loop compares the position signal input by the position given module with the position signal fed back by the encoder, and compares the compared difference value by the PID of the position loop to obtain the speed loop, and outputs the The speed loop is given to the speed loop in the closed loop vector control.
- the speed loop compares the speed loop reference with the speed signal calculated by the encoder feedback signal, and compares the compared difference value by the PID of the speed loop to obtain a current loop reference, and outputs the current loop reference Current loop to closed loop vector control.
- the current loop compares the current loop with the torque current sampled by the machine tool spindle, and compares the compared difference value by the PID of the current loop to obtain a positioning control signal.
- the position given module outputs the pulse signal M to the position loop according to the preset positioning position
- the pulse signal M is a pulse encoder z pulse as a zero point
- the positioning position is a distance from the zero point
- M is The number of pulses
- the encoder feedback current position is the pulse signal N, where N is the number of pulses.
- W is given as the speed loop
- the speed loop in the closed-loop vector control is calculated according to the speed loop given W and the speed signal calculated by the encoder feedback signal, and then the output current loop is given, and the current loop operation in the closed loop vector control is performed. Then, the output voltage Uout and the vector angle ⁇ 1 are obtained, and the spindle motor is positioned and controlled according to the current loop output result.
- S140 Output the positioning control signal to the machine tool spindle, and control the machine tool spindle to run to the corresponding position.
- the current loop outputs a positioning control signal to the PWM output module, and the PWM output module outputs a PWM signal to control the three-phase inverter bridge circuit, thereby controlling the spindle motor to operate to a corresponding position.
- the positioning control method of the above machine tool spindle controls the spindle operation of the machine tool by using the V/F control mode when the output is greater than the first preset frequency, and switches to the closed loop vector control mode to locate the machine tool spindle when the output is smaller than the first preset frequency. Control, so that in the case of high-frequency operation of the machine spindle, it is not necessary to detect the encoder pulse signal.
- the precision of the machine tool spindle is realized. GPS.
- a positioning control system for a machine tool spindle comprising a driver for controlling a spindle of a machine tool and an encoder for measuring a position signal and a speed signal, the driver comprising a memory and a processor, the memory There are stored computer readable instructions that, when executed by the processor, cause the processor to perform the methods of the various embodiments described above.
- FIG. 4 is a block diagram of a positioning control system for a machine tool spindle in an embodiment, the system including a driver for controlling a machine spindle (not shown) and for measuring position signals and speed signals.
- the encoder 90, the machine tool spindle adopts an AC asynchronous motor 80, and the driver includes a control module 100, a speed reference module 200, a position given module 300, a V/F control module 400, a closed loop vector control module 500, Current detection module 600 and PWM output module 700.
- the process of the drive performing the positioning control performs the following control process through the control module 100.
- the control module 100 selects the closed loop vector control module 500 to start the machine tool spindle.
- the control module 100 converts the closed loop vector control module 500 into the V/F control module 400 by V/F.
- the control module 400 continues to control the spindle operation of the machine tool.
- the drive controlling the spindle of the machine tool selects a closed loop vector control
- the module 500 activates the machine tool spindle. Since the drive spindle maintains a lower output frequency just after starting, during this period, the output torque of the AC asynchronous motor 80 gradually increases, and the rotational speed gradually increases, and the drive can receive the torque of the spindle motor in real time through the closed loop vector control module 500. Current feedback and rotational speed feedback allow for more efficient control of the machine spindle.
- the AC asynchronous motor 80 when the driver detects that the current output frequency F is greater than the first preset frequency F1, the AC asynchronous motor 80 is already in the high frequency running state, and in the high speed operation, the operation of the AC asynchronous motor 80 enters a steady state.
- the closed loop vector control module 500 is converted into the V/F control module 400.
- the output voltage is ensured to be proportional to the output frequency, and the control of the AC asynchronous motor 80 is simple, and the AC asynchronous The motor 80 maintains a stable operating state.
- control module 100 When the control module 100 receives the positioning command or the deceleration command, after the control V/F control module 400 reduces the output frequency F to the first preset frequency F1, the control module 100 converts the V/F control module 400 into a closed loop.
- the vector control module 500 controls the positioning of the machine tool spindle by the closed loop vector control module 500.
- the speed reference module 200 sends the speed to the V/F control module 400, and the V/F control module 400 receives the speed reference and reduces the output frequency F, and controls The AC asynchronous motor 80 decelerates.
- the output frequency F is detected to be less than the first preset frequency F1
- the AC asynchronous motor 80 ends the high frequency running state, and the V/F control module 400 is converted into the closed loop vector control module 500.
- the AC asynchronous motor 80 is subjected to low frequency control.
- the closed loop vector control module 500 is first started.
- the closed loop vector control module 500 includes a position loop 510, a speed loop 520 and a current loop 530.
- the position loop 510, the speed loop 520 and the current need to pass through the control of the closed loop vector control module 500.
- the adjustment of the loop 530 can obtain the output voltage, so the input data of the position loop 510, the speed loop 520 and the current loop 530 needs to be acquired to complete the conversion of the closed loop vector control module 500.
- the rotational speed of the machine tool spindle is detected by the encoder 90, and the rotational speed is fed back to the speed loop 520, and the current loop is given by the operation of the speed loop 520.
- the torque current of the machine tool spindle is detected by the current detecting module 600 built in the driver, and the torque current is fed back to the current loop 530, and the output is controlled by the operation of the current loop 530.
- the signal is turned off and the V/F control module 400 is turned off after the current loop 530 begins to output a control signal.
- the closed loop vector control module 500 continues to reduce the output frequency.
- the output frequency F is less than the second preset frequency F2
- the positioning signal input by the position given module 300 and the position signal fed back by the encoder 90 pass through the position loop 510 and the speed loop 520.
- the operation control signal is obtained after the operation of the current loop 530.
- control module 100 executes the positioning instruction, and continues to reduce the output frequency F by the closed loop vector control module 500.
- the output frequency F is detected to be smaller than the second preset frequency F2, wherein the second preset frequency F2 is smaller than The first preset frequency F1
- the position given module 300 inside the driver outputs a positioning signal to the position loop 510, and the position signal detected by the encoder 90 to the AC asynchronous motor 80 is also fed back to the position loop 510.
- the position loop 510 compares the position signal input by the position given module 300 with the position signal fed back by the encoder 90, and compares the compared difference value by the PID of the position loop 510 to obtain a speed loop.
- the speed loop is output to the speed loop 520.
- the speed loop 520 compares the speed loop reference with the speed signal calculated by the feedback signal of the encoder 90, and compares the compared difference value by the PID of the speed loop 520 to obtain a current loop reference, and outputs the current loop.
- the current loop 530 compares the current loop and the torque current sampled by the current detecting module 600 to the machine tool spindle, and compares the compared difference value by the PID of the current loop 530 to obtain a positioning control signal.
- the PWM output module outputs the positioning control signal to a machine tool spindle, and controls the spindle of the machine tool to operate to a corresponding position.
- the current loop 530 outputs a positioning control signal to the PWM output module 700, and the PWM output module 700 outputs a PWM signal to control the three-phase inverter bridge circuit, thereby controlling the AC asynchronous motor 80 to operate to a corresponding position.
- the positioning control system of the above machine tool spindle adopts a V/F control module to control the operation of the machine tool spindle when the output is greater than the first preset frequency, and switches to the closed loop vector control module to locate the machine tool spindle when the output is smaller than the first preset frequency. Control, so that in the case of high-frequency operation of the machine spindle, it is not necessary to detect the encoder pulse signal.
- the position signal input by the position given module and the position signal fed back by the encoder are passed through the position in the closed loop vector control module under the control of the closed loop vector control module. After the operation of the ring, speed loop and current loop, the positioning control signal is obtained, which realizes the precise positioning function of the machine tool spindle.
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Abstract
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Claims (16)
- 一种机床主轴的定位控制方法,包括:采用闭环矢量控制方式启动所述机床主轴,当输出频率大于第一预设频率时,将所述闭环矢量控制方式转换为V/F控制方式,在所述V/F控制方式下继续控制机床主轴运行;当接收到定位指令或减速时,通过V/F控制方式控制输出频率减小至所述第一预设频率后,将所述V/F控制方式转换为闭环矢量控制方式,通过所述闭环矢量控制方式对机床主轴进行定位控制;通过所述闭环矢量控制方式继续减小输出频率,当输出频率小于第二预设频率时,将输入的定位信号和编码器反馈的位置信号经过所述闭环矢量控制方式中的位置环、速度环和电流环的运算后得到定位控制信号;及输出所述定位控制信号给机床主轴,控制所述机床主轴运行至相应位置。
- 根据权利要求1所述的方法,其特征在于,所述将闭环矢量控制方式转换为V/F控制方式包括:启动V/F控制方式;将所述闭环矢量控制方式下的当前输出频率赋值给V/F控制方式的输出频率;将所述闭环矢量控制方式下的当前输出相位角赋值给V/F控制方式的输出相位角;在所述V/F控制方式下开始输出控制信号后关闭闭环矢量控制方式。
- 根据权利要求1所述的方法,其特征在于,所述将V/F控制方式转换为闭环矢量控制方式包括:启动闭环矢量控制方式;检测所述机床主轴的转动速度,将所述转动速度反馈至闭环矢量控制中的速度环,经过所述速度环的运算后得到电流环给定;检测所述机床主轴的转矩电流,将所述转矩电流反馈至闭环矢量控制中 的电流环,经过所述电流环的运算后输出控制信号;在所述电流环开始输出控制信号后关闭V/F控制方式。
- 根据权利要求3所述的方法,其特征在于,所述检测所述机床主轴的转矩电流包括:检测主轴电机的三相输出电流中的两相输出电流,根据三相电流和为零,计算出第三相输出电流的大小;将所述V/F控制方式下的输出相位角赋值给闭环矢量控制方式的输出相位角;将所述三相输出电流和输出相位角通过坐标变换得到励磁电流和转矩电流。
- 根据权利要求1所述的方法,其特征在于,所述第二预设频率小于第一预设频率。
- 根据权利要求1所述的方法,其特征在于,所述位置环的运算包括:将输入的定位信号和编码器反馈的位置信号进行差值比较,将比较后的差值经过位置环的PID调节后得到速度环给定;输出所述速度环给定至闭环矢量控制中的速度环。
- 根据权利要求1所述的方法,其特征在于,所述速度环的运算包括:将所述速度环给定和通过编码器反馈信号运算所得的速度信号进行比较,将比较后的差值经过速度环的PID调节后得到电流环给定;输出所述电流环给定至闭环矢量控制中的电流环。
- 根据权利要求1所述的方法,其特征在于,所述电流环的运算包括:将所述电流环给定和对机床主轴采样得到的转矩电流进行比较,将比较后的差值经过电流环的PID调节后得到定位控制信号;输出所述定位控制信号至机床主轴,并控制所述机床主轴运行至对应位置。
- 一种机床主轴的定位控制系统,包括控制机床主轴的驱动器和用于测量位置信号和速度信号的编码器,所述驱动器包括存储器和处理器, 所述存储器中储存有计算机可读指令,所述指令被所述处理器执行时,使得所述处理器执行以下步骤:采用闭环矢量控制方式启动所述机床主轴,当输出频率大于第一预设频率时,将所述闭环矢量控制方式转换为V/F控制方式,在所述V/F控制方式下继续控制机床主轴运行;当接收到定位指令或减速时,通过V/F控制方式控制输出频率减小至所述第一预设频率后,将所述V/F控制方式转换为闭环矢量控制方式,通过所述闭环矢量控制方式对机床主轴进行定位控制;通过所述闭环矢量控制方式继续减小输出频率,当输出频率小于第二预设频率时,将输入的定位信号和编码器反馈的位置信号经过所述闭环矢量控制方式中的位置环、速度环和电流环的运算后得到定位控制信号;及输出所述定位控制信号给机床主轴,控制所述机床主轴运行至相应位置。
- 根据权利要求9所述的系统,其特征在于,所述处理器将所述闭环矢量控制方式转换为V/F控制方式的过程包括:启动V/F控制方式;将所述闭环矢量控制方式下的当前输出频率赋值给V/F控制方式的输出频率;将所述闭环矢量控制方式下的当前输出相位角赋值给V/F控制方式的输出相位角;在所述V/F控制方式下开始输出控制信号后关闭闭环矢量控制方式。
- 根据权利要求9所述的系统,其特征在于,所述处理器将V/F控制方式转换为闭环矢量控制方式包括:启动闭环矢量控制方式;检测所述机床主轴的转动速度,将所述转动速度反馈至闭环矢量控制中的速度环,经过所述速度环的运算后得到电流环给定;检测所述机床主轴的转矩电流,将所述转矩电流反馈至闭环矢量控制中 的电流环,经过所述电流环的运算后输出控制信号;在所述电流环开始输出控制信号后关闭V/F控制方式。
- 根据权利要求11所述的系统,其特征在于,所述处理器检测所述机床主轴的转矩电流的过程包括:检测主轴电机的三相输出电流中的两相输出电流,根据三相电流和为零,计算出第三相输出电流的大小;将所述V/F控制方式下的输出相位角赋值给闭环矢量控制方式的输出相位角;将所述三相输出电流和输出相位角通过坐标变换得到励磁电流和转矩电流。
- 根据权利要求9所述的系统,其特征在于,所述第二预设频率小于第一预设频率。
- 根据权利要求9所述的系统,其特征在于,所述处理器进行位置环的运算过程包括:将输入的定位信号和编码器反馈的位置信号进行差值比较,将比较后的差值经过位置环的PID调节后得到速度环给定;输出所述速度环给定至闭环矢量控制中的速度环。
- 根据权利要求9所述的系统,其特征在于,所述处理器进行速度环的运算过程包括:将所述速度环给定和通过编码器反馈信号运算所得的速度信号进行比较,将比较后的差值经过速度环的PID调节后得到电流环给定;输出所述电流环给定至闭环矢量控制中的电流环。
- 根据权利要求9所述的系统,其特征在于,所述处理器进行电流环的运算过程包括:将所述电流环给定和对机床主轴采样得到的转矩电流进行比较,将比较后的差值经过电流环的PID调节后得到定位控制信号;输出所述定位控制信号至机床主轴,并控制所述机床主轴运行至对应 位置。
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