EP0481983A1 - Procede et dispositif pour la regulation de la vitesse d'un moteur diesel polycylindrique a faible vitesse de rotation. - Google Patents

Procede et dispositif pour la regulation de la vitesse d'un moteur diesel polycylindrique a faible vitesse de rotation.

Info

Publication number
EP0481983A1
EP0481983A1 EP89907669A EP89907669A EP0481983A1 EP 0481983 A1 EP0481983 A1 EP 0481983A1 EP 89907669 A EP89907669 A EP 89907669A EP 89907669 A EP89907669 A EP 89907669A EP 0481983 A1 EP0481983 A1 EP 0481983A1
Authority
EP
European Patent Office
Prior art keywords
speed
crankshaft
cylinder
angular
value
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.)
Granted
Application number
EP89907669A
Other languages
German (de)
English (en)
Other versions
EP0481983B1 (fr
Inventor
Juergen Strop
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.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=6835100&utm_source=***_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP0481983(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP0481983A1 publication Critical patent/EP0481983A1/fr
Application granted granted Critical
Publication of EP0481983B1 publication Critical patent/EP0481983B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1497—With detection of the mechanical response of the engine
    • F02D41/1498—With detection of the mechanical response of the engine measuring engine roughness
    • 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
    • F02B3/00—Engines characterised by air compression and subsequent fuel addition
    • F02B3/06—Engines characterised by air compression and subsequent fuel addition with compression ignition
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2200/00—Input parameters for engine control
    • F02D2200/02—Input parameters for engine control the parameters being related to the engine
    • F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
    • F02D2200/1015—Engines misfires
    • 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
    • F02D41/0097—Electrical control of supply of combustible mixture or its constituents using means for generating speed signals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02F—CYLINDERS, PISTONS OR CASINGS, FOR COMBUSTION ENGINES; ARRANGEMENTS OF SEALINGS IN COMBUSTION ENGINES
    • F02F7/00—Casings, e.g. crankcases or frames
    • F02F2007/0097—Casings, e.g. crankcases or frames for large diesel engines

Definitions

  • the invention relates to a method and a device for regulating the speed of a slow-running, multi-cylinder diesel engine.
  • the invention further relates to a method and a device for speed detection in the control of a slow-running, multi-cylinder diesel engine.
  • crankshaft 10 marks attached to the crankshaft each generate a reference pulse when one of the cylinders is in its top dead center.
  • the angle of rotation of the crankshaft is divided into angular ranges. In stationary operation, the crankshaft needs to run through every angular
  • the invention has for its object to provide a control of slow-running, multi-cylinder diesel engines, which also allows temporary malfunctions to be corrected.
  • the problem arises, in particular, of identifying such short-term faults and, if necessary, of eliminating them so quickly detect that the control or regulation of the engine can be corrected in a suitable manner.
  • Such a speed detection is therefore also an object of the invention.
  • Angular positions of the crankshaft are defined for each of the cylinders, which represent the start angle and end angle of an angular range lying before the top dead center of the cylinder. This can be done by a sensor for corresponding marks rotating with the crankshaft or another reference pulse generator, which emits a reference pulse each time one of these defined angular positions is passed.
  • the sluggish average speed " n is compared with the setpoint speed n * and fed to a sluggish controller, which determines a first setpoint for the control of the injection pumps and thus specifies the pre-setting of the filling level of all cylinders.
  • the output signal of this sluggish controller changes practically not, and even short-term disturbances hardly cause any change.
  • the continuously measured actual speed values n ⁇ are also compared with the desired speed value and fed to a fast controller. If a one-off or periodic fault occurs in a cylinder, the actual value n ⁇ and therefore also a second setpoint, which is provided by the output signal of this fast controller, responds quickly to this change.
  • the angular range in which this disturbed actual value n ⁇ was formed lies before the top dead center of the cylinder to which this angular range is assigned. The quick correction of the presetting therefore affects at least this cylinder and its degree of filling, which therefore corrects this malfunction immediately.
  • the method described in the European application 120 730 mentioned can also advantageously be used to symmetrize the operation.
  • the intervention described to correct the disturbances or asymmetries is all the more effective the shorter the time between the disturbance detection and the correction of the fill level of the next cylinder.
  • the end angle of the angular range should therefore be as close as possible to the top dead center of the assigned cylinder.
  • the adjustment of the degree of filling, which takes place via the filling linkage of the corresponding injection pump, should be completed before the top dead center is reached. Therefore, the position of the angular range, that is to say the reference positions determining its start angle and end angle, is advantageously adjusted as a function of the speed of the crankshaft. This can be done by means of a corresponding control device.
  • FIGS. 3 and 4 is a schematic representation of two vorteilha f t comparable employed control devices
  • the invention is explained using the example of a 4-cylinder two-stroke engine, the 4 cylinders of which ZI, Z2, Z3 and Z4 are symbolically represented in FIG.
  • Fuel is injected into the displacement of each cylinder during the compression phase of injection pumps Pl,... P4, the amount of which in relation to the combustion air is determined by the degree of filling F.
  • a target value F * is specified, from which a degree of filling controller FR forms a corresponding target value F ** with which, for example, by means of hydraulic operations Filling linkage of the injection pumps is adjusted, the corresponding position of the injection pump being fed back into the filling level controller via the actual value F.
  • the degree of filling regulator acts jointly on the filling rod of all injection pumps and adjusts all injection pumps together.
  • the cylinder ZI In the position shown in FIG. 1, the cylinder ZI is at its top dead center, which initiates its first work stroke, the expansion stroke, while the cylinder Z3 is at the bottom dead center, at which its expansion stroke completed and the second work cycle, the compression cycle is initiated. Accordingly, the cylinder Z2 is still in the middle of its second working cycle (compression), while Z4 is already in the expansion cycle.
  • the ignition point In order to ensure proper combustion in engines with electrical ignition in the expansion cycle, the ignition point must be synchronized with the cylinder position and thus the rotational movement of the crankshaft.
  • the injection nozzle In the case of diesel engines, the injection nozzle is automatically released by the movement of the piston, but the invention also provides for the rotation angle of the crankshaft to be detected here, which is achieved by means of a corresponding reference pulse generator.
  • This can be an angle detector which acts in the manner of a contactless proximity switch, an incremental angle sensor which is driven without slippage, or another digital or analog detector circuit coupled to the crankshaft.
  • a measuring disk is attached to the crankshaft directly or via a gearbox with the ratio 1: 1 and bears a number ml of marks M.
  • M a number of marks
  • the starting position can be detected with every revolution by a zero pulse transmitter, e.g. a mark N which emits a corresponding zero pulse when a zero pulse detector DN is passed.
  • Another pulse generator DN ' is offset from the zero pulse generator DN or the detector DET, in order to determine the direction of rotation of the shaft in a known manner and thus to determine the sign when counting the pulses of the detector DET.
  • the zero pulse of the detector DN can also be used to synchronize the counter required for counting the pulses of the detector DET each time it passes the initial position and to correct any counting errors caused by interference pulses. If such a correction is not necessary, the starting position can also be detected in software by means of the counter for the pulses from DET.
  • a rotation angle range -_ 360 * / z is defined in accordance with the number z of the cylinders igniting one after the other, which indicates that a cylinder (for example Z2) assumes the position after each rotation by this angle ⁇ _, which the previous cylinder (e.g. ZI) previously assumed.
  • Each of the z angular ranges is assigned to a cylinder and is defined by reference positions which indicate the start angle and end angle. In four-stroke engines, each cylinder passes through its top dead center twice in one engine cycle.
  • the detector DET and a counter CT with an output signal describing the instantaneous angle of rotation y of the crankshaft and possibly the zero pulse generator DN and the corresponding sign detector SIGN for the sign of the direction of rotation with its auxiliary detector DN 'thus represent a reference pulse generator which at given reference positions (for example, the first top dead center of a cylinder during an engine cycle) each emits a reference pulse.
  • a measuring and control device MR which operates partly software-controlled and digitally and partly for safety reasons partly mechanically, hydraulically etc., forms a first mean ri, which indicates the average speed with which a each over an entire work cycle or rich o (comprehensive Transmit through a large angular range -TJTeser mean n can be detected, for example, as a reciprocal value of the time interval between two reference pulses of the zero pulse transmitter DN.
  • n ⁇ is formed in the measuring and control device MR, which indicates the speed at which the crankshaft each has an angular range K (or another small angular range, each assigned to one of the cylinders, which by corresponding reference positions of the crankshaft or of the cylinder in question).
  • the speed value " n thus represents an actual value averaged with a large time constant, which is practically influenced in the same way by the mechanical moment applied by all cylinders.
  • the second mean value n ⁇ represents a value averaged with a small time constant , in which mainly the last expansion stroke of a cylinder and its influence '-. - .. f the shaft enters.
  • the measuring and regulating device MR contains an inert controller which compares the mean value n ⁇ with a speed setpoint n * and specifies a setpoint for presetting the degree of filling of the cylinders.
  • a rapid control for the di f ference n * - n *. provided, the output signal of which is superimposed on the output signal of the slow controller and can therefore quickly adjust the degree of filling at any time before the next expansion stroke of a cylinder.
  • One advantage of the detection of two speed values averaged with different time constants is, for example, that it is possible to regulate the sluggish mean value, which applies the pulse-shaped course of the cylinder Motor torque M r i * ? Ese ⁇ regulates without constantly adjusting the controller setting.
  • the mean n ⁇ allows rapid intervention in the event of faults. For example, more frequent misfires of a cylinder can be recognized and corrected by appropriate interventions on this cylinder and / or corrected each time the next cylinder is filled. Likewise, short-term exceedances of limit speeds can be reported and suitable protective measures can be triggered before the slow control required for stable engine operation can respond.
  • the angular ranges assigned to the individual cylinders and the mean values n ⁇ measured therein can be displayed and documented, which provides valuable conclusions with regard to the further service of the system.
  • this fault message should be as close as possible to the time of injection. Because the filling rods and If the injection pump requires a certain time to regulate the degree of filling, the determination of the mean value n ⁇ is controlled as a function of speed.
  • the measuring and regulating device contains a control device controlled by the average speed, as will be explained in more detail below with reference to the signals in FIG. 2 and a schematic circuit in FIG. 3.
  • n (t) gives the current speed of rotation, ie the time derivative of the angle of rotation v of the motor shaft. Compared to the long-term mean n, this actual value shows significant drops at times t1 ... t4 at which the cylinders each reach their top dead center.
  • tl which coincides with a zero pulse of the m n Nullimpuls ⁇ detector DN, increases the combustion in the Zylin ⁇ ZI axis of the thrust on the Dre ⁇ and therefore the Drehgeschwin ⁇ speed, said Geschw- ⁇ - J accuracy but because of the decrease expansion pressure un ⁇ decreases because of the work required for compression in the cylinder Z2. 2 shows exaggeratedly that the expansion pressure in the individual cylinders assumes different values after passing through their top dead center, and therefore an irregular course of the rotational speed arises.
  • a first counter CT1 counts the time pulses clk between the occurrence of two zero pulses m n . At every zero impulse, the counter reading ctl in a corresponding
  • Memory M1 is given, at the output of which the reciprocal of the count, multiplied by the output signal n "of the direction of rotation detector SIGN, is then available as a corresponding long-term average " n for the duration of the next revolution of the crankshaft.
  • the pulses m of the reference pulse generator each indicate that an angular range has been reached and left and are supplied to another counter CT2 for the time pulses clk. They determine the points in time at which the counter reading ct2 of the counter CT2 shown in FIG. 2 is in each case read into a memory M2 and reset.
  • the Referenzstel- lung £ 2 is opposite to the upper "dead center of the Zylin ⁇ DERS Z2 (time t2) dd by the shift angle defines vorver ⁇ .
  • time t2 ' the averaging in the angular range ot has already been completed and the counter Z2 reads its counter reading into the memory M2.
  • the value proportional to n ⁇ sign 77. (l / ct2) the filling linkage for cylinder Z2 will be adjusted via the fast controller before this cylinder reaches its top dead center.
  • m ⁇ 9, ie there are nine incremental angular steps d ⁇ between the top dead centers of two adjacent cylinders.
  • the corresponding control pulses which correspond to the reference angular positions ⁇ 1 and ⁇ 2, are formed by the reference pulse generator from the pulse train of the detector DET in that this pulse train is fed to the counter CT mentioned, whose counter reading et set at a reference position to the value m ⁇ and counted down w; - * d. When the value reaches zero, the next reference pulse is given and the counter is set again.
  • the top dead centers of the cylinders are not always reached exactly with pulses from the pulse generator DET or with a zero pulse.
  • the angular range ⁇ which is assigned to the cylinders one after the other, does not have to be exactly the same or correspond to the angular distance between the top dead centers of the cylinders. Since it is only a means of education, e.g. a somewhat shorter angular range can certainly be assigned to a cylinder, the time required to pass through this angular range also being shortened.
  • the averaging can also take place over angular ranges -X, which are each smaller than the distance between the top dead centers. While in FIG. 2 each a reference position specifies the end value of an angular range and at the same time the initial value of the next angular range, separate start and end positions can also be defined, in which case there are pauses which do not form the mean value n ⁇ be used. As long as the speed remains the same, these pauses are of equal length, but if the relative position of the angular ranges to the top dead centers is to be changed when the speed changes, the corresponding shift in the start and end values results in a temporary change in these pauses. Likewise, it is also possible to select the measurement intervals for the mean value formation is greater than the distance between the top dead centers for 'so that these angular ranges overlap with each other. A permanent change in speed then causes a temporary change in the overlap.
  • the angular ranges are selected in such a way that their sum at the same speed results in the full cycle of the motor. There are therefore no overlaps or pauses and a reference position simultaneously indicates the end value of the previous measurement interval and the start value of the next measurement interval.
  • the speed-dependent shift of the relative position between the measuring range and top dead center can be achieved by temporarily changing the measuring range. This is shown in FIG. 2 by the fact that at a zero pulse m ⁇ or the associated time t ' the counter reading et of the counter CT is not set to the value 7, as is usually provided in the synchronization, but is set to the value 6, for example.
  • a corresponding function generator FKT is provided in FIG. 2, which performs the corresponding position shift dot or. d 'via the synchronization of the counter CT as a function of the speed r ⁇ .
  • the mean value n ⁇ is more sensitive to the torque pulsations of the drive than the mean value Ti. In the event of asymmetries in the drive, there is therefore no adjustment of a slow controller ⁇ R that results from the speed deviation provides a setpoint F ⁇ " for the presetting of the degree of filling. In addition, a controller R ⁇ is provided which is fed by the control deviation n * - n ⁇ .
  • Its output signal F ⁇ * which serves to correct the presetting and, for example, on a Addition element AD with F * is superimposed additively, the injection pumps can constantly adjust, since torque pulsations are unavoidable anyway, the regulator R ⁇ can be considerably calmed down if speed deviations n * - n ⁇ do not occur within a predetermined fluctuation range 3, provision is made in FIG. 3 for a dead element to be connected upstream of the controller R ⁇ , which only activates a corresponding control signal when the predetermined limit values for n * -n 0 are exceeded ( the controller R ⁇ . 16.
  • the inertia of the controller is preferably achieved in that an integral regulator or a proportional-integral controller is used with the 'esentlichen integral behavior. For the fast controller R *, however, a purely proportional or predominantly proportional behavior is preferred.
  • FIG. 4 An arrangement suitable for this is shown in FIG. 4.
  • this angular division which is specified as a function of the speed n " by a function memory FKT, is shown in FIG. 5.
  • angular positions p ⁇ are specified as reference positions, which can be counted by a cyclical counter running in a decoder DECOD.
  • j (i + l) / Z
  • an uneven count i indicates the cylinder to which the angular range jL belongs
  • the angular position p i specifies the reference angle at which the angular range &. begins (top dead center of Z,) and the angular range (L_ ⁇ of the previous counter ends.
  • the angular range oC, is assigned and the angular position p indicates the reference angle at which the angular range u *. ends (before the top dead center of Z.,) and the next angle range o ⁇ . , +1 begins.
  • the distance ⁇ .n) from the top dead center is given by the function memory in each case with a zero pulse depending on the speed after a stored function, which means that the width of the area o can also change.
  • the counter CT is reset in each case at the position p, and thus, by counting the incremental angle steps dv, supplies an angle related to p *, which is compared in the decoder DECOD with the read reference angle p 2 . If this angle is reached, the second pulse is generated by DECOD and the reference angle p 3 is read in until a new cycle begins after the twelfth count pulse, the first pulse of which can be triggered by the zero pulse m n .
  • the width tl., this angular range was called up from the function memory by means of this pulse and multiplied at the multiplier MP by the signal of the direction of rotation detector SIGN.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Combined Controls Of Internal Combustion Engines (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)

Abstract

Lors du fonctionnement d'un moteur diesel polycylindrique à faible vitesse de rotation, il est calculé une première valeur moyenne de vitesse n(Boolean not), mesurée sur presque un cycle moteur complet, et une seconde valeur moyenne nalpha, la valeur nalpha n'étant calculée que sur une plage de vitesse angulaire correspondant à la distance entre deux points morts hauts. Cette plage de vitesse angulaire est pré-décalée, par rapport au point mort haut, d'un angle dépendant de la vitesse de rotation. La variation de vitesse n* - n(Boolean not) est régulée par un régulateur lent, et la variation de vitesse n*-nalpha est régulée par un régulateur rapide. Les deux régulateurs agissent sur le remplissage des cylindres. Le régulateur lent n'accomplit que de faibles modifications du degré de remplissage, le régulateur rapide permet une intervention rapide lors de perturbations.
EP89907669A 1989-07-07 1989-07-07 Procede et dispositif pour la regulation de la vitesse d'un moteur diesel polycylindrique a faible vitesse de rotation Expired - Lifetime EP0481983B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/DE1989/000450 WO1991000956A1 (fr) 1989-07-07 1989-07-07 Procede et dispositif pour la regulation de la vitesse d'un moteur diesel polycylindrique a faible vitesse de rotation

Publications (2)

Publication Number Publication Date
EP0481983A1 true EP0481983A1 (fr) 1992-04-29
EP0481983B1 EP0481983B1 (fr) 1994-09-21

Family

ID=6835100

Family Applications (2)

Application Number Title Priority Date Filing Date
EP89907669A Expired - Lifetime EP0481983B1 (fr) 1989-07-07 1989-07-07 Procede et dispositif pour la regulation de la vitesse d'un moteur diesel polycylindrique a faible vitesse de rotation
EP19900112597 Expired - Lifetime EP0406765B1 (fr) 1989-07-07 1990-07-02 Procédé et dispositif de régulation du régime d'un moteur diesel lent, à plusieurs cylindres

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP19900112597 Expired - Lifetime EP0406765B1 (fr) 1989-07-07 1990-07-02 Procédé et dispositif de régulation du régime d'un moteur diesel lent, à plusieurs cylindres

Country Status (9)

Country Link
EP (2) EP0481983B1 (fr)
JP (1) JPH04506389A (fr)
DE (1) DE58908423D1 (fr)
DK (1) DK0406765T3 (fr)
ES (1) ES2029141T3 (fr)
FI (1) FI915699A0 (fr)
GR (1) GR3004342T3 (fr)
NO (1) NO180020C (fr)
WO (1) WO1991000956A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69004410T2 (de) * 1990-01-08 1994-05-19 Hitachi Ltd Methode und Gerät um den Verbrennungszustand in einer mehrzylindrigen Brennkraftmaschine zu detektieren.
KR100404241B1 (ko) 1998-02-09 2003-11-01 지멘스 악티엔게젤샤프트 다기통 내연기관의 속도 조정 방법
DE10205375A1 (de) * 2002-02-09 2003-08-21 Bosch Gmbh Robert Verfahren und Vorrichtung zur Steuerung einer Brennkraftmaschine, insbesondere zur Regelung der Drehzahl der Brennkraftmaschine
DK176670B1 (da) * 2003-10-28 2009-02-09 Hans Jensen Lubricators As Centralsmöreanlæg samt fremgangsmåde til smöring af cylinderfladerne i store dieselmotorer, især skibsmotorer

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2507057A1 (de) * 1975-02-19 1976-09-02 Bosch Gmbh Robert Verfahren und vorrichtung zur bestimmung der laufunruhe einer brennkraftmaschine
US4475511A (en) * 1982-09-01 1984-10-09 The Bendix Corporation Fuel distribution control system for an internal combustion engine
US4539956A (en) * 1982-12-09 1985-09-10 General Motors Corporation Diesel fuel injection pump with adaptive torque balance control
DE3336028C3 (de) * 1983-10-04 1997-04-03 Bosch Gmbh Robert Einrichtung zur Beeinflussung von Steuergrößen einer Brennkraftmaschine
DE3604904A1 (de) * 1986-02-17 1987-08-20 Bosch Gmbh Robert Einrichtung zur regelung der laufruhe einer brennkraftmaschine

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO9100956A1 *

Also Published As

Publication number Publication date
NO180020B (no) 1996-10-21
DK0406765T3 (da) 1992-06-01
DE58908423D1 (de) 1994-10-27
NO920077D0 (no) 1992-01-06
NO180020C (no) 1997-01-29
NO920077L (no) 1992-01-06
ES2029141T3 (es) 1992-07-16
WO1991000956A1 (fr) 1991-01-24
EP0406765B1 (fr) 1992-01-29
EP0481983B1 (fr) 1994-09-21
GR3004342T3 (fr) 1993-03-31
JPH04506389A (ja) 1992-11-05
EP0406765A1 (fr) 1991-01-09
FI915699A0 (fi) 1991-12-03

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