EP4237674A1 - Procédé de détermination d'un temps de fermeture d'un injecteur pourvu d'une électrovanne, programme informatique, appareil de commande, moteur à combustion interne et véhicule automobile - Google Patents

Procédé de détermination d'un temps de fermeture d'un injecteur pourvu d'une électrovanne, programme informatique, appareil de commande, moteur à combustion interne et véhicule automobile

Info

Publication number
EP4237674A1
EP4237674A1 EP21802281.2A EP21802281A EP4237674A1 EP 4237674 A1 EP4237674 A1 EP 4237674A1 EP 21802281 A EP21802281 A EP 21802281A EP 4237674 A1 EP4237674 A1 EP 4237674A1
Authority
EP
European Patent Office
Prior art keywords
time
voltage
derivative
coil
auxiliary function
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.)
Pending
Application number
EP21802281.2A
Other languages
German (de)
English (en)
Inventor
Philipp Hackmann
Daniel Leineweber
Daniel AUGUST
Riheb WISLATI
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.)
Volkswagen AG
Original Assignee
Volkswagen 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
Application filed by Volkswagen AG filed Critical Volkswagen AG
Publication of EP4237674A1 publication Critical patent/EP4237674A1/fr
Pending 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
    • F02D41/20—Output circuits, e.g. for controlling currents in command coils
    • 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
    • F02D41/20—Output circuits, e.g. for controlling currents in command coils
    • F02D2041/202—Output circuits, e.g. for controlling currents in command coils characterised by the control of the circuit
    • F02D2041/2055—Output circuits, e.g. for controlling currents in command coils characterised by the control of the circuit with means for determining actual opening or closing time
    • 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
    • F02D41/24—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means
    • F02D41/26—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using computer, e.g. microprocessor
    • F02D41/28—Interface circuits
    • F02D2041/286—Interface circuits comprising means for signal processing

Definitions

  • the invention relates to a method for determining a closing time of an injector with a solenoid valve and a computer program, a control device, an internal combustion engine and a motor vehicle.
  • injectors are used to inject fuel directly into a combustion chamber.
  • An engine control unit controls the switching valve integrated in the injectors, which causes an injection nozzle to open and close again.
  • the quantity of fuel injected can be determined by way of an opening duration of the switching valve.
  • solenoid valve injectors When solenoid valve injectors are actuated electrically, opening and closing of these valves can only take place with a delay.
  • the delay of the individual injectors is subject to tolerances, with the result that the injectors have different opening times with the same activation times. This results in an undesirable uneven distribution of the fuel mass.
  • the voltage signal can be integrated until it reaches a threshold.
  • the threshold value is reached, this corresponds to the closing time of the injector.
  • DE 102009 032 521 A1 describes a method for determining a closing time of a valve having a coil drive.
  • a current flows through a coil the coil drive is switched off, so that the coil is de-energized and a time profile of a voltage induced in the de-energized coil is recorded.
  • the induced voltage is generated by decaying eddy currents in a magnetic circuit of the coil drive and by a movement of the magnet armature relative to the coil.
  • the recorded time profile of the induced voltage is evaluated and the closing time is determined based on the evaluated time profile.
  • the object of the present invention is to provide an improved method for determining a closing time of an injector with a solenoid valve, an improved computer program, an improved control device, an improved internal combustion engine and an improved motor vehicle.
  • a first aspect of the invention relates to a method for determining a closing time of a solenoid valve of an injector.
  • the closing time is determined by evaluating a logarithmic voltage ratio between a coil voltage and a reference value for the coil voltage.
  • the coil voltage is the voltage across a coil of the solenoid valve.
  • the injector with the solenoid valve (solenoid valve injector) is used for injecting fuel into a combustion chamber of an internal combustion engine.
  • the injector is actuated electromagnetically.
  • the injector has a coil for generating a magnetic field, so that the coil can be used as an electromagnet.
  • the magnetic force exceeds a biasing force of the biasing element.
  • the valve needle entrained (Magnetic) armature are moved by the magnetic force against a direction of the biasing force. This lifts the valve needle out of the valve seat, releases the valve opening and thus opens the solenoid valve.
  • the current applied to the coil is switched off so that there is no longer a magnetic field.
  • the valve needle is pressed back into the valve seat by the pretensioning element and the valve opening is blocked, so that the solenoid valve is again in its closed valve position.
  • the closing point in time of the injector is the point at which the valve needle is again arranged in the valve seat after the activation current has been switched off and blocks the valve opening, so that no fuel can be injected into the combustion chamber.
  • the coil voltage after switching off the control current corresponds to a voltage induced in the coil, which is generated, among other things, by a reduction in the magnetic field and by a movement of the magnet armature relative to the coil.
  • the coil voltage can be recorded using appropriate measurement technology. In this way, for example, the raw voltage signal can be recorded.
  • the reference value is also a voltage value.
  • the reference value is the voltage value at the measurement start time within a switch-off phase of the coil.
  • the switch-off phase begins after the control current has been switched off.
  • the reference value is the voltage value at the time of switch-off.
  • the switch-off point is the point at which the drive current is switched off.
  • the "logarithmic voltage ratio between the coil voltage and the reference value” means the logarithm of the quotient of the coil voltage divided by the reference value. In some embodiments, the natural logarithm may be used.
  • a signal-to-noise ratio for evaluating the coil voltage can be improved.
  • the turning point in the course of the logarithmic voltage ratio during the discharging process is thus easier to recognize.
  • the use of the logarithm enables a robust evaluation of the coil voltage, which can be carried out with comparatively little computing power.
  • a derivation of the logarithmic voltage ratio can be evaluated to determine the closing time.
  • derivation means the chronological derivation of the course over time of the logarithmic voltage ratio.
  • a second derivation of the logarithmic voltage ratio can be evaluated to determine the closing time.
  • the second derivative means the second derivative over time of the course over time of the logarithmic voltage ratio.
  • the closing point time may be when the second derivative of the logarithmic voltage ratio becomes zero for the first time. It has been found that when the second derivative of the logarithmic voltage ratio equals zero, that is also the inflection point in the voltage curve.
  • the inflection point of the voltage curve can thus be determined in a particularly simple and mathematical manner by discussing the curves of the time curve of the logarithmic voltage ratio.
  • the method may also include the following: determining that the dwell time is present when the second derivative of the logarithmic voltage ratio remains less than zero for a predetermined time (debounce period) after reaching the value zero.
  • the predetermined time can be from 10 to 50 microseconds (ps).
  • the predetermined time as the debounce period can be dependent on a time grid (measurement grid) of the detection of the raw voltage signal. In some examples, the debounce period can be greater than the time grid.
  • Reaching zero means any instant at which the second derivative of the logarithmic voltage ratio is equal to zero.
  • the closing time is determined or recognized as such if, after such a zero point has been detected, the second derivation remains less than zero at least for the predetermined time. This can ensure that noise caused by measurement inaccuracies in the time course of the logarithmic voltage ratio is not incorrectly recognized as the closing point.
  • the reference value of the voltage present at the coil can be at the measurement start time or switch-off time.
  • the second derivative of the logarithmic voltage ratio can be evaluated using an auxiliary function.
  • An extreme point of the auxiliary function can correspond to the closing time of the injector.
  • the voltage discharge curve of the coil (of the injector) after switching off the control current can be described with the following discharge function:
  • the exponent f(t) can be determined by rearranging the unloading function, resulting in:
  • auxiliary function S(t) is obtained by forming the time derivative of the exponent f(t).
  • a resolution of the detection of the voltage curve can be set with the time grid At.
  • the coil voltage II(t) is then correspondingly recorded at regular time intervals, the time pattern At.
  • the time grid At can be, for example, from 1 to 5 microseconds.
  • the voltage signal from the injector can thus be recorded with high resolution and stored in a control unit, for example.
  • Equation (4) the auxiliary function S(t) can be expressed as follows:
  • An (absolute) maximum extreme value of the auxiliary function S(t) corresponds to the closing time of the injector. Furthermore, the auxiliary function S(t) increases monotonically up to the maximum extreme value. The closing time can thus be determined by searching for extreme values in the function S(t).
  • the first time derivative S'(t) of the auxiliary function S(t) is used to search for the extreme value, with the following relationship applying:
  • Equation (6) shows that the first derivative S'(t) of the auxiliary function S(t) corresponds to the second derivative of the logarithmic voltage ratio.
  • the derivative S'(t) can also be approximated with a slope triangle:
  • moving average values for the detected coil voltage can be used. This means that the sliding mean values are formed for the recorded coil voltage measurement values and the evaluations mentioned above are based on the sliding mean values of the voltage values. With moving averages for smoothing time series or data series, new data point sets are created that include average values of subsets of the same size as the original data point sets. With the sliding averages, a voltage signal can be generated that is less noisy than the raw voltage signal detected by detection devices. This makes the evaluation and thus the method for determining the closing time more robust.
  • the first derivative S'(t) of the auxiliary function S(t) can correspond to the second derivative of the logarithmic voltage ratio.
  • the first derivative of the auxiliary function can be approximated according to equation (7).
  • the injector closing time may be when the first derivative of the auxiliary function is equal to or less than zero.
  • the auxiliary function S(t) has the property that it is a monotonically increasing function up to the closing time. Therefore, to determine the closing time, a search can be made for an end (time) point of the slope of the curve of the auxiliary function. The end point can be determined particularly easily by evaluating the first derivative of the auxiliary function S'(t).
  • the closing time is when the first derivative of the auxiliary function is equal to or less than zero for the first time.
  • the logarithmic voltage ratio can be evaluated over the entire measurement period during the discharge process of the coil.
  • the auxiliary function can also be evaluated over the entire measurement period.
  • the measurement period may correspond to the period of discharge of the coil.
  • a second aspect of the invention relates to a computer program which comprises instructions which, when the program is executed by a computer, cause the latter to execute a method according to one of the preceding claims.
  • the computer program can be stored on an electrical storage medium.
  • a third aspect of the invention relates to a control unit that is set up to carry out one of the methods described above.
  • a fourth aspect of the invention relates to an internal combustion engine.
  • the internal combustion engine can have the injector described above and can be controlled via the above control unit.
  • the internal combustion engine is set up and designed to carry out one of the methods described above.
  • a fifth aspect of the invention relates to a motor vehicle with the control device described above.
  • the motor vehicle is set up and designed to carry out one of the methods described above.
  • 1a, 1b schematically a solenoid valve injector
  • FIG. 2 shows schematic diagrams for a voltage curve in the coil and for a control current curve
  • FIG. 3 schematically shows the voltage profile in the coil after the activation current has been switched off and a profile of an auxiliary function
  • FIG. 6 schematically shows a motor vehicle with a control unit according to an embodiment.
  • FIG. 1a schematically shows an exemplary solenoid valve injector (injector) 100 in a closed valve position and FIG. 1b shows the injector 100 in an open valve position.
  • the injector 100 has a solenoid valve that includes a valve needle 5 and a valve seat 15 .
  • the injector 100 has an electromagnetic actuator for actuating the solenoid valve, which includes a coil 1 , an armature 11 and a biasing element 13 .
  • the solenoid valve is a normally closed valve. This means that when the coil 1 is not energized, the valve needle 5 is arranged on the valve seat 15 in such a way that an injection opening 17 is closed by the valve needle 5 .
  • the prestressing element 13 is designed to hold the solenoid valve in the closed position.
  • the prestressing element 13 applies a prestressing force to the valve needle, so that the valve needle 5 is moved in the direction of the valve seat 15 and thus in the closing direction.
  • the biasing element 13 is designed as a spring.
  • the valve needle 5 has a resting seat 7 and an armature stop 9 for the armature 11, between which the armature 11 can be moved.
  • the rest seat 7 and the armature stop 9 thus define an armature lift or an armature free travel for the armature 11 relative to the valve needle 5.
  • the injector 1 also has a lift stop 3 which limits a lift of the valve needle 5 (valve lift). In the closed valve position, the armature 11 sits on the rest seat 7 and in the open valve position, the armature 11 rests against the armature stop 9 and the stroke stop 3 .
  • the armature 11 can be moved from the rest seat 7 to the armature stop 9 by applying a drive current I to the coil 1 by magnetic force.
  • the armature 11 is held on the armature stop 9 by the magnetic force, so that the armature 11 entrains the valve needle 5 against the prestressing force of the prestressing element 13 and thus lifts the valve needle 5 out of the valve seat 15 until the armature 11 strikes the stroke stop 3.
  • the injection opening 17 is uncovered, so that fuel can be injected through the injection opening 17 into a combustion chamber of an internal combustion engine.
  • Fig. 2 shows a coil voltage diagram 20 for a time profile of the coil voltage U at the coil 1 and a drive current diagram 30 for a time profile of the drive current I at the coil 1.
  • the diagrams 20, 30 show the time profiles very schematically , where time is plotted on the horizontal axis and voltage or drive current I is plotted on the vertical axis.
  • the control current diagram 30 shows the application of the control current I at the control time h for opening the solenoid valve.
  • the course over time has a steep edge immediately after the activation time ti, so that the activation current I reaches a value for a boost current 31 at the time t2 comparatively quickly.
  • the time between h and t2 is also called the boost phase.
  • the drive current is I maximum and the voltage U falls minimally into the negative range.
  • the solenoid valve is in an open valve position in which a valve lift of the solenoid valve is at its greatest.
  • a booster voltage 21 to reach the steep edge is additionally applied to the injector 100 during the boost phase, so that the drive current I rises faster than when a battery voltage is applied.
  • the booster voltage 21 can, for example, be generated in a control unit and stored in a booster voltage memory, e.g. B. a capacitor can be stored.
  • the drive current I is reduced to a pull-in current value 33 from pull-in time t 2 .
  • injector 100 is supplied with battery voltage.
  • the holding current phase in which the drive current I is reduced to a holding current 35, begins from the holding time ts.
  • a hysteresis 37 can be observed in the current curve during the holding current phase, which extends from the holding time ts to the switch-off time t4.
  • the control current I is switched off at the switch-off time t4 and thus reaches the value zero. Consequently, the voltage U falls to a turn-off voltage 25, which corresponds to a negative maximum value of the voltage U. It is known that in the discharge curve of the voltage II, which is present after the switch-off time t4, a turning point 27 in the discharge curve is indicative of a closing time of the injector 100.
  • FIG. 3 shows a diagram 40 in which the time profile of the voltage U across the coil 1 from the switch-off time t 4 is shown.
  • a curve S for an auxiliary function S(t) is shown, which can be used to evaluate the voltage curve U.
  • the discharge curve of the voltage U can be described with the following function: As is known, the closing time can be determined by determining the turning point 27 in the voltage curve U.
  • auxiliary function S(t) is used instead of the voltage signal.
  • the auxiliary function S(t) is as follows:
  • a maximum 41 of the auxiliary function S(t) corresponds to the inflection point 27 of the voltage curve U.
  • the point in time of the maximum 41 corresponds to the turning point of the voltage curve II. It is thus possible to deduce the closing point in time of the injector by searching for extreme values in the auxiliary function S(t).
  • the first derivative S'(t) of the auxiliary function S(t) can be approximately determined with:
  • FIG. 4 shows a method 200 for determining the closing time of injector 100 according to a first embodiment, which uses equations (5) and (7) above.
  • the method can be carried out by a control device 70 .
  • Method 200 begins with switching off drive current I at switch-off time t4.
  • a point in time t (time variable) is set to the switch-off point in time t4. This corresponds to the start time of the procedure. Furthermore, in 201 the measured voltage values II(t) or the voltage curve U for the measurement period are retrieved. In some embodiments, the measurement period can extend from the switch-off time t4 to the end time ts, with the end time ts corresponding to the last detection time for the voltage II(t).
  • the voltage curve U for the measurement period is determined by recording the voltage values II(t) in a time grid (resolution) At using appropriate measurement technology. Furthermore, sliding mean values from the recorded voltage values can also be used for the voltage values II(t).
  • the value of the auxiliary function S(t) at time t is determined using equation (5).
  • the voltage values II(t) and U(t+At) can be recorded at the corresponding times t and t+At using appropriate measurement technology.
  • equation (7) the value of the derivative S'(t) at time t is determined using equation (7). Inserting equation (5) into equation (7) for the first derivative S'(t) of the auxiliary function S(t) results in the following relationship:
  • the first derivative S'(t) of the auxiliary function S(t) corresponds to the second derivative of the logarithmic voltage ratio.
  • the function values of the first derivative S'(t) are stored with the corresponding points in time, e.g. B. in the control unit 70.
  • the method 200 runs through a loop 210, comprising 202, 203, 204, 205 and 206.
  • the loop 210 the first derivative S'(t) of the auxiliary function S(t) is determined iteratively over the entire measurement period.
  • the closing time t C T of the injector 100 is determined.
  • a first maximum of the auxiliary function S′(t) can be determined for this purpose. Accordingly, it is determined at which point in time the first derivative S′(t) of the auxiliary function S(t) is equal to or less than zero for the first time. This point in time corresponds to the closing point in time t C T of the injector 100.
  • a debouncing condition can also be checked, in which the first Derivative S'(t) of the auxiliary function S(t) must be equal to or less than zero for a predetermined debounce period Ate.
  • the method for determining the closing time tcT can thus be made more robust. If the debouncing condition is not met, i.e. the first derivative S'(t) of the auxiliary function S(t) is shorter than the predetermined debouncing period Ate equal to or less than zero, a search is made for the next maximum in the auxiliary function S(t) that Debounce condition met.
  • the closing time tcT corresponds to the time at which the first derivative S′(t) of the auxiliary function S(t) is equal to or less than zero for the first time and (optionally) satisfies the debounce condition. This ends the evaluation of the auxiliary function S(t) when the closing time t C T has been determined. As a result, the method in control unit 70 can be carried out in a resource-efficient manner.
  • the closing time t C T can be determined in 207 by searching for the global maximum of the auxiliary function S(t).
  • the corresponding point in time of the global maximum of the auxiliary function S(t) corresponds to the closing point in time tc-r.
  • the extreme value search is also based on the evaluation of the first derivation of the auxiliary function S'(t), with the evaluation taking place over the entire measurement period. This approach enables the closing time tci- to be determined in a comparatively robust manner, since the auxiliary function S′(t) is evaluated over the entire measurement period.
  • FIG. 5 shows a method 300 for determining the closing time of injector 100 according to a second specific embodiment, which uses equations (5) and (7) above.
  • the method can be carried out by the control device 70 .
  • Method 300 begins with switching off drive current I at switch-off time t4.
  • method 300 In method 300, 301, 302, and 303 are performed the same as 201, 202, and 203 of method 200.
  • the method proceeds to 305 .
  • the point in time t is incremented to the next measurement point in time t+At.
  • the method 300 traverses a loop 310 comprising 302, 303, 304 and 305.
  • the loop 310 is used to determine at which point in time t the first derivative of the auxiliary function S'(t) becomes equal to or smaller than zero for the first time.
  • the closing time tcT is set to the time t.
  • the closing time t C T is the time when the first derivative of the auxiliary function S'(t) is equal to or less than zero for the first time.
  • a plausibility point in time t 7 is retrieved.
  • the plausibility time t 7 indicates the latest possible plausible closing time at which the injector 100 may be closed.
  • the plausibility time t 7 depends on the design of the injector 100 and can therefore be, for example, from 1200 to 1800 microseconds after the activation time h.
  • the plausibility time t 7 is shown as an example in FIG. 3 at 1500 microseconds after the activation time ti.
  • the period of time between the closing time tcT (set in 306) and the plausibility time t 7 can form the debounce time Ate.
  • FIG. 6 schematically shows an exemplary control unit 70 that is set up to execute the methods/models described above.
  • the control unit 70 is arranged in a motor vehicle 80, shown schematically, and can control an internal combustion engine 79, shown schematically.
  • the control unit 70 includes a processor 72, a memory (electronic storage medium) 74 and an interface 78.
  • software (computer program) 76 is also stored in the memory 74, which is designed to carry out the procedure described above.
  • the processor 72 is configured to execute software 76 program instructions.
  • the interface 78 is also designed to receive and transmit data. For example, it can be an interface to a CAN bus of motor vehicle 80, via which control unit 70 receives signals and transmits control commands.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fuel-Injection Apparatus (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)

Abstract

L'invention concerne un procédé de détermination d'un temps de fermeture d'une électrovanne d'un injecteur, le temps de fermeture étant déterminé par établissement d'un rapport de tension logarithmique entre une tension de bobine et une valeur de référence pour la tension de bobine, la tension de bobine étant une tension appliquée à une bobine de l'électrovanne.
EP21802281.2A 2020-10-30 2021-10-28 Procédé de détermination d'un temps de fermeture d'un injecteur pourvu d'une électrovanne, programme informatique, appareil de commande, moteur à combustion interne et véhicule automobile Pending EP4237674A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020213706.4A DE102020213706A1 (de) 2020-10-30 2020-10-30 Verfahren zum Ermitteln eines Schließzeitpunkts eines Injektors mit einem Magnetventil, Computerprogramm, Steuergerät, Verbrennungskraftmaschine und Kraftfahrzeug
PCT/EP2021/079989 WO2022090397A1 (fr) 2020-10-30 2021-10-28 Procédé de détermination d'un temps de fermeture d'un injecteur pourvu d'une électrovanne, programme informatique, appareil de commande, moteur à combustion interne et véhicule automobile

Publications (1)

Publication Number Publication Date
EP4237674A1 true EP4237674A1 (fr) 2023-09-06

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP21802281.2A Pending EP4237674A1 (fr) 2020-10-30 2021-10-28 Procédé de détermination d'un temps de fermeture d'un injecteur pourvu d'une électrovanne, programme informatique, appareil de commande, moteur à combustion interne et véhicule automobile

Country Status (4)

Country Link
EP (1) EP4237674A1 (fr)
CN (1) CN116261624A (fr)
DE (1) DE102020213706A1 (fr)
WO (1) WO2022090397A1 (fr)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009032521B4 (de) 2009-07-10 2016-03-31 Continental Automotive Gmbh Bestimmung des Schließzeitpunkts eines Kraftstoffeinspritzventils basierend auf einer Auswertung der Ansteuerspannung
EP2514956A1 (fr) * 2011-04-22 2012-10-24 Delphi Automotive Systems Luxembourg SA Procédé pour commander un actionneur électromagnétique
DE102011075521B4 (de) 2011-05-09 2013-01-31 Continental Automotive Gmbh Verfahren zum Erkennen eines Schließzeitpunktes eines einen Spulenantrieb aufweisenden Ventils und Ventil
US9074552B2 (en) * 2012-06-27 2015-07-07 GM Global Technology Operations LLC Fuel injector closing timing adjustment systems and methods

Also Published As

Publication number Publication date
DE102020213706A1 (de) 2022-05-05
WO2022090397A1 (fr) 2022-05-05
CN116261624A (zh) 2023-06-13

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