JP6743637B2 - 駆動力伝達装置の制御装置 - Google Patents
駆動力伝達装置の制御装置 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
- B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle responsive to, or preventing, skidding of wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/348—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having differential means for driving one set of wheels, e.g. the front, at one speed and the other set, e.g. the rear, at a different speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/02—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of clutch
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/16—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of differential gearing
- B60K17/165—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of differential gearing provided between independent half axles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/348—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having differential means for driving one set of wheels, e.g. the front, at one speed and the other set, e.g. the rear, at a different speed
- B60K17/35—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having differential means for driving one set of wheels, e.g. the front, at one speed and the other set, e.g. the rear, at a different speed including arrangements for suppressing or influencing the power transfer, e.g. viscous clutches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
- B60K23/0808—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles for varying torque distribution between driven axles, e.g. by transfer clutch
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/21—Traction, slip, skid or slide control
- B60G2800/215—Traction, slip, skid or slide control by applying a braking action on each wheel individually
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
- B60K2023/085—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles automatically actuated
- B60K2023/0858—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles automatically actuated with electric means, e.g. electro-hydraulic means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
- B60K2023/085—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles automatically actuated
- B60K2023/0875—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles automatically actuated with mechanical means only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/0052—Filtering, filters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/42—Clutches or brakes
- B60Y2400/424—Friction clutches
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Description
本発明の第1の実施の形態について、図1乃至図5を参照して説明する。なお、以下に説明する実施の形態は、本発明を実施する上での好適な具体例として示すものであり、技術的に好ましい種々の技術的事項を具体的に例示している部分もあるが、本発明の技術的範囲は、この具体的態様に限定されるものではない。
図2は、駆動力伝達装置2の構成例を示す断面図である。図2において、回転軸線Oよりも上側は駆動力伝達装置2の作動状態(トルク伝達状態)を、下側は駆動力伝達装置2の非作動状態(トルク非伝達状態)を、それぞれ示す。以下、回転軸線Oに平行な方向を軸方向という。
制御装置10は、演算処理装置であるCPU101と、ROMやRAM等の半導体記憶素子からなる記憶部102とを有している。CPU101は、記憶部102に記憶されたプログラムを実行する。
以上説明した第1の実施の形態によれば、スリップ率δの演算誤差が大きくなりやすい例えば車速が10km/h未満の低速走行時において、スリップ率δに基づいて駆動力伝達装置2を制御しながら、適切な駆動力を左右後輪191,192に配分することが可能となる。なお、低速走行時においてスリップ率δの演算誤差が大きくなるのは、上記の式(1),(2)における分数の分子である車輪速ω1,ω2が小さくなり、車輪速ω1,ω2の僅かな誤差によってスリップ率δ1,δ2が大きく変化するためである。本実施の形態では、低速走行時におけるフィルタ処理の時定数を、中速あるいは高速走行時の時定数よりも大きくすることにより、スリップ率δの演算誤差によって左右後輪191,192に伝達される駆動力が大きく変動してしまうことを抑制している。これにより、四輪駆動車1の走行安定性が保たれる。
次に、本発明の第2の実施の形態について、図6及び図7を参照して説明する。第2の実施の形態は、制御装置10のCPU101が平滑化手段112として実行する処理の内容が異なる他は第1の実施の形態と同様であるので、第1の実施の形態と異なる部分について重点的に説明する。
以上説明した第2の実施の形態によれば、第1の実施の形態の効果に加え、車速が第1の所定値未満の場合に、スリップ率演算手段111により求めたスリップ率δが増大しているときと減少しているときとで異なる時定数を用いてフィルタ処理を実行するので、四輪駆動車1の走行特性の調整(車両適合)の自由度が増す。すなわち、四輪駆動車1の走行安定性を高めやすくなる。
以上、本発明を第1及び第2の実施の形態に基づいて説明したが、これらの実施の形態は特許請求の範囲に係る発明を限定するものではない。また、実施の形態の中で説明した特徴の組合せの全てが発明の課題を解決するための手段に必須であるとは限らない点に留意すべきである。また、本発明は、その趣旨を逸脱しない範囲で適宜変形して実施することが可能である。例えば、四輪駆動車1の駆動力伝達系の構成は、図1に例示したものに限らず、補助駆動輪に伝達される駆動力を駆動力伝達装置によって調節可能であれば、様々な構成の四輪駆動車に本発明を適用することが可能である。
2…駆動力伝達装置
10…制御装置
11…エンジン(駆動源)
111…スリップ率演算手段
112…平滑化手段
113…駆動力制御手段
181,182…左右前輪(主駆動輪)
191,192…左右後輪(補助駆動輪)
Claims (2)
- 駆動源の駆動力が常に伝達される主駆動輪及び走行状態に応じて前記駆動源の駆動力が駆動力伝達装置を介して調節可能に伝達される補助駆動輪を有する四輪駆動車に搭載され、前記駆動力伝達装置を制御する制御装置であって、
少なくとも前記主駆動輪の車輪速に基づいて前記主駆動輪のスリップ率を求めるスリップ率演算手段と、
前記スリップ率演算手段により求めた前記スリップ率をフィルタ処理により平滑化する平滑化手段と、
前記平滑化手段により平滑化された前記スリップ率の増大に応じて前記補助駆動輪に伝達される駆動力が大きくなるように前記駆動力伝達装置を制御する駆動力制御手段とを備え、
前記平滑化手段は、車速が所定値未満のとき、車速が前記所定値以上の場合に比較して前記フィルタ処理の時定数を大きくする、
駆動力伝達装置の制御装置。 - 前記平滑化手段は、少なくとも一部の車速域において、前記スリップ率演算手段により求めた前記スリップ率が増大しているときと減少しているときとで異なる時定数を用いて前記フィルタ処理を実行する、
請求項1に記載の駆動力伝達装置の制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016196323A JP6743637B2 (ja) | 2016-10-04 | 2016-10-04 | 駆動力伝達装置の制御装置 |
CN201710908451.9A CN107891745B (zh) | 2016-10-04 | 2017-09-29 | 驱动力传递装置的控制装置 |
EP17194285.7A EP3305576B1 (en) | 2016-10-04 | 2017-10-02 | Control device for driving force transmission device |
US15/723,667 US10252615B2 (en) | 2016-10-04 | 2017-10-03 | Control device for driving force transmission device |
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JP2016196323A JP6743637B2 (ja) | 2016-10-04 | 2016-10-04 | 駆動力伝達装置の制御装置 |
Publications (2)
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JP2018058445A JP2018058445A (ja) | 2018-04-12 |
JP6743637B2 true JP6743637B2 (ja) | 2020-08-19 |
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JP2016196323A Expired - Fee Related JP6743637B2 (ja) | 2016-10-04 | 2016-10-04 | 駆動力伝達装置の制御装置 |
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US (1) | US10252615B2 (ja) |
EP (1) | EP3305576B1 (ja) |
JP (1) | JP6743637B2 (ja) |
CN (1) | CN107891745B (ja) |
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JP6597298B2 (ja) * | 2015-12-25 | 2019-10-30 | 株式会社ジェイテクト | 四輪駆動車 |
JP7243448B2 (ja) * | 2019-05-24 | 2023-03-22 | マツダ株式会社 | 駆動力配分制御装置 |
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JP2773774B2 (ja) * | 1989-03-31 | 1998-07-09 | マツダ株式会社 | 自動車のスリップ制御装置 |
JPH07195954A (ja) * | 1993-12-29 | 1995-08-01 | Mazda Motor Corp | 4輪駆動車の制御装置 |
JP3937524B2 (ja) * | 1997-09-30 | 2007-06-27 | トヨタ自動車株式会社 | 車輌の制駆動力制御装置 |
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JP2001334835A (ja) * | 2000-05-25 | 2001-12-04 | Isuzu Motors Ltd | 四輪駆動車における前後輪変速装置 |
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JP4456748B2 (ja) * | 2000-10-27 | 2010-04-28 | 富士重工業株式会社 | 4輪駆動車の動力配分制御装置 |
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JP2009156341A (ja) * | 2007-12-26 | 2009-07-16 | Jtekt Corp | チェーン異常監視装置 |
JP5112890B2 (ja) | 2008-01-17 | 2013-01-09 | 株式会社ユニバンス | 四輪駆動車用駆動力伝達システム |
FR2958608B1 (fr) * | 2010-04-12 | 2012-06-01 | Renault Sa | Procede de commande d'un moyen de couplage mecanique des essieux d'un systeme de transmission d'un vehicule automobile |
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JP2013243847A (ja) * | 2012-05-21 | 2013-12-05 | Pioneer Electronic Corp | トラクション制御装置及びトラクション制御方法 |
US9849782B2 (en) * | 2012-05-22 | 2017-12-26 | Caterpillar Inc. | Hydraulic motor having controlled output based on machine slippage model |
JP5970322B2 (ja) * | 2012-10-01 | 2016-08-17 | 日立オートモティブシステムズ株式会社 | 車両の運動制御装置 |
DE112013006767T5 (de) * | 2013-03-04 | 2015-11-12 | Toyota Jidosha Kabushiki Kaisha | Fahrbewegungssteuerungsvorrichtung für ein Fahrzeug |
JP2014193691A (ja) * | 2013-03-29 | 2014-10-09 | Hitachi Automotive Systems Ltd | 車両の運動制御装置 |
JP6204865B2 (ja) * | 2014-03-31 | 2017-09-27 | 日立オートモティブシステムズ株式会社 | 車両の運動制御システム、車両、および、プログラム |
JP6380055B2 (ja) * | 2014-11-28 | 2018-08-29 | 株式会社ジェイテクト | 四輪駆動車の制御装置 |
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2016
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EP3305576A1 (en) | 2018-04-11 |
CN107891745A (zh) | 2018-04-10 |
EP3305576B1 (en) | 2020-01-01 |
CN107891745B (zh) | 2022-06-14 |
JP2018058445A (ja) | 2018-04-12 |
US20180093566A1 (en) | 2018-04-05 |
US10252615B2 (en) | 2019-04-09 |
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