JPH08237978A - Fixed position stop controller for motor - Google Patents
Fixed position stop controller for motorInfo
- Publication number
- JPH08237978A JPH08237978A JP3947195A JP3947195A JPH08237978A JP H08237978 A JPH08237978 A JP H08237978A JP 3947195 A JP3947195 A JP 3947195A JP 3947195 A JP3947195 A JP 3947195A JP H08237978 A JPH08237978 A JP H08237978A
- Authority
- JP
- Japan
- Prior art keywords
- electric motor
- stop
- motor
- signal output
- control device
- 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
Links
Landscapes
- Stopping Of Electric Motors (AREA)
Abstract
Description
【0001】[0001]
【産業上の利用分野】この発明は、2組の電動機を停止
させる際に、所定の相対位置を保って停止させる電動機
の定位置停止制御装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fixed-position stop control device for an electric motor, which maintains a predetermined relative position when stopping two sets of electric motors.
【0002】[0002]
【従来の技術】工作機械に取りつけた大きな被加工物を
加工する際には、複数の電動機,例えば2台の電動機の
協同作業で被加工物を駆動するが、このとき2台の電動
機の相対位置は常に所定値を保たねばならない。図3は
2台の電動機が所定の相対位置を保って運転する場合を
示した状況図であって、2は工作機械に装着する被加工
物、10はこの被加工物2を駆動する第1電動機であっ
て、工作機械では主軸駆動用の電動機である。20も同
じく被加工物2を駆動する第2電動機であって、工作機
械ではサブ軸駆動用電動機であるが、一般に主軸駆動用
電動機の容量はサブ軸駆動用電動機の容量よりも大であ
る。工作機械ではこれら両電動機10と20とが協同し
て被加工物2を駆動するが、それには第1電動機10と
第2電動機20の相対角度が常に一定となるように同期
運転をしなければならない。そこで第1電動機10に定
位置停止制御装置を備えて、当該第1電動機10を予め
設定した所定位置に停止させるが、第2電動機20にも
別個の定位置停止制御装置を備えて、この第2電動機2
0を前記第1電動機10の停止位置から所定角度だけず
れて設定した位置に停止させておけば、同期運転により
両電動機の相対角度は常に一定となる。2. Description of the Related Art When processing a large work piece attached to a machine tool, the work piece is driven by the cooperative work of a plurality of electric motors, for example, two electric motors. The position must always keep a predetermined value. FIG. 3 is a situation diagram showing a case where two electric motors are operated while maintaining a predetermined relative position. Reference numeral 2 is a workpiece to be mounted on a machine tool, and 10 is a first workpiece for driving the workpiece 2. In a machine tool, it is an electric motor for driving a spindle. Reference numeral 20 is also a second electric motor for driving the workpiece 2 and is a sub-axis driving electric motor in a machine tool, but generally the capacity of the main-axis driving electric motor is larger than the capacity of the sub-axis driving electric motor. In a machine tool, both electric motors 10 and 20 drive the work piece 2 in cooperation with each other, but the synchronous operation must be performed so that the relative angle between the first electric motor 10 and the second electric motor 20 is always constant. I won't. Therefore, the first electric motor 10 is provided with a fixed position stop control device to stop the first electric motor 10 at a preset predetermined position, but the second electric motor 20 is also provided with a separate fixed position stop control device. 2 electric motor 2
If 0 is stopped at a position set by deviating from the stop position of the first electric motor 10 by a predetermined angle, the relative angles of both electric motors will always be constant due to the synchronous operation.
【0003】図4は2台の電動機の相対位置を所定値に
保って運転する際の定位置停止制御装置の従来例を示し
た回路図である。この図4に図示の従来例回路におい
て、位置センサ11と位置検出器12とで第1電動機1
0の停止位置を検出し、位置検出信号θ1 を出力する。
一方、停止位置設定器13は第1電動機10が停止すべ
き位置を指令する位置指令信号θ1 * を出力する。位置
調節器14はこれら位置検出信号θ1 と位置指令信号θ
1 * とを入力して、両入力の偏差が零となる制御信号を
出力する。 f/V変換器15はこの制御信号を電圧指令信
号に変換してインバータ16へ与え、インバータ16の
出力に従って第1電動機10を所定位置に停止させる。FIG. 4 is a circuit diagram showing a conventional example of a fixed position stop control device when the two electric motors are operated with the relative positions kept at a predetermined value. In the conventional circuit shown in FIG. 4, the first electric motor 1 includes a position sensor 11 and a position detector 12.
The stop position of 0 is detected, and the position detection signal θ 1 is output.
On the other hand, the stop position setter 13 outputs a position command signal θ 1 * that commands the position at which the first electric motor 10 should stop. The position adjuster 14 detects the position detection signal θ 1 and the position command signal θ.
Input 1 * and and output a control signal that makes the deviation between both inputs zero. The f / V converter 15 converts this control signal into a voltage command signal and supplies the voltage command signal to the inverter 16 to stop the first electric motor 10 at a predetermined position according to the output of the inverter 16.
【0004】第2電動機20も、位置センサ21と位置
検出器22とで得られる位置検出信号θ2 と停止位置設
定器23が設定する位置指令信号θ2 * とを位置調節器
24へ入力させ、両入力の偏差が零になる位置で第2電
動機20が停止するように位置調節器24と f/V変換器
25とインバータ26とが動作する。ここで第2電動機
20に属する停止位置設定器23が設定する位置指令信
号θ2 * と、第1電動機10に属する停止位置設定器1
3が設定する位置指令信号θ1 * との間に、予め定めた
角度差を設けておけば、第1電動機10と第2電動機2
0とは所定の相対角度を保った状態で停止となる。The second motor 20 also inputs the position detection signal θ 2 obtained by the position sensor 21 and the position detector 22 and the position command signal θ 2 * set by the stop position setter 23 to the position adjuster 24. The position adjuster 24, the f / V converter 25, and the inverter 26 operate so that the second electric motor 20 stops at the position where the deviation between both inputs becomes zero. Here, the position command signal θ 2 * set by the stop position setter 23 belonging to the second electric motor 20 and the stop position setter 1 belonging to the first electric motor 10 are set.
If a predetermined angle difference is provided between the position command signal θ 1 * and the position command signal θ 1 * , the first electric motor 10 and the second electric motor 2
0 means to stop with a predetermined relative angle maintained.
【0005】[0005]
【発明が解決しようとする課題】電動機を所定の位置で
停止させる際には、当該電動機を「起動→制動→位置制
御→停止」なる一連の定位置停止制御操作をするのであ
るが、工作機械の主軸駆動用電動機とサブ軸駆動用電動
機のように、2台の電動機の相対角度を一定にして同期
運転をする場合には、それぞれの電動機の定位置停止装
置を別個に動作させて所定位置に停止させている。とこ
ろで、容量の大きい電動機はそのはずみ車効果が大であ
るし、当該電動機が駆動する負荷のはずみ車効果も大き
いのが通常である。従って大容量電動機と小容量電動機
とに同時に前述した起動→制動→位置制御→停止となる
一連の定位置停止制御指令を与えると、大容量電動機の
ほうが所定位置に停止するまでの時間が長くなる。ここ
で工作機械の主軸駆動用電動機とサブ軸駆動用電動機を
例にすると、一般に前者は後者よりも容量が大である。
即ち起動・停止の時間が長くなり、そのために工作機械
の稼働率が低下してしまう欠点を有する。When stopping an electric motor at a predetermined position, a series of fixed position stop control operations of "starting → braking → position control → stop" are performed on the electric motor. When performing synchronous operation with the relative angle of the two motors being constant, as in the case of the main shaft driving motor and the sub-axis driving motor, the fixed-position stop devices of the respective motors are operated separately and the predetermined position is set. Have stopped. By the way, a large-capacity electric motor has a large flywheel effect, and a load driven by the electric motor also has a large flywheel effect. Therefore, if the large-capacity electric motor and the small-capacity electric motor are simultaneously given the series of fixed-position stop control commands of start-up → braking → position control → stop, the large-capacity electric motor takes a longer time to stop at a predetermined position. . Here, when the main shaft driving electric motor and the sub shaft driving electric motor of the machine tool are taken as an example, the former generally has a larger capacity than the latter.
That is, there is a drawback in that the start-up / shutdown time becomes long and the operating rate of the machine tool is reduced.
【0006】そこでこの発明の目的は、複数の電動機を
所定位置に停止させるまでの時間を短縮させることにあ
る。Therefore, an object of the present invention is to reduce the time required to stop a plurality of electric motors at predetermined positions.
【0007】[0007]
【課題を解決するための手段】前記の目的を達成するた
めにこの発明の電動機の定位置停止制御装置は、電動機
位置を検出する位置検出器と、電動機停止位置を設定す
る停止位置設定器と、前記位置検出器が出力する位置検
出信号と停止位置設定器が出力する位置指令信号との偏
差を入力してこの偏差量を零にする制御信号を出力する
位置調節器と、この位置調節器が出力する制御信号に従
って電動機を所定の停止位置に停止させるべく制御する
制御装置とを備えている電動機の定位置停止制御装置に
おいて、第1の電動機に属する位置検出器が出力する位
置検出信号を第2の電動機の位置指令信号に加算する加
算器を第2の電動機に備え、この加算器が出力する加算
演算結果と当該第2の電動機に属する位置検出器が出力
する位置検出信号との偏差を当該第2の電動機に属する
位置調節器へ入力させるものとする。In order to achieve the above-mentioned object, a fixed position stop control device for an electric motor according to the present invention comprises a position detector for detecting the electric motor position, and a stop position setter for setting the electric motor stop position. A position controller for inputting a deviation between a position detection signal output by the position detector and a position command signal output by a stop position setting device, and outputting a control signal for making the deviation amount zero; In a fixed-position stop control device for an electric motor, which comprises a control device for controlling the electric motor to stop at a predetermined stop position in accordance with a control signal output by the position detection signal output by the position detector belonging to the first electric motor. The second electric motor is provided with an adder for adding to the position command signal of the second electric motor, and the addition calculation result output by this adder and the position detection signal output by the position detector belonging to the second electric motor. The deviations shall be entered into the position regulator belonging to the second motor.
【0008】又は、電動機のはずみ車効果と負荷のはず
み車効果との合計値が大きい第1の電動機に属する位置
検出器が出力する位置検出信号を、合計はずみ車効果が
前記第1の電動機よりも小さい第2の電動機の位置指令
信号に加算する加算器を当該第2の電動機に備え、この
加算器が出力する加算演算結果とこの第2の電動機に属
する位置検出器が出力する位置検出信号との偏差を当該
第2の電動機に属する位置調節器へ入力させるものとす
る。Alternatively, the position detection signal output by the position detector belonging to the first electric motor, which has a large sum of the flywheel effect of the electric motor and the flywheel effect of the load, is output by the first electric motor whose total flywheel effect is smaller than that of the first electric motor. The second electric motor is provided with an adder for adding to the position command signal of the second electric motor, and the deviation between the addition calculation result output by the second electric motor and the position detection signal output by the position detector belonging to the second electric motor. Is input to the position adjuster belonging to the second electric motor.
【0009】[0009]
【作用】この発明は、2台の電動機の停止位置を定める
際に、両電動機の相対角度さえ所定値であるならば、個
々の電動機の停止位置を厳密に定める必要が無い場合
は、第1の電動機の停止位置は規定せずに自由に停止さ
せ、第2の電動機を第1電動機から所定角度ずれた位置
で停止させるものである。即ち2台の電動機のうちの1
台のみを定位置停止制御により所定位置に停止させる。
ここで電動機とその負荷との合計はずみ車効果が大きい
ほうを自由停止とし、合計はずみ車効果の小さいほうを
定位置停止制御して所定位置に停止させるならば、定位
置停止制御の操作時間を短縮できる。According to the present invention, when the stop positions of the two electric motors are determined, if the relative positions of the two electric motors are the predetermined values, it is not necessary to strictly determine the stop positions of the individual electric motors. The stop position of the electric motor is not defined, and the second electric motor is stopped at a position deviated from the first electric motor by a predetermined angle. That is, one of the two motors
Only the stand is stopped at a predetermined position by the fixed position stop control.
If the total flywheel effect of the electric motor and its load is greater, the free stop is performed, and if the smaller total flywheel effect is used, the fixed-position stop control is performed to stop at the predetermined position. .
【0010】[0010]
【実施例】図1は本発明の第1実施例を表した回路図で
あるが、図1の第1実施例回路に図示の第1電動機1
0,第2電動機20,位置センサ11と21,位置検出
器12と22,停止位置設定器13と23,位置調節器
14と24, f/V変換器15と25,及びインバータ1
6と26の名称・用途・機能は、図4で既述の従来例回
路の場合と同じであるから、これらの説明は省略する。FIG. 1 is a circuit diagram showing a first embodiment of the present invention. A first electric motor 1 shown in the circuit of the first embodiment of FIG.
0, second electric motor 20, position sensors 11 and 21, position detectors 12 and 22, stop position setters 13 and 23, position adjusters 14 and 24, f / V converters 15 and 25, and inverter 1
The names, applications, and functions of 6 and 26 are the same as in the case of the conventional example circuit described above with reference to FIG.
【0011】図1の第1実施例回路では、第2電動機2
0に属する定位置停止制御装置に加算器31を設けると
共に、第1電動機10に属する定位置停止制御装置には
3組の同時に動作する切替え接点32A,32B,32
Cを設ける。切替え接点32Bと32Cは常時は閉路し
て位置調節器14へ位置検出信号θ1 と位置指令信号θ
1 * とを与えて定位置停止制御動作をさせているが、第
1電動機10と第2電動機20との停止時の相対角度を
所定値に制御する場合は、これら切替え接点32Bと3
2Cは開路するから、第1電動機10の定位置停止制御
装置は動作せず、自由停止となる。このとき常時開路し
ている切替え接点32Aは閉路して、位置検出器12が
検出する位置検出信号θ1 を加算器31へ与える。In the circuit of the first embodiment shown in FIG. 1, the second electric motor 2 is used.
The fixed position stop control device belonging to 0 is provided with an adder 31, and the fixed position stop control device belonging to the first electric motor 10 is provided with three sets of switching contacts 32A, 32B, 32 which operate simultaneously.
Provide C. The switching contacts 32B and 32C are normally closed to the position adjuster 14 to detect the position detection signal θ 1 and the position command signal θ.
The fixed position stop control operation is performed by giving 1 * , but when controlling the relative angle of the first electric motor 10 and the second electric motor 20 at the time of stop to a predetermined value, these switching contacts 32B and 3 are used.
Since 2C is opened, the fixed-position stop control device of the first electric motor 10 does not operate and is in free stop. At this time, the switching contact 32A, which is normally open, is closed to give the position detection signal θ 1 detected by the position detector 12 to the adder 31.
【0012】加算器31へは前述した切替え接点32A
を介して第1電動機10に属する位置検出器12が検出
する位置検出信号θ1 が入力する一方で、第2電動機2
0に属する停止位置設定器23で設定する位置指令信号
θ2 * が入力する。加算器31はこれら両者の和を演算
し、その演算結果であるθ2 **を新たな位置指令信号と
して位置調節器24へ入力する。かくして第2電動機2
0に属する定位置停止制御装置のみが動作することにな
る。The above-mentioned switching contact 32A is connected to the adder 31.
While the position detection signal θ 1 detected by the position detector 12 belonging to the first electric motor 10 is input via the second electric motor 2
The position command signal θ 2 * set by the stop position setter 23 belonging to 0 is input. The adder 31 calculates the sum of these two values and inputs the calculated result, θ 2 **, to the position adjuster 24 as a new position command signal. Thus the second electric motor 2
Only the fixed position stop control device belonging to 0 will operate.
【0013】ここで電動機とこの電動機で駆動する負荷
との合計はずみ車効果が大きい方を自由停止とし、小さ
い方を定位置停止制御動作で大きい方の電動機から所定
角度ずれた位置に停止させるようにすれば、定位置停止
制御動作動作時間を短縮できる。図2は本発明の第2実
施例を表した回路図であって、2台の電動機が常に所定
の相対角度を保って停止する場合を表している。図2の
第2実施例回路では第1電動機10が自由停止し、第1
電動機10から所定の相対角度で第2電動機20を停止
させる場合であって、自由停止する第1電動機10には
定位置停止制御装置を設けず、位置センサ11と位置検
出器12とで検出する位置検出信号θ1 を加算器31へ
与える回路を恒久的に設置する構成である。Here, one having a larger total flywheel effect of the electric motor and the load driven by the electric motor is defined as free stop, and the smaller one is stopped by the fixed position stop control operation at a position deviated from the larger electric motor by a predetermined angle. If so, the fixed position stop control operation operation time can be shortened. FIG. 2 is a circuit diagram showing a second embodiment of the present invention, and shows a case where two electric motors always stop at a predetermined relative angle. In the circuit of the second embodiment of FIG. 2, the first electric motor 10 freely stops,
In a case where the second electric motor 20 is stopped at a predetermined relative angle from the electric motor 10, the first electric motor 10 that freely stops is not provided with a fixed position stop control device, and detection is performed by the position sensor 11 and the position detector 12. The circuit for applying the position detection signal θ 1 to the adder 31 is permanently installed.
【0014】[0014]
【発明の効果】この発明によれば、2台の電動機を所定
の位置で停止させる場合に、一方の電動機は自由な位置
で停止させ、他方の電動機は定位置停止制御装置の作用
で、自由停止した電動機から所定の相対角度で停止させ
るようにしている。このように構成で、前者のはずみ車
効果が大なる電動機は自由停止とし、後者の電動機は定
位置停止制御により前者から所定の相対角度の位置で停
止させることにより、一連の定位置停止制御操作時間を
短縮できる効果が得られる。更に、2台の電動機が常に
所定の相対角度を保って停止する場合は、自由停止する
側の電動機には定位置停止制御装置を設置する必要がな
いので、装置全体を簡略化できて、小形・低価格にでき
る効果も得られる。According to the present invention, when two electric motors are stopped at a predetermined position, one electric motor is stopped at a free position and the other electric motor is stopped by the operation of the fixed position stop control device. The stopped electric motor is stopped at a predetermined relative angle. With such a configuration, the former electric motor with a large flywheel effect is set to free stop, and the latter electric motor is stopped at a position of a predetermined relative angle from the former by the fixed position stop control. The effect that can shorten is obtained. Further, when the two electric motors always stop at a predetermined relative angle, it is not necessary to install a fixed position stop control device on the electric motor on the free stop side.・ The effect that the price can be reduced is also obtained.
【図1】本発明の第1実施例を表した回路図FIG. 1 is a circuit diagram showing a first embodiment of the present invention.
【図2】本発明の第2実施例を表した回路図FIG. 2 is a circuit diagram showing a second embodiment of the present invention.
【図3】2台の電動機が所定の相対位置を保って運転す
る場合を示した状況図FIG. 3 is a situation diagram showing a case where two electric motors are operated while maintaining a predetermined relative position.
【図4】2台の電動機の相対位置を所定値に保って運転
する際の定位置停止制御装置の従来例を示した回路図FIG. 4 is a circuit diagram showing a conventional example of a fixed position stop control device when the relative position of two electric motors is maintained at a predetermined value for operation.
2 被加工物 10 第1電動機 11,21 位置センサ 12,22 位置検出器 13,23 停止位置設定器 14,24 位置調節器 15,25 f/V変換器 16,26 インバータ 20 第2電動機 31 加算器 32A,B,C 切替え接点 2 Workpiece 10 First electric motor 11,21 Position sensor 12,22 Position detector 13,23 Stop position setter 14,24 Position adjuster 15,25 f / V converter 16,26 Inverter 20 Second electric motor 31 Addition 32A, B, C switching contact
Claims (2)
機停止位置を設定する停止位置設定器と、前記位置検出
器が出力する位置検出信号と停止位置設定器が出力する
位置指令信号との偏差を入力してこの偏差量を零にする
制御信号を出力する位置調節器と、この位置調節器が出
力する制御信号に従って電動機を所定の停止位置に停止
させるべく制御する制御装置とを備えている電動機の定
位置停止制御装置において、 第1の電動機に属する位置検出器が出力する位置検出信
号を第2の電動機の位置指令信号に加算する加算器を第
2の電動機に備え、この加算器が出力する加算演算結果
と当該第2の電動機に属する位置検出器が出力する位置
検出信号との偏差を当該第2の電動機に属する位置調節
器へ入力させることを特徴とする電動機の定位置停止制
御装置。1. A position detector for detecting an electric motor position, a stop position setter for setting a motor stop position, a position detection signal output by the position detector, and a position command signal output by the stop position setter. A position adjuster for inputting the deviation and outputting a control signal for making the deviation amount zero, and a control device for controlling the electric motor to stop at a predetermined stop position in accordance with the control signal output by the position adjuster are provided. In the fixed position stop control device for the electric motor, the second electric motor is provided with an adder for adding the position detection signal output from the position detector belonging to the first electric motor to the position command signal of the second electric motor. The constant of the electric motor characterized in that the deviation between the addition calculation result output by the second electric motor and the position detection signal output by the position detector belonging to the second electric motor is input to the position adjuster belonging to the second electric motor. Position stop control device.
機停止位置を設定する停止位置設定器と、前記位置検出
器が出力する位置検出信号と停止位置設定器が出力する
位置指令信号との偏差を入力してこの偏差量を零にする
制御信号を出力する位置調節器と、この位置調節器が出
力する制御信号に従って電動機を所定の停止位置に停止
させるべく制御する制御装置とを備えている電動機の定
位置停止制御装置において、 電動機のはずみ車効果と負荷のはずみ車効果との合計値
が大きい第1の電動機に属する位置検出器が出力する位
置検出信号を、合計はずみ車効果が前記第1の電動機よ
りも小さい第2の電動機の位置指令信号に加算する加算
器を当該第2の電動機に備え、この加算器が出力する加
算演算結果とこの第2の電動機に属する位置検出器が出
力する位置検出信号との偏差を当該第2の電動機に属す
る位置調節器へ入力させることを特徴とする電動機の定
位置停止制御装置。2. A position detector for detecting an electric motor position, a stop position setter for setting a motor stop position, a position detection signal output by the position detector, and a position command signal output by the stop position setter. A position adjuster for inputting the deviation and outputting a control signal for making the deviation amount zero, and a control device for controlling the electric motor to stop at a predetermined stop position in accordance with the control signal output by the position adjuster are provided. In the fixed position stop control device for the electric motor, the total flywheel effect is the position detection signal output by the position detector belonging to the first electric motor having a large sum of the flywheel effect of the electric motor and the flywheel effect of the load. The second electric motor is provided with an adder for adding to the position command signal of the second electric motor, which is smaller than the electric motor, and the addition operation result output by the adder and the position belonging to the second electric motor A fixed position stop control device for an electric motor, characterized in that a deviation from a position detection signal output by the detector is input to a position adjuster belonging to the second electric motor.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP03947195A JP3261914B2 (en) | 1995-02-28 | 1995-02-28 | Motor fixed position stop control device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP03947195A JP3261914B2 (en) | 1995-02-28 | 1995-02-28 | Motor fixed position stop control device |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH08237978A true JPH08237978A (en) | 1996-09-13 |
JP3261914B2 JP3261914B2 (en) | 2002-03-04 |
Family
ID=12553989
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP03947195A Expired - Lifetime JP3261914B2 (en) | 1995-02-28 | 1995-02-28 | Motor fixed position stop control device |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP3261914B2 (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1113312A3 (en) | 1997-06-12 | 2004-08-04 | Fujitsu Display Technologies Corporation | Vertically-aligned (VA) liquid crystal display device |
KR20000009518A (en) | 1998-07-25 | 2000-02-15 | 노봉규 | Vertical aligned lcd having optical visual angle |
KR100595296B1 (en) | 2000-06-27 | 2006-07-03 | 엘지.필립스 엘시디 주식회사 | Muti domain liquid crystal display device and method for fabricating the same |
KR100595295B1 (en) | 2000-06-27 | 2006-07-03 | 엘지.필립스 엘시디 주식회사 | Multi domain liquide crystal display device and method for fabricating the same |
-
1995
- 1995-02-28 JP JP03947195A patent/JP3261914B2/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
JP3261914B2 (en) | 2002-03-04 |
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