EP1019624B1 - Procede pour la commande d'un dispositif de reglage electromecanique - Google Patents

Procede pour la commande d'un dispositif de reglage electromecanique Download PDF

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Publication number
EP1019624B1
EP1019624B1 EP98951261A EP98951261A EP1019624B1 EP 1019624 B1 EP1019624 B1 EP 1019624B1 EP 98951261 A EP98951261 A EP 98951261A EP 98951261 A EP98951261 A EP 98951261A EP 1019624 B1 EP1019624 B1 EP 1019624B1
Authority
EP
European Patent Office
Prior art keywords
value
coil
predetermined
armature plate
capture
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.)
Expired - Lifetime
Application number
EP98951261A
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German (de)
English (en)
Other versions
EP1019624A1 (fr
Inventor
Nikolaus Müller
Achim Koch
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
Siemens Corp
Original Assignee
Siemens AG
Siemens Corp
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Publication date
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Publication of EP1019624A1 publication Critical patent/EP1019624A1/fr
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Anticipated expiration legal-status Critical
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Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/08—Electromagnets; Actuators including electromagnets with armatures
    • H01F7/18—Circuit arrangements for obtaining desired operating characteristics, e.g. for slow operation, for sequential energisation of windings, for high-speed energisation of windings
    • H01F7/1844—Monitoring or fail-safe circuits
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L9/00—Valve-gear or valve arrangements actuated non-mechanically
    • F01L9/20—Valve-gear or valve arrangements actuated non-mechanically by electric means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D35/00—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for
    • F02D35/0007—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for using electrical feedback
    • 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
    • F02D13/00—Controlling the engine output power by varying inlet or exhaust valve operating characteristics, e.g. timing
    • F02D13/02—Controlling the engine output power by varying inlet or exhaust valve operating characteristics, e.g. timing during engine operation
    • F02D13/0253—Fully variable control of valve lift and timing using camless actuation systems such as hydraulic, pneumatic or electromagnetic actuators, e.g. solenoid valves
    • 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
    • F02D41/0002—Controlling intake air
    • F02D2041/001—Controlling intake air for engines with variable valve actuation
    • 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
    • F02D2041/2017—Output circuits, e.g. for controlling currents in command coils using means for creating a boost current or using reference switching
    • 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
    • F02D2041/2024—Output circuits, e.g. for controlling currents in command coils characterised by the control of the circuit the control switching a load after time-on and time-off pulses
    • F02D2041/2027—Control of the current by pulse width modulation or duty cycle control
    • 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
    • F02D2041/2034—Control of the current gradient
    • 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
    • F02D2041/2037—Output circuits, e.g. for controlling currents in command coils characterised by the control of the circuit for preventing bouncing of the valve needle
    • 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
    • F02D2041/2068—Output circuits, e.g. for controlling currents in command coils characterised by the circuit design or special circuit elements
    • F02D2041/2079—Output circuits, e.g. for controlling currents in command coils characterised by the circuit design or special circuit elements the circuit having several coils acting on the same anchor

Definitions

  • the invention relates to a method for controlling an electromechanical Adjusting device. It particularly affects one Actuator for controlling an internal combustion engine.
  • a known actuator (DE 195 26 683 A1) has an actuator, which is designed as a gas exchange valve, and one Actuator.
  • the actuator has two electromagnets, between which each against the force of a restoring means holding an armature plate by switching off the coil current Electromagnets and switching on the coil current at the trap Electromagnet can be moved.
  • the coil current each of the catching electromagnets is set to a predetermined one Catch value I_MAX during a specified period of time kept constant, then switched off for a predetermined switch-off time and then from a two-position controller with hysteresis regulated to a hold value.
  • the coil current can only be used during the next capture process be adjusted to the corrected catch value. So can if necessary, the anchor plate during the switch-off time move as far away from the capturing electromagnet that a sufficient force is no longer applied by the holding current can be used to attach the anchor plate to the to capture electromagnets.
  • Another known actuator (US 5650909) has an actuator, which is designed as an injection valve and one Actuator.
  • the actuator has an electromagnet, one Anchor and a restoring device.
  • a controller is assigned to the actuator whose controlled variable is the current through the coil of the electromagnet is.
  • To the anchor from a first position to the system to bring to the electromagnet is the setpoint of the Current through the coil is a maximum value until the Anchor begins to move. It is then used as the setpoint specified an opening value that is lower than the maximum value.
  • a hold value is specified as the setpoint, which is lower is as the opening value. If the opening value is low is chosen as this in terms of low energy consumption is advantageous, this can lead to the anchor plate falls off and does not come into contact with the electromagnet arrives.
  • Another actuating device is known from EP 0724067A1 known with an actuator that is designed as a gas exchange valve is. To detect the position of the gas exchange valve a position sensor is provided.
  • the object of the invention is a method for control to create an actuator that is simple and that one Capture of the anchor plate guaranteed.
  • the invention is characterized by the features of claim 1 solved.
  • the solution has the advantage that the catch value can be specified such that a desired speed curve the anchor plate adjusts, and that the second catch value is adjustable so that the anchor is safe is captured and the anchor falls into a rest position is prevented.
  • the second catch value from the speed of the anchor plate from exceeding the threshold has the advantage that the second catch value can be specified in such a way that on the one hand a low heat loss is generated, on the other hand but the anchor plate is captured safely.
  • the second capture value is specified as the setpoint when the Position of the anchor plate another threshold, whose Amount is less than the threshold K0, K5, longer than exceeds a predetermined period of time. This is ensures that the anchor plate is securely caught, if the force caused by the first catch value is not is sufficient that the position of the anchor plate meets the threshold K0, K5 exceeds.
  • An actuator 1 ( Figure 1) comprises an actuator 11 and an actuator, which is designed, for example, as a gas exchange valve and has a shaft 121 and a plate 122.
  • the actuator 11 has a housing 111 in which a first and a second electromagnet are arranged.
  • the first Electromagnet has a first core 112, in which in a annular groove a first coil 113 is embedded.
  • the second electromagnet has a second core 114, in which in a second coil 115 is embedded in a further annular groove is.
  • the first core 112 has a recess 116a that forms a guide for the shaft 121.
  • the second core 114 has a further recess 116b, which is also used as a guide for the Shaft 121 serves.
  • An anchor plate 117 is in the housing 111 movable between the first core 112 and the second Core 114 arranged.
  • a first spring 118a and a second Spring 118b tension the anchor plate in a predetermined rest position R
  • Actuator 1 is rigidly connected to a cylinder head 21.
  • the cylinder head 21 is an intake port 22 and a cylinder 23 associated with a piston 24.
  • the piston 24 is coupled to a crankshaft 26 via a connecting rod 25.
  • a control device 3 is provided, the signals from the Detects sensors and generates control signals for the actuator.
  • the sensors are as a position sensor 4, which is a position X of the anchor plate 117 is detected as a first ammeter 5a, which is the actual value I_AV1 of the current through the first coil 113 detects a second ammeter 5b, which has an actual value I_AV2 of the current through the second coil 115 is sensed as a speed sensor 27, which detects the rotational speed N of the crankshaft, or formed as a load detection sensor 28, which preferably is an air mass meter or a pressure sensor.
  • Sensors may also have other sensors.
  • a comparator device 7 provided depending on the detected Position X and predetermined threshold values a pulse signal generated.
  • the function of the comparator device 7 continues explained in more detail below with reference to FIG. 2.
  • a Zeitgiied 8 which is preferably designed as a "CAPCOM" unit the pulse durations of that generated by the comparator device 7 Pulse signal and directs the time periods assigned to the pulse durations T_C2, T_O2, T_C3, T_O3 as digital data to the control device 3 further.
  • Drivers 6a, 6b are provided which control the control signals Reinforce control device 3.
  • FIG 2a is the time course of position X of the anchor plate applied.
  • the comparator device 7 has six analog threshold comparators, each at one of the Threshold values K0, K1, K2, K3, K4, K5 change their output signal. By logically linking the threshold comparators then arise the plotted in Figures 2b and 2c Pulse signals from the comparator device.
  • the thresholds K0, K1, K2 are at the same distance from the rest position R of the anchor plate like the threshold values K3, K4 or K5 specified.
  • the threshold values are, for example, the following relative distance values related to the distance the contact surface of the armature plate in the first electromagnet and the contact surface of the anchor plate in the second electromagnet: K0 at 2%, K1 at 5%, K2 at 20%, K3 at 80%, K4 at 95% and K5 at 98%.
  • the timer 8 determines the pulse durations of the pulses of the pulse signals.
  • the pulse duration of the pulse determined by the threshold values
  • the period T_C2 is assigned to K3 and K4.
  • the time period T_C2 is a measure of the average speed of the anchor between the thresholds K3 and K4.
  • the timer also determines the duration T_C3 by the time interval of exceeding the position X from the threshold values K4 and K5 is.
  • the time period T_O2, T_O3 is determined similar to the determination of the time period T_C2 and T_C3.
  • Figure 3 shows a block diagram of the control device 3 for Controlling the electromechanical actuator 1.
  • a first catch value I_F1 is determined from a map depending on the speed N and the air mass flow MAF. The values of the map are on an engine test bench or determined by simulations so that heat losses in of the respective coil are small.
  • a summing point S1 the difference between an actual Duration T_C3 and the setpoint T_C3 * the duration determined.
  • a predetermined target value is then set in a block B2 T_C2 * adapted depending on the difference in the Summing point S1 was determined.
  • the difference between the setpoint T_C2 * and the actual Time period T_C2 calculated.
  • a block B3 comprises an integrator which depends on the Difference between the setpoint T_C2 * and the actual duration T_C2 calculates a correction value with which in the third Summing point the first catch value I_F1 is corrected.
  • a second catch value I_F2 is determined in a block B4.
  • the second catch value I_F2 is either fixed or in a characteristic curve depending on the difference of the actual Time period T_C3 and the setpoint T_C3 * of the time period are stored. If the second catch value I_F2 is fixed, it has this has the advantage that the determination of the second catch value I_F2 is less computationally intensive. Will be the second catch value I_F2 over the characteristic curve depending on the difference of the actual Duration T_C3 and the setpoint T_C3 * the duration determined, so are the heat losses from each energized coil significantly reduced.
  • the characteristic curve preferably has that shown in FIG. 5 Shape. Is the difference of the actual time period T_C3 and the target value T_C3 * of the time period equal to zero the second catch value I_F2 a minimum value. Will the difference less than zero, the second catch value I_F2 increases to generate sufficient force to cause a bounce dampens and a drop from the bouncing of the anchor prevented in the rest position. If the difference is greater than zero, the second catch value is also increased so that the Avoid anchor plate in the rest position R.
  • a hold value I_H is dependent on the Speed N and a mass air flow MAF from a map determined.
  • a time period T_F_OFF is determined in a block B6 depending on the difference in the setpoint T_C2 * and the actual time period T_C2.
  • the period T_MAX, the period T_F_OFF and others Operating variables of the internal combustion engine determines whether the first catch value I_F1, the second catch value I_F2, the hold value I_H or a zero value is the setpoint for a controller B8.
  • the position X of the anchor plate is indirectly via the actual time periods T_C2, T_C3, T_O2, T_O3 determined.
  • the first condition is preferred met if the amount of position X of the anchor plate Threshold K5, K0 exceeds, this becomes indirect recognized that the timer 8 a new actual Has passed time period T_C3 to the control device 3.
  • the controlled variable of controller B8 is the current through each coil 113, 115 to be energized.
  • the difference of the in Block B7 determined target value and the actual current I_AV1, I_AV2 through the coil 113, 115 is the control difference of controller B8.
  • the controller is preferably a two-point controller trained with hysteresis.
  • the manipulated variable of the controller is a voltage signal U1, U2, which is supplied to the driver 6a or 6b the first and second coil 113, 115 feeds.
  • the block diagram is an example of the calculation of the control signal for the first coil 113.
  • the calculation of the control signal for the second coil 115 is carried out analogously, only the time periods T_C2 and T_C3 are to be replaced by the time periods T_O2 and T_O3.
  • Figure 4a shows the manipulated variable of controller B8, which is a first Is voltage signal U1 with which the first coil 113 is excited is, or a second voltage signal U2 with which the second coil 115 is excited.
  • FIG. 4b shows the assigned time profile of the actual value I_AV1 of the current through the first coil 113, and punctured the time course of the actual value I_AV2 of the current through the second coil 115.
  • Figure 4c shows the position X of the Anchor plate plotted over time t.
  • the target value for the current through the first coil 113 is the first catch value I_F1.
  • the second catch value I_F2 is then specified as the target value for the controller B8.
  • the setpoint of the controller B8 is the second catch value.
  • a second condition is met if the time period from the specification of the second catch value I_F2 is greater than the time period T_F2.
  • time period T_F2 depends on the speed of the armature plate 117 before the threshold value K5 is exceeded.
  • the time period T_C3 is a measure of the speed of the anchor plate before the threshold value K5 is exceeded.
  • the second catch value I_F2 is advantageously chosen to be larger than the first catch value I_F1. This ensures that the armature plate is securely caught by the first electromagnet.
  • the hold value I_H is specified as a setpoint for the controller B8 up to a time t 4 .
  • the hold value can be selected to be very low, namely lower than the second catch value I_F2, since the armature is statically applied to the first electromagnet, while the hold value I_H is the setpoint for the controller B8.
  • the zero value (for example zero amperes) is specified as the target value for the current through the first coil 113.
  • the armature plate then swings in the direction of the second electromagnet.
  • current is then supplied to the second coil from time t 5 , namely that the first catch value I_F1 is specified as the setpoint for the controller B8, and the controller B8 then generates the second voltage signal U2.
  • the actuator can also be used as Injector may be formed.
  • the process can be done as a program processed by a microprocessor. It can but also also by a logic circuit or an analog circuit arrangement will be realized.
  • the controller can also be designed, for example, as a single-point controller with a timing element or as a pulse width modulation controller.
  • a controller can also be provided for each coil 113, 115.
  • a rectifier can also be provided, which rectifies the signal of the position transmitter 4, the rest position R then having the value zero. Accordingly, the comparator device has only three threshold value comparators, each of which changes its output signal at the threshold value K0 or K1 or K3.
  • the specification of the hold value as the setpoint for the current through the first coil can also be made according to a predetermined one Time after specifying the zero value as the setpoint of the Current through the second coil.
  • a particularly low impact speed of the anchor plate on the respective core 112, 114 can be achieved if the first catch value I_F1 is set to the zero value for a period T_F_OFF after a time t 1a .
  • the time period T_F_OFF is calculated in block B6 depending on the difference between the target value T_C2 * and the actual time period T_C2. Since the deviation of the actual time period T_C2 from the target value T_C2 * is a measure of the deviation of the expected impact speed, the impact speed of the armature on the core can be set to the desired value by switching off the current through the coil for the time period T_F_OFF.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Valve Device For Special Equipments (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
  • Control Of Linear Motors (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)

Abstract

L'invention concerne un dispositif de réglage qui comprend un actionneur et un mécanisme de commande. Le mécanisme de commande comporte au moins un électroaimant pourvu d'une bobine et une plaque d'induit mobile. Une première valeur de capture (I_F1) est définie comme valeur de consigne du courant par la première ou la deuxième bobine (113, 115). Une deuxième valeur de capture (I_F2) est définie comme valeur de consigne lorsqu'une première condition est satisfaite. Une valeur de maintien (I_H) est définie comme valeur de consigne lorsqu'une deuxième condition est satisfaite.

Claims (7)

  1. Procédé de commande d'un dispositif de réglage électromécanique qui comprend un organe de réglage (12) et un dispositif d'entraínement (11), lequel comprend :
    au moins un électro-aimant muni d'une bobine (113, 115)
    une plaque d'armature mobile (117),
    au moins un moyen de rappel qui applique à la plaque d'armature (117) une précontrainte dans une position de repos prédéterminée (C), un régulateur (B8) dont la grandeur réglée est le courant passant dans la bobine (113, 115) étant associé au dispositif d'entraínement (12), procédé comprenant les pas suivants :
    une première valeur d'attraction (I_F1) est utilisée comme valeur de consigne du courant passant dans la bobine (113, 115),
    une deuxième valeur d'attraction (I_F2) qui est supérieure à une valeur de maintien (I_H), est utilisée comme valeur de consigne si une première condition prédéterminée est remplie,
    la valeur de maintien (I_H) est utilisée comme valeur de consigne si une deuxième condition prédéterminée est remplie, caractérisé en ce que la deuxième valeur d'attraction (I_F2) est supérieure à la première valeur d'attraction (I_F1).
  2. Procédé selon la revendication 1, dans lequel un détecteur de position (4) est prévu pour détecter la position (X) de la plaque d'armature (117), caractérisé en ce que la première condition est remplie si la valeur de la position (X) de la plaque d'armature dépasse une valeur de seuil prédéterminé (K5, K0).
  3. Procédé selon l'une des revendications précédentes, caractérisé en ce que la deuxième valeur d'attraction (I_F2) dépend de la vitesse de la plaque d'armature (117) avant le dépassement de la valeur de seuil (K5, K0).
  4. Procédé selon l'une des revendications précédentes, caractérisé en ce que la première condition est remplie si la position de la plaque d'armature dépasse une autre valeur de seuil (K1, K4) pendant plus longtemps qu'une autre durée prédéterminée (T_MAX), la valeur de l'autre seuil étant plus petite que la valeur du seuil (K0, K5).
  5. Procédé selon l'une des revendications précédentes, caractérisé en ce que la deuxième condition est remplie si une durée (T_F2) est utilisée comme valeur de consigne pour la deuxième valeur d'attraction (I_F2).
  6. Procédé selon la revendication 4, caractérisé en ce que la durée (T_F2) dépend de la vitesse de la plaque d'armature (117) avant le dépassement de la valeur de seuil (K5, K0).
  7. Procédé selon l'une des revendications précédentes, caractérisé en ce que la première valeur d'attraction (I_F1) est corrigée en fonction de la vitesse de la plaque d'armature (117) avant le dépassement de la valeur de seuil (K0, K5).
EP98951261A 1997-09-29 1998-09-02 Procede pour la commande d'un dispositif de reglage electromecanique Expired - Lifetime EP1019624B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19742989 1997-09-29
DE19742989 1997-09-29
PCT/DE1998/002585 WO1999017009A1 (fr) 1997-09-29 1998-09-02 Procede pour la commande d'un dispositif de reglage electromecanique

Publications (2)

Publication Number Publication Date
EP1019624A1 EP1019624A1 (fr) 2000-07-19
EP1019624B1 true EP1019624B1 (fr) 2002-04-03

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EP (1) EP1019624B1 (fr)
JP (1) JP2001518591A (fr)
KR (1) KR20010015660A (fr)
DE (1) DE59803659D1 (fr)
WO (1) WO1999017009A1 (fr)

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DE102009001077A1 (de) * 2009-02-23 2010-08-26 Robert Bosch Gmbh Verfahren zum Betreiben einer Endstufe für mindestens einen Piezoaktor
JP6056804B2 (ja) 2014-04-18 2017-01-11 株式会社デンソー 電磁弁制御装置

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JP3683300B2 (ja) * 1995-01-27 2005-08-17 本田技研工業株式会社 内燃機関の制御装置
DE19526683A1 (de) 1995-07-21 1997-01-23 Fev Motorentech Gmbh & Co Kg Verfahren zur Erkennung des Ankerauftreffens an einem elektromagnetisch betätigbaren Stellmittel

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JP2001518591A (ja) 2001-10-16
EP1019624A1 (fr) 2000-07-19
WO1999017009A1 (fr) 1999-04-08
DE59803659D1 (de) 2002-05-08

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