ES2571381T3 - Procedimiento y aparato para proteger turbinas eólicas de eventos extremos - Google Patents
Procedimiento y aparato para proteger turbinas eólicas de eventos extremosInfo
- Publication number
- ES2571381T3 ES2571381T3 ES11799623T ES11799623T ES2571381T3 ES 2571381 T3 ES2571381 T3 ES 2571381T3 ES 11799623 T ES11799623 T ES 11799623T ES 11799623 T ES11799623 T ES 11799623T ES 2571381 T3 ES2571381 T3 ES 2571381T3
- Authority
- ES
- Spain
- Prior art keywords
- wind
- wind direction
- wind turbine
- change
- extreme
- 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.)
- Active
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/0264—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for stopping; controlling in emergency situations
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/0204—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
- F03D7/0208—Orientating out of wind
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/022—Adjusting aerodynamic properties of the blades
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/0264—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for stopping; controlling in emergency situations
- F03D7/0268—Parking or storm protection
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2260/00—Function
- F05B2260/80—Diagnostics
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2260/00—Function
- F05B2260/82—Forecasts
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/309—Rate of change of parameters
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/321—Wind directions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/322—Control parameters, e.g. input parameters the detection or prediction of a wind gust
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/332—Maximum loads or fatigue criteria
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/40—Type of control system
- F05B2270/404—Type of control system active, predictive, or anticipative
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/70—Type of control algorithm
- F05B2270/702—Type of control algorithm differential
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/80—Devices generating input signals, e.g. transducers, sensors, cameras or strain gauges
- F05B2270/804—Optical devices
- F05B2270/8042—Lidar systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Fluid Mechanics (AREA)
- Physics & Mathematics (AREA)
- Wind Motors (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)
Abstract
Un sistema de control para una turbina eólica, que comprende: un dispositivo de detección (20) montado en la turbina eólica (30) para detectar una propiedad de las condiciones de viento en una posición contra el viento de la turbina eólica; un controlador para recibir y procesar señales procedentes del dispositivo de detección; caracterizado por que el controlador basado en el procesamiento de las señales detecta un cambio extremo en la dirección del viento contra el viento de la turbina eólica, y genera una o más señales de control para variar un parámetro de funcionamiento de la turbina eólica en respuesta al cambio extremo detectado en la dirección del viento, en el que el controlador comprende un diferenciador (55) para diferenciar una dirección del viento para medir una tasa de cambio de la dirección del viento, y un filtro (60) para determinar si la tasa de cambio de la dirección del viento supera un valor predeterminado durante un período predeterminado de tiempo, y en el que el cambio extremo en la dirección del viento se detecta cuando la tasa de cambio de dirección del viento supera el valor predeterminado durante el periodo de tiempo predeterminado.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201161433707P | 2011-01-18 | 2011-01-18 | |
| GB1100856.2A GB2487715A (en) | 2011-01-18 | 2011-01-18 | Method and apparatus for protecting wind turbines from extreme wind direction changes |
| PCT/DK2011/050481 WO2012097814A1 (en) | 2011-01-18 | 2011-12-15 | Method and apparatus for protecting wind turbines from extreme events |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| ES2571381T3 true ES2571381T3 (es) | 2016-05-25 |
Family
ID=43736623
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| ES11799623T Active ES2571381T3 (es) | 2011-01-18 | 2011-12-15 | Procedimiento y aparato para proteger turbinas eólicas de eventos extremos |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US9841006B2 (es) |
| EP (1) | EP2665928B8 (es) |
| CN (1) | CN103502637B (es) |
| ES (1) | ES2571381T3 (es) |
| GB (1) | GB2487715A (es) |
| WO (1) | WO2012097814A1 (es) |
Families Citing this family (32)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2365215B1 (en) * | 2010-03-10 | 2012-12-12 | Siemens Aktiengesellschaft | Rotational speed control of a wind turbine based on rotor acceleration |
| GB2481789A (en) * | 2010-06-30 | 2012-01-11 | Vestas Wind Sys As | Reducing yaw error in wind turbines |
| GB2487715A (en) | 2011-01-18 | 2012-08-08 | Vestas Wind Sys As | Method and apparatus for protecting wind turbines from extreme wind direction changes |
| CN203685475U (zh) * | 2011-01-31 | 2014-07-02 | 通用电气公司 | 风力涡轮机控制系统及风力涡轮机系统 |
| ES2587854T3 (es) * | 2011-06-30 | 2016-10-27 | Vestas Wind Systems A/S | Sistema y método para el control de la salida de potencia de una turbina eólica o una planta de generación eólica |
| US9605558B2 (en) * | 2013-08-20 | 2017-03-28 | General Electric Company | System and method for preventing excessive loading on a wind turbine |
| US9606234B2 (en) | 2013-10-18 | 2017-03-28 | Tramontane Technologies, Inc. | Amplified optical circuit |
| DE102014223640A1 (de) | 2014-11-19 | 2016-05-19 | Wobben Properties Gmbh | Auslegung einer Windenergieanlage |
| CN104775986A (zh) * | 2015-04-22 | 2015-07-15 | 上海电机学院 | 风力发电机偏航控制系统及控制方法 |
| CN106812658B (zh) * | 2015-11-27 | 2019-09-06 | 中国船舶重工集团海装风电股份有限公司 | 一种风力发电机组的控制方法及装置 |
| CN105654239B (zh) * | 2015-12-30 | 2021-07-20 | 北京金风科创风电设备有限公司 | 用于风力发电机组极端风况的识别方法、装置及系统 |
| JP6421134B2 (ja) * | 2016-01-29 | 2018-11-07 | 三菱重工業株式会社 | 風力発電装置及びその運転方法 |
| US10539116B2 (en) | 2016-07-13 | 2020-01-21 | General Electric Company | Systems and methods to correct induction for LIDAR-assisted wind turbine control |
| US9926912B2 (en) | 2016-08-30 | 2018-03-27 | General Electric Company | System and method for estimating wind coherence and controlling wind turbine based on same |
| US10451036B2 (en) | 2017-05-05 | 2019-10-22 | General Electric Company | Adjustment factor for aerodynamic performance map |
| US10570883B2 (en) * | 2017-12-22 | 2020-02-25 | General Electric Company | System and method for protecting wind turbines during wind gusts |
| US10808681B2 (en) | 2018-01-23 | 2020-10-20 | General Electric Company | Twist correction factor for aerodynamic performance map used in wind turbine control |
| CN110094296B (zh) * | 2018-01-29 | 2020-06-09 | 江苏金风科技有限公司 | 风力发电机组在台风下的偏航控制方法和装置 |
| CN108488037B (zh) | 2018-03-01 | 2019-07-19 | 北京金风科创风电设备有限公司 | 防飞车控制方法和装置、风力发电机组 |
| US10778112B2 (en) | 2018-04-04 | 2020-09-15 | General Electric Company | DFIG converter with active filter |
| US11319926B2 (en) | 2018-10-22 | 2022-05-03 | General Electric Company | System and method for protecting wind turbines from extreme and fatigue loads |
| US11261844B2 (en) * | 2019-02-28 | 2022-03-01 | General Electric Company | System and method for predicting wind turbine shutdowns due to excessive vibration |
| US11736056B2 (en) | 2019-05-30 | 2023-08-22 | General Electric Company | System and method for controlling harmonics in a renewable energy power system |
| CN110714881B (zh) * | 2019-08-19 | 2021-08-13 | 上海交通大学 | 一种风力机性能预测控制方法及装置 |
| CN110991666B (zh) | 2019-11-25 | 2023-09-15 | 远景智能国际私人投资有限公司 | 故障检测方法、模型的训练方法、装置、设备及存储介质 |
| CN113931806B (zh) * | 2020-06-29 | 2023-09-22 | 金风科技股份有限公司 | 风力发电机组及其控制方法、控制器和控制系统 |
| EP3957850A1 (en) * | 2020-08-17 | 2022-02-23 | Siemens Gamesa Renewable Energy A/S | Wind turbine operation in extreme wind conditions |
| EP4053400A1 (en) * | 2021-03-01 | 2022-09-07 | Siemens Gamesa Renewable Energy A/S | Activating and deactivating a safe mode of operation of a wind turbine |
| CN113309663B (zh) * | 2021-03-08 | 2022-11-15 | 新疆金风科技股份有限公司 | 用于风力发电机组的控制方法及控制装置 |
| US11136966B1 (en) * | 2021-04-23 | 2021-10-05 | Ovidiu Development Sa | System and method for determining the wind yaw misalignment of a horizontal axis on-shore wind turbine |
| EP4273395B1 (en) | 2022-05-04 | 2025-10-22 | General Electric Renovables España S.L. | Wind turbine control |
| CN116292140B (zh) * | 2023-03-24 | 2023-10-27 | 华能酒泉风电有限责任公司 | 一种风力发电机监测控制方法及监测控制装置 |
Family Cites Families (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2623919C2 (de) | 1976-05-28 | 1982-05-13 | Deutsch-Französisches Forschungsinstitut Saint-Louis, Saint-Louis | Laser-Doppler-Geschwindigkeitsmesser |
| EP0042521B1 (en) | 1980-06-23 | 1983-10-05 | Hughes Aircraft Company | Method and apparatus for laser pulse compression |
| US4339666A (en) | 1980-12-24 | 1982-07-13 | United Technologies Corporation | Blade pitch angle control for a wind turbine generator |
| US4613762A (en) | 1984-12-11 | 1986-09-23 | The United States Of America As Represented By The Secretary Of Agriculture | Output responsive field control for wind-driven alternators and generators |
| US4651017A (en) | 1985-02-08 | 1987-03-17 | The United States Of America As Represented By The United States Department Of Energy | Wind energy conversion system |
| GB9020105D0 (en) | 1990-09-14 | 1990-10-24 | Gen Electric Co Plc | Optical frequency synthesis |
| DE69814840D1 (de) | 1997-03-26 | 2003-06-26 | Forskningsct Riso Roskilde | Windturbine mit vorrichtung zur messung der windgeschwindigkeit |
| ES2228121T3 (es) * | 1999-11-03 | 2005-04-01 | Vestas Wind Systems A/S | Procedimiento de control de la operacion de una turbina electrica y turbina electrica para usarse en dicho procedimiento. |
| US6646725B1 (en) | 2001-07-11 | 2003-11-11 | Iowa Research Foundation | Multiple beam lidar system for wind measurement |
| GB2398841A (en) | 2003-02-28 | 2004-09-01 | Qinetiq Ltd | Wind turbine control having a Lidar wind speed measurement apparatus |
| JP4102278B2 (ja) * | 2003-03-19 | 2008-06-18 | 三菱電機株式会社 | 風力発電システム |
| US7317260B2 (en) * | 2004-05-11 | 2008-01-08 | Clipper Windpower Technology, Inc. | Wind flow estimation and tracking using tower dynamics |
| CN101223358A (zh) * | 2005-07-18 | 2008-07-16 | 剪式风能科技公司 | 使用塔的动态特性进行风流量估计和跟踪 |
| US7476985B2 (en) * | 2005-07-22 | 2009-01-13 | Gamesa Innovation & Technology, S.L. | Method of operating a wind turbine |
| DE102005045516A1 (de) * | 2005-09-22 | 2007-03-29 | Daubner & Stommel GbR Bau-Werk-Planung (vertretungsberechtigter Gesellschafter: Matthias Stommel, 27777 Ganderkesee) | Verfahren zur Anpassung einer Windenergieanlage an gegebene Windverhältnisse |
| US20070176430A1 (en) * | 2006-02-01 | 2007-08-02 | Hammig Mark D | Fluid Powered Oscillator |
| KR100883099B1 (ko) * | 2007-06-26 | 2009-02-11 | 주식회사 케이.알 | 수직축 풍력발전시스템의 제어장치 및 방법 |
| US7950901B2 (en) * | 2007-08-13 | 2011-05-31 | General Electric Company | System and method for loads reduction in a horizontal-axis wind turbine using upwind information |
| ES2359105B1 (es) * | 2008-01-31 | 2012-03-23 | Gamesa Innovation & Technology S.L. | Método para parar un aerogenerador. |
| US7999406B2 (en) * | 2008-02-29 | 2011-08-16 | General Electric Company | Wind turbine plant high wind derating control |
| DE102008020154B4 (de) * | 2008-04-22 | 2011-04-28 | Repower Systems Ag | Verfahren zum Betreiben einer Windenergieanlage |
| NL2002476C2 (en) * | 2009-02-02 | 2010-08-03 | Univ Delft Tech | WIND TURBINE. |
| CN101586526A (zh) * | 2009-04-23 | 2009-11-25 | 沈阳瑞祥风能设备有限公司 | 风力发电机组模糊偏航控制系统及控制方法 |
| US8360723B2 (en) * | 2009-09-30 | 2013-01-29 | General Electric Company | Method for reducing vibrations in wind turbines and wind turbine implementing said method |
| US8043012B2 (en) * | 2009-09-30 | 2011-10-25 | General Electric Company | Seal arrangement and a brush seal for a wind turbine |
| US8025476B2 (en) * | 2009-09-30 | 2011-09-27 | General Electric Company | System and methods for controlling a wind turbine |
| GB2476506A (en) * | 2009-12-23 | 2011-06-29 | Vestas Wind Sys As | Method And Apparatus Protecting Wind Turbines From Low Cycle Fatigue Damage |
| GB2476507A (en) * | 2009-12-23 | 2011-06-29 | Vestas Wind Sys As | Method And Apparatus For Protecting Wind Turbines From Gust Damage |
| GB2487715A (en) | 2011-01-18 | 2012-08-08 | Vestas Wind Sys As | Method and apparatus for protecting wind turbines from extreme wind direction changes |
| EP2702393B1 (en) * | 2011-04-28 | 2017-04-12 | Vestas Wind Systems A/S | Method and appartaus for protecting wind turbines from extreme events |
-
2011
- 2011-01-18 GB GB1100856.2A patent/GB2487715A/en not_active Withdrawn
- 2011-12-15 ES ES11799623T patent/ES2571381T3/es active Active
- 2011-12-15 EP EP11799623.1A patent/EP2665928B8/en active Active
- 2011-12-15 US US13/980,271 patent/US9841006B2/en active Active
- 2011-12-15 WO PCT/DK2011/050481 patent/WO2012097814A1/en not_active Ceased
- 2011-12-15 CN CN201180067997.7A patent/CN103502637B/zh active Active
Also Published As
| Publication number | Publication date |
|---|---|
| EP2665928B8 (en) | 2016-09-21 |
| EP2665928A1 (en) | 2013-11-27 |
| CN103502637A (zh) | 2014-01-08 |
| CN103502637B (zh) | 2017-04-05 |
| US20140035285A1 (en) | 2014-02-06 |
| GB2487715A (en) | 2012-08-08 |
| US9841006B2 (en) | 2017-12-12 |
| GB201100856D0 (en) | 2011-03-02 |
| EP2665928B1 (en) | 2016-04-13 |
| WO2012097814A1 (en) | 2012-07-26 |
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