Patent Application
20210285437
The present disclosure lies in the field of pumps, such as electrically or electric motor-operated or driven (fluid) pumps and relates to a method for conveying a fluid of a fluid circuit with an electric motor-driven fluid pump in a motor vehicle, such as in a motor vehicle transmission. Furthermore, it relates to a fluid pump which operates according to such a method and to a motor vehicle transmission having such a fluid pump. Here, a fluid pump is to mean in particular an auxiliary or main pump, such as an oil pump, in or for a motor vehicle.
An electric fluid pump and in particular also a so-called auxiliary or additional pump serves for example for conveying oil as (hydraulic) fluid for control tasks or for cooling for in particular moving parts or components, for example also of a vehicle (motor vehicle) that is driven by way of an internal combustion engine, by hybrid-technology or electrically. Because of its conveying characteristics, such an oil pump usually creates a (closed) oil circuit (fluid circuit) with a pressure and volume flow.
The present disclosure may provide a particularly suitable method for conveying a fluid of a fluid circuit with an electric motor-driven fluid pump of a motor vehicle. The disclosure, furthermore, may include a fluid pump operating according to such a method and a motor vehicle transmission comprising such a fluid pump.
One or more methods according to the present disclosure is suitable and equipped for conveying a fluid of a fluid circuit with an electric motor-driven fluid pump of a motor vehicle.
According to the method, a closed-loop pressure control by way of a current (hydraulic) fluid pressure of the fluid in the fluid circuit (operating pressure) is provided for activating the fluid pump. For this purpose, an actual pressure and a set point pressure of the fluid are determined and compared with one another. As a function of the comparison, the fluid pump or the electric motor of the same is activated in such a manner that based on the variable flow rate the fluid pressure in the fluid circuit is set to the set point pressure. Here a determination or detection without pressure sensor of the actual pressure is provided, which means that the actual pressure is not monitored with a (fluid) pressure sensor of the fluid circuit.
In other words it is made possible to embody the fluid circuit without a cost-intensive (fluid) pressure sensor. As a consequence, the manufacturing and operating costs of the fluid circuit are reduced. Furthermore, cabling between a pressure sensor and the fluid pump is thus avoided, as a result of which on the one hand a reduction of the maintenance and repair costs and on the other hand a saving of the construction weight and construction size are made possible. Subsequently, this advantageously applies to the range of the motor vehicle.
The fluid pump, for example, is an electric motor-driven water pump, preferentially an electric motor-driven auxiliary or additional pump for the motor vehicle, in particular an oil pump for lubrication and/or control of transmission parts of a motor vehicle transmission. The conveyed fluid in this case is practically (transmission) oil for example ATF oil (automatic transmission fluid), and serves for example also for cooling the components or additional components of a drive train of such a motor vehicle. Here, the term oil must not be understood as being limited to mineral oils. On the contrary, fully synthetic or part-synthetic oil, a silicone oil or other oil-like liquids such as for example a hydraulic liquid or a cooling lubricant can also be used.
In a suitable manner, the fluid pump comprises pump electronics with a pump controller, with which the electric motor is open-loop and/or closed-loop controlled preferentially in a field-oriented manner. The electric motor is preferentially embodied as a brushless direct current motor, which is operated with a three-phase current of pump electronics. A rotor of the electric motor is non-rotatably connected to a pump rotor, so that during the operation the fluid is conveyed from a pump inlet (low pressure, suction side) to a pump outlet (pressure side). In an alternative embodiment, the pump electronics open-loop and/or closed-loop control multiple electric motor-driven pump drives. This is advantageous for example in an application in a direct shift transmission (DSG), in which pump electronics activate multiple electric motor-driven auxiliary drives for pressure generation.
In a suitable further development, the actual pressure of the fluid is determined by way of operating data of the fluid pump. In particular, the pump controller monitors the operating data of the fluid pump detected during the operation. Because of this, determining the actual pressure without pressure sensor is made possible in a simple and cost-effective manner.
In a conceivable embodiment, in particular a load torque of the fluid pump and a fluid viscosity of the fluid are determined with the operating parameters for determining the actual pressure. The load torque of the fluid pump in this case is substantially the static torque which the fluid pump or the pump rotor has to generate relative to the fluid pressure that is present in the fluid circuit, in particular during a stable or settled state of the fluid circuit following a starting of the fluid pump. In other words, this load torque is proportional to the actual pressure, in particular, the load torque has a linear dependency on the actual pressure. The proportionality factor, which forms the relationship between the load torque and the actual pressure, is dependent in this case on the fluid viscosity of the conveyed fluid. Because of this, a simple determination of the actual pressure is possible with a knowledge of the load torque and of the fluid viscosity.
In a practical configuration, the load torque is determined from a differential of an actual torque of the electric motor of the fluid pump and a dynamic torque of the dynamic characteristics of the fluid. The actual torque of the electric motor in this case corresponds substantially to the overall torque to be generated during operation for conveying the fluid. The actual torque can be monitored by the pump controller as operating parameter of the fluid pump. For this purpose, the actual three-phase current for energizing the stator windings is monitored for example, which is correlated to the generated actual torque. The actual three-phase current is dependent on the solenoid or coil temperature of the stator so that the same is practically likewise detected.
The actual torque to be generated is composed of the pressure-dependent load torque and the dynamic torque that is kept in particular as control reserve. On the one hand, the dynamic torque may include a known design-dependent mass moment of inertia of the pump rotor and a system moment of inertia, which is dependent on the fluid viscosity and temperature of the fluid to be conveyed. The actual torque is monitored as operating parameter during the operation by the pump controller so that with a given dynamic torque, the load torque desired for the actual pressure determination can be easily determined by forming the difference.
In an advantageous configuration, a step-like torque increase (torque gradient) is determined during a starting operation of the fluid pump for determining the dynamic torque. The torque increase that occurs during the starting or run-up of the fluid pump is invariant relative to the fluid pressure of the fluid circuit and substantially describes the dynamic characteristics of the fluid (system moment of inertia). Because of this it is possible to subtract the value of the dynamic torque known from the start of the fluid pump from the static torque for the settled (operating) state of the fluid pump. By way of this, the effects caused by the fluid viscosity can be purged from the load torque defined by the fluid pressure (actual pressure).
Thus, the load torque that is substantially known is, by a fluid-viscosity-dependent factor, proportional to the actual pressure to be determined. During the operation of the fluid pump, temperature changes of the fluid circuit and thus of the fluid conducted therein are possible. The temperature range in the fluid circuit to be managed or taken into account is for example between −40° C. and +130° C. Here it may be taken into account that the employed fluid has a certain or defined (fluid) viscosity which is dependent on the temperature and decreases with increasing temperature, i.e. that is higher at lower temperatures than at higher temperatures.
In a suitable further development, the fluid viscosity is determined by way of a fluid temperature, in particular the temperature of the fluid in the fluid circuit. With an employed fluid, the value of the fluid viscosity is known for a given temperature, for example from a datasheet. By way of this, the corresponding fluid viscosity can be easily determined by determining the fluid temperature. For this purpose, the pump controller may include for example a stored table or a characteristic curve with which a fluid temperature value is assigned a corresponding value of the fluid viscosity. To this end, the fluid circuit may include for example an integrated (fluid) temperature sensor.
In one or more embodiments, the fluid circuit is embodied without temperature sensor, and the fluid temperature may be determined by a thermal transfer model by way of an operating temperature of pump electronics of the fluid pump. Because of this, a temperature sensor of the fluid circuit is not required, as a result of which the fluid circuit becomes particularly cost-effective. The operating temperature of pump electronics in this case is monitored as operating parameter of the fluid pump. Because of this, the fact that pump electronics and the fluid are at least partially in a thermally conductive contact with one another is utilized in an advantageous and simple manner. This thermally-conductive contact is at least approximately described by the transfer model.
The operating temperature is for example a barrier layer temperature of a semiconductor switch of pump electronics or a temperature of a circuit board (PCB board) carrying pump electronics. Using the transfer model, a value for the temperature of the fluid in the fluid circuit can be determined by way of the operating temperature, with which as a consequence the (actual) fluid viscosity can be determined.
By knowing the fluid viscosity and the load torque a simple determination of the value of the actual pressure in the fluid circuit is thus made possible without pressure sensor. In particular, the actual pressure in this case is merely determined by operating parameters of the fluid pump which for a trouble-free operation of the fluid pump is monitored by the pump controller anyway. By way of this, a particularly simple, low-expenditure and advantageous determination of the actual pressure is realized.
An additional or further aspect of the method according to the invention provides that the set point pressure is adaptively adjusted. For example, the set point pressure in this case may be adapted by operating parameters of the fluid circuit not related to the fluid pump. For this purpose, a controller of the fluid circuit for example is signal-connected to the pump controller via a (bus) interface. In other words, the actual pressure is determined and/or adapted in particular by way of operating parameters of the fluid pump and the set point pressure in particular by way of operating parameters of the fluid circuit.
In a possible form of application, the fluid pump and the fluid circuit are part of a (motor vehicle) change-gear transmission (automatic transmission, double clutch transmission), wherein the controller sends information to the pump controller via a motor rotational speed and/or a gear change status. Such information influences the fluid pressure merely indirectly, but makes possible a prediction of the requirement profile or of the set point pressure. In other words, the set point pressure is in particular predictively adjusted for the adaptive adjustment. For this purpose, means and methods for machine-learning (big data, auto-learning) are integrated in the pump controller. By way of this, the pump controller is suitable and equipped for predictively and adaptively determining a value for the set point pressure by way of known driving or shifting situations that occurred previously. As a consequence, this advantageously applies to the efficiency of the fluid pump or of the fluid circuit and the motor vehicle transmissions equipped with such.
In a particular further development, a Kalman filter is used for adapting the set point pressure. In particular in an application in a change-gear transmission, the variance of the shifting operations to be expected as a function of the detected operating parameters of the fluid circuit and/or of the fluid pump as well as of the available vehicle parameters (vehicle speed, motor rotational speed, . . . ) is comparatively low. By way of this it is possible to make the prediction for the set point pressure by way of a Kalman filter that is easily implemented. Thus, a status estimate or set point pressure estimate is easily possible. In other words, the pump controller substantially learns the shifting strategy by way of the operating parameters and the vehicle parameters.
With the algorithm of the Kalman filter, a linear quadratic estimation (LQE) is created in particular for the set point pressure. For this purpose, the driving or shifting situations that occurred previously may be converted by a Bayesian conclusions and estimations by way of a probability function in an estimated value for the required (future) set point pressure. Since the deviations (variance) of the driving or shifting situations are comparatively low, comparatively accurate and precise predictions for the set point pressure are thus made possible.
The electric motor-driven fluid pump according to the invention is suitable and equipped for conveying a fluid of a fluid circuit of a motor vehicle, in particular in a motor vehicle transmission. Here, the fluid pump may include an integrated pump electronics and a pump controller (control unit), which is provided and equipped for carrying out the method according to the invention described above. Thus, the pump controller is concretely equipped during the pump operation to regulate a fluid pressure of the fluid in the fluid circuit to a set point pressure and determine the actual pressure of the fluid required for the closed-loop control without pressure sensor.
In one or more embodiments, the controller is formed, at least in the core, by a microcontroller with a processor and a data memory, in which the functionality for carrying out the method according to the invention is program-technically implemented in the form of an operating software (firmware), so that the method—if required interacting with a vehicle user—is automatically carried out when the operating software is embodied in the microcontroller.
However, the controller may be alternatively formed by a non-programmable electronic component, for example an ASIC (application-specifically integrated circuit) or an FPGA (field programmable gate array), in which the functionality for carrying out the method according to the invention is implemented with circuit-related means.
The fluid pump operated with the method is thus suitable and equipped for a closed-loop control of the fluid pressure in the pressure circuit without pressure sensor. Because of this, a particularly cost-effective and component-reduced fluid pump is made possible. Furthermore, a particularly effective operation of the fluid pump with as high as possible an efficiency is ensured.
In another embodiment, the fluid circuit is embodied without pressure sensor. This means that the fluid circuit does not comprise a (fluid) pressure sensor for detecting the actual pressure. Because of this, signal lines between the fluid circuit and the fluid pump are saved which has an advantageous effect on a (construction) weight reduction and thus cost savings.
In a suitable configuration, the pump controller is signal-connected to a controller of the fluid circuit. Because of this, the adaptive adjustment of the set point pressure by way of non-pump-related indicators is made possible.
In one or more embodiments, the fluid pump and the fluid circuit that is coupled to the former are part of a vehicle transmission. The fluid pump is preferentially an electric motor-driven auxiliary or additional pump. Because of this, a component-reduced and cost-effective motor vehicle transmission is realized.
In the following, an exemplary embodiment of the invention is explained in more detail by way of a drawing. Therein shows in simplified and schematic representations:
As required, detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention that may be embodied in various and alternative forms. The figures are not necessarily to scale; some features may be exaggerated or minimized to show details of particular components. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a representative basis for teaching one skilled in the art to variously employ the present invention.
Parts and quantities corresponding to one another are always marked with the same reference characters in all figures.
Frequently, an electrically or electric motor-driven auxiliary or additional pump for example also serves for the at least occasional lubrication or additional lubrication of transmission parts of a motor vehicle transmission, in particular of an automatic transmission. The conveyed oil, furthermore, serves also for cooling the components or additional components or the drive train of such a motor vehicle. The auxiliary or additional pump, furthermore, makes possible or supports expanded driving functions of the motor vehicle such as for example a coasting or a start-stop function.
For the open-loop and/or closed-loop control, such a fluid pump usually comprises pump electronics that can be open-loop and/or closed-loop controlled with a pump controller, with which the operating point of the electric motor is adjusted. For this purpose, the (hydraulic) fluid pressure of the fluid in the fluid circuit is monitored in particular with the pump controller. For this purpose, the fluid circuit typically comprises a (fluid) pressure sensor, which detects the current value of the actual pressure of the fluid in the fluid circuit, feeding the same to the pump controller. The pump controller compares the detected actual pressure with a desired set point pressure and activates the fluid pump or the electric motor of the same as a function of the comparison. In particular, the fluid pressure in this case is adjusted by adjusting the flow rate of the fluid pump to the desired set point pressure.
From DE 103 45 449 A1 a device for conveying a fluid in a motor vehicle transmission is known. The known device may include a pressure sensor that is coupled to a fluid circuit, which during the operation detects an actual fluid pressure of the fluid circuit (actual pressure) feeding it to a controller (pump controller) of a fluid pump. The controller, furthermore, is coupled to a sensor which detects a vehicle driving state. By way of the vehicle driving state, the controller determines a threshold value (set point pressure) with which the detected fluid pressure is compared.
Pressure sensors for such (fluid) pressure controls (closed-loop control) are susceptible to error and involve comparatively high operating and manufacturing costs. Furthermore, the required cable routing (cable harness) needed for the signal transmission of the actual pressure between the fluid pressure sensor in the fluid circuit and the pump controller of the fluid pump cause additional construction weight and increased manufacturing costs.
EP 2 290 264 A2 describes a motor vehicle transmission having a device for conveying a fluid, having a fluid circuit with a fluid pump. The motor vehicle transmission has a continuously variable rotational speed changing device. A (transmission) controller calculates during a shifting operation, during which gears are shifted between two transmission gears of the motor vehicle transmission, a set point pressure required for this purpose by way of a moment of inertia and of an input torque of the rotational speed changing device. The calculated set point pressure is sent to a pump controller which activates the fluid pump accordingly.
Such pressure controls (open-loop control) without pressure sensors can be manufactured comparatively cost-effectively. However, because of the absent closed-loop control, no effective conveying of the fluid is ensured, as a result of which the efficiency of the fluid pump or of the motor vehicle transmission is disadvantageously influenced.
The hydraulic system 2 shown in
Here, the oil pump 8 is coupled to an internal combustion engine of the motor vehicle and functionally effectively drivable for conveying the oil 6 by an internal combustion engine. The oil pump 10 is embodied as electric motor-driven and may include a driving electric motor 12. The electric motor 12 is embodied for example as a brushless direct current motor and may include a rotatably mounted rotor which is non-rotatably coupled to a pump rotor.
The oil circuit 4 may include a high pressure branch (primary circuit) 4a and a low pressure branch (secondary circuit) 4b. The high pressure branch 4a in this exemplary embodiment may include two hydraulically controllable valves 14, with which a coupling 16 of the motor vehicle transmission each can be actuated during the course of a shifting operation. On the outlet side, the oil pump 8 is connected to the high pressure branch 4a. By way of a pressure limiting valve 18, the oil pump 8 is flow-connected to the low pressure branch 4b. Here, the oil pump 10 is connected to the outlet side (pressure side) of the oil pump 8 by a non-return valve 20.
During the operation of the hydraulic system 2, the oil pump 10 conveys the oil 6 into the high pressure branch 4a when the flow rate of the oil pump 8 is smaller than a threshold value. The flow rate of the oil pumps 8 and 10 in this case is monitored in particular via the fluid or oil pressure p of the oil 6 in the oil circuit 4.
For monitoring and regulating the oil pressure p in the oil circuit 4, a controller (control unit) 22 of the fluid circuit is provided on the one hand, which in terms of signal is directed for example to a motor control of the internal combustion engine and/or of a transmission control of the change gear transmission. Here, the controller 22 monitors in the region of an interface 24 the oil pressure p for activating the valves 14. On the other hand, the oil pump 10 may include pump electronics 26 with a pump controller 28, which determines the oil pressure p in the region of an interface 30. In other words, the controller 22 monitors in particular the oil pressure p in the main pressure branch 4a and the pump controller 28 the oil pressure p in the secondary pressure branch 4b.
In the following, the operation of the oil pump 10 is explained in more detail by way of
During the operation, the pump controller 28 is designed in particular for carrying out a pressure closed-loop control for the oil circuit 4, during which an actual pressure pact of the oil 6 is regulated to a set point pressure pset. By way of the comparison, the rotation speed and thus the flow rate of the electric motor 12 and the oil pump 10 respectively are adjusted by the pump controller 28. The pump controller 28 determines the actual pressure pact of the oil 6 without pressure sensor which means that the oil circuit 4 does not have a pressure sensor that is coupled to the pump controller 28.
The pump controller 28 determines the value for the current actual pressure pact by evaluating detected and monitored operating data of the oil pump 10. For this purpose, the pump controller 28 during the operation detects a phase current IM of pump electronics 26 for driving the electric motor 12. The phase current (three phase current) IM is fed here to a stator or phase winding of the electric motor 12, as a result of which a magnetic rotational field is created, which causes the rotor to rotate. Furthermore, the pump controller 28 detects the actual torque Mact of the oil pump 10 thereby generated during the operation, and an operating temperature TB of pump electronics 26.
For determining the actual pressure pact, the pump controller 28 evaluates a load torque Mload of the oil pump 10 that occurs during the operation and a (fluid) viscosity η of the oil 6. The load torque Mload in this case is the static torque which the oil pump 10, in a settled state, i.e. in a stable operating point following a starting operation, has to generate relative to the actual pressure pact of the oil circuit 4 in order to convey the oil 6. The load torque Mload is coupled to the actual pressure pact to be determined by a proportionality factor that is dependent on the oil viscosity η.
Here, the load torque Mload is not directly detectable by the pump controller 28 as an operating parameter of the oil pump 10. However, the load torque Mload is contained in the actual torque Mact of the electric motor 12 of the oil pump 10 to be generated. The actual torque Mact in this case is additively composed of the load torque Mload and a dynamic torque Mdyn.
The dynamic torque Mdyn retained as regulating reserve of the oil pump 10 describes in particular the dynamic characteristics of the oil 6. The dynamic torque Mdyn in this case may include on the one hand a known design-dependent mass moment of inertia of the pump rotor and a system moment of inertia, which is dependent on the oil viscosity η and an (oil) temperature Toil of the oil 6 to be conveyed.
For determining the dynamic torque Mdyn, the pump controller 28 detects the course of the actual torque Mact during a run-up or starting operation, during which the oil pump 10 is accelerated from a stationary state to an operating rotational speed.
In
At a time t0, the oil pump 10 is started. As is comparatively clearly evident in
The torque increase that occurs during the starting or run-up of the oil pump is invariant here relative to the oil pressure p of the oil circuit 4 and substantially describes the dynamic characteristics of the oil 6 (system moment of inertia). By way of this, the dynamic torque Mdyn results substantially by the jump height or the torque gradient in the region about the time t0.
Because of this, the dynamic torque Mdyn can be determined by the pump controller 28 during the run-up of the oil pump 10. As a consequence, the load torque Mload that is relevant for determining the actual pressure pact can be determined as a simple subtraction of the actual torque Mact from the dynamic torque Mdyn.
The proportionality factor between the load torque Mload and the actual pressure pact that occurs in the oil circuit 4 is dependent on the oil viscosity η. The oil viscosity η varies with the oil temperature Toil in the oil circuit 4. During the operation of the hydraulic system 2, temperature changes of the oil 6 occur in the oil circuit 4 and thus corresponding changes of the oil viscosity η. As one example, a corresponding table or characteristic curve of the material or fluid characteristics of the oil 6 are stored in a memory of the pump controller 28, so that a certain oil temperature Toil is assigned a respective corresponding value of the oil viscosity η.
In this exemplary embodiment, the oil temperature Toil is determined by the pump controller 28 without temperature sensor which means without a measurement or sensor signal of a temperature sensor in the oil circuit 6. For this purpose, the pump controller 28 evaluates the detected operating temperature TB of pump electronics 26. As operating temperature TB, for example a barrier layer temperature of a semiconductor switch of an inverter of pump electronics 26 or a temperature of a circuit board (PCB board) carrying pump electronics 26 is monitored here. Here, a transfer model 34 for example in the form of a table or a characteristic curve is stored in the pump controller 28 with which the detected operating temperature TB is assigned a value for the oil temperature Toil in the oil circuit 4.
By way of the oil temperature Toil thus determined, the oil viscosity η is obtained as a consequence, as a result of which the proportionality factor between the load torque Mload and the actual pressure pact that occurs in the oil circuit 4 can be determined. By way of this it is possible in a simple manner that the pump controller 28 determines the value for the actual pressure pact in the oil circuit 4 merely by way of the operating parameters of the oil pump 10.
The set point pressure pset needed for the pressure closed-loop control of the oil pump 10 is determined by the controller 22 of the oil circuit 4. In particular, the value of the set point pressure pset is dynamically and adaptively adjusted to the respective transmission or driving situation of the motor vehicle in particular by a Kalman filter.
In this exemplary embodiment, the set point pressure pset is predicted for example by the pump controller 28 and adjusted or the plausibility checked by evaluation by a non-oil pump-related operating parameters (vehicle parameters) transmitted by the controller 22. For this purpose, the controller 22 transmits for example the values of a motor speed v and of a gear change status S as well as the oil temperature Toil. The pump controller 28 in this case is equipped for machine learning so that for example by way of the received motor speed v and of the gear change status S a prediction of the requirement profile or of the desired set point pressure pset takes place. In other words, a predictive pressure closed-loop control in the oil circuit 4 is carried out by way of known driving or shifting situations that occurred previously. By way of this a particularly effective and operationally secure operation of the motor vehicle transmission is ensured.
Here, no direct influence is imposed on the shifting behavior. By way of the Kalman filter, merely a correction of the actual pressure pact is carried out, the actual pressure requirement however is not influenced here. The signal processing of different vehicle interfaces (e.g. route profile, route gradient, traffic, . . . ) and the concomitant, moderate adaptation of the set point or actual pressure pset and pact respectively is provided. For example, it is possible in heavy traffic to predict an increased frequency of the shifting operations. Because of this, the pump controller 28 controls for example to a slightly elevated oil pressure p so that through the reserve created by this, the imminent shifting operations are optimized.
The invention is not restricted to the exemplary embodiment described above. On the contrary, other versions of the invention can also be derived from this by the person skilled in the art without leaving the scope of the invention. In particular, all individual features described in connection with the exemplary embodiment can also be combined with one another in another way without leaving the scope of the invention.
Accordingly, the method according to the invention is not restricted to a hydraulic system 2 as shown in
While exemplary embodiments are described above, it is not intended that these embodiments describe all possible forms of the invention. Rather, the words used in the specification are words of description rather than limitation, and it is understood that various changes may be made without departing from the spirit and scope of the invention. Additionally, the features of various implementing embodiments may be combined to form further embodiments of the invention.
| Number | Date | Country | Kind |
|---|---|---|---|
| 102016216765.0 | Sep 2016 | DE | national |
This application is the U.S. National Phase of PCT/EP2017/072139 filed Sep. 5, 2017, which claims priority to DE 10 2016 216 765.0 filed Sep. 5, 2016, the disclosures of which are hereby incorporated in their entirety by reference herein.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/EP2017/072139 | 9/5/2017 | WO | 00 |
