Patent Application
20150045940
The present invention relates to a servo control device and a servo control method.
In order to improve the accuracy of position control of a driven unit to be moved, for example, in a servo control device used in a machine tool, various control methods have been proposed.
For example, as a control device that can shorten the positioning time while suppressing the speed excess or overshoot in position control and accordingly performs stable control even if the control response is low, PTL 1 discloses a control device that continuously changes the position control gain based on the polynomial expression of model speed during the operation.
[PTL 1] Japanese Unexamined Patent Application Publication No. 2006-79526
Here, in a machine tool having two or more axes, as a feedback gain (position loop gain) used in position feedback control, the same value is set for each axis in the related art. The reason is that, if the feedback gain is different for each axis, the balance of positional deviation during the movement of a driven unit is lost, and accordingly, error occurs between the actual machine trajectory and the trajectory indicated by the position command, as shown in
However, the feedback gain that is the same for each axis is determined based on the axis in which machine stiffness is the weakest, for example. For this reason, if feedback control is performed with the same feedback gain, an optimal response for the position control for each axis is not necessarily obtained.
The present invention has been made in view of such a situation, and it is an object of the present invention to provide a servo control device and a servo control method capable of obtaining an optimal response for the position control for each axis in an apparatus having a plurality of axes to control the position of a driven unit.
In order to solve the above-described problem, a servo control device and a servo control method of the present invention adopt the following means.
A servo control device according to a first aspect of the present invention is a servo control device which is applied to a numerical control apparatus including a screw feed unit that is provided for each of a plurality of axes and converts rotational movement of a motor to linear movement, a driven unit that is moved linearly by the screw feed unit, and a support body that supports the screw feed unit and the driven unit and which controls the motor so as to match a position of the driven unit to a position command. The servo control device includes: feedback means for performing feedback control, which is for matching the position of the driven unit to the position command, for each of the axes; and feed forward means for performing feed forward control, which is for compensating a delay in position control for the driven unit due to the feedback control, for each of the axes. The feedback gain for each of the axes is changed to the same value set in advance when the feed forward control is OFF, and a feedback gain based on the feedback control is changed to a predetermined value corresponding to each of the axes when the feed forward control of the feed forward means is ON.
The servo control device according to the first aspect of the present invention is applied to the numerical control apparatus including the screw feed unit that is provided for each of the plurality of axes and converts the rotational movement of the motor to linear movement, the driven unit that is moved linearly by the screw feed unit, and the support body that supports the screw feed unit and the driven unit and which controls the motor so as to match the position of the driven unit to the position command.
By the feedback means, feedback control for matching the position of the driven unit to the position command is performed for each of the plurality of axes. By the feed forward means, feed forward control for compensating a delay in position control for the driven unit due to the feedback control is performed for each of the plurality of axes.
The feedback gain for each axis is changed to the same value set in advance when the feed forward control is OFF, and the feedback gain based on the feedback control is changed to a predetermined value corresponding to each axis when the feed forward control is ON.
The feedback gain that is set in advance and is the same for each axis is determined based on the axis in which machine stiffness is the weakest, for example. For this reason, if feedback control is performed with the same feedback gain, an optimal response for the position control for each axis is not necessarily obtained.
However, since a delay in the feedback control in each axis is compensated for by the feed forward control, the delay in the position control in each axis is suppressed even if the feedback gain for each axis is not the same. Therefore, when feed forward control is performed, the servo control device can obtain an optimal response for the position control for each axis without causing a delay in the position control in each axis by changing the feedback gain for each axis to the value corresponding to each axis.
Thus, the servo control device according to the first aspect of the present invention can obtain an optimal response for the position control for each axis in an apparatus having a plurality of axes to control the position of a driven unit.
In the first aspect described above, it is preferable that, as the predetermined value, different values be set when a setting value of a feed forward gain based on the feed forward control is the same for each axis and when the setting value is different for one or more of the axes.
When the setting value of the feed forward gain is the same for each axis, a situation where a difference occurs in the movement amount of the driven unit for each axis is suppressed. On the other hand, when the setting value of the feed forward gain is different for one or more axes, the feed forward gain for each axis is unbalanced. If the feed forward gain for each axis is unbalanced, a difference occurs in the movement amount of the driven unit for each axis. Accordingly, high-accuracy position control for the driven unit is not performed.
Therefore, according to this configuration, when the feed forward control is ON, different values are set when the setting value of the feed forward gain is the same for each axis and when the setting value is different for one or more axes. As a result, it is possible to obtain an optimal response for the position control for each axis.
In the first aspect described above, it is preferable that, when the setting value of the feed forward gain based on the feed forward control is the same for each axis, the predetermined value be a value set for each of the axes according to machine stiffness in the axis.
In general, machine stiffness in the axis differs depending on each axis. Therefore, according to this configuration, when the feed forward control is ON, the feedback gain is changed to a value set for each axis according to the machine stiffness in the axis. As a result, it is possible to obtain an optimal response for the position control for each axis.
In the first aspect described above, it is preferable that, when a setting value of a feed forward gain based on the feed forward control is different for one or more of the axes, the predetermined value be a value at which a deviation between the position command for the driven unit and an actual position of the driven unit is the same for each axis.
According to this configuration, since a deviation between the position command for the driven unit and the actual position of the driven unit is the same for each axis, it is possible to solve the imbalance of the feed forward gain. As a result, it is possible to suppress the occurrence of error between the actual trajectory and the trajectory indicated by the position command for the driven unit.
A servo control method according to a second aspect of the present invention is a servo control method of a servo control device which is applied to a numerical control apparatus including a screw feed unit that is provided for each of a plurality of axes and converts rotational movement of a motor to linear movement, a driven unit that is moved linearly by the screw feed unit, and a support body that supports the screw feed unit and the driven unit and which includes, in order to control the motor so as to match a position of the driven unit to a position command, feedback means for performing feedback control for matching the position of the driven unit to the position command for each of the axes and feed forward means for performing feed forward control for compensating a delay in position control for the driven unit due to the feedback control for each of the axes. The servo control method includes: a first step of performing feedback control by changing the feedback gain for each of the axes to the same value set in advance when the feed forward control is OFF; and a second step of performing feed forward control by changing a feedback gain based on the feedback control to a predetermined value corresponding to each of the axes when the feed forward control of the feed forward means is ON.
According to the present invention, there is an excellent effect that it is possible to obtain an optimal response for the position control for each axis in an apparatus having a plurality of axes to control the position of a driven unit.
Hereinafter, for an embodiment of a servo control device and a servo control method according to the present invention, an embodiment when applying the present invention to a machine tool (numerical control apparatus) will be described with reference to the diagrams.
As shown in
The servo control device 20 (Y-axis servo control device) shown in
As shown in
The position feedback unit 21 performs position feedback control for matching the position of the saddle 5 to the position command θ (position command θY). The position feedback unit 21 includes a subtraction section 27 and a multiplication section 28.
The subtraction section 27 outputs a positional deviation Δθ that is a difference between the position command θ and the load position θL. The multiplication section 28 multiplies the positional deviation Δθ by a feedback gain (hereinafter, referred to as a “position loop gain”), and outputs a speed deviation ΔV to the subtraction unit 23. It is assumed that the position loop gain corresponding to the X axis is KPX, the position loop gain corresponding to the Y axis is KPY, and the position loop gain corresponding to the Z axis is KPZ.
The speed feed forward unit 22 performs speed feed forward control for compensating a delay in the position control of the saddle 5 due to position feedback control.
As shown in
The first-order differential feed forward gain to the fourth-order differential feed forward gain are set to the torque in the mechanical system model and the transfer function of the inverse characteristic model of speed. The transfer function of the speed loop compensation section 33 is expressed as {Kp/(1+Tvs)} using a position gain KP and an integration time constant Tv.
In the speed feed forward unit 22, when the position command θ is input, a first-order differential term multiplied by the first-order differential feed forward gain, a second-order differential term multiplied by the second-order differential feed forward gain, a third-order differential term multiplied by the third-order differential feed forward gain, and a fourth-order differential term multiplied by the fourth-order differential feed forward gain are input to the adder 32. Accordingly, different differential coefficient values are added, and the result is given to the speed loop compensation section 33. In the speed loop compensation section 33, a compensation speed V′ obtained by performing position compensation expressed by the above-described transfer function is output to the subtraction unit 23. The compensation speed V′ is a speed after compensating for error factors (delay factors), such as “strain”, “bending”, and “viscosity”, for the motor 12 or the saddle 5.
The subtraction unit 23 outputs a command speed V obtained by subtracting the motor speed ωM from a value, which is obtained by adding the compensation speed V′ output from the speed feed forward unit 22 to the speed deviation ΔV, and outputs the command speed V to the proportional integration unit 24.
The proportional integration unit 24 performs proportional integration of the command speed V, and outputs command torque τ. The proportional integration unit 24 calculates the command torque τ by the operation τ=VKT{Kv(1+(1/Tvs))} using a speed loop gain Kv, the integration time constant Tv, and a torque constant KT.
The command torque τ is given to the device to be controlled shown in
The switching unit 25 switches ON and OFF of the speed feed forward control of the speed feed forward unit 22.
The gain change unit 26 changes the position loop gain for each axis to the same value (hereinafter, referred to as a “common gain”) set in advance when the speed feed forward control is set to OFF by the switching unit 25, and changes the position loop gain based on the position feedback control to a predetermined value (hereinafter, referred to as an “optimal gain”) corresponding to each axis when the speed feed forward control is set to ON by the switching unit 25. The gain change unit 26 includes a storage section that stores the optimal gain and the common gain.
The common gain is a value based on the axis, in which machine stiffness is the weakest, of the X, Y, and Z axes. Therefore, in the common gain, the position loop gain for each axis is not necessarily an optimal value.
On the other hand, the optimal gain is set in advance so that an optimal position loop response is obtained for each of the X, Y, and Z axes according to the machine stiffness in the axis. For example, since the table 2 that is a heavy load moves on the X axis, hunting is likely to occur when the gain is increased. Accordingly, the optimal gain for the X axis is small compared with that of other axes. In addition, the ram 6 that is relatively light moves on the Z axis, and the Z axis is a direction of vertical movement with respect to the workpiece placed on the table 2. Accordingly, since it is preferable to obtain a relatively high gain, the optimal gain for the Z axis is large compared with that of other axes.
The servo control device 20 is configured to include, for example, a central processing unit (CPU), a random access memory (RAM), a computer-readable recording medium, and the like. As an example, a series of processes for realizing the functions according to various controls are recorded on a recording medium or the like in the form of a program. The CPU reads the program to the RAM or the like and executes information processing and calculation processing, thereby realizing various controls.
While the speed feed forward unit 22, the position feedback unit 21, the subtraction unit 23, and the proportional integration unit 24 are provided for each axis, the switching unit 25 and the gain change unit 26 may be provided in common for the respective axes.
Next, a process executed by the servo control device according to the first embodiment (hereinafter, referred to as a “servo control process”) will be described with reference to the flowchart shown in
First, in step S100, position control for each axis by position feedback control is started. In this case, the position loop gain is a common gain, and the speed feed forward control is not started.
Then, in step S102, the switching unit 25 determines whether or not there is an ON command of speed feed forward control. In the case of positive determination, the process proceeds to step S104. In the case of negative determination, control only by the position feedback control is continued without proceeding to step S104.
Examples of the case where there is an ON command of speed feed forward control include a case where the workpiece placed on the table 2 is processed by the ram 6.
In step S104, the position loop gain is changed, and speed feed forward control is started. Specifically, the switching unit 25 outputs a gain change command for changing the position loop gain to the gain change unit 26, and outputs an FF control start command for starting the speed feed forward control start to the speed feed forward unit 22.
When the gain change command is input, the gain change unit 26 changes the position loop gain for each axis from the common gain to the optimal gain.
When the FF control start command is input, the speed feed forward unit 22 starts the speed feed forward control.
Thus, the machine tool 50 starts control by the position feedback control and the speed feed forward control. Since a delay in the position feedback control in each axis is compensated for by the speed feed forward control, the delay in the position control in each axis is suppressed even if the position loop gain for each axis is not the same. Therefore, when speed feed forward control is performed, the servo control device 20 can obtain an optimal response for the position control for each axis without causing a delay in the position control in each axis by changing the position loop gain for each axis to the optimal gain corresponding to each axis.
Then, in step S106, the switching unit 25 determines whether or not there is an OFF command of speed feed forward control. In the case of positive determination, the process proceeds to step S108. In the case of negative determination, control by the position feedback control and the speed feed forward control is continued without proceeding to step S108.
In step S108, the position loop gain is changed from the optimal gain to the common gain and the speed feed forward control is ended, and the process returns to step S102. Then, the process of steps 102 to 108 is repeated until the operation of the machine tool 50 ends.
The effect when the position loop gain is an optimal gain is noticeable when the moving method of the table 2, the saddle 5, and the ram 6, which are driven units, is reversed in each axis.
Thus, when the movement direction of the driven unit is reversed, a delay may occur in the position control for the driven unit due to influences, such as frication. However, since the position loop gain is an optimal gain, it is possible to suppress a delay in the position control for the driven unit.
As described above, the servo control device 20 according to the first embodiment includes the position feedback unit 21 that performs position feedback control for matching the position of the driven unit to the position command for each of the X, Y, and Z axes and the speed feed forward unit 22 that performs speed feed forward control, which is for compensating a delay in the position control for the driven unit due to position feedback control, for each axis. The servo control device changes the position loop gain for each axis to the same value set in advance when the speed feed forward control is OFF, and changes the position loop gain based on the position feedback control to the optimal gain corresponding to each axis when the speed feed forward control of the speed feed forward unit 22 is ON.
Therefore, the servo control device 20 according to the first embodiment can obtain an optimal response for the position control for each axis in the machine tool 50 having a plurality of axes to control the position of the driven unit.
In addition, since the servo control device 20 according to the first embodiment determines a value, which is set for each axis according to the machine stiffness in the axis, as the optimal gain, it is possible to obtain an optimal response for the position control for each axis.
Hereinafter, a second embodiment of the present invention will be described.
In addition, since the configuration of a machine tool 50 according to the second embodiment is the same as the configuration of the machine tool 50 according to the first embodiment shown in
The setting value of the feed forward gain according to the second embodiment is variable. When the setting value of the feed forward gain is different for one or more axes, the feed forward gain for each axis is unbalanced. If the feed forward gain for each axis is unbalanced, a difference occurs in the movement amount of the driven unit for each axis. Accordingly, high-accuracy position control for the driven unit is not performed.
The feed forward gain referred to herein may be a typical feed forward gain (for example, a first-order differential feed forward gain for calculating the speed compensation value), or may be the sum of a plurality of feed forward gains used in the speed feed forward control.
When the setting value of the feed forward gain is different for one or more axes, a gain change unit 26′ changes the position feedback gain for each axis to a value at which a deviation (positional deviation Δθ) between the position command for a driven unit and the actual position of the driven unit is the same for each axis.
The gain change unit 26′ according to the second embodiment will be specifically described.
It is assumed that first-order differential feed forward gains for the X, Y, and Z axes are aX1, aY1, and aZ1, respectively. The first-order differential feed forward gain may not be able to be used 100% as in the case where impact due to a change in the speed of the driven unit needs to be reduced.
In such a case, first-order differential feed forward gains when the weight (0% to 100%) of the first-order differential feed forward gains for the X, Y, and Z axes is taken into consideration are assumed to be pX1, pY1, and pZ1, respectively.
Hereinafter, the X axis will be described as a representative.
When the same value is given for each axis as the command speed V, a speed command FFX1 to be compensated for by the first-order speed feed forward control is expressed by following Expression (1).
[Expression 1]
FF
X1
=V·p
X1 (1)
On the other hand, since a speed command V that is not compensated for by the first-order speed feed forward control is compensated for by the position feedback control, the speed command V is expressed by the following Expression (2). DLX in the following Expression (2) is the positional deviation Δθ of the table 2 that is a driven unit in the X axis.
[Expression 2]
(1−FFX1)=DLX·KPX (2)
The following Expression (3) is derived from the above Expressions (1) and (2).
When the same speed command V is given for each of the X, Y, and Z axes, the following Expression (4) is derived in order to have the same positional deviation in each axis. In Expression (4), the ratio of a value (numerator in Expression (4)), which is obtained by subtracting the setting value from the upper limit of the feed forward gain, and a setting value (denominator in Expression (4)) of the position loop gain is the same for each axis.
The gain change unit 26′ calculates an optimal gain of the position loop gain based on Expression (4). For example, assuming that the first-order differential feed forward gain for the X axis is pX1=80% and the first-order differential feed forward gain for the Y axis is pY1=70%, the following Expression (5) is derived from the above Expression (4).
In addition, in order that Expression (5) is satisfied, the optimal gain for the X axis may be set to ⅔ of the position loop gain KPY for the Y axis, or the optimal gain for the Y axis may be set to 3/2 of the position loop gain KPY for the X axis. Therefore, the gain change unit 26′ sets the optimal gain so that the position loop gain for each axis is maximized in a range not exceeding the maximum value of the position loop gain for each axis.
First, in step S200, it is determined whether or not the feed forward gain for each axis is the same. In the case of positive determination, the process proceeds to step S202. In the case of negative determination, the process proceeds to step S204. For example, in step S200, it is determined whether or not all of the first-order differential feed forward gains aX1, aY1, and aZ1 are the same. The case where the first-order differential feed forward gains are the same is not limited to a case where the weight pX1, pY1, and pZ1 of the first-order differential feed forward gains is 100%, and the first-order differential feed forward gains may be the same even if the weight pX1, pY1, and pZ1 of the first-order differential feed forward gains is less than 100%, for example.
In step S202, the maximum position loop gain for each axis, that is, the optimal gain according to the first embodiment is set as a position loop gain for each axis.
In step S204, it is determined whether or not the maximum value KPXM of the position loop gain for the X axis is larger than the maximum values KPYM and KPZM of the position loop gains for the Y and Z axes. In the case of positive determination, the process proceeds to step S206. In the case of negative determination, the process proceeds to step S216.
In step S206, the position loop gain for the X axis is set to KPX=KPXM, and the position loop gain KPY for the Y axis and the position loop gain KPZ for the Z axis are calculated based on Expression (4).
In the next step S208, it is determined whether or not the position loop gain KPY for the Y axis calculated in step S206 is larger than the maximum value KPYM. In the case of positive determination, the process proceeds to step S210. In the case of negative determination, the process proceeds to step S212.
In step S210, the position loop gain for the Y axis is set to KPY=KPYM, and the position loop gain KPY for the X axis and the position loop gain KPZ for the Z axis are calculated based on Expression (4).
In the next step S212, it is determined whether or not the position loop gain KPZ for the Z axis calculated in step S210 is larger than the maximum value KPZM. In the case of positive determination, the process proceeds to step S214. In the case of negative determination, the process proceeds to step S106.
In step S214, the position loop gain for the Z axis is set to KPZ=KPZM, and the position loop gain KPX for the X axis and the position loop gain KPY for the Y axis are calculated based on Expression (4). Then, the process proceeds to step S106.
That is, when negative determination is made in steps 208 and 212 and the process proceeds to step S106, the position loop gains for the respective axes are set to the position loop gains KPX, KPY, and KPZ calculated in step S206. On the other hand, when position determination is made in step S208 and negative determination is made in step S212 and the process proceeds to step S106, the position loop gains for the respective axes are set to the position loop gains KPX, KPY, and KPZ calculated in step S210. In addition, when negative determination is made in step S212 and the process proceeds to step S106, the position loop gains for the respective axes are set to the position loop gains KPX, KPY, and KPZ calculated in step S214.
In step S216 after negative determination in step S204, it is determined whether or not the maximum value KPYM of the position loop gain for the Y axis is larger than the maximum values KPXM and KPZM of the position loop gains for the other axes. In the case of positive determination, the process proceeds to step S218. In the case of negative determination, the process proceeds to step S228.
In step S218, the position loop gain for the Y axis is set to KPY=KPYM, and the position loop gain KPX for the X axis and the position loop gain KPZ for the Z axis are calculated based on Expression (4).
In the next step S220, it is determined whether or not the position loop gain KPX for the X axis calculated in step S218 is larger than the maximum value KPXM. In the case of positive determination, the process proceeds to step S222. In the case of negative determination, the process proceeds to step S224.
In step S222, the position loop gain for the X axis is set to KPX=KPXM, and the position loop gain KPY for the Y axis and the position loop gain KPZ for the Z axis are calculated based on Expression (4).
In the next step S224, it is determined whether or not the position loop gain KPZ for the Z axis calculated in step S222 is larger than the maximum value KPZM. In the case of positive determination, the process proceeds to step S226. In the case of negative determination, the process proceeds to step S106.
In step S226, the position loop gain for the Z axis is set to KPZ=KPZM, and the position loop gain KPX for the X axis and the position loop gain KPY for the Y axis are calculated based on Expression (4). Then, the process proceeds to step S106.
That is, when negative determination is made in steps 220 and 224 and the process proceeds to step S106, the position loop gains for the respective axes are set to the position loop gains KPX, KPY, and KPZ calculated in step S218. On the other hand, when position determination is made in step S220 and negative determination is made in step S224 and the process proceeds to step S106, the position loop gains for the respective axes are set to the position loop gains KPX, KPY, and KPZ calculated in step S222. In addition, when negative determination is made in step S224 and the process proceeds to step S106, the position loop gains for the respective axes are set to the position loop gains KPX, KPY, and KPZ calculated in step S226.
In step S228 after negative determination in step S216, the position loop gain for the Z axis is set to KPZ=KPZM, and the position loop gain KPX for the X axis and the position loop gain KPY for the Y axis are calculated based on Expression (4).
In the next step S230, it is determined whether or not the position loop gain KPX for the X axis calculated in step S228 is larger than the maximum value KPXM. In the case of positive determination, the process proceeds to step S232. In the case of negative determination, the process proceeds to step S234.
In step S232, the position loop gain for the X axis is set to KPX=KPXM, and the position loop gain KPY for the Y axis and the position loop gain KPZ for the Z axis are calculated based on Expression (4).
In the next step S234, it is determined whether or not the position loop gain KPY for the Y axis calculated in step S232 is larger than the maximum value KPYM. In the case of positive determination, the process proceeds to step S236. In the case of negative determination, the process proceeds to step S106.
In step S236, the position loop gain for the Y axis is set to KPY=KPYM, and the position loop gain KPX for the X axis and the position loop gain KPZ for the Z axis are calculated based on Expression (4). Then, the process proceeds to step S106.
That is, when negative determination is made in steps 230 and 234 and the process proceeds to step S106, the position loop gains for the respective axes are set to the position loop gains KPX, KPY, and KPZ calculated in step S228. On the other hand, when position determination is made in step S230 and negative determination is made in step S234 and the process proceeds to step S106, the position loop gains for the respective axes are set to the position loop gains KPX, KPY, and KPZ calculated in step S232. In addition, when negative determination is made in step S234 and the process proceeds to step S106, the position loop gains for the respective axes are set to the position loop gains KPX, KPY, and KPZ calculated in step S236.
As described above, when the feed forward control is ON, the servo control device 20 according to the second embodiment sets different values when the setting value of the feed forward gain is the same for each axis and when the setting value is different for one or more axes.
When the setting value of the feed forward gain is the same for each axis, a situation where a difference occurs in the movement amount of the driven unit for each axis is suppressed. On the other hand, when the setting value of the feed forward gain is different for one or more axes, a difference occurs in the movement amount of the driven unit for each axis. Accordingly, high-accuracy position control for the driven unit is not performed.
In the second embodiment, therefore, since different values are set when the setting value of the feed forward gain is the same for each axis and when the setting value is different for one or more axes, it is possible to obtain an optimal response for the position control for each axis.
In addition, when the setting value of the feed forward gain is different for one or more axes, the position loop gain is set to a value at which a deviation between the position command for a driven unit and the actual position of the driven unit is the same for each axis. Therefore, since the servo control device 20 according to the second embodiment can solve the imbalance of the feed forward gain, it is possible to suppress the occurrence of error between the actual trajectory and the trajectory indicated by the position command for the driven unit.
The process shown in
While the present invention has been described using the embodiments, the technical scope of the present invention is not limited to the scope described in each embodiment described above. Various changes or modifications may be made in the above embodiments without departing from the spirit and scope of the present invention, and forms in which such changes or modifications are added are also included in the technical scope of the present invention.
For example, in each of the above embodiments, a form in which the present invention is applied to the servo control device of the machine tool having three axes (X, Y, and Z axes) has been described. However, the present invention is not limited to this, and the present invention may also be applied to a servo control device of a machine tool having two axes or four or more axes.
In addition, the flow of the servo control process described in each of the above embodiments is also an example, and it is also possible to delete an unnecessary step, add a new step, or change the processing order without departing from the spirit and scope of the present invention.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2012-048132 | Mar 2012 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2013/052636 | 2/5/2013 | WO | 00 |
