CN104638991B - A kind of double-bus power inverter and its control method for suppressing switched reluctance machines torque pulsation - Google Patents
A kind of double-bus power inverter and its control method for suppressing switched reluctance machines torque pulsation Download PDFInfo
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- CN104638991B CN104638991B CN201510044508.6A CN201510044508A CN104638991B CN 104638991 B CN104638991 B CN 104638991B CN 201510044508 A CN201510044508 A CN 201510044508A CN 104638991 B CN104638991 B CN 104638991B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of AC power input into DC power output; Conversion of DC power input into AC power output
- H02M7/42—Conversion of DC power input into AC power output without possibility of reversal
- H02M7/44—Conversion of DC power input into AC power output without possibility of reversal by static converters
- H02M7/48—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of AC power input into DC power output; Conversion of DC power input into AC power output
- H02M7/42—Conversion of DC power input into AC power output without possibility of reversal
- H02M7/44—Conversion of DC power input into AC power output without possibility of reversal by static converters
- H02M7/48—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/493—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode the static converters being arranged for operation in parallel
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Abstract
本发明公开了一种开关磁阻电机转矩脉动抑制的双母线功率变换器及其控制方法，包括辅助电源及基本功率变换器，辅助电源包括电源切换开关Sa、二极管Ds1、电源侧电容C1及高压电容C2；基本功率变换器一相包括一个开关器件Sx及一个二极管Dx，开关器件导通时绕组电流上升，电机输出转矩增加；当该器件关断时，绕组电流经二极管释放，降低电机输出转矩。本发明的优点在于仅使用一半的可控性功率器件，降低了功率变换器成本和体积；辅助电源充分利用电机退磁绕组能量，提高了电机效率。由于辅助电源的电压是主电源电压的3‑4倍，电机换相时间显著缩短，因此本控制方法在不需要提前开通角、关断角，简化了控制策略。
The invention discloses a dual-bus power converter for suppressing torque ripple of a switched reluctance motor and a control method thereof. C 1 and high-voltage capacitor C 2 ; one phase of the basic power converter includes a switching device S x and a diode D x , the winding current rises when the switching device is turned on, and the output torque of the motor increases; when the device is turned off, the winding current Released by the diode, the output torque of the motor is reduced. The invention has the advantages of only using half of the controllable power devices, which reduces the cost and volume of the power converter; the auxiliary power supply fully utilizes the energy of the demagnetization winding of the motor, and improves the efficiency of the motor. Since the voltage of the auxiliary power supply is 3-4 times the voltage of the main power supply, the commutation time of the motor is significantly shortened, so the control method does not need to advance the turn-on angle and turn-off angle, which simplifies the control strategy.
Description
技术领域technical field
本发明涉及一种开关磁阻电机转矩脉动抑制的双母线功率变换器及其控制方法，属于电机功率变换器拓扑及控制技术领域。The invention relates to a double-bus power converter capable of suppressing torque ripple of a switched reluctance motor and a control method thereof, and belongs to the technical field of motor power converter topology and control.
背景技术Background technique
开关磁阻电机(Switched Reluctance Motor，SRM)仅定子上有绕组，转子由硅钢片叠加构成，不仅结构坚固、易于加工、造价低，而且控制灵活、效率高，目前在纺织工业、航空领域以及家用电器均得到一定的应用。但SRM的双凸极结构和时变非线性电磁特性使得其转矩脉动、噪声较大，限制了它的使用范围。虽然电机本体结构优化可以减小转矩脉动，但增加了电机制造的难度。直接瞬时转矩等先进控制算法可以在不改变电机结构的基础上减小转矩脉动，但需要精确测量相绕组磁链，电磁转矩，而且电机的效率明显降低。开关磁阻电机转矩脉动主要出现在换相过程中，这是因为换相过程中退磁相、励磁相绕组电流变化速率存在较大差异，导致合成转矩存在脉动，这一现象在高速、大功率工况下尤为明显。针对这一问题，本专利提出了一种新型的双母线功率变换器，它利用退磁绕组能量构建高电压辅助电源，有效提高了换相期间绕组退磁及励磁速度，降低了转矩脉动，显著提高SRM驱动系统的性能。The switched reluctance motor (Switched Reluctance Motor, SRM) only has windings on the stator, and the rotor is composed of silicon steel sheets. It is not only strong in structure, easy to process, and low in cost, but also flexible in control and high in efficiency. Electrical appliances have been used to a certain extent. However, the doubly salient pole structure and time-varying nonlinear electromagnetic characteristics of SRM make its torque ripple and noise larger, which limits its application range. Although the optimization of the motor body structure can reduce the torque ripple, it increases the difficulty of motor manufacturing. Advanced control algorithms such as direct instantaneous torque can reduce torque ripple without changing the structure of the motor, but it needs to accurately measure the phase winding flux linkage and electromagnetic torque, and the efficiency of the motor is significantly reduced. The torque ripple of the switched reluctance motor mainly appears in the commutation process. This is because there is a large difference in the winding current change rate of the demagnetization phase and the excitation phase during the commutation process, resulting in pulsation in the synthesized torque. This phenomenon occurs in high-speed, large Especially under power conditions. In response to this problem, this patent proposes a new type of double-bus power converter, which uses the energy of the demagnetized winding to build a high-voltage auxiliary power supply, which effectively improves the demagnetization and excitation speed of the winding during commutation, reduces torque ripple, and significantly improves Performance of SRM-driven systems.
发明内容Contents of the invention
本发明的目的是通过所提出的双母线功率变换器加快电机换相过程，从而消弱退磁相对电机输出转矩的影响，降低转矩脉动。本方面的另一目的是提供该功率变换器的控制方法，它根据退磁相绕组电流变化将换相过程分阶段利用电机主电源和辅助电源电压差异实现对合成转矩的控制，最终实现减小转矩脉动的目的。The purpose of the present invention is to accelerate the commutation process of the motor through the proposed double-bus power converter, thereby weakening the influence of demagnetization on the output torque of the motor and reducing torque ripple. Another object of this aspect is to provide a control method for the power converter, which uses the voltage difference between the main power supply and the auxiliary power supply of the motor to control the combined torque in stages according to the change of the demagnetization phase winding current, and finally realizes the reduction Purpose of torque ripple.
本发明的装置的技术方案为：The technical scheme of device of the present invention is:
一种开关磁阻电机转矩脉动抑制的双母线功率变换器，该功率变换器的输入电源U1的正极分别与第一电容C1的正极、第四二极管Ds1的阳极和第二电容C2的负极相连，第二电容C2的正极分别与第四开关管Sa的集电极、第一二极管D1的阴极、第二二极管D2的阴极、第三二极管D3的阴极相连，第一二极管D1的阳极分别与第一开关管S1的集电极、第一绕组LA的一端相连，第二二极管D2的阳极分别与第二开关管S2的集电极、第二绕组LB的一端相连，第三二极管D3的阳极分别与第三开关管S3的集电极、第三绕组LC的一端相连，第四二极管Ds1的阴极分别与第四开关管Sa的发射极、第一绕组LA的另一端、第二绕组LB的另一端、第三绕组LC的另一端分别相连，所述第一开关管S1的发射极、第二开关管S2的发射极、第三开关管S3的发射极、第一电容C1的阴极、输入电源U1的负极均相连并接地。A double-bus power converter for torque ripple suppression of switched reluctance motors, the positive pole of the input power supply U1 of the power converter is connected to the positive pole of the first capacitor C1 , the anode of the fourth diode Ds1 and the second The negative pole of the capacitor C2 is connected, and the positive pole of the second capacitor C2 is respectively connected to the collector of the fourth switch S a , the cathode of the first diode D1, the cathode of the second diode D2, and the third diode The cathode of the tube D3 is connected, the anode of the first diode D1 is respectively connected with the collector of the first switching tube S1 and one end of the first winding L A , and the anode of the second diode D2 is respectively connected with the second The collector of the switching tube S2 is connected to one end of the second winding LB , the anode of the third diode D3 is respectively connected to the collector of the third switching tube S3 and one end of the third winding LC , and the fourth two The cathode of the pole tube D s1 is respectively connected to the emitter of the fourth switching tube S a , the other end of the first winding L A , the other end of the second winding L B , and the other end of the third winding L C , the first The emitter of the first switching tube S1, the emitter of the second switching tube S2, the emitter of the third switching tube S3, the cathode of the first capacitor C1 , and the negative terminal of the input power source U1 are all connected and grounded.
进一步，所述第一电容C1为低压母线电容，第二电容C2为高压母线电容，共同构成电机绕组供电双母线结构。Further, the first capacitor C1 is a low-voltage bus capacitor, and the second capacitor C2 is a high-voltage bus capacitor, which together form a double-bus structure for motor winding power supply.
本发明的方法的技术方案为：The technical scheme of the method of the present invention is:
一种开关磁阻电机转矩脉动抑制的双母线功率变换器控制方法，当以C、A换相时，具体过程为：A dual-bus power converter control method for torque ripple suppression of switched reluctance motors. When commutating with C and A, the specific process is as follows:
步骤1，电机完成换相，仅C相工作，A、B两相绕组电流为零，电机输出转矩与C相转矩相等，当转矩低于设定值TL时，第三开关管S3导通、第四开关管Sa断开，第三绕组LC由主电源供电，相电流iC上升，转矩增加；当转矩大于TH时，第三开关管S3断开、第四开关管Sa导通，绕组电流经第三二极管D3、第四开关管Sa续流；Step 1, the motor completes commutation, only phase C works, the winding currents of A and B phases are zero, the output torque of the motor is equal to the torque of phase C, when the torque is lower than the set value T L , the third switching tube S 3 is turned on, the fourth switch S a is turned off, the third winding L C is powered by the main power supply, the phase current i C rises, and the torque increases; when the torque is greater than T H , the third switch S 3 is turned off , the fourth switching tube S a is turned on, and the winding current continues to flow through the third diode D 3 and the fourth switching tube S a ;
步骤2，换相开始时，第三开关管S3关断，当转矩T小于设定值TL时，第四开关管Sa、第一开关管S1同时导通，第二电容C2向LA相绕组供电，加快该相励磁速度；C相绕组经第四开关管Sa、第三二极管D3续流；当转矩T大于TH，第四开关管Sa、第一开关管S1断开，第三绕组LC通过D3、C2、Ds1续流，此时绕组电压与第二电容C2两端电压相等；由于该电压远高于主电源电压，使C相绕组电流下降速度加快，减弱该相负转矩对电机转矩的影响；在该过程第二电容C2吸收绕组释放能量，电压上升，该阶段直至C相电流达到设置值iH；Step 2, when the commutation starts, the third switching tube S 3 is turned off, when the torque T is less than the set value TL , the fourth switching tube S a and the first switching tube S 1 are turned on at the same time, and the second capacitor C 2 Supply power to the L A phase winding to speed up the excitation speed of this phase; the C phase winding passes through the fourth switch S a and the third diode D 3 for freewheeling; when the torque T is greater than T H , the fourth switch S a , The first switching tube S 1 is turned off, and the third winding LC continues to flow through D 3 , C 2 , and D s1 . At this time, the winding voltage is equal to the voltage across the second capacitor C 2 ; since this voltage is much higher than the main power supply voltage , so that the phase C winding current drops faster, and weakens the influence of the negative torque of this phase on the motor torque; in this process, the second capacitor C2 absorbs and releases energy from the winding, and the voltage rises, until the phase C current reaches the set value i H at this stage ;
步骤3，该阶段第四开关管Sa关断，第一开关管S1导通，C相绕组电流经D3、C2、Ds1续流，主电源经第一开关管S1向绕组供电，该过程直至C相绕组电流下降至设定值iL；Step 3: At this stage, the fourth switching tube S a is turned off, the first switching tube S 1 is turned on, the current of the C-phase winding flows through D 3 , C 2 , and D s1 , and the main power supply flows to the winding through the first switching tube S 1 Power supply, the process until the phase C winding current drops to the set value i L ;
步骤4，该阶段工作过程与步骤2类似，直至C相绕组电流降至零，换相过程结束。Step 4, the working process of this stage is similar to that of step 2, until the phase C winding current drops to zero, and the commutation process ends.
本发明的有益效果为：与不对称半桥功率变换器相比，本发明的优点在于仅使用一半的可控性功率器件，降低了功率变换器成本和体积；辅助电源充分利用电机退磁绕组能量，提高了电机效率。由于辅助电源的电压是主电源电压的3-4倍，电机换相时间显著缩短，因此本控制方法在不需要提前开通角、关断角，简化了控制策略。The beneficial effects of the present invention are: compared with the asymmetrical half-bridge power converter, the present invention has the advantage that only half of the controllable power devices are used, which reduces the cost and volume of the power converter; the auxiliary power supply makes full use of the energy of the motor demagnetization winding , improving the motor efficiency. Since the voltage of the auxiliary power supply is 3-4 times the voltage of the main power supply, the commutation time of the motor is significantly shortened, so the control method does not need to advance the turn-on angle and turn-off angle, which simplifies the control strategy.
附图说明Description of drawings
图1是本发明的开关磁阻电机双母线功率变换器拓扑图；Fig. 1 is the topological diagram of the double-bus power converter of the switched reluctance motor of the present invention;
图2是本发明的开关磁阻电机在非换相状态时，双母线功率变换器电路结构图(以A相为例)；Fig. 2 is when the switched reluctance motor of the present invention is in the non-commutation state, the circuit structure diagram of the double-bus power converter (taking the A phase as an example);
图3是本发明的开关磁阻电机在换相过程中，辅助电源工作条件下双母线功率变换器电路结构图(以C相向A相换相为例)；Fig. 3 is a circuit structure diagram of a dual-bus power converter under the working condition of the auxiliary power supply during the phase commutation process of the switched reluctance motor of the present invention (taking C-phase to A-phase commutation as an example);
图4是本发明的开关磁阻电机在换相过程中，主电源工作条件下双母线功率变换器电路结构图(以C相向A相换相为例)；Fig. 4 is the switch reluctance motor of the present invention in the commutation process, the double-bus power converter circuit structure diagram under the main power supply working condition (taking C phase to A phase commutation as example);
图5是本发明的双母线功率变换器退磁相绕组电流分段控制开关时序图。Fig. 5 is a time sequence diagram of the demagnetization phase winding current segmental control switch of the dual-bus power converter of the present invention.
具体实施方式detailed description
下面结合附图中的实施例对本发明作进一步的描述。The present invention will be further described below in conjunction with the embodiments in the accompanying drawings.
本发明的双母线功率变换器如图1所示，它由辅助电源及基本功率变换器构成。辅助电源包括电源切换开关Sa、二极管Ds1、电源侧电容C1及高压电容C2(第二电容)。基本功率变换器一相包括一个开关器件Sx及一个二极管Dx(x表示不同相)，开关器件导通时绕组电流上升，电机输出转矩增加；当该器件关断时，绕组电流经二极管释放，降低电机输出转矩。三相结构相同，共同构成基本功率变换器。The double-bus power converter of the present invention is shown in Fig. 1, and it is made up of auxiliary power supply and basic power converter. The auxiliary power supply includes a power switching switch S a , a diode D s1 , a power supply side capacitor C 1 and a high voltage capacitor C 2 (second capacitor). One phase of the basic power converter includes a switching device S x and a diode D x (x indicates different phases). When the switching device is turned on, the winding current rises, and the output torque of the motor increases; when the device is turned off, the winding current passes through the diode Release to reduce the output torque of the motor. The three phases have the same structure and together form a basic power converter.
图1～图5中的符号分别表示：U1为输入电源，为电机工作的主电源；S1、S2、S3、Sa分别为第一开关管、第二开关管、第三开关管、第四开关管；D1、D2、D3、Ds1分别为第一二极管、第二二极管、第三二极管、第四二极管；C1、C2分别为第一电容，第二电容；LA、LB、LC分别为电机第一绕组、第二绕组、第三绕组；iA、iB、iC分别为三相绕组工作电流；iT为输出转矩稳定时相绕组电流值；iL、iH分别为相绕组电流的第一设定量和第二设定量；T为三相合成转矩，TA、TB、TC分别为A、B、C单相绕组输出转矩；TH为转矩滞环的上限，TL为转矩滞环的下限。The symbols in Fig. 1 to Fig. 5 represent respectively: U 1 is the input power supply, which is the main power supply for the motor to work; S 1 , S 2 , S 3 , and S a are respectively the first switching tube, the second switching tube, and the third switching tube tube, the fourth switch tube; D 1 , D 2 , D 3 , and D s1 are respectively the first diode, the second diode, the third diode, and the fourth diode; C 1 , C 2 are respectively are the first capacitor and the second capacitor; L A , L B , and L C are the first winding, the second winding, and the third winding of the motor respectively; i A , i B , and i C are the operating currents of the three-phase windings; i T is the phase winding current value when the output torque is stable; i L and i H are the first set value and the second set value of the phase winding current respectively; T is the three-phase composite torque, T A , T B , T C Respectively A, B, C single-phase winding output torque; T H is the upper limit of the torque hysteresis, T L is the lower limit of the torque hysteresis.
该电路的输入电源U1与第一电容C1的正极、第四二极管Ds1的阳极和第二电容C2的负极相连，第二电容C2的正极与第四开关管Sa的集电极、第一二极管D1的阴极、第二二极管D2的阴极、第三二极管D3的阴极相连，第一二极管D1的阳极与第一开关管S1的集电极、第一绕组LA的一端相连，第二二极管D2的阳极与第二开关管S2的集电极、第二绕组LB的一端相连，第三二极管D3的阳极与第三开关管S3的集电极、第三绕组LC的一端相连，第四二极管Ds1的阴极与第四开关管Sa的发射极、第一绕组LA的另一端、第二绕组LB的另一端、第三绕组LC的另一端分别相连，第一、二、三开关管S1、S2、S3的发射极分别与第一电容C1的负极、输入电源U1的负极相连。The input power supply U1 of this circuit is connected to the anode of the first capacitor C1 , the anode of the fourth diode Ds1 and the cathode of the second capacitor C2, and the anode of the second capacitor C2 is connected to the fourth switch S a The collector, the cathode of the first diode D1, the cathode of the second diode D2, and the cathode of the third diode D3 are connected, and the anode of the first diode D1 is connected to the first switching tube S1 The collector of the second diode D2 is connected to one end of the first winding L A , the anode of the second diode D2 is connected to the collector of the second switching tube S2 and one end of the second winding L B , and the third diode D3 The anode is connected to the collector of the third switching tube S 3 and one end of the third winding LC, the cathode of the fourth diode D s1 is connected to the emitter of the fourth switching tube S a , the other end of the first winding L A , The other end of the second winding LB and the other end of the third winding LC are respectively connected, and the emitters of the first, second, and third switching tubes S 1 , S 2 , and S 3 are respectively connected to the negative electrode of the first capacitor C 1 and the input The negative pole of the power supply U1 is connected.
电路结构参见图1，第一电容C1为低压母线电容，第二电容C2为高压母线电容，共同构成电机绕组供电双母线结构。绕组供电所用电源根据电机合成转矩及退磁相电流值通过第四开关管Sa进行选择。电机绕组上端与电源相接，下端分别与Sx的输入端相连，二极管Dx的阳极分别与绕组下端、Sx输入端连接，二极管Dx的阴极与高压电容C2正极连接，三相结构相同。以C、A换相为例具体分析该电路工作过程：Referring to Figure 1 for the circuit structure, the first capacitor C1 is a low-voltage bus capacitor, and the second capacitor C2 is a high-voltage bus capacitor, which together form a double-bus structure for motor winding power supply. The power supply for the winding power supply is selected through the fourth switching tube S a according to the combined torque of the motor and the value of the demagnetization phase current. The upper end of the motor winding is connected to the power supply, and the lower end is connected to the input end of Sx respectively. The anode of the diode Dx is respectively connected to the lower end of the winding and the input end of Sx. The cathode of the diode Dx is connected to the positive pole of the high - voltage capacitor C2. Three-phase structure same. Taking C and A commutation as an example to analyze the working process of the circuit in detail:
(1)电机完成换相，仅C相工作，A、B两相绕组电流为零，电机输出转矩与C相转矩相等。当转矩低于设定值TL时，S3导通、Sa断开，绕组LC由主电源供电，相电流iC上升，转矩增加；当转矩大于TH时，S3断开、Sa导通，绕组电流经D3、Sa续流。(1) The motor completes the commutation, only the C phase works, the A and B two-phase winding currents are zero, and the motor output torque is equal to the C phase torque. When the torque is lower than the set value T L , S 3 is turned on, S a is turned off, the winding L C is powered by the main power supply, the phase current i C rises, and the torque increases; when the torque is greater than T H , S 3 Disconnected, S a is turned on, and the winding current continues to flow through D 3 and S a .
(2)换相开始时，S3关断。当转矩T小于设定值TL时，Sa、S1同时导通，电容C2向LA相绕组供电，加快该相励磁速度；C相绕组经Sa、D3续流。当转矩T大于TH，Sa、S1断开，绕组LC通过D3、C2、Ds1续流，此时绕组电压与电容C2两端电压相等。由于该电压远高于主电源电压，使C相绕组电流下降速度加快，减弱该相负转矩对电机转矩的影响。在该过程电容C2吸收绕组释放能量，电压上升。该阶段直至C相电流达到设置值iH。(2) When commutation starts, S 3 is turned off. When the torque T is less than the set value T L , S a and S 1 are turned on at the same time, and the capacitor C 2 supplies power to the L A phase winding to speed up the excitation speed of this phase; the C phase winding continues to flow through S a and D 3 . When the torque T is greater than T H , S a and S 1 are disconnected, the winding LC continues to flow through D 3 , C 2 , and D s1 , and the voltage of the winding is equal to the voltage across the capacitor C 2 . Because the voltage is much higher than the main power supply voltage, the current of the C-phase winding will drop faster, and the influence of the negative torque of this phase on the motor torque will be weakened. In this process, the capacitor C2 absorbs the energy released by the winding, and the voltage rises. In this stage, the phase C current reaches the set value i H .
(3)该阶段Sa关断，S1导通。C相绕组电流经D3、C2、Ds1续流，主电源经S1向绕组供电。该过程直至C相绕组电流下降至设定值iL。(3) In this stage, S a is turned off and S 1 is turned on. The C-phase winding current continues to flow through D 3 , C 2 , and D s1 , and the main power supplies power to the winding through S 1 . This process is performed until the phase C winding current drops to the set value i L .
(4)该阶段工作过程与(2)类似，直至C相绕组电流降至零，换相过程结束。(4) The working process of this stage is similar to (2), until the phase C winding current drops to zero, the commutation process ends.
应理解上述施例仅用于说明本发明而不用于限制本发明的范围，在阅读了本发明之后，本领域技术人员对本发明的各种等价形式的修改均落于本申请所附权利要求所限定的范围。It should be understood that the above-mentioned embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. After reading the present invention, those skilled in the art all fall into the appended claims of the present application to the amendments of various equivalent forms of the present invention limited range.
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