CN106443307B - Transformer equipment insulated on-line monitoring system - Google Patents
Transformer equipment insulated on-line monitoring system Download PDFInfo
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- CN106443307B CN106443307B CN201611013801.7A CN201611013801A CN106443307B CN 106443307 B CN106443307 B CN 106443307B CN 201611013801 A CN201611013801 A CN 201611013801A CN 106443307 B CN106443307 B CN 106443307B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1227—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
- G01R31/1236—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials of surge arresters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1227—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
- G01R31/1263—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials of solid or fluid materials, e.g. insulation films, bulk material; of semiconductors or LV electronic components or parts; of cable, line or wire insulation
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Testing Of Short-Circuits, Discontinuities, Leakage, Or Incorrect Line Connections (AREA)
- Measurement Of Resistance Or Impedance (AREA)
Abstract
The present invention relates to transformer equipment insulated on-line monitoring systems comprising: for measuring the current measuring device of MOA or capacitive apparatus leakage current；The current measuring device includes: the first mutual inductor for obtaining the leakage current signal of MOA or capacitive apparatus, for obtaining the second mutual inductor of the voltage signal of power grid, the synchronous ADC being connected with first, second mutual inductor, ADC synchronous with this connected CPU, the communication module being connected with the CPU.In the system, the measurement method of the resistive leakage current of MOA or capacitive apparatus includes: W sampled data of the Leakage Current signal of synchronized sampling network voltage and MOA or capacitive apparatus at equal intervals；Obtain the m of network voltage1Subharmonic amplitude and initial phase angle；Obtain the m of Leakage Current2Subharmonic amplitude and initial phase angle；The virtual value of resistive Leakage Current is calculated using harmonic superposition principle；Calculate the initial phase angle of network voltage and Leakage Current；Projected angle of the Leakage Current on network voltage is obtained according to sciagraphy；Calculate resistive Leakage Current.
Description
Technical Field
The invention relates to an insulation online monitoring system of a power transformation device and a working method thereof.
Background
At present, the test work of electrical equipment of a transformer substation in China still mainly carries out preventive tests regularly according to the requirements of preventive test regulations of the electrical equipment. And judging the operation state of the equipment according to the test result so as to determine whether the equipment can be continuously put into operation. The long-standing preventive test plays a great role in safe operation of the electric power system in China, but along with the large capacity, high voltage and complicated structure of the electric power system and the development of industrial and agricultural production, the requirement on the safe reliability index of the electric power system is higher and higher. The more inadaptable the traditional test and diagnosis method is, the more the test and diagnosis method is mainly characterized by power failure during the test and long test period. And the power transmission is reduced and certain influence is brought to economic life, so that the fault defect is difficult to diagnose in time. Along with the comprehensive development of the state maintenance work of the high-voltage equipment, a set of system for monitoring the operation state of the power transformation equipment in real time is established, and it is necessary to provide technical support for state evaluation, risk analysis, fault diagnosis and maintenance strategy decision of the power transformation equipment.
The metal oxide arrester (called MOA for short) is widely applied to an electric power system due to the excellent overvoltage protection characteristic, but the aging of an MOA resistor disc and the damage caused by heat and impact can cause faults, so that the MOA resistor disc can explode seriously, the breakdown of the arrester can cause the short circuit of a substation bus, and the safe operation of the system is influenced, so that the MOA in operation must be strictly and effectively detected and periodically subjected to preventive tests. In the detection and test of the zinc oxide arrester, the measurement of leakage current under alternating current operating voltage is an important item, and the size of a resistive current fundamental wave component in the leakage current can accurately reflect the defects of the zinc oxide arrester such as moisture, valve plate aging and internal insulation damage. Therefore, the MOA performance can be accurately judged by accurately measuring parameters such as the resistive leakage current fundamental wave and the like.
The MOA resistive current testing device detects parameters such as resistive leakage current of the MOA in operation by applying a harmonic analysis technology, and then judges the performance of the MOA. The testing device generally comprises an MOA leakage current sensor, a power grid voltage sensor, a signal conditioning circuit, a data acquisition circuit, a CPU and corresponding analysis software. The MOA leakage current sensor generally adopts a current transformer and is serially arranged in a grounding wire at the lower end of the MOA to obtain the leakage current of the MOA; a power grid voltage sensor generally adopts a voltage transformer and is arranged near PT equipment to acquire a voltage signal of a power grid; the signal conditioning circuit converts the voltage and current signals sent by the sensor into voltage signals suitable for sampling by the acquisition circuit; the data acquisition circuit samples the conditioned signals, and analysis and detection of harmonic waves are completed by analysis software, so that the MOA resistive leakage current is obtained. The precision of obtaining the resistive leakage current of the MOA is low in the prior art, so that the accuracy and the reliability of judging the MOA performance are influenced.
The term "same-frequency periodic signal" means that the frequencies of two periodic signals are the same; the initial phase angle of the periodic signal means: for a periodic signal(wherein:is an integer, T is a period), an initial phase angleIn the formula: t is t0Zero-crossing closest to the origin; the phase difference means: the difference between the initial phase angles of two signals with the same frequency period.
The phase difference measurement has important significance in the fields of power equipment state monitoring, signal acquisition and analysis, communication, automatic control and the like. The commonly used phase difference measurement methods include a zero-crossing method, a correlation analysis method, a waveform conversion method and the like.
The zero-crossing method includes a zero-crossing time method, a zero-crossing voltage comparison method and the like.
The zero-crossing time method is used for detecting the time difference of zero-crossing points of periodic signals, the method needs to accurately determine the zero-crossing time and a high-precision timing device, but the conventional method for determining the zero-crossing points often has larger errors.
The zero-crossing voltage comparison method is to measure the voltage difference of two sine waves near the zero crossing point and then calculate the phase difference through the sine relationship, and under the condition of harmonic waves, the phase angle and the voltage amplitude obtained by measuring through the zero-crossing point method are the phase angle and the voltage amplitude of each harmonic wave vector superposition waveform and do not accord with the sine characteristic.
The correlation analysis method obtains the phase difference by using the principle that the zero time value of the cross-correlation function of two sinusoidal signals with the same frequency is in direct proportion to the phase difference. However, since the determination of the zero-crossing time is difficult, and the spatial interference is not completely uncorrelated even with a fixed interference source, the measurement accuracy cannot be guaranteed.
The waveform conversion method is a method of converting a periodic signal into other waveforms such as a triangular wave, a sawtooth wave, a square wave and the like and then measuring the phase difference, and the method is a deformation of a zero-crossing detection method and has similar measurement defects.
Disclosure of Invention
The invention aims to solve the technical problem of providing a transformer equipment insulation online monitoring system and a working method thereof, so that high-precision phase difference measurement results are obtained, and the high-precision resistive leakage current of MOA or capacitive equipment is obtained, and the accuracy and reliability of performance judgment of the MOA or capacitive equipment are further improved.
In order to solve the technical problem, the invention provides an insulation online monitoring system of a power transformation device, which comprises: the system comprises an embedded processor, a touch screen, a network communication interface, a plurality of serial ports and a relay, wherein the touch screen, the network communication interface, the plurality of serial ports and the relay are connected with the embedded processor; the serial port is connected with a current measuring device for measuring the leakage current of the MOA or the capacitive equipment; the current measuring device includes: the system comprises a first mutual inductor for acquiring a leakage current signal of an MOA or capacitive equipment, a second mutual inductor for acquiring a voltage signal of a power grid, a synchronous ADC (analog to digital converter) connected with the first and second mutual inductors, a CPU (central processing unit) connected with the synchronous ADC and a communication module connected with the CPU; the CPU is connected with the embedded processor through the serial port; the relay is used for controlling the power supply of the current measuring device.
The two current sensors convert the measured current signals into voltage signals, and then a digital measurement system performs whole-period sampling (ADC) and improved quasi-synchronous DFT processing on the signals to obtain fundamental wave vectors and phase included angles of the two signals. If the phase distortion problem of a voltage transformer (PT) is not considered, the dielectric loss Tan delta value of a capacitive equipment Cx and the fundamental component peak value I of the resistive current of a lightning arrester equipment MOA can be conveniently calculatedRP. Compared with the prior phase zero-crossing comparison method, the method has the greatest advantages that a complex analog signal processing circuit is not needed, the stability of long-term operation is ensured, and the influence of harmonic interference can be effectively inhibited. The actual measurement shows that even if the harmonic signal content in the measured current signal is the same as the fundamental wave content, the medium loss and the resistive current result are not influenced.
The working method of the insulation on-line monitoring system of the power transformation equipment comprises the following steps: a method of measuring resistive leakage current of an MOA or capacitive device, the method comprising:
(a) synchronously sampling W sampling data of the power grid voltage and the leakage current signal of the MOA or the capacitive equipment at equal intervals;
(b) obtaining m of the power grid voltage by adopting a harmonic analysis method for the W sampling data1Subharmonic amplitude Vk1And an initial phase angle phiVk1，k1=1,…,m1(ii) a At the same time, m of the leakage current is obtained2Amplitude of subharmonic Ik2And an initial phase angle phiIk2，k2=1,…,m2(ii) a M is1、m2Respectively not less than the highest harmonic times of the discrete frequency spectrums of the power grid voltage and the leakage current signals;
(c) using harmonic superposition principlesCalculating an effective value I of the leakage current;
(d) calculating the initial phase angle phi of the network voltage and the leakage currentVAnd phiI；
(e) Obtaining a projection angle phi of leakage current on the grid voltage according to a projection method=φI-φV；
(f) Calculating the resistive leakage current I of the MOA or the capacitive equipmentR=Icos(φ) 。
The equal-interval synchronous sampling is to sample N points of the power grid voltage and the leakage current signal respectively in one period, namely the sampling frequency isf s =NfAnd is andn is not less than 64, f isFrequency of the grid voltage.
Preferably, the step (d) calculates the initial phase angle of the periodic signal according to the initial phase angle equation as follows:
wherein phi iskIs the harmonic phase angle, AkFor the amplitude of the harmonics,is an integer; calculating the initial phase angle phiVAnd phiIWhen m is said m1、m2。
As another preferable scheme, the step (d) adopts the following steps:
(1) taking phi = phi1；
(2) Substitution intoComputing；
(3) Substitution intoComputing；
(4) Obtained by calculationAndsubstitution intoCalculating a new phi;
(5) and (5) repeating the steps (2), (3) and (4) until phi converges or meets the precision requirement.
Preferably, said m1、m2The number of the subharmonics is selected according to the highest harmonic number of the periodic signal to be measured and the required analysis precision, but should not be less than the highest harmonic number of the discrete spectrum of the periodic signal to be measured.
W is determined by the number of samples N in a period and the selected harmonic analysis method, e.g. W = nN (N is the number of cycles of sampling) when using Discrete Fourier Transform (DFT) or Fast Fourier Transform (FFT) methods; the quasi-synchronous harmonic analysis method is determined by an integration method, and commonly used integration methods include a trapezoidal integration method W = nN, a rectangular integration method W = N (N-1), and a simpson integration method W = N (N-1)/2. The measurement accuracy of the phase difference measurement method is determined by the number N of sampling points in the period and the selected harmonic analysis method, measurement errors cannot be caused in the operation process, and a high-accuracy measurement result can be obtained.
Compared with the prior art, the invention has the advantages that:
(1) the method for measuring the resistive leakage current of the MOA or the capacitive equipment is mainly used for improving and improving the measurement quality of the resistive leakage current of the MOA or the capacitive equipment, obtaining the high-precision resistive leakage current and further improving the accuracy and reliability of performance judgment of the MOA or the capacitive equipment. The measurement accuracy of the phase difference measurement method is determined by the number N of sampling points in the period and the selected harmonic analysis method, measurement errors cannot be caused in the operation process, and a high-accuracy measurement result can be obtained.
(2) The invention relates to an insulation on-line monitoring system of a power transformation device, which is a complete solution for implementing state monitoring and diagnosis aiming at a power transformation high-voltage electrical device with a voltage grade of more than 35kV, is suitable for monitoring parameters such as end screen current, dielectric loss and electric capacity of a power transformer bushing, a reactor, a mutual inductor and a coupling capacitor, leakage current, resistive current, action counting, action time and the like of a lightning arrester in operation and transmits monitoring data to a centralized control acquisition unit in a bus communication mode. The monitoring system can be designed independently and automatically and can also be integrated with an intelligent substation monitoring system, monitoring data are transmitted to an integrated information platform through the Ethernet, monitoring data of a plurality of substation monitoring systems can be collected to an upper-layer data management and diagnosis system, and centralized monitoring and management of high-voltage equipment insulation online monitoring systems in a plurality of substations are achieved. The user can obtain the monitoring data result at any time by using the local area network.
(3) The measuring method of the resistive leakage current of the MOA or the capacitive equipment is a full-digital measuring process, and two initial phase angles phi can be obtained by only synchronously sampling two measured same-frequency periodic signals according to sampling frequency fs and then operating according to a harmonic analysis method and an initial phase angle equation in the measuring process1And phi2And finally their phase difference phi' is calculated. And other hardware circuits are not required to be added in the measurement process, and the full-digital realization is realized.
Drawings
Fig. 1 is a block diagram of an insulation on-line monitoring system of a power transformation device according to the present invention;
FIG. 2 is a block diagram of the structure of the current measuring device for measuring the leakage current of the MOA or capacitive device according to the present invention.
Detailed Description
The following provides a detailed description of the preferred embodiments of the present invention with reference to the accompanying drawings.
As shown in fig. 1, the insulation online monitoring system of the power transformation device of the present embodiment includes: the system comprises an embedded processor (ARM 11), a touch screen (preferably an A56TFT resistive touch liquid crystal screen) connected with the embedded processor, a network communication interface (comprising Ethernet and an optical fiber interface), a keyboard and a plurality of serial ports and relays.
The serial port is connected with a current measuring device for measuring the leakage current of the MOA or the capacitive equipment; the current measuring device includes: the system comprises a first transformer for acquiring a leakage current signal of an MOA or capacitive equipment, a second transformer for acquiring a voltage signal of a power grid, a synchronous ADC (analog to digital converter) connected with the first and second transformers, a CPU (preferably an STM32 series ARM processor) connected with the synchronous ADC, and a communication module connected with the CPU; the communication module comprises an RS-485 and CAN bus communication module; the parameters CAN be remotely transmitted by RS-485 or CAN bus by using ModBus RTU protocol.
The CPU is connected with the embedded processor through the serial port; the relay is used for controlling the power supply of the current measuring device.
The method for measuring the resistive leakage current of the MOA or the capacitive equipment comprises the following steps:
(a) synchronously sampling W sampling data of the power grid voltage and the leakage current signal of the MOA or capacitive equipment at equal intervals: { f (i), i =0,1, …, W-1} and { f }2(i) I =0,1, …, W-1 }. W is determined by the number of samples N in a period and the selected harmonic analysis method, e.g. W = nN (N is the number of cycles of sampling) when using Discrete Fourier Transform (DFT) or Fast Fourier Transform (FFT) methods; the quasi-synchronous harmonic analysis method is determined by an integration method, and commonly used integration methods include a trapezoidal integration method W = nN, a rectangular integration method W = N (N-1), and a simpson integration method W = N (N-1)/2.
(b) Obtaining m of the power grid voltage by adopting a harmonic analysis method for the W sampling data1Subharmonic amplitude { Vk1,k1=1,…,m1And initial phase angle phiVk1,k=1,…,m1}; at the same time, m of the leakage current is obtained2Subharmonic amplitude { Ik2,k2=1,…,m2And initial phase angle phiIk2，k2=1,…,m2}; m is1、m2The maximum harmonic frequency of the discrete frequency spectrum of the power grid voltage and the leakage current signal is not less than the maximum harmonic frequency of the discrete frequency spectrum of the power grid voltage and the leakage current signal respectively, and the maximum harmonic frequency of the periodic signal to be measured and the required analysis precision can be selected correspondingly;
(c) using harmonic superposition principlesCalculating an effective value I of the leakage current;
(d) calculating the initial phase angle phi of the network voltage and the leakage currentVAnd phiI；
(e) Obtaining a projection angle phi of leakage current on the grid voltage according to a projection method=φI-φV；
(f) Calculating the resistive leakage current I of the MOA or the capacitive equipmentR=Icos(φ) 。
The equal-interval synchronous sampling is to sample N points of the power grid voltage and the leakage current signal respectively in one period, namely the sampling frequency isf s =NfAnd is andn is not less than 64, f isElectric networkThe frequency of the pressure.
Preferably, the step (d) calculates the initial phase angle of the periodic signal according to the initial phase angle equation as follows:
wherein phi iskIs the harmonic phase angle, AkFor the amplitude of the harmonics,is an integer; calculating the initial phase angle phiVAnd phiIWhen m is said m1、m2。
As another preferable scheme, the step (d) adopts the following steps:
(1) taking phi = phi1；
(2) Substitution intoComputing；
(3) Substitution intoComputing；
(4) Obtained by calculationAndsubstitution intoCalculating a new phi;
(5) and (5) repeating the steps (2), (3) and (4) until phi converges or meets the precision requirement.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (1)
1. An insulation on-line monitoring system of a power transformation device comprises: the system comprises an embedded processor, a touch screen, a network communication interface, a plurality of serial ports and a relay, wherein the touch screen, the network communication interface, the plurality of serial ports and the relay are connected with the embedded processor;
the serial port is connected with a current measuring device for measuring MOA leakage current;
the current measuring device includes: the system comprises a first mutual inductor for acquiring a leakage current signal of the MOA, a second mutual inductor for acquiring a voltage signal of a power grid, a synchronous ADC (analog to digital converter) connected with the first and second mutual inductors, a CPU (central processing unit) connected with the synchronous ADC and a communication module connected with the CPU;
the CPU is connected with the embedded processor through the serial port;
the relay is used for controlling a power supply of the current measuring device;
it is characterized in that the preparation method is characterized in that,
the working method of the transformer equipment insulation online monitoring system comprises the following steps: the measuring method of the resistive leakage current of the MOA comprises the following steps:
(a) synchronously sampling W sampling data of the power grid voltage and the leakage current signal of the MOA or the capacitive equipment at equal intervals: { f (i), i ═ 0,1, …, W-1} and { f2(i) I is 0,1, …, W-1, W is determined by the number of sampling points N in the period and the selected harmonic analysis method; the equal-interval synchronous sampling is to sample N points of the power grid voltage and the leakage current signal respectively in one period, namely the sampling frequency is fsNf, wherein N is more than or equal to 64, and f is the frequency of the power grid voltage;
(b) obtaining m of the power grid voltage by adopting a harmonic analysis method for the W sampling data1Subharmonic amplitude { Vk1,k1＝1,…,m1And initial phase angleAt the same time, m of the leakage current is obtained2Subharmonic amplitude { Ik2,k2＝1,…,m2And initial phase angleM is1、m2Respectively not less than the highest harmonic times of the discrete frequency spectrums of the power grid voltage and the leakage current signals;
(c) using harmonic superposition principlesCalculating an effective value I of the leakage current;
(d) calculating the initial phase angle of the network voltage and the leakage currentAnd
(e) obtaining the projection angle of leakage current on the network voltage according to the projection method
(f) Calculating resistive leakage current of the MOA
And (d) calculating the initial phase angle of the periodic signal according to the initial phase angle equation as follows:
wherein,is the harmonic phase angle, AkIs the harmonic amplitude, k belongs to Z as an integer; calculating the initial phase angleAndwhen m is said m1、m2。
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| CN201611013801.7A CN106443307B (en) | 2013-05-07 | 2013-05-07 | Transformer equipment insulated on-line monitoring system |
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| CN106710432B (en) * | 2017-03-07 | 2022-12-30 | 国家电网公司 | Fault simulation gas taking device in transformer |
| CN108459228A (en) * | 2018-01-11 | 2018-08-28 | 东南大学 | A kind of 10KV metal oxide arresters line detection system for failure and method |
| CN109283385B (en) * | 2018-10-17 | 2021-05-04 | 许昌许继软件技术有限公司 | A method and system for online processing of arrester monitoring data |
| CN110244144B (en) * | 2019-05-28 | 2021-11-16 | 许昌许继软件技术有限公司 | Lightning arrester state monitoring method and alternating current data acquisition method |
| CN110095701A (en) * | 2019-06-12 | 2019-08-06 | 上海凌至物联网有限公司 | A kind of device and method thereof carrying out high voltage capacitive monitoring by measuring voltage and current simultaneously |
| CN110470941B (en) * | 2019-09-16 | 2021-10-08 | 威胜集团有限公司 | Method, device and equipment for detecting leakage current of alternating current and storage medium |
| CN110716112B (en) * | 2019-11-15 | 2022-01-25 | 国电南京自动化股份有限公司 | Insulation detection method for high-voltage cascaded SVG (static var generator) insulation frame |
| CN111025094A (en) * | 2019-11-19 | 2020-04-17 | 云南电网有限责任公司临沧供电局 | XLPE cable reliability evaluation method based on leakage current change coefficient |
| CN111007435B (en) * | 2019-12-27 | 2022-03-29 | 广东电网有限责任公司电力科学研究院 | Monitoring method, device and equipment for analyzing transformer fault based on resistance-capacitance component |
| CN111323665B (en) * | 2020-03-18 | 2022-06-28 | 合肥瀚度电力科技有限公司 | Arrester monitoring device, method and system based on GPS timing ratio correction |
| CN113534007A (en) * | 2021-07-28 | 2021-10-22 | 广东电网有限责任公司 | Lightning arrester leakage current monitoring method and system |
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-
2013
- 2013-05-07 CN CN201310165822.0A patent/CN104142421B/en active Active
- 2013-05-07 CN CN201611013774.3A patent/CN106707007B/en not_active Expired - Fee Related
- 2013-05-07 CN CN201611013801.7A patent/CN106443307B/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106597229A (en) | 2017-04-26 |
| CN106707007B (en) | 2019-03-19 |
| CN106443307A (en) | 2017-02-22 |
| CN104142421A (en) | 2014-11-12 |
| CN106597229B (en) | 2019-11-15 |
| CN106707007A (en) | 2017-05-24 |
| CN104142421B (en) | 2016-12-28 |
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