阅读说明：本技术 用于超高速直线电机的组合测速系统和方法 (Combination velocity-measuring system and method for ultrahigh speed linear motor ) 是由 韦克康 毛凯 张艳清 马逊 张庆杰 李萍 于 2018-05-16 设计创作，主要内容包括：本发明涉及电磁发射技术领域,公开了一种用于超高速直线电机的组合测速系统和方法。该系统包括：第一检测装置用于检测电机的动子的位置,输出表示电机的动子位置的电压信号；第二检测装置用于检测电机的动子的位置,输出表示电机的动子位置的一组脉冲信号；控制器用于根据当前时刻的电压信号和上一时刻的电压信号计算电机的第一速度,根据一组脉冲信号中预定时间间隔内上升沿的数量或下降沿的数量计算电机的第二速度,根据当前时刻的第二速度和上一时刻的第二速度计算下一时刻的第二速度；滤波器用于对第一速度和下一时刻的第二速度进行滤波确定超高速直线电机的速度。由此,可实现全速域内超高速直线电机速度的高精度快速测量。(The present invention relates to ELECTROMAGNETIC LAUNCH TECHNOLOGY fields, disclose a kind of combination velocity-measuring system and method for ultrahigh speed linear motor.The system includes: the position that the first detection device is used to detect the mover of motor, and output indicates the voltage signal of the rotor position of motor；Second detection device is used to detect the position of the mover of motor, and output indicates the set of pulses signal of the rotor position of motor；Controller is used to calculate the First Speed of motor according to the voltage signal and the voltage signal of last moment at current time, according to the quantity of rising edge or the quantity of failing edge calculate the second speed of motor in predetermined time interval in set of pulses signal, the second speed of subsequent time is calculated according to the second speed at current time and the second speed of last moment；Filter is used to be filtered the second speed of First Speed and subsequent time the speed of determining ultrahigh speed linear motor.Thus, it can be achieved that in All Speed Range ultrahigh speed linear motor speed high-precision rapid survey.)

1. a kind of combination velocity-measuring system for ultrahigh speed linear motor, which is characterized in that the system include the first detection device, Second detection device, controller and filter, first detection device and the second detection device are along ultrahigh speed straight-line electric The stator of machine is arranged side by side, in which:

First detection device is used to detect the position of the mover of ultrahigh speed linear motor, and exports expression ultrahigh speed straight-line electric The voltage signal of the position of the mover of machine；

The second detection device is used to detect the position of the mover of ultrahigh speed linear motor, and exports expression ultrahigh speed straight-line electric The set of pulses signal of the position of the mover of machine；

The controller for receiving the voltage signal and the set of pulses signal, according to the voltage signal at current time and The voltage signal of last moment calculates the First Speed of ultrahigh speed linear motor, according to the predetermined time in the set of pulses signal The quantity of rising edge or the quantity of failing edge calculate the second speed of ultrahigh speed linear motor in being spaced, and according to current time Second speed and the second speed of last moment calculate the second speed of subsequent time；

The filter is for being filtered determining ultrahigh speed straight-line electric to the second speed of the First Speed and subsequent time The speed of machine.

2. system according to claim 1, which is characterized in that the controller is according to the voltage signal at current time and upper The First Speed that the voltage signal at one moment calculates ultrahigh speed linear motor includes:

According to the voltage signal of the voltage signal at current time and last moment calculate separately current time field strength values and The field strength values of last moment；

Determine the position of current time mover respectively according to the field strength values at current time and the field strength values of last moment With the position of last moment mover；

According to the position of the position of current time mover and last moment mover and between current time and last moment when Between interval calculation ultrahigh speed linear motor First Speed.

3. system according to claim 1, which is characterized in that the controller rises according in the set of pulses signal The second speed that the quantity on edge and the quantity of failing edge calculate ultrahigh speed linear motor includes:

Wherein, n indicates second speed, m₁For the quantity of rising edge or failing edge, f_cFor pulse frequency.

4. system according to claim 1, which is characterized in that the filter is by following equatioies to the First Speed The speed of determining ultrahigh speed linear motor is filtered with the second speed of subsequent time:

Wherein, n₀Indicate the speed of ultrahigh speed linear motor, T_SIndicate filter cutoff frequency,Indicate First Speed,It indicates The second speed of subsequent time.

5. system described in any one of -4 according to claim 1, which is characterized in that the controller includes digital analog converter, For carrying out analog-to-digital conversion to the received voltage signal.

6. system according to claim 5, which is characterized in that first detection device is linear hall sensor, institute Stating second detection device is magnet proximity switch.

7. a kind of combination speed-measuring method for ultrahigh speed linear motor, which is characterized in that this method comprises:

Using the position of the mover of the first detection device detection ultrahigh speed linear motor, and export expression ultrahigh speed linear motor The voltage signal of the position of mover；

Using the position of the mover of second detection device detection ultrahigh speed linear motor, and export expression ultrahigh speed linear motor The set of pulses signal of the position of mover, first detection device and the second detection device are along ultrahigh speed linear motor Stator is arranged side by side；

The voltage signal and the set of pulses signal are received using controller, according to the voltage signal at current time and upper one The voltage signal at moment calculates the First Speed of ultrahigh speed linear motor, according to predetermined time interval in the set of pulses signal The quantity of interior rising edge or the quantity of failing edge calculate the second speed of ultrahigh speed linear motor, and according to the second of current time Speed and the second speed of last moment calculate the second speed of subsequent time；

Determining ultrahigh speed linear motor is filtered using second speed of the filter to the First Speed and subsequent time Speed.

8. the method according to the description of claim 7 is characterized in that according to the electricity of the voltage signal at current time and last moment Pressure signal calculate ultrahigh speed linear motor First Speed include:

According to the voltage signal of the voltage signal at current time and last moment calculate separately current time field strength values and The field strength values of last moment；

Determine the position of current time mover respectively according to the field strength values at current time and the field strength values of last moment With the position of last moment mover；

According to the position of the position of current time mover and last moment mover and between current time and last moment when Between interval calculation ultrahigh speed linear motor First Speed.

9. the method according to the description of claim 7 is characterized in that according to the quantity of rising edge in the set of pulses signal and The second speed that the quantity of failing edge calculates ultrahigh speed linear motor includes:

Wherein, n indicates second speed, m₁For the quantity of rising edge or failing edge, f_cFor pulse frequency.

10. the method according to the description of claim 7 is characterized in that by following equatioies to the First Speed and lower a period of time The second speed at quarter is filtered the speed of determining ultrahigh speed linear motor:

Wherein, n₀Indicate the speed of ultrahigh speed linear motor, T_SIndicate filter cutoff frequency,Indicate First Speed,It indicates The second speed of subsequent time.

Technical field

The present invention relates to ELECTROMAGNETIC LAUNCH TECHNOLOGY fields more particularly to a kind of combination for ultrahigh speed linear motor to test the speed and be System and method.

Background technique

Magnetic suspension and ELECTROMAGNETIC LAUNCH TECHNOLOGY, which refer to disengage using magnetic levitation technology and track, eliminates frictional resistance and vibration It is dynamic, expendables and the high pollution resources such as powerful acceleration capacity substitution chemical fuel are provided using electromagnetic propulsion technology.Magnetic suspension Rely primarily on electric power and magnetic force as driving force with electromagnetic propulsion technology, have it is reusable, environmentally protective, flexibly it is adjustable, The advantages that inexpensive is the Typical Representative of third time energy revolution, meets the trend of technology development and era development.Magnetic suspension with Electromagnetic propulsion technology generally uses linear motor as executing agency.It tests the speed most important within the system with positioning, not only Be related to linear motor rotor promote electrical angle identification, participate in velocity close-loop control, also with segmentation switching for conduct timing, All too many levels such as entire emission system safety are closely bound up.Under the overall background of high speed electromagnetic transmitting, to speed-position detection system More stringent requirements are proposed for accuracy, real-time and the reliability of the rotor position of offer and velocity information.

Traditional linear motor speed and position measurement are all made of laser, grating scale or magnetic railings ruler, but this method Be not suitable for long range Electromagnetic Launching field.In magnetic suspension traffic field, main speed-measuring method has: based on the micro- of wireless spread spectrum positioning The electricity that wave tests the speed, " pole span detection+beacon " based on linear synchronous generator stator tooth socket is tested the speed, tested the speed based on inductive line intersected Magnetic induction speed-measuring method etc..

However, the Microwave Velocity method based on wireless spread spectrum positioning can be by the environmental disturbances such as sexual intercourse mist and biography due to microwave The problems such as defeated delay, and high-lager building or massif can also stop electromagnetic wave propagation, so that being not suitable for Electromagnetic Launching application Occasion.

" pole span detection+beacon " speed-measuring method based on linear synchronous generator stator tooth socket is dependent on linear synchronous generator Stator core slot effect, and Electromagnetic Launching field uses stator without iron core winding configuration since speed has reached supersonic speed, Slot effect has not existed.

Speed is needed to pass back to ground from sledge vehicle based on the electromagnetic induction speed-measuring method that inductive line intersected tests the speed, it is wireless to pass The response that defeated delay tests the speed is not suitable for ultrahigh speed occasion.

It can be seen that these existing methods are only applicable to the slower field of traffic of acceleration, it is not particularly suitable for acceleration and is exceedingly fast Electromagnetic Launching field.Therefore, it is necessary to one kind, and the method to test the speed can be combined to ultrahigh speed linear motor.

Summary of the invention

It is an object of the invention to overcome the shortage of prior art, a kind of combination survey for ultrahigh speed linear motor is provided Speed system and method, being able to solve above-mentioned can not be combined the problem of testing the speed to ultrahigh speed linear motor in the prior art.

A kind of technical solution of the invention: combination velocity-measuring system for ultrahigh speed linear motor, wherein the system Including the first detection device, second detection device, controller and filter, first detection device and the second detection dress The stator set along ultrahigh speed linear motor is arranged side by side, in which:

First detection device is used to detect the position of the mover of ultrahigh speed linear motor, and it is straight to export expression ultrahigh speed The voltage signal of the position of the mover of line motor；

The second detection device is used to detect the position of the mover of ultrahigh speed linear motor, and it is straight to export expression ultrahigh speed The set of pulses signal of the position of the mover of line motor；

The controller is believed for receiving the voltage signal and the set of pulses signal according to the voltage at current time Number and last moment voltage signal calculate ultrahigh speed linear motor First Speed, according in the set of pulses signal make a reservation for The quantity of rising edge or the quantity of failing edge calculate the second speed of ultrahigh speed linear motor in time interval, and according to it is current when The second speed and the second speed of last moment at quarter calculate the second speed of subsequent time；

The filter is straight for being filtered determining ultrahigh speed to the second speed of the First Speed and subsequent time The speed of line motor.

Preferably, the controller calculates ultrahigh speed according to the voltage signal and the voltage signal of last moment at current time The First Speed of linear motor includes:

The magnetic field strength at current time is calculated separately according to the voltage signal of the voltage signal at current time and last moment The field strength values of value and last moment；

Current time mover is determined respectively according to the field strength values at current time and the field strength values of last moment The position of position and last moment mover；

According to the position of the position of current time mover and last moment mover and between current time and last moment Time interval calculate ultrahigh speed linear motor First Speed.

Preferably, the controller is calculated according to the quantity of rising edge in the set of pulses signal and the quantity of failing edge The second speed of ultrahigh speed linear motor includes:

Wherein, n indicates second speed, m₁For the quantity of rising edge or failing edge, f_cFor pulse frequency.

Preferably, the filter is filtered by second speed of following equatioies to the First Speed and subsequent time Wave determines the speed of ultrahigh speed linear motor:

Wherein, n₀Indicate the speed of ultrahigh speed linear motor, T_SIndicate filter cutoff frequency,Indicate First Speed, Indicate the second speed of subsequent time.

Preferably, the controller includes digital analog converter, for carrying out analog-to-digital conversion to the received voltage signal.

Preferably, first detection device is linear hall sensor, and the second detection device is magnet proximity switch.

The present invention also provides a kind of combination speed-measuring methods for ultrahigh speed linear motor, wherein this method comprises:

Using the position of the mover of the first detection device detection ultrahigh speed linear motor, and export expression ultrahigh speed straight-line electric The voltage signal of the position of the mover of machine；

Using the position of the mover of second detection device detection ultrahigh speed linear motor, and export expression ultrahigh speed straight-line electric The set of pulses signal of the position of the mover of machine, first detection device and the second detection device are along ultrahigh speed straight-line electric The stator of machine is arranged side by side；

Receive the voltage signal and the set of pulses signal using controller, according to the voltage signal at current time and The voltage signal of last moment calculates the First Speed of ultrahigh speed linear motor, according to the predetermined time in the set of pulses signal The quantity of rising edge or the quantity of failing edge calculate the second speed of ultrahigh speed linear motor in being spaced, and according to current time Second speed and the second speed of last moment calculate the second speed of subsequent time；

Determining ultrahigh speed straight-line electric is filtered using second speed of the filter to the First Speed and subsequent time The speed of machine.

Preferably, ultrahigh speed linear motor is calculated according to the voltage signal at current time and the voltage signal of last moment First Speed includes:

The magnetic field strength at current time is calculated separately according to the voltage signal of the voltage signal at current time and last moment The field strength values of value and last moment；

Current time mover is determined respectively according to the field strength values at current time and the field strength values of last moment The position of position and last moment mover；

According to the position of the position of current time mover and last moment mover and between current time and last moment Time interval calculate ultrahigh speed linear motor First Speed.

Preferably, ultrahigh speed straight line is calculated according to the quantity of rising edge in the set of pulses signal and the quantity of failing edge The second speed of motor includes:

Wherein, n indicates second speed, m₁For the quantity of rising edge or failing edge, f_cFor pulse frequency.

Preferably, determining superelevation is filtered by second speed of following equatioies to the First Speed and subsequent time The speed of fast linear motor:

Wherein, n₀Indicate the speed of ultrahigh speed linear motor, T_SIndicate filter cutoff frequency,Indicate First Speed, Indicate the second speed of subsequent time.

Through the above technical solutions, can use mutually different first detection device and second detection device respectively to super The position of the mover of high-speed LEM is detected, respectively output voltage signal and set of pulses signal, and then can basis Voltage signal and set of pulses signal calculate separately the second speed of First Speed and second speed and subsequent time, and can be with The speed of determining ultrahigh speed linear motor is filtered by the second speed to First Speed and subsequent time.Pass through as a result, Two kinds of speed testing modes are merged, the high-precision of the speed of ultrahigh speed linear motor, rapid survey in All Speed Range may be implemented.

Detailed description of the invention

Included attached drawing is used to provide to be further understood from the embodiment of the present invention, and which constitute one of specification Point, for illustrating the embodiment of the present invention, and come together to illustrate the principle of the present invention with verbal description.It should be evident that below Attached drawing in description is only some embodiments of the present invention, for those of ordinary skill in the art, is not paying creation Property labour under the premise of, be also possible to obtain other drawings based on these drawings.

Fig. 1 is a kind of block diagram of combination velocity-measuring system for ultrahigh speed linear motor provided in an embodiment of the present invention； And

Fig. 2 is a kind of flow chart of combination speed-measuring method for ultrahigh speed linear motor provided in an embodiment of the present invention.

Specific embodiment

Specific embodiments of the present invention are described in detail below in conjunction with attached drawing.In the following description, for solution Purpose and not restrictive is released, elaborates detail, to help to be apparent from the present invention.However, to those skilled in the art It is readily apparent that the present invention can also be practiced in the other embodiments departing from these details for member.

It should be noted that only showing in the accompanying drawings in order to avoid having obscured the present invention because of unnecessary details Gone out with closely related device structure and/or processing step according to the solution of the present invention, and be omitted with relationship of the present invention not Big other details.

Fig. 1 is a kind of block diagram of combination velocity-measuring system for ultrahigh speed linear motor provided in an embodiment of the present invention.

As shown in Figure 1, the embodiment of the invention provides a kind of combination velocity-measuring system for ultrahigh speed linear motor, In, which includes the first detection device 10, second detection device 12, controller 14 and filter 16, the first detection dress Set 10 and the second detection device 12 be arranged side by side along the stator of ultrahigh speed linear motor, in which:

First detection device 10 is used to detect the position of the mover of ultrahigh speed linear motor, and exports expression ultrahigh speed The voltage signal of the position of the mover of linear motor；

The second detection device 12 is used to detect the position of the mover of ultrahigh speed linear motor, and exports expression ultrahigh speed The set of pulses signal of the position of the mover of linear motor；

The controller 14 is for receiving the voltage signal and the set of pulses signal, according to the voltage at current time Signal and the voltage signal of last moment calculate the First Speed of ultrahigh speed linear motor, according to pre- in the set of pulses signal It fixes time and is spaced the quantity of interior rising edge or the quantity of failing edge calculates the second speed of ultrahigh speed linear motor, and according to current The second speed and the second speed of last moment at moment calculate the second speed of subsequent time；

It is, can be according to the second speed at current time and corresponding the acceleration (second speed at current time and upper The difference of the second speed at one moment) calculate subsequent time second speed.

The filter 16 is for being filtered determining ultrahigh speed to the second speed of the First Speed and subsequent time The speed of linear motor.

Through the above technical solutions, can use mutually different first detection device and second detection device respectively to super The position of the mover of high-speed LEM is detected, respectively output voltage signal and set of pulses signal, and then can basis Voltage signal and set of pulses signal calculate separately the second speed of First Speed and second speed and subsequent time, and can be with The speed of determining ultrahigh speed linear motor is filtered by the second speed to First Speed and subsequent time.Pass through as a result, Two kinds of speed testing modes are merged, the high-precision of the speed of ultrahigh speed linear motor, rapid survey in All Speed Range may be implemented (i.e., it is possible to ensuring the reliability of the measuring speed under high acceleration and Super High Speed Condition, precision).

Wherein, filter 16 for example may include high-pass filter and low-pass filter；Controller 14 can be for example number Word signal processor (DSP).

According to an embodiment of the present invention, the controller 14 is according to the voltage signal at current time and the electricity of last moment Pressure signal calculate ultrahigh speed linear motor First Speed may include:

The magnetic field strength at current time is calculated separately according to the voltage signal of the voltage signal at current time and last moment The field strength values of value and last moment；

Current time mover is determined respectively according to the field strength values at current time and the field strength values of last moment The position of position and last moment mover；

According to the position of the position of current time mover and last moment mover and between current time and last moment Time interval calculate ultrahigh speed linear motor First Speed.

According to an embodiment of the present invention, the controller 14 according to the quantity of rising edge in the set of pulses signal and The second speed that the quantity of failing edge calculates ultrahigh speed linear motor may include:

Wherein, n indicates second speed, m₁For the quantity of rising edge or failing edge, f_cFor pulse frequency.

According to an embodiment of the present invention, the filter 16 can be by following equatioies to the First Speed and next The second speed at moment is filtered the speed of determining ultrahigh speed linear motor:

Wherein, n₀Indicate the speed of ultrahigh speed linear motor, T_SIndicate filter cutoff frequency,Indicate First Speed, Indicate the second speed of subsequent time.

According to an embodiment of the present invention, the controller 14 includes digital analog converter, for the received voltage Signal carries out analog-to-digital conversion (for example, converting digital quantity for voltage value).

Wherein, digital analog converter can be using timing (10kHz) acquisition mode.

According to an embodiment of the present invention, first detection device 10 is linear hall sensor (linear Hall sensing Device), the second detection device 12 is magnet proximity switch.

For example, can by digital signal processor be arranged pulse counter come capture input signal (for example, The set of pulses signal of magnet proximity switch output, when magnet passes through magnet proximity switch, magnet proximity switch can export high level；When Leave close to switch when, magnet proximity switch can export low level) rising edge or failing edge, and use down trigger mode.

And it is possible to which timer is arranged in digital signal processor, linear Hall is realized by the interruption of timer The interval time of sensor sample data.For example, during initialization, the break period of definition timer is just between sampling It is identical every the time, when each timer interruption occurs, starts once linear Hall sensor sampling routine, it is laggard to collect data The subsequent calculating process of row.

It in embodiments of the present invention, can be by linear hall sensor and magnet proximity switch along ultrahigh speed linear motor Stator is arranged side by side；And the feedback letter of linear hall sensor and magnet proximity switch is received using digital signal processor (DSP) Number, by digital processing, fusion, to obtain the ultrahigh speed linear motor speed of service.

It tests the speed for linear hall sensor, it for example, can be according to space magnetic field intensity and linear hall sensor Proportionate relationship, calculate current magnetic field intensity value, determine magnetic field position.And by the difference of front and back magnet location information twice, Again divided by the time, the speed of service can be converted to.

For example, since the speed that is calculated based on magnet proximity switch is dependent on (or two declines of former and later two rising edges Edge), but ultrahigh speed linear motor, when low speed is run, umber of pulse is less, and the frequency of calculating speed is less, precision and turnover rate It is poor, and in high-speed cruising, umber of pulse is more, and the calculating speed frequency is higher, and precision and turnover rate are higher.Therefore, it is based on The speed testing mode of magnet proximity switch is suitable for testing the speed under ultrahigh speed operating condition.And the speed testing mode of linear hall sensor is due to adopting It with analogy method, can be used within the scope of All Speed Range, the sample frequency in ultrahigh speed section is higher.

It is filtered by using filter, the speed-measuring method in high speed based on magnet proximity switch works, by low Bandpass filter filters the observation that tests the speed of linear hall sensor；Make the speed-measuring method of linear hall sensor in low speed It works, is filtered the observation that tests the speed based on magnet proximity switch device by high-pass filter.

Fig. 2 is a kind of flow chart of combination speed-measuring method for ultrahigh speed linear motor provided in an embodiment of the present invention.

As shown in Fig. 2, the embodiment of the invention provides a kind of combination speed-measuring method for ultrahigh speed linear motor, In, this method may include:

S200 using the position of the mover of the first detection device detection ultrahigh speed linear motor, and exports expression ultrahigh speed The voltage signal of the position of the mover of linear motor；

S202 using the position of the mover of second detection device detection ultrahigh speed linear motor, and exports expression ultrahigh speed The set of pulses signal of the position of the mover of linear motor, first detection device and the second detection device are along ultrahigh speed The stator of linear motor is arranged side by side；

S204 receives the voltage signal and the set of pulses signal using controller, according to the voltage at current time Signal and the voltage signal of last moment calculate the First Speed of ultrahigh speed linear motor, according to pre- in the set of pulses signal It fixes time and is spaced the quantity of interior rising edge or the quantity of failing edge calculates the second speed of ultrahigh speed linear motor, and according to current The second speed and the second speed of last moment at moment calculate the second speed of subsequent time；

It is straight to be filtered determining ultrahigh speed using second speed of the filter to the First Speed and subsequent time by S206 The speed of line motor.

Through the above technical solutions, can use mutually different first detection device and second detection device respectively to super The position of the mover of high-speed LEM is detected, respectively output voltage signal and set of pulses signal, and then can basis Voltage signal and set of pulses signal calculate separately the second speed of First Speed and second speed and subsequent time, and can be with The speed of determining ultrahigh speed linear motor is filtered by the second speed to First Speed and subsequent time.Pass through as a result, Two kinds of speed testing modes are merged, the high-precision of the speed of ultrahigh speed linear motor, rapid survey in All Speed Range may be implemented.

According to an embodiment of the present invention, according to the voltage signal of the voltage signal at current time and last moment in S204 Calculate ultrahigh speed linear motor First Speed may include:

The magnetic field strength at current time is calculated separately according to the voltage signal of the voltage signal at current time and last moment The field strength values of value and last moment；

Current time mover is determined respectively according to the field strength values at current time and the field strength values of last moment The position of position and last moment mover；

According to the position of the position of current time mover and last moment mover and between current time and last moment Time interval calculate ultrahigh speed linear motor First Speed.

According to an embodiment of the present invention, according to the quantity and failing edge of rising edge in the set of pulses signal in S204 Quantity calculate ultrahigh speed linear motor second speed may include:

Wherein, n indicates second speed, m₁For the quantity of rising edge or failing edge, f_cFor pulse frequency.

It according to an embodiment of the present invention, can be by following equatioies to the second speed of the First Speed and subsequent time Degree is filtered the speed of determining ultrahigh speed linear motor:

Wherein, n₀Indicate the speed of ultrahigh speed linear motor, T_SIndicate filter cutoff frequency,Indicate First Speed, Indicate the second speed of subsequent time.

The method of above-mentioned Fig. 2 description is corresponding with the system that earlier figures 1 describe, and specific example explanation may refer to aforementioned pass In the explanation of the system of Fig. 1 description, details are not described herein.

As above it describes for a kind of embodiment and/or the feature that shows can be in a manner of same or similar at one or more It is used in a number of other embodiments, and/or combines or substitute the feature in other embodiments with the feature in other embodiments It uses.

It should be emphasized that term "comprises/comprising" refers to the presence of feature, one integral piece, step or component when using herein, but simultaneously It is not excluded for the presence or additional of one or more other features, one integral piece, step, component or combinations thereof.

The system and method more than present invention can be by hardware realization, can also be by combination of hardware software realization.The present invention It is related to such computer-readable program, when the program is performed by logical block, the logical block can be made to realize above The device or component parts, or the logical block is made to realize various method or steps described above.The invention further relates to For storing the storage medium of procedure above, such as hard disk, disk, CD, DVD, flash memory.

The many features and advantage of these embodiments are clear according to the detailed description, therefore appended claims are intended to Cover all these feature and advantage of these embodiments fallen into its true spirit and range.Further, since this field Technical staff is readily apparent that many modifications and changes, therefore is not meant to for the embodiment of the present invention to be limited to illustrated and description essence Really structurally and operationally, but all suitable modifications and the equivalent fallen within the scope of its can be covered.

Unspecified part of the present invention is known to the skilled person technology.