JPS6314594B2 - - Google Patents
Info
- Publication number
- JPS6314594B2 JPS6314594B2 JP56080106A JP8010681A JPS6314594B2 JP S6314594 B2 JPS6314594 B2 JP S6314594B2 JP 56080106 A JP56080106 A JP 56080106A JP 8010681 A JP8010681 A JP 8010681A JP S6314594 B2 JPS6314594 B2 JP S6314594B2
- Authority
- JP
- Japan
- Prior art keywords
- current
- amplifier
- control
- voltage
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Classifications
-
- 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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
- H02P7/288—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using variable impedance
- H02P7/2885—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using variable impedance whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Description
【発明の詳細な説明】
本発明は、di／dt制御を有する電動機の制御装
置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a control device for an electric motor having di/dt control.
従来のdi／dt制御を有する電動機速度制御装置
を第１図に制御ブロツク図に示し、以下にその動
作を説明する。外部より与えられる速度基準信号
１と速度検出器２によつて検出された速度検出信
号３との速度偏差信号４を速度制御増幅器５によ
つて増幅し、電流基準信号６を得る。前記電流基
準信号６と電流検出器７によつて検出された電流
検出信号８との電流偏差信号９を電流制御増幅器
１０によつて増幅しdi／dt基準信号１１を得る。
前記di／dt基準信号１１と電流検出信号８と微分
回路１２により検出されるdi／dt検出信号１３と
のdi／dt偏差信号１４をdi／dt制御増幅器１５に
よつて増幅し、主回路インピーダンスを含む電力
増幅器１６を制御し、電流Iaを制御する。この場
合に電流制御増幅器１０の出力信号、すなわち
di／dt基準信号１１を図示しない電圧制限回路に
より制限することによりdi／dt制限制御が行われ
る。１７は電動機のトルク係数と電動機軸の全慣
性モーメントで定まる伝達関数で電流Iaを入力と
しωを出力とする。上述従来方式の場合di／dtの
検出信号１３は、一般にコンデンサと抵抗の直列
接続より成る微分回路１２により検出するが、そ
の時定数により必ず若干の時間遅れが生じる。ま
た既設の電流マイナー制御系を有する電動機速度
制御装置に容易に付加するのは困難である等の欠
点がある。 A conventional motor speed control system having di/dt control is shown in a control block diagram in FIG. 1, and its operation will be described below. A speed deviation signal 4 between a speed reference signal 1 given from the outside and a speed detection signal 3 detected by a speed detector 2 is amplified by a speed control amplifier 5 to obtain a current reference signal 6. A current deviation signal 9 between the current reference signal 6 and the current detection signal 8 detected by the current detector 7 is amplified by a current control amplifier 10 to obtain a di/dt reference signal 11.
The di/dt deviation signal 14 between the di/dt reference signal 11, the current detection signal 8, and the di/dt detection signal 13 detected by the differentiating circuit 12 is amplified by the di/dt control amplifier 15, and the main circuit impedance is The power amplifier 16 including the power amplifier 16 is controlled to control the current Ia. In this case, the output signal of the current control amplifier 10, i.e.
Di/dt limiting control is performed by limiting the di/dt reference signal 11 by a voltage limiting circuit (not shown). 17 is a transfer function determined by the torque coefficient of the motor and the total moment of inertia of the motor shaft, with the current Ia as input and ω as the output. In the conventional method described above, the di/dt detection signal 13 is generally detected by a differentiating circuit 12 consisting of a capacitor and a resistor connected in series, but there is always a slight time delay due to its time constant. Further, there are drawbacks such as the fact that it is difficult to easily add it to an existing motor speed control system having a current minor control system.
また、特開昭47−11871のように速度制御増幅
器の出力の上限と下限を可変設定とし、上記速度
制御増幅器の出力信号に応じて一定の変化率で上
記上限と下限の設定値を変化させるランプ関数発
生器を用いる方法もあるが、やはり既設の速度制
御装置に容易に付加するのは困難である。 In addition, as in JP-A-47-11871, the upper and lower limits of the output of the speed control amplifier are set variable, and the set values of the upper and lower limits are changed at a constant rate of change according to the output signal of the speed control amplifier. Although there is a method using a ramp function generator, it is still difficult to easily add it to an existing speed control device.
本発明の目的は上述欠点を除去するためになさ
れたものであり電流基準信号の変化率を抑制して
di／dt制限制御をより安全に行う様にし、既設の
電流制御系を内側に有する電動機制御装置を容易
にdi／dt制限制御付の電動機制御装置に改良する
ことを可能とした。電動機の制御装置を提供する
ことにある。 The purpose of the present invention is to eliminate the above-mentioned drawbacks, and to suppress the rate of change of the current reference signal.
This makes it possible to perform di/dt limit control more safely, and to easily upgrade an existing motor control device with an internal current control system to a motor control device with di/dt limit control. An object of the present invention is to provide a control device for an electric motor.
以下本発明を図面を参照して説明する。 The present invention will be explained below with reference to the drawings.
本発明による電動機速度制御装置の一実施例を
第２図の制御ブロツク図に示す。外部から与えら
れる速度基準信号１と速度検出器２によつて検出
した速度検出信号３との速度偏差信号４を速度制
御増幅器５により増幅し、第１の電流基準信号６
Ａを得る。その第１の電流基準信号６Ａと第２の
電流基準信号（以下単に電流基準信号と呼称す
る）６との電流基準偏差信号１８をdi／dt制御増
幅器１９により増幅し電流基準信号６を得る。電
流基準信号６と電流検出器７により検出された電
流検出信号８との電流偏差信号９を電流制御増幅
器１０により増幅し、主回路インピーダンスを含
む電力増幅器１６を制御し、電流Iaを制御する。
更に電流Iaは、電動機のトルク係数と電動機軸の
全慣性モーメントで定まる伝達関数１７を介して
速度ωを出力する。 An embodiment of the motor speed control device according to the present invention is shown in the control block diagram of FIG. A speed deviation signal 4 between a speed reference signal 1 given from the outside and a speed detection signal 3 detected by a speed detector 2 is amplified by a speed control amplifier 5, and a first current reference signal 6 is generated.
get an A. A current reference deviation signal 18 between the first current reference signal 6A and the second current reference signal (hereinafter simply referred to as current reference signal) 6 is amplified by a di/dt control amplifier 19 to obtain a current reference signal 6. A current deviation signal 9 between the current reference signal 6 and the current detection signal 8 detected by the current detector 7 is amplified by the current control amplifier 10, and the power amplifier 16 including the main circuit impedance is controlled to control the current Ia.
Further, the current Ia outputs the speed ω via a transfer function 17 determined by the torque coefficient of the motor and the total moment of inertia of the motor shaft.
本発明による電動機速度制御装置（第２図）が
従来方式による電動機速度制御装置（第１図）と
異る点は、di／dt制御に関する部分である。すな
わち従来方式の場合di／dt制御増幅器１５が電流
制御系の内側にあるのに対し、本発明では電流制
御系の外側にdi／dt制御増幅器１９を設けてい
る。従つて本発明ではdi／dtの制御は電流基準信
号６の変化率を制御して行うことになる。充分に
検討された本発明によるdi／dt制御方式は、di／
dt制御を行つていない既設のマイナー電流制御付
電動機制御装置に対し、容易に追加することが可
能である。 The motor speed control device according to the present invention (FIG. 2) differs from the conventional motor speed control device (FIG. 1) in the portion related to di/dt control. That is, in the conventional system, the di/dt control amplifier 15 is located inside the current control system, whereas in the present invention, the di/dt control amplifier 19 is provided outside the current control system. Therefore, in the present invention, di/dt is controlled by controlling the rate of change of the current reference signal 6. The di/dt control method according to the present invention has been thoroughly studied.
It can be easily added to an existing motor control device with minor current control that does not perform dt control.
本発明によるdi／dt制御増幅器１９の一実施例
を第３図に、その伝達関数ブロツク図を第４図に
示す。 An embodiment of the di/dt control amplifier 19 according to the present invention is shown in FIG. 3, and a transfer function block diagram thereof is shown in FIG.
第３図のOA１，OA２，OA３は演算増幅器、
e1は第１の電流基準信号６Ａの入力電圧、R1は
その入力抵抗、R2は電流基準信号６のフイード
バツク抵抗、R3は演算増幅器OA１の比例増幅率
設定用抵抗、RHはその比例増幅率調整用可変抵
抗、e2は演算増幅器OA１の出力電圧、２０は
di／dtを制限するための電圧制限回路、R4は演算
増幅器OA２の入力抵抗、c1は演算増幅器OA２
の積分コンデンサ、２１は電流を制限するための
電圧制限回路、e3は電流基準信号６となる演算増
幅器OA２の出力電圧、R5，R6は演算増幅器OA
３を反転増幅器とするための抵抗器である。 OA1, OA2, and OA3 in Fig. 3 are operational amplifiers,
e 1 is the input voltage of the first current reference signal 6A, R 1 is its input resistance, R 2 is the feedback resistance of the current reference signal 6, R 3 is the proportional amplification factor setting resistor of the operational amplifier OA1, and RH is its proportional Variable resistor for amplification factor adjustment, e 2 is the output voltage of operational amplifier OA1, 20 is
Voltage limiting circuit for limiting di/dt, R 4 is the input resistance of operational amplifier OA2, c 1 is operational amplifier OA2
, 21 is a voltage limiting circuit for limiting the current, e 3 is the output voltage of operational amplifier OA2 which becomes the current reference signal 6, R 5 and R 6 are operational amplifier OA
This is a resistor for using No. 3 as an inverting amplifier.
第３図の回路はその線形動作範囲で第４図の伝
達関数ブロツク図に表すことができる。従つて第
１の電流基準信号６Ａから電流基準信号６までの
伝達関数をG1（ｓ）とすると(1)式で示すことがで
きる。 The circuit of FIG. 3 can be represented in the transfer function block diagram of FIG. 4 in its linear operating range. Therefore, if the transfer function from the first current reference signal 6A to the current reference signal 6 is G 1 (s), it can be expressed by equation (1).
G1（ｓ）＝R2／R1・１／１＋T0s ……(1)
（但し、T0＝KR2R4C1／R3ｋ：RHにより定まる
係数でｋ＜１）
(1)式は単に１次遅れの比例増幅器として動作す
ることを示す。ここで第２図に示す電動機速度制
御系の開ループしや断周波数ωcに対し、充分高
い周波数領域になる様に(1)式の１／T0の値を決
めれば速度制御系の応答特性を損うことなくまた
安定性も充分満足させることが可能である。 G 1 (s)=R 2 /R 1・1/1+T 0 s...(1) (However, T 0 =KR 2 R 4 C 1 /R 3 k: coefficient determined by RH, k<1) (1 ) indicates that it simply operates as a first-order lag proportional amplifier. Here, we can determine the response characteristic of the speed control system by determining the value of 1/T 0 in equation (1) so that it is in a sufficiently high frequency range with respect to the open-loop cut-off frequency ωc of the motor speed control system shown in Figure 2. It is also possible to fully satisfy the stability without impairing the properties.
また、第１の電流基準電圧e1と電流基準電圧e3
との電流基準偏差電圧が(2)式の条件を満たす程度
に大きく発生したとき、演算増幅器OA１の出力
電圧e2は、電圧制限回路２０の制限電圧E2Mの値
に制限される。 In addition, the first current reference voltage e 1 and the current reference voltage e 3
When the current reference deviation voltage between the current reference voltage and the current reference deviation voltage is large enough to satisfy the condition of equation (2), the output voltage e 2 of the operational amplifier OA1 is limited to the value of the limiting voltage E 2M of the voltage limiting circuit 20.
R3／ｋ・｜e1／R1−e3／R2｜＞｜E2M｜……(2)
（但し、｜E2M｜は電圧制限回路２０により定
まる電圧の絶体値。）
従つて演算増幅器OA２は電流基準偏差電圧が
(2)式の条件からはずれる程度に少なくなるまで一
定電圧E2Mの積分増幅器として動作する。この場
合に電流基準電圧e3の定格電流に相当する電圧を
E3Rとすると、電流基準電圧の変化率は(3)式で示
すことができる。 R 3 /k・｜e 1 /R 1 −e 3 /R 2 |＞｜E 2M |……(2) (However, |E 2M | is the absolute value of the voltage determined by the voltage limiting circuit 20.) Therefore, the operational amplifier OA2 has a current reference deviation voltage of
It operates as an integrating amplifier with a constant voltage E 2M until it becomes so low that it deviates from the condition of equation (2). In this case, the voltage corresponding to the rated current of the current reference voltage e 3 is
Assuming E 3R , the rate of change of the current reference voltage can be expressed by equation (3).
di／dt＝E2M／R4C1E3R（PUPS） ……(3)
例えば速度制御系の応答時間を0.3（sec）と仮
定すると、その遮断周波数ωcは約10（rad／sec）
程度となるので、(1)式のT0は0.1（sec）以下にな
るように選定する。具体例としてR1〜R6をすべ
て100KΩ、C1を0.3（μF）、E2Mを2.5（Ｖ）、E3Mを
５（Ｖ）に選定すると(3)式から
di／dt＝2.5（Ｖ）／５（Ｖ／PU）／100（KΩ）×0.3
（μF）
＝17（PU／sec）
となり、100％電流が1/17（sec）＝60（ms）の時
間の割り合いで変化する電流基準電圧e3が得られ
る。 di/dt=E 2M /R 4 C 1 E 3R (PUPS) ...(3) For example, assuming the response time of the speed control system is 0.3 (sec), the cutoff frequency ωc is approximately 10 (rad/sec)
Therefore, T 0 in equation (1) is selected to be 0.1 (sec) or less. As a specific example, if R 1 to R 6 are all 100KΩ, C 1 is 0.3 (μF), E 2M is 2.5 (V), and E 3M is 5 (V), di/dt = 2.5 (V) from equation (3). )/5(V/PU)/100(KΩ)×0.3
(μF) = 17 (PU/sec), and a current reference voltage e 3 is obtained in which the 100% current changes at a time rate of 1/17 (sec) = 60 (ms).
又、この場合、ｋ＝１とする第１の電流基準電
圧e1の変動値が2.5（Ｖ）（50％電流）以下では(2)
式の電圧制限条件に入らずdi／dt制御増幅器は一
次遅れの比例増幅器として動作し通常の速度制御
系の応答時間0.3（sec）を確保することができる。 In addition, in this case, if the fluctuation value of the first current reference voltage e 1 with k = 1 is 2.5 (V) (50% current) or less, (2)
The di/dt control amplifier operates as a first-order lag proportional amplifier and can secure the response time of 0.3 (sec) for a normal speed control system without falling under the voltage limiting conditions of the equation.
又、逆に言えば、第１の電流基準電圧e1の変動
値が2.5（Ｖ）（50％電流）を超える時比例増幅器
として動作する演算増幅器OA１の出力電圧e2は
電圧制限回路２０により2.5（Ｖ）に制限され、上
記した電流変化率の電流基準電圧e3となる。 Conversely, when the fluctuation value of the first current reference voltage e 1 exceeds 2.5 (V) (50% current), the output voltage e 2 of the operational amplifier OA 1 that operates as a proportional amplifier is reduced by the voltage limiting circuit 20. The current reference voltage e 3 is limited to 2.5 (V) and has the above-mentioned current change rate.
本発明の他の実施例として第３図に点線で示し
た様に電動機の速度または電圧の検出信号２２を
入力信号として加え電圧制限回路２０の制限電圧
E2Mの値を可変にすることが可能である。この場
合、電動機の速度または電圧の絶体値の大きさに
逆比例して制限電圧E2Mの大きさを変化させる。
この目的は電動機の速度または電圧が高くなるに
従つて電流の変化率、すなわちdi／dtを低く押
え、安全な運転を行うためである。 In another embodiment of the present invention, a motor speed or voltage detection signal 22 is added as an input signal as shown by the dotted line in FIG.
It is possible to make the value of E2M variable. In this case, the magnitude of the limit voltage E 2M is changed in inverse proportion to the magnitude of the speed of the motor or the absolute value of the voltage.
The purpose of this is to keep the current change rate, ie, di/dt, low as the speed or voltage of the motor increases, thereby ensuring safe operation.
以上説明の様に本発明は、電流制御系を内側に
有する電動機の速度または電圧制御装置におい
て、その電流制御系の電流基準信号の変化率に制
限を加えることにより、より安全にdi／dtの値を
制限制御可能とした電動機の制御装置を提供する
ことができる。 As explained above, the present invention provides a speed or voltage control device for a motor that has a current control system inside, by placing a limit on the rate of change of the current reference signal of the current control system, thereby making it possible to more safely adjust di/dt. It is possible to provide a control device for an electric motor that is capable of controlling a value in a limited manner.
第１図は従来のdi／dt制御付速度制御装置の制
御ブロツク図、第２図は本発明によるdi／dt制御
付速度制御装置の制御ブロツク図、第３図は本発
明のdi／dt制御増幅器の具体的な一実施例であ
り、第４図はその説明の伝達関数ブロツク図であ
る。
１……速度基準信号、２……速度検出器、３…
…速度検出信号、４……速度偏差信号、５……速
度制御増幅器、６……電流基準信号、６Ａ……第
１の電流基準信号、７……電流検出器、８……電
流検出信号、９……電流偏差信号、１０……電流
制御増幅器、１１……di／dt基準信号、１２……
微分回路、１３……di／dt検出信号、１４……
di／dt偏差信号、１５……di／dt制御増幅器、１
６……電力増幅器（主回路インピーダンスを含
む）、１７……電動機のトルク係数と電動機軸の
全慣性モーメントで決まる伝達関数、１８……電
流基準偏差信号、１９……本発明のdi／dt制御増
幅器、２０，２１……電圧制限回路、２２……電
動機の速度または電圧検出信号、OA１，OA２，
OA３……演算増幅器、R1〜R6……抵抗器、C1…
…コンデンサ、RH……可変抵抗器、e1……第１
の電流基準電圧、e2……演算増幅器OA１の出力
電圧、e3……電流基準電圧。
Fig. 1 is a control block diagram of a conventional speed control device with di/dt control, Fig. 2 is a control block diagram of a speed control device with di/dt control according to the present invention, and Fig. 3 is a control block diagram of a speed control device with di/dt control according to the present invention. This is a specific embodiment of the amplifier, and FIG. 4 is a transfer function block diagram illustrating its explanation. 1...Speed reference signal, 2...Speed detector, 3...
...Speed detection signal, 4...Speed deviation signal, 5...Speed control amplifier, 6...Current reference signal, 6A...First current reference signal, 7...Current detector, 8...Current detection signal, 9... Current deviation signal, 10... Current control amplifier, 11... di/dt reference signal, 12...
Differentiation circuit, 13... di/dt detection signal, 14...
di/dt deviation signal, 15...di/dt control amplifier, 1
6... Power amplifier (including main circuit impedance), 17... Transfer function determined by the torque coefficient of the motor and the total moment of inertia of the motor shaft, 18... Current reference deviation signal, 19... di/dt control of the present invention Amplifier, 20, 21... Voltage limiting circuit, 22... Motor speed or voltage detection signal, OA1, OA2,
OA3...Operation amplifier, R1 to R6 ...Resistor, C1 ...
…Capacitor, RH…Variable resistor, e 1 …1st
current reference voltage, e 2 ...output voltage of operational amplifier OA1, e 3 ...current reference voltage.
Claims (1)
して前記電動機の電流を制御する電流制御回路と
速度又は電圧基準信号と前記電動機の速度又は電
圧検出信号を比較して前記電流基準信号を出力し
前記電動機の速度又は電圧を制御する制御増幅器
を備えた装置において、前記制御増幅器の出力信
号を入力とし出力制限機能を備えた比例増幅器
と、この比例増幅器の出力信号を積分して前記比
例増幅器の入力側へ負帰還信号として加えると共
に前記電流制御回路の電流基準として与える積分
器から成るdi／dt制御増幅器を設け、前記比例増
幅器の出力信号がその制限値以下のときの前記
di／dt制御増幅器の一次遅れ系特性の応答周波数
を前記制御増幅器を含む速度又は電圧制御系の応
答周波数以上に選定したことを特徴とする電動機
の制御装置。1. A current control circuit that controls the current of the motor by comparing a current reference signal and a current detection signal of the motor, and a current control circuit that compares a speed or voltage reference signal with a speed or voltage detection signal of the motor and outputs the current reference signal. The device includes a control amplifier that controls the speed or voltage of the motor, including a proportional amplifier that receives the output signal of the control amplifier and has an output limiting function, and a proportional amplifier that integrates the output signal of the proportional amplifier. A di/dt control amplifier consisting of an integrator is provided to apply a negative feedback signal to the input side as well as a current reference for the current control circuit, and when the output signal of the proportional amplifier is below its limit value, the di/dt control amplifier is provided.
A control device for an electric motor, characterized in that a response frequency of a first-order lag system characteristic of a di/dt control amplifier is selected to be higher than a response frequency of a speed or voltage control system including the control amplifier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56080106A JPS57196883A (en) | 1981-05-28 | 1981-05-28 | Controller for motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56080106A JPS57196883A (en) | 1981-05-28 | 1981-05-28 | Controller for motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS57196883A JPS57196883A (en) | 1982-12-02 |
| JPS6314594B2 true JPS6314594B2 (en) | 1988-03-31 |
Family
ID=13708925
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP56080106A Granted JPS57196883A (en) | 1981-05-28 | 1981-05-28 | Controller for motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS57196883A (en) |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3668495A (en) * | 1970-11-04 | 1972-06-06 | Westinghouse Electric Corp | Apparatus for limiting the rate of rise of current in a multi-loop motor control system |
| JPS5740745B2 (en) * | 1973-03-27 | 1982-08-30 |
-
1981
- 1981-05-28 JP JP56080106A patent/JPS57196883A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS57196883A (en) | 1982-12-02 |
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