Performance Evaluation of Three-Phase Induction Motor ...

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International Journal of Applied Engineering Research ISSN 0973-4562 Volume 13, Number 8 (2018) pp. 6098-6109 © Research India Publications. http://www.ripublication.com 6098 Performance Evaluation of Three-Phase Induction Motor Drive Fed from Z-Source Inverter Mahima Sharma 1 , Mahendra Lalwani 2 # Research Scholar, * Associate Professor Department of Electrical Engineering, Rajasthan Technical University, Kota, India. Abstract The use of induction motor is growing day by day because of its superiority and high efficiency over DC machine. So for wide range of use in the industry, this machine requires an efficient drive circuit arrangement. Currently conventional voltage source inverter (VSI) or current source inverter (CSI) is dealing as key part in the field of induction motor drive circuit. These converters fail to perform at our desire level due to some crucial drawbacks like they can perform as either buck or boost operation and they contain considerable amount of harmonics as well as EMI noise. So replace these traditional inverters by pulse width modulation (PWM) control Z-source inverter (ZSI) which offers buck-boost operation capability by utilizing shoot-through state and provides less EMI noise. This paper presents an exhaustive analysis, design of impedance network, implementation of simple boost control PWM technique and simulation of ZSI for different values of modulation index. Keywords Z-source inverter, Induction motor, Pulse width modulation, Modulation index (MI), Switching frequency, Harmonic. INTRODUCTION In previous decades, the DC motors were extensively used for the industrial purposes due to the decoupled torque and flux that can be obtained by controlling field and armature current respectively [1]. Though the DC motor provides high starting torque, it has a number of drawbacks such as it requires high maintenance and is not suitable for environment [2, 3]. Induction motor has taken the place of a workhorse in industry instead of DC motors because of its robustness, less maintenance, high efficiency and low cost [4]. In the past induction motors were used essentially for constant speed applications as there was the unavailability of the variable frequency voltage supply. Output voltage of inverter can be adjusted by controlling the inverter by PWM method [5, 6]. PWM is the method to control modern power electronic circuit. The basic idea is to control the duty cycle of a switch load controllable average voltage. The input DC supply is either in the form of voltage or current, converted in to variable output AC voltage [7]. Two prediction based on input source are VSI and CSI used in industries for variable speed drive and many other applications [8]. Currently conventional VSI or CSI is dealing as key part in the field of induction motor drive circuit. These converters succeed to present at our desire level due to several essential drawbacks like they can execute as either buck or boost operation and they contain considerable amount of harmonic as well as electromagnetic interference (EMI) noise [9]. These inverters are replaced by PWM control ZSI which offers buck-boost operation capability by utilizing shoot-through state (ST) and provides less EMI noise. The PWM inverter is controlled by three different PWM techniques: Sinusoidal PWM (SPWM) technique, Selective harmonic elimination PWM (SHEPWM) technique and Space vector modulation (SVM) [10, 11, 12]. This paper describes a harmonics reduction technique which is based on PWM generator to supply the induction motor. A MATLAB simulation model of induction motor drive is arranged by using SPWM, SHEPWM, SVM and ZSI. Then some important motor characteristics such as rotor speed, PWM output, electromagnetic torque, rotor current and stator current are observed for three system models at various loading conditions. The model using ZSI, exhibits efficient performance in all cases compared to the other models. Harmonic distortions are harmful for induction motor so it is necessary to mitigate the harmonics and provide a harmonic less supply to the induction motor. The main objective of this paper is to find the improved technique for harmonic reduction for induction motor. This paper presents an enhanced ZSI, used to limit the speed of an induction motor. The ripple of Z-source elements, output voltage source, current are varied with modulation index and switching frequency with their harmonic profile. This paper is the analysis of all the possible states of harmonic reduction in induction motor. Section II describes the objective of THD reduction techniques, Section III defines the outline of different harmonic mitigation techniques and section IV is to design the impedance network. Method of designing impedance network is presented in section V. Simulations are used to authenticate the accuracy of the design process by considering an illustrative example in section VI. Finally, conclusions are presented in section VII. STATEMENT OF THE PROBLEM When the motor is working in healthy condition, the modulation index and switching frequency are coordinated by the electric power system. Here modulation index is m=Am/Ac. Where modulating signal Am is a sinusoidal wave and Ac is the triangular carrier wave. When a high frequency triangular carrier wave is compared with the sinusoidal

Transcript of Performance Evaluation of Three-Phase Induction Motor ...

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International Journal of Applied Engineering Research ISSN 0973-4562 Volume 13, Number 8 (2018) pp. 6098-6109

© Research India Publications. http://www.ripublication.com

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Performance Evaluation of Three-Phase Induction Motor Drive Fed

from Z-Source Inverter

Mahima Sharma1, Mahendra Lalwani2

# Research Scholar, * Associate Professor Department of Electrical Engineering, Rajasthan Technical University, Kota, India.

Abstract

The use of induction motor is growing day by day because of

its superiority and high efficiency over DC machine. So for

wide range of use in the industry, this machine requires an

efficient drive circuit arrangement. Currently conventional

voltage source inverter (VSI) or current source inverter (CSI)

is dealing as key part in the field of induction motor drive

circuit. These converters fail to perform at our desire level due

to some crucial drawbacks like they can perform as either

buck or boost operation and they contain considerable amount

of harmonics as well as EMI noise. So replace these

traditional inverters by pulse width modulation (PWM)

control Z-source inverter (ZSI) which offers buck-boost

operation capability by utilizing shoot-through state and

provides less EMI noise. This paper presents an exhaustive analysis, design of impedance network, implementation of

simple boost control PWM technique and simulation of ZSI

for different values of modulation index.

Keywords Z-source inverter, Induction motor, Pulse width

modulation, Modulation index (MI), Switching frequency,

Harmonic.

INTRODUCTION

In previous decades, the DC motors were extensively used for

the industrial purposes due to the decoupled torque and flux

that can be obtained by controlling field and armature current

respectively [1]. Though the DC motor provides high starting

torque, it has a number of drawbacks such as it requires high

maintenance and is not suitable for environment [2, 3].

Induction motor has taken the place of a workhorse in

industry instead of DC motors because of its robustness, less

maintenance, high efficiency and low cost [4]. In the past

induction motors were used essentially for constant speed

applications as there was the unavailability of the variable

frequency voltage supply. Output voltage of inverter can be

adjusted by controlling the inverter by PWM method [5, 6].

PWM is the method to control modern power electronic

circuit. The basic idea is to control the duty cycle of a switch

load controllable average voltage. The input DC supply is

either in the form of voltage or current, converted in to

variable output AC voltage [7]. Two prediction based on input

source are VSI and CSI used in industries for variable speed

drive and many other applications [8].

Currently conventional VSI or CSI is dealing as key part in

the field of induction motor drive circuit. These converters

succeed to present at our desire level due to several essential

drawbacks like they can execute as either buck or boost

operation and they contain considerable amount of harmonic

as well as electromagnetic interference (EMI) noise [9]. These

inverters are replaced by PWM control ZSI which offers

buck-boost operation capability by utilizing shoot-through

state (ST) and provides less EMI noise. The PWM inverter is

controlled by three different PWM techniques: Sinusoidal

PWM (SPWM) technique, Selective harmonic elimination

PWM (SHEPWM) technique and Space vector modulation

(SVM) [10, 11, 12]. This paper describes a harmonics

reduction technique which is based on PWM generator to

supply the induction motor. A MATLAB simulation model of

induction motor drive is arranged by using SPWM,

SHEPWM, SVM and ZSI. Then some important motor characteristics such as rotor speed, PWM output,

electromagnetic torque, rotor current and stator current are

observed for three system models at various loading

conditions. The model using ZSI, exhibits efficient

performance in all cases compared to the other models.

Harmonic distortions are harmful for induction motor so it is

necessary to mitigate the harmonics and provide a harmonic

less supply to the induction motor. The main objective of this

paper is to find the improved technique for harmonic

reduction for induction motor. This paper presents an

enhanced ZSI, used to limit the speed of an induction motor.

The ripple of Z-source elements, output voltage source,

current are varied with modulation index and switching

frequency with their harmonic profile.

This paper is the analysis of all the possible states of harmonic

reduction in induction motor. Section II describes the

objective of THD reduction techniques, Section III defines the

outline of different harmonic mitigation techniques and

section IV is to design the impedance network. Method of

designing impedance network is presented in section V.

Simulations are used to authenticate the accuracy of the

design process by considering an illustrative example in

section VI. Finally, conclusions are presented in section VII.

STATEMENT OF THE PROBLEM

When the motor is working in healthy condition, the

modulation index and switching frequency are coordinated by

the electric power system. Here modulation index is

m=Am/Ac. Where modulating signal Am is a sinusoidal wave

and Ac is the triangular carrier wave. When a high frequency

triangular carrier wave is compared with the sinusoidal

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reference wave then it determines the switching instant of

output voltage [13, 14, 15]. Table 1 show the variation in

modulation index and switching frequency of PWM generator

Modulation index increases with the increase of fundamental

line voltage while the total harmonic distortion (THD)

decreases. Thus THD can be reduced by increasing

modulation index. Here modulation index is fixed at m=0.8.

Switching frequency increases, harmonic loss decreases but

above a particular level of switching frequency THD again

increases. So, a moderate value of switching frequency is

required for PWM fed induction motor [16, 17]. Induction

motors have THD, this drawback can be overcome by using

PWM techniques and ZSI. THD reduction control strategies

are applied in induction motor which decreases the switching

angles of non-sinusoidal waveforms. Figure 1 shows the

detailed description of ZSI, PWM techniques and THD

reduction [18, 19, 20, 21].

Table 1. Variation of THD in modulation index and switching frequency

Parameter Value THD (PWM output voltage) %

Modulation Index

0.3 197.65

0.5 138.80

0.7 105.10

0.8 91.56

0.9 79.47

1.0 68.55

Switching frequency

1080 91.71

1200 90.71

1500 90.95

1800 91.32

2160 91.37

2500 93.37

Induction Motor

PWM fed induction motor

Z-sourceSVM SHEPWMSPWM

Comparison on between

ZSI and VSI output

Output of inverter THD

(entering into motor stator)

Variation in switching

angle

Effect on inverter output

Check the THD of the

stator current and PWM

outputVariable input fed to motor

Variation in output

Phase angleVariation in modulation

index and switching

frequency

THD reduction

Effect on rotor and

stator current

Generating control

signal

Effect on rotor and

stator current

THD calculation

Figure 1. Block diagram of THD reduction

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Three-phase electronic power converters are controlled by

PWM and have a wide range of applications for DC to AC

power supplies and AC machine drives.

HARMONIC MITIGATION TECHNIQUES

Harmonic distortion is one of the major concerns in the area

of electrical power quality. Because of their potential negative

impacts, the uncontrolled flow of harmonics in power systems

is prevented by employing various mitigation methods [22,

23]. The harmonic contents can be reduced with the help of

PWM techniques and ZSI. PWM techniques mitigate the

harmonics in induction motor and Z-source to control the

number of modulation index and minimize the shoot-through

state (ST). Different approaches in harmonic mitigation

techniques are shown in figure 2 [24, 25, 26].

Sinusoidal pulse

width modulation

Z-source technique

Space vector pulse

width modulation

Selected harmonic

elimination pulse

width modulation

Harmonics Mitigation

Techniques

Pulse width modulation

technique

Figure 2. Harmonics mitigation technique

Various techniques have been devised by many researches for

controlling the output current of a PWM voltage-fed inverter.

A current control technique is also devised for three-phase

PWM AC/DC converters. Table 2 shows the pros and cons of

different PWM techniques [27, 28, 29].

Table 2. Pros and cons of PWM techniques

PWM Techniques

SPWM SHEPWM SVM

Pros

Control of inverter output

without any additional

components [30]

Reduction of lower harmonic

The elimination of specific low-order

harmonics from a given voltage/current

waveform achieved by SHEPWM

technique [31]

SHEPWM method at fundamental

frequency, for which transcendental

equations characterizing harmonics are

solved to compute switching angles

[35, 36]

Compared to SPWM with the same

modulation index, the THD of SVM is

slightly lower [32]

SVM can achieve 15% more basic

component than SPWM

Decrease of input current THD and

increase of power factor are desired [37]

Cons

Reduction of available voltage

Increase switching losses due

to high PWM frequency [33]

Complexity increase

High cost

No flexible too control [34]

It is difficult to solve the SVM

expressions as these are extremely

nonlinear in nature and may produce

simple, multiple, or even no solutions for

a meticulous value of modulation index

[38, 39]

PROPOSED TECHNIQUE

The ZSI rectifies the associated problems with the VSI and

CSI. The symmetrical impedance network connects the source

to the load through the inverter. The impedance network

consists of two equal inductors and two equal capacitors as

show in figure 3.

V

S

I

Load

Input

source

Es

Ds L1

C2

C1

L2

Impedance Network

Figure 3. Equivalent circuit of ZSI

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This network acts as a second order filter. In this impedance

network a constant impedance output voltage is fed to the

three-phase inverter main circuit. Depending upon the gating

signal, the inverter operates and this output is fed to the three-

phase AC load/motor. The number of control methods are

used to control ZSI, which include the variation in modulation

index and switching frequency. The closed loop speed control

scheme utilized by slip regulation of combined inverter and

induction machine improves the dynamic performance. The

speed loop error generates the slip speed command ( *

sl )

through the proportional-integral controller and limiter. The

slip is added to the speed feedback signal ( r ) to generate the

synchronous speed command ( *s ) [40, 41, 42]. The

synchronous speed command generates the voltage command

(Vs) through a Volts/Hz function generator as shows in figure

4.

PI Controller

*

r

r

Slip Limiter *

sl

r

*

s

Constant V/f

Dc

Supply

3-phase

ZSI

IM

Speed sensor

Figure 4. Closed-loop speed control scheme utilizing V/f and

slip regulation

The control strategy of the ZSI is an important issue and

several feedback control strategies have been investigated in

recent publications. There are four methods to control the ZSI

DC-link voltage: simple ST boost control (SBC), maximum

ST boost control (MBC), maximum constant ST boost control

(MCBC) and modified space vector modulation ST control

method (MSVM). Following control methods are show in

table 3.

Table 3. Comparison of different ST control methods

ST boost control method SBC MBC MCBC MSVM

Line voltage harmonic - + 0 +

Phase current harmonic 0 0 + -

DC link voltage ripples 0 - + 0

Switch voltage stress 0 + 0 -

Inductor current ripples 0 - + -

Efficiency 0 + + -

Obtainable ac voltage 0 0 + -

Total - ++-- +++++ +----

Here (+, 0 and -) represents the best, the moderate and the

lowest performance, respectively

SIMULATION AND RESULTS

In this section the various condition of harmonic reduction

and controlling of THD are describes. This paper defines two

different control method of motor drive: PWM and Z-source.

PWM technique is connected to output link for controlling

speed regulation and Z-source network is connected to DC-

link for controlling ST switching states.

A. Three-phase induction motor without PWM

The simulation model of induction motor without using any

mitigation technique is show in figure 5. In this model, pulse

generator is used for triggering purpose of inverter and a step-

up transformer is used to step-up the voltage signals. A three-

phase induction motor is connected to three-phase sinusoidal

source via a transformer. Stator current harmonics is analyzed

with fast fourier transform (FFT) show in figure 6. In this

model THD is 24.66 % without using any mitigation

technique. Table 4 shows parameters of three-phase induction

motor.

Table 4: Three-phase induction motor parameters

Parameters Value

Nominal power 3HP

Voltage applied 220V

Frequency 50 Hz

Rs and Ls (stator resistance and

inductance)

1.115Arms & 0.005974H

Rr and Lr (rotor resistance and

inductance)

1.083Arms & 0.005974H

Mutual inductance Lm(H) 0.2037H

Inertia, friction factor pole pairs 0.02 J (kg.m2), 0.005752 F

(N.m.s) & 2p

Synchronous speed 1800 rpm

Angular frequency 188.5 rad/s

Figure 5. MATLAB Model of induction motor without using

any technique

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Figure 6. Stator Current THD

A.1 Three-phase induction motor with PWM

PWM technique is to control output voltage and harmonic

reduction. PWM is commonly used technique for controlling

power in inertial electrical devices, made practical by modern

electronic power switches. Here PWM techniques like

SPWM, SHEPWM and SVM are applied to inverter and it

also studies the performance of the induction motor.

A.1.1 Sinusoidal Pulse Width Modulation

The MATLAB simulation model is show in figure 7. A

snubber circuit is used between rectifier and inverter. A PWM

generator is used to trigger the inverter. As perfect output

waveforms are basic requirement for the smooth running of

the induction motor. PWM technique is a technique which is

used to mitigate the harmonics and speed control of induction

motors. Figure 8 show the stator current responses of IM

when at time 0.4 sec. Stator current waveform attains a steady

state at near 0.4 sec. For an input DC voltage of 600 V, the

circuit produces three-phase AC voltage output. This load is

Y-connected and purely inductive in nature. Figure 9 shows

the stator current and PWM inverter voltage waveform. THD

is controlled till 11.61% therefore in the proposed simulation

model the accurate maximum frequency increases efficiency

of the motor. Figure 10 shows the PWM output voltage

waveforms and THD of inverter.

Figure 7. Simulation model of induction motor with using SPWM

Figure 8. Stator current

Figure 9. FFT analysis in Stator current THD

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Figure 10. PWM voltage waveform and THD

A.1.2 Selected Harmonic Elimination PWM Technique

Compared with other PWM topologies, only the SHEPWM

based techniques work effectively at low switching

frequencies and theoretically provides the best output voltage

and current quality. Figure 11, show the simulation model of

SHEPWM fed induction motor. The output waveforms for

rotor current and stator current were obtained. The following

are rotor and stator currents in the induction motor showing

figure 12 and 13. This output is not pure because of many

harmonics. Both the stator and rotor currents exhibit high

transients during the starting of the motor. Stator and rotor

current settle down to low amplitude sinusoidal oscillations.

Figure 14 shows the THD in SHEPWM fed induction motor.

Figure 11 . Simulation model of SHEPWM fed induction motor

Figure 12. Rotor current in SHEPWM fed induction motor

Figure 13. Stator current in SHEPWM fed induction motor

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Figure 14. Stator current THD in SHEPWM fed induction

A.1.3 Space Vector Modulation

The SVM control system model is used to generate the SVM

control signal for inverter and verify the output results are

shown in figure 15. The space vector Vref with magnitude Vm

rotates in a circular orbit at angular velocity u, where the

direction of rotation depends on the phase sequence of

voltages are show in figure 16. With the sinusoidal three-

phase command voltage the composite PWM fabrication at

the inverter output should be such that the average voltage

follows these command voltage with minimum amount of

harmonic distortion.

Figure 15. Simulation model of SVM fed induction motor

Figure 16. Space vector trajectory

Figure 17 shows the stator current of SVM is an advanced

technique used for variable frequency drive applications. It

utilizes DC bus voltage more effectively and generates less

THD in the three-phase VSI. Figure 18 shows the control

signal generated by SVM. SVM utilize a disordered changing

switching frequency to spread the harmonics continuously to a

wide band area so that the peak harmonics can be reduced.

Simulation has been carried out by varying the modulation

index between 0 and 1. Figure 19 shows the voltage waveform

of phase to neutral SVM inverter. Two popular modulation

strategies have been implemented in the SVM: alternating

zero vector strategy and symmetrical modulation strategy.

Figure 20 shows the harmonics of rotor current of induction

motor fed by SVM inverter with the help of fourier block

present in simulink.

Figure 17. Stator current of induction motor fed by SVM

inverter

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Figure 18. Control signal generated by space vector

subsystem block

Figure 19. Phase to neutral voltage of SVM inverter

Figure 20. Rotor current of induction motor fed by SVM

inverter

Table 7 shows the decrement in harmonics magnitude with

respect to fundamental component of rotor current.

Table 7: Harmonic Contents in Rotor Current

Harmonics order Harmonic magnitude

fundamental

3 0.2632

5 0.0654

7 0.602

11 0.0281

SVM output waveforms have less harmonics, therefore to

achieve better performance for inverter SVM algorithm in the

ZSI is preferred. THD of stator and rotor current is shown

figure 21 and 22.

Figure 21. Stator current THD in SVM fed induction motor

Figure 22. PWM output current waveform and THD

Z-source Fed Induction Motor

In this model an induction motor drive system with the use of

ZSI is implemented. Figure 23 show simulation model to

verify the Z-source results, the simulations are conducted with

initial system parameters. Here, inductance is 4mh and

capacitance is 300mf.

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Figure 23. Simulation model of ZSI fed induction motor

The block diagram of three-phase ZSI fed induction motor is

shown in figure 24. It is frequently essential to control the

output voltage of inverter from the constant V/f control of an

induction motor [43]. PWM based firing of inverter provides

the best constant V/f and controlling of the speed of induction

motor [44, 45, 46].

ConverterZ-source impedance

network Inverter

PWM setting

V/f control

Speed setting

IMPower supply

Figure 24. Block diagram of ZSI fed induction motor

In this ZSI conventional control method modulation index are

kept high so that minimum stress on the device are obtained.

Simulation model shows that motor output line current is

reduced to large extent. Three-phase stator current waveforms

and stator voltage for a given load condition is shown in the

figure 25 and 26 respectively. The ZSI can be improved by

controlling capacitor voltage. The purpose of the capacitor is

to absorb the current ripple and maintain a fairly constant

voltage so as to keep the output voltage sinusoidal. The

proposed control method generates the ST duty ratio by

controlling both the inductor current and the capacitor voltage

of the ZSI as shown in figure 27.

Figure 25. Stator current in ZSI fed induction motors

Figure 27. Capacitor voltage in ZSI impedance network

Figure 26. ZSI voltage output waveform

Harmonic analysis of ZSI

The simulink block diagram is designed to obtain the different

waveforms. Figure 22 describes the satisfactory performance

of a drive, output should be ripple free so that the input taken

from the inverter is analyzed for harmonics. The component

values of ZSI depend on switching frequency only. Figure 28

show the stator current THD waveforms to be very smooth

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sinusoidal waveform as compared to the traditional PWM

inverter. Due to this operational behaviour ZSI can boost the

output voltage to any value greater than input voltage as

shows in figure 29.

Figure 28. THD analysis of stator current in induction motor

fed by ZSI

Figure 29. THD analysis of Z-source PWM inverter output

voltage

The speed control of such motors can be achieved by

controlling the applied voltage on the control operation of

ZSI. Table 8 represents the changes in THD of ZSI and VSI

according to different modulation index.

Table 8: Comparison of ZSI and VSI fed induction motor in

terms of THD

Modulation Index THD(ZSI)% THD(VSI)%

0.5 2.88 4.53

0.7 5.11 7.82

0.8 7.24 11.81

0.9 6.36 9.49

1 8.45 14.06

The THD in stator current is lower in case of Z-source fed

induction motor. The ZSI is analyzed using VSI. The

distinctive feature of the ZSI is that the output AC voltage can

be any value between zero and infinity regardless of the input

DC voltage [14]. That is, ZSI is a buck-boost inverter that has

a extensive range of accessible voltage. The traditional VSI

and CSI cannot provide such features.

CONCLUSIONS

Induction motor drive system with the use of PWM and ZSI

technique describe new approaches towards control of motor

drive over traditional control methods. PWM technique in

induction motor investigates changes in THD and shows the

effectiveness of harmonics. PWM parameter variation shows

that modulation index and switching frequency are inversely

proposition to each other and Z-source inverter take place in

the field for better performance of induction motor. In this

field one step ahead technique is used where VSI and ZSI

comparison shows that Z-source impedance network increases

the range of output voltage of inverter and reduces THD in

stator current. This paper presents an enhanced ZSI, used to

limit the speed of an induction motor.

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