Pub Date : 2016-10-01DOI: 10.1109/RTUCON.2016.7763158
L. Rassudov, A. Balkovoi, A. Anuchin, I. Gulyaev
The wide range of modern industrial applications demand on extremely high performance of motion control systems in terms of tracking accuracy and therefore control bandwidth. The paper presents a novel dynamic model feedforward quasi-continuous servo drive control approach with regular current feedback sampling implemented on FPGA. Compared to the conventional DSP-based systems the current and the velocity control loop bandwidths have been increased by several times when using exactly the same power electronics, motor and sensors. The proposed technique ensures the maximal control system performance in terms of bandwidth for a system with a PWM inverter. The theory was proved by simulation and experimental results.
{"title":"FPGA implementation of servodrive control system","authors":"L. Rassudov, A. Balkovoi, A. Anuchin, I. Gulyaev","doi":"10.1109/RTUCON.2016.7763158","DOIUrl":"https://doi.org/10.1109/RTUCON.2016.7763158","url":null,"abstract":"The wide range of modern industrial applications demand on extremely high performance of motion control systems in terms of tracking accuracy and therefore control bandwidth. The paper presents a novel dynamic model feedforward quasi-continuous servo drive control approach with regular current feedback sampling implemented on FPGA. Compared to the conventional DSP-based systems the current and the velocity control loop bandwidths have been increased by several times when using exactly the same power electronics, motor and sensors. The proposed technique ensures the maximal control system performance in terms of bandwidth for a system with a PWM inverter. The theory was proved by simulation and experimental results.","PeriodicalId":102691,"journal":{"name":"2016 57th International Scientific Conference on Power and Electrical Engineering of Riga Technical University (RTUCON)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124486913","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/RTUCON.2016.7763103
Evgenii L. Kokorin, S. Dmitriev, A. Khalyasmaa
The solution of the secondary circuits effect consideration problem during electrical network calculation is presented in the paper. The analysis of statistical operational data concerning primary and secondary equipment failures taken directly from the plant was performed. It follows from the analysis results that relay protection and automation consideration during the reliability calculation is appropriate. The model which permits to solve the reliability assessment problems of the elementary electrical substations circuits with the use of the probabilistic methods and classical reliability theory was developed on the base of statistical data. The basic problems of reliability calculation method application under the conditions of real branched networks were considered and the method importance and further development were also evaluated.
{"title":"Electrical network reliability assessment with consideration of the secondary circuits' effect","authors":"Evgenii L. Kokorin, S. Dmitriev, A. Khalyasmaa","doi":"10.1109/RTUCON.2016.7763103","DOIUrl":"https://doi.org/10.1109/RTUCON.2016.7763103","url":null,"abstract":"The solution of the secondary circuits effect consideration problem during electrical network calculation is presented in the paper. The analysis of statistical operational data concerning primary and secondary equipment failures taken directly from the plant was performed. It follows from the analysis results that relay protection and automation consideration during the reliability calculation is appropriate. The model which permits to solve the reliability assessment problems of the elementary electrical substations circuits with the use of the probabilistic methods and classical reliability theory was developed on the base of statistical data. The basic problems of reliability calculation method application under the conditions of real branched networks were considered and the method importance and further development were also evaluated.","PeriodicalId":102691,"journal":{"name":"2016 57th International Scientific Conference on Power and Electrical Engineering of Riga Technical University (RTUCON)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129893619","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/RTUCON.2016.7763112
A. Sauhats, Andrejs Utans, D. Antonovs, Edite Biela-Dalidovicha
This paper proposes the out-of-step (OOS) protection system, which operation principle is based on combination of two approaches: equal area criterion, implemented in time domain, is used for generators first swing stability assessment and generation sources electromotive forces (emf) vectors angle control is used for multi swing instability detection. The paper focuses on possibilities of practical implementation of the above mentioned approaches within real time operating OOS protection system. Protection system structure and principles of operation addressed in the paper.
{"title":"Out-of-step protection using equal area criterion in time domain","authors":"A. Sauhats, Andrejs Utans, D. Antonovs, Edite Biela-Dalidovicha","doi":"10.1109/RTUCON.2016.7763112","DOIUrl":"https://doi.org/10.1109/RTUCON.2016.7763112","url":null,"abstract":"This paper proposes the out-of-step (OOS) protection system, which operation principle is based on combination of two approaches: equal area criterion, implemented in time domain, is used for generators first swing stability assessment and generation sources electromotive forces (emf) vectors angle control is used for multi swing instability detection. The paper focuses on possibilities of practical implementation of the above mentioned approaches within real time operating OOS protection system. Protection system structure and principles of operation addressed in the paper.","PeriodicalId":102691,"journal":{"name":"2016 57th International Scientific Conference on Power and Electrical Engineering of Riga Technical University (RTUCON)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126118949","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/RTUCON.2016.7763136
K. Kondratjevs, N. Kunicina, A. Patlins, A. Zabasta, A. Galkina
The technical solution for smart city concept is offered in the article. The IoT supporting new generation of control concept is developed for smart city paradigm. The offered unified wireless data transmitting concept is deployed as wireless transport vehicles weight control tool. The integrated weight sensor is developed and demonstrated in this article. The offered sensor is integrated in IoT paradigm, and aimed to obtain data from primary source and transfer it to Intelligent Transport System (ITS) in order to use those data for transport flow modeling. The data transferred to ITS will be used acquired used elements of offered the system: sensing technologies, data transferring, simulation of traffic flows and decision making. The developed solution is compatible with IoT on-line traffic management system and next generation of smart city control system.
{"title":"Vehicle weight detection sensor development for data collecting in sustainable city transport system","authors":"K. Kondratjevs, N. Kunicina, A. Patlins, A. Zabasta, A. Galkina","doi":"10.1109/RTUCON.2016.7763136","DOIUrl":"https://doi.org/10.1109/RTUCON.2016.7763136","url":null,"abstract":"The technical solution for smart city concept is offered in the article. The IoT supporting new generation of control concept is developed for smart city paradigm. The offered unified wireless data transmitting concept is deployed as wireless transport vehicles weight control tool. The integrated weight sensor is developed and demonstrated in this article. The offered sensor is integrated in IoT paradigm, and aimed to obtain data from primary source and transfer it to Intelligent Transport System (ITS) in order to use those data for transport flow modeling. The data transferred to ITS will be used acquired used elements of offered the system: sensing technologies, data transferring, simulation of traffic flows and decision making. The developed solution is compatible with IoT on-line traffic management system and next generation of smart city control system.","PeriodicalId":102691,"journal":{"name":"2016 57th International Scientific Conference on Power and Electrical Engineering of Riga Technical University (RTUCON)","volume":"146 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123087638","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/RTUCON.2016.7763121
S. Kovalenko, A. Sauhats, I. Zicmane
In most countries, electricity is bought and sold at regulated and non-regulated prices. Non-regulated prices are mainly set on the wholesale electricity market and can significantly increase during peak periods due to input of more expensive generation. Another problem, which leads to an increase in prices on the market, is to achieve the carrying capacity of certain sections that does not allow transferring the necessary amount of electricity in the deficit area. At that, overloaded network elements are more prone to emergency shutdown that is not allowable in the peak periods, because it can cause serious system failures. One of the problem solutions may be a load regulation, which, in its turn, may provide both long-term and short-term perspectives. Long-term perspective is aimed to improve energy efficiency carrying out the modernization and reconstruction of the main equipment or the construction of generation sources, etc. Short-term perspective is focused directly on demand management. This article discusses the possible scenarios of the impact of regulated load on the stability of the Latvian power system, based on the power system model circuit created in the software ETAP POWER STATION.
在大多数国家，电力以受管制和不受管制的价格进行买卖。非管制价格主要是在批发电力市场上设定的，在高峰时期，由于更昂贵的发电投入，价格可能会大幅上涨。另一个导致市场价格上涨的问题是，实现某些路段的承载能力，而这些路段不允许在赤字地区转移必要的电量。此时，过载的网元更容易发生在高峰时段不允许的紧急停机，因为它可能导致严重的系统故障。问题的解决方案之一可能是负荷调节，这反过来又可能提供长期和短期的前景。长期目标是提高能源效率，进行主要设备的现代化改造或发电源的建设等。短期视角直接关注需求管理。本文以ETAP power STATION软件创建的电力系统模型电路为基础，讨论了调节负荷对拉脱维亚电力系统稳定性影响的可能情景。
{"title":"Impact of controlled load on the Latvian power system stability","authors":"S. Kovalenko, A. Sauhats, I. Zicmane","doi":"10.1109/RTUCON.2016.7763121","DOIUrl":"https://doi.org/10.1109/RTUCON.2016.7763121","url":null,"abstract":"In most countries, electricity is bought and sold at regulated and non-regulated prices. Non-regulated prices are mainly set on the wholesale electricity market and can significantly increase during peak periods due to input of more expensive generation. Another problem, which leads to an increase in prices on the market, is to achieve the carrying capacity of certain sections that does not allow transferring the necessary amount of electricity in the deficit area. At that, overloaded network elements are more prone to emergency shutdown that is not allowable in the peak periods, because it can cause serious system failures. One of the problem solutions may be a load regulation, which, in its turn, may provide both long-term and short-term perspectives. Long-term perspective is aimed to improve energy efficiency carrying out the modernization and reconstruction of the main equipment or the construction of generation sources, etc. Short-term perspective is focused directly on demand management. This article discusses the possible scenarios of the impact of regulated load on the stability of the Latvian power system, based on the power system model circuit created in the software ETAP POWER STATION.","PeriodicalId":102691,"journal":{"name":"2016 57th International Scientific Conference on Power and Electrical Engineering of Riga Technical University (RTUCON)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122100220","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/RTUCON.2016.7763122
Aleksejs Soboļevskis, I. Zicmane
The electric power system (EPS) is exposed to small and large impacts during operation, such as changes of loads, commutation of circuit elements, changes of generation of active and reactive power, the impact of automation, (all of them are examples of normal relatively small disturbances), as well as short circuits, large load resets and load surge, unauthorized shutdown of equipment, work of protections and emergency power control (those are examples of large disturbances). The purpose of this paper is to provide methods for detection of network parameters that are most vulnerable (voltage drop) to external impacts (sensors), determine their relationship with EPS parameters, try to use this information for improvement of EPS behavioural properties. Thus, availability of information on the location of sensors allows determining and controlling nodes, in which the biggest oscillations of operational parameters are observed due to disturbances in the system.
{"title":"Assessing the impact of registering of weak points calculating the power system operating modes","authors":"Aleksejs Soboļevskis, I. Zicmane","doi":"10.1109/RTUCON.2016.7763122","DOIUrl":"https://doi.org/10.1109/RTUCON.2016.7763122","url":null,"abstract":"The electric power system (EPS) is exposed to small and large impacts during operation, such as changes of loads, commutation of circuit elements, changes of generation of active and reactive power, the impact of automation, (all of them are examples of normal relatively small disturbances), as well as short circuits, large load resets and load surge, unauthorized shutdown of equipment, work of protections and emergency power control (those are examples of large disturbances). The purpose of this paper is to provide methods for detection of network parameters that are most vulnerable (voltage drop) to external impacts (sensors), determine their relationship with EPS parameters, try to use this information for improvement of EPS behavioural properties. Thus, availability of information on the location of sensors allows determining and controlling nodes, in which the biggest oscillations of operational parameters are observed due to disturbances in the system.","PeriodicalId":102691,"journal":{"name":"2016 57th International Scientific Conference on Power and Electrical Engineering of Riga Technical University (RTUCON)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134303484","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/RTUCON.2016.7763126
S. Dmitriev, V. Manusov, J. Ahyoev
This article discusses possible ways of technical diagnostics of high-voltage electric equipment of substations and electric networks by means of mathematical apparatus of the theory of indistinct sets and indistinct relations. It is shown that on the basis of indistinct expert estimates it is possible to do a prediction for possible causes of failures if some estimates of the available symptoms of these failures are known.
{"title":"Diagnosing of the current technical condition of electric equipment on the basis of expert models with fuzzy logic","authors":"S. Dmitriev, V. Manusov, J. Ahyoev","doi":"10.1109/RTUCON.2016.7763126","DOIUrl":"https://doi.org/10.1109/RTUCON.2016.7763126","url":null,"abstract":"This article discusses possible ways of technical diagnostics of high-voltage electric equipment of substations and electric networks by means of mathematical apparatus of the theory of indistinct sets and indistinct relations. It is shown that on the basis of indistinct expert estimates it is possible to do a prediction for possible causes of failures if some estimates of the available symptoms of these failures are known.","PeriodicalId":102691,"journal":{"name":"2016 57th International Scientific Conference on Power and Electrical Engineering of Riga Technical University (RTUCON)","volume":"252 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133606663","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/RTUCON.2016.7763083
Semih Hurmeydan, A. Rosin, T. Vinnal, A. Jagomagi
Increase in photovoltaic (PV) systems integrated into low-voltage (LV) distribution networks has created a pressing need for analysis of the effects of these systems on power quality and supply reliability. The main aim of this study was to analyze the effects of small-scale PV-system power generation on voltage quality in a rural LV distribution network. In the analysis based on real field measurements, the numerical and graphical methods of data analysis were used. Thus, correlations between PV-system power (P(pv)) generation and voltage quality parameters in the LV-grid were examined.
{"title":"Effects of PV microgeneration on rural LV network voltage quality","authors":"Semih Hurmeydan, A. Rosin, T. Vinnal, A. Jagomagi","doi":"10.1109/RTUCON.2016.7763083","DOIUrl":"https://doi.org/10.1109/RTUCON.2016.7763083","url":null,"abstract":"Increase in photovoltaic (PV) systems integrated into low-voltage (LV) distribution networks has created a pressing need for analysis of the effects of these systems on power quality and supply reliability. The main aim of this study was to analyze the effects of small-scale PV-system power generation on voltage quality in a rural LV distribution network. In the analysis based on real field measurements, the numerical and graphical methods of data analysis were used. Thus, correlations between PV-system power (P(pv)) generation and voltage quality parameters in the LV-grid were examined.","PeriodicalId":102691,"journal":{"name":"2016 57th International Scientific Conference on Power and Electrical Engineering of Riga Technical University (RTUCON)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128298576","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/RTUCON.2016.7763138
R. Kosenko, J. Zakis, A. Blinov, A. Chub, Oleksandr Veligorskyi
This paper presents a novel bidirectional current-fed dual inductor push-pull DC-DC converter with galvanic isolation. The converter features active voltage doubler rectifier, which is controlled by the switching sequence synchronous to that of the input-side switches. The control algorithm proposed enables full-soft-switching of all switches in a wide range of the input voltage and power without requirement of snubbers or resonant switching to be employed. Operation principle for the energy transfer in the both directions is described. Experimental results as well as basic design guidelines are presented.
{"title":"Full soft-switching bidirectional isolated current-fed dual inductor push-pull DC-DC converter for battery energy storage applications","authors":"R. Kosenko, J. Zakis, A. Blinov, A. Chub, Oleksandr Veligorskyi","doi":"10.1109/RTUCON.2016.7763138","DOIUrl":"https://doi.org/10.1109/RTUCON.2016.7763138","url":null,"abstract":"This paper presents a novel bidirectional current-fed dual inductor push-pull DC-DC converter with galvanic isolation. The converter features active voltage doubler rectifier, which is controlled by the switching sequence synchronous to that of the input-side switches. The control algorithm proposed enables full-soft-switching of all switches in a wide range of the input voltage and power without requirement of snubbers or resonant switching to be employed. Operation principle for the energy transfer in the both directions is described. Experimental results as well as basic design guidelines are presented.","PeriodicalId":102691,"journal":{"name":"2016 57th International Scientific Conference on Power and Electrical Engineering of Riga Technical University (RTUCON)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131046625","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/RTUCON.2016.7763107
L. Adrian, Donato Repole, L. Ribickis
The purpose of this paper is to address current issues in industrial robotics applications and to address also the current trends occurring in the industry regarding smaller mobile units in factory and external manufacturing processes relating to the battery powering of robotics devices. Specifically, we shall concentrate the efforts herein on “Mobile Industrial Robotics”. The paper touches briefly on problems associated with both definitions of industrial robots and problems associated with power supply sources of mobile industrial robotics and provides an outline of future work with appropriate solution for smaller mobile industrial mobile units operating in the variable input range of 24V to 48v and outputs in the range of 3.3V to 12V @ 20A in three stages. The project required a fast, turn-key solution which did not allow for a “design from scratch” solution and so detailed herein is suitable design produced in other sectors and relating the details, design process, modelling and examination of a successful and efficient high current DC to DC switch mode power supply. Parameters have been adjusted to our own preferences in the design considerations regarding “Industrial Service Hybrids” [1] (ISH)1. Other design issues are under assessment and shall be included as the project moves forward.
{"title":"High efficiency modular DC-DC power converter for adaption to industrial & hybrid robotics","authors":"L. Adrian, Donato Repole, L. Ribickis","doi":"10.1109/RTUCON.2016.7763107","DOIUrl":"https://doi.org/10.1109/RTUCON.2016.7763107","url":null,"abstract":"The purpose of this paper is to address current issues in industrial robotics applications and to address also the current trends occurring in the industry regarding smaller mobile units in factory and external manufacturing processes relating to the battery powering of robotics devices. Specifically, we shall concentrate the efforts herein on “Mobile Industrial Robotics”. The paper touches briefly on problems associated with both definitions of industrial robots and problems associated with power supply sources of mobile industrial robotics and provides an outline of future work with appropriate solution for smaller mobile industrial mobile units operating in the variable input range of 24V to 48v and outputs in the range of 3.3V to 12V @ 20A in three stages. The project required a fast, turn-key solution which did not allow for a “design from scratch” solution and so detailed herein is suitable design produced in other sectors and relating the details, design process, modelling and examination of a successful and efficient high current DC to DC switch mode power supply. Parameters have been adjusted to our own preferences in the design considerations regarding “Industrial Service Hybrids” [1] (ISH)1. Other design issues are under assessment and shall be included as the project moves forward.","PeriodicalId":102691,"journal":{"name":"2016 57th International Scientific Conference on Power and Electrical Engineering of Riga Technical University (RTUCON)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131424775","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：