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I
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8
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694
IJ
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Vo
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201
7
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593
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t
s
a
m
p
lin
g
s
c
h
e
m
e
is
p
r
ese
n
ted
w
h
ic
h
in
d
u
ce
s
f
ail
u
r
e
o
f
cu
r
r
e
n
t
li
m
iti
n
g
af
ter
t
h
e
eli
m
i
n
atio
n
o
f
r
ev
er
s
al
c
u
r
r
en
t
[
1
0
]
.
B
y
co
m
p
ar
ati
v
e
s
t
u
d
y
with
P
MSM
,
B
L
DC
m
o
to
r
h
as
ad
v
an
ta
g
es
o
f
h
i
g
h
s
p
ee
d
ad
j
u
s
tin
g
p
er
f
o
r
m
an
ce
an
d
p
o
w
er
d
en
s
i
t
y
[
1
1
]
.
So
,
th
e
B
L
D
C
m
o
to
r
is
t
h
e
id
ea
l
c
h
o
ice
f
o
r
t
h
e
C
MG
’
s
g
i
m
b
al
s
y
s
te
m
.
T
h
er
ef
o
r
e,
its
ap
p
licatio
n
in
th
e
h
i
g
h
p
r
ec
is
i
o
n
s
er
v
o
s
y
s
te
m
i
s
r
estricte
d
d
u
e
to
t
h
e
g
en
er
ated
elec
tr
o
m
ag
n
etic
to
r
q
u
e
r
ip
p
le
[
1
2
]
.
Fo
r
th
e
co
m
m
u
tatio
n
to
r
q
u
e
r
ip
p
le,
C
also
n
h
av
e
s
tated
th
at
r
elate
d
to
r
q
u
e
is
r
elate
d
to
cu
r
r
en
t
a
n
d
v
ar
ie
s
w
i
th
s
p
ee
d
[
1
3
]
.
L
ater
C
h
u
a
n
g
,
h
a
v
e
a
n
al
y
ze
d
t
h
e
i
n
f
lu
e
n
c
e
o
f
d
if
f
er
en
t
p
u
ls
e
w
id
t
h
m
o
d
u
latio
n
(
P
W
M)
p
at
ter
n
s
o
n
t
h
e
co
m
m
u
tatio
n
to
r
q
u
e
r
ip
p
le
ac
co
r
d
in
g
to
th
e
B
L
DC
m
o
to
r
s
w
ith
id
ea
l
tr
ap
ez
o
id
al
b
ac
k
E
MF
[
1
4
]
.
T
h
e
co
n
tr
o
l
s
c
h
e
m
e
f
o
r
th
e
e
f
f
icie
n
c
y
i
m
p
r
o
v
e
m
e
n
t
o
f
s
li
m
t
y
p
e
B
L
DC
m
o
to
r
is
r
ea
lized
i
n
[
1
5
]
.
Dir
ec
t
to
r
q
u
e
co
n
tr
o
l
f
o
r
r
ed
u
cin
g
co
m
m
u
tatio
n
to
r
q
u
e
r
ip
p
le
i
n
p
er
m
a
n
e
n
t
m
ag
n
e
t
B
L
DC
m
o
to
r
an
d
its
co
m
p
le
x
i
t
y
is
s
tu
d
ied
f
r
o
m
[
1
6
]
.
T
h
is
p
ap
er
p
r
o
p
o
s
es
a
SVP
W
M
b
ased
ap
p
r
o
ac
h
f
o
r
co
n
tr
o
llin
g
t
h
e
s
w
i
tch
i
n
g
p
u
l
s
es
to
t
h
e
VSI
an
d
th
er
eb
y
co
n
tr
o
lli
n
g
t
h
e
s
p
ee
d
o
f
th
e
m
o
to
r
w
it
h
th
e
m
i
n
i
m
i
ze
d
to
r
q
u
e
r
ip
p
le.
Fu
r
th
er
,
th
e
m
o
d
elin
g
o
f
s
p
ac
e
v
ec
to
r
s
ec
to
r
eq
u
atio
n
i
n
s
ec
t
io
n
I
V
lead
s
to
m
in
i
m
iza
tio
n
o
f
to
r
q
u
e
r
ip
p
le
r
esp
ec
tiv
e
l
y
.
T
h
e
ef
f
ic
ien
c
y
i
m
p
r
o
v
e
m
en
t
o
f
s
li
m
t
y
p
e
B
L
DC
m
o
to
r
is
co
n
f
ir
m
ed
u
s
i
n
g
MA
T
L
A
B
e
n
v
ir
o
n
m
en
t
an
d
l
o
w
co
s
t
T
I
P
icco
l
o
F2
8
0
3
5
m
icr
o
co
n
tr
o
ller
(
MC).
2
.
M
AT
H
E
M
AT
I
CAL
M
O
DE
L
I
N
G
o
f
B
L
DC
M
O
T
O
R
T
h
e
ch
ar
ac
ter
is
tic
a
n
al
y
s
is
d
ep
en
d
in
g
o
n
t
h
e
d
r
iv
e
t
y
p
e
[
1
7
]
an
d
to
r
q
u
e
r
ip
p
le
d
u
e
to
co
m
m
u
tatio
n
in
B
L
DC
m
o
to
r
[
1
8
]
h
av
e
b
ee
n
s
tu
d
ied
.
T
h
e
v
o
ltag
e
eq
u
atio
n
o
f
th
e
B
L
D
C
m
o
to
r
is
g
i
v
e
n
as,
(
1
)
(
2
)
(
3
)
Her
e
ar
e
th
e
b
ac
k
e
m
f
o
f
B
L
D
C
m
o
to
r
.
T
h
e
m
a
th
e
m
atica
l
m
o
d
el
o
f
B
L
DC
m
o
to
r
ca
n
b
e
ex
p
r
ess
ed
in
m
a
tr
ix
f
o
r
m
as,
(
4
)
W
h
er
e
,
an
d
ar
e
s
elf
-
i
n
d
u
ct
an
ce
a
n
d
,
,
,
,
an
d
ar
e
m
u
t
u
a
l
in
d
u
cta
n
ce
.
Fo
r
s
i
m
p
li
f
icatio
n
all
s
el
f
-
in
d
u
cta
n
ce
ar
e
ass
u
m
ed
as
an
d
all
m
u
tu
a
l
in
d
u
cta
n
c
e
ar
e
ass
u
m
ed
as
.
Sin
ce
it is
a
b
ala
n
ce
d
th
r
ee
p
h
ase
s
y
s
te
m
al
l r
esis
ta
n
ce
ar
e
eq
u
al
an
d
th
er
e
f
o
r
e,
(
5
)
R
ep
lacin
g
th
e
v
al
u
e
o
f
s
el
f
-
i
n
d
u
cta
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ce
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t
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al
i
n
d
u
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n
ce
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th
r
ee
p
h
ase
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esi
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tan
ce
,
E
q
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atio
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4
ca
n
b
e
w
r
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n
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a
ic
ac
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ab
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c
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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8
694
I
n
ve
s
tig
a
tio
n
o
f
S
lim Typ
e
B
LDC
Mo
to
r
Dr
ive
w
ith
To
r
q
u
e
R
ip
p
le
…
(
C
.
B
h
a
r
a
tir
a
ja
)
595
(
6
)
T
h
e
elec
tr
o
m
a
g
n
et
ic
to
r
q
u
e
o
f
th
e
B
L
D
C
m
o
to
r
is
e
x
p
r
ess
ed
as,
(
7
)
I
n
ter
m
s
o
f
an
g
u
lar
v
elo
cit
y
,
t
h
e
elec
tr
o
m
a
g
n
et
ic
to
r
q
u
e
o
f
B
L
DC
m
o
to
r
is
ex
p
r
ess
ed
as,
(
8
)
T
h
e
tr
an
s
f
er
f
u
n
ctio
n
o
f
B
L
D
C
m
o
to
r
is
,
(
9
)
W
h
er
e
an
d
ar
e
th
e
m
ec
h
an
ica
l ti
m
e
co
n
s
ta
n
t a
n
d
elec
tr
ical
t
i
m
e
co
n
s
tan
t r
esp
ec
tiv
el
y
.
3
.
SPAC
E
VE
CT
O
R
P
U
L
SE
W
I
DT
H
M
O
DULAT
I
O
N
T
h
e
SVP
W
M
tech
n
iq
u
e
h
as
b
ec
o
m
e
a
p
o
p
u
lar
P
W
M
te
ch
n
iq
u
e
f
o
r
th
r
ee
-
p
h
ase
v
o
lt
ag
e
-
s
o
u
r
ce
in
v
er
ter
s
(
VSI
)
in
ap
p
licatio
n
s
s
u
c
h
as
co
n
tr
o
l
o
f
A
C
i
n
d
u
c
tio
n
an
d
p
er
m
a
n
en
t
-
m
a
g
n
et
s
y
n
c
h
r
o
n
o
u
s
m
o
to
r
s
.
T
h
e
d
r
aw
b
ac
k
s
o
f
th
e
s
i
n
u
s
o
i
d
al
P
W
M
an
d
h
y
s
ter
es
is
-
b
an
d
cu
r
r
en
t
c
o
n
tr
o
l
ar
e
r
ed
u
ce
d
u
s
in
g
th
is
tec
h
n
iq
u
e.
I
n
s
tead
o
f
u
s
i
n
g
a
s
ep
ar
ate
m
o
d
u
lato
r
f
o
r
ea
ch
o
f
th
e
t
h
r
ee
p
h
ases
i
n
th
e
co
n
v
e
n
tio
n
al
tech
n
iq
u
e
s
,
th
e
co
m
p
le
x
r
e
f
er
en
ce
v
o
lta
g
e
v
e
cto
r
s
p
r
o
ce
s
s
ed
as
a
w
h
o
le.
T
h
er
ef
o
r
e,
th
e
in
ter
ac
tio
n
b
et
wee
n
t
h
e
t
h
r
ee
m
o
to
r
p
h
ase
s
is
co
n
s
id
er
ed
.
I
t
h
as
b
ee
n
s
h
o
w
n
,
th
a
t
SVP
W
M
g
en
er
ates
les
s
h
ar
m
o
n
ic
d
is
to
r
ti
o
n
in
b
o
th
o
u
tp
u
t
v
o
ltag
e
a
n
d
cu
r
r
en
t
ap
p
lied
to
th
e
p
h
ases
o
f
a
n
A
C
m
o
to
r
an
d
p
r
o
v
id
es
a
m
o
r
e
ef
f
icie
n
t
u
s
e
o
f
t
h
e
s
u
p
p
l
y
v
o
ltag
e
in
co
m
p
ar
is
o
n
w
it
h
s
i
n
u
s
o
id
al
m
o
d
u
latio
n
tec
h
n
i
q
u
es
[
1
9
]
.
SVP
W
M
p
r
o
v
id
es
a
co
n
s
ta
n
t
s
w
i
tch
in
g
f
r
eq
u
en
c
y
a
n
d
th
er
ef
o
r
e
t
h
e
s
w
itc
h
i
n
g
f
r
eq
u
e
n
c
y
ca
n
b
e
ad
ju
s
ted
ea
s
il
y
.
A
lt
h
o
u
g
h
SVP
W
M
is
m
o
r
e
co
m
p
lica
ted
th
an
s
i
n
u
s
o
id
al
P
W
M
an
d
h
y
s
ter
is
is
b
an
d
cu
r
r
en
t
co
n
tr
o
l,
it
m
a
y
b
e
i
m
p
le
m
en
ted
ea
s
il
y
w
it
h
m
o
d
er
n
DSP
b
ased
co
n
tr
o
l
s
y
s
te
m
s
[
2
0
]
.
T
h
is
tech
n
iq
u
e
is
co
m
m
o
n
l
y
u
s
ed
f
o
r
th
e
co
n
tr
o
l o
f
AC
i
n
d
u
ctio
n
,
B
L
D
C
an
d
S
w
itc
h
ed
R
el
u
cta
n
ce
m
o
to
r
s
.
A
t
h
r
ee
-
p
h
a
s
e
in
v
er
ter
v
ia
a
s
er
ies
o
f
s
w
itch
e
s
is
co
n
n
ec
ted
to
a
th
r
ee
-
p
h
ase
B
L
DC
m
o
to
r
th
r
o
u
g
h
th
r
ee
o
u
tp
u
t
le
g
s
.
T
h
e
s
w
i
t
ch
e
s
m
u
s
t
b
e
co
n
tr
o
lled
s
o
th
at
at
n
o
ti
m
e,
b
o
th
s
w
itch
e
s
i
n
th
e
s
a
m
e
le
g
is
t
u
r
n
e
d
o
n
o
r
else
t
h
e
D
C
s
u
p
p
l
y
w
o
u
l
d
b
e
s
h
o
r
ted
.
T
h
is
r
eq
u
ir
e
m
en
t
m
a
y
b
e
m
et
b
y
t
h
e
co
m
p
le
m
en
tar
y
o
p
er
atio
n
o
f
th
e
s
w
itc
h
es
w
it
h
i
n
a
leg
.
i.e
.
,
if
A
+
is
o
n
th
e
n
A
−
is
o
f
f
an
d
v
ic
e
v
er
s
a.
T
h
is
lead
s
to
eig
h
t
p
o
s
s
ib
le
s
w
i
tch
i
n
g
v
ec
to
r
s
f
o
r
th
e
in
v
er
ter
,
V0
th
r
o
u
g
h
V7
w
it
h
s
i
x
ac
tiv
e
s
w
i
t
ch
in
g
v
ec
to
r
s
an
d
t
w
o
ze
r
o
v
ec
to
r
s
.
T
h
e
s
elec
tio
n
o
f
v
ec
to
r
s
d
ep
en
d
s
u
p
o
n
th
e
r
ef
er
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ce
v
ec
to
r
,
ter
m
i
n
al
v
o
lt
ag
e
an
d
ti
m
e
d
u
r
atio
n
.
Fi
g
u
r
e
1
s
h
o
w
s
t
h
e
b
asic
la
y
o
u
t o
f
s
p
ac
e
v
ec
to
r
r
ep
r
esen
tatio
n
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F
ig
u
r
e
1
.
Sp
ac
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to
r
r
ep
r
ese
n
tatio
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c
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dt
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0
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e
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dt
d
J
T
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
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2
0
8
8
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8
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IJ
PEDS
Vo
l.
8
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No
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2
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u
n
e
201
7
:
593
–
6
0
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596
T
h
e
r
ef
er
en
ce
v
ec
to
r
is
r
ep
r
es
en
ted
i
n
a
α
β
-
p
lan
e.
T
h
i
s
is
a
t
w
o
-
d
i
m
e
n
s
io
n
al
p
la
n
e
tr
a
n
s
f
o
r
m
ed
f
r
o
m
a
th
r
ee
-
d
i
m
e
n
s
io
n
al
p
lan
e
co
n
tai
n
in
g
th
e
v
ec
to
r
s
o
f
t
h
e
t
h
r
ee
p
h
a
s
es.
T
h
e
s
w
itc
h
es
b
ein
g
ON
o
r
OF
F
i
s
d
eter
m
in
ed
b
y
t
h
e
lo
ca
tio
n
o
f
th
e
r
ef
er
e
n
ce
v
ec
to
r
o
n
t
h
is
α
β
-
p
la
n
e.
T
h
er
e
ex
is
t
s
s
i
x
s
w
i
tc
h
es
n
a
m
el
y
1
,
2
,
3
,
4
,
5
,
an
d
6
am
o
n
g
w
h
ich
t
h
e
s
w
itc
h
e
s
1
,
3
,
5
ar
e
th
e
u
p
p
er
s
w
itc
h
e
s
an
d
i
f
t
h
ese
ar
e
1
(
s
ep
ar
atel
y
o
r
to
g
et
h
er
)
it
tu
r
n
s
t
h
e
u
p
p
er
in
v
er
ter
le
g
ON
an
d
t
h
e
ter
m
in
a
l
v
o
lta
g
e
(
Va,
Vb
,
Vc)
is
p
o
s
itiv
e
(
+
V
DC
)
.
I
f
t
h
e
u
p
p
er
s
w
itc
h
es
ar
e
ze
r
o
,
th
e
n
th
e
t
er
m
in
a
l
v
o
lta
g
e
is
ze
r
o
)
.
T
h
e
lo
w
er
s
w
i
tch
e
s
ar
e
co
m
p
le
m
en
tar
y
to
t
h
e
u
p
p
er
s
w
itc
h
es,
s
o
th
e
o
n
l
y
p
o
s
s
ib
le
co
m
b
i
n
atio
n
s
ar
e
th
e
s
w
itch
i
n
g
s
ta
tes:
0
0
0
,
0
0
1
,
0
1
0
,
0
1
1
,
1
0
0
,
1
1
0
,
1
1
0
an
d
1
1
1
.
T
h
is
m
ea
n
s
th
at
t
h
er
e
ar
e
8
p
o
s
s
ib
le
s
w
itc
h
i
n
g
s
tates,
f
o
r
w
h
ic
h
t
w
o
o
f
th
e
m
ar
e
ze
r
o
s
w
itc
h
i
n
g
s
tate
s
an
d
s
i
x
o
f
t
h
e
m
ar
e
ac
ti
v
e
s
witch
i
n
g
s
tate
s
.
T
h
ese
ar
e
r
ep
r
e
s
en
ted
b
y
ac
ti
v
e
(
V1
-
V6
)
an
d
ze
r
o
(
V0
)
v
ec
to
r
s
.
T
h
e
ze
r
o
v
ec
to
r
s
ar
e
p
lace
d
i
n
t
h
e
a
x
i
s
o
r
ig
in
.
V
ref
ca
n
b
e
f
o
u
n
d
w
it
h
t
w
o
ac
ti
v
e
an
d
o
n
e
ze
r
o
v
ec
to
r
.
Fo
r
s
ec
to
r
1
,
Vr
ef
ca
n
b
e
lo
ca
ted
w
it
h
V0
,
V1
a
n
d
V2
.
Si
m
i
lar
ly
,
f
o
r
ea
ch
s
ec
to
r
th
er
e
ar
e
7
s
w
itc
h
in
g
s
tates
f
o
r
ea
ch
c
y
cle.
I
t
al
w
a
y
s
s
tar
ts
a
n
d
en
d
s
w
it
h
a
ze
r
o
v
ec
to
r
.
T
h
is
also
m
ea
n
s
t
h
at
th
er
e
is
n
o
ex
tr
a
s
w
itc
h
i
n
g
s
tate
n
ee
d
ed
w
h
e
n
ch
a
n
g
in
g
th
e
s
e
cto
r
.
T
h
e
u
n
ev
e
n
n
u
m
b
er
s
tr
a
v
el
co
u
n
ter
clo
ck
w
i
s
e
in
ea
ch
s
ec
to
r
an
d
th
e
ev
en
s
ec
to
r
s
tr
av
el
clo
ck
w
i
s
e.
T
h
e
d
u
t
y
c
y
cle
f
o
r
s
ec
to
r
1
,
g
o
es
th
r
o
u
g
h
t
h
e
s
w
i
tch
i
n
g
s
tate
s
:
(
0
0
0
-
100
-
1
1
0
-
111
-
110
-
100
-
0
0
0
)
,
o
n
e
r
o
u
n
d
an
d
th
en
b
ac
k
ag
a
in
.
Fo
llo
w
i
n
g
t
h
e
p
atter
n
f
o
r
ea
ch
s
ec
to
r
,
r
esu
lts
i
n
an
ON/
OF
F
w
a
v
e
f
o
r
m
f
o
r
ea
c
h
s
ec
to
r
an
d
p
h
ase.
E
ac
h
s
w
itc
h
h
as
it
s
s
w
itc
h
i
n
g
i
n
f
o
r
m
atio
n
d
ep
en
d
in
g
o
n
w
h
er
e
th
e
r
ef
er
en
ce
v
ec
to
r
is
lo
ca
ted
.
F
o
r
th
e
s
w
i
tch
e
s
to
k
n
o
w
t
h
at
i
t
s
h
o
u
ld
b
e
s
w
itc
h
ed
ON
at
t
h
ese
s
p
ec
if
ic
ti
m
es,
r
eq
u
ir
es
a
ti
m
er
th
at
ca
n
g
i
v
e
th
is
i
n
f
o
r
m
atio
n
.
Dev
ices
li
k
e
a
r
am
p
o
r
a
r
e
p
ea
ted
s
eq
u
en
ce
ca
n
b
e
u
s
ed
as
a
r
ef
er
en
ce
.
T
h
u
s
th
e
b
ase
o
f
th
e
SVP
W
M
lies
o
n
th
e
r
ef
er
en
ce
v
ec
to
r
,
ti
m
e
in
ter
v
al
an
d
th
e
s
w
itc
h
i
n
g
s
eq
u
en
ce
.
No
te
th
at,
th
e
v
ec
t
o
r
s
V0
an
d
V7
ar
e
t
h
e
ze
r
o
v
ec
to
r
s
a
n
d
V1
to
V6
ar
e
th
e
ac
ti
v
e
v
ec
to
r
s
r
esp
ec
tiv
el
y
.
4
.
P
RO
P
O
SE
D
SVPWM
T
O
P
O
L
O
G
Y
f
o
r
T
O
RQ
UE
R
I
P
P
L
E
M
I
NIM
I
Z
AT
I
O
N
T
h
e
SVP
W
M
s
ch
e
m
e
f
o
r
s
l
i
m
t
y
p
e
B
L
D
C
m
o
to
r
is
d
if
f
er
en
t
f
r
o
m
th
at
o
f
p
er
m
a
n
e
n
t
m
ag
n
e
t
s
y
n
ch
r
o
n
o
u
s
m
o
to
r
f
o
r
it
s
tu
r
n
-
o
f
f
p
h
ase
a
n
d
tr
ap
ez
o
id
al
b
ac
k
elec
tr
o
m
o
ti
v
e
f
o
r
ce
.
T
h
is
s
ch
e
m
e
is
i
m
p
le
m
en
ted
f
o
r
its
s
u
p
er
io
r
it
y
o
v
er
o
th
er
P
W
M
tech
n
iq
u
es.
SVP
W
M
h
as
in
cr
ea
s
ed
o
u
tp
u
t
w
it
h
o
u
t
m
u
c
h
d
is
to
r
tio
n
.
T
h
e
o
u
tp
u
t
is
ab
o
u
t
9
0
.
7
%
w
h
ic
h
is
1
5
%
g
r
ea
ter
th
an
s
in
u
s
o
id
al
P
W
M
7
8
.
5
5
%
.
T
h
is
m
et
h
o
d
co
m
p
ar
es a
s
in
g
le
m
o
d
u
lati
n
g
w
a
v
e
w
it
h
a
ca
r
r
ier
in
s
tead
o
f
u
s
i
n
g
th
r
ee
w
a
v
es.
W
h
en
th
e
n
e
u
tr
al
o
f
th
e
lo
ad
is
co
n
n
ec
ted
to
a
DC
s
u
p
p
l
y
v
o
lta
g
e,
it
co
n
s
id
er
s
i
n
ter
ac
ti
o
n
a
m
o
n
g
p
h
ases
w
h
er
ea
s
o
t
h
er
P
W
M
s
ch
e
m
e
d
o
es
n
o
t.
S
w
itc
h
i
n
g
lo
s
s
es
co
m
p
u
tat
io
n
is
ea
s
ier
i
n
SVP
W
M
co
m
p
ar
ed
to
s
in
e
P
W
M
w
h
ic
h
d
ep
en
d
s
o
n
MI
.
Fig
u
r
e
2
s
h
o
w
s
p
r
o
p
o
s
ed
clo
s
ed
lo
o
p
co
n
tr
o
l
s
y
s
te
m
f
o
r
to
r
q
u
e
r
ip
p
le
m
i
n
i
m
is
at
io
n
u
s
i
n
g
S
VP
W
M
s
ch
e
m
e.
Fig
u
r
e
2
.
Sch
e
m
atic
L
a
y
o
u
t
o
f
T
h
e
Pro
p
o
s
ed
T
o
p
o
lo
g
y
T
h
e
s
ch
e
m
atic
la
y
o
u
t
i
s
r
ea
liz
ed
in
M
A
T
L
A
B
e
n
v
ir
o
n
m
en
t.
MO
SF
E
T
’
s
ar
e
u
s
ed
f
o
r
its
u
n
iq
u
e
s
u
p
er
io
r
ities
o
v
er
o
th
er
s
w
i
tch
in
g
d
e
v
ices.
T
h
e
elec
tr
ical
p
ar
a
m
eter
e
s
t
i
m
atio
n
is
d
o
n
e
b
y
m
o
d
eli
n
g
o
f
t
h
e
m
e
n
tio
n
ed
eq
u
atio
n
s
.
T
h
e
s
ec
to
r
N
is
g
iv
en
b
y
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2088
-
8
694
I
n
ve
s
tig
a
tio
n
o
f
S
lim Typ
e
B
LDC
Mo
to
r
Dr
ive
w
ith
To
r
q
u
e
R
ip
p
le
…
(
C
.
B
h
a
r
a
tir
a
ja
)
597
[
]
[
(
)
]
[
(
)
]
(
1
0
)
No
te
th
at
p
o
s
iti
v
e
v
al
u
es o
f
an
d
ar
e
o
n
ly
ta
k
en
,
(
1
1
)
[
]
(
1
2
)
[
]
(
1
3
)
T
h
e
s
ix
ac
tiv
e
s
ec
to
r
s
ar
e
g
i
v
e
n
b
y
t
h
e
eq
u
atio
n
s
,
[
]
[
]
(
1
4
)
[
]
[
]
(
1
5
)
[
]
[
]
(
1
6
)
[
]
[
]
(
1
7
)
[
]
[
]
(
1
8
)
[
]
[
]
(
1
9
)
T
h
e
ON
co
n
d
itio
n
f
o
r
th
e
t
h
r
ee
p
h
ases
is
m
o
d
eled
as,
[
]
(
2
0
)
(
2
1
)
(
2
2
)
T
h
e
ab
o
v
e
m
en
t
io
n
ed
eq
u
ati
o
n
s
h
av
e
b
ee
n
m
o
d
eled
i
n
t
h
e
SVP
W
M
b
lo
ck
u
s
i
n
g
Si
m
u
lin
k
e
n
v
ir
o
n
m
en
t
r
esp
ec
tiv
el
y
.
5
.
SI
M
UL
AT
I
O
N
R
E
SU
L
T
S
T
est s
i
m
u
latio
n
s
p
r
o
v
e
t
h
e
e
f
f
i
cien
c
y
o
f
t
h
e
p
r
o
p
o
s
ed
SVPW
M
d
r
iv
e
s
y
s
te
m
o
f
t
h
e
s
e
n
s
o
r
l
ess
B
L
D
C
m
o
to
r
.
T
h
e
B
L
DC
m
o
to
r
is
ca
p
ab
le
o
f
o
p
er
atin
g
in
b
et
w
ee
n
1
2
V
to
3
1
0
V.
T
h
e
P
MSM
w
it
h
tr
ap
ez
o
id
al
b
ac
k
E
MF
is
co
n
s
id
er
ed
to
b
e
a
B
L
D
C
m
o
to
r
f
o
r
b
o
th
s
en
s
o
r
ed
an
d
s
en
s
o
r
les
s
co
n
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.
RE
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NC
E
S
[
1
]
Miller
,
T
.
J
.
E
.
,
B
r
u
s
h
les
s
P
M
an
d
r
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Ne
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k
,
1
9
8
9
)
[
2
]
I
lh
w
an
,
K.
,
No
b
u
ak
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N.
,
Su
n
g
s
o
o
,
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,
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h
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P
.
,
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,
Yu
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v
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C
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tr
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n
g
.
P
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ct
.
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1
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,
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6
–
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0
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
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0
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8
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[
3
]
Ki
m
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.
H.
,
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s
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s
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.
[
4
]
Vis
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a
n
ath
a
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V.
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ee
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S.,
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ed
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ctio
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o
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b
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d
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A
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ci.
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g
.
,
3
8
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1
0
)
,
p
p
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1
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7
3
–
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7
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4
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.
[
5
]
C
.
S.
B
er
en
d
s
e
n
,
G.
C
h
a
m
p
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n
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d
A
.
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o
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m
m
u
tatio
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C
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;
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s
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[
6
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Giu
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ele
B
er
to
lu
zz
o
an
d
R
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h
Ku
m
ar
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r
i,
T
o
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e
R
ip
p
le
-
Fre
e
Op
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o
f
P
MB
L
DC
Dr
i
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w
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h
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etal
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W
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e
C
u
r
r
en
t
S
u
p
p
l
y
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I
E
E
E
Tr
a
n
s
a
ctio
n
s
o
n
I
n
d
u
s
tr
ia
l
E
l
ec
tr
o
n
ics
,
Vo
l.
6
2
,
No
.
7
,
J
u
l
y
2
0
1
5
.
[
7
]
J
ian
ch
e
n
g
Fa
n
g
,
Haitao
L
i
an
d
B
an
g
c
h
en
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Han
,
“
T
o
r
q
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e
R
ip
p
le
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ed
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D
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h
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id
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l B
ac
k
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m
f
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E
E
E
Tr
a
n
s
a
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n
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o
n
I
n
d
u
s
tr
ia
l E
lectro
n
ics,
v
o
l
.
6
2
,
No
.
7
,
J
u
ly
2
0
1
5
.
[
8
]
An
a
n
d
Sat
h
y
a
n
,
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k
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la
Mili
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ev
ic,
Yo
u
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J
o
o
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ee
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n
d
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h
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s
h
n
a
m
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y
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FP
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A
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ased
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el
Dig
ital
P
W
M
C
o
n
tr
o
l
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e
m
e
f
o
r
B
L
D
C
Mo
to
r
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iv
es,
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E
E
E
T
r
a
n
s
a
ctio
n
s
o
n
I
n
d
u
s
tr
ia
l
E
lectro
n
ics
,
Vo
l.
5
6
,
No
.
8
,
A
u
g
u
s
t 2
0
0
9
.
[
9
]
C
h
a
n
g
lia
n
g
Xia
a
n
d
Xi
n
m
i
n
L
i.,
Z
-
So
u
r
ce
I
n
v
er
ter
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B
ased
A
p
p
r
o
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h
to
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e
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er
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r
o
s
s
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p
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t
Dete
ctio
n
o
f
B
ac
k
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M
F
f
o
r
S
en
s
o
r
les
s
B
r
u
s
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les
s
D
C
Mo
to
r
,
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E
E
E
Tr
a
n
s
a
ctio
n
s
o
n
P
o
w
er
E
lectro
n
ics
,
v
o
l.
3
0
,
No
.
3
,
Ma
r
ch
2
0
1
5
.
[
1
0
]
C
.
B
h
ar
atir
aj
a,
S.
J
ee
v
an
an
th
an
,
J
.
L
.
Mu
n
d
a,
an
d
R
.
L
ath
a,
“
I
m
p
r
o
v
ed
SVP
W
M
v
ec
to
r
s
elec
tio
n
ap
p
r
o
ac
h
es
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io
n
to
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ce
co
m
m
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n
-
m
o
d
e
v
o
ltag
e
f
o
r
th
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le
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el
n
e
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tr
al
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o
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cla
m
p
ed
in
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er
ter
,
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n
tern
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tio
n
a
l
J
o
u
r
n
a
l
o
f
E
lectri
ca
l
P
o
w
er
&
E
n
erg
y
S
ystems
.
,
v
o
l.
7
9
,
n
o
.
1
,
p
p
.
2
8
5
–
2
9
7
,
J
u
l
y
2
0
1
6
.
[
1
1
]
T.
-
H.
Ki
m
a
n
d
M.
E
h
s
a
n
i.,
Se
n
s
o
r
les
s
co
n
tr
o
l
o
f
t
h
e
B
L
DC
m
o
to
r
s
f
r
o
m
n
ea
r
-
ze
r
o
to
h
i
g
h
s
p
ee
d
s
,
IEEE
Tr
a
n
s
.
P
o
w
er E
lectro
n
.,
Vo
l.
1
9
,
N
o
.
6
,
p
p
.
1
6
3
5
–
1
6
4
5
,
N
o
v
.
2
0
0
4
.
[
1
2
]
D.
C
h
en
a
n
d
J
.
C
.
Fan
g
.
,
“
C
o
m
m
u
ta
tio
n
to
r
q
u
e
r
ip
p
le
r
ed
u
ctio
n
i
n
P
M
b
r
u
s
h
les
s
D
C
m
o
to
r
w
i
th
n
o
n
id
ea
l
tr
ap
ez
o
id
al
b
ac
k
E
MF”,
in
P
r
o
c.
C
SEE
,
Oct.
2
0
0
8
,
Vo
l.
2
8
,
N
o
.
3
0
,
p
p
.
7
9
–
83
.
[
1
3
]
R
.
C
al
s
o
n
,
L
.
-
M.
Milc
h
el,
an
d
J
.
C
.
Fag
u
n
d
es.,
An
al
y
s
i
s
o
f
to
r
q
u
e
r
ip
p
le
d
u
e
to
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ase
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o
m
m
u
tatio
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n
b
r
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s
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le
s
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d
c
m
ac
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n
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E
E
E
Tr
a
n
s
.
I
n
d
.
A
p
p
l
.
,
v
o
l.
2
8
,
n
o
.
3
,
p
p
.
6
3
2
–
6
3
8
,
Ma
y
/J
u
n
.
1
9
9
2
.
[
1
4
]
H.
S.
C
h
u
an
g
a
n
d
Y.
-
L
.
Ke,
An
al
y
s
i
s
o
f
co
m
m
u
tatio
n
to
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q
u
e
r
ip
p
le
u
s
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n
g
d
if
f
er
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t
P
W
M
m
o
d
es
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n
B
L
DC
m
o
to
r
s
,
in
C
o
n
f
.
R
ec
.
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E
E
E
I
n
d
.
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o
m
m
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y
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T
ec
h
.
C
o
n
f
.
,
2
0
0
9
,
p
p
.
1
–
6
[
1
5
]
J
u
n
-
H
y
u
k
C
h
o
i,
J
o
o
n
Su
n
g
P
ar
k
,
J
in
-
Ho
n
g
Ki
m
,
a
n
d
I
n
-
S
o
u
n
g
J
u
n
g
.
,
C
o
n
tr
o
l
Sc
h
e
m
e
f
o
r
E
f
f
icien
c
y
I
m
p
r
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v
e
m
e
n
t
o
f
s
li
m
t
y
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e
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L
D
C
Mo
to
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,
I
n
ter
n
atio
n
al
S
y
m
p
o
s
i
u
m
o
n
P
o
w
er
E
lectr
o
n
ics,
E
lectr
ica
l
Dr
iv
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Au
to
m
a
tio
n
an
d
Mo
ti
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n
,
2
0
1
4
.
[
1
6
]
L
i
u
,
Y.
,
Z
h
u
,
Z
.
Q.
,
Ho
w
e,
D.
,
C
o
m
m
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ta
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p
le
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izatio
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n
d
ir
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t
-
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e
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co
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tr
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M
b
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E
Tr
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n
s
.
I
n
d
.
A
p
p
l
.
,
4
3
,
(
4
)
,
p
p
.
1
0
1
2
–
1
0
1
7
,
2
0
0
7
.
[
1
7
]
L
ee
,
J
.
G.
,
P
ar
k
,
C
.
S.,
L
ee
,
J
.
J
.
,
L
ee
,
G.
H.
,
C
h
o
,
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O.
,
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n
g
,
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.
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.
,
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h
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g
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r
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s
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Ko
r
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n
s
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E
lectr
.
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n
g
.
,
5
,
p
p
.
5
8
9
–
5
9
1
,
2
0
0
2
.
[
1
8
]
C
ar
ls
o
n
,
R
.
,
L
aj
o
ie
-
Ma
ze
n
c,
M.
,
Fag
u
n
d
es,
J
.
C
.
S.,
An
al
y
s
i
s
o
f
to
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q
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co
m
m
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b
r
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s
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les
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m
ac
h
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E
E
E
Tr
a
n
s
.
I
n
d
.
A
p
p
l
.
,
2
8
,
(
3
)
,
p
p
.
6
3
2
–
6
3
8
,
1
9
9
2
.
[
1
9
]
C
.
B
h
ar
atir
aj
a,
S.R
ag
h
u
,
P
.
R
ao
,
K.
R
.
S.P
alin
ia
m
y
,
“Co
m
p
ar
at
iv
e
An
al
y
s
is
o
f
Di
f
f
er
e
n
t
P
W
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T
ec
h
n
iq
u
es
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ed
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ce
th
e
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o
m
m
o
n
Mo
d
e
Vo
ltag
e
in
T
h
r
ee
-
lev
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l
Neu
tr
al
-
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o
in
t
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la
m
p
ed
I
n
v
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ter
s
f
o
r
Var
iab
le
Sp
ee
d
I
n
d
u
ctio
n
Dr
i
v
es”,
I
n
ter
n
a
tio
n
a
l
Jo
u
r
n
a
l
o
f
P
o
w
er
E
lectro
n
ics
a
n
d
Dri
ve
S
ystems
,
v
o
l.3
,
I
s
s
u
e
1
,
P
ag
es 1
0
5
-
1
1
6
,
Ma
r
ch
2
0
1
3
.
[
2
0
]
C
.
B
h
ar
atir
aj
a,
Har
s
h
av
ar
d
h
a
n
R
ed
d
y
,
N.
Sri
R
a
m
s
ai,
an
d
Su
n
k
a
v
alli
Sat
y
a
Sai
s
u
m
a
“
FP
G
A
B
ased
Desig
n
a
n
d
Valid
atio
n
o
f
A
s
y
m
m
etr
ica
l
R
ed
u
ce
d
S
w
itc
h
Mu
ltil
e
v
el
I
n
v
er
ter
,
I
n
tern
a
tio
n
a
l
Jo
u
r
n
a
l
o
f
P
o
w
er E
lectro
n
ics
a
n
d
Dri
ve
S
ystem
(
I
JP
E
DS
)
,
Vo
l.
7
,
No
.
2
,
p
p
.
3
4
0
-
3
4
8
,
J
u
n
e
2
0
1
6
.
[
2
1
]
C
.
B
h
ar
atir
aj
a,
S.J
ee
v
an
an
t
h
a
n
,
R
.
L
at
h
a,
“
Vec
to
r
Select
io
n
Ap
p
r
o
ac
h
-
b
ased
Hex
a
g
o
n
al
H
y
s
ter
esis
Sp
ac
e
Vec
to
r
C
u
r
r
e
n
t
C
o
n
tr
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ller
f
o
r
a
T
h
r
ee
-
p
h
a
s
e
Dio
d
e
C
la
m
p
ed
ML
I
w
i
th
C
ap
ac
ito
r
Vo
lta
g
e
B
alan
c
in
g
”
,
I
E
T P
o
w
er E
lectro
n
ics,
v
o
l.9
,
I
s
s
u
e
7
,
p
p
.
1
3
5
0
-
1
3
6
1
,
8
J
u
n
e
2
0
1
6
.
[
2
2
]
C
.
B
h
ar
atir
aj
a,
J
L
m
u
n
d
a
,
Srir
am
s
ai
N,
Sai
Na
v
en
ee
s
h
T
,“
I
n
v
esti
g
a
tio
n
o
f
t
h
e
C
o
m
m
o
n
Mo
d
e
Vo
ltag
e
f
o
r
a
Neu
tr
al
-
P
o
in
t
-
C
la
m
p
ed
Mu
ltil
ev
el
I
n
v
er
ter
Dr
iv
e
a
n
d
its
in
n
o
v
ati
v
e
eli
m
in
a
tio
n
t
h
r
o
u
g
h
SVP
W
M
S
w
itc
h
in
g
-
State
R
ed
u
n
d
a
n
c
y
”
,
I
n
tern
a
tio
n
a
l
Jo
u
r
n
a
l
o
f
P
o
w
er
E
lect
r
o
n
ics
a
n
d
Dri
ve
S
ys
tems,
Vo
l
7
,
No
3
:
P
ag
es 1
2
5
-
146
.
Sep
tem
b
er
2
0
1
6
,
[
2
3
]
C
.
B
h
ar
atir
aj
a,
R
.
L
ath
a,
Dr
.
S.
J
ee
v
an
an
t
h
a
n
,
S.
R
ag
h
u
a
n
d
Dr
.
S.S.
Dash
.
“
De
s
i
g
n
an
d
Valid
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n
o
f
Si
m
p
le
Sp
ac
e
Vec
to
r
P
W
M
Sch
e
m
e
f
o
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r
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ev
el
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C
-
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th
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v
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g
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f
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n
k
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m
b
alan
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s
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n
g
FP
GA
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P
C
o
r
e”
,
Jo
u
r
n
a
l
o
f E
lectric
a
l E
n
g
i
n
ee
r
in
g
,
v
o
l.
1
3
,
ed
itio
n
1
,
p
p
5
4
-
6
3
,
2
0
1
3
.
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