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4
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6
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1697
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er
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h
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d
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ical
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2
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2
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29
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Su
b
s
ti
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h
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d
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g
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e
r
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lta
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to
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to
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f
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2
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a
te
d
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3
1
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3
.
1
Ca
lcula
t
io
n
o
f
Ra
t
ed
T
o
rque
Un
d
er
n
o
-
lo
ad
&
r
ated
co
n
d
iti
o
n
,
r
ated
to
r
q
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is
g
iv
e
n
b
y
:
T
L
=T
e=
T
s
h
=
P
n
/ω
n
≈
5
N
-
m
.
(
3
2
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A
ll t
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(
1
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to
(
3
2
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ar
e
in
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d
ed
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lier
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ted
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m
f
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d
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m
m
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n
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ed
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o
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v
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cu
r
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ts
a
n
d
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l
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s
ar
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m
p
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ted
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3
.
2
Sp
ee
d Co
ntr
o
ller
T
h
e
m
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s
t c
o
m
m
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n
l
y
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s
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tr
o
ller
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o
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th
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p
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n
tr
o
l o
f
in
d
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ctio
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to
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is
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n
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e
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ti
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I
co
n
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o
ller
.
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h
e
tr
an
s
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er
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n
tr
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g
i
v
e
n
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y
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K
s
K
s
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p
c
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(
3
3
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r
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p
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n
a
n
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t
h
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i
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te
g
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g
ain
,
Kp
&
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i,
ar
e
t
h
e
p
ar
a
m
eter
s
o
f
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I
co
n
tr
o
ller
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h
ese
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ar
a
m
eter
s
ar
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m
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ed
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s
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g
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an
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al
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e.
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n
m
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al
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ce
s
s
,
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itiall
y
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w
a
s
k
e
p
t
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al
to
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eq
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al
to
0
.
0
0
0
1
.
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h
en
,
Kp
w
as
in
cr
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s
ed
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th
e
o
u
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s
h
o
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o
m
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s
ci
llatio
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s
.
T
h
en
K
i
w
a
s
c
h
an
g
ed
to
r
e
m
o
v
e
s
tead
y
s
tate
er
r
o
r
.
3
.
3
S
elec
t
io
n
o
f
Dc
Vo
lt
a
g
e
(V
DC
):
T
h
e
in
d
u
ctio
n
m
o
to
r
is
f
ed
b
y
a
cu
r
r
en
t
-
co
n
tr
o
lled
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W
M
in
v
er
ter
w
h
ic
h
h
a
s
2
-
v
o
ltag
e
le
v
els.
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r
a
2
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lev
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l
v
o
ltag
e,
li
n
e
-
to
-
l
in
e
v
o
ltag
e
i
s
:
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d
c
m
V
i
n
d
e
x
L
L
*
*
612
.
0
Sin
ce
m
o
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u
latio
n
in
d
e
x
≤
1
,
DC
lin
k
v
o
ltag
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i
s
:
612
.
0
L
L
DC
V
V
(
3
4
)
So
th
e
in
v
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ter
is
b
u
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lt
w
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h
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d
c=
7
0
0
V
o
lts
.
4
.
DE
V
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L
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P
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NT
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F
SI
M
UL
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L
B
ased
o
n
th
e
eq
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atio
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s
p
r
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e
s
ec
tio
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3
an
d
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s
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v
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s
to
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b
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av
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le
in
th
e
SIM
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NK
l
ib
r
ar
y
,
m
o
d
el
is
d
ev
elo
p
ed
f
o
r
ea
ch
b
lo
ck
.
Step
b
y
s
tep
d
ev
elo
p
m
e
n
t o
f
m
o
d
el
is
p
r
esen
ted
h
er
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2088
-
8
694
S
imu
la
tio
n
o
f
a
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to
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n
d
u
ctio
n
Mo
t
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r
Dri
ve
…
(
V
ivek
V
.
P
u
r
a
n
ik
)
1699
4
.
1
Sp
ee
d Re
g
ula
t
o
r
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lo
ck
As
m
e
n
tio
n
ed
in
s
ec
tio
n
3
.
2
,
th
e
co
m
m
o
n
l
y
u
s
ed
s
p
ee
d
r
eg
u
lato
r
is
co
n
v
e
n
tio
n
al
P
I
co
n
tr
o
ller
.
T
h
e
s
i
m
u
l
in
k
m
o
d
el
o
f
it is
i
m
p
le
m
en
ted
as
s
h
o
w
n
Fi
g
u
r
e
.
2
.
Fig
u
r
e
2
Si
m
u
li
n
k
m
o
d
el
o
f
S
p
ee
d
PI
co
n
tr
o
ller
4
.
2
I
F
O
C
B
lo
ck
T
h
is
b
lo
ck
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i
m
p
le
m
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ted
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h
o
w
n
in
F
ig
u
r
e
3
.
I
t c
o
n
s
is
t
s
o
f
7
m
ain
s
u
b
-
b
lo
ck
s
: I
d
s
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co
m
p
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tat
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n
,
I
q
s
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Fig
u
r
e
3
Si
m
u
li
n
k
m
o
d
el
o
f
I
F
OC
Fig
u
r
e
4
Si
m
u
li
n
k
m
o
d
el
o
f
T
h
eta
C
o
m
p
u
tatio
n
co
m
p
u
tatio
n
,
A
B
C
-
to
-
d
q
tr
an
s
f
o
r
m
atio
n
,
d
q
-
to
-
A
B
C
tr
a
n
s
f
o
r
m
atio
n
,
Fl
u
x
co
m
p
u
tatio
n
,
Sl
ip
co
m
p
u
tatio
n
a
n
d
T
h
eta
co
m
p
u
tatio
n
b
lo
ck
s
.
Si
m
u
lin
k
m
o
d
el
o
f
s
o
m
e
o
f
th
e
s
e
b
lo
ck
s
ar
e
p
r
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ted
in
th
e
f
o
llo
w
i
n
g
s
u
b
s
ec
tio
n
.
B
ased
o
n
(
1
8
)
,
Si
m
u
l
in
k
m
o
d
e
l o
f
th
i
s
b
lo
ck
is
i
m
p
le
m
en
ted
as sh
o
w
n
i
n
Fi
g
u
r
e
4
.
4
.
2
.
1
AB
C
-
TO
-
DQ
T
ra
n
s
f
o
r
m
a
t
io
n
T
h
is
tr
an
s
f
o
r
m
atio
n
is
ca
lled
a
s
P
ar
k
’
s
tr
a
n
s
f
o
r
m
atio
n
.
A
Si
m
u
lin
k
m
o
d
el
i
s
d
ev
elo
p
ed
b
ased
o
n
th
e
(
3
5
)
.
c
b
a
q
d
I
I
I
I
I
)
s
i
n(
)
s
i
n(
)
s
i
n(
)
c
os
(
)
c
os
(
)
c
os
(
3
2
(
3
5
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
IJ
PEDS
Vo
l.
8
,
No
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4
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Dec
em
b
er
2
0
1
7
:
1
6
9
3
–
1
7
0
4
1700
Fig
u
r
e
6
Si
m
u
li
n
k
m
o
d
el
o
f
A
B
C
-
to
-
d
q
tr
an
s
f
o
r
m
atio
n
4
.
2
.
2
DQ
-
TO
-
AB
C
T
ra
n
s
f
o
r
m
a
t
io
n
T
h
is
tr
an
s
f
o
r
m
a
tio
n
is
ca
lled
as
I
n
v
er
s
e
C
lar
k
e
’
s
tr
a
n
s
f
o
r
m
atio
n
.
A
Si
m
u
l
in
k
m
o
d
el
i
s
d
ev
elo
p
ed
b
ased
o
n
(
3
6
)
.
*
*
*
*
*
)
s
i
n
(
)
c
o
s
(
)
s
i
n
(
)
c
o
s
(
)
s
i
n
(
)
c
o
s
(
3
2
q
I
I
I
I
I
d
c
b
a
w
h
er
e
γ
=2
π/3
(3
6
)
Fig
u
r
e
7
Si
m
u
li
n
k
m
o
d
el
o
f
d
q
-
to
-
A
B
C
tr
a
n
s
f
o
r
m
atio
n
4
.
3
Curre
nt
Reg
ula
t
io
n
C
u
r
r
en
t
r
eg
u
lato
r
u
s
ed
i
n
t
h
is
f
ield
o
r
ien
ted
co
n
tr
o
l
is
h
y
s
ter
esis
b
an
d
c
u
r
r
en
t
co
n
tr
o
ller
.
I
t
is
o
n
e
o
f
th
e
s
ev
er
al
t
y
p
e
s
o
f
P
W
M
tech
n
iq
u
es.
I
t
is
b
asicall
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a
f
ee
d
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k
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r
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n
t
co
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tr
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l
m
e
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o
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o
f
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w
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er
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m
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w
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h
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e
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ef
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r
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s
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h
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s
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ied
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h
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s
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ter
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s
co
n
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