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547
534
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b
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ates
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ci
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d
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d
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r
a
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n
tr
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teg
y
i
s
u
s
ed
[
1
]
-
[
6
]
,
[
3
7
]
-
[
3
8
]
.
On
e
o
f
t
h
e
m
ain
ap
p
r
o
ac
h
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o
f
th
e
r
esear
c
h
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r
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is
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h
e
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n
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ter
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o
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atio
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d
th
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s
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o
to
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n
v
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ter
[
7
,
8
]
.
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n
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ter
to
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v
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ter
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tch
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m
m
u
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m
e
[
3
,
9
-
1
0
]
.
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to
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le
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ican
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v
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s
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1
1
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[
1
4
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.
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h
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a
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ai
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ized
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izatio
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m
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izatio
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p
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r
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en
t
[6
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,
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1
5
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ca
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e
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lized
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c
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as
s
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p
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lt
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c
u
r
r
en
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tu
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on
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o
f
f
a
n
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th
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w
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g
le
[
1
6
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-
[
2
0
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.
A
clo
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ed
lo
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co
n
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it
h
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s
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m
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le
DC
-
D
C
co
n
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ter
co
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t
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[
2
1
]
f
o
r
a
3
-
p
h
ase
6
/4
SR
M
w
it
h
Field
Or
ien
tatio
n
C
o
n
tr
o
l
(
FOC
)
(
k
n
o
w
n
as
s
o
m
e
ti
m
es;
t
h
e
s
w
itc
h
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n
g
an
g
le
co
n
tr
o
l)
m
e
t
h
o
d
is
in
tr
o
d
u
ce
d
in
th
is
r
ese
ar
c
h
to
g
et
t
h
e
m
o
s
t e
f
f
icie
n
t o
p
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atio
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o
v
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th
e
en
tir
e
r
an
g
e
o
p
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o
f
th
e
SR
M.
T
h
e
co
m
p
lete
b
lo
c
k
co
n
tr
o
l
d
iag
r
a
m
f
o
r
a
3
-
p
h
6
/4
S
R
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d
r
iv
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s
y
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te
m
u
s
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FOC
is
s
h
o
w
n
in
Fig
u
r
e
1
.
A
s
ta
n
d
ar
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f
2
2
0
V
is
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s
ed
w
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th
t
h
e
3
-
p
h
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-
D
C
co
n
v
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te
r
.
T
h
e
s
p
ee
d
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e
n
s
o
r
i
s
a
n
in
te
g
r
al
p
ar
t
o
f
t
h
e
S
R
M
d
r
iv
e
s
y
s
te
m
,
m
a
y
b
e
o
p
tical
e
n
c
o
d
er
s
,
r
eso
lv
er
o
r
h
all
-
e
f
f
ec
t
s
en
s
o
r
[
2
2
]
-
[
2
4
]
is
m
o
u
n
ted
o
n
th
e
m
o
to
r
s
h
a
f
t
to
d
eter
m
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n
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ac
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ca
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co
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th
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m
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m
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n
tr
o
l
lo
g
ic
s
i
g
n
als
ar
e
to
o
s
m
all
to
d
r
iv
e
th
e
p
o
w
er
s
w
itc
h
e
s
o
f
t
h
e
co
n
v
er
ter
.
So
,
th
e
g
ate
d
r
iv
e
cir
c
u
it
i
s
u
s
ed
t
o
a
m
p
li
f
y
t
h
e
co
n
tr
o
l
lo
g
ic
s
ig
n
als
to
t
h
e
v
al
u
e
o
f
c
u
r
r
en
t
lev
els
r
eq
u
ir
ed
f
o
r
s
w
itc
h
in
g
t
h
e
p
o
w
er
co
n
v
er
te
r
,
an
d
also
ac
ts
as
a
g
o
o
d
is
o
latio
n
cir
cu
it
(
b
ec
au
s
e
it
co
n
t
ain
s
o
p
to
-
co
u
p
ler
)
b
et
w
ee
n
co
n
tr
o
ller
cir
cu
it a
n
d
co
n
v
er
ter
[
2
6
]
.
Fig
u
r
e
1.
Ma
in
co
m
p
o
n
e
n
ts
o
f
SR
M
d
r
iv
e
s
y
s
te
m
T
h
is
r
esear
ch
i
s
o
r
g
a
n
ized
a
s
f
o
llo
w
s
.
T
h
e
o
p
er
atio
n
o
f
SR
M
a
n
d
it
s
m
at
h
e
m
a
tical
m
o
d
el
ar
e
r
ev
ie
w
ed
in
Sectio
n
2
.
DC
-
D
C
co
n
v
er
ter
to
p
o
lo
g
y
is
p
r
ese
n
ted
in
Sectio
n
3
.
Si
m
u
latio
n
r
esu
lts
u
s
i
n
g
FO
C
ar
e
illu
s
tr
ated
i
n
Sec
tio
n
4
.
T
h
e
r
esear
ch
co
n
clu
s
io
n
s
ar
e
g
i
v
en
in
Sectio
n
5
.
2.
O
P
E
RAT
I
O
N
AND
M
AT
H
E
M
AT
I
CAL M
O
DE
L
O
F
S
RM
Du
e
to
t
h
e
ad
v
a
n
ce
s
in
p
o
w
er
elec
tr
o
n
ics,
s
e
n
s
o
r
s
an
d
co
n
tr
o
ller
s
in
t
h
e
r
ec
e
n
t
y
ea
r
s
,
t
h
e
SR
M
h
as
g
ain
ed
a
g
r
ea
t
o
f
co
m
m
er
cial
an
d
in
d
u
s
tr
ial
i
n
ter
est
[
2
7
]
.
I
t
h
as
a
s
i
m
p
le
a
n
d
r
o
b
u
s
t
co
n
s
tr
u
ctio
n
d
u
e
to
th
e
m
ag
n
etic
c
ir
cu
itr
y
o
f
t
h
e
m
o
t
o
r
n
eith
er
r
eq
u
ir
es
p
er
m
a
n
e
n
t
m
ag
n
et
s
n
o
r
w
i
n
d
in
g
s
i
n
t
h
e
r
o
to
r
.
T
h
e
s
tato
r
h
as
co
n
ce
n
tr
ate
d
co
ils
ar
o
u
n
d
th
e
p
o
les
th
a
t
ar
e
e
x
cited
s
eq
u
en
tiall
y
th
r
o
u
g
h
D
C
v
o
lta
g
e
p
u
l
s
es.
T
h
e
m
o
to
r
h
a
s
s
alien
t
p
o
les
o
n
th
e
s
tato
r
an
d
also
o
n
th
e
r
o
to
r
,
s
o
,
it
is
n
a
m
ed
as
a
d
o
u
b
ly
s
alie
n
t
p
o
le
m
a
ch
in
e
[
2
7
,
2
8
]
.
T
h
e
ter
m
“
s
w
itch
ed
r
el
u
cta
n
ce
”
t
en
d
s
to
t
h
at
t
h
e
r
e
l
u
cta
n
ce
o
f
t
h
e
m
ac
h
in
e
is
s
w
itc
h
ed
.
T
h
e
ter
m
m
a
g
n
eti
c
“
r
el
u
ctan
ce
”
d
ep
en
d
s
o
n
t
h
e
r
o
to
r
p
o
s
itio
n
an
d
t
h
e
ter
m
“
s
w
itc
h
ed
”
r
ef
er
s
to
t
h
e
elec
tr
o
n
ic
co
m
m
u
tatio
n
o
f
th
e
elec
tr
ical
p
h
a
s
es b
y
m
ea
n
s
o
f
a
p
o
w
er
elec
tr
o
n
ics co
n
v
er
ter
[
2
8
]
.
(
a
)
u
n
a
l
ig
n
e
d
p
o
s
i
t
i
o
n
(
b
)
a
l
i
g
n
e
d
p
o
s
i
t
i
o
n
Fig
u
r
e
2
.
Un
ali
g
n
ed
an
d
ali
g
n
ed
p
o
s
itio
n
s
f
o
r
p
h
ase
-
A
o
f
a
3
-
p
h
ase
6
/4
SR
M
T
h
e
SR
M
t
o
r
q
u
e
p
r
o
d
u
ctio
n
is
b
ased
p
u
r
el
y
o
n
t
h
e
v
ar
i
atio
n
o
f
t
h
e
m
ag
n
etic
r
el
u
ct
an
ce
.
T
h
e
m
ag
n
etic
cir
cu
i
ts
o
f
t
h
e
m
o
t
o
r
ar
e
s
y
m
m
e
tr
ical
an
d
h
a
v
e
al
m
o
s
t
ze
r
o
m
u
t
u
al
f
l
u
x
lin
k
ag
e
s
a
m
o
n
g
s
tato
r
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
.
2
,
J
u
n
e
2
0
1
7
:
5
3
4
–
5
4
7
536
w
i
n
d
i
n
g
s
e
v
en
u
n
d
er
s
atu
r
ate
d
co
n
d
itio
n
s
.
T
h
e
s
el
f
in
d
u
cta
n
ce
o
f
t
h
e
p
h
ase
w
i
n
d
in
g
s
o
n
l
y
i
s
r
esp
o
n
s
ib
le
f
o
r
p
r
o
d
u
ctio
n
o
f
to
r
q
u
e
[
2
8
]
.
Fig
u
r
e
2
s
h
o
w
s
a
t
y
p
ical
t
h
r
ee
-
p
h
ase
m
ac
h
in
e
co
n
f
i
g
u
r
atio
n
,
N
ph
=
3
.
T
h
e
m
ac
h
in
e
h
as
s
i
x
s
tato
r
p
o
les
N
s
=
6
an
d
f
o
u
r
r
o
to
r
p
o
les
N
R
=
4
,
th
is
co
n
f
i
g
u
r
atio
n
is
k
n
o
w
n
as
a
6
/4
SR
M.
Fro
m
a
m
ag
n
etic
p
er
s
p
ec
tiv
e,
ea
ch
p
h
ase
o
f
t
h
e
6
/4
m
ac
h
i
n
e
h
as
t
w
o
m
a
g
n
e
tic
p
o
les
p
er
p
h
a
s
e,
i.e
.
,
o
n
e
p
o
le
p
air
,
g
iv
e
n
th
a
t
d
ia
m
etr
ica
ll
y
o
p
p
o
s
ed
co
ils
ar
e
elec
tr
icall
y
co
n
n
ec
ted
i
n
s
er
ies
o
r
in
p
ar
allel
.
Fo
r
ex
a
m
p
le,
t
h
e
p
h
ase
A
is
m
ad
e
u
p
o
f
co
n
ce
n
tr
ated
co
ils
o
n
p
o
les
A
an
d
A’
.
T
h
e
r
o
to
r
p
o
s
itio
n
s
h
o
w
n
i
n
Fig
u
r
e
2
a
is
ca
lled
th
e
u
n
al
ig
n
ed
p
o
s
itio
n
w
i
th
r
esp
ec
t
to
p
h
ase
A
–
A’
,
t
h
is
u
n
a
l
ig
n
ed
p
o
s
itio
n
f
o
r
th
e
p
h
ase
A
i
s
t
h
e
p
o
s
itio
n
o
f
th
e
lar
g
est
m
ag
n
etic
r
elu
ct
n
ac
e
b
et
w
ee
n
s
tato
r
a
n
d
r
o
to
r
p
o
les.
I
f
th
e
p
h
a
s
e
A
is
ex
c
ited
,
a
m
a
g
n
etic
f
l
u
x
p
ath
is
f
o
r
m
ed
b
y
t
h
e
t
w
o
s
tato
r
p
o
le
A
–
A’
,
as
i
n
Fi
g
u
r
e
2
b
,
w
h
ic
h
is
t
h
e
p
o
s
itio
n
o
f
t
h
e
s
m
alle
s
t
m
ag
n
etic
r
elu
ctan
ce
[
2
9
]
.
T
h
e
co
m
p
lete
m
ath
e
m
atica
l
m
o
d
el
o
f
th
e
S
R
M
in
[
2
1
]
is
a
s
et
o
f
d
if
f
er
e
n
tial
eq
u
atio
n
s
w
h
ic
h
ar
e
o
b
tain
ed
u
s
in
g
s
ta
n
d
ar
d
elec
tr
o
m
a
g
n
etic
t
h
eo
r
y
.
T
h
ese
d
if
f
er
en
tia
l e
q
u
atio
n
s
ar
e
as f
o
ll
o
w
s
:
d
i
d
R
i
U
j
j
j
j
j
,
(
1
)
W
h
er
e
U
j
d
en
o
tes
th
e
p
h
ase
v
o
ltag
e,
i
j
d
en
o
tes
t
h
e
p
h
ase
cu
r
r
en
t,
R
j
d
en
o
tes
th
e
p
h
ase
r
esis
tan
ce
,
j
is
th
e
ac
tiv
e
p
h
a
s
e,
an
d
λ
j
(
i
j
,
θ
)
is
th
e
f
lu
x
li
n
k
ag
e.
E
q
u
atio
n
(
1
)
ca
n
b
e
r
ew
r
itte
n
as
:
,,
j
j
j
j
j
j
j
j
ii
di
d
U
i
R
i
d
t
d
t
(
2
)
T
h
e
f
lu
x
li
n
k
a
g
e
i
n
an
ac
ti
v
e
p
h
ase
is
g
i
v
en
b
y
th
e
p
r
o
d
u
ct
o
f
th
e
s
e
lf
-
i
n
d
u
cta
n
ce
a
n
d
th
e
in
s
ta
n
ta
n
eo
u
s
p
h
ase
cu
r
r
en
t a
s
f
o
llo
w
s
:
j
j
j
j
j
i
i
L
i
,
,
(
3
)
B
y
s
u
b
s
t
itu
tin
g
f
r
o
m
E
q
u
atio
n
(
3
)
in
to
E
q
u
atio
n
(
2
)
g
iv
es:
,
j
j
j
j
i
n
c
j
j
j
j
i
L
i
dt
di
L
R
i
U
(
4
)
v
j
i
n
c
j
j
j
K
dt
di
L
R
i
(
5
)
i
i
L
i
i
L
i
i
i
L
i
i
L
j
j
j
j
j
j
j
j
j
j
i
n
c
j
,
,
,
,
(
6
)
dt
d
(
7
)
W
h
er
e
L
jinc
is
t
h
e
p
h
a
s
e
i
n
cr
em
en
tal
i
n
d
u
cta
n
ce
,
K
v
i
s
t
h
e
c
u
r
r
en
t
-
d
ep
en
d
en
t
b
ac
k
-
e
m
f
co
ef
f
icien
t,
an
d
ω
is
th
e
r
o
to
r
an
g
u
lar
s
p
ee
d
.
R
ea
r
r
an
g
i
n
g
E
q
u
atio
n
(
4
)
g
iv
es:
,
1
j
j
j
j
j
j
i
n
c
j
j
i
L
i
R
i
U
L
dt
di
(
8
)
L
K
J
j
j
T
B
i
T
dt
d
J
dt
d
J
1
2
2
,
(
9
)
W
h
er
e
J
an
d
B
ar
e
th
e
m
o
m
e
n
t
o
f
i
n
er
tia
a
n
d
th
e
v
is
co
u
s
f
r
ictio
n
co
ef
f
icie
n
t,
r
esp
ec
ti
v
el
y
;
an
d
T
L
is
t
h
e
lo
ad
to
r
q
u
e.
E
q
u
atio
n
s
(
7
)
,
(
8
)
an
d
(
9
)
r
ep
r
esen
t
th
e
co
m
p
lete
m
a
th
e
m
atica
l
m
o
d
el
o
f
th
e
SR
M
in
t
h
e
ca
s
e
o
f
n
o
n
-
lin
ea
r
m
o
d
elin
g
f
o
r
o
p
er
atio
n
o
f
th
e
m
o
to
r
i
n
a
r
ea
l
m
o
d
e.
W
ith
th
e
n
o
n
-
li
n
ea
r
o
p
er
atio
n
;
t
h
e
s
h
ap
e
o
f
t
h
e
in
d
u
cta
n
ce
is
s
in
u
s
o
id
al
d
ep
en
d
s
o
n
th
e
r
o
to
r
p
o
s
itio
n
,
th
e
p
h
ase
cu
r
r
en
t,
a
n
d
th
e
m
o
to
r
g
eo
m
etr
y
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
-
8
694
F
OC
o
f S
R
M u
s
in
g
Mo
r
e
E
fficien
t D
C
-
DC
C
o
n
ve
r
ter To
p
o
lo
g
y
(
E
ma
d
S
.
A
b
d
el
-
A
liem
)
537
T
h
e
s
tatic
SR
M
c
h
ar
ac
ter
is
t
ic
s
ca
n
b
e
r
ep
r
esen
ted
b
asicall
y
v
ia
t
w
o
m
eth
o
d
s
.
T
h
e
f
ir
s
t
is
to
p
lo
t
th
e
v
ar
iatio
n
o
f
p
h
ase
in
d
u
ctan
ce
w
it
h
r
esp
ec
t to
r
o
to
r
p
o
s
itio
n
a
t d
if
f
er
en
t
p
h
a
s
e
c
u
r
r
en
ts
; t
h
is
w
a
y
i
s
u
s
ed
i
n
th
is
r
esear
ch
.
T
h
e
s
ec
o
n
d
w
a
y
is
to
p
lo
t th
e
v
ar
iatio
n
o
f
p
h
ase
f
lu
x
lin
k
a
g
e
w
it
h
r
o
to
r
p
o
s
itio
n
an
d
p
h
ase
cu
r
r
e
n
ts
.
3.
DC
-
DC
CO
NVER
T
E
R
T
O
P
O
L
O
G
Y
T
h
e
SR
M
ca
n
n
o
t
r
u
n
d
ir
ec
tl
y
f
r
o
m
AC
o
r
DC
s
o
u
r
ce
;
u
n
li
k
e
in
d
u
ctio
n
m
o
to
r
s
o
r
DC
m
o
to
r
s
.
So
,
a
p
o
w
er
elec
tr
o
n
ic
s
DC
-
D
C
co
n
v
er
ter
m
u
s
t
b
e
lo
ca
ted
b
etw
ee
n
t
h
e
m
o
to
r
an
d
t
h
e
s
o
u
r
ce
.
T
h
e
p
u
r
p
o
s
e
o
f
th
e
p
o
w
er
co
n
v
er
ter
cir
cu
it
i
s
to
p
r
o
v
id
e
a
n
in
cr
ea
s
i
n
g
a
n
d
d
ec
r
ea
s
in
g
th
e
c
u
r
r
en
t
s
u
p
p
lied
to
th
e
p
h
ase
w
i
n
d
i
n
g
i
n
o
r
d
er
to
p
r
o
d
u
ce
a
co
n
tin
u
o
u
s
m
o
tio
n
[
2
8
]
.
I
n
th
e
f
ee
d
b
ac
k
p
ath
b
et
w
ee
n
t
h
e
m
o
to
r
an
d
th
e
p
o
w
er
co
n
v
er
ter
,
a
co
n
tr
o
l
cir
cu
it
is
u
s
ed
to
m
o
n
ito
r
th
e
c
u
r
r
en
t
a
n
d
th
e
p
o
s
itio
n
f
ee
d
b
ac
k
i
n
o
r
d
er
to
p
r
o
d
u
ce
th
e
co
r
r
ec
t s
w
itc
h
i
n
g
s
ig
n
al
s
f
o
r
t
h
e
p
o
w
er
co
n
v
er
ter
f
o
r
m
atc
h
i
n
g
t
h
e
d
e
m
a
n
d
s
p
lace
d
o
n
th
e
d
r
iv
e
b
y
t
h
e
u
s
er
.
Sin
ce
t
h
e
to
r
q
u
e
d
ev
elo
p
ed
b
y
th
e
SR
M
n
o
t
d
ep
en
d
s
o
n
th
e
cu
r
r
en
t
p
o
lar
it
y
,
t
h
e
m
o
to
r
c
an
o
p
er
ate
b
ased
o
n
t
h
e
p
r
in
c
ip
le
o
f
u
n
i
p
o
lar
cu
r
r
en
t.
T
h
e
c
u
r
r
en
t
t
h
e
r
ef
o
r
e
ca
n
b
e
s
u
p
p
lied
to
th
e
p
h
ase
w
i
n
d
i
n
g
w
it
h
o
n
l
y
o
n
e
s
w
i
tch
p
er
p
h
ase
co
n
n
ec
ted
in
s
er
ies
w
it
h
th
e
w
i
n
d
i
n
g
,
as
s
h
o
w
n
i
n
Fig
u
r
e
3
[
2
1
]
.
B
y
tu
r
n
in
g
o
n
an
d
o
f
f
th
is
s
w
itc
h
;
t
h
e
f
lo
w
o
f
t
h
e
p
h
ase
s
c
u
r
r
en
t
ca
n
b
e
r
eg
u
lat
ed
.
T
h
e
b
est f
ea
tu
r
e
f
o
r
t
h
at
c
o
n
v
er
ter
i
s
t
h
at
ea
ch
p
h
ase
co
n
tai
n
s
o
n
l
y
o
n
e
s
w
i
t
ch
.
T
h
is
co
n
v
er
ter
to
p
o
lo
g
y
ca
n
b
e
u
s
ed
w
ith
a
t
h
r
ee
p
h
as
es
SR
M
a
n
d
ca
n
b
e
s
i
m
p
l
y
m
o
d
if
ied
to
s
u
it
an
o
t
h
er
t
y
p
e
o
f
S
R
M
h
as
d
if
f
er
e
n
t
n
u
m
b
er
o
f
p
h
a
s
es.
Si
n
ce
t
h
e
m
u
tu
a
l
co
u
p
li
n
g
b
et
w
ee
n
p
h
a
s
es
i
s
al
m
o
s
t
n
eg
l
ig
ib
le,
t
h
e
s
to
r
ed
m
a
g
n
etic
f
ield
e
n
er
g
y
ca
n
cr
ea
t
e
p
r
o
b
lem
d
u
r
i
n
g
co
m
m
u
tatio
n
o
f
th
e
p
h
ase.
T
h
e
s
to
r
ed
m
ag
n
etic
f
ield
e
n
er
g
y
h
a
s
to
b
e
p
r
o
v
id
ed
a
p
ath
d
u
r
in
g
co
m
m
u
tatio
n
(
as
s
h
o
w
n
i
n
F
ig
u
r
e
3
,
a
f
r
ee
w
h
ee
li
n
g
d
io
d
e
is
u
s
ed
in
ea
c
h
p
h
a
s
e)
:
o
th
er
w
i
s
e
ex
ce
s
s
i
v
e
v
o
ltag
e
ca
n
d
e
v
elo
p
ac
r
o
s
s
t
h
e
w
i
n
d
in
g
an
d
m
a
y
r
esu
lt
i
n
f
ail
u
r
e
o
f
t
h
e
s
e
m
ico
n
d
u
cto
r
s
w
itc
h
t
h
at
co
n
n
ec
ted
in
s
er
ies
w
it
h
th
e
p
h
ase
w
i
n
d
in
g
[
3
0
]
-
[
3
2
]
.
Fig
u
r
e
3
.
Si
m
p
le
D
C
-
D
C
co
n
v
er
ter
f
o
r
3
-
p
h
ase,
6
/4
SR
M
As
s
h
o
w
n
i
n
Fi
g
u
r
e
3
,
th
e
p
o
w
er
s
w
itc
h
es
ca
n
b
e
p
r
o
tecte
d
u
s
in
g
R
C
s
n
u
b
b
er
cir
cu
it.
T
h
is
s
n
u
b
b
er
cir
cu
it
p
r
o
tects
t
h
e
s
w
itc
h
f
r
o
m
a
lar
g
e
d
i/d
t
d
u
r
i
n
g
tu
r
n
-
o
n
an
d
lar
g
e
d
v/d
t
d
u
r
i
n
g
t
u
r
n
-
o
f
f
.
A
ls
o
t
h
e
s
n
u
b
b
er
cir
cu
it
p
r
o
v
id
es
an
e
f
f
ec
ti
v
e
m
ea
n
s
o
f
tr
a
n
s
f
er
r
in
g
t
h
e
s
w
i
tc
h
i
n
g
lo
s
s
e
s
f
r
o
m
th
e
s
witch
to
th
e
s
n
u
b
b
er
r
esis
to
r
,
lead
in
g
to
a
lo
w
er
j
u
n
ctio
n
te
m
p
er
at
u
r
e
r
is
e
an
d
b
etter
th
er
m
al
m
a
n
ag
e
m
e
n
t
f
o
r
th
e
s
w
itc
h
an
d
al
s
o
th
e
n
o
r
ec
o
v
er
o
f
en
er
g
y
to
DC
s
o
u
r
ce
n
o
t
ca
u
s
e
r
ed
u
cti
o
n
o
f
th
e
o
v
er
all
ef
f
icie
n
c
y
o
f
th
e
d
r
iv
e
d
r
iv
e
[
3
3
]
-
[
3
4
]
.
T
h
e
d
io
d
e
D
s
is
u
s
ed
to
s
a
f
e
th
e
D
C
s
o
u
r
ce
f
r
o
m
th
e
r
ec
o
v
er
en
er
g
y
o
f
ea
ch
m
o
to
r
p
h
ase.
No
r
ed
u
ctio
n
o
f
t
h
e
o
v
er
all
ef
f
ic
ien
c
y
o
f
th
e
m
o
to
r
d
r
iv
e
b
ec
au
s
e
th
er
e
is
n
o
r
ec
o
v
er
o
f
en
er
g
y
to
th
e
D
C
s
o
u
r
ce
.
T
h
e
s
tead
y
s
tate
o
f
m
o
to
r
ch
ar
ac
ter
is
tic
s
is
r
ea
ch
es
f
as
te
r
th
an
u
s
i
n
g
t
h
e
tr
ad
itio
n
al
DC
-
DC
co
n
v
er
ter
s
[
3
5
]
-
[
3
6
]
.
4.
SI
M
UL
AT
I
O
N
R
E
S
UL
T
S
USI
N
G
F
O
C
T
h
e
to
r
q
u
e
o
f
SR
M
h
a
s
a
s
tr
o
n
g
p
u
ls
atio
n
s
a
t
t
h
e
co
m
m
u
t
atio
n
i
n
ter
v
al
s
b
ec
au
s
e
t
h
e
t
wo
ad
j
ac
en
t
p
h
ases
p
r
o
d
u
ce
ad
d
itiv
e
to
r
q
u
es.
T
h
er
ef
o
r
e,
th
e
FOC
c
an
b
e
u
s
ed
to
c
o
n
tr
o
l
th
e
SR
M
d
r
iv
e.
T
h
is
co
n
tr
o
l
s
tr
ateg
y
i
s
b
ased
o
n
co
n
tr
o
ll
in
g
t
h
e
v
alu
e
s
o
f
t
h
e
s
w
i
tch
in
g
an
g
le
s
a
n
d
th
e
d
w
e
ll
a
n
g
le.
T
h
e
m
ac
h
i
n
e
ef
f
icien
c
y
a
n
d
th
e
a
v
er
ag
e
to
t
al
to
r
q
u
e
p
er
cu
r
r
en
t
w
ill
m
a
x
i
m
ize
b
y
u
s
in
g
t
h
is
co
n
tr
o
l
s
tr
ateg
y
.
So
,
th
e
F
OC
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
IJ
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Vo
l.
8
,
No
.
2
,
J
u
n
e
2
0
1
7
:
5
3
4
–
5
4
7
538
is
u
s
ed
to
co
n
tr
o
l
th
e
d
w
e
ll
a
n
g
le
an
d
t
h
e
i
n
p
u
t
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o
u
r
ce
v
o
ltag
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i
n
s
ta
n
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n
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u
s
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in
o
r
d
er
to
o
b
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a
p
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ec
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p
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d
co
n
tr
o
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I
n
th
e
r
ea
l
co
n
tr
o
l
s
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te
m
,
c
o
n
tr
o
l
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t
h
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s
w
itc
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a
n
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le
s
ca
n
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e
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ea
lized
b
y
a
s
i
m
p
l
e
f
ee
d
b
ac
k
cir
cu
it
u
s
i
n
g
d
etec
ti
n
g
p
o
s
iti
o
n
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en
s
o
r
o
n
th
e
m
o
to
r
s
h
a
f
t
as
s
h
o
w
n
in
F
ig
u
r
e
4
.
T
h
e
s
w
itc
h
i
n
g
an
g
le
co
n
tr
o
ller
in
th
at
f
ig
u
r
e
r
eg
u
l
ates
t
h
e
m
o
to
r
p
er
f
o
r
m
an
ce
v
ia
in
te
g
r
atio
n
o
f
th
e
m
o
to
r
s
p
ee
d
to
p
r
o
d
u
ce
th
e
m
ea
s
u
r
ed
p
o
s
itio
n
o
f
t
h
e
r
o
to
r
b
y
co
m
p
ar
i
n
g
t
h
e
m
ea
s
u
r
ed
r
o
to
r
p
o
s
itio
n
w
it
h
th
e
s
w
itc
h
in
g
a
n
g
les
θ
on
a
n
d
θ
off
.
I
n
o
r
d
er
to
p
r
o
d
u
ce
th
e
g
a
te
s
i
g
n
a
ls
o
f
t
h
e
co
n
v
er
ter
s
w
i
tch
es.
A
g
ate
d
r
iv
e
cir
cu
it
m
u
s
t
b
e
u
s
ed
b
et
w
ee
n
th
e
a
n
g
le
co
n
tr
o
ller
an
d
th
e
co
n
v
er
ter
,
it
r
ec
eiv
e
s
t
h
e
lo
g
ic
s
i
g
n
als
th
a
t
h
as
a
lo
w
lev
el
f
r
o
m
t
h
e
a
n
g
le
co
n
tr
o
ller
an
d
tr
an
s
m
it
t
h
ese
s
ig
n
al
s
b
u
t
w
i
th
a
h
i
g
h
le
v
el
to
th
e
co
n
v
er
ter
.
I
n
o
th
er
m
e
an
s
;
t
h
e
g
ate
d
r
iv
e
cir
cu
it is
u
s
ed
to
is
o
late
t
h
e
co
n
tr
o
l c
ir
cu
it
f
r
o
m
t
h
e
p
o
w
er
ci
r
cu
it.
Fig
u
r
e
4
.
C
o
m
p
lete
b
lo
ck
co
n
t
r
o
l d
iag
r
am
f
o
r
3
-
p
h
6
/4
SR
M
d
r
iv
e
s
y
s
te
m
u
s
in
g
Field
Or
ie
n
tatio
n
C
o
n
tr
o
l
T
h
e
b
ac
k
-
e
m
f
in
th
e
m
o
to
r
b
ec
o
m
e
s
s
i
g
n
i
f
ican
t
as
t
h
e
m
o
to
r
s
p
ee
d
in
cr
ea
s
es.
I
t
is
n
e
ce
s
s
ar
y
to
r
etar
d
th
e
tu
r
n
-
o
f
f
a
n
g
le
o
r
ad
v
an
ce
t
h
e
t
u
r
n
-
o
n
a
n
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le
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1800
1820
1840
1860
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1900
1920
1940
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1980
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ase
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ase
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ases
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