Intern
ati
o
n
a
l
Jo
u
r
n
a
l
of
P
o
we
r El
ec
tr
on
i
c
s
an
d D
r
i
v
e
S
y
stem
(I
JPE
D
S)
V
o
l.
11
, N
o
. 2, Jun
e
20
20
, pp
. 64
1
~
65
0
I
SSN
:
208
8-8
6
9
4
, D
O
I:
10.
115
91
/i
jp
e
d
s.v
1
1
.i2
.
p
p64
1-6
50
6
41
Jo
urn
a
l
h
o
me
pa
ge
: h
t
t
p
:/
/ijpe
d
s.
i
a
e
s
c
o
re.
c
o
m
New DT
C st
rategy of mul
t
i
-
machi
n
es si
ngl
e
-inverter system
s for
el
ectric vehi
cl
e tr
action applications
Ta
ib
i A
h
med
1
, H
a
rtani
Kada
2
, A
l
lali Ah
med
3
1,
3
Dep
a
rtm
e
nt
of
Electr
i
c
a
l
En
gin
eerin
g
,
Univ
ers
i
t
y
o
f
S
c
ien
c
e
s
an
d Te
chno
lo
gy
, A
l
geri
a
2
E
l
ec
t
r
ic
a
l
En
gine
e
r
in
g
La
bo
ra
t
o
ry
,
Un
iv
e
r
sity
of
T
a
ha
r Mo
ul
a
y
o
f
Sa
id
a,
Al
g
e
ria
A
r
ticle In
fo
A
B
S
T
RAC
T
A
r
tic
le
h
i
st
o
r
y:
Rec
e
i
v
ed
Jan
17
,
20
19
Rev
i
sed
Ju
l 22
, 20
19
Acc
e
pt
e
d
Au
g 3, 2
0
1
9
In high
pow
er
tr
action s
y
s
t
em
ap
plic
atio
ns two o
r
mo
re ma
chines
are
fed by
on
e co
nv
er
ter
.
Th
is
top
o
lo
gy
res
u
lts
in
a
lig
h
t
,
mo
re co
mp
act
an
d
les
s
costly
sy
stem.
Thes
e s
y
stems
are c
a
ll
e
d
multi-m
ach
ine
s
s
i
n
g
le-co
n
v
e
rter sys
t
e
m
s
.
Th
e
p
r
obl
ems
p
o
s
ed by differen
t
ele
c
tri
cal and
m
echan
ica
l
c
o
up
li
ng
s
in th
ese
sy
stems (M
M
S
) affec
t
var
i
ou
s s
t
ag
es
of the
s
y
s
t
ems
and
req
u
ire
con
t
rol
strateg
y
to
red
u
ce
ad
vers
e
ef
fects
.
Con
t
ro
l
o
f
mu
lti-m
achi
n
es
sing
le-
c
o
nv
e
r
t
e
r
syste
m
s is th
e su
bj
e
c
t of
t
h
is
pa
p
e
r. T
h
e stu
d
i
e
d MMS i
s
a
n
e
l
ec
tric
vehi
cle
w
i
th four i
n
-wh
eel PMS motors
.
A
thr
e
e-
l
e
g
in
ver
t
er
su
pp
li
es
tw
o
perman
e
n
t
m
a
gn
et
s
y
n
c
hron
ou
s
mach
in
es w
h
i
c
h
ar
e
con
n
e
c
ted
to
th
e
fro
n
t
ri
gh
t a
n
d
re
a
r
righ
t wh
ee
l
s
,
a
nd ano
t
h
e
r in
ve
rte
r
sup
p
l
i
e
s
th
e
le
ft
si
de
. Se
v
e
r
a
l
meth
od
s
h
a
v
e
b
e
e
n
p
r
opo
sed
for
the co
ntro
l of
mu
lti-m
ach
ines single-
in
vert
er
s
y
ste
m
s, th
e mas
t
er-s
la
ve con
t
ro
l stru
ctu
r
e
s
e
ems best
ad
apt
e
d for
o
u
r t
r
a
c
t
i
o
n
sy
st
e
m
. In
t
h
is p
a
pe
r, a ne
w c
o
n
t
ro
l
st
ru
c
t
ure
b
a
se
d
on DT
C
meth
od
is u
s
ed f
o
r the con
t
ro
l of
bi-ma
c
hin
e
tra
c
t
ion
s
y
s
t
em of
a
n
EV. Th
is
new
co
ntro
l h
a
s
been
imp
l
an
ted
in
si
mulation
to
a
n
aly
z
e i
t
s
robu
s
t
n
e
ss
i
n
th
e
pres
en
ce
o
f
th
e v
a
riou
s
load
c
a
ses
in
vo
lv
ed
in
o
u
r
ele
c
tri
c
veh
i
cle
tr
ac
tio
n
chain
.
S
i
mula
ti
on results
indi
cated
th
at
th
is
s
t
ru
ctur
e co
nt
rol
a
l
low
e
d
t
h
e st
abilit
y of the
t
r
action system.
Ke
yw
ords:
El
ect
ri
c ve
hi
cl
e
In
-w
he
el
m
o
t
o
r
In
-w
he
el
t
e
ch
n
o
lo
gy
M
u
l
ti-
ma
c
h
in
e c
o
n
t
ro
l
Tra
c
t
i
on
a
ppl
ic
at
i
o
n
Th
is
is a
n
o
p
en
acces
s a
r
ticle
un
d
e
r the
C
C
B
Y
-SA
licens
e
.
Corres
p
o
n
din
g
A
u
t
h
or:
Ta
ib
i Ah
med
Depa
rt
me
nt o
f
Ele
c
t
r
i
c
a
l
Engi
ne
eri
n
g
,
Uni
v
ersi
t
y
o
f
S
c
i
e
nces a
n
d
Te
chn
o
l
o
gy
M
oha
med
B
o
udia
f
,
US
TO
31
0
0
0
Or
a
n
,
Al
geri
a.
Emai
l:
ta
ibi
a
h
m
ed
36
@
y
a
h
oo
.fr
1.
IN
TR
O
DUCTION
The
i
n
-whe
el
t
e
chn
o
l
o
g
y
fo
r
el
e
c
t
r
i
c
vehi
cl
e
s
is o
n
t
h
e
ver
g
e of e
x
po
ne
nt
ia
l
grow
t
h
.
T
h
e
t
e
c
h
n
o
lo
g
y
involves
em
bedding a
se
parate electric
m
o
to
r
insi
de each
wheel f
o
r t
h
e ve
hicle propulsion.
By applying
th
e
tr
ac
ti
on
for
c
e
d
i
r
e
ct
ly to ea
c
h
wh
e
e
l
a
n
d
si
mp
li
fy
in
g th
e
dr
iv
e
t
r
a
i
n
,
t
h
e
en
erg
y
eff
i
c
i
e
n
cy
of
elec
tr
ic
vehi
cl
es (E
Vs)
i
s
e
n
h
a
nce
d
[1]. Mo
re im
p
o
rt
a
n
t
l
y, t
h
e
i
n
-
w
h
e
e
l
te
ch
n
o
l
ogy
p
r
o
v
i
d
e
s
t
h
e op
p
o
rt
un
i
t
y for
sup
e
ri
o
r
mot
i
o
n
c
o
nt
rol
of t
h
e
ve
hic
l
e
d
u
e t
o
t
h
e
fact
t
h
at
el
ect
ri
c
mot
o
rs ca
n
be
co
nt
ro
ll
e
d
m
o
re
prec
ise
l
y
a
n
d s
i
gn
if
ic
an
tly
fa
ster
co
mpa
r
ed
w
ith
in
t
e
rn
a
l
c
o
mbu
s
tion
v
e
h
i
c
l
es
[1
-3
].
I
n
an
in
-w
he
e
l
v
e
h
i
c
l
e
,
a
separ
a
te
e
l
ec
tr
ic
m
a
c
h
in
e i
s
us
e
d
at e
ach
d
r
i
v
in
g
w
h
e
e
l
.
Th
e
av
ail
a
b
i
lit
y
of a
se
p
a
ra
te
el
ec
tr
ic
m
ach
in
e
in
eac
h
corn
er
of
i
n
-w
he
el
EV
s op
e
n
s
t
h
e d
oor
fo
r
t
h
e
d
e
v
e
l
o
p
m
en
t o
f
i
nnov
a
tiv
e
solut
i
o
ns for p
r
eci
se m
o
ti
on
cont
rol
of EV
s. Se
pa
rat
e
e
l
e
c
t
r
i
c
machi
n
es
use
d
for t
h
e
pro
pulsi
o
n
o
f
t
h
e i
n
-
whee
l
EV
a
l
so
pro
v
i
d
e
rege
ne
rat
e
p
o
w
er
d
u
ri
ng
n
o
r
ma
l
bra
k
i
ng t
o
e
x
te
n
d
t
h
e
vehi
cl
e
ran
g
e
.
Mul
t
i
-ma
c
h
i
n
e
mul
t
i
-co
n
v
e
rt
e
r
syst
em
s
ca
n
be
c
onsi
d
e
r
ed
as ext
e
nsi
ons
o
f
cl
assi
cal
dri
v
es.
I
n
man
y
appl
i
cat
i
o
ns, o
n
e
m
o
to
r
i
s
c
ont
rol
l
e
d b
y
o
n
e
c
o
n
v
ert
e
r.
These syst
ems
a
r
e cal
l
e
d si
n
g
l
e
-ma
c
h
i
n
e si
ngl
e
-
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
: 2
088
-8
6
94
Int
J
P
o
w
Ele
c
& D
r
i
S
y
st, V
o
l
.
1
1
,
N
o
.
2, Ju
ne
20
2
0
:
6
4
1
–
650
64
2
converter
systems.
Howeve
r
,
several
met
h
o
d
s ha
ve
be
e
n
pro
pose
d
for t
h
e
c
o
ntrol
o
f
mul
t
i-ma
c
h
i
n
e
si
n
g
l
e
-
converter
systems.
I
n
this cas
e
,
a ma
ste
r
sla
v
e ba
se
d on
D
T
C strat
e
g
y
ha
s
bee
n
de
ve
lo
p
e
d.
R
e
c
e
nt
ly, per
m
a
n
e
n
t
ma
gne
t
sync
h
r
o
n
ous
mot
o
rs (P
MS
M
)
have
bee
n
e
x
t
e
nsi
v
el
y ana
l
yz
e
d
a
s
f
e
a
s
i
b
le c
a
nd
id
at
es
f
o
r v
a
r
i
ab
le
sp
eed
e
l
e
c
tr
ic
v
e
h
i
c
l
e
(
E
V
)
t
r
a
c
tion
ap
p
lic
at
io
n
[4
].
In
or
d
e
r
to
imp
r
ov
e
dy
namic
pe
rfo
r
ma
n
c
e
o
f
t
h
e
per
m
a
n
e
n
t
ma
gne
t
s
ync
h
r
o
n
ous
i
n
-whe
el
mot
o
r,
di
rec
t
t
o
rq
ue c
o
nt
rol
(D
TC)
has
bee
n
e
m
pl
o
y
e
d
i
n
t
h
i
s
syst
em
. B
eca
use
t
h
e
D
T
C ha
s ma
n
y
pot
e
n
t
i
a
l
a
dva
nta
g
es
[5,
6].
The
DTC
,
whi
c
h
was
pre
s
e
n
te
d
by
I Ta
kaha
shi
i
n
19
8
6
fo
r
a
n
in
duc
ti
o
n
mac
h
i
n
e
[7
],
i
s
base
d o
n
t
h
e di
re
ct
co
nt
rol
of the
t
o
rq
ue
and
fl
u
x
a
n
d i
n
vol
ves
n
on
l
i
n
e
a
r h
y
st
ere
s
is
cont
rol
l
ers
.
Di
re
ct
cont
rol
st
ra
t
e
gie
s
d
o
n
o
t
re
qui
re
t
h
e
pre
v
i
ousl
y
ment
io
ne
d re
ference
t
r
a
n
sfo
r
mat
i
o
n
t
o
ac
hi
eve
a
de
co
u
p
le
d
c
o
ntr
o
l
o
f
fl
u
x
a
n
d
t
o
rque
. T
h
e
cu
rre
n
ts
of
t
h
e mac
h
ine
a
r
e
indi
re
ct
l
y
c
o
nt
rol
l
e
d t
h
rou
g
h
to
r
q
u
e
a
n
d
fl
ux
c
o
ntr
o
l.
A n
e
w
D
T
C a
l
g
o
r
i
t
h
m is u
s
e
d
for
th
e
c
o
n
t
ro
l of
a
m
u
lti-ma
c
h
in
e sy
ste
m
.
Si
mila
r
t
o
a con
v
e
n
t
i
on
a
l
DTC
,
t
h
e
pr
op
ose
d
me
th
o
d
h
a
s two
sepa
rat
e
co
nt
rol
l
o
o
p
s
.
I
n
t
h
e t
o
rq
u
e
co
nt
rol
l
o
o
p
, be
fo
re sel
e
c
t
ion
o
f
opt
im
um v
o
l
t
a
ge fr
om t
h
e
DTC
lo
o
k
-up
t
a
bl
e, the
syst
em o
v
e
r
a
l
l
re
qui
re
me
nt
i
s
det
e
rmi
n
ed
ba
se
d
on
re
qui
re
me
nt
s
of mot
o
rs t
o
r
que
.
A
l
so,
s
w
i
t
c
ha
ble
ma
st
e
r-sl
a
ve c
ontr
o
l
i
s
use
d
i
n
t
h
e flu
x
c
o
n
t
ro
l
l
o
o
p
.
The met
h
o
d
w
h
ic
h is si
mul
a
t
e
d fo
r a t
w
o-p
a
ral
l
el
PMS
ma
chi
n
e s
y
ste
m
c
a
n
be e
x
te
nde
d to a
mul
t
i-ma
chi
n
e
system
.
Se
n
s
o
r
le
ss
c
o
ntr
o
l o
f
pe
r
m
anen
t
magn
et
syn
c
hro
nou
s
m
o
t
o
r
dri
v
es i
s
now
re
ce
iv
in
g
w
i
d
e
a
t
te
n
t
i
o
n
[8
-1
1
]
. T
h
e
m
ode
l
ref
e
re
nc
e
ada
p
t
i
v
e s
y
s
t
em
(
M
R
A
S)
represe
n
t
s
one
of
t
h
e
m
o
st at
tract
i
v
e an
d p
o
p
u
la
r
solut
i
o
ns
fo
r s
e
ns
orl
e
ss
c
o
ntr
o
l
of
AC
d
r
ive
.
T
h
i
s
p
r
oj
ec
t
i
n
t
r
od
uce
d
t
h
e
sp
e
e
d
se
ns
orl
e
ss c
ont
rol
o
f
p
a
ra
ll
el
c
o
nn
e
c
te
d du
al
P
M
SM
b
y
u
s
i
n
g
M
R
A
S
te
chn
i
qu
e
[
1
1
]
.
In
t
h
i
s
pa
pe
r, a
ne
w ma
ste
r
sl
ave
d
i
rect
to
rq
ue c
o
nt
rol
o
f
pe
rma
n
e
n
t
ma
gn
e
t
sy
nc
hr
ono
us
mot
o
rs
base
d
o
n
spee
d
M
R
AS
obse
r
ve
r
i
s
pro
pos
ed
for a
m
u
l
t
i
-
mac
h
ine
s
y
ste
m
i
n
el
ec
tric
ve
hi
cl
e
.
A
cl
assi
cal
sy
st
em
w
ith
mu
lt
i-
inv
e
rt
er
a
n
d
mu
lti
-
m
ach
in
e
co
mp
r
i
ses a
t
h
re
e-ph
a
s
e
in
v
e
r
t
e
r
fo
r
ea
ch
ma
c
h
i
n
e
to
b
e
cont
rol
l
e
d
.
A
n
ot
he
r
a
p
proac
h
c
o
n
s
ist
s
in us
i
ng onl
y o
n
e t
h
ree
-
p
h
ase
i
n
v
e
rte
r
t
o
su
ppl
y
several
perma
n
e
n
t
mag
n
et
sync
hron
o
u
s m
achi
n
es.
A
mast
e
r
sla
v
e
based
o
n
DTC
st
ra
t
e
g
y
ha
s
bee
n
de
vel
o
ped
.
Si
m
u
la
t
i
on
r
e
s
u
lts
i
n
M
a
tlab
/
S
i
m
u
li
n
k
i
n
d
i
c
a
t
e
d
th
at
the
n
e
w
D
T
C
a
l
g
o
r
i
t
h
m is
w
e
ll
a
d
a
p
t
e
d fo
r the
sy
n
c
h
r
on
is
m
o
f
th
is
syste
m
o
v
er a
wide
ra
nge
of ope
rat
i
o
ns.
2.
M
U
LT
I-MACHIN
E
D
T
C
METH
OD
In
t
h
e
co
n
v
ent
i
onal
DTC
me
tho
d
,
t
h
e
fl
u
x
a
n
d
el
e
c
t
r
oma
gnet
i
c t
o
r
que
a
r
e c
o
nt
rol
l
ed
by a
d
j
u
st
in
g
t
h
e
ma
g
n
i
t
ude
a
n
d
posit
i
o
n o
f
t
h
e
st
at
o
r
fl
ux
res
p
e
c
t
i
ve
l
y
[6
, 7, 1
2
]
. Thi
s
p
r
i
n
ci
ple
i
s
use
d
in
the
prop
ose
d
me
th
od
.
I
n
t
h
is pr
opo
sed
con
t
r
o
l str
a
t
e
gy
, the
r
e ar
e
t
w
o con
t
ro
l l
oop
s;
o
n
e
fo
r th
e st
at
or
flu
x
co
n
t
ro
l an
d
o
n
e
fo
r t
h
e el
ec
tro
m
ag
ne
ti
c
t
o
rqu
e
as ca
n be see
n
e
i
t
h
er
i
n
t
h
e r
i
gh
t
o
r
t
h
e
le
f
t
s
i
d
e
of
th
e
Figu
r
e
1
.
Th
e
p
r
oc
ed
ur
e
of eac
h
co
nt
rol
l
o
o
p
w
i
l
l
be
e
xpl
ai
ne
d t
hor
o
ughl
y
in t
h
e
fol
l
owi
n
g sec
t
i
o
n
of
t
h
e
p
a
per.
Fig
u
re
1
.
Bl
oc
k
Dia
g
ra
m of
t
h
e ne
w m
u
lt
i-ma
c
h
i
n
e
DTC
i
n
t
h
e tra
c
t
i
on dri
v
e o
f
e
l
ec
t
r
ic
v
e
h
i
cl
e
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J Po
w El
ec
&
Dr
i
S
y
st
IS
SN:
208
8-8
6
9
4
Ne
w DTC
st
r
a
t
e
gy
of m
u
l
t
i
-
m
a
c
h
i
n
e
s
si
ngle
-
i
n
vert
e
r sy
ste
m
s… (T
aibi
A
h
m
e
d)
6
43
2.1.
El
ec
tro
m
ag
n
e
tiq
u
e
tor
q
u
e
c
o
nt
rol
l
o
op
T
h
e
n
e
w
id
e
a
in
th
e
su
g
g
e
s
t
e
d
co
n
t
r
o
l l
o
o
p
i
s
t
o
c
o
n
s
i
d
e
r
th
e
m
o
to
r
s
t
o
r
q
u
e
r
e
q
u
i
r
e
m
e
n
ts
a
n
d
sy
s
t
e
m
ove
ra
l
l
nee
d
s
before
sel
ect
i
n
g
a
v
o
l
t
a
ge
ve
ct
or.
T
h
i
s
is
d
one
by
de
si
g
n
ing
a
ne
w l
ook
-u
p
t
a
bl
e i
n
w
h
i
c
h
a
t
h
ree
-
l
e
vel
c
o
mpa
r
a
t
or
i
s
us
ed i
n
t
h
e
t
o
rq
ue c
o
nt
rol
l
o
o
p
.
The
pr
oced
ure
is e
xpl
ai
ne
d
bel
o
w
a
n
d
s
h
o
w
n in
Ta
b
l
e
1 wh
er
e, -1
, 0, 1 ar
e the
ou
tpu
t
s of
t
o
r
q
u
e
err
o
r co
mp
ar
ato
r
. F
i
n
a
lly
, u
s
i
n
g t
h
e o
u
tp
u
t
of
th
is ta
ble
a
n
d
t
h
e out
put
of
t
h
e
st
at
o
r
fl
u
x
c
ont
rol
l
o
o
p
,
th
e
a
p
pro
p
ri
at
e v
o
l
t
a
g
e vect
o
r
i
s
se
le
ct
ed base
d on
the
c
o
nve
nti
onal
D
T
C sw
it
ch
in
g
lo
o
k
-up
tab
l
e
.
Ta
b
l
e
1
.
P
r
o
pose
d
tab
l
e
in
to
rq
u
e
con
t
ro
l l
oop
Mo
to
r
2
H
Te
-
1
0
1
Mot
o
r1 -1
-
1
-
1
0
0 -
1
0
1
1 0
1
1
2.2. Sta
t
or
flu
x
c
o
n
t
r
o
l l
oop
Be
for
e
i
n
t
r
o
duci
n
g th
e pro
pos
ed
i
d
e
a
, so
m
e
issu
e mu
st b
e
ex
p
l
ai
n
e
d
reg
a
rd
in
g
p
a
r
a
l
l
el
P
M
S
mo
tor
s
.
As
a
re
sult
o
f
a
ppl
yi
n
g
one
vol
ta
ge vect
o
r
,
st
at
o
r
fl
u
x
vec
t
o
r
o
f
al
l
t
h
e pa
ra
ll
el
P
M
S
mot
o
rs
wi
ll
vary
i
n
st
ant
a
ne
o
u
sl
y in
t
h
e
sa
me
d
i
rec
t
i
on.
T
h
ere
f
o
r
e:
s
s
s
s
I
R
V
d
t
d
(1
)
In t
h
e
sta
t
or
flux
co
nt
rol
l
o
op
,
o
n
e
s
houl
d
k
n
o
w
t
h
at
t
h
e
fl
ux
o
f
a
n
y
mac
h
ine
c
a
n
go
be
yo
n
d
it
s rat
e
d
val
u
e.
Acc
o
rdi
n
g
t
o
(
1
) t
h
e
st
at
or flu
x
of
eac
h pe
rma
n
e
n
t
ma
g
n
et
sy
n
c
hro
n
o
u
s m
o
t
o
r
surel
y
de
pe
nds
o
n
t
h
e
ap
pl
i
e
d v
o
l
t
a
ge.
In
c
a
se
s whe
r
e pa
ra
met
e
rs of
t
h
e
m
o
t
o
rs are
di
ffe
r
e
n
t
,
or mot
o
rs
l
o
ad
a
r
e
not
t
h
e
sa
me
,
st
ato
r
fl
ux
es
wil
l
b
e
d
i
ffe
r
e
n
t
, or
mo
t
o
r
s
lo
ad ar
e
no
t
th
e
sa
m
e
,
s
t
at
or
f
l
uxe
s wi
ll b
e
d
i
ff
e
r
e
n
t.
F
r
o
m
(1) i
t
c
a
n
be see
n
th
a
t
t
h
e st
at
or
fl
u
x
vec
t
o
r
o
n
l
y
de
pen
d
s
on
sta
t
o
r
resi
sta
n
ce
a
m
on
g al
l
ot
h
e
r
p
a
rame
te
r
s
.
Th
er
efor
e
,
wh
en
s
t
at
o
r
resi
sta
n
ce
a
r
e t
h
e
sam
e
,
on
e e
xpe
cts
to s
ee the
sa
me
f
l
ux
fo
r
b
o
t
h
machi
n
e
s
.
This
i
s
val
i
d
onl
y a
t
st
ea
dy
st
a
t
e
,
a
nd
du
rin
g
t
r
a
n
si
e
n
ts,
the
di
f
f
ere
n
ce
bet
w
ee
n th
e
fl
ux
es m
a
y
b
e
obs
erve
d. Thi
s
di
ffe
r
e
n
ce
wi
l
l
al
so
i
n
c
r
ea
se
as moto
r spe
e
d
dec
r
ea
ses
.
F
o
r t
h
i
s
re
aso
n
, i
n
ca
se
s whe
r
e
mot
o
r
l
o
ads
o
r
st
at
o
r
resi
sta
n
ces
ar
e d
i
ffere
nt, sp
e
e
d
refe
re
nce
ca
n
n
ot
go
bel
o
w a ce
rt
ai
n va
l
u
e
for
s
p
ee
d
c
ont
rol
a
p
p
lic
a
tion
.
Thu
s
,
as th
e
sta
t
or
fl
ux
o
f
on
e of t
h
e mo
tor
s
de
cr
e
a
se
s,
its
tor
q
u
e
g
e
n
e
ra
ti
on
ca
pa
b
i
li
ty
w
i
ll
al
so
dec
r
ea
se
.
F
o
r t
h
e
s
e c
o
n
d
i
t
i
ons, the
mea
n
c
o
ntr
o
l strat
e
gy ca
n
not
be
u
s
e
d
si
nce t
h
e fl
ux of t
h
e o
n
e
mac
h
i
n
e c
a
n
be
sa
t
u
r
a
t
e
d
whil
e
i
t
s
av
era
g
e
val
u
e i
s
e
qual
t
o
t
h
e
re
fe
re
nc
e
val
u
e.
T
h
ere
f
o
r
e
,
th
e
mast
e
r
-sl
a
ve
c
ont
rol
t
echni
q
u
e
c
a
n
be
use
d
for
th
e
sta
t
or fl
ux
c
ont
rol
l
o
op
.
In
thi
s
wa
y, o
n
l
y
t
h
e
st
at
o
r
fl
ux
of
one
m
o
tor
is
c
o
n
t
r
o
lle
d.
Bu
t th
e
mo
tor
w
i
th
th
e
b
i
gg
e
r
s
t
a
t
o
r
f
l
ux
m
a
g
n
i
t
u
d
e
h
a
s t
o
b
e
se
le
ct
ed
as
th
e
ma
ste
r
,
a
n
d
its
sta
t
or
f
l
ux
i
s
se
t t
o
t
h
e
r
e
f
e
ren
c
e val
u
e.
To
p
r
ev
e
n
t
f
l
ux
sa
t
u
r
a
ti
o
n
at
d
i
ff
er
en
t
si
tu
at
io
n
s
,
th
e m
a
st
er
mo
t
o
r ma
y
cha
nge
. T
h
e
r
efore
,
i
n
t
h
e
p
r
o
pos
ed met
h
o
d
, swi
t
c
h
abl
e
m
a
ste
r-sl
a
ve
t
e
c
hni
q
u
e
is em
p
l
oye
d
f
o
r sta
t
o
r
flu
x
cont
rol
.
In
the
co
n
v
ent
i
onal
DTC,
t
h
e fi
nal
st
ep
i
s
the
sel
e
c
t
i
o
n
of v
o
l
t
a
ge
ve
c
t
or
usi
n
g
a
l
ook
-
up
ta
ble
.
Th
e
vo
l
t
a
g
e
is
s
e
l
e
c
t
e
d
w
i
th
resp
ec
t t
o
th
e
se
c
t
i
o
n
o
f
t
h
e
stato
r
f
l
ux
.
Th
e pr
opo
se
d m
e
t
hod
u
s
es
t
h
e
st
ato
r
flux
of
the
m
a
s
t
er
mot
o
r
fo
r
fl
u
x
s
e
c
t
or
s
e
l
e
c
t
ion.
3.
SIM
U
LAT
I
ON
AN
AL
Y
S
IS
OF N
E
W
CONT
ROL
ST
R
A
T
E
GY
In
orde
r
to e
n
sure t
h
e st
abi
l
it
y of t
h
e sy
st
em com
p
ose
d
of t
w
o P
M
S
M
con
n
ec
te
d i
n
para
ll
el
o
n
th
e
sa
me
in
v
e
rte
r
wh
ic
h
u
s
e
s
th
e s
e
n
s
or
le
ss DTC
"ma
s
ter
-
sla
v
e" s
t
ru
ct
u
r
e, d
i
f
f
er
e
n
t lo
ad
s a
r
e
app
l
ie
d
t
o
b
o
t
h
machi
n
e
s
as
s
h
o
w
n
o
n
Fi
gu
re 2
(
c
)
.
We ca
n
re
adi
l
y
not
ic
e t
h
at
w
h
a
t
eve
r
va
lue
s
of t
h
e
tor
q
ue
pro
v
id
e
d
b
y
th
e
two
m
ach
i
n
e
s
,
th
e
sy
ste
m
is al
way
s
stab
le
.
The
mast
er m
a
c
h
ine
i
s
the
one
t
h
at
pro
v
ide
s
t
h
e
hi
g
h
e
s
t t
o
rque
an
d
t
h
e
di
ff
ere
n
ce
i
n
p
o
si
t
i
o
n
b
e
tw
e
e
n
th
e
t
w
o
ma
c
h
i
n
e
s
c
o
rr
esp
ond
s to
th
e
th
eo
r
e
ti
ca
l b
a
sis
2
1
when t
h
e hi
g
h
est
t
o
rq
u
e
i
s
pro
v
i
d
ed
b
y
PM
SM1
.
For
th
e sp
ee
d
s
of
th
e two
m
ach
in
e
s
(
F
i
gu
r
e
2
(
a
))
, wh
e
t
he
r
ma
ster
o
r
sla
v
e,
t
h
e
r
e
is a c
l
ose
fol
l
o
w
u
p
o
f
t
h
e
re
fe
re
nce
s
p
eed
im
po
sed
by
t
h
e
c
ont
rol
strat
e
gy
w
h
at
e
v
er
i
s
t
h
e
val
u
e o
f
t
h
e l
o
a
d
a
ppl
ie
d
.
We
not
ic
e th
a
t
the
di
ffe
re
nc
e
bet
w
ee
n t
h
e
t
w
o
spe
e
d
s
ha
s very
sat
i
sfa
c
t
o
ry
rat
e
s, whi
c
h in
di
ca
te
s
t
h
e
g
o
o
d
perfec
t
i
o
n
i
n
swa
p
pin
g
t
h
e
mast
er a
n
d sla
v
e
mot
o
rs
acc
ordi
ng t
o
t
h
e
cont
rol
be
ha
vi
or
w
h
e
n
di
st
urba
nce
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
: 2
088
-8
6
94
Int
J
P
o
w
Ele
c
& D
r
i
S
y
st, V
o
l
.
1
1
,
N
o
.
2, Ju
ne
20
2
0
:
6
4
1
–
650
64
4
occ
u
r.
We
not
i
ce fast res
p
o
n
se
of
e
l
e
c
t
r
o
m
agnet
i
c t
o
rq
ue
s of the
t
w
o
moto
rs
(mast
e
r
a
n
d
sl
a
v
e
)
w
h
en
we
appl
y di
ffe
r
e
n
t
loa
d
s a
s
sh
ow
n i
n
Fi
g
u
re
2
(b),
t
h
is
c
o
n
f
i
r
ms
t
h
e
fast
a
n
d g
o
o
d
ma
na
g
e
ment
i
n
mast
er a
n
d
sl
av
e
und
e
r
t
h
e
c
o
nd
iti
on
s la
id
do
wn
i
n
t
h
e
alg
o
r
i
t
hm
o
f
th
e
con
t
ro
l
.
W
e
r
e
m
a
rk
t
h
e
f
a
st
r
e
sp
onse
o
f
el
ec
troma
gnet
i
c
tor
que
o
f
th
e
tw
o
mot
o
rs (maste
r a
n
d sl
ave) w
h
e
n
a
p
p
l
yi
ng
di
ffe
r
e
n
t
loa
d
s, Fi
g
u
r
e
2 (b)
,
w
h
ich
con
f
irms
th
e sp
e
e
d
a
n
d g
ood
a
l
te
rn
a
t
io
n i
n
ma
st
er
and
sl
a
v
e
u
n
d
e
r
t
h
e
cond
it
io
n
s
lai
d
do
wn in
th
e
al
go
ri
thm c
o
n
t
r
o
l.
Th
e
ph
a
s
e cu
rre
n
t
s of
th
e t
w
o m
ach
in
es p
r
esen
t go
od w
a
v
e
fo
r
m
s
and
con
f
irm
t
h
e
re
spo
n
se
s of
th
e
mo
to
rs
a
s
fa
r a
s
th
e ch
an
ges i
n
lo
ad
s ar
e co
n
c
ern
e
d.
Fig
u
re
2
(
e
)
a
n
d
(
f
)
wh
ic
h
r
e
pr
esen
t
th
e
w
a
v
e
fo
rm
s
of the
st
at
or
m
a
gne
t
i
c
fl
u
x
s
h
ow
g
o
od ma
g
n
et
i
c
st
abi
l
i
t
y
of
b
o
t
h
mac
h
i
n
e
s
w
h
i
c
h
ens
u
res
a
goo
d
be
havi
or
th
a
t
wa
s i
m
po
sed
by
t
h
e
D
T
C co
n
t
ro
l "mas
ter
-
s
lav
e
" to
t
h
e
t
w
o
ma
c
h
in
es ag
ai
n
s
t a
ll
d
i
stur
ba
n
c
es.
The sim
u
l
a
t
i
o
n
res
u
l
t
s o
f
thi
s
pr
opose
d
met
h
od
o
f
fe
rs be
t
t
e
r
st
ea
d
y
st
at
e re
spo
n
se
.
(a
)
(b
)
(c
)
(d
)
(e
)
(
f)
(g
)
(h
)
F
i
g
u
re 2
.
S
p
eed
,
torq
ue,
s
t
a
t
or flu
x
and
motor
cu
rr
e
n
t
of
two
motor
s
with
prop
os
ed
metho
d
u
s
ing
lo
a
d
ch
a
n
ge
0
0.
1
0.
2
0.
3
0.
4
0.
5
0.
6
0.7
0.
8
0.9
1
0
20
40
60
80
100
120
Ti
m
e
[
s
]
Sp
eed
(
r
ad
/
s
)
Ref
e
r
e
n
c
e
Mo
t
o
r
1
Mo
t
o
r
2
0
0.
1
0.
2
0.
3
0.
4
0.
5
0.
6
0.7
0.
8
0.9
1
0
5
10
15
20
25
30
35
Ti
m
e
[
s
]
T
o
rq
u
e
[
N
.m
]
Mo
t
o
r
1
Mo
t
o
r
2
0
0.
1
0.
2
0.
3
0.
4
0.
5
0.
6
0.7
0.
8
0.9
1
0
2
4
6
8
10
12
14
16
18
20
Ti
m
e
[
s
]
Loa
d t
o
r
q
ue
[
N
.
m
]
Loa
d 1
Loa
d 2
0
0.
1
0.
2
0.
3
0.
4
0.
5
0.
6
0.7
0.
8
0.9
1
0
0.
0
1
0.
0
2
0.
0
3
0.
0
4
0.
0
5
0.
0
6
0.
0
7
0.
0
8
0.
0
9
Ti
m
e
[
s
]
S
t
a
t
or
f
l
ux
[
W
b
]
Re
f
e
r
e
n
c
e
Mo
t
o
r
1
Mo
t
o
r
2
0
0.
1
0.
2
0.
3
0.
4
0.
5
0.
6
0.7
0.
8
0.9
1
-0
.
1
-0
.
0
8
-0
.
0
6
-0
.
0
4
-0
.
0
2
0
0.
0
2
0.
0
4
0.
0
6
0.
0
8
0.1
Ti
m
e
[
s
]
S
t
a
t
o
r
fl
u
x
(m
o
t
o
r
1
)
[W
b
]
Fl
ux
-s
A
Fl
ux
-s
B
0
0.
1
0.
2
0.
3
0.
4
0.
5
0.
6
0.7
0.
8
0.9
1
-0
.
1
-0
.
0
8
-0
.
0
6
-0
.
0
4
-0
.
0
2
0
0.
0
2
0.
0
4
0.
0
6
0.
0
8
0.1
Ti
m
e
[
s
]
S
t
a
t
or
f
l
ux
(
m
ot
or
2
)
[
W
b]
Fl
ux
-s
A
Fl
ux
-s
B
0
0.
1
0.
2
0.
3
0.
4
0.
5
0.
6
0.7
0.
8
0.9
1
-
100
-8
0
-6
0
-4
0
-2
0
0
20
40
60
80
100
Ti
m
e
[
s
]
M
o
to
r
c
u
r
r
e
n
t
(1
)
[A
]
is
a
is
b
is
c
0
0.
1
0.
2
0.
3
0.
4
0.
5
0.
6
0.7
0.
8
0.9
1
-
100
-8
0
-6
0
-4
0
-2
0
0
20
40
60
80
100
Ti
m
e
[
s
]
M
o
to
r
c
u
r
r
e
n
t
(2
)
[A
]
is
a
is
b
is
c
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J Po
w El
ec
&
Dr
i
S
y
st
IS
SN:
208
8-8
6
9
4
Ne
w DTC
st
r
a
t
e
gy
of m
u
l
t
i
-
m
a
c
h
i
n
e
s
si
ngle
-
i
n
vert
e
r sy
ste
m
s… (T
aibi
A
h
m
e
d)
6
45
4.
V
E
H
I
C
L
E DY
NAMI
C
S
The
ve
hic
l
e
d
y
n
a
mic
s
a
r
e
d
e
scri
b
e
d
by t
h
e l
o
ng
i
t
u
d
i
n
al
ve
loc
i
t
y
,
l
a
t
e
ra
l
vel
o
ci
t
y
a
nd
yaw
rat
e
as
f
o
llo
ws
[1
3-
17]
:
4
3
2
1
2
2
4
3
2
1
t
t
t
t
v
v
f
f
x
v
f
f
r
r
y
x
v
f
f
r
r
v
f
x
x
v
f
f
r
r
y
x
v
f
r
y
x
r
y
v
f
v
res
t
t
t
t
y
x
F
F
F
F
J
d
J
l
C
r
v
J
l
C
l
C
v
v
J
l
C
l
C
r
M
C
r
v
v
M
l
C
l
C
v
v
M
C
C
v
v
rl
v
M
C
M
F
F
F
F
F
r
v
v
, (2
)
Eq
ua
ti
on
(3
) i
ndi
ca
t
e
s
t
h
e
v
e
hi
cl
e re
sist
a
n
ce
o
p
posi
n
g
i
t
s
m
ove
me
nt
i
n
cl
udes
rol
l
i
n
g
resi
sta
n
ce
o
f
th
e
t
i
r
e
s
rr
F
,
ae
ro
dy
nami
c
d
r
a
g
resi
st
ance
aero
F
, a
n
d
gr
ad
i
n
g
r
e
si
sta
n
ce
c
F
.
Al
l o
f
t
h
e
re
sis
t
a
n
ce w
i
l
l
b
e
di
sc
usse
d
i
n
de
ta
il
in [1
8-2
2
].
c
aero
rr
res
F
F
F
F
, (3
)
whe
r
e
g
M
C
F
g
M
F
V
C
S
F
v
rr
rr
p
v
c
cg
px
f
aero
sin
2
1
2
. (4
)
The l
o
n
g
i
t
u
din
a
l fo
rc
es fo
r
t
h
e fou
r
in
-
w
hee
l
mot
o
rs
can
be
c
a
l
c
ul
at
ed
usin
g the
f
o
l
l
o
wi
n
g
eq
ua
ti
on:
p
i
v
ti
gM
F
cos
4
,
4
,...,
1
i
,
(5
)
The
dri
v
e s
y
st
e
m
m
odel
c
a
n
be
de
sc
ri
be
d
b
y
t
h
e f
o
ll
o
w
i
n
g
mec
h
a
n
i
cal
eq
uat
i
o
n
s
:
, (6
)
Wh
er
e
ri
T
is t
h
e r
e
sist
iv
e
torq
u
e
;
r
f
N
N
,
a
r
e t
h
e
fro
n
t
an
d re
a
r
n
o
r
mal
forc
es an
d
have
t
h
e f
o
ll
o
w
i
n
g e
xpressi
ons:
p
cg
p
cg
g
cg
f
v
r
p
cg
p
cg
g
cg
r
v
f
L
h
dt
dV
L
h
L
l
g
M
N
L
h
dt
dV
L
h
L
l
g
M
N
2
2
, (
7
)
Wi
th
a lin
e
a
r
ti
re
mod
e
l, th
e fron
t
a
n
d r
e
a
r
co
rn
er
i
n
g forc
es c
a
n
b
e
exp
r
es
sed a
s
th
e
pr
odu
c
t
o
f
t
h
e c
o
rnerin
g
st
i
ffne
ss
(
f
C
,
r
C
) an
d
the
si
desl
ip
a
n
gl
e (
f
,
r
).
r
r
yr
f
f
yf
C
F
C
F
(8
)
]
4
,
2
[
,
]
3
,
1
[
,
i
d
N
R
F
T
i
d
N
R
F
T
z
r
ti
ri
z
f
ti
ri
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
: 2
088
-8
6
94
I
n
t
J Po
w El
ec
&
Dr
i
S
y
st
, Vol.
11
,
No
.
2
,
Jun
e
2
020
: 64
1 –
6
5
0
64
6
The
si
desl
ip
a
n
gl
es
of the
w
h
ee
l
s
ca
n
be
e
a
si
ly e
x
p
r
e
s
se
d
i
n
t
e
rms
o
f
the
l
o
n
g
it
u
d
i
n
al
, la
te
ral
,
an
d
ang
u
l
a
r v
e
l
o
ci
t
i
e
s
, as we
ll
as
t
h
e st
e
e
ri
ng
a
ngl
e
.
Ex
p
lic
it ex
pre
ssio
n
s
o
f
th
e
s
i
d
e
slip a
ngle
s
fo
r
t
h
e
fro
n
t
and
rea
r
a
x
le
s are re
p
r
e
s
ent
e
d
b
y
. (1
0).
x
r
y
r
x
f
y
f
v
r
l
v
v
r
l
v
1
1
tan
tan
(9
)
Th
e
lo
ng
itud
i
nal
sl
ip
c
a
n
b
e
def
i
n
e
d
for
th
e fo
ur
w
h
e
e
l
s
a
s
:
ti
i
ti
i
i
u
R
u
R
,
max
,
4
,...,
1
i
,
(
1
0)
whe
r
e:
,
3
,
2
,
1
i
an
d
4
c
o
r
r
e
s
pon
d
to
t
h
e
f
r
on
t le
f
t
, fro
n
t
ri
gh
t, re
a
r
l
e
f
t
,
an
d re
ar ri
gh
t (
rr
rl
fr
lf
,
,
,
)
whee
ls
, res
p
ec
ti
vel
y
;
R
is
th
e
w
h
ee
l ra
d
i
u
s
;
i
i
s
t
h
e a
ngul
a
r
ve
l
o
c
i
ty
of t
h
e in-
w
heel
m
o
t
o
r;
an
d
v
is
t
h
e l
i
n
ea
r sp
ee
d a
t
whi
c
h t
h
e
cont
ac
t
z
o
ne
m
o
ve
s
on
t
h
e
gro
u
n
d
.
The
i
n
te
rre
l
a
t
i
ons
hi
ps
be
tw
e
e
n t
h
e
sl
i
p
ra
ti
o
a
nd th
e
t
r
acti
o
n
co
e
ffi
cie
n
t
c
a
n
be de
sc
ri
bed
b
y
vari
ous
formu
l
as. I
n
t
h
i
s
st
ud
y,
t
h
e
wi
de
l
y
ad
o
p
t
e
d
m
a
gi
c fo
rm
ul
a
[1
5,
2
3
] i
s
a
ppl
ie
d
to
de
sc
ri
be
t
h
e rel
a
t
i
ons
hi
p bet
w
e
e
n
t
h
e
sli
p
a
n
d
t
r
ac
ti
on f
o
rce
s
a
n
d
t
o
b
u
i
l
d
a
vehi
cl
e
model
for
t
h
e
fol
l
o
w
in
g
simul
a
t
i
ons,
a
s
sh
ow
n
i
n
(1
1) [24,
2
5
].
3
1
3
4
3
1
2
1
tan
tan
sin
c
c
c
c
c
c
(11)
The c
o
ef
fi
ci
ent
set
s
of
1
c
,
2
c
,
3
c
and
4
c
are de
fi
ned
i
n
(2
1).
5.
SIM
U
LAT
I
O
N
RE
SUL
T
S
The
st
ruct
ure
o
f
t
h
e EV
i
n
t
h
i
s
st
u
dy i
s
co
mp
ose
d
of
four
i
n
-w
he
el
mot
o
rs
(i
.e.,
P
M
S
M
s
)
mo
unt
e
d
i
n
ea
ch w
h
ee
l
,
a
s
sho
w
n i
n
F
i
g
u
re
3. T
h
e
r
e
f
ore, the
whee
l
t
o
rq
ue
for e
a
c
h
w
h
eel
ca
n be
c
ont
ro
l
l
e
d c
o
mpl
e
t
e
l
y
and
in
de
pe
n
d
e
n
t
l
y
fo
r
v
e
hic
l
e
mot
i
o
n
c
o
nt
rol
.
Eac
h
t
w
o
in-w
heel
PM
SMs a
r
e
c
o
nne
ct
ed i
n
paral
l
el
on
t
h
e sa
me
i
n
ve
rt
er s
u
p
p
li
e
d
b
y
DC
v
o
l
t
a
ge
sou
r
ce
whi
c
h
a
r
e
co
nt
rol
l
e
d
b
y
t
h
e
se
ns
orl
e
s
s
mast
er-sla
ve
DTC
struct
u
r
e,
Fi
gu
re
1.
Fi
gu
re
3. C
onfi
g
u
r
at
io
n
of
a
n
EV st
udi
e
d
.
Ta
ble
3
su
mm
ari
z
e
s
the
ve
hi
cl
e cha
r
ac
te
ri
sti
c
s a
n
d
pa
ra
me
te
rs
nu
me
ri
cal
val
u
es
. T
h
e
pa
ramet
e
rs
o
f
t
h
e P
M
S
M
s
are
gi
ve
n i
n
Ta
b
l
e 2. The
p
r
o
p
o
se
d t
r
ac
ti
on
s
y
st
em
uses t
h
e
ve
hic
l
e
sp
eed
,
t
h
e sl
ope a
n
gle
and
th
e
ste
e
r
i
ng
a
n
g
l
e
a
s
in
pu
t p
a
ra
me
te
rs
an
d c
a
lcu
l
at
es
th
e
r
e
qu
ir
ed
inn
e
r a
nd
ou
te
r
sp
e
e
d
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J Po
w El
ec
&
Dr
i
S
y
st
IS
SN:
208
8-8
6
9
4
Ne
w DTC
st
r
a
t
e
gy
of m
u
l
t
i
-
m
a
c
h
i
n
e
s
si
ngle
-
i
n
vert
e
r sy
ste
m
s… (T
aibi
A
h
m
e
d)
6
47
Tabl
e
2. M
o
t
o
r pa
ra
me
te
rs
S
y
mb
o
l
Qu
a
n
tity
Va
lu
e
s
R
re
sista
n
ce
0,
03
d
L
d-a
x
is induct
a
nce
0,
2 m
H
q
L
q-a
x
is induct
a
nce
0,
2 m
H
f
p
e
r
m
ane
n
t magne
t
flux
0,
08 Wb
p
p
o
l
e
pa
irs
4
Ta
ble
3. El
ec
tri
c
vehi
cl
e
para
met
e
rs
S
y
m
bol Qua
n
tit
y
Va
lue
v
M
ve
hicle
m
a
ss
1562 k
g
v
J
ve
hicle
iner
tia
2630 k
g
.
m
²
J
w
h
ee
l ine
r
tia
1,
284 kg.
m
²
f
L
dist
ance
f
r
om the
CG
to fr
ont a
x
le
1,
104 m
r
L
dist
ance
f
r
om the
CG
to re
a
r
a
x
l
e
1,
421 m
cg
h
he
igh of the
vehic
l
e
c
t
r
o
id (C
G
)
0,
5 m
f
S
f
r
onta
l
a
r
ea of
vehi
c
l
e
2,
04 m
²
a
i
r de
nsity
1,
2 kg.
m
-3
px
C
d
r
a
g
co
e
f
f
i
ci
en
t
0
,
2
5
rr
C
r
o
lling r
e
sis
t
anc
e
coef
fi
cie
n
t
0,
01
f
C
longit
udi
nal sti
f
f
n
ess of
ea
ch t
i
re
la
ter
a
l
3740
7 N
/
ra
d
r
C
la
ter
a
l sti
f
fne
ss of
ea
ch tir
e
l
a
te
ral
5191
8 N
/
ra
d
R
w
h
ee
l ra
dius
0,
294 m
Th
e
co
mmo
n
r
e
fer
e
n
c
e
s
p
eed
*
i
s
t
h
en set
by
t
h
e
acc
el
era
t
or pe
da
l
c
o
mma
nd. T
h
e
act
ual
re
fe
re
nce
s
p
ee
ds
f
o
r
t
h
e
l
e
ft
dri
v
e
s
(
*
3
,
*
4
) a
n
d t
h
e ri
ght
dri
v
es
(
*
1
,
*
2
)
c
a
n
t
h
e
n
be
obt
ai
ne
d
by
a
d
j
u
sti
ng
th
e
c
o
mmon ref
e
r
e
n
ce sp
e
e
d
*
u
s
i
n
g
th
e s
t
eer
ing
ang
l
e
sign
al
. Wh
e
n
t
h
e
s
t
ee
r
i
n
g
a
n
g
l
e is
e
q
u
a
l
to
z
e
ro
,
th
e
el
ec
tr
ic
v
e
h
i
cl
e dr
iv
e
s
o
n
th
e
st
ra
igh
t
roa
d
a
n
d
th
e e
l
ectr
o
n
i
c
d
i
f
f
e
r
e
n
tia
l do
e
s
no
t
n
e
e
d
to
w
o
rk
.
O
n
th
e
ot
he
r ha
n
d
,
i
f
t
h
e st
ee
ri
ng a
n
gle
c
h
a
n
ges, it
i
n
d
i
c
a
t
e
s tha
t
t
h
e ve
hic
l
e
is maki
ng
a
t
u
r
n
a
n
d
t
h
e e
l
e
c
t
r
o
n
i
c
d
i
f
f
e
ren
tia
l pr
ov
id
e
s
th
e
d
i
ff
ere
n
c
e
o
f
sp
ee
d fo
r t
h
e
f
our
i
n
-w
hee
l
mo
to
rs
w
h
il
e t
h
e v
e
h
i
cle
is
p
e
rfo
rmin
g
a
tu
rn
,
wh
i
c
h
w
ill
r
e
su
l
t
o
n
th
e
b
e
s
t
s
t
ab
i
lit
y
of
v
e
h
i
c
l
e
in t
h
e
c
u
rv
ed
tr
aje
c
t
o
r
y
o
f
th
e
ro
a
d
.
The
v
e
hi
cl
e s
p
eed st
art
s
from
ze
ro t
o
t
h
e c
h
ose
n
re
fe
re
nce
spe
e
d
.
T
h
e
st
e
e
ri
n
g
an
gl
e i
n
p
u
t
i
s
sh
own
in
F
i
gu
r
e
4
c
o
rr
esp
ond
s to
a r
i
gh
t tu
rn
for
fo
u
r
se
c
o
n
d
s
, wh
ic
h
w
i
l
l
be th
e
ref
e
r
e
n
c
e
ste
e
r
i
ng
inpu
t
for
simul
a
t
i
ons.
T
h
e
ve
hic
l
e
t
u
rn
s to t
h
e
ri
g
h
t at
t=
5s,
a
n
d
w
h
e
n
t
h
e
ste
e
ri
n
g
angl
e rea
c
h
es i
t
s
ma
xim
u
m v
a
l
u
e at
t=
8
s
, and
sti
ll b
e
ma
i
n
ta
in
ed
at
th
e
men
tione
d
v
a
lu
e
a
b
o
u
t
4
se
c
o
n
d
s
a
n
d
th
en
it
is
br
ough
t to
zero
a
t
t=
1
5
s
.
F
i
gure
5 s
how
s t
h
e
rot
a
t
i
o
na
l
spee
ds
of t
h
e in-
w
heel
m
o
tors.
We
n
o
t
i
ce t
h
at
t
h
e
y
ha
ve t
h
e
same
sp
e
e
d
v
a
r
i
a
tio
n
s
fr
om th
e
st
a
r
t
u
p
to
th
e
e
s
ta
b
l
i
s
h
m
en
t
of
t
h
e
ste
a
dy st
at
e sp
e
e
d
s as
lo
ng
a
s
th
e
v
e
h
i
c
l
e
ru
ns
o
n
a
st
r
a
i
g
h
t
pat
h
. Du
ri
ng th
e s
t
e
e
r
i
ng
, th
e
mo
tor
s
(M
1 and
M
2
)
lo
c
a
t
e
d o
u
t
sid
e
o
f
th
e t
u
rn
’
s
c
u
rv
a
t
ur
e
,
ro
ta
te
a
t
h
i
gh
e
r
sp
e
e
ds
th
an
mo
tor
s
(M3
an
d M4)
.
A
goo
d
t
r
a
c
k
i
n
g
o
f
t
h
e
l
o
ngit
u
di
nal
v
e
l
o
ci
t
y
of t
h
e
vehi
cl
e
c
a
n
b
e
obse
r
ve
d
i
n
Fi
g
u
r
e
6.
The
re
s
ponse
o
f
the
spe
e
ds
o
f
t
h
e
4
d
r
i
v
in
g
whe
e
l
s
of
the
vehi
cl
e i
s
s
h
o
w
n
i
n
Fi
gu
re
9
.
F
r
om
F
i
g
u
re
s
.
7 a
n
d
8
,
t
h
e
la
ter
a
l
ve
lo
c
ity
y
v
a
nd t
h
e ya
w m
o
me
nt
r
de
pe
nd
on t
h
e st
ee
ri
n
g
c
o
m
m
a
n
d
of t
h
e
d
r
i
v
er.
The
s
e t
w
o
spee
ds
occu
r o
n
l
y
d
u
ri
ng
c
o
rneri
n
g
a
n
d
t
h
e
y
vani
sh
w
h
en
the
ve
hi
cl
e
i
s
t
r
ave
l
li
ng o
n
a
st
ra
ig
ht
road
.
Th
e
F
i
gu
r
e
11
s
h
ows th
e
d
i
ffe
r
e
n
c
e
i
n
th
e
t
r
a
c
tio
n fo
rce
s
g
e
n
e
r
a
te
d
b
y
th
e
m
o
t
o
r
s
of
t
h
e
f
r
on
t a
x
le
(M
1 a
nd
M3)
a
nd
t
h
e t
w
o mot
o
rs o
f
t
h
e
re
a
r
axl
e
(M
2 a
nd
M
4
)
d
u
ri
ng t
h
e co
mpl
e
t
i
on o
f
t
u
rn.
F
i
rs
t, we
not
ic
e
hi
g
h
tra
c
t
i
on
forc
es
ar
e p
r
o
v
i
d
ed
b
y
t
h
e
m
o
tor
s
fo
r m
o
vin
g
t
h
e
ve
hic
l
e
from
s
t
art
u
p
.
T
h
is s
e
e
m
s
lo
g
i
ca
l si
n
ce th
e
s
e
f
o
rc
e
s
mu
st
ov
erc
o
me
th
e
ov
era
l
l
resis
tin
g
for
c
e
s
to
th
e mov
e
me
n
t
of
th
e v
e
h
i
cl
e.
Th
e
r
efo
r
e,
t
h
e
sta
b
il
ity
is main
ta
in
e
d
dur
in
g
th
e
v
e
h
i
cle
turn
.
F
i
gure
1
2
il
l
u
s
t
rat
e
s t
h
e
vari
a
t
i
o
n
o
f
t
h
e
el
ec
troma
gne
t
i
c
to
rq
ue
of
the
mo
t
o
rs.
W
e
ha
ve
fi
rst
,
a
hig
h
t
o
rque
duri
ng t
h
e st
a
r
t
up
, t
h
e
mot
o
rs
ma
int
a
i
n
the
s
e
hi
g
h
el
ect
roma
g
n
e
t
i
c
t
o
rques
from
st
art
up
unt
i
l
t
h
e
ti
me
th
e
i
r
sta
b
iliz
e
d
sp
e
e
d
s
ar
e re
ach
e
d
.
A
t
th
is tim
e,
t
h
e
mo
t
o
r to
rqu
e
s
b
e
g
i
n
t
o
d
e
c
r
ea
se
a
nd
t
h
en
t
h
ey
st
ab
iliz
e a
t
a
c
e
r
t
a
i
n
s
e
t
po
in
t. Du
r
i
n
g
the
s
t
e
e
r
i
ng
,
th
e e
l
e
c
t
r
o
m
a
g
n
e
tic
to
rqu
e
s d
e
velo
p
e
d
b
y
th
e
m
o
tor
s
(M
3 a
n
d
M4
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
: 2
088
-8
6
94
Int
J
P
o
w
Ele
c
& D
r
i
S
y
st, V
o
l
.
1
1
,
N
o
.
2, Ju
ne
20
2
0
:
6
4
1
–
650
64
8
are
hig
h
e
r
tha
n
th
ose
o
f
t
h
e m
o
to
rs
(M1
a
n
d
M2
) as ca
n be
c
l
early see
n
i
n
Fi
gu
re
1
2
.
It
c
a
n
be
o
b
se
rve
d
t
h
at
th
e
tor
q
u
e
s
of
th
e o
u
t
er
mo
tors a
r
e gr
ea
te
r
t
h
a
n
th
a
t
of
th
e in
n
e
r
o
n
e
s.
S
i
mul
a
t
i
o
n
res
u
l
t
s i
n
dic
a
t
e
t
h
at
t
h
e
perf
orm
a
nce
of
the
pr
o
pose
d
me
th
o
d
i
n
c
ont
rol
of
f
our i
n
-
w
heel
mo
t
o
r
s
tra
c
t
i
o
n
sy
ste
m
is favou
r
a
b
l
e
an
d
o
f
f
e
rs
g
ood
respon
se at
st
ea
dy
state
.
Fi
gu
re
4. St
e
e
ri
ng
a
n
g
l
e
i
n
p
u
t
F
i
gu
re 5.
R
o
ta
t
i
ona
l s
p
ee
d
of mot
o
rs
F
i
g
u
r
e
6
.
Longit
u
d
i
n
a
l v
e
lo
city
F
i
gure 7.
L
a
t
e
ra
l
vel
o
ci
t
y
F
i
gu
re
8.
A
n
gu
l
a
r vel
o
ci
t
y
Fi
gu
re 9.
Li
n
e
a
r
vel
o
ci
t
y
of ve
hi
cl
e
Fi
g
u
r
e
10
. Li
ne
a
r
sp
e
e
d of
i
n
-wh
e
el
s
Fi
gu
re
1
1
.
T
r
a
c
t
i
on
fo
rc
es
0
2
4
6
8
10
12
14
16
18
20
0
1
2
3
4
5
6
7
Ti
m
e
[
s
]
St
eer
i
n
g
an
g
l
e
[
°
]
0
2
4
6
8
10
12
14
16
18
20
0
5
10
15
20
25
30
35
Tim
e
[
s
]
Sp
eed
o
f
m
o
t
o
r
s
[
r
ad
/
s
]
F
r
ont
r
i
gh
t
m
o
tor
R
e
ar
r
i
ght
m
o
tor
F
r
o
n
t l
e
f
t
m
o
to
r
Re
a
r
l
e
f
t
m
o
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J Po
w El
ec
&
Dr
i
S
y
st
IS
SN:
208
8-8
6
9
4
Ne
w DTC
st
r
a
t
e
gy
of m
u
l
t
i
-
m
a
c
h
i
n
e
s
si
ngle
-
i
n
vert
e
r sy
ste
m
s… (T
aibi
A
h
m
e
d)
6
49
Fi
gu
re
1
2
. T
o
r
que
o
f
mot
o
rs
6.
CO
NCL
U
S
I
O
NS
S
e
ve
ral
met
hods
ha
ve
bee
n
pro
pose
d
t
o
c
ont
rol
o
f
mul
t
i
-ma
c
h
i
n
e
sin
g
l
e
-i
nve
rt
er s
y
st
ems.
In t
h
is
pape
r,
a
ne
w te
chni
que
i
m
p
r
ovi
ng t
h
e
co
nt
rol
perfo
rma
n
ce
s fo
r bi
-mac
hine
si
ngl
e
-
i
nve
rt
er
syst
em i
n
t
h
e
tr
a
c
t
i
o
n
dr
iv
e of e
l
e
c
t
r
i
c
ve
h
i
c
l
e
s
is
p
r
op
o
s
e
d
.
Th
e en
tir
e
sy
ste
m
i
s
s
i
mu
l
a
ted
by
M
a
tl
ab
/S
imu
lin
k.
The si
m
u
la
ti
on
resul
t
s s
h
o
w
t
h
e
effect
i
v
e
n
e
ss of t
h
e ne
w
mult
i
-
mac
h
i
n
e
ro
bu
st
co
nt
rol
base
d
on
an e
l
e
c
t
r
i
c
di
ffe
re
nt
i
a
l
use
d
in
E
V
a
ppli
c
a
t
ions.
RE
FERE
NC
E
S
[1]
K.
Cak
i
r
and
A.
S
a
b
a
nov
ic,
"
I
n-w
h
eel
motor des
i
g
n
for electric vehicles
,"
in
Ad
vanced
M
o
tio
n
Contro
l,
2
006
. 9th
IEEE Inter
n
a
t
ion
a
l Wo
rksh
op
on
, p
p
.
61
3-61
8,
20
06
.
[2]
Y. Ho
ri, "
F
uture v
e
hicle
d
r
iven
by
electricity
and control-research on
fo
ur-w
heel-mo
t
o
r
ed"
UO
T Electric
M
a
rch
II",
"
IEEE T
r
ans
actio
n
s
on
Ind
u
s
t
r
i
al Electron
i
cs
,
v
o
l. 5
1
, p
p
.
95
4-9
62,
20
04
.
[3]
S.
-i.
Sakai
,
H.
Sado,
and Y.
H
o
ri
,
"M
otio
n con
t
ro
l in an elec
tric
v
e
hicle wi
th
fo
ur indep
e
nd
ently
d
r
iv
en
in
-wh
eel
motors
,
"
IEEE/ASM
E
Tr
an
sa
ctions
o
n
m
echatro
nics,
vo
l.
4, p
p
.
9-1
6
,
199
9.
[4]
M
.
A
.
Rah
m
an an
d R. Qin,
"
A
p
e
rm
an
ent magn
et
hys
teres
i
s
hy
brid
s
y
n
c
hro
nou
s
moto
r fo
r electric v
e
hicles
,"
IE
EE
Tran
sa
c
t
i
o
ns o
n
In
du
stria
l
E
l
e
c
t
ro
ni
c
s
,
vo
l.
44
, p
p
.
46
-5
3,
19
97
.
[5]
L.
Tang
, L.
Zho
n
g
,
M.
F
.
Rah
m
an, an
d Y.
H
u
, "
A
no
vel
direct to
rque co
ntro
l
fo
r
interio
r
p
e
rmanent-magn
et
sy
nch
r
on
ous
machine
driv
e w
i
th
low
rip
p
le in
torqu
e
an
d flux
-a sp
eed-sen
so
rles
s
ap
proach
,"
IE
EE
Transact
ions
on
in
d
u
stry
ap
pl
ic
a
t
i
o
ns,
v
o
l
.
3
9
,
pp
.
17
48
-17
5
6
,
20
03
.
[6]
K. Hartani,
Y
.
Mil
o
ud,
and A
.
M
i
l
o
u
d
i
,
"
I
m
p
ro
ve
d
di
re
c
t
to
rq
ue
c
o
ntrol of
permanen
t magnet
s
y
n
c
hron
ou
s
electrical
v
e
hicle motor with
p
r
opo
rtio
n
a
l-integral resistance estimator,"
Jo
ur
na
l
of Electrical Engineer
in
g an
d
Te
c
h
no
lo
gy
,
v
o
l
.
5
,
p
p
.
45
1-
46
1,
20
10
.
[7]
I. Tak
a
has
h
i an
d
T. No
gu
chi,
"A
n
e
w qu
ick
-
res
p
o
n
s
e
an
d high
-e
fficien
cy
con
t
ro
l strategy
of
an in
du
ctio
n
motor,
"
IEEE
Tr
an
sa
ctions
o
n
In
du
str
y
a
pplica
t
ion
s
,
pp.
82
0-8
2
7
,
19
86
.
[8]
R. Yan,
B. Li,
an
d F.
Zhou
, "S
ens
o
rless
con
t
ro
l of
PM
S
M
s bas
e
d on parameter-o
p
timized MRA
S
sp
eed ob
server,
"
in
Automa
tion
an
d
Lo
gistics
,
2
008
. ICAL
20
08
. IEEE
Inter
n
a
t
ion
a
l
Con
f
eren
ce on
, p
p
.
15
73-1
5
7
8
,
20
08.
[9]
X.
X
i
an
g and
Y
.
He, "S
en
so
rless
operatio
n
of
P
M
S
M
b
a
sed o
n
hy
brid
roto
r pos
itio
n self-sens
i
n
g
sch
e
me,"
in
Electr
i
ca
l M
a
ch
in
es a
n
d
Sys
t
ems
,
2
0
0
7
.
ICEMS
.
In
ter
natio
na
l Co
nferen
c
e
on
, p
p
. 7
1
4
-
71
8,
200
7.
[10
]
X.
Xiang
an
d Y
.
He,
"S
ens
o
rless
op
eration
of
P
M
S
M
bas
e
d
on
hy
brid ro
to
r p
o
sition
s
e
lf-sen
sing
s
c
h
e
me,"
in
20
07
Intern
atio
nal Co
nfer
ence o
n
Ele
c
tr
ical Ma
chines
an
d S
y
stems
(ICEMS
)
,
p
p
. 71
4-71
8, 20
07.
[11
]
K.
Hartan
i,
F
.
Maata, and
A.
M
e
rah
,
"
S
en
so
rles
s
master-slave direct torqu
e
con
t
ro
l of p
e
rmanent magn
et
sy
nch
r
on
ous
motors
b
a
sed
on
s
p
eed
M
R
AS
ob
server in electric
vehicle,"
Re
s.
J
.
Ap
pl
.
Sc
i
.
En
g.
Te
c
h
no
l,
vo
l. 7
,
p
p
.
50
34
-50
4
8
,
20
14
.
[1
2]
A. Dra
o
u a
n
d
K.
Ha
rt
a
n
i
,
"A
no
ve
l
di
re
c
t
t
o
r
q
u
e
c
o
n
t
ro
l sc
h
e
m
e
for
PMS
M
for i
m
pr
ov
in
g
q
u
a
l
it
y i
n
to
rqu
e
a
n
d
fl
ux,"
sy
s
t
e
m
,
vo
l.
10,
p.
12
, 2
0
1
2
.
[13
]
E. Esmailzadeh
, G
.
V
o
s
s
o
ugh
i, an
d
A.
Go
od
a
r
z
i
,
"Dyn
a
m
i
c
m
o
de
l
i
n
g
a
n
d
an
aly
s
is
o
f
a four
motorized
w
h
eels
electric vehicle,"
Vehicle S
y
stem D
y
na
mics
,
v
o
l. 3
5
,
pp.
16
3-1
9
4
,
20
01
.
[14] G.
Genta,
Motor
vehicle
dyna
mics: m
o
d
e
ling
an
d s
i
m
u
la
tion
, W
o
r
l
d
Scientific
,
vo
l.
43
19
97
.
[15
]
M
.
h
.
S
e
ko
ur, K
.
H
a
rtani,
A.
Drao
u, an
d A
.
Allali,
"
S
ens
o
rless
fuzzy d
i
rect
to
rqu
e
control for hi
gh performance
electric
v
e
hicle with
fo
ur in
-wh
eel motors
,"
Jo
ur
nal of Electrical
Eng
i
n
eering a
n
d
T
ech
no
log
y
,
vo
l.
8
,
pp
. 5
3
0
-
54
3,
201
3.
[16]
A. Merah and
K.
Hart
ani
,
"Shared
s
t
eering
con
t
ro
l b
e
tw
een a
human
an
d an
automatio
n
d
e
sign
e
d
fo
r lo
w
c
u
rvature
road,
"
Intern
atio
nal
jour
na
l of vehicle
s
a
fety,
v
o
l. 9
,
p
p
.
13
6-15
8,
20
16.
[17]
M.
K
h
alfa
oui,
K
.
Hartani,
A. Merah,
and N
.
A
ouadj
, "D
evelopmen
t o
f
sh
ared s
t
eering
to
rq
ue s
y
s
t
em o
f
electric
veh
i
cles
in
pres
ence of dr
iv
er b
e
haviou
r
es
timation,
"
In
te
rn
at
io
na
l
J
o
u
r
na
l of
V
e
hi
c
l
e
A
u
t
o
n
o
mo
us S
y
st
e
m
s,
vo
l.
14
, p
p
.
18
-3
9,
20
18
.
[18
]
T. G
i
llesp
i
e, "
F
u
n
d
a
mentals
of Veh
i
cle
Dy
namics
,
; So
ciety
of A
u
tomo
tive Eng
i
n
eers
In
c.: Warren
d
ale
,
P
A
,
U
S
A
,
19
92
,"
IS
BN 9
7
8
-
1-56
09
1-1
99-9
.
0
2
4
6
8
10
12
14
16
18
20
-5
0
0
50
100
150
200
Ti
m
e
[
s
]
Tor
que
of
m
o
t
o
r
s
[
N
.
m
]
F
o
r
n
t r
i
g
h
t
m
o
to
r
Rear ri
g
h
t
mo
t
o
r
L
e
ft r
i
g
h
t m
o
to
r
l
e
f
t
r
i
g
h
t m
o
tor
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
: 2
088
-8
6
94
Int
J
P
o
w
Ele
c
& D
r
i
S
y
st, V
o
l
.
1
1
,
N
o
.
2, Ju
ne
20
2
0
:
6
4
1
–
650
65
0
[
1
9
]
M
.
E
s
h
a
n
i
,
Y
.
G
a
o
,
S
.
E
.
G
a
y
,
a
n
d
A
.
E
m
a
d
i
,
"
M
od
ern electric,
hy
brid elec
tr
ic an
d fu
el cell
v
e
hicles,"
Fu
nd
am
entals
, T
h
eor
y
,
an
d
Design
. Boca
Ra
to
n, FL
: CRC,
20
05
.
[20
]
H.
P
acejk
a
,
Tire
an
d v
e
h
ic
l
e
dy
n
a
mi
c
s
: Els
evi
e
r
,
2
005
.
[21] R.
Rajamani,
Vehicle d
y
n
a
m
i
cs
an
d co
ntro
l
:
S
p
ring
er S
c
ience &
Bus
i
n
e
ss Med
i
a,
20
11
.
[22]
J. Y. W
o
ng,
T
h
eo
ry
o
f
gr
oun
d v
e
h
i
cles
: Jo
hn
Wiley
& S
o
n
s
,
20
08
.
[23
]
H. B. P
acejka an
d E. Bak
k
er, "
T
he magic fo
rm
u
l
a
ty
re
model,"
Vehicle s
y
s
t
em
dyn
a
m
i
cs
,
vo
l.
21
, p
p
.
1-
18
, 1
9
9
2
.
[24]
K. Hartani,
M. Kh
alfaoui, A. Merah,
and N. Aoua
dj
,
"
A
Ro
bu
st
W
h
e
e
l
Sli
p
Co
nt
ro
l D
e
sign
with
Radius
Dy
namics
Observer for EV,"
S
A
E
I
n
t
.
J.
Veh
.
D
y
n.,
St
ab.
, a
n
d
N
V
H
,
vo
l.
2,
20
18
.
[25
]
K. H
a
rtani, M
.
Bo
urahla, and Y. M
i
lou
d
,
"
N
ew antis
k
id
control
fo
r electric
veh
i
cle
u
s
ing
beh
a
viou
r
mod
e
l con
t
ro
l
bas
e
d on energetic m
acro
s
co
pic
represen
tatio
n
,"
Jo
ur
nal o
f
Electrical
En
gineering
,
v
o
l. 5
9
, p
p
.
22
5-2
33,
20
08
.
BIOGRAPHIES
OF AUTH
O
R
S
Ah
med TAIBI
w
a
s b
o
rn
in
S
a
id
a (Alger
ia
)
in
19
67.
He
gradu
a
ted
th
e Un
iv
ersi
ty
of
S
a
ida
(A
lger
ia)
,
i
n
2
0
0
0
. H
e
ob
tai
n
ed
a
dip
l
oma
o
f
eng
i
n
e
e
r
in
Ele
c
tro
t
ech
nic
in
19
98.
He
r
ece
iv
ed his mas
t
er
in
Ele
c
tri
cal Co
ntr
o
l
a
t
U
n
iv
ers
i
ty o
f
S
c
ien
ces
and
Te
c
h
n
o
l
o
g
y
o
f
Ora
n
(Al
g
e
r
ia
)
fro
m
20
10
a
t
2
012.
He i
s
a
n
a
ssista
n
t p
r
ofe
ssor a
t
u
n
i
v
e
r
si
ty of
S
a
id
a.
H
i
s
f
i
el
ds
of
i
n
t
e
r
e
st
in
clu
d
e
:
mu
lt
ima
c
hi
n
e
s
mul
t
i
c
on
v
e
r
t
e
r
s
sy
st
ems,
,
Tr
a
c
t
i
o
n
co
ntr
o
l
s
y
stem, co
ntro
l fo
r
el
e
c
t
r
ic
an
d
h
y
b
r
id
veh
i
cl
es.
Kad
a
Har
t
ani
wa
s
bo
rn in
Saida
,
Algeria
in
19
76.
He o
b
ta
in
ed
h
i
s
Do
c
t
orat
e in
Ele
ctri
cal Co
ntrol
from th
e Un
iv
er
s
i
ty
o
f
S
c
ien
ces an
d
T
echno
lo
gy
(US
T
O),
O
r
an, A
l
g
e
ria
,
in 20
07;
M
.
S
.
in
electrical
con
t
ro
l fro
m
th
e
Un
iv
e
r
s
i
ty o
f
S
c
ien
ces
an
d T
echn
o
lo
gy
(US
T
O), O
r
an,
Alg
e
ria
,
20
03
;
B
.
S
.
in
E
l
e
c
t
r
o
t
e
chn
i
c
a
l
Eng
i
n
eer
in
g f
r
o
m
th
e Un
i
v
er
s
i
t
y
o
f
S
a
id
a,
A
l
ger
i
a
,
i
n
1
9
9
7
.
C
u
r
r
e
nt
ly
,
he
is a P
r
o
f
ess
o
r
in
ele
c
trical
con
t
ro
l an
d d
i
re
ctor
o
f
Ele
c
trot
echn
i
ca
l En
gin
e
erin
g Lab
o
r
atory
at th
e
University of
Sa
ida,
Al
g
e
r
i
a.
Hi
s
f
i
el
ds
o
f
in
ter
e
st
in
c
l
u
d
e:
mu
lti-mach
in
es mu
lti-
con
v
ert
e
rs
s
y
stems,
an
tilo
c
k
b
r
ake
s
y
s
t
em
,
t
r
action
con
t
rol
s
y
stem and
anti-s
kid
co
n
t
rol
for el
ectr
i
c v
e
hi
cle
.
His fi
elds of
interest
i
n
clude
multi-m
a
chi
n
e
mu
l
t
i-
c
o
nverter syst
ems,
ant
i
lock brake syst
em,
tractio
n
co
ntro
l s
y
stem
,
and
ant
i
-s
kid co
n
t
ro
l
fo
r
electr
i
c v
e
hi
cle
.
Ahmed AL
LALI
was born
in Mecher
ia N
aama
(
A
lg
eria)
in
1
9
6
0
.
In
1
9
8
7
h
e
gra
d
u
a
te
d a
t
the
El
ec
t
r
ot
e
c
hnic
a
l
De
p
a
rt
m
e
nt
of t
h
e
Fa
cu
lt
y
o
f
Ele
c
tri
c
a
l
E
n
gi
n
e
e
r
i
ng
at Un
iv
ers
i
ty
(U
S
T
O
)
in
Alge
ria,
in
1
987
. H
e
def
e
n
d
ed
h
i
s
“M
ag
i
s
ter”. In
the
fie
l
d
o
f
op
tim
a
l
po
we
r
f
l
o
w
p
r
oble
m
s
in
19
90
; h
i
s th
e
s
i
s
tit
le
wa
s
"
O
p
t
i
m
a
l
Distri
but
io
n o
f
Active Powers Us
ing
Line
ar
Pro
g
ra
m
m
in
g
with
Los
s
e
s
Cos
t
M
i
nimiza
tion
",
and
th
e
P
h
D
deg
r
e
e
from
i
n
2
0
0
6
; His
sc
ientific research
i
s
fo
cu
sing
a
c
o
n
t
rol and
r
eal ti
m
e
si
m
u
la
tion o
f
power s
y
s
t
e
m
s,
and study of
the Dynamic stabil
it
y
of
the netw
orks
electrical
su
pp
ly
.
Actu
ally
he is in
terest
ed i
n
p
o
w
e
r
electron
i
cs
in
pa
rticu
l
ar
to
the
fa
cts an
d
in
re
n
e
wable
en
erg
i
es
(wind
and
so
lar
en
e
r
gy). He
is
curren
tly
P
r
o
f
ess
o
r
o
f
ele
c
tri
c
a
l
e
n
gineer
in
g a
t
Th
e
U
n
iversi
ty
of
U
S
TO
(Algeria
)
.
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