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T
h
e
Nin
e
-
S
w
it
c
h
In
v
e
rter
(NSI)
is
a
re
c
e
n
tl
y
d
e
v
e
lo
p
e
d
d
u
a
l
o
u
t
p
u
t
c
o
n
v
e
rter.
It
c
a
n
b
e
u
se
d
t
o
d
riv
e
tw
o
th
re
e
-
p
h
a
se
lo
a
d
s
in
d
e
p
e
n
d
e
n
tl
y
.
A
s
a
su
b
stit
u
te
to
tw
o
se
p
a
ra
te
c
o
n
v
e
n
ti
o
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a
l
v
o
lt
a
g
e
so
u
rc
e
in
v
e
rters
,
th
e
NSI
h
a
s
b
e
e
n
,
a
lrea
d
y
,
p
ro
p
o
se
d
in
v
a
rio
u
s
in
d
u
strial
a
p
p
l
ica
ti
o
n
s
to
r
e
d
u
c
e
th
e
n
u
m
b
e
r
o
f
se
m
ico
n
d
u
c
to
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sw
it
c
h
e
s
a
n
d
it
s
a
ss
o
c
iate
d
e
n
e
rg
y
lo
ss
e
s
a
n
d
d
riv
e
c
ircu
it
ry
.
On
th
e
o
th
e
r
h
a
n
d
,
th
e
Dire
c
t
T
o
rq
u
e
Co
n
tro
l
(DT
C)
is
a
ro
b
u
st
c
o
n
tro
l
sc
h
e
m
e
o
f
A
C
m
o
to
rs,
wh
ich
c
o
n
sist
o
f
se
lec
ti
n
g
p
ro
p
e
r
st
a
te
v
e
c
to
rs
o
f
a
c
o
n
v
e
n
ti
o
n
a
l
v
o
l
tag
e
so
u
r
c
e
in
v
e
rter.
T
h
e
NSI,
h
a
v
in
g
a
d
if
fe
re
n
t
w
o
rk
in
g
p
rin
c
ip
le
f
ro
m
th
e
c
o
n
v
e
n
ti
o
n
a
l
v
o
lt
a
g
e
so
u
rc
e
in
v
e
rter
a
n
d
tak
in
g
in
to
a
c
c
o
u
n
t
th
e
v
a
r
y
in
g
in
f
lu
e
n
c
e
o
f
a
c
ti
v
e
sp
a
c
e
v
e
c
to
rs
o
n
m
o
to
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to
rq
u
e
a
n
d
sta
to
r
f
lu
x
,
a
Dire
c
t
T
o
rq
u
e
Co
n
tr
o
l
is
su
g
g
e
ste
d
in
th
is
p
a
p
e
r
to
,
e
ff
ici
e
n
tl
y
,
d
riv
e
t
w
o
in
d
u
c
ti
o
n
m
o
to
rs
in
d
e
p
e
n
d
e
n
tl
y
,
w
h
il
e
m
in
im
izin
g
th
e
to
rq
u
e
a
n
d
sta
to
r
f
lu
x
rip
p
les
o
f
b
o
th
m
o
to
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im
u
latio
n
s
re
su
lt
s
c
o
n
f
irm
th
e
e
ffe
c
ti
v
e
n
e
ss
o
f
th
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p
ro
p
o
se
d
a
lg
o
rit
h
m
.
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a
d
d
it
i
o
n
,
a
p
p
l
ica
ti
o
n
o
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th
is
n
e
w
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y
p
ro
p
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se
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m
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ti
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o
f
a
n
El
e
c
tri
c
V
e
h
icu
le
(EV
)
is
d
e
m
o
n
stra
ted
.
K
ey
w
o
r
d
:
DT
C
I
n
d
u
ctio
n
m
o
to
r
SVM
EV
Co
p
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rig
h
t
©
201
8
In
s
t
it
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
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c
ien
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e
.
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l
rig
h
ts
re
se
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e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
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ao
u
i A
b
d
el
g
h
a
n
i,
Dep
ar
t
m
en
t o
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lectr
ical
E
n
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C
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.
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m
ail: d
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m
1.
I
NT
RO
D
UCT
I
O
N
On
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i
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[
1
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-
[
3
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.
T
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w
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al
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B
4
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[
4
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th
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v
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e
g
I
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ter
[
5
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an
d
th
e
Nin
e
S
w
itc
h
I
n
v
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ter
(
NSI
)
[
6
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.
Hav
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m
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e
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e
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tio
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v
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ter
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p
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th
e
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h
as
b
ee
n
s
u
g
g
ested
in
v
ar
io
u
s
in
d
u
s
tr
ial
ap
p
licatio
n
s
[
7
]
-
[
1
1
]
.
Du
e
to
its
s
p
ec
ial
w
o
r
k
in
g
m
ec
h
an
is
m
,
th
is
in
v
er
ter
h
a
s
r
aised
a
n
e
w
ch
alle
n
g
e,
w
h
ic
h
i
s
t
h
e
ad
ap
tatio
n
o
f
t
h
e
cla
s
s
ical
co
n
tr
o
l
m
et
h
o
d
s
d
ev
elo
p
ed
b
ased
o
n
th
e
co
n
v
e
n
tio
n
a
l
i
n
v
er
ter
to
p
o
lo
g
ies
[
1
2
]
-
[
1
4
]
.
I
n
ess
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ce
,
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n
o
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er
to
en
s
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r
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th
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n
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ep
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en
t
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n
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o
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t
w
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ad
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,
t
h
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i
n
v
er
ter
ca
n
o
n
l
y
s
u
p
p
l
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o
n
e
o
f
its
t
w
o
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ad
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,
at
an
y
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iv
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n
in
s
ta
n
t.
T
h
e
NSI
h
as
b
ee
n
,
al
s
o
,
s
u
g
g
est
ed
in
a
DT
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co
n
tr
o
l
s
ch
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m
e
f
o
r
d
r
iv
i
n
g
t
w
o
i
n
d
u
ctio
n
m
o
to
r
s
[
1
5
]
.
T
h
is
s
u
g
g
ested
DT
C
co
n
tr
o
l
s
ch
e
m
e
co
n
s
i
s
t
o
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t
w
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n
alter
n
ate
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a
n
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er
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it
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al
ti
m
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o
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s
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p
p
l
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o
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th
lo
ad
s
.
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lt
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g
h
t
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s
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p
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co
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[
1
6
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[
1
7
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n
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er
ter
.
Sectio
n
3
e
x
p
lai
n
s
,
b
r
ief
l
y
,
t
h
e
DT
C
o
f
t
h
e
i
n
d
u
ctio
n
m
o
to
r
.
Sectio
n
4
d
etails
t
h
e
a
n
al
y
tical
s
t
u
d
ies
r
ev
ea
li
n
g
th
e
p
r
o
p
er
ties
o
f
ac
ti
v
e
v
ec
to
r
s
i
n
t
h
e
d
i
f
f
er
en
t
o
p
er
atin
g
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n
d
itio
n
s
.
T
h
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
f
o
r
d
r
iv
in
g
t
w
o
in
d
u
ctio
n
m
o
to
r
s
f
ed
b
y
t
h
e
N
SI
w
ill
b
e
d
et
ailed
in
Sectio
n
5
.
Sectio
n
6
p
r
esen
ts
r
es
u
lt
s
an
d
d
is
cu
s
s
io
n
.
2.
T
HE
NI
NE
S
WI
T
CH
I
NV
E
RT
E
R
T
h
e
NSI
h
as
t
h
r
ee
les
s
er
s
w
i
tch
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a
s
co
m
p
ar
ed
to
th
e
cla
s
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ical
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al
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u
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t
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n
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ter
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ee
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d
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ed
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ical
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al
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t
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ter
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h
r
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w
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tch
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s
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b
o
th
in
v
er
ter
s
ar
e
s
h
o
w
n
in
F
i
g
u
r
e
1
.
Fig
u
r
e
1
.
(
a)
T
h
e
class
ical
Du
al
o
u
tp
u
t
i
n
v
er
ter
(
b
)
T
h
e
NSI
T
h
e
NSI
ca
n
b
e
v
ie
w
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as
t
w
o
t
w
o
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lev
el
i
n
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er
ter
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p
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atin
g
in
alter
n
ate
m
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er
,
th
e
u
p
p
er
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ix
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w
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h
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n
s
tit
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ic
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in
t
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s
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h
e
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ce
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e
m
id
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le
th
r
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ter
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Or
ig
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n
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a
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t
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Sin
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s
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e,
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ate
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ated
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ated
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ate
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ated
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g
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r
e
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ated
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ate
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ig
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d
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ig
n
als.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
4
,
Dec
em
b
er
2
0
1
8
:
1552
–
1
5
6
4
1554
Fig
u
r
e
2
.
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ar
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al,
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ce
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ig
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d
g
ate
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ig
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o
f
th
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N
SI
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s
in
g
SP
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M:
(
a)
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r
r
ier
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ig
n
al
a
n
d
r
ef
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ce
s
s
ig
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o
f
u
p
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d
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w
itc
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(
b
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ate
s
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g
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ate
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m
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th
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itch
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s
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llo
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ed
to
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e
o
p
en
,
at
tim
e,
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n
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h
leg
,
to
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1
-
s
u
p
p
l
y
i
n
g
t
w
o
l
o
ad
s
at
th
e
s
a
m
e
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e
w
h
ich
w
il
l
lead
to
lo
s
s
o
f
in
d
ep
en
d
en
c
y
o
f
co
n
tr
o
l.
2
-
ke
ep
in
g
ter
m
in
a
ls
o
f
an
y
o
f
th
e
t
w
o
m
o
to
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s
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p
en
-
cir
cu
ited
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er
ef
o
r
e,
a
co
m
b
i
n
atio
n
o
f
2
7
s
w
itch
in
g
s
tates a
r
e
allo
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ed
i
n
th
e
co
n
tr
o
l o
f
th
e
Ni
n
e
S
w
i
tch
I
n
v
er
ter
[
1
8
]
.
I
f
t
w
o
Y
-
co
n
n
ec
ted
lo
ad
s
ar
e
to
b
e
d
r
iv
en
b
y
t
h
e
NSI
,
t
h
e
p
ea
k
f
u
n
d
a
m
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tal
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ase
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h
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iv
e
n
as
f
o
llo
w
s
:
V
an
peak
(
i
)
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m
i
.
V
in
2
(
1
)
T
o
o
p
er
ate
in
th
e
lin
ea
r
m
o
d
u
latio
n
r
eg
io
n
o
f
t
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e
SP
W
M,
t
h
e
t
w
o
r
ef
er
e
n
ce
s
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g
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ar
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co
n
s
tr
ain
ed
to
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ta
y
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n
th
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r
izo
n
tal
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d
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th
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r
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w
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th
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t
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lap
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r
e
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f
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w
i
n
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i
n
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al
it
y
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as to
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e,
al
w
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y
s
,
s
a
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f
ied
:
1
+
2
≤
1
(
2
)
T
h
e
r
ef
er
en
ce
s
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n
al
s
o
f
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h
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th
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ad
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as th
e
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n
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o
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m
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s
in
(
2
.
)
+
(
3
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B
y
m
a
n
ip
u
lati
n
g
a
m
p
lit
u
d
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a
n
d
o
f
f
s
et
s
o
f
b
o
th
s
i
n
u
s
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id
al
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ef
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en
ce
s
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g
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al
s
w
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th
i
n
t
h
e
ca
r
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ier
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n
al
b
an
d
,
th
e
p
er
ce
n
tag
e
o
f
u
s
e
o
f
th
e
DC
s
o
u
r
ce
is
d
i
v
id
ed
ac
co
r
d
in
g
l
y
b
et
w
ee
n
t
h
e
t
w
o
lo
ad
s
.
W
h
en
ap
p
l
y
i
n
g
Sp
ac
e
Vec
to
r
Mo
d
u
latio
n
[
1
8
]
,
as
it
is
t
h
e
ca
s
e
o
f
DT
C
c
o
n
tr
o
l,
a
g
ain
o
f
1
5
%
i
n
th
e
s
u
m
o
f
m
o
d
u
la
tio
n
in
d
ices,
w
h
ich
tr
a
n
s
la
te
to
h
i
g
h
er
to
r
q
u
e
p
r
o
d
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ctio
n
,
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en
ce
,
t
h
e
in
eq
u
alit
y
co
n
d
itio
n
i
n
eq
u
atio
n
2
b
ec
o
m
e
s
:
1
+
2
≤
2
√
3
(
4
)
3.
DIRE
CT
T
O
RQ
UE
CO
N
T
RO
L
3
.
1
.
Dire
ct
T
o
rque
Co
ntr
o
l Tech
niq
ue
T
h
e
Dir
ec
t
T
o
r
q
u
e
C
o
n
tr
o
l
(
DT
C
)
h
as
b
ee
n
i
n
tr
o
d
u
ce
d
i
n
th
e
s
ec
o
n
d
h
al
f
o
f
t
h
e
1
9
8
0
s
[
1
9
]
,
[
2
0
]
,
alth
o
u
g
h
a
r
elativ
el
y
n
e
w
c
o
n
tr
o
l
s
tr
ateg
y
,
DT
C
h
a
s
q
u
ick
l
y
g
ai
n
ed
in
d
u
s
tr
ial
ac
ce
p
tan
ce
[
2
1
]
.
I
n
th
e
co
n
v
e
n
tio
n
al
DT
C
s
c
h
e
m
e,
t
h
e
s
tato
r
f
lu
x
a
n
d
t
h
e
elec
tr
o
m
ag
n
et
ic
to
r
q
u
e
ar
e
co
n
tr
o
lled
b
y
p
r
o
p
er
s
elec
tio
n
o
f
in
v
er
ter
s
tates
v
ec
t
o
r
s
.
Fo
r
p
r
o
p
er
o
p
er
atio
n
o
f
DT
C
co
n
tr
o
l
s
ch
e
m
e,
an
ac
c
u
r
ate
m
o
d
el
f
o
r
th
e
in
d
u
ctio
n
m
o
to
r
i
s
r
eq
u
ir
ed
,
s
in
ce
s
tato
r
f
lu
x
a
n
d
th
e
ele
ctr
o
m
a
g
n
etic
to
r
q
u
e
ar
e
esti
m
ated
,
b
ased
th
e
m
o
to
r
m
o
d
el.
T
h
e
t
w
o
-
p
h
ase
d
y
n
a
m
ic
m
o
d
el
o
f
I
M
i
n
th
e
s
t
atio
n
ar
y
d
q
f
r
a
m
e
:
=
+
(
)
=
0
=
′
+
(
)
−
=
+
=
+
′
(
5
)
Der
iv
ati
v
e
o
f
s
tato
r
f
l
u
x
i
s
eq
u
al
to
th
e
s
t
ato
r
E
MF,
h
e
n
ce
,
s
tato
r
f
l
u
x
m
a
g
n
itu
d
e
s
tr
o
n
g
l
y
d
ep
en
d
s
o
n
s
tato
r
v
o
ltag
e.
(
)
=
=
−
(
6
)
I
f
v
o
lta
g
e
d
r
o
p
ac
r
o
s
s
R
s
is
i
g
n
o
r
ed
,
s
tato
r
f
lu
x
ca
n
b
e
co
n
tr
o
lled
b
y
s
tato
r
v
o
lta
g
e
ap
p
lied
:
∆
=
(
)
∆
(
7
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
I
SS
N:
2
0
8
8
-
8
694
Dir
ec
t To
r
q
u
e
C
o
n
tr
o
l o
f Tw
o
I
n
d
u
ctio
n
Mo
to
r
s
Usi
n
g
th
e
N
in
e
-
S
w
itch
I
n
ve
r
ter (
Dra
o
u
i A
b
d
elg
h
a
n
i)
1555
T
h
e
d
ev
elo
p
ed
to
r
q
u
e
is
p
r
o
p
o
r
tio
n
al
to
th
e
s
i
n
e
o
f
a
n
g
le
b
etw
ee
n
s
tato
r
an
d
r
o
to
r
f
lu
x
v
ec
t
o
r
s
θ
sr
⃗
⃗
⃗
=
3
2
2
′
⃗
⃗
⃗
⃗
⊗
⃗
⃗
⃗
⃗
(
8
)
|
|
=
3
2
2
′
|
|
|
|
s
in
(
9
)
An
g
le
o
f
ψ
S
⃗
⃗
⃗
⃗
⃗
⃗
is
also
d
ep
en
d
en
t
o
n
s
tato
r
v
o
lta
g
e,
h
en
ce
,
|
T
e
|
c
an
also
b
e
co
n
tr
o
lled
b
y
ap
p
ly
in
g
t
he
p
r
o
p
er
v
ec
to
r
to
ch
an
g
e
θ
sr
.
3
.
2
.
DT
C
s
peed
m
o
de
co
ntr
o
l sch
e
m
e
T
h
e
DT
C
co
n
tr
o
l
s
ch
e
m
e
h
a
s
t
w
o
m
o
d
es
o
f
o
p
er
atio
n
,
t
h
e
DT
C
to
r
q
u
e
m
o
d
e
w
h
er
e
m
o
t
o
r
to
r
q
u
e
is
co
n
tr
o
lled
d
ir
ec
tly
an
d
th
e
D
T
C
s
p
ee
d
m
o
d
e
w
h
er
e
m
o
to
r
to
r
q
u
e
is
co
n
tr
o
lled
v
ia
m
o
t
o
r
s
p
ee
d
.
T
h
e
D
T
C
s
p
ee
d
m
o
d
e
co
n
tr
o
l sc
h
e
m
e
i
s
s
h
o
w
n
in
F
ig
u
r
e
3
.
Fig
u
r
e
3
.
T
h
e
D
T
C
s
p
ee
d
m
o
d
e
co
n
tr
o
l sch
e
m
e
I
n
th
e
DT
C
s
p
ee
d
m
o
d
e
co
n
t
r
o
l
s
ch
e
m
e,
t
h
r
ee
p
h
ase
s
tato
r
cu
r
r
en
t
s
,
s
tato
r
v
o
ltag
e
s
ar
e
m
ea
s
u
r
ed
,
m
o
to
r
s
p
ee
d
is
esti
m
ated
o
r
m
ea
s
u
r
ed
u
s
in
g
an
e
n
co
d
er
.
Stato
r
f
lu
x
m
a
g
n
it
u
d
e
an
d
an
g
le
ar
e
esti
m
ated
f
r
o
m
th
e
o
b
tain
ed
cu
r
r
en
t
s
an
d
v
o
lt
ag
es.
Me
asu
r
ed
o
r
esti
m
ated
s
p
ee
d
an
d
m
ea
s
u
r
ed
s
tato
r
f
l
u
x
a
m
p
l
itu
d
e
ar
e
co
m
p
ar
ed
w
ith
t
h
eir
r
esp
ec
tiv
e
r
ef
er
en
ce
v
al
u
e
s
.
T
h
e
s
tato
r
f
l
u
x
er
r
o
r
is
f
ed
d
ir
ec
tl
y
to
a
h
y
s
ter
esis
co
n
tr
o
ller
,
w
h
er
e
t
h
e
m
o
to
r
s
p
ee
d
er
r
o
r
is
f
ed
to
a
P
I
co
n
tr
o
ller
t
h
en
t
h
e
o
u
tp
u
t
o
f
th
i
s
latter
i
s
f
e
d
to
an
o
t
h
er
h
y
s
ter
esi
s
co
n
tr
o
ller
.
T
h
e
o
u
tp
u
t
o
f
h
y
s
ter
esi
s
co
n
tr
o
ller
s
alo
n
g
with
th
e
s
tato
r
f
l
u
x
a
n
g
le
w
il
l
y
ield
t
h
e
p
r
o
p
er
v
ec
to
r
to
s
u
p
p
ly
ac
co
r
d
in
g
to
a
p
r
ed
ef
in
ed
s
w
itc
h
i
n
g
tab
le.
3
.
3
.
Ada
pta
t
io
n o
f
DT
C
co
ntr
o
l sche
m
e
f
o
r
us
e
w
it
h t
he
NSI
Fo
r
an
in
d
ep
en
d
en
t
co
n
tr
o
l
o
f
th
e
t
w
o
lo
ad
s
,
t
h
e
NSI
ca
n
o
n
l
y
s
u
p
p
l
y
o
n
e
o
f
its
t
w
o
lo
ad
s
at
a
ti
m
e,
w
h
e
n
o
n
e
lo
ad
is
s
u
p
p
lied
,
th
e
p
h
ases
o
f
t
h
e
s
ec
o
n
d
lo
ad
ar
e
s
h
o
r
t
-
cir
cu
ited
t
h
r
o
u
g
h
o
n
e
o
f
t
h
e
D
C
r
ails
.
I
n
a
DT
C
p
o
in
t
o
f
v
ie
w
,
w
h
e
n
an
a
ctiv
e
s
tate
v
ec
to
r
is
ap
p
lied
to
th
e
i
n
v
er
ter
co
m
p
o
s
ed
o
f
t
h
e
u
p
p
er
s
ix
s
w
i
tch
e
s
,
a
ze
r
o
v
ec
to
r
is
ap
p
lied
t
o
th
e
in
v
er
ter
co
m
p
o
s
ed
o
f
th
e
s
i
x
lo
w
er
s
w
i
tch
e
s
.
W
h
ile
th
e
ef
f
ec
t
o
f
an
ac
tiv
e
v
ec
to
r
o
n
s
ta
to
r
f
l
u
x
a
n
d
to
r
q
u
e
d
ep
en
d
s
o
n
s
tato
r
f
lu
x
s
p
ac
e
v
ec
to
r
p
o
s
itio
n
,
t
h
e
ze
r
o
v
e
cto
r
h
as
lit
tle
e
f
f
ec
t
o
n
f
l
u
x
b
u
t
it
w
ill
r
ed
u
ce
th
e
t
o
r
q
u
e
[
2
2
]
.
T
h
is
p
r
o
p
e
r
ty
j
u
s
t
i
f
y
t
h
e
p
r
io
r
it
y
o
f
co
n
tr
o
lli
n
g
t
h
e
to
r
q
u
e
o
v
er
th
e
co
n
tr
o
l o
f
s
tato
r
f
l
u
x
i
n
t
h
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
.
I
n
[
1
5
]
,
au
th
o
r
s
s
u
g
g
ested
a
D
T
C
co
n
tr
o
l
s
ch
e
m
e
f
o
r
t
w
o
in
d
u
ctio
n
m
o
to
r
s
f
ed
b
y
t
h
e
NSI
as
s
h
o
wn
in
Fi
g
u
r
e
4
,
w
h
er
e
th
e
t
w
o
m
o
to
r
s
ar
e
f
ed
in
alter
n
ate
m
an
n
er
w
ith
eq
u
a
l
ti
m
e
o
f
s
u
p
p
l
y
,
h
o
w
ev
er
,
an
al
y
tical
s
tu
d
ie
s
p
er
f
o
r
m
ed
b
y
[
2
3
]
,
s
h
o
w
t
h
at
t
h
e
r
ate
o
f
i
n
cr
ea
s
e
a
n
d
th
e
r
ate
o
f
d
ec
r
ea
s
e
i
n
b
o
t
h
to
r
q
u
e
a
n
d
s
tato
r
f
l
u
x
v
al
u
es
ar
e
n
o
t
eq
u
al
f
o
r
ev
er
y
t
w
o
s
u
cc
es
s
iv
e
s
w
i
tch
i
n
g
s
a
n
d
t
h
er
ef
o
r
e
co
n
tr
o
lli
n
g
th
e
t
w
o
m
o
to
r
s
i
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
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8
694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
4
,
Dec
em
b
er
2
0
1
8
:
1552
–
1
5
6
4
1556
alter
n
ate
m
a
n
n
er
w
it
h
5
0
%
d
u
t
y
c
y
cle,
d
o
es
n
o
t,
n
ec
e
s
s
ar
il
y
,
g
u
ar
a
n
tee
o
p
ti
m
al
r
es
u
lts
,
as
it
w
ill
ca
u
s
e
as
y
m
m
etr
y
a
n
d
h
i
g
h
r
ip
p
les.
Fig
u
r
e
4
.
T
h
e
p
r
o
p
o
s
ed
D
T
C
c
o
n
tr
o
l sch
e
m
e
in
[
1
5
]
u
s
i
n
g
th
e
NSI
T
h
e
co
n
tr
o
l sch
e
m
e
p
r
o
p
o
s
ed
b
y
a
u
t
h
o
r
s
is
v
er
y
s
i
m
ilar
to
th
e
co
n
v
e
n
tio
n
al
co
n
tr
o
l sch
e
m
e
s
h
o
w
n
i
n
Fig
u
r
e
3
,
th
e
o
n
l
y
d
i
f
f
er
en
ce
i
s
th
at
w
h
e
n
a
v
ar
iab
le
S
A
,
S
B
an
d
S
C
ar
e
as
s
ig
n
ed
b
y
t
h
e
s
witc
h
i
n
g
T
ab
le
1
th
e
s
y
n
ch
r
o
n
izatio
n
b
lo
ck
s
e
t
all
v
ar
iab
le
S
X
,
S
Y
a
n
d
S
Z
to
ze
r
o
f
o
r
5
0
%
o
f
th
e
s
a
m
p
l
in
g
t
i
m
e,
f
o
r
th
e
o
th
er
h
al
f
o
f
th
e
s
a
m
p
li
n
g
t
i
m
e
S
A
, S
B
an
d
S
C
ar
e
s
et
to
o
n
e
w
h
ile
S
X
, S
Y
an
d
S
Z
ar
e
ass
i
g
n
ed
b
y
t
h
e
s
w
itc
h
i
n
g
T
ab
le
2
.
4.
T
O
RQ
UE
AN
D
ST
AT
O
R
F
L
UX
RA
T
E
S O
F
CH
ANG
E
4
.
1
.
Ra
t
e
o
f
cha
ng
e
in m
o
t
o
r
t
o
rque
I
n
th
e
co
n
v
e
n
tio
n
al
s
w
itc
h
in
g
s
elec
tio
n
m
et
h
o
d
[
2
3
]
,
th
e
in
cr
ea
s
e
an
d
d
ec
r
ea
s
e
in
to
r
q
u
e
r
ates
v
ar
y
w
it
h
t
h
e
s
p
ee
d
o
f
m
o
to
r
,
∆
↑
=
[
(
⃗
⃗
⃗
⃗
⊗
⃗
⃗
⃗
)
−
⃗
⃗
⃗
⃗
°
⃗
⃗
⃗
⃗
−
]
/
σ
(
1
0
)
∆
↓
=
[
−
⃗
⃗
⃗
⃗
°
⃗
⃗
⃗
⃗
−
]
/
σ
(
1
1
)
W
h
er
e
T
f
is
th
e
s
a
m
p
lin
g
p
er
io
d
,
⊗
s
tan
d
s
f
o
r
v
ec
to
r
p
r
o
d
u
ct
w
h
ile
°
d
en
o
tes
th
e
s
ca
lar
p
r
o
d
u
ct
an
d
=
(
+
)
/
;
σ
=
(
−
2
)
/
T
h
e
an
al
y
s
i
s
ca
n
b
e
s
u
m
m
ar
iz
ed
in
th
e
T
ab
le
1.
T
ab
le
1
.
I
n
cr
ea
s
e
an
d
d
ec
r
ea
s
e
r
ates in
T
o
r
q
u
e
Vs M
o
to
r
Sp
e
ed
[
2
3
]
L
o
w
sp
e
e
d
r
e
g
i
o
n
M
e
d
i
u
m s
p
e
e
d
r
e
g
i
o
n
H
i
g
h
S
p
e
e
d
R
e
g
i
o
n
I
n
c
r
e
a
se
V
s De
c
r
e
a
se
i
n
T
o
r
q
u
e
|
∆
T
e
↑
|
>
|
∆T
e
↓|
|
∆
T
e
↑
|
≈
|
∆
T
e
↓|
|
∆
T
e
↑
|
<
|
∆T
e
↓|
T
h
e
asy
m
m
etr
y
o
f
to
r
q
u
e
r
ip
p
le
in
th
e
v
ar
io
u
s
s
p
ee
d
r
eg
io
n
s
,
ar
e
s
h
o
w
n
in
f
ig
u
r
es
f
r
o
m
th
e
ex
p
er
i
m
e
n
ts
co
n
d
u
cted
b
y
t
h
e
s
a
m
e
a
u
t
h
o
r
s
[
2
3
]
.
Fro
m
t
h
e
T
ab
le
1
an
d
F
ig
u
r
e
5
,
w
e
ca
n
clea
r
l
y
n
o
tice
th
at
d
r
iv
in
g
th
e
t
w
o
lo
ad
s
w
it
h
d
if
f
er
en
t
s
p
ee
d
s
,
w
ill
r
esu
lt
in
h
ig
h
er
an
d
as
y
m
m
etr
ical
to
r
q
u
e
er
r
o
r
s
,
th
er
ef
o
r
e,
s
u
p
p
l
y
i
n
g
th
e
t
w
o
m
o
to
r
s
i
n
alter
n
ate
m
a
n
n
er
w
it
h
an
eq
u
a
l
ti
m
e
o
f
ap
p
licatio
n
w
ill
w
o
r
s
e
n
th
e
s
it
u
atio
n
.
T
h
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
w
i
ll s
u
p
p
ly
th
e
m
o
to
r
w
i
th
t
h
e
h
ig
h
er
to
r
q
u
e
er
r
o
r
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
I
SS
N:
2
0
8
8
-
8
694
Dir
ec
t To
r
q
u
e
C
o
n
tr
o
l o
f Tw
o
I
n
d
u
ctio
n
Mo
to
r
s
Usi
n
g
th
e
N
in
e
-
S
w
itch
I
n
ve
r
ter (
Dra
o
u
i A
b
d
elg
h
a
n
i)
1557
(
a)
(
b
)
(
c)
Fig
u
r
e
5
.
T
o
r
q
u
e
r
ip
p
les in
(
a)
L
o
w
Sp
ee
d
R
eg
io
n
(
b
)
Me
d
iu
m
Sp
ee
d
R
eg
io
n
(
c)
Hig
h
Sp
ee
d
R
eg
io
n
[
2
3
]
4
.
2
.
Ra
t
e
o
f
cha
ng
e
in s
t
a
t
o
r
f
lux
:
Giv
e
n
th
a
t
th
e
a
n
g
le
θ
(
θ
ϵ
[
-
3
0
°
to
3
0
°])
w
h
ic
h
is
d
ef
in
e
d
as
th
e
an
g
le
b
et
w
ee
n
s
tato
r
f
l
u
x
s
p
ac
e
v
ec
to
r
φ
an
d
th
e
ac
tiv
e
v
ec
to
r
V
k
,
th
e
ef
f
ec
t
o
f
t
h
e
ap
p
lied
ac
tiv
e
v
ec
to
r
s
V
k
+
1
a
n
d
V
k+
2
o
n
s
tato
r
f
l
u
x
a
r
e
d
em
o
n
s
tr
ated
i
n
t
h
e
T
ab
le
2
[
2
3
]
.
Fro
m
t
h
e
T
ab
l
e
2
an
d
as
illu
s
tr
ated
in
F
i
g
u
r
e
6
,
i
t
is
ev
id
en
t
t
h
at
s
elec
tio
n
o
f
v
ec
to
r
s
n
ea
r
th
e
b
o
r
d
er
s
o
f
th
e
s
ec
to
r
s
w
ill
lead
to
a
u
n
b
alan
ce
d
ch
a
n
g
e
i
n
s
tato
r
f
lu
x
e
r
r
o
r
,
w
h
ic
h
r
eq
u
ir
e
i
m
m
ed
iate
s
elec
tio
n
o
f
s
e
v
er
a
l
ac
tiv
e
v
ec
to
r
s
to
co
m
p
en
s
ate
f
o
r
th
e
ch
a
n
g
e,
th
e
r
e
f
o
r
e,
s
u
p
p
ly
in
g
t
w
o
m
o
to
r
s
in
a
n
alter
n
a
te
f
a
s
h
io
n
w
i
th
a
n
eq
u
al
ti
m
e
o
f
ap
p
licatio
n
will
n
o
t
h
elp
i
n
r
esto
r
in
g
s
tato
r
f
l
u
x
to
its
to
ler
ab
le
v
alu
e
s
.
T
ab
le
2
.
I
n
f
lu
e
n
ce
o
f
v
ec
to
r
V
s
Stato
r
f
l
u
x
s
p
ac
e
v
ec
to
r
lo
ca
tio
n
θ ≈
-
3
0
°
θ ≈
3
0
°
V
k+
1
a
p
p
l
i
e
d
smal
l
i
n
c
r
e
a
se
l
a
r
g
e
d
e
c
r
e
a
se
V
k+
2
a
p
p
l
i
e
d
l
a
r
g
e
i
n
c
r
e
a
se
smal
l
d
e
c
r
e
a
se
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
4
,
Dec
em
b
er
2
0
1
8
:
1552
–
1
5
6
4
1558
Fig
u
r
e
6
.
I
n
f
l
u
en
ce
o
f
v
ec
to
r
Vs Stato
r
f
l
u
x
s
p
ac
e
v
ec
to
r
lo
ca
tio
n
I
n
th
e
DT
C
co
n
tr
o
l
s
ch
e
m
e,
i
n
t
h
e
lo
w
s
p
ee
d
r
eg
io
n
,
t
h
e
s
tato
r
f
lu
x
r
ip
p
les
ar
e
u
n
ac
ce
p
tab
l
y
h
i
g
h
[
2
3
]
.
Fin
d
in
g
s
s
u
m
m
ar
ized
i
n
T
ab
le
2
ca
n
b
e
ex
p
lo
ited
to
r
ed
u
ce
r
ip
p
les
b
y
s
elec
ti
n
g
t
h
e
lo
ad
w
h
o
s
e
v
ec
to
r
h
av
e
t
h
e
m
o
d
er
ate
e
f
f
ec
t
o
n
t
h
e
s
tato
r
f
l
u
x
.
I
n
o
t
h
er
w
o
r
d
s
,
t
h
e
lo
ad
w
h
o
s
e
v
ec
to
r
i
s
clo
s
er
to
t
h
e
ce
n
ter
o
f
t
h
e
s
ec
to
r
b
ein
g
s
elec
ted
.
5.
T
H
E
P
RO
P
O
S
E
D
AL
G
O
RI
T
H
M
I
n
o
r
d
er
to
r
ed
u
ce
r
ip
p
les
o
f
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
an
d
th
e
s
tato
r
f
lu
x
i
n
b
o
th
m
o
t
o
r
s
an
d
t
o
en
s
u
r
e
a
r
elat
iv
el
y
h
i
g
h
er
s
witch
i
n
g
f
r
eq
u
en
c
y
,
th
e
af
o
r
e
m
en
tio
n
ed
f
ac
t
s
,
ar
e
e
x
p
lo
ite
d
to
d
ev
elo
p
a
n
e
w
co
n
tr
o
l sch
e
m
e
b
ased
o
n
th
e
f
o
llo
w
i
n
g
al
g
o
r
ith
m
(
Fi
g
u
r
e
7
)
:
Fig
u
r
e
7
.
T
h
e
Flo
w
ch
ar
t o
f
t
h
e
d
ev
elo
p
ed
alg
o
r
ith
m
Fo
r
th
e
r
ea
s
o
n
s
s
ta
ted
ea
r
lier
,
co
n
tr
o
l
o
f
to
r
q
u
e
h
as
b
ee
n
g
iv
en
h
i
g
h
er
p
r
io
r
it
y
o
v
er
th
e
co
n
tr
o
l
o
f
s
tato
r
f
l
u
x
.
I
f
a
n
y
o
n
e
o
f
t
h
e
m
o
to
r
s
o
r
b
o
th
ar
e
h
a
v
in
g
a
h
ig
h
to
r
q
u
e
er
r
o
r
,
th
e
lo
ad
w
it
h
t
h
e
h
i
g
h
er
to
r
q
u
e
er
r
o
r
w
ill
b
e
s
u
p
p
lied
b
y
th
e
i
n
v
er
ter
,
in
t
h
e
o
th
er
h
a
n
d
,
if
t
h
e
to
r
q
u
e
er
r
o
r
s
o
f
b
o
th
lo
ad
s
,
ar
e
ac
ce
p
ta
b
le,
th
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
I
SS
N:
2
0
8
8
-
8
694
Dir
ec
t To
r
q
u
e
C
o
n
tr
o
l o
f Tw
o
I
n
d
u
ctio
n
Mo
to
r
s
Usi
n
g
th
e
N
in
e
-
S
w
itch
I
n
ve
r
ter (
Dra
o
u
i A
b
d
elg
h
a
n
i)
1559
lo
ad
w
h
o
s
e
v
ec
to
r
h
a
v
e
t
h
e
le
ast
i
n
f
lu
e
n
ce
o
n
t
h
e
s
ta
to
r
f
l
u
x
c
h
an
g
e
w
i
ll
b
e
s
e
lecte
d
,
in
ca
s
e
o
f
o
p
er
atio
n
in
th
e
lo
w
s
p
ee
d
r
eg
io
n
.
Ot
h
er
w
i
s
e,
th
e
s
elec
t
io
n
is
p
er
f
o
r
m
ed
in
an
alter
n
ate
m
a
n
n
er
.
Fig
u
r
e
8
.
Si
m
u
li
n
k
®
B
lo
ck
d
iag
r
a
m
o
f
t
h
e
e
n
tire
S
y
s
te
m
Fig
u
r
e
9
.
S
y
n
c
h
r
o
n
izat
io
n
B
lo
ck
an
d
Ma
tlab
®
F
u
n
c
tio
n
Fi
le
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
4
,
Dec
em
b
er
2
0
1
8
:
1552
–
1
5
6
4
1560
6.
RE
SU
L
T
S AN
D
D
I
SS
CUS
I
O
N
I
n
o
r
d
er
to
d
em
o
n
s
tr
ate
t
h
e
in
d
p
en
d
en
t
co
n
tr
o
l
o
f
b
o
th
m
o
t
o
r
s
an
d
to
in
v
es
tig
a
te
th
e
v
ali
d
it
y
o
f
t
h
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
,
Si
m
u
lati
o
n
u
s
i
n
g
th
e
Ma
tlab
/
Si
m
u
l
in
k
®
s
o
f
t
w
ar
e
is
ca
r
r
ied
o
u
t.
T
w
o
in
d
u
ctio
n
m
o
to
r
s
ar
e
d
r
iv
en
w
it
h
d
if
f
er
e
n
t
co
m
b
in
atio
n
s
o
f
s
p
ee
d
p
r
o
f
iles
(
1
2
0
,
3
0
0
r
a
d
/s
)
,
w
h
ile
ap
p
l
y
in
g
a
n
o
m
in
a
l
to
r
q
u
e
lo
ad
(
2
6
N.
m
)
in
ea
c
h
s
p
ee
d
co
m
b
i
n
atio
n
,
th
e
s
tato
r
f
l
u
x
o
f
b
o
th
m
o
to
r
is
s
et
to
0
.
9
W
b
.
I
n
th
e
lo
w
s
p
ee
d
r
eg
io
n
,
th
e
s
tato
r
f
lu
x
o
f
ea
ch
m
o
to
r
h
a
s
h
ig
h
r
ip
p
les,
th
is
is
o
n
e
o
f
t
h
e
d
r
a
w
b
ac
k
s
o
f
th
e
o
r
ig
i
n
al
DT
C
co
n
tr
o
l sc
h
e
m
e.
t
h
e
s
i
g
n
i
f
ica
n
t v
o
lta
g
e
d
r
o
p
in
s
tato
r
r
esis
tan
ce
lead
s
to
a
p
o
o
r
esti
m
atio
n
o
f
s
tato
r
f
lu
x
v
alu
e
s
,
h
e
n
ce
,
a
w
r
o
n
g
s
tate
v
ec
to
r
is
ap
p
lied
.
Sev
er
al
w
o
r
k
s
[
2
4
]
-
[
2
6
]
h
as
b
ee
n
p
r
o
p
o
s
ed
to
h
av
e
a
b
etter
esti
m
a
te
o
f
s
tat
o
r
f
lu
x
v
alu
e.
I
n
o
u
r
p
r
o
p
o
s
e
d
co
n
tr
o
l
s
ch
e
m
e,
th
e
al
g
o
r
ith
m
w
i
ll
s
u
p
p
l
y
t
h
e
m
o
to
r
w
h
o
s
e
ac
ti
v
e
v
ec
to
r
h
as
th
e
m
o
d
er
ate
i
n
f
lu
e
n
ce
to
m
it
ig
ate
t
h
e
s
h
ar
p
in
cr
ea
s
e
o
f
s
tat
o
r
f
lu
x
.
Stato
r
f
l
u
x
o
f
th
e
t
w
o
m
o
to
r
s
i
n
s
h
o
w
n
i
n
F
ig
u
r
e
1
0
.
(
a)
(
b
)
F
ig
u
r
e
10
.
Stato
r
Flu
x
m
a
g
n
it
u
d
e
of
: (
a)
Mo
to
r
1
.
(
b
)
Mo
to
r
2
A
t
f
ir
s
t,
t
h
e
s
p
ee
d
o
f
th
e
t
w
o
m
o
to
r
s
i
s
s
e
t
to
1
2
0
r
ad
/s
ec
i
n
a
ti
m
e
in
ter
v
al
o
f
2
0
0
m
illi
s
e
co
n
d
s
,
d
u
e
to
th
is
h
i
g
h
ac
ce
ler
atio
n
r
ate,
1
2
0
%
o
f
th
e
n
o
m
in
al
to
r
q
u
e
co
m
m
a
n
d
is
r
eq
u
ested
b
y
th
e
co
n
tr
o
l
s
y
s
te
m
,
to
r
ea
ch
th
e
a
s
s
i
g
n
ed
s
p
ee
d
in
ti
m
e.
A
t
t
i
m
e
0
.
4
s
ec
o
n
d
s
,
a
n
o
m
i
n
al
lo
ad
is
co
u
p
led
to
b
o
th
m
o
to
r
s
,
th
e
m
o
to
r
s
to
r
q
u
es
ar
e
in
cr
ea
s
ed
to
k
ee
p
b
o
th
m
o
to
r
s
r
u
n
n
i
n
g
a
t
th
e
a
s
s
i
g
n
ed
s
p
ee
d
,
a
s
lig
h
t
d
ec
r
ea
s
e
is
n
o
ticed
(
i.e
a
s
tead
y
s
ta
te
er
r
o
r
<
1
% o
f
th
e
n
o
m
i
n
al
s
p
ee
d
)
.
I
n
th
e
m
ed
i
u
m
s
p
ee
d
r
eg
io
n
,
t
h
e
al
g
o
r
ith
m
w
il
l c
o
n
tr
o
l th
e
NSI
to
s
u
p
p
l
y
t
h
e
lo
ad
w
it
h
t
h
e
lar
g
er
to
r
q
u
e
er
r
o
r
,
F
ig
u
r
e
1
1
an
d
F
ig
u
r
e
1
2
s
h
o
w
ac
ce
p
tab
le
to
r
q
u
e
r
ip
p
les.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
I
SS
N:
2
0
8
8
-
8
694
Dir
ec
t To
r
q
u
e
C
o
n
tr
o
l o
f Tw
o
I
n
d
u
ctio
n
Mo
to
r
s
Usi
n
g
th
e
N
in
e
-
S
w
itch
I
n
ve
r
ter (
Dra
o
u
i A
b
d
elg
h
a
n
i)
1561
Fig
u
r
e
1
1
.
Mo
to
r
1
T
o
r
q
u
e
Vs its
r
ef
er
en
ce
v
al
u
e
Fig
u
r
e
1
2
.
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ased
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as s
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w
n
,
i
n
F
i
g
u
r
e
s
1
3
an
d
1
4
.
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