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[
1
-
2
]
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Of
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co
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3
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.
T
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[
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[
5
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.
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[
6
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1167
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9
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th
at
w
it
h
t
h
e
m
ea
s
u
r
e
m
en
t
o
f
in
d
u
cta
n
ce
o
r
f
l
u
x
as
w
ell
a
s
b
y
b
ac
k
e
m
f
d
etec
tio
n
o
r
w
it
h
esti
m
ato
r
b
ased
m
o
d
els
v
ar
io
u
s
s
e
n
s
o
r
less
tech
n
o
lo
g
ies
h
a
v
e
b
ee
n
d
e
v
el
o
p
ed
an
d
test
ed
[
1
1
]
.
Sen
s
o
r
less
co
n
tr
o
l
b
y
d
etec
tin
g
b
ac
k
e
m
f
is
o
n
e
o
f
th
e
w
id
el
y
u
s
ed
m
et
h
o
d
s
i
n
w
h
i
ch
t
h
e
i
n
f
o
r
m
atio
n
r
eg
ar
d
in
g
b
ac
k
e
m
f
ca
n
b
e
o
b
tai
n
ed
b
y
m
ea
s
u
r
in
g
p
h
ase
v
o
l
tag
e
s
[
1
2
]
in
w
h
ic
h
p
h
a
s
e
’
s
ex
ac
t
co
m
m
u
tatio
n
i
n
s
ta
n
ts
ar
e
d
is
p
lace
d
b
y
3
0
˚
f
r
o
m
ze
r
o
cr
o
s
s
in
g
o
f
b
ac
k
e
m
f
.
C
alc
u
latio
n
o
f
d
if
f
er
en
c
e
in
lin
e
v
o
lta
g
es
[
1
3
-
1
4
]
,
s
ec
o
n
d
d
er
iv
ativ
e
o
f
s
u
m
o
f
t
h
r
e
e
ter
m
in
a
l
v
o
lta
g
es
[
1
5
]
,
b
ac
k
em
f
m
ap
p
i
n
g
[
1
6
]
a
n
d
b
ac
k
e
m
f
d
if
f
e
r
en
ce
esti
m
a
tio
n
[
1
7
]
a
r
e
s
o
m
e
o
f
th
e
o
th
e
r
tech
n
iq
u
e
s
f
o
u
n
d
in
liter
atu
r
e.
T
h
e
s
en
s
o
r
les
s
t
ec
h
n
iq
u
e
h
a
s
b
ee
n
ad
o
p
ted
b
y
ca
lc
u
lat
in
g
th
e
d
i
f
f
er
e
n
ce
o
f
ter
m
i
n
al
v
o
lta
g
e
d
if
f
er
e
n
ce
w
h
ic
h
co
n
tai
n
s
th
e
in
f
o
r
m
atio
n
ab
o
u
t
e
x
ac
t
co
m
m
u
tatio
n
p
o
i
n
t
w
h
ic
h
is
3
0
d
eg
r
ee
s
la
g
g
in
g
f
r
o
m
ze
r
o
cr
o
s
s
in
g
in
s
tan
t
o
f
b
ac
k
e
m
f
.
T
h
e
m
o
to
r
co
n
tr
o
ller
in
an
AUV
g
e
n
er
ates
an
in
p
u
t
s
i
g
n
al
to
th
e
ac
t
u
ato
r
to
ac
h
ie
v
e
it
s
d
es
ir
ed
v
elo
cit
y
,
b
ased
o
n
t
h
e
er
r
o
r
s
i
g
n
al
o
b
tain
ed
b
y
co
m
p
ar
i
n
g
th
e
d
esir
ed
v
al
u
es
w
it
h
t
h
e
ac
tu
al
v
a
lu
e
s
o
f
p
o
s
i
tio
n
a
n
d
v
elo
cit
y
o
b
tain
ed
th
r
o
u
g
h
s
e
n
s
o
r
less
tech
n
iq
u
es
.
Fo
r
co
n
tr
o
llin
g
t
h
e
s
p
ee
d
o
f
m
o
to
r
,
v
ar
io
u
s
co
n
tr
o
l
s
tr
ate
g
ie
s
h
av
e
b
ee
n
i
n
co
r
p
o
r
ated
in
th
e
p
r
esen
ce
o
f
u
n
ce
r
tai
n
tie
s
a
n
d
d
is
t
u
r
b
an
ce
s
.
P
r
o
p
o
r
tio
n
al
I
n
te
g
r
al
Der
iv
ati
v
e
(
P
I
D)
co
n
tr
o
l
an
d
P
D
co
n
tr
o
l
ar
e
u
s
ed
f
o
r
co
n
tr
o
llin
g
s
p
ee
d
o
f
B
L
DC
m
o
to
r
w
h
ic
h
is
u
s
ed
as
th
r
u
s
ter
m
o
to
r
[
18
-
22
]
.
H
in
f
i
n
it
y
co
n
t
r
o
l
th
eo
r
y
h
as
b
ee
n
w
id
el
y
u
s
ed
in
f
ilter
d
esi
g
n
f
o
r
f
au
lt
d
etec
tio
n
p
r
o
b
le
m
[
23
]
as
w
ell
as
b
ac
k
e
m
f
o
b
s
er
v
er
f
o
r
s
en
s
o
r
less
co
n
tr
o
l
in
a
B
L
DC
m
o
to
r
[
24
]
.
P
a
r
ticle
s
w
ar
m
o
p
ti
m
izatio
n
(
P
SO)
an
d
Gen
etic
A
l
g
o
r
it
h
m
(
G
A
)
ap
p
r
o
ac
h
h
av
e
b
ee
n
co
m
p
ar
ed
to
f
in
d
o
u
t
t
h
e
ef
f
icie
n
t
o
n
e
[
25
-
28
]
.
I
n
o
r
d
er
to
attain
r
o
b
u
s
t
co
n
tr
o
l
f
o
r
B
L
DC
m
o
to
r
ex
clu
s
i
v
el
y
in
th
e
p
r
ese
n
ce
o
f
ex
ter
n
al
d
is
t
u
r
b
an
ce
s
s
u
c
h
as
o
ce
a
n
cu
r
r
e
n
ts
a
n
d
w
a
v
e
d
r
if
t
s
,
H
i
n
f
in
i
t
y
co
n
tr
o
ller
w
i
th
P
SO
o
p
ti
m
i
s
e
d
w
ei
g
h
ts
h
as
b
ee
n
p
r
o
p
o
s
ed
b
y
th
i
s
a
u
t
h
o
r
in
t
h
e
s
p
ee
d
c
o
n
tr
o
l
lo
o
p
an
d
th
e
s
i
m
u
lat
io
n
r
es
u
lts
h
av
e
b
ee
n
d
is
cu
s
s
ed
in
d
etail
[
29
-
30
]
.
Fo
r
h
ar
d
w
ar
e
i
m
p
le
m
en
ta
tio
n
o
f
s
p
ee
d
co
n
tr
o
ller
,
v
ar
io
u
s
m
icr
o
co
n
tr
o
ller
s
h
av
e
b
ee
n
f
o
u
n
d
i
n
t
h
e
liter
atu
r
e.
P
I
C
1
6
F8
7
7
A
m
icr
o
co
n
tr
o
ller
h
as
b
ee
n
u
s
ed
in
t
h
e
h
ar
d
w
ar
e
i
m
p
le
m
e
n
tatio
n
o
f
s
p
ee
d
co
n
tr
o
ller
o
f
B
L
DC
m
o
to
r
u
s
i
n
g
P
I
co
n
tr
o
ller
[
3
1
]
.
A
s
p
ar
tan
-
3
FP
G
A
is
u
s
ed
to
g
e
n
er
ate
th
e
f
i
r
in
g
p
u
l
s
es
f
o
r
t
h
e
MO
SF
E
T
s
o
f
th
r
ee
p
h
ase
f
u
l
l
y
co
n
tr
o
lled
b
r
id
g
e
w
h
ic
h
i
n
tu
r
n
co
n
tr
o
l
t
h
e
s
p
ee
d
o
f
B
L
DC
m
o
to
r
[
3
2
]
.
An
AR
M
2
1
4
8
m
icr
o
co
n
tr
o
ller
al
o
n
g
w
ith
HP
C
L
3
1
2
0
MO
SF
E
T
d
r
iv
er
cir
cu
it
h
a
s
b
ee
n
u
s
e
d
in
a
B
L
D
C
m
o
to
r
w
it
h
h
a
ll
s
en
s
o
r
s
f
o
r
p
o
s
itio
n
s
en
s
in
g
an
d
w
it
h
a
d
y
n
a
m
o
m
eter
as
b
r
ak
e,
to
s
tu
d
y
i
ts
s
p
ee
d
to
r
q
u
e
ch
ar
ac
ter
is
tic
s
w
it
h
th
e
m
o
to
r
r
u
n
n
i
n
g
i
n
eit
h
er
d
ir
ec
tio
n
[
3
3
]
.
T
h
is
w
o
r
k
i
m
p
le
m
en
t
s
a
s
p
ee
d
co
n
tr
o
ller
b
ased
o
n
H
in
f
i
n
it
y
t
h
eo
r
y
w
i
th
w
ei
g
h
t
s
o
p
ti
m
iz
ed
b
y
P
SO
tech
n
iq
u
e
f
o
r
a
s
en
s
o
r
less
B
L
D
C
m
o
to
r
u
s
ed
in
t
h
r
u
s
ter
f
o
r
p
r
o
p
ellin
g
A
U
V.
T
h
e
s
i
m
u
latio
n
r
es
u
lt
s
h
a
v
e
b
ee
n
ex
p
er
i
m
en
ta
ll
y
v
al
id
ated
b
y
th
e
h
ar
d
w
ar
e
i
m
p
le
m
e
n
tatio
n
u
s
i
n
g
T
ex
as
I
n
s
tr
u
m
en
ts
C
2
0
0
0
Delf
i
n
o
L
a
u
n
c
h
P
ad
L
au
n
c
h
X
L
-
F2
8
3
7
7
S
an
d
B
o
o
s
tXL
DR
V
8
3
0
1
d
r
iv
er
b
o
ar
d
to
d
r
iv
e
th
e
4
2
B
L
6
1
B
L
DC
m
o
to
r
.
Fo
r
s
av
in
g
o
f
co
s
t
a
n
d
s
p
ac
e
as
w
el
l
as
f
o
r
ac
h
ie
v
i
n
g
b
etter
r
eliab
ilit
y
w
h
ic
h
ar
e
th
e
i
m
p
o
r
tan
t
co
n
s
tr
ai
n
ts
i
n
an
A
UV,
h
all
s
e
n
s
o
r
s
h
a
v
e
b
ee
n
r
ep
lace
d
w
it
h
s
e
n
s
o
r
les
s
tech
n
iq
u
e
f
o
r
r
o
to
r
p
o
s
itio
n
d
etec
tio
n
o
f
B
L
D
C
m
o
to
r
.
T
h
e
s
ig
n
i
f
ica
n
ce
o
f
t
h
is
w
o
r
k
i
s
th
a
t
w
it
h
th
e
i
m
p
le
m
e
n
tat
io
n
o
f
H
i
n
f
in
it
y
co
n
tr
o
ller
as
s
p
ee
d
co
n
tr
o
ller
w
ith
it
s
w
ei
g
h
ts
o
p
ti
m
ized
b
y
P
SO i
n
t
h
e
s
p
ee
d
f
e
ed
b
ac
k
lo
o
p
o
f
B
L
D
C
m
o
to
r
u
s
ed
in
th
r
u
s
ter
s
f
o
r
p
r
o
p
ellin
g
AUV,
b
etter
r
ef
er
en
ce
tr
ac
k
i
n
g
co
u
ld
b
e
attain
ed
.
A
s
p
er
p
r
esen
t
s
tate
o
f
ar
t,
th
is
m
et
h
o
d
o
f
i
m
p
le
m
en
ta
tio
n
h
as
n
o
t b
ee
n
f
o
u
n
d
in
t
h
e
liter
at
u
r
e
s
o
f
ar
.
T
h
is
p
ap
er
h
as
b
ee
n
o
r
g
a
n
ized
as
f
o
llo
w
s
.
R
e
s
ea
r
ch
m
et
h
o
d
w
h
ic
h
i
n
clu
d
e
s
th
e
th
eo
r
etica
l
asp
ec
t
o
f
i
m
p
le
m
en
ta
tio
n
o
f
s
p
ee
d
co
n
tr
o
ller
w
it
h
H
i
n
f
i
n
it
y
th
eo
r
y
w
ith
w
ei
g
h
t
s
o
p
ti
m
ized
b
y
P
SO
tech
n
iq
u
e,
t
h
e
h
ar
d
w
ar
e
r
eq
u
ir
e
m
en
ts
f
o
r
i
m
p
le
m
en
ta
tio
n
,
a
n
d
v
ar
io
u
s
s
te
p
s
in
v
o
lv
ed
i
n
i
m
p
le
m
e
n
tatio
n
h
as
b
ee
n
d
i
s
cu
s
s
ed
in
d
etail
in
s
ec
tio
n
2
.
Sectio
n
3
d
is
cu
s
s
e
s
ab
o
u
t th
e
i
m
p
o
r
tan
t si
m
u
lat
io
n
an
d
ex
p
er
i
m
en
tal
r
esu
lts
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
2
.
1
H
a
rdw
a
re
Rea
liza
t
io
n o
f
t
h
e
co
ntr
o
ller
T
h
e
b
lo
ck
d
iag
r
a
m
i
n
Fi
g
u
r
e
1
r
ep
r
esen
ts
th
e
d
e
v
elo
p
m
e
n
t
o
f
s
e
n
s
o
r
les
s
B
L
D
C
m
o
to
r
co
n
tr
o
l.
A
p
r
o
to
ty
p
e
o
f
th
e
s
a
m
e
h
as
b
ee
n
s
et
u
p
as
s
h
o
w
n
i
n
Fi
g
u
r
e
2
u
s
in
g
C
2
0
0
0
Delf
i
n
o
L
a
u
n
ch
P
ad
L
a
u
n
c
h
X
L
-
F2
8
3
7
7
S
w
it
h
C
o
d
e
C
o
m
p
o
s
er
s
tu
d
io
I
DE
v
er
s
io
n
6
an
d
B
o
o
s
tXL
DR
V
8
3
0
1
d
r
iv
er
b
o
ar
d
to
d
r
iv
e
th
e
4
2
B
L
6
1
B
L
DC
m
o
to
r
w
it
h
s
p
ec
if
icatio
n
s
s
h
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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I
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3
RE
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w
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3
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