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m
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I
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2088
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8
694
IJ
PEDS
Vo
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7
,
No
.
3
,
Sep
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2
0
1
6
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n
g
tech
n
iq
u
es
[
6
,
7
]
ar
e
u
s
ed
to
g
e
n
er
ate
P
W
M
s
i
g
n
al
w
h
ic
h
i
s
u
s
ed
to
d
eter
m
i
n
e
t
h
e
a
m
p
litu
d
e
a
n
d
th
e
f
r
eq
u
en
c
y
o
f
t
h
e
o
u
tp
u
t
v
o
lta
g
e.
Am
o
n
g
t
h
e
v
ar
io
u
s
P
W
M
tec
h
n
iq
u
es,
Sp
ac
e
Vec
to
r
P
W
M
(
SVP
W
M)
h
as
ad
v
an
ta
g
e
s
th
at
m
ad
e
it
t
h
e
m
o
s
t
s
w
itc
h
in
g
tech
n
iq
u
es
s
u
itab
le
f
o
r
elec
tr
ic
v
e
h
icles
[
8
,
9
]
.
T
h
e
in
ter
e
s
ti
n
g
f
ea
tu
r
es
o
f
t
h
is
t
y
p
e
o
f
m
o
d
u
latio
n
i
s
th
at
it
p
r
o
v
id
es
b
etter
D
C
-
li
n
k
u
ti
lizatio
n
,
m
o
r
e
e
f
f
icie
n
t
u
s
e
o
f
DC
s
u
p
p
l
y
v
o
lta
g
e,
p
r
o
d
u
ce
less
r
ip
p
les
a
n
d
in
cr
ea
s
e
li
f
e
ti
m
e
o
f
d
r
iv
e.
Fu
r
th
er
m
o
r
e,
it c
an
b
e
ea
s
i
l
y
i
m
p
l
e
m
en
ted
d
ig
itall
y
a
n
d
h
en
ce
o
f
f
er
s
th
e
ad
v
an
ta
g
e
to
p
er
f
o
r
m
e
n
tire
d
i
g
ital
p
r
o
ce
s
s
i
n
g
tas
k
s
.
T
h
e
p
er
f
o
r
m
a
n
c
e
o
f
SVP
W
M
d
ep
en
d
s
o
n
t
h
e
t
y
p
e
o
f
p
r
o
ce
s
s
o
r
u
s
ed
f
o
r
it
s
i
m
p
le
m
e
n
tatio
n
.
Am
o
n
g
t
h
e
v
ar
io
u
s
p
r
o
ce
s
s
o
r
s
av
ailab
le
i
n
t
h
e
m
ar
k
et,
th
e
m
o
s
t
p
o
p
u
lar
ar
e
th
e
T
ex
as
I
n
s
tr
u
m
e
n
t
DSP
w
h
ich
h
o
ld
s
ab
o
u
t
7
0
%
o
f
th
e
m
ar
k
et
[
5
]
.
T
MS3
2
0
F2
x
x
x
D
SP
s
er
ies
ar
e
h
ig
h
s
p
ee
d
p
r
o
ce
s
s
o
r
s
w
h
ic
h
h
a
v
e
b
ee
n
d
ev
elo
p
ed
b
y
T
ex
as
I
n
s
tr
u
m
en
t
s
esp
ec
iall
y
f
o
r
i
n
d
u
s
tr
ial
co
n
t
r
o
l
ap
p
licatio
n
s
,
i
n
p
ar
ticu
lar
f
o
r
i
m
p
le
m
en
tatio
n
o
f
SVP
W
M
alg
o
r
ith
m
to
d
r
iv
e
th
e
s
w
itc
h
es o
f
th
e
i
n
v
er
ter
.
I
n
th
e
p
r
ese
n
t
p
ap
er
an
elec
tr
i
c
p
r
o
p
u
ls
io
n
s
y
s
te
m
i
s
i
n
v
e
s
ti
g
ated
.
T
h
e
p
r
o
p
u
ls
io
n
s
y
s
te
m
co
n
s
tit
u
te
s
o
f
a
t
h
r
ee
p
h
ase
s
q
u
ir
r
el
ca
g
e
in
d
u
ct
io
n
m
o
to
r
,
I
GB
T
b
ased
th
r
ee
p
h
ase
in
v
er
ter
an
d
a
d
v
an
ce
d
p
r
o
ce
s
s
o
r
,
s
u
c
h
as
D
SP
,
i
m
p
le
m
en
t
in
g
SVP
W
M
alg
o
r
ith
m
f
o
r
o
p
en
lo
o
p
s
p
ee
d
co
n
tr
o
l
u
s
in
g
V/F
m
et
h
o
d
o
f
elec
tr
ic
v
eh
ic
le.
T
h
e
V/F
i
s
s
elec
ted
b
ec
au
s
e
it
tr
ies
to
ac
h
iev
e
s
o
m
e
f
ea
tu
r
es
w
h
ic
h
ar
e
s
u
i
tab
le
f
o
r
elec
tr
ic
v
eh
icles.
T
h
ese
in
cl
u
d
e
w
id
e
s
p
ee
d
s
p
a
n
w
it
h
co
n
s
tan
t
m
o
to
r
to
r
q
u
e,
lo
w
s
tar
t
in
g
cu
r
r
e
n
t,
ac
ce
ler
ati
o
n
an
d
d
ec
eler
atio
n
o
f
th
e
v
eh
icle.
T
h
e
p
ap
er
is
o
r
g
an
ized
as
f
o
llo
w
s
:
f
ir
s
t
SVP
W
M
tech
n
iq
u
e
alo
n
g
w
i
th
V/F
m
et
h
o
d
is
d
is
cu
s
s
ed
,
s
ec
o
n
d
th
e
m
ec
h
a
n
i
ca
l p
ar
ts
o
f
th
e
v
e
h
icle
ar
e
p
r
esen
ted
,
a
n
d
t
h
ir
d
th
e
elec
tr
ical
p
r
o
p
u
ls
io
n
s
y
s
te
m
is
d
escr
ib
ed
an
d
f
in
al
l
y
p
r
ac
tic
al
r
esu
lt
s
o
b
tain
ed
ar
e
p
r
esen
ted
alo
n
g
w
it
h
co
n
cl
u
s
io
n
s
.
2.
SPAC
E
V
E
C
T
O
R
P
UL
S
E
WI
D
T
H
M
O
DULAT
I
O
N
T
E
CH
NI
Q
U
E
A
n
u
m
b
er
o
f
P
u
l
s
e
W
id
th
Mo
d
u
latio
n
(
P
W
M)
s
ch
e
m
es
ar
e
u
s
ed
to
co
n
tr
o
l
t
h
e
m
a
g
n
itu
d
e
an
d
f
r
eq
u
e
n
c
y
o
f
A
C
o
u
tp
u
t
v
o
ltag
e
o
f
th
e
i
n
v
er
ter
.
T
h
e
m
o
s
t
w
id
el
y
u
s
ed
P
W
M
s
ch
em
es
f
o
r
th
r
ee
p
h
as
e
v
o
ltag
e
s
o
u
r
ce
in
v
er
ter
s
ar
e
s
in
e
w
a
v
e
Si
n
u
s
o
id
al
P
W
M
(
SP
W
M)
[
8
,
1
0
]
an
d
S
p
ac
e
Vec
to
r
P
W
M
(
SVP
W
M)
[
8
,
1
1
]
.
Sin
ce
SVP
W
M
is
ea
s
il
y
i
m
p
le
m
e
n
t
d
ig
it
all
y
,
e
n
ab
le
m
o
r
e
e
f
f
icien
t
u
ti
lizatio
n
o
f
DC
b
u
s
v
o
ltag
e,
a
n
d
g
e
n
er
ate
s
i
n
e
w
a
v
e
w
it
h
lo
w
er
T
o
tal
Har
m
o
n
ic
Dis
to
r
tio
n
(
T
HD)
,
it
is
m
o
s
t
f
r
e
q
u
en
tl
y
p
r
ef
er
ab
le
tech
n
iq
u
e
u
s
ed
i
n
m
o
d
er
n
A
C
m
ac
h
in
e
s
d
r
iv
es
f
ed
b
y
in
v
er
ter
s
.
T
h
e
p
er
f
o
r
m
a
n
ce
o
f
a
n
i
n
d
u
c
tio
n
m
o
to
r
is
i
m
p
r
o
v
ed
w
h
en
SVP
W
M
tech
n
iq
u
e
is
ap
p
lie
d
.
Deta
ils
ex
p
lan
atio
n
o
f
t
h
e
SVP
W
M
an
d
SP
W
M
tech
n
iq
u
e
s
ca
n
b
e
f
o
u
n
d
i
n
[
1
2
]
.
A
lth
o
u
g
h
SVP
W
M
is
m
o
r
e
co
m
p
lica
ted
th
a
n
s
in
u
s
o
id
al
P
W
M,
it
is
ea
s
il
y
i
m
p
le
m
e
n
ted
u
s
i
n
g
m
o
d
er
n
DSP
b
ase
d
co
n
tr
o
l
s
y
s
te
m
s
.
T
h
e
SVP
W
M
tech
n
iq
u
e
i
m
p
l
e
m
en
ted
in
to
th
e
e
x
is
ti
n
g
T
I
Dig
ital
Mo
to
r
C
o
n
tr
o
l
(
DM
C
)
lib
r
ar
y
r
ed
u
ce
s
co
m
p
u
tatio
n
ti
m
e
a
n
d
th
e
n
u
m
b
e
r
o
f
tr
a
n
s
i
s
to
r
co
m
m
u
ta
t
i
o
n
s
[
1
3
]
.
I
t
th
er
ef
o
r
e
i
m
p
r
o
v
es
E
lectr
o
Ma
g
n
etic
I
n
ter
f
er
en
ce
(
E
MI
)
b
eh
av
io
r
.
3.
V/F
CO
NT
RO
L
M
E
T
H
O
D
T
h
e
b
est
w
a
y
to
v
ar
y
t
h
e
s
p
ee
d
o
f
th
e
in
d
u
ctio
n
m
o
to
r
is
b
y
v
ar
y
i
n
g
t
h
e
s
u
p
p
l
y
f
r
eq
u
en
c
y
an
d
v
o
lta
g
e
lev
el
s
i
m
u
l
tan
eo
u
s
l
y
.
I
t c
an
b
e
s
h
o
w
n
t
h
at
t
h
e
to
r
q
u
e
d
ev
elo
p
ed
b
y
th
e
i
n
d
u
ct
i
o
n
m
o
to
r
is
d
ir
ec
tl
y
p
r
o
p
o
r
tio
n
al
to
th
e
r
atio
o
f
t
h
e
ap
p
lied
v
o
lta
g
e
a
n
d
t
h
e
f
r
eq
u
en
c
y
o
f
t
h
e
s
u
p
p
l
y
.
B
y
v
ar
y
in
g
t
h
e
v
o
lta
g
e
an
d
f
r
eq
u
e
n
c
y
,
b
u
t
k
ee
p
in
g
th
eir
r
atio
co
n
s
ta
n
t,
t
h
e
m
ax
i
m
u
m
to
r
q
u
e
d
ev
elo
p
ed
ca
n
b
e
k
ep
t
co
n
s
ta
n
t
th
r
o
u
g
h
o
u
t
th
e
s
p
ee
d
r
an
g
e.
I
n
s
u
m
m
ar
y
,
u
s
in
g
t
h
e
V/F
co
n
tr
o
l
m
e
th
o
d
th
e
f
o
llo
w
i
n
g
ca
n
b
e
ac
h
iev
ed
:
1
)
th
e
in
d
u
ctio
n
m
o
to
r
ca
n
b
e
r
u
n
t
y
p
ica
ll
y
f
r
o
m
5
%
o
f
th
e
s
y
n
ch
r
o
n
o
u
s
s
p
ee
d
u
p
to
th
e
b
as
e
s
p
ee
d
(
m
a
x
i
m
u
m
v
eh
ic
le
s
p
ee
d
)
,
an
d
th
e
m
a
x
i
m
u
m
to
r
q
u
e
g
e
n
er
ated
b
y
t
h
e
m
o
to
r
ca
n
b
e
k
ep
t
co
n
s
t
an
t
t
h
r
o
u
g
h
o
u
t
th
is
r
an
g
e,
2
)
th
e
s
tar
ti
n
g
cu
r
r
en
t
is
lo
w
er
,
3
)
th
e
ac
ce
ler
atio
n
a
n
d
d
ec
eler
atio
n
ca
n
b
e
co
n
tr
o
lled
b
y
co
n
tr
o
lli
n
g
th
e
ch
a
n
g
e
o
f
t
h
e
s
u
p
p
l
y
f
r
eq
u
en
c
y
[
1
4
,
1
5
].
4.
DE
S
I
G
N
O
B
J
E
CT
I
V
E
S
T
h
e
m
ec
h
a
n
ical
s
tr
u
ct
u
r
e
o
f
th
e
elec
tr
ic
v
eh
ic
le
p
r
o
to
ty
p
e
m
an
u
f
ac
t
u
r
ed
lo
ca
ll
y
an
d
u
s
ed
in
th
i
s
s
tu
d
y
i
s
s
h
o
w
n
i
n
Fig
u
r
e
1
.
T
h
e
w
ei
g
h
t,
v
o
lu
m
e
a
n
d
ae
r
o
d
y
n
a
m
ic
d
r
ag
a
n
d
r
o
llin
g
r
es
i
s
tan
ce
ef
f
ec
t
s
h
av
e
b
ee
n
ca
r
ef
u
ll
y
co
n
s
id
er
e
d
in
th
e
d
esi
g
n
o
f
t
h
e
b
o
d
y
o
f
t
h
e
v
eh
icle
[
5
]
.
T
h
e
d
esig
n
o
b
j
e
ctiv
es
ar
e
to
atta
i
n
m
ax
i
m
u
m
s
p
ee
d
o
f
6
0
k
m
/h
w
i
th
a
to
tal
w
eig
h
t o
f
5
0
0
k
g
an
d
ac
ce
ler
atio
n
ti
m
e
0
to
6
0
k
m
/
h
b
elo
w
3
0
s
ec
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
-
8
694
I
R
A
MY
I
n
ve
r
ter C
o
n
tr
o
l fo
r
S
o
la
r
E
lectric V
eh
icle
(
R
a
ch
id
Ta
leb
)
1014
Fig
u
r
e
1
.
R
ep
r
esen
tatio
n
o
f
al
l f
o
r
ce
s
ac
tin
g
o
n
E
V
T
h
e
r
o
a
d
s
lo
p
e
to
r
q
u
e
T
is
d
ef
i
n
ed
b
y
:
G
A
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g
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k
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llin
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a
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g
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r
ad
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,
m
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eh
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as
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d
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ill b
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ex
p
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as:
p
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t
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(
2
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Fo
r
th
i
s
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y
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w
e
s
elec
ted
f
o
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th
e
E
Vs
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o
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5
0
0
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p
m
.
5.
SYST
E
M
DE
SI
G
N
T
h
e
s
tr
u
ctu
r
e
o
f
t
h
e
elec
tr
o
-
s
o
lar
v
eh
icle
i
s
a
s
tr
o
n
g
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tin
g
m
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n
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er
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s
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t
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m
o
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r
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r
ap
id
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tead
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ev
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tio
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f
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co
m
p
o
n
en
ts
tech
n
o
lo
g
y
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n
d
p
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f
o
r
m
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ce
.
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s
elec
tr
ic
v
e
h
icles,
t
h
e
d
if
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e
n
t
p
ar
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e
m
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g
i
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g
in
d
u
s
tr
y
,
it is
n
ec
es
s
ar
y
to
s
et
t
i
m
e
co
n
s
tr
ain
t
s
an
d
o
b
j
ec
tiv
es to
b
e
ac
h
iev
ed
at
t
h
e
le
v
el
o
f
p
er
f
o
r
m
an
ce
ca
r
s
,
li
k
e
to
im
p
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h
e
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ce
ler
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n
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
v
e
h
icle.
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h
er
e
h
av
e
b
ee
n
r
e
m
ar
k
ab
le
d
ev
e
lo
p
m
en
ts
i
n
t
h
e
ar
ea
o
f
s
o
lar
ce
ll
s
a
n
d
in
t
h
e
d
ev
elo
p
m
e
n
t o
f
u
ltra
li
g
h
t
weig
h
t so
lar
c
h
ar
g
i
n
g
b
atter
y
p
o
w
er
ed
ca
r
s
.
T
h
e
p
h
o
to
v
o
ltaic
ar
r
a
y
ca
n
p
r
o
v
id
e
a
lar
g
e
cu
r
r
en
t
i
n
a
s
h
o
r
t
ti
m
e,
d
eliv
er
i
n
g
ex
tr
a
en
er
g
y
to
m
ee
t
th
e
en
er
g
y
r
eq
u
ir
e
m
e
n
t
w
h
e
n
it
is
n
ee
d
ed
.
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n
ad
d
itio
n
,
t
h
e
elec
tr
o
n
ics
it
s
elf
i
s
a
n
i
m
p
o
r
tan
t
co
n
s
tr
ain
t
in
ter
m
s
o
f
th
e
s
h
ap
e
o
f
th
e
ca
r
.
Au
to
C
A
D
s
o
f
t
w
a
r
e
is
u
s
ed
to
d
esig
n
t
h
e
v
e
h
icl
e
s
h
ap
e
(
Fig
u
r
e
s
2
an
d
3
)
in
o
r
d
er
to
ch
o
o
s
e
th
e
b
est f
r
a
m
e
v
e
h
icle
s
h
ap
e
an
d
d
eter
m
i
n
es t
h
e
w
ea
k
p
o
in
t
s
o
f
t
h
e
v
eh
icle.
T
h
e
f
r
o
n
t
co
n
s
is
t
s
a
s
u
s
p
en
s
io
n
s
y
s
te
m
co
u
p
led
w
it
h
t
h
e
v
eh
icle
s
teer
in
g
s
y
s
te
m
.
T
h
e
s
u
s
p
en
s
io
n
s
is
co
n
s
id
er
ed
d
o
u
b
le
w
is
h
b
o
n
e,
th
e
y
co
n
s
is
t
t
w
o
tr
ia
n
g
le
s
,
ea
ch
o
f
th
e
m
i
s
b
o
u
n
d
b
y
t
w
o
h
in
g
es
o
n
e
to
t
h
e
f
r
a
m
e
a
n
d
th
e
o
t
h
er
b
all
to
k
n
u
c
k
le.
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h
ese
s
u
s
p
en
s
io
n
s
ar
e
s
i
m
ilar
to
Mc
P
h
er
s
o
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o
f
te
n
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itted
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x
u
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e,
a
s
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h
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ite
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u
m
b
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o
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tti
n
g
s
p
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s
itio
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s
.
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g
u
r
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4
is
u
s
ed
to
d
er
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e
th
e
d
esire
d
d
r
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g
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o
w
er
to
en
s
u
r
e
v
e
h
icle
o
p
er
atio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8
694
IJ
PEDS
Vo
l.
7
,
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.
3
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r
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2
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s
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u
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3
.
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ch
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s
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r
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d
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Fig
u
r
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4
.
P
h
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f
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t
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L
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C
T
RIC
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RO
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N
SYST
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Fig
u
r
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5
s
h
o
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t
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g
r
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m
o
f
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o
p
en
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o
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tr
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l
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y
s
te
m
u
s
ed
to
ad
j
u
s
t
t
h
e
s
p
ee
d
o
f
th
e
v
eh
ic
le.
T
h
e
h
ar
d
w
ar
e
in
cl
u
d
es
s
q
u
ir
r
el
ca
g
e
i
n
d
u
ctio
n
m
o
to
r
,
b
r
id
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e
in
v
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ter
,
is
o
latio
n
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r
d
,
Dig
ital
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g
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r
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eter
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ad
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s
t
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n
t,
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n
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s
w
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s
f
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ter
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h
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d
esire
d
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n
ter
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h
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to
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v
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i.e
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I
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ch
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m
atic
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th
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g
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c
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m
atic
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f
I
R
A
MY
2
0
UP
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0
B
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8
694
IJ
PEDS
Vo
l.
7
,
No
.
3
,
Sep
tem
b
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2
0
1
6
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t d
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g
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r
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.
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ased
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e
f
ig
u
r
e,
th
e
o
p
en
lo
o
p
s
y
s
te
m
ca
n
b
e
s
u
m
m
ar
ized
as f
o
llo
w
s
:
a.
I
n
itializatio
n
DM
C
m
o
d
u
le
s
a
n
d
d
ec
lar
e
v
ar
iab
les;
b.
Dete
r
m
i
n
e
V
s
v
o
lta
g
es
w
it
h
c
o
n
s
ta
n
t
V/F
p
r
o
f
i
le
b
ased
o
n
d
esire
d
f
r
eq
u
en
c
y
(
f
s
)
u
s
i
n
g
V
Hz_
P
R
OF
m
o
d
u
le;
c.
Dete
r
m
i
n
e
th
e
t
i
m
e
d
u
r
at
io
n
s
T
a
,
T
b
an
d
T
c
b
ased
o
n
V
s
an
d
f
s
u
s
i
n
g
S
VGE
N_
MF
m
o
d
u
le;
d.
Gen
er
ate
th
e
s
ig
n
al
P
W
M
b
ased
o
n
th
e
ti
m
e
d
u
r
atio
n
s
T
a
,
T
b
an
d
T
c
u
s
i
n
g
P
W
MG
E
N
m
o
d
u
le.
8.
P
RACTI
CAL R
E
S
UL
T
S
Fig
u
r
e
1
0
s
h
o
w
s
a
s
n
ap
s
h
o
t
o
f
P
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M
s
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g
n
als
g
e
n
er
ated
b
y
t
h
e
S
VP
W
M
m
o
d
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le
a
f
ter
th
e
ex
ec
u
t
io
n
o
f
th
e
p
r
o
g
r
a
m
i
m
p
le
m
en
ted
in
th
e
D
SP
.
Fig
u
r
e
1
1
illu
s
tr
ate
s
th
e
t
w
o
P
W
M
p
u
ls
es
w
h
ic
h
ar
e
co
m
p
le
m
en
tar
y
an
d
u
s
ed
to
tr
i
g
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er
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e
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ate
s
o
f
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n
e
le
g
o
f
t
h
e
I
GB
T
B
r
id
g
e
o
f
t
h
e
i
n
v
er
ter
.
As
s
h
o
w
n
i
n
F
ig
u
r
e
1
1
,
in
o
r
d
er
to
av
o
id
th
e
s
h
o
r
t
cir
cu
it
o
f
in
v
er
ter
p
o
w
er
s
u
p
p
l
y
,
w
e
i
n
tr
o
d
u
ce
d
a
tim
e
d
ela
y
o
f
0
.
5
µ
s
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et
w
ee
n
th
e
t
w
o
co
m
p
le
m
e
n
tar
y
p
u
ls
e
s
.
Fig
u
r
e
1
2
s
h
o
w
s
P
W
M
s
ig
n
als
b
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o
r
e
an
d
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ter
t
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u
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d
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e
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s
u
r
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alv
a
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et
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n
DSP
an
d
I
n
v
er
ter
.
A
s
s
h
o
w
n
i
n
Fi
g
u
r
e
1
2
,
th
e
P
W
M
s
ig
n
als
o
f
m
ag
n
i
tu
d
e
3
.
3
v
o
lt
s
g
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ated
at
th
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u
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t
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e
in
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ted
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m
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to
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lts
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y
t
h
e
o
p
to
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p
ler
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r
d
b
ef
o
r
e
in
p
u
ttin
g
th
e
m
to
th
e
i
n
v
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ter
.
T
o
ch
ec
k
th
e
s
w
i
tch
i
n
g
b
eh
av
io
r
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d
th
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f
th
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ter
(
i.e
.
I
R
A
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Y2
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UP
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0
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m
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d
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,
th
e
o
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f
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n
e
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f
it
s
ce
ll
d
u
r
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m
m
u
tatio
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is
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n
v
esti
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ted
.
Fig
u
r
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1
3
ill
u
s
tr
ate
s
t
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w
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o
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m
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e
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ce
ll
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n
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er
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i
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u
ct
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e
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ad
(
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8
.
4
Ω
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d
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7
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m
H)
d
u
r
in
g
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m
m
u
tatio
n
.
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h
e
s
w
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h
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n
g
f
r
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en
c
y
o
f
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p
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p
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e
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r
esp
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y
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A
s
s
h
o
w
n
i
n
Fig
u
r
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1
3
,
th
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t
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f
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m
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m
0
to
5
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d
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g
s
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f
(
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en
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an
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.
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w
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p
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Fi
g
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1
3
s
h
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w
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s
m
all
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en
t
s
p
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e
p
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b
a
b
ly
d
u
e
to
th
e
I
GB
T
s
in
ter
n
al
p
ar
am
eter
s
e
f
f
ec
ts
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
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8
694
I
R
A
MY
I
n
ve
r
ter C
o
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tr
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l fo
r
S
o
la
r
E
lectric V
eh
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(
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a
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leb
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1018
Fig
u
r
e
9
.
P
r
o
g
r
am
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w
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h
ar
t
Fig
u
r
e
1
0
.
PW
M
s
ig
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al
a
n
d
its
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m
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le
m
e
n
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
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8
694
IJ
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3
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tem
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er
2
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2
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2
1019
Fig
u
r
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1
.
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et
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m
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en
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Fig
u
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2
.
PW
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ig
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an
d
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ter
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p
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u
r
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1
3
.
Vo
ltag
e
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r
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e
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o
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m
s
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r
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n
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I
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l
l
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I
J
PEDS
I
SS
N:
2
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8
8
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I
R
A
MY
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ve
r
ter C
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n
tr
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l fo
r
S
o
la
r
E
lectric V
eh
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(
R
a
ch
id
Ta
leb
)
1020
T
h
e
in
v
er
ter
is
test
ed
to
s
u
p
p
ly
i
n
d
u
ct
io
n
m
o
to
r
w
ith
r
ati
n
g
4
.
7
k
W
w
i
th
a
n
d
w
it
h
o
u
t
lo
ad
.
T
h
is
m
o
to
r
is
th
e
o
n
e
s
elec
ted
to
b
e
u
s
ed
in
th
e
p
r
o
p
u
ls
io
n
s
y
s
te
m
d
esi
g
n
ed
.
T
h
e
s
w
itc
h
i
n
g
f
r
eq
u
e
n
c
y
o
f
th
e
I
GB
T
s
tr
an
s
is
to
r
s
an
d
DC
p
o
w
er
s
u
p
p
l
y
v
o
ltag
e
ar
e
1
0
k
Hz
an
d
2
0
0
V
r
esp
ec
tiv
el
y
.
R
esu
lt
s
ill
u
s
tr
ated
in
Fig
u
r
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s
1
4
a
n
d
1
5
s
h
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w
s
t
h
e
lin
e
to
n
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tr
al
v
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g
e
a
n
d
c
u
r
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en
t
a
t
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h
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n
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ter
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t
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n
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p
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n
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to
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.
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s
ca
n
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e
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ticed
,
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e
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lt
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e
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y
s
atis
f
ac
t
o
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y
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d
th
e
c
u
r
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en
t
w
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e
is
al
m
o
s
t
s
i
n
u
s
o
id
al.
Fi
g
u
r
e
s
1
4
an
d
1
5
also
s
h
o
w
t
h
e
ab
ili
t
y
o
f
t
h
e
i
n
v
er
ter
ch
an
g
i
n
g
s
p
ee
d
o
f
t
h
e
m
o
t
o
r
(
i.e
.
v
eh
icle)
b
y
g
en
er
ati
n
g
s
i
n
u
s
o
id
al
v
o
lta
g
e
f
o
r
d
if
f
er
e
n
t d
esire
d
f
r
eq
u
e
n
ci
es (
i.e
.
2
5
Hz
an
d
5
0
Hz
)
.
Fin
all
y
,
th
e
p
r
ac
tical
p
er
f
o
r
m
an
ce
o
f
t
h
e
e
lectr
ic
p
r
o
p
u
ls
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n
s
y
s
te
m
d
esi
g
n
ed
o
p
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atin
g
u
n
d
er
r
o
ad
lo
ad
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n
d
itio
n
s
is
i
n
v
e
s
ti
g
ated
.
T
h
e
v
eh
icle
h
a
s
b
ee
n
o
p
er
ated
o
n
a
f
lat
r
o
ad
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d
s
tar
ted
ch
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g
i
n
g
its
s
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ee
d
at
d
if
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er
e
n
t
s
ta
g
es.
T
h
e
r
e
s
u
lt
s
o
b
tain
ed
ar
e
v
er
y
s
atis
f
ac
to
r
y
as
s
h
o
w
n
in
Fi
g
u
r
e
1
6
.
T
h
e
s
p
ee
d
is
i
n
cr
ea
s
ed
p
r
o
g
r
ess
iv
el
y
b
y
t
h
e
d
r
iv
er
a
n
d
th
e
m
ax
i
m
u
m
s
p
ee
d
r
ea
ch
ed
is
m
o
r
e
t
h
a
n
6
0
k
m
/
h
(
i.
e.
1
9
.
5
m
/s
)
a
n
d
t
h
e
cu
r
r
en
t
r
eq
u
ir
ed
at
t
h
is
s
p
ee
d
is
3
.
5
A
.
T
h
e
r
esu
lts
s
h
o
w
th
at
th
e
v
e
h
icle
ca
n
r
ea
ch
s
p
ee
d
u
p
to
9
0
k
m
/
h
.
Ho
w
e
v
er
,
d
r
iv
in
g
at
th
i
s
s
p
e
ed
r
esu
lted
in
lo
t
o
f
v
ib
r
atio
n
s
o
f
t
h
e
v
e
h
icle.
T
h
is
is
p
r
o
b
ab
ly
d
u
e
to
t
h
e
in
co
m
p
lete
d
esi
g
n
r
eq
u
ir
e
m
e
n
ts
o
f
t
h
e
v
e
h
icle
b
o
d
y
.
T
h
e
ca
p
ab
ilit
y
o
f
t
h
e
elec
tr
ic
p
r
o
p
u
ls
io
n
s
y
s
te
m
u
n
d
er
o
v
er
lo
ad
w
as
a
ls
o
i
n
v
e
s
ti
g
ated
b
y
o
p
er
atin
g
th
e
v
e
h
icle
o
n
g
r
ad
ed
r
o
ad
c
o
n
d
itio
n
w
h
er
e
th
e
r
o
ad
g
r
ad
e
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n
g
le
i
s
ab
o
u
t
4
5
d
eg
r
ee
.
T
h
e
r
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lt
s
ar
e
s
h
o
w
n
i
n
Fig
u
r
e
1
7
.
T
h
e
s
p
ee
d
r
ea
ch
ed
in
th
is
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s
e
i
s
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o
u
t 1
2
.
7
m
/
s
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i
.
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4
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m
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h
)
an
d
t
h
e
cu
r
r
en
t r
eq
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ir
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is
5
.
8
A
.
Fig
u
r
e
1
4
.
W
av
e
f
o
r
m
o
f
th
e
p
h
ase
v
o
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e
a
n
d
cu
r
r
en
t
f
o
r
f
=
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5
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w
ith
a
lo
ad
to
r
q
u
e
Fig
u
r
e
1
5
.
W
av
e
f
o
r
m
o
f
th
e
p
h
ase
v
o
ltag
e
a
n
d
cu
r
r
en
t
f
o
r
f
=
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w
it
h
a
lo
ad
to
r
q
u
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8
694
IJ
PEDS
Vo
l.
7
,
No
.
3
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Sep
tem
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er
2
0
1
6
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0
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2
–
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2
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r
e
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.
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n
n
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n
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r
o
ad
9.
CO
NCLU
SI
O
N
T
h
is
p
ap
er
p
r
esen
ted
d
esig
n
o
f
a
ce
r
tai
n
p
ar
t
o
f
a
n
elec
tr
ic
v
eh
ic
le.
T
h
e
elec
tr
ic
v
eh
icle
i
s
p
r
o
p
elled
b
y
th
r
ee
p
h
ase
ca
g
e
i
n
d
u
ctio
n
m
o
to
r
a
n
d
p
o
w
er
ed
b
y
b
att
er
ies
w
h
ic
h
ar
e
c
h
ar
g
ed
b
y
s
o
lar
en
er
g
y
s
tat
io
n
.
Af
ter
s
e
v
er
al
ex
p
er
i
m
e
n
t
p
er
f
o
r
m
ed
,
th
e
D
SP
b
ased
co
n
tr
o
l
s
y
s
te
m
p
r
o
p
o
s
ed
an
d
d
ev
elo
p
ed
in
th
is
p
ap
er
is
ab
le
to
o
p
er
ate
th
e
v
eh
icle
at
d
if
f
er
e
n
t
s
p
ee
d
s
u
n
d
er
f
lat
an
d
u
p
h
ill
r
o
ad
co
n
d
itio
n
s
.
Ho
wev
er
,
d
u
r
in
g
u
p
h
il
l
co
n
d
itio
n
th
e
c
u
r
r
en
t
r
eq
u
ir
ed
w
as
q
u
i
te
h
i
g
h
co
m
p
ar
ed
to
cu
r
r
en
t
s
u
p
p
lied
to
DC
m
o
to
r
u
s
ed
o
n
th
e
s
a
m
e
v
eh
ic
le
u
n
d
er
t
h
e
s
a
m
e
co
n
d
it
io
n
.
T
h
er
ef
o
r
e,
to
b
e
co
m
p
ar
ab
le
to
DC
m
o
to
r
,
m
o
r
e
r
esear
ch
w
o
r
k
is
r
eq
u
ir
ed
o
n
co
n
tr
o
l stra
teg
ie
s
in
o
r
d
er
to
im
p
r
o
v
e
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
in
d
u
ctio
n
m
o
to
r
u
s
ed
in
E
V.
Du
e
to
it
s
lo
w
co
s
t,
r
o
b
u
s
t
n
es
s
,
h
i
g
h
r
eliab
ilit
y
an
d
f
r
ee
f
r
o
m
m
ai
n
ten
a
n
ce
,
a
u
to
m
o
b
ile
i
n
d
u
s
tr
y
w
ill
ce
r
tain
l
y
s
elec
t
ca
g
e
i
n
d
u
c
tio
n
m
o
to
r
as
t
h
e
m
o
s
t
ap
p
r
o
p
r
iate
ca
n
d
id
ate
f
o
r
E
Vs.
He
n
ce
,
it
i
s
b
eliev
ed
t
h
at
t
h
e
w
o
r
k
ca
r
r
ied
o
u
t
w
il
l
co
n
tr
ib
u
te
in
d
ev
elo
p
m
e
n
t
o
f
f
u
t
u
r
e
el
ec
tr
ic
v
eh
ic
les
b
ased
o
n
t
h
e
u
s
e
o
f
s
q
u
ir
r
el
ca
g
e
in
d
u
ctio
n
m
o
to
r
.
RE
F
E
R
E
NC
E
S
[1
]
T
.
W
e
i,
T
.
Ki
m
,
S
.
P
a
rk
,
Q.
Zh
u
,
"
Ba
tt
e
ry
ma
n
a
g
e
me
n
t
a
n
d
a
p
p
li
c
a
ti
o
n
fo
r
e
n
e
rg
y
-
e
ff
icie
n
t
b
u
il
d
i
n
g
s
"
,
5
1
st
A
CM
/E
D
A
C/IE
EE
De
sig
n
A
u
to
m
a
ti
o
n
Co
n
f
e
re
n
c
e
(D
A
C)
,
p
p
.
1
-
6
,
S
a
n
F
ra
n
c
isc
o
,
USA
,
1
-
5
J
u
n
e
,
2
0
1
4
.
[2
]
G
.
Oriti
,
A
.
L
.
Ju
li
a
n
,
N.J.
P
e
c
k
,
"
P
o
w
e
r
El
e
c
tro
n
ics
Ba
se
d
E
n
e
rg
y
M
a
n
a
g
e
m
e
n
t
S
y
ste
m
w
it
h
S
to
ra
g
e
"
,
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Po
we
r E
lec
tro
n
i
c
s
,
v
o
l.
P
P
,
n
o
.
9
9
,
p
p
.
1
-
1
,
2
6
F
e
b
ru
a
ry
,
2
0
1
5
.
[3
]
D.
Ga
n
e
sh
,
S
.
M
o
o
r
th
i
,
H.
S
u
d
h
e
e
r
,
"
A
V
o
lt
a
g
e
Co
n
tro
ll
e
r
in
P
h
o
t
o
-
Vo
lt
a
ic S
y
ste
m
w
it
h
Ba
tt
e
r
y
S
t
o
ra
g
e
f
o
r
S
tan
d
-
A
lo
n
e
A
p
p
li
c
a
ti
o
n
s
"
,
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Po
we
r
El
e
c
tro
n
ics
a
n
d
Dr
ive
S
y
ste
m
(
IJ
PE
DS
)
,
v
o
l.
2
,
n
o
.
1
,
p
p
.
9
-
1
8
,
M
a
rc
h
2
0
1
2
.
[4
]
H.
Ch
e
n
g
,
X
.
G
o
n
g
,
Y.F
.
H
u
,
Q.F
.
L
iu
,
B.
Z
.
G
a
o
,
H.Y.
G
u
o
,
"
A
u
to
m
o
ti
v
e
Co
n
tro
l:
th
e
S
tate
o
f
th
e
A
rt
a
n
d
P
e
rsp
e
c
ti
v
e
"
,
Acta
A
u
to
m
a
ti
c
a
S
i
n
ica
,
v
o
l.
3
9
,
n
o
.
4
,
p
p
.
3
2
2
-
3
4
6
,
2
6
A
p
ril
,
2
0
1
3
.
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