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1
]
,
s
i
n
c
e
th
is
is
t
h
e
s
i
m
p
le
s
t
a
n
d
e
a
s
ie
s
t
m
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th
o
d
to
i
m
p
le
m
e
n
t
u
s
in
g
s
in
g
le
p
r
o
c
e
s
s
o
r
.
O
th
e
r
t
h
a
n
th
a
t,
t
h
i
s
te
c
h
n
iq
u
e
u
tiliz
e
s
s
ta
n
d
a
r
d
th
r
e
e
-
ph
a
s
e
m
odu
l
a
t
or
s
t
o g
e
n
e
r
a
t
e
m
odul
a
t
i
on
s
i
gn
a
l
s
f
or
a
ll le
g
s
o
f
a
F
L
I
.
T
he
m
o
d
ul
a
t
i
o
n t
e
c
h
ni
q
ue
t
ha
t
i
s
b
e
i
ng
us
e
d
i
n t
hi
s
c
ur
r
e
nt
s
t
ud
y i
s
d
e
p
i
c
t
e
d
i
n
F
i
g
ur
e
2
.
I
n t
he
c
a
s
e
o
f
c
o
nve
nt
i
o
na
l
F
i
ve
-
L
e
g
I
n
v
er
t
er
(
F
L
I
)
,
a
l
o
t
o
f
ex
t
er
n
al
w
i
r
es
,
s
en
s
o
r
s
ar
e n
eed
ed
b
ecau
s
e i
t
d
eal
s
w
i
t
h
t
h
e t
w
o
s
et
s
o
f
cu
r
r
e
n
t
s
e
n
s
or
s
,
t
w
o
s
e
t
s
of
e
n
c
ode
r
s
or
r
e
s
ol
v
e
r
s
i
n
or
de
r
t
o c
a
pt
u
r
e
t
h
e i
n
f
o
r
m
at
i
o
n
o
f
r
o
t
o
r
p
o
s
i
t
i
o
n
.
T
h
e ap
p
ear
an
ce o
f
al
l
t
h
e
t
r
an
s
d
u
cer
s
i
n
cr
eas
e
s
t
h
e t
o
t
al
s
i
ze an
d
co
s
t
s
o
f
t
h
e d
r
i
v
es
.
B
ecau
s
e o
f
t
h
e
s
e p
r
o
b
l
em
s
,
t
h
i
s
cu
r
r
en
t
s
t
u
d
y
p
r
o
p
o
s
es
t
h
e s
e
n
s
o
r
l
es
s
t
ech
n
i
q
u
e
f
o
r
d
u
al
-
P
M
SM
d
r
i
v
e u
s
i
n
g
F
L
I
i
n
o
r
d
er
t
o
r
e
d
u
ce t
h
e d
r
i
v
e
s
p
ace a
n
d
t
o
l
o
w
er
o
v
er
al
l
co
s
t
b
y
el
i
m
i
n
at
i
n
g
t
h
e
m
ec
h
an
i
cal
p
o
s
i
t
i
o
n
s
e
n
s
o
r
.
N
ev
er
t
h
el
e
s
s
,
t
h
e p
er
f
o
r
m
a
n
ce o
f
t
h
i
s
s
en
s
o
r
l
es
s
t
ech
n
i
q
u
e ar
e al
m
o
s
t
s
i
m
i
l
ar
t
o
t
h
e d
r
i
v
e
t
ha
t
u
s
i
ng
s
e
ns
or
.
V
ar
i
o
u
s
t
ec
h
n
i
q
u
es
i
n
s
e
n
s
o
r
l
es
s
s
t
r
at
eg
y
ar
e d
i
s
c
u
s
s
ed
b
y
d
i
f
f
er
e
n
t
r
es
ear
c
h
er
s
.
Mo
s
t
o
f
t
h
e
t
ech
n
i
q
u
es
ar
e b
as
ed
o
n
t
h
e
v
o
l
t
ag
e eq
u
at
i
o
n
s
o
f
t
h
e P
M
S
M
an
d
t
h
e i
n
f
o
r
m
at
i
o
n
o
f
t
h
e t
er
m
i
n
a
l
q
u
a
n
t
i
t
i
e
s
,
s
uc
h a
s
l
i
ne
vo
l
t
a
ge
a
nd
p
ha
s
e
c
ur
r
e
nt
.
B
y
u
s
i
ng
t
h
i
s
i
n
f
o
r
m
at
i
o
n
,
t
h
e r
o
t
o
r
an
g
l
e a
n
d
s
p
eed
ar
e es
t
i
m
at
ed
d
i
r
ect
l
y
o
r
i
n
d
i
r
ect
l
y
.
B
as
i
c
al
l
y
,
es
t
i
m
a
t
i
o
n
o
f
t
h
e
s
e
n
s
o
r
l
es
s
t
ech
n
i
q
u
e
s
ca
n
b
e b
as
ed
o
n
d
i
f
f
er
en
t
cat
eg
o
r
i
es
;
B
ack
E
l
ect
r
o
m
a
g
n
et
i
c F
o
r
ce,
E
x
ci
t
at
i
o
n
Mo
n
i
t
o
r
i
n
g
,
M
o
t
o
r
M
o
d
i
f
i
cat
i
o
n
,
M
a
g
n
et
i
c S
al
i
e
n
c
y,
O
b
s
er
v
er
an
d
S
i
g
n
al
i
n
j
ect
i
o
n
.
T
h
er
ef
o
r
e,
a
d
ap
t
i
v
e
m
o
d
el
b
as
ed
o
n
v
o
l
t
ag
e a
n
d
cu
r
r
en
t
m
et
h
o
d
i
s
s
el
ect
ed
a
s
t
he
s
e
ns
o
r
l
e
s
s
t
e
c
hni
q
ue
f
o
r
t
hi
s
c
ur
r
e
nt
s
t
ud
y
.
2.
DE
S
I
G
N O
F
S
E
NS
O
R
L
E
S
S
S
P
E
E
D CO
N
T
RO
L
F
O
R DUAL
P
M
S
M
DRI
VE
S
T
hi
s
c
ur
r
e
nt
s
t
ud
y
i
nt
r
o
d
uc
e
s
a
s
e
n
s
o
r
le
s
s
te
c
h
n
iq
u
e
u
s
in
g
a
d
a
p
tiv
e
c
o
n
tr
o
l b
a
s
e
d
o
n
d
if
f
e
r
e
n
tia
l o
f
d
-
q
cu
r
r
en
t
s
an
d
v
o
l
t
ag
e
s
t
o
es
t
i
m
at
e t
h
e s
p
eed
o
f
m
o
t
o
r
s
“
1
”
(
m1
)
a
nd
m
ot
or
“
2
”
(
m2
)
.
T
h
e b
as
i
c d
i
ag
r
am
f
o
r
o
v
e
r
a
ll b
lo
c
k
d
ia
g
r
a
m
is
d
e
p
ic
te
d
in
F
i
gur
e
1
.
T
hi
s
f
i
gur
e
s
ho
w
s
t
he
o
ve
r
a
l
l
b
l
o
c
k d
i
a
gr
a
m
o
f
t
he
pr
op
os
e
d m
e
t
h
od
w
h
i
c
h
c
ons
i
s
t
of
t
w
o s
e
t
s
of
P
M
S
M
dr
i
v
e
,
s
i
ng
l
e
F
L
I
,
s
pe
e
d c
on
t
r
ol
l
e
r
a
n
d t
h
e
s
pe
e
d a
n
d
p
o
s
itio
n
e
s
ti
m
a
to
r
f
o
r
e
a
c
h
m
o
to
r
.
T
h
e
o
u
tp
u
t o
f
th
r
e
e
-
p
h
a
s
e
v
ol
t
a
g
e
s
a
n
d c
u
r
r
e
nt
s
f
or
bot
h
m
ot
or
s
a
r
e
m
eas
u
r
ed
.
T
h
es
e c
u
r
r
en
t
s
an
d
v
o
l
t
a
g
es
ar
e
b
ei
n
g
u
s
ed
i
n
t
h
e s
p
eed
es
t
i
m
at
o
r
.
T
h
e es
t
i
m
a
t
o
r
w
i
l
l
p
r
o
d
u
ce t
h
e
es
t
i
m
at
ed
v
al
u
e o
f
m
o
t
o
r
’
s
s
p
eed
.
T
h
e es
t
i
m
at
ed
r
o
t
o
r
p
o
s
i
t
i
o
n
i
s
cal
cu
l
at
ed
b
y
i
n
t
e
g
r
at
i
n
g
t
h
e
v
al
u
e
o
f
t
h
e
m
o
t
o
r
s
p
eed
.
.
F
i
g
ur
e
1
.
B
l
oc
k
di
a
g
r
a
m
of
t
he
pr
op
os
e
d m
e
t
h
od
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
:
20
88
-
8
694
IJ
PE
D
S
V
o
l.
8
,
N
o.
2
,
J
u
n
e
2017
:
612
–
62
2
614
2
.1
.
F
iv
e
-
L
eg
I
n
v
ert
er f
o
r
D
u
a
l
-
P
M
SM
F
i
ve
-
L
e
g I
nve
r
t
e
r
(
F
L
I
)
c
o
ns
i
s
t
s
o
f
t
e
n s
w
i
t
c
he
s
,
w
hi
c
h o
ne
o
f
t
he
l
e
g i
s
c
o
m
m
o
n
l
y
s
ha
r
e
d
b
y
D
ua
l
P
MS
M
s
as
d
ep
i
ct
ed
i
n
F
i
gur
e
2
.
T
w
o
P
M
S
M
s
s
h
ar
e
t
h
e i
n
v
er
t
er
l
e
g
3
t
h
at
co
n
n
ect
ed
t
o
p
h
as
e
c
1
a
nd
c
2
.
W
h
ile
le
g
s
1
a
nd
2
ar
e co
n
n
ect
ed
t
o
p
h
as
es
a
1
a
nd
b
1
r
es
p
ect
i
v
el
y
o
f
t
h
e
m1
.
I
n
v
er
t
er
l
eg
s
4
a
nd
5
ar
e
co
n
n
ect
ed
t
o
p
h
as
es
a
2
a
nd
b
2
,
r
es
p
ect
i
v
el
y
o
f
t
h
e
m2
.
V
o
lta
g
e
o
f
D
C
li
n
k
(
V
dc
)
i
s
co
n
s
i
d
er
ed
as
r
at
ed
v
o
l
t
a
g
e
f
o
r
o
p
er
at
i
n
g
r
an
g
e o
f
o
n
e
m
ach
i
n
e ca
n
b
e ach
i
e
v
ed
[
3
]
.
F
L
I
t
opol
ogy
of
f
e
r
s
s
a
v
i
n
g
of
t
w
o s
w
i
t
c
h
e
s
w
h
e
n
c
om
pa
r
e
d t
o t
h
e
s
t
a
n
da
r
d du
a
l
-
t
hr
e
e
-
p
h
as
e v
o
l
t
a
g
e s
o
u
r
ce
i
n
v
er
t
er
co
n
f
i
g
u
r
at
i
o
n
.
T
h
u
s
,
i
t
can
r
ed
u
ce t
h
e
c
o
m
p
l
e
xi
t
y o
f
t
he
i
n
ve
r
t
e
r
s
t
r
uc
t
ur
e
a
nd
a
l
s
o
p
o
s
s
ib
ili
t
y
to
c
o
n
tr
o
l d
u
a
l th
r
e
e
-
p
ha
s
e
m
o
t
o
r
s
us
i
n
g o
nl
y s
i
n
gl
e
pr
oc
e
s
s
or
.
Leg
1
A
v
Motor
“
2
”
B
v
C
v
D
v
E
v
Motor
“
1
”
Leg
2
Leg
3
Leg
4
Leg
5
DC
v
1
a
1
b
2
b
2
a
1
c
2
c
S
1
S
2
S
3
S
4
S
5
S
6
S
8
S
9
S
7
S
10
F
i
g
ur
e
2
.
D
ua
l
-
P
MS
M
f
ed
b
y
F
i
v
e
-
L
e
g
I
n
v
e
rt
e
r (F
L
I)
2
.2
.
M
o
dul
a
t
i
o
n T
e
c
hni
que
D
if
f
e
r
e
n
t
m
o
d
u
la
tio
n
te
c
h
n
iq
u
e
s
a
r
e
a
p
p
lie
d
th
r
o
u
g
h
o
u
t
t
h
e
lite
r
at
u
r
e
[
1
-
3
,
5
,
9
,
10
]
.
T
hi
s
c
ur
r
e
nt
s
t
ud
y i
s
u
s
i
ng
S
p
a
c
e
V
e
c
t
o
r
P
ul
s
e
W
i
d
t
h M
o
d
ul
a
t
i
o
n (
S
V
P
W
M
)
m
e
t
ho
d
t
ha
t
i
s
b
e
i
n
g
us
e
d
i
n
[
1
]
,
s
in
c
e
th
is
i
s
th
e
s
i
m
p
le
s
t
m
e
th
o
d
a
n
d
v
e
r
y
e
a
s
y
to
i
m
p
le
m
e
n
t
u
s
in
g
s
in
g
l
e
p
r
o
c
e
s
s
o
r
.
O
th
e
r
th
a
n
th
a
t,
t
h
is
m
e
t
h
o
d
u
til
iz
e
s
s
t
an
d
ar
d
t
h
r
ee
-
p
h
a
s
e
m
o
d
u
la
to
r
s
to
g
e
n
e
r
a
te
m
o
d
u
la
tio
n
s
ig
n
a
ls
f
o
r
a
ll le
g
s
o
f
a
F
L
I
.
F
i
gu
r
e
3
s
h
o
w
s
t
h
e
c
onf
i
g
u
r
a
t
i
on
of
du
a
l
S
V
P
W
M
s
f
or
F
L
I
,
D
u
a
l
M
ot
or
dr
i
v
e
s
.
T
h
e
ou
t
pu
t
f
or
S
V
P
W
M
i
s
ar
r
an
g
ed
i
n
t
h
at
p
ar
t
i
cu
l
ar
w
a
y
i
n
o
r
d
er
t
o
r
ed
u
ce t
h
e n
u
m
b
er
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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20
88
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8
694
IJ
PE
D
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V
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8
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J
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2
616
(
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4
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re
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IJ
P
E
D
S
I
S
S
N
:
2088
-
8
694
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