In
terna
t
io
n
a
l
J
o
u
rn
a
l
o
f
Pow
e
r El
ectro
n
ics
a
nd Dri
v
e
Sy
s
t
em
(
IJ
PE
D
S
)
V
o
l.
11,
N
o.
1
,
M
a
r
c
h
20
20,
pp.
86~
9
6
I
S
S
N
:
2088-
86
94,
D
O
I
:
10.
11
591
/i
j
p
ed
s.
v1
1
.
i1.
pp8
6-
9
6
8
6
Jou
rn
al h
o
me
pa
g
e
:
htt
p
:
/
/ij
p
e
ds.
i
ae
sco
r
e.
com
S
e
nsorless DTC of IPMSM
for embedded system
s
Tah
a
r Ter
ra
s,
K
ad
a Hart
ani
Dep
a
rtm
e
n
t
o
f El
ectri
c
a
l
E
n
g
i
neeri
n
g
,
El
ectro
techn
i
q
cal E
ng
in
ee
ring
L
ab
orat
ory,
Un
i
v
e
rsi
t
y
o
f
S
ai
da,
A
l
g
e
ria
Ar
ticle
Info
AB
S
T
RA
CT
A
r
t
i
c
l
e hi
sto
r
y:
R
e
cei
v
e
d
A
p
r
1
9
,
2
019
R
e
v
i
sed
J
u
l
8
, 2
019
Acc
e
p
t
e
d
No
v
1
4
,
2
019
Th
e
ma
in
o
bje
c
tive
o
f
t
he
p
re
sent
w
o
r
k
is
t
o
de
sc
ribe
t
he
s
e
n
so
rl
ess
co
nt
ro
l
of
i
n
t
erio
r
perm
an
ent
m
a
gn
et
s
y
n
chro
no
us
m
ot
or
(IPM
S
M
)
f
or
e
mb
e
ded
sys
t
e
m
s
i
n
t
raction
ap
pl
ication
s
u
s
i
n
g
t
h
e
M
od
el
R
ef
ere
n
ce
A
d
ap
tive
Sys
t
e
m
(M
RA
S
)
m
eth
od f
o
r s
p
eed
estim
a
t
i
on.
T
he al
g
o
r
ithm
of
this
m
eth
o
d
has
been
a
d
apt
e
d
w
i
t
h
t
he
m
at
hem
a
ti
ca
l
m
o
del
o
f
t
he
m
o
t
o
r
ized
w
h
eels
ele
ctri
c
v
e
h
i
c
l
e
.
T
h
e
c
o
m
m
a
n
d
u
s
e
d
i
s
t
h
e
D
T
C
.
S
e
n
s
o
r
l
e
s
s
D
T
C
o
f
I
P
M
S
i
n
-w
heel
mo
to
r
b
a
sed
o
n
M
RAS
f
o
r
e
l
ect
ri
c
vehi
cle
is
s
imu
l
at
ed
b
y
M
a
tla
b
/
S
im
uli
nk.
The
s
i
m
u
lation
resu
lts
s
ho
w
t
h
e
ef
f
ecti
v
en
ess
of
t
his
pro
p
o
s
e
d
sensorl
e
ss
DTC
co
n
t
rol
us
e
d
f
o
r
e
m
b
ed
ded
sy
ste
m
a
p
p
licatio
ns
.
Key
w
o
rds:
Di
rec
t
t
o
r
qu
e co
nt
rol
Elec
tric ve
h
ic
l
e
Em
bede
d
sys
t
e
m
s
I
P
MSM
M
R
A
S
obse
r
v
e
r
T
h
is
is an
op
en
a
ccess
ar
ti
cle u
n
d
e
r t
h
e
CC
B
Y
-S
A
li
cense.
C
o
rres
pon
d
i
n
g
A
u
th
or:
Ta
har
Terr
as,
D
e
par
t
m
e
nt
o
f
Elec
t
r
i
c
a
l
E
ng
i
n
ee
r
i
ng,
El
e
c
t
r
ot
e
c
hni
qc
al
E
ng
i
n
ee
ring
L
a
b
o
r
a
t
o
r
y
,
Uni
v
er
sity o
f S
a
ida,
BP 13
8
E
n-nasr
2
0
0
00 S
a
ida,
Algeria
.
Em
ail
:
t
_
t
a
h
ar
20
0
0
@
y
a
hoo.
f
r
1.
INTRODUCTI
O
N
Emb
e
dd
e
d
n
e
t
wo
rk
s
h
a
v
e
b
e
c
o
m
e
in
c
r
e
a
s
i
ngl
y
i
m
po
r
t
a
n
t
.
T
hi
s
c
h
an
ge
i
s
no
t
str
a
n
g
e
t
o
t
h
a
t
o
f
pow
e
r
e
le
c
t
r
o
nic
s
,
qu
ite
t
he
o
p
p
o
site.
Th
e
r
e
li
a
b
il
it
y
a
nd
r
o
b
u
s
t
ne
s
s
o
f
f
er
ed
b
y
s
t
a
t
ic
c
o
nver
t
e
r
s
w
h
en
co
mb
in
ed
wi
t
h
e
l
e
ct
ri
cal
ma
c
h
i
n
e
s h
a
v
e
n
atu
r
all
y
l
e
d
to
t
h
e
i
r m
assi
ve use.
N
o
w
a
da
ys,
i
n
t
e
r
i
or
p
e
r
m
a
ne
nt
m
ag
ne
t
sy
n
c
hr
o
nous
m
o
t
o
r
s
(
I
P
M
S
M
)
a
r
e
expec
t
e
d
t
o
be
a
pp
lie
d
to
pr
opu
ls
io
n
sy
s
t
em
s
of
e
lec
t
r
i
c
ve
hic
l
es
f
o
r
t
he
i
r
h
ig
h
p
o
w
e
r
an
d
t
o
r
q
ue
d
e
n
si
t
y
,
hi
gh
e
f
f
i
c
i
e
n
c
y
,
lar
g
e
c
o
n
s
ta
nt
p
ow
er
oper
a
t
i
on
r
e
g
i
on,
r
obus
t
me
chan
ica
l
c
ons
tr
u
c
t
i
o
n
a
nd
c
o
s
t
-
e
f
fe
ct
iv
en
es
s.
H
o
w
ev
e
r
,
t
h
ei
r
l
a
rg
e
tor
que
r
i
p
ple
i
s
a
n
o
b
sta
c
le
i
n
pr
act
ica
l
a
p
p
l
i
ca
t
i
o
n
s
o
f
P
MS
Ms
t
o
ve
hic
l
e
pr
op
u
l
s
i
on.
A
cc
or
d
i
n
g
to
t
he
l
itt
era
t
u
r
e
rev
i
ew,
[1
,
2
]
g
a
v
e
mo
re
a
t
t
e
n
tio
n
t
o
r
edu
c
e
t
h
e
to
r
q
u
e
r
i
p
p
l
e
i
n
P
M
S
m
o
t
o
r
s
f
o
r
E
V
t
r
ac
ti
on
a
pp
li
ca
t
i
on
s.
F
o
r
e
m
be
dde
d
ap
pl
ica
t
io
ns,
syn
c
hr
o
n
o
u
s
p
e
r
m
a
nent-
m
ag
ne
t
m
o
t
o
r
s
po
w
e
r
e
d
b
y
a
c
o
nver
t
er
h
a
v
e
go
o
d
e
ner
g
y
e
f
f
i
c
i
e
n
c
y
,
pow
er
d
ens
i
t
y
,
an
d
h
i
gh
s
p
ec
i
f
ic
t
or
q
u
e
w
it
h
the
ca
pa
bi
lit
y
to
e
ns
ur
e
m
a
ximum
tor
que
f
r
o
m
zer
o
spe
e
d
t
o
b
a
s
e
spee
d
a
n
d
to
e
xt
e
n
d
i
t
s
o
p
er
a
t
i
o
n
be
yo
n
d
t
he
b
ase
sp
e
e
d
w
h
i
l
e
ens
u
r
i
ng
h
i
g
h
tor
que
a
t
l
o
w
r
i
p
p
le
s
t
h
a
nks
t
o
i
t
s
co
n
t
r
o
l.
T
hese
m
ot
or
s
a
r
e
a
lso
kn
ow
n
f
o
r
the
i
r
low
w
e
ig
h
t
a
n
d
v
ol
u
m
e
.
O
n
the
o
t
her
ha
n
d
,
s
ome
disad
v
a
nta
g
e
s
e
xi
st
s
uc
h
as
t
he
h
i
gh
c
o
st
o
f
m
agne
t
s
a
nd
the
dem
a
gne
tiz
at
ion
of
pe
rm
anen
t m
a
g
n
e
t
s a
t
h
ig
h te
mpe
r
atur
e
.
T
he
d
ir
e
c
t
tor
que
c
on
tr
o
l fo
r
EV-tract
io
n
mean
s th
e
t
o
r
q
u
e
c
on
t
r
o
l
of
a
tractio
n
mot
o
r
[3
-8
].
T
hu
s,
t
h
e
D
TC
s
trategy
fo
r
IP
M
S
M
d
r
iv
e
is
t
he
r
i
g
ht
c
an
d
i
da
te
f
or
t
he
hi
g
hperf
orm
a
n
c
e
con
t
ro
l
t
o
m
ee
t
t
h
e
EV-tra
ctio
n
r
e
q
u
ire
m
ents.
T
h
e
m
a
j
o
r
a
d
v
a
n
t
a
g
e
o
f
D
T
C
i
s
t
h
e
f
a
s
t
a
n
d
a
ccur
a
te
t
or
q
u
e
r
esponse
w
i
t
h
l
ow
t
or
q
u
e
r
i
p
p
l
e
w
h
ic
h
i
s
u
sed
i
n
the
e
m
be
dde
d
s
y
ste
m
s
[9]
.
D
i
r
ec
t
tor
q
ue
c
o
n
t
r
o
l
(
D
TC
)
a
p
p
lie
d
t
o
a
s
y
n
c
hr
ono
us
m
ac
hine
s
a
p
pear
ed
i
n
the
1
9
8
0
s
[
1
0]
.
I
t
s
pr
i
n
c
i
p
l
e
is
t
o
se
le
ct
o
ne
o
f
t
h
e e
i
gh
t
vol
t
a
g
e
v
e
c
t
o
r
s
g
e
ne
rat
e
d
by
th
e
di
ffe
rent
p
o
ssible
c
o
n
f
i
g
u
r
a
t
i
o
n
s
o
f
t
h
e
i
nver
t
e
r
s
w
itc
he
s
in
or
d
e
r
t
o
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
& D
r
i
S
y
st
I
S
S
N
:
2088-
86
94
Sen
s
or
l
e
ss D
T
C
o
f
IPMSM f
o
r em
bedde
d
system
s (T
ahar T
e
rras)
87
ma
int
a
in
t
he
s
ta
to
r
f
l
u
x
a
n
d
t
he
e
lec
t
r
o
m
a
gne
tic
t
orq
u
e
i
n
side
t
w
o
hy
st
ere
s
i
s
bou
nd
ri
es
.
Pro
p
e
r
ap
pl
i
cat
i
o
n
of
t
h
i
s
p
rin
c
i
p
l
e
a
l
l
o
w
s
d
e
c
oupl
in
g
o
f
t
h
e
c
on
t
r
o
l
b
et
we
en
t
h
e
f
lu
x
a
n
d
the
tor
que
w
i
t
ho
u
t
t
he
n
ee
d
for
a
coor
di
na
te
t
ran
s
for
m
a
tio
n or
pu
l
se w
i
d
t
h
m
od
u
l
at
ion
for g
e
ner
a
t
ing
t
h
e c
o
n
t
r
o
l
pu
l
s
e
s
o
f the
i
nver
t
er
s
w
itc
hes
[1
1].
The
D
T
C
has
a
s
i
m
p
l
i
f
i
e
d
s
tr
uct
u
re,
rob
u
st
w
it
h
r
e
spe
c
t
t
o
the
va
ria
tio
ns
o
f
t
h
e
pa
ram
e
ter
s
o
f
t
h
e
ma
chine
[1
2,
13].
I
n
th
i
s
paper
, w
e have ch
o
se
n an N
P
C
(N
e
utra
l P
o
i
n
t
Cla
m
ped)
di
st
ri
but
e
d
-
l
ev
el
t
h
r
ee
-l
e
v
e
l
i
nv
e
r
t
e
r,
w
h
ic
h
is
a
v
e
r
y
i
n
tere
sti
n
g
con
v
e
r
ter
for
p
o
w
er
i
ng
h
i
gh-
p
o
w
e
r
m
achines
.
This
m
a
k
e
s
it
poss
i
ble
t
o
i
n
c
re
ase
the
p
o
w
e
r
de
l
i
ver
e
d
to
t
he
l
oad
an
d
to
i
m
p
ro
ve
t
he
s
ha
p
e
o
f
t
h
e
o
u
t
pu
t
vo
l
t
age
so
t
ha
t
it
is
c
loser
t
o
t
he
sinus
o
i
d. T
he g
e
n
era
l
i
dea
of
m
ul
ti
-l
e
v
el
i
nve
rt
ers
i
s
to
gene
r
at
e
a
si
nu
so
id
a
l
vo
l
t
a
g
e
o
f se
v
e
ra
l
vo
lt
ag
e
l
e
v
e
l
s
,
ty
pic
a
l
l
y
ob
t
a
ine
d
f
r
o
m
D
C
v
ol
t
a
ge
s
our
c
e
s.
T
he
i
nc
r
e
a
s
e
i
n
t
he
n
umbe
r
of
l
ev
e
l
s
pro
duces
a
w
a
v
e
of
s
t
a
irs
o
n
t
he
s
y
n
t
h
es
ize
d
w
a
v
efor
m
w
h
ic
h
ap
proa
ches
t
he
s
in
u
so
ida
l
w
a
v
e
w
ith
t
he
m
in
im
u
m
of
h
arm
o
n
i
c
s
[14,
15].
K
now
le
dge
o
f
t
h
e
ro
tor
p
o
sit
i
o
n
o
f
i
n
t
erior
perm
ane
n
t
ma
gne
t
sy
nc
hro
n
ous
m
ac
hine
s
(IP
M
S
M
)
i
n
most
v
aria
b
l
e
spee
d
dri
v
e
sys
t
e
m
s
is
r
e
quire
d.
I
t
is
m
easur
ed
b
y
a
shaft
p
o
sit
i
on
sens
or
o
r
a
reso
lve
r
.
Cur
r
ent
l
y,
m
a
ny
a
u
th
ors
ha
ve
p
ro
p
o
se
d
s
e
n
s
orle
ss
c
on
t
r
ol
s
trate
gi
e
s
u
s
i
ng
d
i
ffe
ren
t
c
on
t
r
ol
m
e
t
hods
f
or
est
i
ma
t
i
n
g
r
oto
r
spee
d
and
p
o
si
ti
on.
[16-2
0
].
I
n
t
hi
s
pa
per
MRA
S
(
M
ode
l
r
e
fe
renc
e
ada
p
ti
ve
s
ys
tem
)
obs
erve
r
i
s
pr
oposed
a
s
a
sensorless
c
losed
lo
op
a
l
g
o
ri
thm
to
d
e
t
e
c
t
s
pee
d
a
n
d
p
osi
tio
n du
e
t
o
t
he
ir
d
e
s
i
g
n
s
i
m
pli
c
i
t
y
a
n
d
f
e
wer
c
o
mp
u
t
a
t
i
o
n
re
qui
re
me
n
t
com
p
are
d
w
it
h
other
cl
osed-
l
oo
p
m
ode
l-ba
se
d m
e
tho
d
s [2
1,
22].
The
r
e
are
f
o
u
r
s
ec
t
i
ons
i
n
th
i
s
p
a
p
er.
The
o
r
gan
i
z
a
t
i
on
i
s
as
f
oll
o
w
s
:
I
n
s
ec
tio
n
2,
a
m
athem
a
tica
l
mode
l
of
t
he
i
nt
e
r
ior
pe
rm
an
ent
m
a
g
n
e
t
s
y
n
chr
o
n
o
u
s
m
o
tor
(IP
MS
M
)
i
s
p
rese
n
t
e
d
.
I
n
s
ec
tio
n
3,
a
d
etai
le
d
stud
y
of
t
he
p
rinc
i
p
le
o
f
d
i
r
ect
t
or
que
c
o
n
t
rol
(D
TC)
f
o
r
IP
M
S
M
,
w
h
i
c
h
f
e
d
b
y
a
N
P
C
s
t
r
u
c
t
u
r
e
t
h
r
e
e
-
l
e
v
e
l
vo
lta
ge
i
nver
t
e
r
,
is
c
a
rried
o
u
t
b
ase
d
on
t
h
e
ana
l
ys
is
o
f
th
e
S
w
i
t
c
h
i
ng
ta
ble,
i
nc
lu
d
i
n
g
f
i
v
e
le
ve
l
h
y
s
t
ere
s
is
con
t
ro
l
l
er
o
f
to
rque
a
n
d
t
hr
ee
leve
l
h
y
s
t
ere
s
is
c
on
trol
ler
of
f
l
u
x.
I
n
sec
t
i
o
n
4,
a
n
al
g
o
r
ith
m
for
t
h
e
sens
orle
ss
d
r
iv
e
of
I
PMSM
b
a
s
ed
o
n
MR
AS
o
b
s
e
r
v
e
r
i
s
p
re
sent
ed
.
Si
mu
l
a
t
i
on
a
n
d
d
i
sc
uss
i
on
o
f
t
he
S
i
m
ulin
k
w
a
ve
form
s a
r
e
presente
d
in s
ec
t
i
o
n
5.
I
n
t
he e
nd,
t
he
re
i
s
a co
m
p
rehe
nsi
v
e
conc
lus
i
on.
2.
IPMSM
M
A
T
H
EMATICAL
M
ODE
L
The
m
a
t
h
em
at
ical
m
o
d
e
l
o
f
I
P
MSM
in
t
he
–
c
oord
i
na
te
s
ys
tem
ca
n
be
w
r
i
tte
n
a
s
f
o
l
low
s
;
El
ectrical Eq
u
at
io
n
s
(1
)
,
Flu
x
Equ
a
t
i
o
n
s
(2), Cu
rren
t
s Equ
a
t
i
o
ns
(
3
)
cos
sin
f
m
s
s
s
s
s
f
m
s
s
s
s
s
dt
di
L
i
R
v
dt
di
L
i
R
v
(
1
)
sin
cos
f
s
s
s
f
s
s
s
i
L
i
L
(
2
)
A
c
cordi
n
g
t
o
t
he
p
r
e
v
i
o
u
s
e
q
ua
ti
on
s
a
n
d
ta
ki
n
g
a
s
va
ria
b
l
e
s
o
f
s
t
a
t
e
the
com
pone
n
t
s
o
f
t
he
s
ta
t
o
r
curr
ents
(
)
,
s
s
i
i
and the
spee
d
of
r
o
t
ati
o
n
m
,
w
e
o
b
t
a
i
n
t
h
e
fo
llow
i
n
g
sys
t
em
,
Equat
i
o
n
o
f
e
l
e
c
tr
om
agne
t
i
c
tor
que
(
4):
)
cos
sin
(
2
3
1
cos
1
sin
2
s
s
f
m
m
s
s
m
s
f
s
s
s
s
s
s
m
s
f
s
s
s
s
i
i
j
p
J
f
dt
d
v
L
L
i
L
R
dt
di
v
L
L
i
L
R
dt
di
(
3
)
)
(
2
3
s
s
s
s
em
i
i
p
T
(4)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:208
8-
8
6
9
4
I
n
t
J
P
o
w
Elec
&
D
r
i
S
y
st
V
ol
.
11,
N
o.
1
,
M
a
r
2020
:8
6
–
9
6
88
3.
PRINCIPLES
O
F
DIRE
C
T
T
ORQUE
CONT
R
O
L
F
i
gur
e
6
s
how
s
t
h
e
b
l
oc
k
d
i
agr
a
m
of
d
ir
ec
t
t
o
r
q
ue
c
on
tr
o
l
o
f
a
n
I
P
M
S
M
pow
er
e
d
b
y
a
t
w
o-
le
ve
l
vo
l
t
age
i
n
ver
t
e
r
.
The
estima
t
e
d
v
a
l
ue
o
f
t
h
e
sta
t
or
f
l
ux
is
c
om
pa
r
e
d
t
o
i
ts
d
e
s
i
r
e
d
v
a
l
ue
a
nd
t
he
e
st
i
m
ated
va
lue
of
t
he
e
l
e
c
t
r
o
ma
g
n
e
t
i
c
t
or
que
i
s
c
o
mp
a
r
ed
t
o
the
c
o
n
t
r
o
l
to
rqu
e
g
ene
r
at
e
d
b
y
t
h
e
sp
ee
d
con
t
ro
ll
e
r
.
T
h
e
r
e
sulti
n
g
f
lu
x
a
nd
tor
q
ue
e
r
r
or
s
ar
e
use
d
b
y
t
w
o
h
y
ste
r
es
is
c
om
pa
r
a
t
o
r
s
s
h
o
w
n
i
n
F
i
gu
r
e
1
a
n
d
F
ig
ur
e
2
.
T
he
c
o
r
r
e
spo
n
d
i
n
g
ou
t
p
u
t
v
a
l
ue
s
as
w
ell
as
t
he
num
ber
o
f
t
he
s
tat
o
r
f
l
u
x
po
si
tio
n
sec
t
or
a
r
e
u
sed
t
o
s
e
l
e
c
t
t
he
a
ppr
opr
ia
te
v
o
lta
g
e
v
e
c
t
or
f
r
o
m
F
I
G.
a
s
elec
tio
n
ta
ble
for
ge
ne
ra
ti
ng
t
h
e
pul
ses
fo
r c
ont
roll
i
n
g
t
h
e
swit
che
s
o
f
the
i
nve
rter
. Th
e
sta
tor
-
a
xis
fl
ux
lin
ka
ges
a
r
e
an
i
nte
g
r
a
l
o
f
t
he
s
ta
t
o
r
EM
F
:
dt
i
R
V
s
s
s
s
).
(
(
5
)
dt
i
R
v
s
s
s
s
).
(
(
6
)
M
odul
e
o
f
fl
ux i
s
:
2
2
(
s
s
s
(
7
)
)
(
2
3
s
s
s
s
em
i
i
p
T
(
9
)
wh
ere
s
R
i
s
st
ator
r
e
s
i
s
t
a
n
c
e
and
s
s
s
s
i
i
V
V
,
,
,
ar
e
vol
ta
ge
a
nd
c
u
r
r
ent
,
c
o
mpone
n
t
s
.
IPM
S
M
st
a
t
or
win
d
ing
curr
ents
a
re
m
easured
b
y
h
all
current
s
en
s
o
rs,
an
d
it
s
v
o
l
t
a
g
e
s
a
r
e
c
a
l
c
u
l
a
t
e
d
b
y
i
n
v
e
r
t
e
r
s
w
itc
h
s
tat
e
.
Th
e
act
u
al
s
ta
tor
flu
x
a
nd
t
orq
u
e
ar
e
ca
l
c
ulat
ed
b
y
f
lu
x
a
n
d
torq
ue
e
s
t
imato
r
.
The
a
c
tu
a
l
s
t
ator flu
x
an
d
torq
ue are
co
m
pared
with
th
e
r
ef
e
r
ence
v
alu
e
s
i
n two sep
a
ra
t
e
hyst
e
res
i
s contro
l
l
ers:
3.
1.
T
h
ree
l
eve
l
h
y
st
e
r
e
s
is
c
on
t
r
ol
l
e
r
of
f
l
u
x
Th
is
c
a
s
e
,
f
or
f
lu
x
c
ontr
o
l,
t
he
e
rr
or
i
s
loca
te
d
in
t
he
t
hr
ee
a
s
soc
i
a
t
e
d
i
n
t
er
va
ls
t
ha
t
ar
e
f
i
xe
d
b
y
t
he
co
ns
t
r
ain
t
s:
)
3
)
2
)
1
(
1
0
)
Thu
s
, t
h
e
l
e
v
el
o
f
t
h
e sui
t
a
bl
e
f
l
ux
i
s
b
o
und
e
d
b
e
t
ween
a
nd
and
co
n
t
r
o
lle
d
by
a
tw
o-
l
e
ve
l
h
y
s
teres
i
s
co
mp
arato
r
, Fig
u
r
e
1
. As
wel
l
a
s its ou
t
pu
t
s
a
re:
1
0
1
flx
flx
flx
C
C
C
(
1
1
)
F
i
gur
e
1
.
Thr
e
e
le
vel
h
y
s
t
er
e
s
is
c
on
tr
ol
l
e
r
of
f
l
u
x
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
P
o
w
Elec
&
D
r
i S
y
st
I
S
S
N
:
2088-
86
94
Se
n
s
or
less
D
T
C o
f
I
P
MSM fo
r e
m
bedde
d system
s
(
T
ahar T
e
rras)
89
3.
2.
F
i
v
e
le
ve
l
h
y
st
e
resis
c
on
t
r
olle
r
of
t
or
qu
e
The
elec
tr
oma
gne
t
i
c
tor
que
i
s
th
e
mos
t
i
m
por
tan
t
v
a
r
iab
l
e
for
t
he
e
lec
t
r
o
ma
gne
tic
c
o
n
s
i
de
r
a
t
i
o
n
s
.
The
r
ef
or
e,
h
ig
h
per
f
or
m
a
nc
e
s
f
or
t
or
q
u
e
co
ntr
o
l
a
r
e
r
e
qu
ir
e
d
.
To
i
mpr
o
ve
t
h
e
c
ontr
o
l
o
f
t
he
t
or
q
u
e,
w
e
a
s
soc
i
a
t
e
w
ith
t
he
e
r
r
or
o
f
the
tor
que
f
i
v
e
r
e
gio
n
s
d
efi
n
e
d
by
t
h
e
fo
llow
i
n
g
c
ons
tra
i
nts
:
2
ma
x
2
ma
x
1
ma
x
1
mi
n
2
min
2
mi
n
T
T
T
T
T
T
T
T
T
T
(
1
2
)
The
tor
q
u
e
c
ontr
o
l
is
t
he
n
p
e
r
f
o
r
m
e
d
b
y
a
h
y
s
t
er
e
s
i
s
c
o
m
pa
r
a
tor
w
i
t
h
f
i
ve
l
e
v
e
l
s
or
t
w
o
u
ppe
r
ba
n
d
s
(
2
ma
x
1
ma
x
,
T
T
)
and
tw
o
lo
w
e
r
ban
d
s
(
2
min
1
min
,
T
T
i
l
l
u
s
t
r
a
te
d
b
y
F
i
gur
e
2.
3.
3.
I
n
v
er
ter switc
h
ing
table
D
e
pe
n
d
in
g o
n
t
he
o
u
t
pu
ts of
t
h
e h
y
s
t
e
r
esis
c
on
t
r
o
ller
s
a
nd
t
h
e
se
ct
or
w
her
e
t
he s
tat
o
r
f
l
ux is loca
t
e
d
,
the
v
o
lta
ge
v
e
c
t
or
s
de
li
ve
r
e
d
at t
he
o
u
t
pu
t
of
the
i
nve
r
t
er
a
r
e
c
ho
sen
t
o
m
a
i
n
t
a
i
n
the
f
l
ux
a
nd
t
h
e
t
o
r
q
ue
i
n
s
i
d
e
t
h
e
h
y
st
er
e
s
i
s
b
an
d
s
.
T
h
e
F
i
g
u
r
e
3
s
h
o
w
s
a
n
i
n
v
e
rt
e
r
a
r
m
.
F
i
gur
e
2.
F
i
v
e
leve
l
h
y
ste
r
esis
C
o
n
t
r
o
lle
r
of
t
or
q
u
e
F
i
gur
e
3.
D
iagr
am
o
f
an
a
rm
o
f
a
thr
e
e
-
phase
in
ver
t
e
r
w
i
t
h
N
P
C
str
u
ct
ur
e
.
The
3 sta
t
es p
o
ssi
bl
e
swi
t
c
h
i
n
g seq
u
e
n
ces
a
re
sum
marized
i
n the
f
ol
l
o
wing Tab
l
e 1
.
Tab
l
e
1.
S
w
itc
hi
n
g
s
eq
ue
nces
o
f
the
t
h
ree
-
le
vel
NPC in
ver
t
e
r
.
1
1
0
0
0
0
1
1
0
0
1
1
0
F
r
o
m
t
a
b
l
e
2
,
t
h
e
2
7
v
o
l
t
a
g
e
v
e
c
t
o
r
s
d
e
l
i
v
e
r
e
d
b
y
t
h
e
t
h
r
e
e
-
l
e
v
el
i
nverter
a
re
r
ep
res
e
nt
ed
b
y
a
he
xa
g
on
a
s
s
h
o
w
n
in
t
he
F
igur
e
4.
In order t
o ac
h
i
eve
the
d
i
re
ct c
ontr
o
l o
f
t
he
s
tat
o
r f
l
u
x
an
d
t
he
e
l
e
c
t
r
o
m
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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F
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S
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1
2
3
4
5
6
7
8
9
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1
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w
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sp
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j
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mo
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[
1
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1
7
,
18,
23,
24]
.
Wi
t
h
P
ar
k’
s
t
r
a
n
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or
m
a
ti
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e
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l
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re
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:
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d
d
m
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q
qs
q
q
m
d
di
vR
i
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dt
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vR
i
L
dt
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13)
T
21
V
16
V
22
V
17
V
23
V
18
V
24
V
19
V
25
V
20
V
26
V
15
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21
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2
V
22
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V
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V
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5
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V
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1
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7
V
14
V
0
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14
V
0
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0
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V
26
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1
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21
V
2
V
22
V
3
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23
V
4
V
24
V
5
V
25
V
6
V
26
V
15
V
21
V
16
V
22
V
17
V
23
V
18
V
24
V
19
V
25
V
20
V
22
V
17
V
23
V
18
V
24
V
19
V
25
V
20
V
26
V
15
V
21
V
16
V
22
V
3
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4
V
24
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19
V
25
V
20
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26
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15
V
21
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0
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7
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7
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6
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V
5
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26
V
15
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16
V
22
V
17
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23
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18
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24
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19
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17
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18
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24
V
19
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25
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20
V
26
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15
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21
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1
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22
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7
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7
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14
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14
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5
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6
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1
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21
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2
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22
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3
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23
V
4
V
24
V
19
V
25
V
20
V
26
V
15
V
21
V
16
V
22
V
17
V
23
V
18
V
24
V
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
& D
r
i
S
y
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I
S
S
N
:
2088-
86
94
Sen
s
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s (T
ahar T
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Li
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14)
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urrent
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ode
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1
mq
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di
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di
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t
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o the
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P
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ˆ
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s t
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d
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s
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d
LR
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17)
Where
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,
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d
i
i
a
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s
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t
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c
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n
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i
s
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h
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c
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l
is
t
hat
of
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t
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i
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sui
t
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da
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a
t
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me
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s
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t
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on
of
t
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r
otor
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b
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ra
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h
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I
t
sho
u
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b
e
n
o
t
ed
t
ha
t
th
e
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p
o
i
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t
i
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roce
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n
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s
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s
ta
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t
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n
me
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i
s
a
P
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v
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1
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(
6
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r
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0
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m
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t
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itia
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lue
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ig
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L
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s
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k
(
18)
F
i
gur
e 5.
The
bl
o
c
k
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r
am
c
ontr
o
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base
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R
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le
M
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s
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1
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1
7
)
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p
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a
n
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q
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18)
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1
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d
v
q
v
'
d
i
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q
i
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
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8-
8
6
9
4
I
n
t
J
P
o
w
Elec
&
D
r
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S
y
st
V
ol
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11,
N
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1
,
M
a
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2020
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6
–
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6
92
5.
S
I
M
U
L
A
TI
O
N
R
ES
U
L
T
S
In
t
h
i
s
se
c
t
i
on,
s
i
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ula
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n
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n
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5].
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a
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The
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e
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now
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n
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o
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nt.
T
he
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la
ti
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lts
s
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ns
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a
nta
n
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ur
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t
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it
s
r
e
fe
renc
e.
F
i
g
ur
e7
(
c),
Fig
u
re
8
(
c)
a
nd
t
h
e
es
t
i
m
a
te
d
s
p
ee
d
i
n
b
oth
d
i
r
e
c
t
i
ons
o
f
r
o
t
a
t
i
o
n
p
er
f
ect
l
y
f
oll
o
w
s
the
r
e
f
e
r
e
nce
w
i
t
h
o
u
t
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xce
e
d
i
n
g
a
n
d
w
i
t
h
ou
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an
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de
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o
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m
ati
o
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a
ver
y
l
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obse
r
vat
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er
r
o
r
F
i
gur
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7
(
a
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b)
.
F
i
gur
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8
(
a,
b
)
,
T
he
o
bser
ve
d
c
u
r
r
e
nt
e
r
r
or
s
show
t
he
g
o
o
d
e
st
ima
t
i
o
n
o
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t
hese
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i
a
bl
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s
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F
i
gur
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7
(
d
)
,
F
i
g
u
r
e
8
(
d)
.
F
i
gur
e
7 (
e
)
sh
o
w
s
t
h
a
t
t
he
t
w
o
c
om
p
one
n
t
s
o
f
t
he
f
lu
x
ar
e
i
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qua
dr
at
ur
e
a
n
d
tha
t
t
he
sa
t
o
r
i
c
f
lu
x
ve
ct
or
f
o
l
l
o
w
s
i
t
s
r
efe
r
enc
e
.
The
r
e
spo
n
se
o
f
the
f
l
ux
i
n
t
he
p
ha
se
p
la
ne
i
s
pr
a
c
t
i
c
a
l
l
y
circu
lar
Figu
re
7
(d
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
& D
r
i
S
y
st
I
S
S
N
:
2088-
86
94
Sen
s
or
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T
C
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IPMSM f
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bedde
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system
s (T
ahar T
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rras)
93
(
a
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A
c
tual,
E
sti
m
atd a
n
d
re
fere
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spee
ds
(rad/se
c)
Time (
s
)
(b) Speed estim
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Tim
e
(
s)
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c
tual,Est
im
atd
and r
e
fe
renc
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Torq
ues
Time (
s
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(d) Stator
c
urr
e
nts
e
rror
s
(
A)
Tim
e
(
s)
(d)
S
t
a
t
or
F
l
u
x
i
n
p
hase
p
l
a
ne.
(e
) Zoom
of th
e
esti
m
a
te
d
S
t
ator
f
l
u
xes (
W
b
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e
(
s)
F
i
g
u
r
e
7
.
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i
mulat
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on re
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4
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6
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:208
8-
8
6
9
4
I
n
t
J
P
o
w
Elec
&
D
r
i
S
y
st
V
ol
.
11,
N
o.
1
,
M
a
r
2020
:8
6
–
9
6
94
Ti
m
e
(
s)
(a) Act
u
al,Estimatd
an
d
r
e
f
e
ren
c
e
s
p
eed
s (
r
a
d
/sec)
Time
(
s)
(b
) Sp
eed
estimation
er
ro
r (r
ad
/sec)
Ti
m
e
(
s)
(
c
)
A
c
tual,
E
sti
m
atd
a
nd
r
e
fer
e
nce
Tor
q
ue
s
Time
(
s)
(
d
)
S
t
ato
r
cu
rren
t
serro
rs
(
A)
F
i
gur
e
8.
S
imulat
i
on
r
e
su
lts
f
or
l
ow
s
pe
ed
6.
CONCLUSION
I
n
t
h
i
s
pa
pe
r
,
w
e
have
u
se
d
the
MRA
S
t
e
c
hn
i
que
f
or
s
p
e
e
d
o
bser
v
a
t
i
o
n
in
t
he
s
ens
o
r
l
ess
D
T
C
c
o
n
t
r
o
l
o
f
t
he
I
nter
ior
per
m
ane
n
t
m
a
gne
t
sync
hr
o
n
ous
m
a
c
hi
ne
(
I
PMSM)
wh
ose
m
a
chi
n
e
mode
l
e
x
trac
ts
ve
loc
i
t
y
i
n
f
or
ma
ti
o
n
f
r
o
m
m
e
a
s
ur
ed
s
t
a
t
o
r
vol
ta
ges
an
d
c
u
r
r
e
nt
s
.
Usi
n
g
th
e
out
put
o
f
th
e
a
d
j
u
st
abl
e
m
o
d
e
l
a
nd
t
h
e
r
e
f
e
r
e
nce
mode
l
t
h
e
r
o
tor
spee
d
a
n
d
p
o
s
i
t
i
on
a
r
e
est
i
m
a
te
d.
T
he
c
o
n
t
r
o
l
o
f
t
he
t
or
q
u
e
a
nd
fl
u
x
a
r
e
de
sig
n
e
d
by
i
n
tr
o
duc
ing
t
w
o
mult
ile
ve
l
com
p
ar
a
t
or
s
for
t
h
e
flu
x
a
n
d
t
he
t
o
r
que
t
o
im
pr
ove
t
he
d
e
t
ec
t
i
on
o
f
the
pos
it
io
n
o
f
t
he f
l
u
x
by
def
i
n
i
ng tw
el
ve sy
m
m
e
tr
i
c
al
s
e
c
t
o
r
s
i
n t
h
e
s
p
ac
e of ev
o
l
u
ti
o
n
o
f
t
h
e fl
ux. Th
u
s, we
e
s
t
a
blis
hed
a
t
a
ble
o
f
c
om
mut
a
t
i
o
n
w
it
h
m
o
r
e
r
ules
a
n
d
t
he
v
ol
t
a
g
e
ve
c
t
or
i
s
m
o
re
o
ptim
al.
The
sim
u
l
a
tio
n
re
su
l
t
s
p
re
se
n
t
ed
h
av
e
p
r
ov
ed
t
h
e
v
ali
d
it
y
o
f
t
h
e
s
e
n
so
rl
e
ss
DT
C
co
n
t
ro
l
tec
h
n
i
q
u
e
wi
th
M
RAS
esti
ma
t
o
r
.
R
o
b
u
s
t
ne
ss
t
es
t
s
a
r
e
done
t
o
h
i
g
h
l
i
g
ht
t
he
h
ig
h
per
f
o
r
m
a
n
ce
o
f
th
is pr
o
pose
d
strate
g
y
.
REFERE
NC
E
S
[1]
S
e
k
our,
M.
h
.
,
et al
.,
"
S
e
ns
orl
e
ss
f
u
zzy
d
irect
t
orqu
e
co
nt
rol
f
o
r
hi
gh
p
erf
o
rm
ance
e
lectri
c
v
e
hi
cle
w
i
t
h
f
ou
r
i
n
-
w
h
eel
m
o
t
o
r
s,
"
Jo
ur
nal o
f
Elect
rica
l
Engin
eeri
n
g
an
d T
ech
nol
og
y
,
vo
l
.
8
,
n
o
. 3
, p
p
.
53
0
-5
43
, 20
1
3
.
[2]
S
e
k
our,
M.
,
K.
H
art
a
ni,
and
A
.
M
erah
,
"El
ectric
veh
i
cle
lo
ng
it
u
d
i
nal
stabil
ity
c
on
trol
b
as
ed
o
n
a
n
e
w
m
u
ltim
achi
n
e
n
o
n
lin
ear m
od
el p
redi
cti
v
e
direct
t
o
r
que
c
ont
ro
l
,
"
Jour
na
l o
f
Adva
n
ced
T
r
an
sp
or
tation
20
17
,
20
17.
[3]
H
a
rtani
,
K
.,
Y
.
M
i
l
o
u
d
,
a
n
d
A.
M
il
ou
di,
"Im
p
rov
e
d
di
rect
t
orq
u
e
c
o
n
t
r
ol
o
f
perm
anen
t
m
a
g
n
et
s
ynch
r
on
ou
s
el
ectrical
v
e
h
icle
m
ot
or
w
it
h
p
r
op
ort
i
o
n
al-i
n
t
egral
resi
st
ance
es
timat
or,"
Jo
urn
a
l of
E
l
ectrica
l Eng
i
n
eerin
g
an
d
T
ech
nol
og
y
,
v
ol.
5,
no.
3
,
pp.
4
51-46
1,
2
01
0.
0
0.
5
1
1.
5
2
-8
0
-6
0
-4
0
-2
0
0
20
40
60
80
m
es
t
re
f
0
0.
5
1
1.
5
2
-2
-1
.
5
-1
-0
.
5
0
0.
5
1
1.
5
2
0
0.
5
1
1.
5
2
-1
5
0
-1
0
0
-5
0
0
50
10
0
15
0
T
em
T
es
t
T
re
f
0
0.
5
1
1.
5
2
-1
.
5
-1
-0
.
5
0
0.
5
e
Is
d
e
Is
q
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
& D
r
i
S
y
st
I
S
S
N
:
2088-
86
94
Sen
s
or
l
e
ss D
T
C
o
f
IPMSM f
o
r em
bedde
d
system
s (T
ahar T
e
rras)
95
[4]
Hart
ani,
K
.
an
d
A
.
D
rao
u
,
"A
n
ew
m
u
l
t
i
m
achine
ro
bu
st
b
ased
a
nt
i
-s
k
i
d
con
t
ro
l
s
y
stem
f
or
h
ig
h
p
e
rfo
rm
ance
elect
ric v
e
hicl
e,"
Jou
r
na
l of El
e
c
t
r
i
c
al En
g
i
neeri
n
g
an
d T
ech
nol
ogy
, vo
l
. 9
,
No.
1,
p
p
. 21
4
-2
3
0
,
20
14
.
[5]
Hart
ani,
K
.
,
A
.
Me
rah,
a
nd
A
.
Dr
aou,
"
St
abilit
y
enhancement
of
f
o
u
r-in
-
wh
ee
l
m
o
to
r-driv
e
n
elect
ri
c
v
e
hi
cles
u
s
i
n
g
an el
ectri
c d
i
fferen
t
i
a
l s
y
stem,"
Jou
r
n
a
l of Po
wer
E
l
ectr
onics
, vo
l
. 1
5, 5
, p
p
. 12
4
4
-
12
5
5
, 20
1
5
.
[6]
Yue,
Z
.,
C
.
W
e
n
p
ing
,
an
d
J
. Mo
r
ro
w,
"
Design
o
f
an
inter
ior
p
e
rm
an
ent
m
a
gnet
s
y
n
c
h
r
on
ou
s m
o
to
r (P
MS
M) f
or EV
tract
ion,"
T
r
a
n
sacti
o
n
s
o
f
Chin
a
E
l
ect
rotechn
i
ca
l S
o
ci
e
t
y
,
v
o
l.
30,
n
o.
14,
pp.
1
08
-115
,
2
01
5.
[7]
Yang,
N.,
et a
l
.
,
"
In
terio
r
p
erm
a
nent
m
ag
net
sy
nc
h
r
on
ous
m
oto
r
c
o
n
tro
l
f
or
e
lect
ric
v
e
hi
cle
us
ing
loo
k
-u
p
tabl
e,
"
i
n
Pr
oceedi
n
g
s
of Th
e 7t
h
Inter
nation
a
l Po
wer
Electr
onics
an
d
M
o
tion
Con
t
r
o
l Con
f
er
ence
. IE
E
E
,
2
01
2.
[8]
Kim
,
K
.-C.,
"
A
n
o
v
el
cal
cul
a
tio
n
m
et
hod
o
n
th
e
cu
rr
ent
inf
o
rm
at
ion
of
v
ector
i
nverter
f
o
r
interior
p
ermanent
m
a
gn
et
s
yn
chro
no
us
m
o
t
or
f
or
e
lect
ric
veh
i
cle,
"
IEEE T
r
a
n
s
a
c
ti
on
s
on
Ma
gn
e
t
i
c
s
,
vol.
50
,
N
o
.
2
,
pp.
8
29
-832
,
20
14
.
[9]
Li
n
,
W
.,
et
a
l
.,
"
Com
p
arat
iv
e
stu
d
y
on
d
i
r
ect
t
orqu
e
cont
rol
of
i
nteri
o
r
p
e
rm
an
ent
m
a
g
n
et
s
y
n
chro
no
us
m
oto
r
f
o
r
elect
ric v
e
hicl
e,"
IFAC-
P
apersO
n
L
i
n
e
,
vo
l. 48
, No
.
1
1,
pp
.
65
-
71
,
2
0
1
5
.
[10]
Tak
a
hash
i,
I
.
a
n
d
T.
N
og
uch
i
,
"A
n
ew
q
ui
ck-resp
on
se
a
nd
h
ig
h-ef
fici
ency
c
o
n
t
r
ol
s
trat
egy
o
f
a
n
ind
u
ction
mo
to
r
,
"
IEEE
Transact
ion
s
on In
dustry app
lications
, 19
8
6
, no
.
5
, p
p
.
8
20
-8
27
.
[11]
Ta
ka
h
a
shi,
I
.
a
n
d
T.
N
og
uc
hi
,
"
T
a
k
e
a
loo
k
ba
c
k
u
po
n
the
pa
st
d
ecade
o
f
d
irect
t
o
r
q
u
e
co
ntrol
[of
ind
u
ctio
n
mo
to
r
s
]
,
"
in
Pr
o
ceed
in
gs o
f
t
h
e IECO
N'9
7
2
3
r
d
Int
e
rn
atio
na
l
Con
f
eren
ce on
Ind
u
s
t
r
i
a
l Elect
ro
n
i
c
s
, Con
t
r
o
l
,
an
d
Ins
t
r
u
men
t
ati
on
(
C
a
t
. No.
97
CH36
06
6)
,
IEEE
,
199
7.
[12]
Yuh
e
nd
ri,
M.
,
A.
A
hy
a
n
ua
rd
i,
a
n
d
A
.
As
wardi
,
"
Di
rec
t
t
orque
con
trol
s
t
r
a
t
eg
y
o
f
P
MS
M
em
p
l
o
y
i
ng
ult
r
a
sp
ar
se
matr
i
x
con
v
e
rt
er,"
Inter
n
a
t
i
ona
l Jour
na
l
o
f
Power
El
ectr
o
n
i
cs and
D
r
ive
S
y
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ems
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c
o
n
stant
sw
it
chi
ng
f
r
equen
c
y
D
T
C
fo
r
P
M
SM
u
si
n
g
l
o
w
switc
h
i
ng
l
o
ss
es
S
V
M
-an
exp
e
rim
e
nt
al
r
e
s
ult,"
Int
e
rn
a
t
i
o
n
a
l
Jou
r
na
l of Power
El
ectro
n
i
cs a
n
d
Dri
ve S
y
s
t
em
s
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I
JPE
D
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d
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g,
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M
u
l
t
ilev
e
l
i
nvert
ers
:
a
s
u
r
vey
of
t
op
ologi
es,
co
nt
ro
l
s
,
a
n
d
ap
pl
ication
s
,
"
IEEE Transac
t
i
ons
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rrent c
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t
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o
r
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a
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Speed
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f
IP
MSM
m
otor
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i
t
hou
t
r
o
t
or
p
osition
sensors
b
a
sed
o
n
M
RAS
ob
serv
er
w
it
h
sp
ace
v
ector
m
od
ulatio
n,"
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2
016
IEEE In
ter
n
a
t
io
na
l
Conferen
ce o
n
Recen
t
T
r
en
d
s
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E
l
ectr
onics, Info
rmati
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m
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icati
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uzzy
l
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a
s
e
d
param
e
ter
aut
o
-t
unin
g
m
e
t
h
od
i
n
M
RAS
for
s
ensorless
interior
p
erm
a
nent
m
a
gn
et
s
yn
chronou
s
m
o
t
o
r
d
r
ives
w
ith
c
yclic
f
lu
ctuat
i
n
g
l
o
a
d
,
"
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20
13
Int
e
rnat
ion
a
l
Co
n
f
e
r
e
n
ce on
E
l
ectrica
l
M
a
c
hin
e
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em
s
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l
b
a
se
d
on
M
RAS
me
th
od
i
n
in
te
rior
p
e
r
m
a
n
ent
-
m
a
g
n
et
m
ach
ine
d
r
ive,
"
in
20
0
5
Int
e
rna
t
i
o
n
a
l
Co
n
f
er
e
n
ce on
Po
wer Elect
ro
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i
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S
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e
e
d
a
nd
p
o
s
i
ti
on
e
stim
ato
r
o
f
fo
r
sens
orl
e
ss
P
M
SM
d
riv
e
s
u
sing
a
d
a
ptiv
e
con
t
ro
ller,
"
In
tern
at
io
nal Jo
urn
a
l of P
o
wer
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r
o
ni
cs a
n
d
Drive
S
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Cost
e
ff
ec
t
i
ve
sens
orl
e
ss
v
ector
c
o
n
trol
o
f
4-switch
3-ph
ase
in
verter F
ed IM
u
s
i
n
g
M
R
AS,"
I
n
te
r
n
at
io
na
l J
o
ur
na
l o
f
P
o
w
e
r
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e
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tr
o
n
i
c
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n
d
D
r
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v
e
Sy
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m
s
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J
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v
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i
a
ti
o
n
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s
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tion
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r
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sing
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RAS
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e
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l
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i
nd
ucti
o
n
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o
t
or
u
sin
g
m
o
d
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r
ef
eren
ce
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o
r
p
os
iti
o
n
an
d
s
p
ee
d
est
i
m
a
to
rs
f
or
s
ens
o
rless
con
t
rol
of
i
nteri
o
r
perm
anen
t-m
a
g
n
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nou
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t
ro
l of
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or p
erman
e
nt m
agn
e
t s
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n
c
hronou
s
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r dri
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e
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e
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on
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ace
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r
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l
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e
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ti
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l
w
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d
i
r
ect
t
o
r
qu
e
f
u
zzy
c
on
tro
l
f
o
r
v
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rk
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r
n
a
l
o
f
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g
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g
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