I
nte
rna
t
io
na
l J
o
urna
l o
f
P
o
w
er
E
lect
ro
nics
a
nd
Driv
e
Sy
s
t
e
m
(
I
J
P
E
DS
)
Vo
l.
8
,
No
.
3
,
Sep
tem
b
er
201
7
,
p
p
.
1
1
0
9
~
1
1
1
6
I
SS
N:
2088
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8
694
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DOI
: 1
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.
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3
.
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9
-
1116
1109
J
o
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l ho
m
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g
e
:
h
ttp
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//ia
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s
jo
u
r
n
a
l.c
o
m/o
n
lin
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d
ex
.
p
h
p
/I
JP
E
DS
Desig
n and
I
m
ple
m
en
tatio
n of
BLDC M
o
tor w
ith
Integ
ra
ted
Driv
e
Circuit
J
o
o
n Sun
g
P
a
rk
,
Ki
-
Do
ek
L
ee
Ko
re
a
El
e
c
tro
n
ics
T
e
c
h
n
o
l
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In
ti
tu
te
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K
o
re
a
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Mar
28
,
2
0
1
7
R
ev
i
s
ed
J
un
6
,
2
0
1
7
A
cc
ep
ted
J
u
l
3
,
2
0
1
7
T
h
e
tren
d
in
th
e
m
o
to
r
a
p
p
li
c
a
ti
o
n
s
is
to
re
d
u
c
e
w
e
i
g
h
t
a
n
d
v
o
lu
m
e
b
y
in
c
re
a
sin
g
th
e
e
ff
i
c
ien
c
y
.
Be
c
a
u
se
o
f
th
e
a
d
v
a
n
tag
e
o
f
h
ig
h
e
ff
icie
n
c
y
a
n
d
h
ig
h
d
e
n
si
ty
,
in
tere
st
in
b
ru
s
h
les
s
DC
m
o
to
rs
a
n
d
d
riv
e
s
is
in
c
re
a
sin
g
.
Un
li
k
e
DC
m
o
to
rs,
th
e
b
r
u
sh
les
s
DC
(BL
DC)
m
o
to
rs
re
q
u
ire
in
v
e
rter
c
ircu
it
a
n
d
p
o
siti
o
n
d
e
tec
to
r.
In
th
is
p
a
p
e
r,
w
e
d
e
a
l
w
it
h
th
e
o
p
ti
m
iza
ti
o
n
o
f
th
e
BL
D
C
m
o
to
r,
th
e
i
n
v
e
rter,
a
n
d
th
e
p
o
si
ti
o
n
d
e
tec
to
r.
T
h
e
i
n
v
e
rter
is
o
p
ti
m
ize
d
to
b
e
m
o
u
n
ted
o
n
t
h
e
BL
DC
m
o
to
r.
T
h
is
p
a
p
e
r
d
e
a
ls
p
rim
a
ril
y
w
it
h
th
e
d
e
sig
n
a
n
d
im
p
le
m
e
n
t
a
ti
o
n
a
sp
e
c
ts
o
f
th
e
B
L
DC
m
o
to
r
a
n
d
th
e
i
n
teg
ra
ted
d
r
iv
e
c
ircu
it
.
Ex
p
e
rime
n
tal
re
su
lt
s
f
o
r
th
e
p
r
o
t
o
ty
p
e
o
f
th
e
BL
DC
m
o
to
r
w
it
h
in
teg
ra
ted
d
irv
e
c
ircu
it
in
th
e
la
b
o
ra
t
o
ry
a
re
p
re
se
n
ted
t
o
v
a
li
d
a
te t
h
e
f
e
a
sib
il
it
y
.
K
ey
w
o
r
d
:
B
r
u
s
h
le
s
s
D
C
(
B
L
D
C
)
m
o
to
r
I
n
teg
r
ated
d
r
iv
e
c
ir
cu
i
t
I
n
v
er
ter
Mo
to
r
d
r
iv
e
P
u
ls
e
w
id
th
m
o
d
u
latio
n
(
P
W
M)
Co
p
y
rig
h
t
©
201
7
In
s
t
it
u
te o
f
A
d
v
a
n
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e
d
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n
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i
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e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts
re
se
rv
e
d
.
C
o
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r
e
s
p
o
nd
ing
A
uth
o
r
:
Ki
-
Do
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k
L
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I
n
telli
g
en
t M
ec
h
atr
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ic
s
R
e
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ar
ch
C
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ter
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Ko
r
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E
lectr
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ics T
ec
h
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g
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I
n
s
tit
u
te,
203
-
2
0
1
B
/D
#
3
8
8
,
So
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ae
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ae
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o
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.
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m
ail:
k
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lee@
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eti.
r
e.
k
r
1.
I
NT
RO
D
UCT
I
O
N
B
ec
au
s
e
o
f
t
h
e
g
r
o
w
i
n
g
i
n
te
r
est
in
g
lo
b
al
en
v
ir
o
n
m
en
tal
p
r
o
tectio
n
an
d
d
ep
letio
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o
f
p
etr
o
leu
m
r
eso
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r
ce
s
,
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er
e
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r
o
w
in
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co
n
ce
r
n
i
n
en
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y
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f
f
icie
n
c
y
.
U
n
d
er
th
ese
s
itu
a
tio
n
s
,
t
h
e
m
ec
h
an
ica
l
p
ar
ts
in
t
h
e
in
d
u
s
tr
y
ar
e
b
ein
g
r
ep
lace
d
b
y
elec
tr
o
n
ic
m
eth
o
d
s
.
Fo
r
t
h
e
d
r
iv
i
n
g
s
y
s
te
m
,
DC
m
o
to
r
an
d
b
r
u
s
h
le
s
s
d
c
(
B
L
DC
)
m
o
to
r
ar
e
w
id
el
y
u
s
ed
.
DC
m
o
to
r
h
as
e
v
er
b
ee
n
ap
p
lied
in
v
ar
io
u
s
in
d
u
s
tr
ial
a
p
p
licatio
n
s
b
ec
au
s
e
th
eir
co
n
tr
o
ls
an
d
c
h
ar
ac
ter
is
tics
ar
e
s
i
m
p
le.
I
n
an
in
d
u
s
tr
ial
p
o
in
t
o
f
v
ie
w
,
DC
m
o
to
r
is
m
o
r
e
u
s
ed
t
h
an
o
th
er
s
at
s
m
all
m
o
to
r
.
Ho
w
e
v
er
,
DC
m
o
to
r
s
y
s
te
m
s
h
a
v
e
lo
w
e
f
f
icie
n
c
y
,
lo
w
r
eliab
ilit
y
,
b
u
lk
y
co
n
s
tr
u
ctio
n
,
an
d
n
ee
d
o
f
m
ai
n
te
n
an
ce
[
1
]
,
[
2
]
.
T
h
o
s
e
f
ea
t
u
r
es
ar
e
u
n
s
u
i
tab
le
f
o
r
d
o
w
n
s
izi
n
g
tr
en
d
.
I
n
r
ec
en
t
y
ea
r
s
,
t
h
e
B
L
DC
m
o
to
r
is
r
ec
eiv
in
g
m
o
r
e
in
ter
est
f
o
r
m
o
s
t
i
n
d
u
s
tr
ial
ap
p
licatio
n
s
,
b
ec
au
s
e
o
f
th
e
eli
m
i
n
atio
n
o
f
th
e
b
r
u
s
h
a
n
d
co
m
m
u
tato
r
,
w
h
i
ch
r
ed
u
ce
s
au
d
ib
le
n
o
is
e
a
n
d
r
ad
io
-
f
r
eq
u
en
c
y
in
ter
f
er
en
c
e
(
R
FI)
p
r
o
b
lem
s
.
Mo
r
eo
v
er
,
th
e
B
L
DC
m
o
to
r
h
as
a
n
u
m
b
er
o
f
ad
v
a
n
ta
g
es
s
u
ch
as
h
ig
h
e
f
f
icien
c
y
,
h
ig
h
p
o
w
er
f
ac
to
r
,
an
d
lo
w
m
ai
n
ten
a
n
ce
co
s
t
[
1
]
-
[
5
]
.
T
h
e
m
o
to
r
ef
f
icien
c
y
s
h
o
u
ld
b
e
in
cr
ea
s
ed
an
d
t
h
e
m
o
to
r
s
iz
e
s
h
o
u
ld
b
e
m
ad
e
co
m
p
ac
t.
On
t
h
e
b
asis
o
f
th
e
tech
n
o
lo
g
ical
g
r
o
w
t
h
o
f
p
o
w
er
elec
tr
o
n
ics
an
d
elec
tr
ic
m
a
ch
in
e
s
,
t
h
e
tr
e
n
d
in
th
e
i
n
d
u
s
tr
ial
ap
p
licatio
n
s
i
s
to
r
ep
lace
co
n
v
en
tio
n
al
DC
m
o
to
r
w
i
th
t
h
e
B
L
DC
m
o
to
r
.
T
h
is
p
ap
er
d
ea
ls
p
r
im
ar
il
y
w
it
h
t
h
e
d
esi
g
n
an
d
i
m
p
le
m
en
tatio
n
a
s
p
ec
ts
o
f
t
h
e
B
L
DC
m
o
to
r
a
n
d
th
e
in
teg
r
ated
d
r
iv
e
cir
cu
it
w
h
ic
h
ar
e
co
n
s
i
s
ted
w
it
h
th
e
B
L
D
C
m
o
to
r
,
th
e
i
n
v
er
ter
,
an
d
t
h
e
p
o
s
itio
n
d
etec
to
r
.
Fo
r
th
e
d
esig
n
o
f
th
e
B
L
DC
m
o
to
r
,
th
is
s
t
u
d
y
p
r
ese
n
ts
a
n
al
y
tic
ap
p
r
o
ac
h
f
o
r
th
e
d
esig
n
o
f
t
h
e
B
L
DC
m
o
to
r
.
A
n
d
th
e
d
esig
n
o
f
t
h
e
in
te
g
r
ated
d
r
iv
e
s
y
s
te
m
w
it
h
t
h
e
p
o
s
itio
n
d
etec
to
r
is
p
r
esen
t
ed
.
E
x
p
er
im
e
n
tal
r
es
u
lt
s
f
o
r
t
h
e
p
r
o
to
ty
p
e
o
f
t
h
e
B
L
DC
m
o
to
r
w
i
th
i
n
te
g
r
ated
d
ir
v
e
cir
cu
it
i
n
th
e
lab
o
r
ato
r
y
ar
e
p
r
esen
ted
to
v
alid
ate
t
h
e
f
ea
s
ib
ilit
y
o
f
t
h
e
p
r
o
p
o
s
ed
in
teg
r
ated
B
L
D
C
m
o
to
r
s
y
s
te
m
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
IJ
PEDS
Vo
l.
8
,
No
.
3
,
Sep
te
m
b
er
201
7
:
1
1
0
9
–
1
1
1
6
1110
2.
E
Q
UIVA
L
E
NT
M
AG
N
E
T
I
C
CIRCU
I
T
M
O
DE
L
Gen
er
all
y
,
w
h
e
n
th
e
n
u
m
b
er
o
f
p
o
les
is
in
cr
ea
s
ed
,
th
e
i
r
o
n
lo
s
s
an
d
in
d
u
ce
d
to
r
q
u
e
ar
e
also
in
cr
ea
s
ed
i
n
th
e
co
n
s
ta
n
t
o
u
tp
u
t
co
n
d
itio
n
.
T
h
e
p
o
le
an
d
s
lo
t
n
u
m
b
er
a
f
f
ec
t
s
w
i
n
d
i
n
g
f
ac
t
o
r
an
d
th
e
w
i
n
d
in
g
f
ac
to
r
is
r
elate
d
to
to
r
q
u
e
co
n
s
tan
t.
T
h
er
ef
o
r
e,
p
o
le/s
lo
t
r
ati
o
s
h
o
u
ld
b
e
d
eter
m
in
ed
b
y
co
n
s
id
er
in
g
w
i
n
d
in
g
f
ac
to
r
,
m
a
n
u
f
ac
tu
r
i
n
g
ca
p
ab
ilit
ies,
a
n
d
ir
o
n
lo
s
s
[
6
]
.
B
y
co
n
s
id
er
i
n
g
th
e
s
e
p
o
in
t
s
,
t
h
e
p
o
le/s
lo
t
r
atio
i
s
d
eter
m
in
ed
as
1
2
/9
.
T
h
e
B
L
DC
m
o
to
r
w
i
th
1
2
p
o
le/9
s
lo
t
h
as
d
o
u
b
le
la
y
er
ed
co
n
ce
n
tr
ate
d
w
i
n
d
in
g
a
n
d
h
ig
h
en
er
g
y
p
er
m
a
n
e
n
t
m
a
g
n
e
t
i
n
r
o
to
r
co
r
e.
T
h
e
f
u
n
d
a
m
en
tal
o
b
j
ec
t
o
f
m
o
to
r
d
esig
n
p
r
o
ce
s
s
is
to
d
eter
m
i
n
e
t
h
e
b
ac
k
-
e
m
f
s
o
f
th
e
B
L
DC
m
o
to
r
.
T
h
er
ef
o
r
e,
air
g
ap
f
lu
x
d
en
s
it
y
ca
lcu
latio
n
is
r
eq
u
ir
ed
in
t
h
e
f
ir
s
t
s
tep
.
I
n
th
is
s
tu
d
y
,
t
h
e
m
a
g
n
et
ic
cir
c
u
it
m
o
d
el
is
u
s
ed
to
co
m
p
u
te
d
es
ig
n
p
ar
am
eter
s
a
n
d
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in
ite
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m
e
n
t
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al
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s
is
i
s
ap
p
lied
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co
n
f
ir
m
th
e
r
es
u
lt
s
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d
e
x
e
cu
te
s
p
ec
i
f
ic
d
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g
n
.
F
ig
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n
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m
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.
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h
e
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o
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lar
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ip
m
en
t th
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ir
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h
ig
h
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f
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[
1
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,
[
2
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.
Fig
u
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6
s
h
o
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h
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ase
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e
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ir
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n
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(
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Fig
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y
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te
m
s
.
RE
F
E
R
E
NC
E
S
[1
]
T.
J.
E.
M
il
ler,
e
t
a
l.
,
“
De
sig
n
o
f
Bru
sh
les
s
P
e
rm
a
n
e
n
t
-
M
a
g
n
e
t
M
o
to
rs,
”
M
a
g
n
a
P
h
y
sic
s
p
u
b
li
s
h
in
g
a
n
d
Clare
n
d
o
n
P
re
ss
,
Ox
f
o
rd
,
1
9
9
4
.
[2
]
R
.
V
a
len
ti
n
e
,
“
M
o
t
o
r
Co
n
tro
l
El
e
c
tro
n
ics
Ha
n
d
b
o
o
k
,
”
M
c
G
ro
w
-
Hi
ll
Ha
n
d
b
o
o
k
,
19
98
.
[3
]
G
.
R.
S
le
m
o
n
,
“
Hig
h
-
e
ff
icie
n
c
y
d
riv
e
s
u
sin
g
p
e
r
m
a
n
e
n
t
-
m
a
g
n
e
t
m
o
to
rs
,
”
in
IE
EE
IECON
c
o
n
fer
e
n
c
e
,
p
p
.
7
2
5
-
7
3
0
,
1
9
9
3
.
[4
]
V
.
R
.
S
tef
a
n
o
v
ic,
“
Op
p
o
rtu
n
it
ies
in
m
o
to
r
d
riv
e
re
se
a
rc
h
–
a
v
iew
f
ro
m
in
d
u
stry
,
”
in
IEE
E
IECON
c
o
n
fer
e
n
c
e
,
p
p
.
37
-
44
,
1
9
9
5
.
[5
]
M
.
A
.
Ra
h
m
a
n
,
“
M
o
d
e
rn
e
lec
tri
c
m
o
to
rs i
n
e
lec
tro
n
ic w
o
rld
,
”
in
IE
EE
IECON
’
93
c
o
n
fer
e
n
c
e
,
p
p
.
6
4
4
-
6
4
8
,
1
9
9
3
.
[6
]
J.
M
.
S
e
o
,
e
t
a
l.
,
“
A
stu
d
y
o
n
b
ru
s
h
les
s DC m
o
to
r
h
ig
h
t
o
rq
u
e
d
e
n
si
ty
,”
W
AS
ET
,
v
o
l.
5
8
,
p
p
.
2
2
5
-
2
2
9
,
2
0
1
1
.
[7
]
D.
Ha
n
se
lma
n
,
“
Bru
sh
les
s
P
e
rm
a
n
e
n
t
M
a
g
n
e
t
M
o
t
o
r
De
sig
n
,
”
se
c
o
n
d
e
d
it
io
n
,
T
h
e
w
rit
e
rs’
c
o
ll
e
c
ti
v
e
,
2
0
0
3
.
[8
]
R.
Krish
n
a
n
,
“
El
e
c
tri
c
M
o
to
r
Dr
i
v
e
s
:
M
o
d
e
li
n
g
,
A
n
a
ly
sis,
a
n
d
Co
n
tro
l,
”
P
re
n
ti
c
e
Ha
ll
,
2
0
0
1
.
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