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4
]
.
P
r
o
p
o
s
ed
th
e
m
et
h
o
d
to
d
eter
m
i
n
e
co
m
m
u
tatio
n
an
g
le
a
n
d
r
ed
u
ce
to
r
q
u
e
r
ip
p
les
w
it
h
h
i
g
h
er
e
f
f
icie
n
c
y
f
o
r
SR
M.
A
n
a
n
al
y
tical
eq
u
atio
n
r
esp
ec
t
to
th
e
s
elf
-
in
d
u
cta
n
c
e
o
f
ea
ch
p
h
ase
i
n
th
e
v
icin
it
y
o
f
th
e
u
n
a
lig
n
ed
p
o
s
itio
n
i
n
tr
o
d
u
ce
d
i
n
[
1
5
]
,
an
d
an
a
n
al
y
tic
tu
r
n
-
o
n
a
n
g
le
ac
co
r
d
in
g
to
r
elate
d
p
h
ase
v
o
lta
g
e
a
n
d
m
o
to
r
s
p
ee
d
w
a
s
ca
lcu
la
ted
[
1
6
]
.
P
r
o
p
o
s
ed
n
o
v
el
lo
g
ical
r
u
le
s
t
o
m
o
d
if
y
t
h
e
r
ef
e
r
e
n
ce
p
h
a
s
e
t
o
r
q
u
e
w
h
ic
h
ca
n
b
e
ap
p
lied
o
n
all
t
y
p
e
s
o
f
T
SF
s
.
I
n
th
i
s
r
e
f
er
en
ce
,
to
r
q
u
e
er
r
o
r
s
o
f
t
w
o
ad
j
ac
en
t
p
h
ases
w
h
ic
h
ar
e
p
ar
ticip
atin
g
i
n
co
m
m
u
tatio
n
ar
ea
u
s
ed
to
r
eg
u
late
th
e
r
ef
er
en
ce
p
h
ase
to
r
q
u
e
o
f
t
h
e
o
th
er
s
s
o
th
at
t
h
e
to
r
q
u
e
g
en
er
ated
i
n
t
h
is
ar
ea
r
e
m
ai
n
s
co
n
s
ta
n
t.
Ho
w
ev
er
,
t
h
e
m
o
d
if
ied
m
et
h
o
d
in
tr
o
d
u
ce
d
i
n
[
1
6
]
d
id
n
't
co
n
s
id
er
th
e
ab
ili
t
y
to
ch
an
g
e
t
h
e
t
u
r
n
-
o
n
an
g
le
w
h
ic
h
ca
n
h
av
e
m
aj
o
r
ef
f
ec
ts
o
n
to
r
q
u
e
r
ip
p
le
esp
ec
iall
y
n
ea
r
th
e
b
ased
s
p
ee
d
.
Mo
r
eo
v
er
,
m
a
x
i
m
u
m
to
r
q
u
e
r
ip
p
le
-
f
r
ee
s
p
ee
d
r
eg
io
n
w
i
th
o
u
t
t
u
r
n
-
o
n
an
g
le
co
n
tr
o
l
w
a
s
li
m
i
ted
to
t
h
e
lo
w
s
p
ee
d
o
p
er
atio
n
.
I
n
t
h
is
p
ap
er
,
an
al
y
tical
ap
p
r
o
ac
h
co
n
s
id
er
in
g
th
e
in
d
ep
en
d
e
n
c
y
o
f
p
h
a
s
e
i
n
d
u
cta
n
ce
n
ea
r
t
h
e
u
n
al
ig
n
ed
p
o
s
itio
n
r
esp
ec
t
to
th
e
p
h
a
s
e
c
u
r
r
en
t
w
i
ll
b
e
u
s
ed
to
r
e
g
u
la
te
t
h
e
t
u
r
n
-
o
n
an
g
le
a
n
d
m
o
d
i
f
ied
lo
g
ical
r
u
les
w
i
ll
e
n
h
a
n
ce
th
e
m
o
to
r
r
esu
lta
n
t
to
r
q
u
e
s
o
th
at
th
e
to
r
q
u
e
r
ip
p
le
r
ed
u
ce
d
t
o
th
e
d
esire
d
lev
el.
T
o
r
q
u
e
g
en
er
atio
n
p
r
in
cip
le
s
in
SR
M
p
r
esen
ted
in
s
ec
tio
n
I
I
,
T
SF
s
an
d
t
h
e
m
o
d
if
ied
r
u
l
es
p
r
o
v
id
ed
in
s
ec
t
io
n
I
I
I
,
t
u
r
n
-
o
n
a
n
g
le
co
n
tr
o
l
alg
o
r
ith
m
as
w
el
l
as
th
e
p
r
o
p
o
s
ed
m
o
d
if
ied
T
SF
p
r
esen
ted
in
I
V
an
d
v
er
i
f
icatio
n
s
w
ill
b
e
m
ad
e
b
y
s
i
m
u
latio
n
r
esu
lt
s
in
s
ec
tio
n
V.
2.
T
O
RQ
UE
P
RO
DU
CT
I
O
N
P
RINCI
P
L
E
S
S
w
itc
h
ed
r
elu
ctan
ce
m
o
to
r
s
with
s
al
ien
t
p
o
les
o
n
th
e
r
o
to
r
an
d
s
tato
r
an
d
co
n
ce
n
tr
ated
w
i
n
d
i
n
g
s
o
n
s
tato
r
p
o
les
ar
e
u
s
u
all
y
co
n
s
tr
u
cted
w
i
th
o
u
t
w
ir
in
g
o
r
p
er
m
an
en
t
m
a
g
n
et
o
n
t
h
e
r
o
to
r
lam
in
ated
co
r
e.
T
o
r
q
u
e
P
r
o
d
u
ctio
n
o
n
s
w
itc
h
ed
r
elu
ct
an
ce
m
o
to
r
is
b
ased
o
n
t
h
e
p
r
in
cip
le
o
f
te
n
d
en
c
y
to
t
h
e
lea
s
t
r
el
u
ctan
ce
i
n
t
h
e
m
ag
n
etic
f
l
u
x
p
ath
.
I
n
t
h
i
s
m
o
to
r
en
er
g
y
co
n
v
er
s
io
n
h
as
t
h
e
clo
s
e
r
elatio
n
s
h
ip
w
it
h
t
h
e
p
h
a
s
e
cu
r
r
en
t
i
n
s
tato
r
w
i
n
d
i
n
g
s
an
d
th
e
r
o
to
r
p
o
s
itio
n
.
.
'
)
,
(
c
o
n
st
i
W
i
T
(
1
)
A
cc
o
r
d
in
g
to
th
e
ab
o
v
e
eq
u
at
io
n
,
T
is
th
e
to
r
q
u
e
g
en
er
ate
d
b
y
ea
ch
p
h
a
s
e,
i
r
ep
r
esen
ts
th
e
p
h
ase
cu
r
r
en
t,
θ
d
e
n
o
tes
r
o
to
r
p
o
s
itio
n
a
n
d
w
'
i
s
t
h
e
C
o
-
en
er
g
y
.
I
g
n
o
r
i
n
g
th
e
m
a
g
n
etic
s
at
u
r
atio
n
e
f
f
ec
t
s
an
d
ass
u
m
in
g
C
o
-
e
n
er
g
y
eq
u
a
l to
th
e
m
a
g
n
e
tic
s
to
r
ed
en
er
g
y
,
th
e
f
o
llo
w
in
g
eq
u
at
io
n
is
o
b
tain
ed
:
2
'
)
(
2
1
)
,
(
)
,
(
i
L
i
W
i
W
f
(
2
)
I
n
th
i
s
ca
s
e,
th
e
i
n
s
tan
t to
r
q
u
e
o
f
th
e
m
ac
h
in
e
ca
n
b
e
ea
s
il
y
a
ch
iev
ed
u
s
i
n
g
th
e
f
o
llo
w
in
g
e
q
u
atio
n
.
d
dL
i
i
L
W
T
c
o
n
s
t
i
c
o
n
s
t
i
)
(
2
1
)
(
2
1
2
.
2
.
'
(
3
)
T
h
e
ab
o
v
e
eq
u
atio
n
s
h
o
w
s
t
h
a
t
th
e
r
ela
tio
n
b
et
w
ee
n
m
o
to
r
o
r
g
en
er
ato
r
to
r
q
u
e
i
s
i
n
d
ep
en
d
en
t
o
f
t
h
e
cu
r
r
en
t
d
ir
ec
tio
n
.
I
n
o
th
er
w
o
r
d
s
,
th
e
s
lo
p
e
o
f
in
d
u
ctan
ce
p
r
o
f
ile
ca
n
d
eter
m
in
e
t
h
e
o
p
er
atin
g
m
o
d
e
o
f
th
i
s
m
ac
h
in
e.
I
n
g
e
n
er
al,
v
o
ltag
e
e
q
u
atio
n
f
o
r
ea
ch
p
h
ase
ca
n
b
e
r
ep
r
esen
ted
b
y
t
h
e
f
o
llo
w
i
n
g
e
q
a
tio
n
:
dt
i
d
Ri
V
)
,
(
(
4
)
A
cc
o
r
d
in
g
to
eq
u
atio
n
(
3
)
,
th
e
g
en
er
ated
to
r
q
u
e
at
ea
c
h
p
h
ase
i
s
p
o
s
iti
v
e
w
h
e
n
t
h
e
s
l
o
p
e
o
f
th
e
in
d
u
cta
n
ce
p
r
o
f
ile
is
p
o
s
iti
v
e
an
d
it
w
il
l b
e
n
e
g
ati
v
e
w
h
e
n
t
h
e
s
lo
p
e
o
f
in
d
u
ctan
ce
b
ec
o
m
es n
e
g
ati
v
e.
Fi
g
u
r
e
1
s
h
o
w
s
t
h
e
i
n
s
ta
n
ce
f
o
r
a
4
-
p
h
ase
SR
M
i
n
d
u
cta
n
ce
p
r
o
f
ile
d
u
r
in
g
t
h
e
u
n
ali
g
n
ed
to
t
h
e
alig
n
ed
p
o
s
itio
n
f
o
r
v
ar
io
u
s
p
h
a
s
e
cu
r
r
en
t
v
al
u
es.
I
n
th
is
f
i
g
u
r
e,
p
h
a
s
e
cu
r
r
en
t
ascen
d
in
g
lead
s
to
m
a
g
n
etic
s
atu
r
atio
n
i
n
t
h
e
co
r
r
esp
o
n
d
in
g
s
tato
r
p
o
le
an
d
d
ec
r
ea
s
e
th
e
p
h
ase
in
d
u
cta
n
ce
in
th
e
v
ici
n
it
y
o
f
ali
g
n
ed
p
o
s
itio
n
.
Ho
w
e
v
er
,
p
h
ase
cu
r
r
en
t a
m
p
lit
u
d
e
d
o
esn
'
t
h
av
e
m
u
ch
e
f
f
ec
t o
n
t
h
e
in
d
u
ctan
ce
n
ea
r
th
e
u
n
alig
n
ed
p
o
s
itio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
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I
SS
N:
2
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8
8
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8
694
A
N
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d
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Tu
r
n
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A
n
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C
o
n
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o
l S
ch
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fo
r
To
r
q
u
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r
ip
p
le
R
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ctio
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in
S
R
M
(
Mil
a
d
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w
la
ts
h
a
h
i
)
1112
Fig
u
r
e
1
.
I
n
d
u
ctan
ce
P
r
o
f
ile
o
f
C
o
n
s
id
er
ed
4
-
P
h
ase
S
R
M
V
er
s
u
s
C
u
r
r
e
n
t a
n
d
R
o
to
r
P
o
s
itio
n
Var
iatio
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s
I
n
m
o
to
r
m
o
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e
o
p
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atio
n
,
cu
r
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en
t
i
n
ea
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ase
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tar
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t
o
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m
t
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g
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d
p
o
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d
w
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lo
p
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o
f
i
n
d
u
c
tan
ce
b
ec
o
m
e
s
p
o
s
iti
v
e.
A
s
F
ig
u
r
e
1
s
h
o
w
s
,
w
h
e
n
t
h
e
s
tat
o
r
an
d
r
o
to
r
p
o
les
p
lace
d
w
h
er
e
t
h
e
y
h
a
v
e
m
ax
i
m
u
m
air
g
ap
d
is
ta
n
ce
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th
e
lo
w
e
s
t
i
n
d
u
cta
n
ce
w
ill
b
e
o
b
tai
n
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.
W
h
ile,
i
n
th
e
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n
ed
p
o
s
itio
n
,
th
e
in
d
u
cta
n
ce
w
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b
e
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e
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v
al
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e
d
u
e
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th
e
m
in
i
m
u
m
a
ir
g
ap
b
et
w
ee
n
s
tato
r
an
d
r
o
to
r
p
o
les.
I
n
th
e
n
ei
g
h
b
o
r
in
g
ali
g
n
ed
a
n
d
u
n
ali
g
n
ed
p
o
s
itio
n
s
,
t
h
e
s
lo
p
e
o
f
i
n
d
u
c
tan
ce
is
n
e
g
li
g
ib
le
a
n
d
th
u
s
t
h
e
p
o
ten
tial
f
o
r
to
r
q
u
e
p
r
o
d
u
ctio
n
i
s
lo
w
b
ased
o
n
eq
u
atio
n
(
3
)
.
T
h
er
ef
o
r
e,
ap
p
ly
in
g
p
h
ase
v
o
lta
g
e
in
th
e
v
ici
n
it
y
o
f
u
n
ali
g
n
ed
p
o
s
itio
n
ca
n
d
r
a
m
at
icall
y
i
n
cr
e
ase
co
p
p
er
l
o
s
s
es
w
h
i
le
n
o
to
r
q
u
e
p
r
o
d
u
ctio
n
w
il
l
b
e
ac
h
iev
ed
.
3.
T
O
RQ
UE
SH
A
RIN
G
F
UNC
T
I
O
NS
(
T
SFs)
On
e
o
f
t
h
e
m
o
s
t
s
i
m
p
le
an
d
ef
f
ec
tiv
e
m
et
h
o
d
in
o
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ilar
t
o
r
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e
at
th
e
s
a
m
e
p
h
a
s
e
cu
r
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en
t.
I
n
o
th
er
w
o
r
d
s
,
i
c
θ
is
th
e
p
o
s
itio
n
in
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m
m
u
tatio
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eg
io
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w
h
er
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m
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d
o
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t
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ase
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e
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er
ate
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e
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f
o
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e
f
er
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ce
to
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at
th
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a
m
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r
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en
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F
ig
u
r
e
3
s
h
o
w
s
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e
ap
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m
ate
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n
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th
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c
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f
o
r
d
if
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er
e
n
t r
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e
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ce
to
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es.
Fig
u
r
e
3
.
i
c
θ
Dete
r
m
in
a
tio
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o
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th
e
Co
n
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id
er
ed
4
-
Ph
ase
S
R
M
I
t
is
n
o
te
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th
y
to
m
e
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tio
n
th
at
b
ef
o
r
e
i
c
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(
f
r
o
m
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g
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ed
p
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n
to
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c
θ
)
th
e
s
lo
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o
f
in
d
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cta
n
ce
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r
v
e
w
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e
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c
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ter
t
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a
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ter
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d
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r
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ase
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e
to
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ac
k
th
e
r
ef
er
e
n
ce
p
h
ase
to
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q
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e
in
in
co
m
in
g
p
h
as
e
w
ill
b
e
m
o
r
e
in
cr
ea
s
ed
.
Du
e
to
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e
li
m
itati
o
n
o
f
co
n
v
er
ter
v
o
lta
g
e
in
p
r
ac
tice,
to
r
q
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e
p
h
ase
er
r
o
r
w
ill
b
e
in
e
v
itab
le
an
d
m
a
y
lead
to
n
o
ticea
b
le
to
r
q
u
e
r
ip
p
le
in
m
o
to
r
r
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lta
n
t
to
r
q
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e.
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n
o
th
er
h
an
d
,
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ed
u
cin
g
t
u
r
n
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o
n
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n
g
le
w
ill
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u
s
e
to
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ce
s
s
i
v
e
p
h
ase
cu
r
r
en
t
m
a
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it
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d
e
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er
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o
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ase
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ce
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ase
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s
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s
.
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h
er
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o
r
e,
in
th
is
p
ap
er
,
th
e
an
al
y
tic
eq
u
a
tio
n
is
p
r
o
p
o
s
ed
f
o
r
tu
r
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o
n
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l
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ased
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n
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ed
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cin
g
th
e
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h
ase
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u
e
er
r
o
r
in
in
co
m
i
n
g
p
h
a
s
e
at
i
c
θ
.
C
o
n
s
id
er
in
g
eq
u
atio
n
(
9
)
,
th
e
in
d
u
cta
n
ce
d
er
iv
ati
v
e
f
u
n
ctio
n
r
esp
ec
t
to
th
e
r
o
to
r
p
o
s
itio
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an
d
p
r
o
d
u
ce
d
p
h
ase
to
r
q
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e
ar
e
o
b
tain
ed
w
h
ic
h
s
h
o
w
n
b
y
(
1
1
)
an
d
(
1
2
)
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
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8
6
9
4
IJ
PEDS
Vo
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7
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4
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er
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1
6
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1
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2
4
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c
(
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(
1
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W
h
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is
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en
ce
p
h
ase
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d
er
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f
r
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t
h
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atio
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ef
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e
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ce
p
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ase
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r
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t th
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ter
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e
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tain
ed
u
s
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n
g
t
h
e
f
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llo
w
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elatio
n
:
i
c
in
r
e
f
,
r
e
f
θ
θ
d
θ
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2T
i
(
1
3
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n
t
h
i
s
eq
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atio
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,
T
r
ef
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i
n
i
s
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m
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f
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ce
p
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ase
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h
s
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ld
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co
n
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f
o
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m
o
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r
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er
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ce
to
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e
at
i
c
θ
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B
y
s
u
b
s
t
itu
t
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g
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h
e
r
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(
1
3
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i
n
(
1
0
)
,
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e
tu
r
n
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o
n
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le
o
b
tain
ed
an
al
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ticall
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r
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t
to
m
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r
s
p
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d
.
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s
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in
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e
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u
r
n
o
n
a
n
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le
v
alu
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d
ec
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ea
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a
t p
h
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u
r
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en
t
ca
n
ca
p
ab
le
to
f
o
llo
w
th
e
r
ef
er
e
n
ce
c
u
r
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en
t i
n
i
n
co
m
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g
p
h
ase.
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h
e
a
u
th
o
r
s
p
r
o
p
o
s
ed
th
e
s
ch
e
m
e
i
n
[
1
6
]
to
m
o
d
i
f
y
th
e
co
n
v
e
n
tio
n
al
T
SF
s
in
o
r
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er
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h
a
n
ce
t
h
e
e
f
f
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v
e
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tr
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lled
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s
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d
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eg
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n
.
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n
th
e
p
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o
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s
ed
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o
r
ith
m
,
to
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e
er
r
o
r
in
in
co
m
i
n
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n
tr
o
l
lo
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p
w
as
ad
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ed
to
th
e
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er
e
n
ce
to
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e
o
f
o
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o
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ase
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e
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n
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ta
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t
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d
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n
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o
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f
an
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s
.
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h
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m
a
y
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cr
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s
e
th
e
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h
ase
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r
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en
t
m
a
g
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u
d
e
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n
o
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tg
o
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n
g
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h
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w
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th
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p
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ase
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n
d
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ce
b
ec
o
m
es
m
ax
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m
u
m
v
alu
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r
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t
to
t
h
e
r
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to
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p
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s
itio
n
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h
ich
ca
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s
e
to
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ter
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r
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d
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e
to
th
e
n
eg
at
iv
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s
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i
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ct
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ce
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ea
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n
t
h
i
s
p
ap
er
,
tu
r
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o
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n
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le
co
n
tr
o
l
ta
k
in
g
t
h
e
an
al
y
tic
f
u
n
ct
io
n
p
r
o
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o
s
ed
b
y
(
1
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in
to
ac
co
u
n
t
to
o
v
er
co
m
e
th
is
d
r
a
w
b
ac
k
.
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h
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ec
t
s
o
f
r
ec
ed
in
g
t
u
r
n
-
o
n
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g
le
o
n
p
h
ase
cu
r
r
en
t c
an
b
e
r
ep
r
esen
ted
as
d
ep
icted
in
F
ig
u
r
e
4
.
Fig
u
r
e
4
.
R
ec
ed
in
g
T
u
r
n
-
o
n
An
g
le
E
f
f
ec
ts
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n
t
h
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h
ap
e
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ase
C
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r
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t
s
T
h
e
m
o
d
if
ica
tio
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s
c
h
e
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e
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eg
u
la
te
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er
en
ce
to
r
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es
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as
ed
o
n
th
e
er
r
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r
s
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is
t
o
n
in
co
m
i
n
g
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d
o
u
tg
o
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n
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to
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q
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n
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l
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s
[
1
6
]
.
Fig
u
r
e
5
s
h
o
w
s
th
e
m
o
d
i
f
icatio
n
co
n
ce
p
t
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ich
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l
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e
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in
th
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s
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ap
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t
o
m
i
n
i
m
ize
to
r
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u
e
r
ip
p
le
in
m
o
to
r
r
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lta
n
t
to
r
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n
o
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er
t
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im
p
le
m
en
t
th
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ce
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ase
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r
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s
f
o
r
an
y
T
SF
s
,
T
ab
le
(
1
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ca
n
b
e
s
im
p
l
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p
lied
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th
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co
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icted
in
Fi
g
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r
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6
.
I
n
th
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s
f
ig
u
r
e
r
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e
n
ce
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e
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ce
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ase
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ased
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th
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r
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ied
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t
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r
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ase
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ased
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Fi
g
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.
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