I
nte
rna
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n (
I
J
R
A)
Vo
l.
8
,
No
.
1
,
Ma
r
ch
201
9
,
p
p
.
52
~
67
I
SS
N:
2089
-
4
8
5
6
,
DOI
: 1
0
.
1
1
5
9
1
/
i
j
r
a
.
v
8
i
1
.
p
p
5
2
-
67
52
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ia
e
s
co
r
e.
co
m/jo
u
r
n
a
ls
/in
d
ex
.
p
h
p
/
I
JR
A
Curren
t
sens
o
rles
s v
ector contro
lle
d induc
tion
m
o
to
r drive
Vi
m
les
h Ve
r
m
a
De
p
a
rtme
n
t
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
,
Na
ti
o
n
a
l
In
stit
u
te
o
f
T
e
c
h
n
o
lo
g
y
P
a
tn
a
,
In
d
ia
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Dec
1
,
2
0
1
8
R
ev
i
s
ed
Feb
2
,
2
0
1
9
A
cc
ep
ted
Feb
7
,
2
0
1
9
T
h
is
p
a
p
e
r
p
re
se
n
ts
a
c
u
rre
n
t
se
n
so
rles
s
v
e
c
to
r
c
o
n
tro
ll
e
d
in
d
u
c
t
io
n
m
o
to
r
d
riv
e
w
it
h
o
n
ly
sp
e
e
d
se
n
so
r
p
re
se
n
t
in
th
e
sy
ste
m
.
T
h
e
sa
m
e
p
e
r
f
o
rm
a
n
c
e
a
s
th
a
t
o
f
n
o
rm
a
l
v
e
c
to
r
c
o
n
tro
l
d
r
i
v
e
s
(
w
h
ich
u
se
s
tw
o
c
u
rre
n
t
a
n
d
o
n
e
sp
e
e
d
se
n
so
r)
is
a
c
h
iev
e
d
w
it
h
th
e
p
r
o
p
o
se
d
c
u
rre
n
t
se
n
s
o
rles
s
d
riv
e
.
S
u
c
h
a
n
a
p
p
ro
a
c
h
is
su
it
a
b
le
f
o
r
a
p
p
li
c
a
ti
o
n
s,
w
h
e
re
sp
e
e
d
s
e
n
so
r
c
a
n
n
o
t
b
e
e
li
m
in
a
ted
.
T
h
u
s,
e
li
m
in
a
ti
o
n
o
f
c
u
rre
n
t
se
n
so
r
re
su
lt
s
i
n
re
d
u
c
ti
o
n
o
f
c
o
st,
in
c
re
a
se
s
re
li
a
b
il
it
y
,
r
e
d
u
c
e
d
siz
e
a
n
d
n
o
ise
imm
u
n
it
y
.
A
n
e
w
c
u
rre
n
t
e
sti
m
a
ti
o
n
a
lg
o
rit
h
m
is
p
ro
p
o
s
e
d
in
th
is
p
a
p
e
r.
T
h
e
c
u
rre
n
t
e
sti
m
a
ti
o
n
a
lg
o
rit
h
m
,
e
sti
m
a
tes
th
e
c
u
rre
n
t
in
tw
o
p
h
a
se
sta
ti
o
n
a
ry
re
f
e
r
e
n
c
e
f
ra
m
e
.
T
h
e
p
ro
p
o
se
d
c
u
rre
n
t
e
stim
a
ti
o
n
t
e
c
h
n
iq
u
e
c
a
n
a
lso
b
e
u
se
d
a
s a f
a
u
lt
to
lera
n
t
a
lg
o
rit
h
m
f
o
r
n
o
rm
a
l
v
e
c
to
r
c
o
n
tro
ll
e
d
d
riv
e
s
in
c
a
se
o
f
c
u
rre
n
t
se
n
s
o
r
f
a
il
u
re
s.
T
h
e
p
e
r
f
o
r
m
a
n
c
e
o
f
th
e
c
u
rre
n
t
se
n
so
rles
s
d
riv
e
u
si
n
g
th
e
p
ro
p
o
se
d
c
u
rre
n
t
e
stim
a
ti
o
n
tec
h
n
iq
u
e
is
v
e
ri
f
ied
th
ro
u
g
h
M
A
TL
A
B/S
I
M
UL
INK
.
Ex
ten
siv
e
si
m
u
latio
n
re
su
lt
s
a
re
p
re
se
n
ted
to
c
o
n
f
irm
th
e
e
ff
e
c
ti
v
e
n
e
ss
o
f
th
e
a
lg
o
rit
h
m
.
T
h
e
a
l
g
o
rit
h
m
is
a
ls
o
e
x
p
e
ri
m
e
n
tall
y
v
a
li
d
a
ted
w
it
h
th
e
lab
o
ra
to
ry
d
e
v
e
lo
p
e
d
p
r
o
to
ty
p
e
a
n
d
th
e
re
su
lt
s
a
re
p
re
se
n
ted
.
T
h
e
p
ro
to
ty
p
e
is
b
u
il
t
a
ro
u
n
d
a
d
S
P
A
CE
1
1
0
4
c
o
n
tr
o
ll
e
r
b
o
a
rd
.
K
ey
w
o
r
d
s
:
C
u
r
r
en
t e
s
ti
m
atio
n
I
n
d
u
ctio
n
m
o
to
r
d
r
iv
e
Sen
s
o
r
les
s
Vec
to
r
co
n
tr
o
l
Co
p
y
rig
h
t
©
201
9
In
stit
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts
re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Vi
m
le
s
h
Ver
m
a
,
De
p
a
rtme
n
t
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
,
Natio
n
al
I
n
s
tit
u
te
o
f
T
ec
h
n
o
lo
g
y
P
atn
a,
P
atn
a
-
800005
,
I
n
d
ia.
E
m
ail:
v
i
m
les
h
.
v
er
m
a
@
n
itp
.
ac
.
in
1.
I
NT
RO
D
UCT
I
O
N
I
n
d
u
ctio
n
m
ac
h
in
e
s
ar
e
th
e
w
o
r
k
h
o
r
s
e
o
f
th
e
p
r
esen
t
d
ay
i
n
d
u
s
tr
y
d
u
e
to
th
eir
s
i
m
p
l
icit
y
an
d
r
u
g
g
ed
co
n
s
tr
u
ct
io
n
.
C
o
n
tr
o
l
o
f
th
e
s
e
m
ac
h
in
e
s
is
q
u
ite
co
m
p
l
ex
d
u
e
to
co
u
p
lin
g
b
et
w
ee
n
f
l
u
x
an
d
to
r
q
u
e.
T
h
u
s
,
s
p
ee
d
co
n
tr
o
l
o
f
in
d
u
ctio
n
m
o
to
r
d
r
iv
e
ca
n
b
e
d
iv
id
ed
in
to
t
w
o
ca
teg
o
r
ies,
i.e
.
,
s
ca
lar
co
n
tr
o
l
(v
o
lt/Her
tz)
an
d
v
ec
to
r
co
n
tr
o
l.
Scalar
co
n
tr
o
l
in
d
u
ctio
n
m
o
to
r
d
r
iv
es
ar
e
s
i
m
p
le
to
i
m
p
lem
en
t,
r
eliab
le
an
d
co
s
t
ef
f
ec
ti
v
e.
I
n
s
ca
lar
co
n
tr
o
l,
a
d
c
v
o
ltag
e
s
en
s
o
r
an
d
/o
r
a
s
p
ee
d
s
en
s
o
r
is
n
ee
d
ed
.
Ho
w
e
v
er
,
th
e
d
y
n
a
m
ic
p
er
f
o
r
m
a
n
ce
o
f
s
u
ch
d
r
i
v
es
i
s
s
lu
g
g
is
h
w
h
en
s
p
ee
d
/to
r
q
u
e
ch
an
g
e
o
cc
u
r
s
.
T
h
u
s
v
ec
to
r
co
n
tr
o
l
is
ad
o
p
ted
in
ap
p
licatio
n
s
w
h
ich
n
ee
d
g
o
o
d
d
y
n
a
m
ic
p
er
f
o
r
m
a
n
ce
a
n
d
p
r
ec
is
e
s
p
ee
d
/p
o
s
itio
n
co
n
tr
o
l.
Ho
w
e
v
er
,
th
e
co
n
tr
o
l
s
tr
u
ct
u
r
e
o
f
v
ec
to
r
co
n
tr
o
l
d
r
iv
es
is
co
m
p
le
x
an
d
ex
p
e
n
s
i
v
e
co
m
p
ar
ed
to
s
ca
lar
c
o
n
tr
o
l
as
th
e
n
u
m
b
er
o
f
s
en
s
o
r
s
in
cr
ea
s
e
s
(
i.e
.
,
t
w
o
c
u
r
r
en
t
an
d
o
n
e
s
p
ee
d
s
e
n
s
o
r
)
.
I
n
t
h
e
p
ast
s
e
v
er
al
r
esear
ch
w
o
r
k
s
h
av
e
b
ee
n
d
o
n
e
r
elate
d
to
s
p
ee
d
s
en
s
o
r
less
s
t
r
ateg
ies,
b
u
t
litt
le
w
o
r
k
h
as
b
ee
n
d
o
n
e
r
elate
d
to
cu
r
r
en
t
s
en
s
o
r
less
d
r
iv
e
s
.
T
h
e
s
p
ee
d
s
en
s
o
r
les
s
d
r
iv
e
n
ee
d
s
t
w
o
c
u
r
r
en
t
s
e
n
s
o
r
s
to
e
s
ti
m
ate
t
h
e
s
p
ee
d
an
d
r
o
to
r
p
o
s
itio
n
.
T
h
e
cu
r
r
en
t
s
en
s
o
r
less
d
r
i
v
e
n
ee
d
s
s
p
ee
d
/p
o
s
itio
n
s
e
n
s
o
r
to
ac
h
ie
v
e
th
e
s
a
m
e
p
er
f
o
r
m
a
n
ce
.
Ge
n
er
al
l
y
,
d
r
iv
e
s
b
ased
o
n
v
o
lt/Her
tz,
u
s
es
a
s
p
ee
d
/p
o
s
itio
n
s
en
s
o
r
.
Fo
r
th
is
k
i
n
d
o
f
d
r
iv
es
n
o
cu
r
r
en
t
s
e
n
s
o
r
is
ad
o
p
ted
f
o
r
th
e
m
ea
s
u
r
e
m
e
n
t o
f
th
r
ee
p
h
a
s
e
cu
r
r
en
t.
B
u
t t
h
e
d
r
a
w
b
ac
k
w
i
th
th
is
k
i
n
d
o
f
ap
p
r
o
ac
h
is
alr
ea
d
y
d
is
cu
s
s
ed
.
T
h
er
ef
o
r
e,
th
e
m
ai
n
m
o
ti
v
ati
o
n
b
eh
in
d
t
h
i
s
w
o
r
k
is
to
a
ch
iev
e
v
ec
to
r
co
n
tr
o
l
w
it
h
t
h
e
ex
i
s
ti
n
g
s
p
ee
d
/p
o
s
itio
n
s
e
n
s
o
r
b
ased
v
o
lt/Her
tz
d
r
iv
e
s
.
As,
alr
ea
d
y
d
is
c
u
s
s
ed
,
v
ec
to
r
co
n
tr
o
lled
d
r
iv
es
n
ee
d
t
wo
cu
r
r
en
t
s
en
s
o
r
s
f
o
r
its
i
m
p
le
m
en
tatio
n
.
Hen
ce
,
th
e
s
e
c
u
r
r
en
ts
w
ill
b
e
esti
m
ated
in
t
wo
p
h
ase
s
tatio
n
ar
y
r
ef
e
r
en
ce
f
r
a
m
e
in
ca
s
e
o
f
d
r
iv
es
w
h
er
e
s
p
ee
d
/p
o
s
itio
n
s
en
s
o
r
is
av
ailab
le
to
ac
h
i
ev
e
v
ec
to
r
co
n
tr
o
l.
A
l
s
o
,
th
er
e
ar
e
ap
p
licatio
n
s
(
lik
e
p
o
s
itio
n
i
n
g
)
,
w
h
er
e
th
e
s
p
ee
d
/p
o
s
itio
n
s
e
n
s
o
r
ca
n
n
o
t
b
e
r
e
m
o
v
ed
to
as
s
u
r
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4856
C
u
r
r
en
t sen
s
o
r
less
ve
cto
r
co
n
t
r
o
lled
in
d
u
ctio
n
m
o
to
r
d
r
ive
(
V
imlesh
V
erma
)
53
p
r
ec
is
io
n
an
d
r
eliab
il
it
y
.
P
r
o
p
o
s
ed
alg
o
r
ith
m
ca
n
also
b
e
u
s
ed
i
n
t
h
e
ap
p
licatio
n
s
w
h
er
e,
a
u
to
m
at
ic
r
ec
o
n
f
i
g
u
r
atio
n
o
f
co
n
tr
o
ller
i
s
d
o
n
e
f
r
o
m
s
e
n
s
o
r
les
s
v
ec
to
r
co
n
tr
o
l
(
w
h
e
n
a
s
p
ee
d
/p
o
s
iti
o
n
s
en
s
o
r
f
ails
)
to
v
o
lt/Her
tz
co
n
tr
o
l
(
w
h
e
n
p
h
as
e
cu
r
r
en
t
s
e
n
s
o
r
s
f
ail)
.
Fo
r
th
i
s
ap
p
licatio
n
(
i.e
.
,
w
h
e
n
b
o
th
th
e
c
u
r
r
en
t
s
e
n
s
o
r
s
f
ail
an
d
s
p
ee
d
s
e
n
s
o
r
i
s
h
ea
lt
h
y
i
n
ca
s
e
o
f
v
ec
to
r
co
n
tr
o
l
d
r
iv
e)
in
s
tead
o
f
s
h
i
f
ti
n
g
t
h
e
d
r
iv
e
f
r
o
m
v
ec
to
r
co
n
tr
o
l
to
v
o
lt/
Her
tz,
t
h
e
d
r
iv
e
ca
n
s
till
b
e
m
ad
e
to
o
p
er
ate
as
a
n
v
ec
to
r
co
n
tr
o
l
d
r
i
v
e,
w
ith
t
h
e
h
elp
o
f
p
r
o
p
o
s
ed
cu
r
r
en
t
e
s
ti
m
at
io
n
te
ch
n
iq
u
e.
T
h
is
p
ap
er
p
r
esen
ts
a
n
e
w
cu
r
r
en
t
est
i
m
a
tio
n
tech
n
iq
u
e
f
o
r
s
u
c
h
k
i
n
d
o
f
ap
p
licatio
n
s
.
Sev
er
al
m
et
h
o
d
s
f
o
r
esti
m
atio
n
o
f
cu
r
r
en
t
ar
e
p
r
esen
ted
in
liter
atu
r
e.
Gr
ee
n
et
al.
[
1
]
p
r
o
p
o
s
ed
th
e
r
ec
o
n
s
tr
u
ct
io
n
o
f
p
h
ase
c
u
r
r
en
ts
f
r
o
m
t
h
e
DC
-
li
n
k
c
u
r
r
en
t
s
ig
n
al
i
n
1
9
8
9
.
R
esear
ch
w
o
r
k
s
in
[
2
-
3
]
in
tr
o
d
u
ce
d
th
e
m
o
d
i
f
i
ca
tio
n
s
to
t
h
e
m
o
d
u
latio
n
alg
o
r
ith
m
i
n
o
r
d
er
to
g
u
ar
a
n
tee
t
h
e
r
eliab
ilit
y
o
f
t
h
e
m
ea
s
u
r
e
m
e
n
t
s
f
r
o
m
th
e
DC
-
li
n
k
cu
r
r
e
n
t se
n
s
o
r
s
.
Mo
to
r
p
h
a
s
e
cu
r
r
e
n
t
w
a
s
al
s
o
esti
m
ated
b
y
u
s
i
n
g
p
r
ed
ictio
n
-
co
r
r
ec
tio
n
alg
o
r
ith
m
s
,
t
h
u
s
in
tr
o
d
u
cin
g
ad
d
itio
n
al
co
m
p
u
tat
io
n
al
b
u
r
d
en
to
t
h
e
d
r
iv
e
s
y
s
te
m
[
4
-
5
]
.
I
n
[
6
]
a
s
p
ac
e
v
ec
to
r
m
o
d
u
la
tio
n
p
atter
n
m
o
d
i
f
icatio
n
(
S
V
M
-
P
M)
is
p
r
o
p
o
s
ed
th
at
p
r
o
d
u
ce
s
lo
w
er
cu
r
r
en
t
h
ar
m
o
n
ic
co
n
te
n
t.
T
h
e
SVM
-
P
M,
r
e
q
u
ir
ed
to
r
ec
o
n
s
tr
u
ct
t
h
e
p
h
ase
c
u
r
r
en
ts
,
i
n
cr
e
m
e
n
t
s
th
e
p
o
w
er
lo
s
s
es,
th
e
au
d
ib
le
n
o
is
e
a
n
d
th
e
h
i
g
h
-
f
r
eq
u
e
n
c
y
co
n
ten
t
in
v
o
lta
g
es
an
d
cu
r
r
en
t
[
7
]
.
T
h
e
in
v
er
t
er
o
u
tp
u
t
v
o
ltag
e
i
s
r
ed
u
ce
d
b
y
th
e
SVM
-
P
M
i
n
t
h
e
o
v
er
m
o
d
u
lat
io
n
o
p
er
atin
g
m
o
d
e
[
8
]
.
T
h
e
n
eg
ati
v
e
e
f
f
e
cts
o
f
SVM
-
P
M
is
o
v
er
co
m
e
i
n
[
9
]
w
it
h
th
e
h
elp
o
f
a
s
tate
o
b
s
er
v
er
w
o
r
k
i
n
g
al
o
n
g
w
it
h
S
VM
-
P
M.
I
n
[
1
0
]
,
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
(
DT
C
)
s
ch
e
m
e
f
o
r
I
M
d
r
iv
e
s
b
ased
o
n
s
i
n
g
le
c
u
r
r
en
t
s
e
n
s
o
r
p
lace
d
in
th
e
i
n
v
er
ter
D
C
-
l
in
k
is
p
r
o
p
o
s
ed
.
Her
e
th
e
p
h
ase
c
u
r
r
en
t
i
s
f
ir
s
t
p
r
ed
icted
b
y
m
ea
n
s
o
f
s
u
itab
l
e
m
o
to
r
m
o
d
el
an
d
th
e
n
ad
j
u
s
t
ed
w
it
h
t
h
e
h
elp
o
f
s
en
s
ed
DC
-
li
n
k
c
u
r
r
en
t.
T
h
e
d
r
a
w
b
ac
k
i
s
th
e
ad
d
itio
n
al
co
m
p
u
tatio
n
al
b
u
r
d
e
n
.
I
n
[
1
1
]
,
a
cu
r
r
en
t
s
en
s
o
r
ar
r
an
g
e
m
e
n
t
f
o
r
th
e
ac
q
u
is
itio
n
o
f
tr
u
e
in
s
ta
n
ta
n
eo
u
s
p
h
ase
cu
r
r
e
n
t
f
r
o
m
t
h
e
DC
-
li
n
k
s
i
g
n
a
l,
to
g
et
h
er
w
it
h
th
e
s
h
o
r
t
-
cir
cu
i
t
a
n
d
g
r
o
u
n
d
f
a
u
lt
p
r
o
tectio
n
s
is
i
m
p
le
m
e
n
ted
w
it
h
o
n
l
y
o
n
e
cu
r
r
en
t
s
e
n
s
o
r
.
T
h
e
DC
-
li
n
k
s
e
n
s
ed
c
u
r
r
en
t
r
e
m
ai
n
s
s
e
n
s
it
iv
e
to
n
ar
r
o
w
-
p
u
l
s
e
p
r
o
b
le
m
s
,
a
n
d
f
u
r
th
er
d
eter
io
r
ates
if
t
h
e
ca
b
le
ca
p
ac
itan
ce
ca
u
s
e
s
s
p
u
r
io
u
s
o
s
cilla
tio
n
s
in
th
e
DC
-
l
in
k
w
a
v
e
f
o
r
m
.
T
h
is
p
r
o
b
le
m
i
s
s
o
lv
ed
i
n
[
1
2
]
,
w
h
er
e
th
e
co
n
t
r
o
l
alg
o
r
ith
m
i
s
b
ased
o
n
th
e
ca
lcu
latio
n
s
o
f
i
n
s
ta
n
ta
n
eo
u
s
ac
tiv
e
a
n
d
r
ea
ctiv
e
p
o
w
er
f
r
o
m
t
h
e
D
C
-
l
in
k
c
u
r
r
en
t
a
n
d
P
W
M
p
atter
n
.
T
h
r
ee
in
d
iv
id
u
al
o
b
s
er
v
er
s
(
o
n
e
f
o
r
ea
ch
p
h
a
s
e)
ar
e
u
s
ed
in
[
1
3
]
to
esti
m
ate
t
h
e
p
h
a
s
e
c
u
r
r
en
t
f
r
o
m
v
o
ltag
e
a
n
d
f
lu
x
s
ig
n
a
ls
.
T
h
is
m
et
h
o
d
is
d
ep
en
d
en
t
o
n
t
h
e
v
ar
iatio
n
o
f
s
ta
to
r
r
esis
ta
n
ce
.
I
n
al
l
t
h
e
ab
o
v
e
m
et
h
o
d
s
,
c
u
r
r
en
t
s
e
n
s
o
r
is
p
lace
d
i
n
th
e
DC
-
l
in
k
.
I
t
i
s
n
o
ticed
th
a
t
all
o
f
th
e
af
o
r
esaid
m
et
h
o
d
s
b
a
s
ed
o
n
DC
-
li
n
k
cu
r
r
en
t
m
ea
s
u
r
e
m
e
n
t
r
eq
u
ir
e
th
e
i
n
f
o
r
m
atio
n
o
f
m
ac
h
in
e
m
o
d
el
an
d
s
w
itc
h
in
g
s
ta
tes
o
f
t
h
e
i
n
v
er
te
r
.
I
n
[
1
4
-
2
2
]
,
cu
r
r
en
t
s
en
s
o
r
les
s
alg
o
r
ith
m
s
ar
e
p
r
esen
ted
.
A
l
l
th
ese
m
et
h
o
d
s
ar
e
b
ased
o
n
ac
cu
r
ate
m
ac
h
i
n
e
m
o
d
el
s
,
w
h
ic
h
w
ea
k
e
n
th
e
r
o
b
u
s
tn
e
s
s
o
f
t
h
e
co
r
r
esp
o
n
d
in
g
d
r
iv
e.
I
n
[
2
3
]
,
a
h
y
b
r
id
P
W
M
tech
n
iq
u
e
i
s
u
s
ed
to
r
ec
o
n
s
tr
u
c
t
th
e
c
u
r
r
en
t,
r
ed
u
ce
th
e
c
u
r
r
en
t
d
is
to
r
ti
o
n
an
d
d
ec
r
ea
s
e
th
e
T
HD
o
f
in
v
er
ter
.
T
h
e
p
r
o
p
o
s
ed
m
et
h
o
d
co
m
b
i
n
es
S
VM
an
d
PW
M
tech
n
iq
u
es
to
r
ed
u
ce
th
e
u
n
-
m
ea
s
u
r
ab
le
ac
tiv
e
v
o
lta
g
e
a
r
ea
b
u
t,
in
cr
e
ases
th
e
al
g
o
r
ith
m
co
m
p
le
x
it
y
.
Fu
r
t
h
er
m
o
d
if
icatio
n
s
ar
e
m
ad
e
in
t
h
e
P
W
M
tech
n
iq
u
es
to
eli
m
in
ate
t
h
e
p
r
o
b
lem
s
r
elate
d
to
tr
ad
itio
n
al
DC
-
li
n
k
s
e
n
s
i
n
g
[
2
4
]
.
I
n
[
2
4
]
,
th
e
s
w
itc
h
in
g
lo
s
s
i
s
less
a
n
d
th
er
e
is
a
r
ed
u
c
tio
n
in
th
e
d
c
c
u
r
r
en
t
r
ip
p
le.
Ho
w
e
v
er
,
it
r
esu
lts
i
n
i
n
cr
ea
s
ed
T
HD
at
lo
w
e
r
m
o
d
u
latio
n
in
d
e
x
.
T
o
im
p
le
m
en
t
t
h
e
cu
r
r
en
t
e
s
ti
m
atio
n
m
et
h
o
d
in
[
2
5
]
,
in
v
er
ter
n
ee
d
s
to
b
e
co
n
s
tr
u
cted
w
it
h
s
ix
i
n
d
i
v
id
u
al
I
GB
T
’
s
.
He
n
ce
,
th
e
m
et
h
o
d
w
il
l
f
ai
l
i
f
,
ea
ch
l
eg
o
f
t
h
e
i
n
v
er
ter
i
s
m
ad
e
u
s
i
n
g
d
u
al
p
ac
k
I
GB
T
m
o
d
u
les
o
r
all
t
h
e
s
i
x
I
GB
T
’
s
co
m
e
i
n
a
s
in
g
le
p
ac
k
.
I
n
[
2
6
]
an
d
[
2
7
]
,
a
n
e
w
m
et
h
o
d
to
esti
m
a
te
th
e
p
h
ase
cu
r
r
en
ts
u
s
i
n
g
s
i
n
g
le
c
u
r
r
en
t
s
en
s
o
r
is
p
r
esen
ted
f
o
r
a
DM
C
f
ed
AC
m
o
to
r
s
.
No
te
t
h
at
t
h
e
p
r
o
p
o
s
ed
m
et
h
o
d
d
ep
en
d
s
o
n
s
p
ec
if
ic
lo
ca
tio
n
o
f
th
e
c
u
r
r
en
t
s
e
n
s
o
r
.
T
h
er
ef
o
r
e,
im
p
le
m
e
n
tatio
n
o
f
th
e
p
r
o
p
o
s
ed
m
et
h
o
d
n
ee
d
s
a
s
m
all
c
h
a
n
g
e
i
n
t
h
e
co
n
v
er
te
r
co
n
n
ec
tio
n
to
p
lace
th
e
c
u
r
r
en
t se
n
s
o
r
.
I
n
t
h
is
p
ap
er
,
a
cu
r
r
en
t
s
e
n
s
o
r
less
b
ased
v
ec
to
r
co
n
tr
o
lle
d
in
d
u
ct
io
n
m
o
to
r
d
r
iv
e
is
p
r
esen
ted
.
Her
e,
s
p
ee
d
s
en
s
o
r
is
u
s
ed
to
ac
h
iev
e
v
ec
to
r
co
n
tr
o
l
w
it
h
o
u
t
u
s
i
n
g
c
u
r
r
en
t
s
e
n
s
o
r
s
.
T
h
e
cu
r
r
en
ts
ar
e
esti
m
ated
in
t
w
o
p
h
ase
s
tat
io
n
ar
y
r
ef
er
en
ce
f
r
a
m
e,
w
it
h
t
h
e
h
el
p
o
f
r
ef
er
en
ce
v
al
u
e
o
f
d
-
ax
is
s
tato
r
cu
r
r
en
t.
T
h
e
r
ef
er
en
ce
v
al
u
e
o
f
d
-
a
x
i
s
cu
r
r
en
t
is
o
b
tain
ed
f
r
o
m
m
a
ch
in
e
r
ati
n
g
s
.
T
h
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
u
s
es
t
w
o
s
i
m
p
le
eq
u
atio
n
s
f
o
r
its
es
ti
m
atio
n
.
T
h
e
alg
o
r
ith
m
d
o
es
n
o
t
r
eq
u
ir
e
an
y
ex
tr
a
h
ar
d
w
ar
e
f
o
r
its
i
m
p
le
m
en
ta
tio
n
an
d
th
u
s
m
ak
e
s
it
s
u
ita
b
le
f
o
r
r
etr
o
f
it
ap
p
licatio
n
s
.
T
h
e
p
ap
e
r
is
d
iv
id
ed
in
to
s
ix
s
ec
tio
n
s
.
Sectio
n
-
I
d
ea
ls
w
it
h
liter
atu
r
e
r
ev
ie
w
o
n
v
ar
io
u
s
cu
r
r
en
t
esti
m
atio
n
m
et
h
o
d
s
an
d
cu
r
r
en
t
s
en
s
o
r
les
s
b
ased
d
r
i
v
es.
T
h
e
p
r
o
p
o
s
ed
cu
r
r
en
t
est
i
m
a
tio
n
al
g
o
r
ith
m
is
p
r
esen
t
i
n
s
ec
tio
n
-
I
I
.
Si
m
u
latio
n
r
e
s
u
l
ts
ar
e
av
aila
b
le
i
n
s
ec
tio
n
-
I
I
I
.
Sectio
n
–
I
V
d
ea
ls
w
i
th
th
e
h
ar
d
w
ar
e
s
et
u
p
d
escr
ip
tio
n
a
n
d
c
o
r
r
esp
o
n
d
in
g
e
x
p
er
i
m
e
n
tal
r
es
u
lts
ar
e
av
ailab
le
i
n
s
ec
tio
n
-
V.
Sectio
n
-
VI
co
n
clu
d
es th
e
w
o
r
k
.
2.
P
RO
P
O
SE
D
CURR
E
N
T
E
S
T
I
M
AT
I
O
N
A
L
G
O
R
I
T
H
M
T
h
e
p
r
o
p
o
s
ed
cu
r
r
en
t
esti
m
at
i
o
n
alg
o
r
ith
m
i
s
s
h
o
w
n
i
n
Fi
g
u
r
e
1
.
Her
e
th
e
cu
r
r
en
t
s
ar
e
esti
m
ated
in
t
w
o
p
h
a
s
e
s
tat
io
n
ar
y
r
e
f
er
en
ce
f
r
a
m
e.
I
n
itiall
y
,
t
h
e
r
ated
v
al
u
e
o
f
f
l
u
x
i
s
ca
lc
u
lated
w
it
h
t
h
e
h
elp
o
f
r
e
f
er
en
ce
v
alu
e
o
f
d
-
ax
is
s
tato
r
cu
r
r
en
t.
T
h
e
o
b
tain
ed
v
alu
e
o
f
r
o
to
r
f
l
u
x
is
t
h
e
n
u
s
ed
,
to
ca
lc
u
late
t
h
e
f
l
u
x
in
s
tat
io
n
ar
y
r
ef
er
en
ce
f
r
a
m
e
w
it
h
t
h
e
h
elp
o
f
v
ec
to
r
r
o
tato
r
.
A
ls
o
,
t
h
e
eq
u
atio
n
o
f
r
o
to
r
f
lu
x
i
n
s
tatio
n
a
r
y
r
ef
er
e
n
ce
f
r
a
m
e
d
ep
en
d
s
o
n
s
tato
r
cu
r
r
en
ts
a
n
d
s
tato
r
v
o
ltag
e
s
.
R
e
f
er
en
ce
v
alu
e
o
f
s
tato
r
v
o
ltag
e
is
u
s
e
d
in
th
is
eq
u
at
io
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l.
8
,
No
.
1
,
Ma
r
ch
2
0
1
9
:
5
2
–
67
54
T
h
u
s
,
t
h
e
u
n
k
n
o
w
n
q
u
a
n
ti
t
y
p
r
esen
t
i
n
eq
u
atio
n
i
s
t
h
e
s
tato
r
cu
r
r
en
t.
Hen
ce
,
it
ca
n
b
e
esti
m
ated
.
T
h
e
co
r
r
esp
o
n
d
in
g
eq
u
at
io
n
s
ar
e
d
is
cu
s
s
ed
later
.
Ov
er
all
b
l
o
ck
d
iag
r
a
m
o
f
t
h
e
d
r
iv
e
i
s
p
r
esen
ted
i
n
F
i
g
u
r
e
2.
2
.
1
.
T
heo
re
t
ica
l D
ev
elo
pm
e
n
t
:
R
o
to
r
f
lu
x
i
n
s
tatio
n
ar
y
(
s
tato
r
)
r
ef
er
en
ce
f
r
a
m
e
is
g
iv
e
n
as
(1
-
2)
:
ms
r
r
c
o
s
(
1
)
ms
r
r
s
i
n
(
2
)
W
h
er
e
sd
m
r
i
L
an
d
ms
is
th
e
p
o
s
itio
n
o
f
r
o
to
r
f
lu
x
w
it
h
r
esp
ec
t
t
o
s
tato
r
ax
is
.
*
sd
i
is
t
h
e
r
ef
er
en
ce
v
al
u
e
o
f
d
ax
is
cu
r
r
en
t
in
r
o
tatin
g
r
e
f
er
en
ce
f
r
a
m
e.
Her
e
m
L
an
d
sd
i
ar
e
k
n
o
w
n
.
T
h
u
s
r
is
also
k
n
o
w
n
.
R
o
to
r
f
lu
x
i
n
s
t
atio
n
ar
y
r
ef
er
e
n
ce
f
r
a
m
e
ca
n
b
e
ex
p
r
ess
ed
as
(3
-
4)
:
s
s
s
m
r
r
i
L
L
L
(
3
)
s
s
s
m
r
r
i
L
L
L
(
4
)
w
h
er
e,
s
an
d
s
ar
e
g
iv
e
n
as
(5
-
6)
dt
i
R
v
s
s
s
s
)
(
*
(
5
)
dt
i
R
v
s
s
s
s
)
(
*
(
6)
A
l
s
o
,
s
r
m
L
L
L
2
1
Su
b
s
ti
tu
t
in
g
(
2
)
an
d
(
5
)
in
(
3
)
an
d
s
o
lv
i
n
g
f
o
r
s
i
w
e
g
et
(
7
)
r
r
m
s
s
s
s
s
L
L
dt
i
R
v
L
i
)
ˆ
(
1
ˆ
(
7
)
Si
m
i
lar
l
y
,
s
i
is
(
8
)
esti
m
ated
b
y
s
u
b
s
t
it
u
ti
n
g
(
1
)
an
d
(
6
)
in
(
4
)
.
r
r
m
s
s
s
s
s
L
L
dt
i
R
v
L
i
)
ˆ
(
1
ˆ
(
8
)
I
n
Fig
u
r
e
1
,
s
L
K
1
1
an
d
r
m
s
L
L
L
K
*
1
2
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4856
C
u
r
r
en
t sen
s
o
r
less
ve
cto
r
co
n
t
r
o
lled
in
d
u
ctio
n
m
o
to
r
d
r
ive
(
V
imlesh
V
erma
)
55
Fig
u
r
e
1
.
P
r
o
p
o
s
ed
cu
r
r
en
t e
s
ti
m
atio
n
tech
n
iq
u
e
Fig
u
r
e
2
.
Sch
e
m
atic
b
lo
ck
d
ia
g
r
a
m
o
f
I
M
d
r
iv
e
w
i
th
p
r
o
p
o
s
ed
cu
r
r
en
t e
s
ti
m
atio
n
tech
n
iq
u
e
3.
SI
M
UL
AT
I
O
N
R
E
S
UL
T
S
T
h
e
p
r
o
p
o
s
ed
cu
r
r
en
t
s
en
s
o
r
l
ess
m
eth
o
d
h
a
s
b
ee
n
s
i
m
u
lat
ed
u
s
in
g
M
A
T
L
A
B
/SIM
U
L
I
NK.
T
h
is
s
ec
tio
n
p
r
esen
ts
s
o
m
e
o
f
t
h
e
s
i
m
u
latio
n
r
esu
l
ts
co
r
r
esp
o
n
d
in
g
to
th
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
.
T
h
e
m
ac
h
i
n
e
p
ar
am
eter
s
ar
e
av
ailab
le
in
T
ab
le
1
as sh
o
w
n
i
n
A
P
P
E
NDI
X
.
3
.
1
.
Ste
p
cha
ng
e
in ro
t
o
r
s
peed
T
h
e
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
in
d
u
ct
io
n
m
o
to
r
f
o
r
s
tep
ch
a
n
g
e
in
r
o
to
r
s
p
ee
d
is
p
r
esen
ted
.
A
s
tep
ch
an
g
e
i
n
s
p
ee
d
o
f
2
0
r
a
d
/s
is
ap
p
lied
at
5
s
f
r
o
m
0
r
ad
/s
.
T
h
e
co
r
r
esp
o
n
d
in
g
r
esu
lt
s
ar
e
s
h
o
w
n
in
F
ig
u
r
e
3
.
Fi
g
u
r
e
3
(
a)
s
h
o
w
s
h
o
w
t
h
e
ac
t
u
al
(
r
)
r
o
to
r
s
p
ee
d
f
o
llo
w
s
t
h
e
r
e
f
er
en
ce
(
r
)
s
p
ee
d
.
T
h
e
d
a
n
d
q
ax
is
r
o
to
r
f
lu
x
co
m
p
o
n
e
n
t
s
ar
e
p
r
esen
ted
i
n
Fig
u
r
e
3
(
b
)
,
w
h
ich
r
e
f
lect
s
f
lu
x
o
r
ien
tatio
n
.
T
h
e
f
l
u
x
a
n
d
to
r
q
u
e
co
m
p
o
n
e
n
ts
o
f
th
e
c
u
r
r
en
ts
ar
e
s
h
o
w
n
in
Fi
g
u
re
3
(
c)
an
d
Fi
g
u
r
e
3
(
d
)
.
T
h
e
ac
tu
al
c
u
r
r
en
t
(
u
s
in
g
t
w
o
c
u
r
r
en
t
s
en
s
o
r
s
)
an
d
esti
m
ated
α
-
a
n
d
β
-
a
x
i
s
cu
r
r
e
n
ts
ar
e
p
r
esen
ted
in
Fi
g
u
r
e
3
(
e)
an
d
Fig
u
r
e
3
(
f
)
.
I
t
is
o
b
s
er
v
ed
th
at
esti
m
ated
cu
r
r
en
t
f
o
llo
w
s
th
e
ac
t
u
al
w
i
th
n
eg
li
g
ib
le
er
r
o
r
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l.
8
,
No
.
1
,
Ma
r
ch
2
0
1
9
:
5
2
–
67
56
(
a)
(
b
)
(
c)
(
d
)
(
e)
(
f
)
Fig
u
r
e
3
.
Si
m
u
latio
n
r
esu
l
ts
u
n
d
er
s
tep
ch
an
g
e
i
n
s
p
ee
d
(
T
L
=0
.
5
p
u
at
2
0
r
ad
/s
)
(
a)
r
ef
er
en
ce
an
d
ac
tu
al
r
o
to
r
s
p
ee
d
(
b
)
r
o
to
r
f
lu
x
(
c)
q
-
ax
i
s
cu
r
r
en
t (
d
)
d
-
ax
is
c
u
r
r
en
t (
e)
α
-
ax
is
cu
r
r
e
n
t (
f
)
β
-
a
x
is
c
u
r
r
en
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4856
C
u
r
r
en
t sen
s
o
r
less
ve
cto
r
co
n
t
r
o
lled
in
d
u
ctio
n
m
o
to
r
d
r
ive
(
V
imlesh
V
erma
)
57
3
.
2
.
Sp
ee
d
Rev
er
s
a
l
T
h
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
i
s
als
o
test
ed
f
o
r
f
o
r
w
ar
d
an
d
r
ev
er
s
e
m
o
to
r
in
g
b
y
ap
p
l
y
in
g
a
s
q
u
ar
e
w
av
e
s
p
ee
d
co
m
m
a
n
d
.
T
h
e
r
ef
er
en
ce
s
p
ee
d
(
r
)
is
ch
an
g
ed
f
r
o
m
+2
0
r
ad
/s
to
-
2
0
r
ad
/s
at
1
7
.
5
s
.
T
h
e
co
r
r
esp
o
n
d
in
g
ac
tu
al
s
p
ee
d
(
r
)
is
s
h
o
w
n
in
Fi
g
u
r
e
4
(
a)
.
T
h
e
f
lu
x
o
r
ien
ta
tio
n
i
s
n
o
t
d
i
s
tu
r
b
ed
as
ca
n
b
e
s
ee
n
i
n
F
ig
u
r
e
4
(
b
)
.
T
h
e
r
ef
er
en
ce
an
d
ac
t
u
al
v
al
u
es
o
f
to
r
q
u
e
an
d
f
l
u
x
c
u
r
r
en
t
s
ar
e
s
h
o
wn
i
n
Fi
g
u
r
e
4
(
c)
an
d
Fig
u
r
e
4
(
d
)
.
P
er
f
o
r
m
an
ce
o
f
t
h
e
cu
r
r
en
t
es
ti
m
ato
r
is
p
r
esen
ted
in
Fig
u
r
e
4
(
e)
an
d
Fig
u
r
e
4
(
f
)
,
w
h
ic
h
r
ev
ea
l
s
th
e
er
r
o
r
b
etw
ee
n
ac
t
u
al
an
d
e
s
ti
m
ated
cu
r
r
en
t i
s
n
e
g
li
g
ib
l
y
s
m
al
l.
3
.
3
.
Ra
m
p Re
s
po
n
s
e
T
h
e
p
er
f
o
r
m
a
n
ce
o
f
d
r
iv
e
u
n
d
er
s
lo
w
ze
r
o
cr
o
s
s
i
n
g
is
o
b
s
er
v
ed
w
h
e
n
r
e
f
er
en
ce
s
p
ee
d
is
ch
a
n
g
e
d
f
r
o
m
p
o
s
iti
v
e
to
n
e
g
ativ
e
in
t
h
e
f
o
r
m
o
f
a
r
a
m
p
.
T
h
e
r
ef
er
e
n
ce
an
d
ac
t
u
al
s
p
ee
d
,
r
o
to
r
f
lu
x
co
m
p
o
n
e
n
t,
f
lu
x
an
d
to
r
q
u
e
co
m
p
o
n
e
n
t
o
f
s
tat
o
r
cu
r
r
en
t,
ac
tu
al
an
d
est
i
m
at
ed
v
alu
es
o
f
α
-
an
d
β
-
ax
i
s
cu
r
r
en
t
ar
e
p
r
esen
ted
in
Fi
g
u
r
e
5
.
(
a)
(
b
)
(
c)
(
d
)
(
e)
(
f
)
Fig
u
r
e
4
.
Si
m
u
latio
n
r
esu
l
ts
u
n
d
er
s
p
ee
d
r
ev
er
s
al
(
T
L
=0
.
5
p
u
at
2
0
r
ad
/s
)
(
a)
r
ef
er
en
ce
an
d
ac
tu
al
r
o
to
r
s
p
ee
d
(
b
)
r
o
to
r
f
lu
x
(
c)
q
-
ax
i
s
cu
r
r
e
n
t
(
d
)
d
-
ax
is
cu
r
r
en
t (
e)
α
-
a
x
is
c
u
r
r
en
t (
f
)
β
-
a
x
is
c
u
r
r
en
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l.
8
,
No
.
1
,
Ma
r
ch
2
0
1
9
:
5
2
–
67
58
(
a)
(
b
)
(
c)
(
d
)
(
e)
(
f
)
Fig
u
r
e
5
.
Si
m
u
latio
n
r
esu
l
ts
u
n
d
er
r
am
p
s
p
ee
d
co
m
m
a
n
d
(
T
L
=0
.
5
p
u
)
(
a)
r
ef
er
en
ce
an
d
ac
tu
al
r
o
to
r
s
p
ee
d
(
b
)
r
o
to
r
f
lu
x
(
c)
q
-
ax
i
s
cu
r
r
e
n
t (
d
)
d
-
ax
is
c
u
r
r
en
t (
e)
α
-
ax
i
s
cu
r
r
en
t (
f
)
β
-
a
x
is
c
u
r
r
en
t
3
.
4
.
P
er
f
o
r
m
a
nce
un
der
s
in
u
s
o
ida
l sp
ee
d c
o
mm
a
nd
T
h
e
p
er
f
o
r
m
an
ce
o
f
t
h
e
s
e
n
s
o
r
less
d
r
iv
e
u
n
d
er
s
in
u
s
o
id
al
s
p
ee
d
co
m
m
a
n
d
is
o
b
s
er
v
ed
in
Fig
u
r
e
6
.
R
ef
er
e
n
ce
v
er
s
u
s
ac
t
u
al
s
p
ee
d
is
s
h
o
w
n
Fi
g
u
r
e
6
(
a)
.
I
t
is
o
b
s
er
v
ed
th
a
t
th
e
ac
tu
al
s
p
ee
d
tr
ac
k
s
t
h
e
r
e
f
er
en
ce
o
n
e
w
i
th
g
o
o
d
ac
cu
r
ac
y
.
Fro
m
Fi
g
u
r
e
6
(
b
)
,
it
is
n
o
ticed
th
at
f
l
u
x
o
r
ien
tatio
n
i
s
m
ai
n
ta
in
ed
th
r
o
u
g
h
o
u
t
th
e
o
p
er
atio
n
.
T
h
e
d
an
d
q
ax
is
s
t
a
to
r
cu
r
r
en
ts
ar
e
s
h
o
w
n
i
n
Fi
g
u
r
e
6
(
c)
an
d
Fig
u
r
e
6
(
d
)
.
3
.
5
.
P
er
f
o
r
m
a
nce
un
der
t
ria
ng
ula
r
s
peed
co
mm
a
n
d
T
h
e
p
er
f
o
r
m
a
n
ce
o
f
d
r
iv
e
u
n
d
er
tr
ian
g
u
lar
s
p
ee
d
co
m
m
a
n
d
is
o
b
s
e
r
v
ed
in
Fi
g
u
r
e
7
.
I
t
is
o
b
s
er
v
ed
th
at
th
e
ac
t
u
al
s
p
ee
d
tr
ac
k
s
t
h
e
r
e
f
er
en
ce
o
n
e
w
it
h
g
o
o
d
ac
cu
r
ac
y
as
s
h
o
w
n
in
Fi
g
u
r
e
7
(
a)
.
Fro
m
Fi
g
u
r
e
7
(
b
)
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4856
C
u
r
r
en
t sen
s
o
r
less
ve
cto
r
co
n
t
r
o
lled
in
d
u
ctio
n
m
o
to
r
d
r
ive
(
V
imlesh
V
erma
)
59
it
is
n
o
ticed
t
h
at
f
l
u
x
o
r
ie
n
tati
o
n
is
m
ai
n
tai
n
ed
t
h
r
o
u
g
h
o
u
t
t
h
e
o
p
er
atio
n
.
T
h
e
d
-
an
d
q
-
ax
i
s
s
tato
r
c
u
r
r
en
ts
ar
e
s
h
o
w
n
in
F
ig
u
r
e
7
(
c)
an
d
Fig
u
r
e
7
(
d
)
.
(
a)
(
b
)
(
c)
(
d
)
Fig
u
r
e
6
.
Si
m
u
latio
n
r
esu
l
ts
u
n
d
er
s
in
u
s
o
id
al
s
p
ee
d
co
m
m
a
n
d
(
T
L
=0
.
5
p
u
)
(
a)
r
ef
er
en
ce
an
d
ac
tu
al
r
o
to
r
s
p
ee
d
(
b
)
r
o
to
r
f
lu
x
(
c)
q
-
ax
i
s
cu
r
r
e
n
t (
d
)
d
-
ax
is
cu
r
r
en
t
(
a)
(
b
)
(
c)
(
d
)
Fig
u
r
e
7
.
Si
m
u
latio
n
r
esu
l
ts
u
n
d
er
tr
ian
g
u
lar
s
p
ee
d
co
m
m
an
d
(
T
L
=0
.
5
p
u
)
(
a)
r
ef
er
en
ce
an
d
ac
tu
al
r
o
to
r
s
p
ee
d
(
b
)
r
o
to
r
f
lu
x
(
c)
q
-
ax
i
s
cu
r
r
e
n
t (
d
)
d
-
ax
is
cu
r
r
en
t
3
.
6
.
M
o
t
o
ring
a
nd
re
g
ener
a
t
ing
m
o
de
o
f
o
pera
t
io
n
P
er
f
o
r
m
a
n
ce
o
f
t
h
e
d
r
iv
e
in
all
t
h
e
f
o
u
r
q
u
ad
r
a
n
t
o
f
o
p
er
atio
n
is
s
h
o
w
n
in
Fi
g
u
r
e
8
.
Her
e
t
h
e
r
ef
er
en
ce
s
p
ee
d
is
c
h
an
g
ed
f
r
o
m
1
0
r
ad
/s
to
-
1
0
r
ad
/s
.
T
h
e
l
o
ad
to
r
q
u
e
is
also
ch
a
n
g
ed
f
r
o
m
+5
N
-
m
to
-
5
N
-
m
an
d
is
ag
ain
b
r
o
u
g
h
t
b
ac
k
t
o
+5
N
-
m
.
A
t
1
5
s
lo
ad
t
o
r
q
u
e
is
m
ad
e
n
e
g
ati
v
e,
b
u
t
s
p
ee
d
is
s
til
l
p
o
s
itiv
e.
T
h
is
in
d
icate
s
f
o
r
w
ar
d
b
r
ak
in
g
o
p
er
ati
o
n
o
f
d
r
iv
e
a
s
in
d
icate
d
in
Fi
g
u
r
e
8
(
a)
.
Si
m
i
la
r
l
y
o
th
er
q
u
ad
r
an
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l.
8
,
No
.
1
,
Ma
r
ch
2
0
1
9
:
5
2
–
67
60
o
p
er
atio
n
s
ar
e
also
s
h
o
w
n
i
n
Fig
u
r
e
8
(
a)
.
Or
ien
tatio
n
o
f
f
lu
x
i
n
all
t
h
e
f
o
u
r
q
u
ad
r
a
n
t
o
f
o
p
er
atio
n
is
s
h
o
w
n
i
n
Fig
u
r
e
8
(
b
)
.
T
h
e
f
lu
x
an
d
t
o
r
q
u
e
co
m
p
o
n
e
n
ts
o
f
c
u
r
r
en
t
s
ar
e
s
h
o
w
n
i
n
Fi
g
u
r
e
8
(
c)
an
d
Fig
u
r
e
8
(
d
)
.
(
a)
(
b
)
(
c)
(
d
)
Fig
u
r
e
8
.
Si
m
u
latio
n
r
esu
l
ts
i
n
m
o
to
r
in
g
a
n
d
r
eg
en
er
at
in
g
m
o
d
e
(
a)
r
ef
er
en
ce
an
d
ac
tu
al
r
o
to
r
s
p
ee
d
(
b
)
r
o
to
r
f
lu
x
(
c)
d
ax
is
c
u
r
r
en
t
(
d
)
q
ax
is
cu
r
r
en
t
4.
E
XP
E
R
I
M
E
NT
A
L
SE
T
-
UP
T
h
is
s
ec
tio
n
d
ea
ls
w
it
h
th
e
d
ev
elo
p
m
e
n
t
o
f
lab
o
r
ato
r
y
b
ased
p
r
o
to
ty
p
e
to
tes
t
t
h
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
s
.
T
h
e
te
s
t
s
et
-
u
p
is
b
u
ilt
w
i
th
th
e
h
elp
o
f
a
d
SP
AC
E
-
1
1
0
4
.
T
h
e
b
lo
ck
d
iag
r
am
o
f
th
e
co
m
p
let
e
s
etu
p
is
p
r
ese
n
ted
i
n
Fi
g
u
r
e
9
,
w
h
ic
h
co
m
p
r
i
s
es
o
f
th
e
f
o
l
lo
w
i
n
g
s
u
b
s
y
s
te
m
s
.
A
l
s
o
,
th
e
h
ar
d
w
ar
e
s
e
t
-
u
p
is
p
r
esen
ted
in
Fi
g
u
r
e
10.
Fig
u
r
e
9
.
B
lo
ck
d
iag
r
a
m
o
f
t
h
e
ex
p
er
i
m
e
n
tal
s
y
s
te
m
4
.
1
.
Co
ntr
o
l U
nit
T
h
e
co
n
tr
o
l
u
n
it
o
p
er
ates
th
r
o
u
g
h
d
SP
AC
E
-
1
1
0
4
co
n
tr
o
ller
b
o
ar
d
.
T
h
e
cu
r
r
en
t
is
s
en
s
ed
an
d
s
ca
led
b
ef
o
r
e
f
ee
d
in
g
to
t
h
e
co
n
tr
o
l
ler
.
I
n
ca
s
e
o
f
a
n
y
f
a
u
lt,
th
e
s
y
s
te
m
h
a
s
d
eb
u
g
g
i
n
g
f
ac
ili
t
y
t
h
r
o
u
g
h
a
f
a
u
lt
in
d
icatio
n
s
y
s
te
m
.
C
o
n
tr
o
l u
n
i
t h
as t
h
e
f
o
llo
w
i
n
g
f
u
n
ctio
n
al
b
lo
ck
s
.
-
d
SP
A
C
E
-
1
1
0
4
co
n
tr
o
ller
b
o
ar
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4856
C
u
r
r
en
t sen
s
o
r
less
ve
cto
r
co
n
t
r
o
lled
in
d
u
ctio
n
m
o
to
r
d
r
ive
(
V
imlesh
V
erma
)
61
-
Sen
s
in
g
o
f
p
h
a
s
e
cu
r
r
en
t
-
P
W
M
p
r
o
ce
s
s
in
g
b
lo
ck
-
P
r
o
tectio
n
an
d
f
au
lt i
n
d
icatio
n
b
lo
ck
4
.
2
.
P
o
w
er
Unit
-
T
h
r
ee
p
h
ase
r
ec
tif
ier
-
Vo
ltag
e
s
o
u
r
ce
i
n
v
er
ter
Fig
u
r
e
1
0
.
L
ab
o
r
ato
r
y
d
ev
elo
p
ed
h
ar
d
w
ar
e
p
r
o
to
ty
p
e
5.
E
XP
E
R
I
M
E
NT
A
L
RE
SUL
T
S
T
h
e
p
r
o
p
o
s
ed
cu
r
r
en
t
s
en
s
o
r
less
al
g
o
r
ith
m
is
test
ed
i
n
h
ar
d
w
ar
e
u
s
i
n
g
d
SP
AC
E
-
1
1
0
4
b
ased
lab
o
r
ato
r
y
p
r
o
to
ty
p
e.
So
m
e
o
f
th
e
ex
p
er
i
m
en
ta
l
r
esu
lts
ar
e
p
r
esen
ted
,
co
r
r
esp
o
n
d
in
g
to
t
h
e
s
i
m
u
latio
n
r
es
u
lts
o
f
p
r
ev
io
u
s
s
ec
tio
n
.
T
h
e
ex
p
er
i
m
e
n
ts
ar
e
p
er
f
o
r
m
ed
th
r
o
u
g
h
a
lab
o
r
ato
r
y
d
ev
elo
p
ed
p
r
o
t
o
ty
p
e,
b
u
ilt
ar
o
u
n
d
a
d
SP
A
C
E
-
1
1
0
4
co
n
tr
o
ller
b
o
ar
d
.
5
.
1
.
Ste
p c
ha
ng
e
in ro
t
o
r
s
peed
T
h
e
r
esp
o
n
s
e
f
o
r
s
tep
ch
an
g
e
in
r
o
to
r
s
p
ee
d
ca
n
b
e
s
ee
n
in
Fig
u
r
e
1
1
.
A
s
tep
ch
an
g
e
i
n
s
p
ee
d
o
f
2
0
r
ad
/s
is
ap
p
lied
at
4
.
3
5
s
f
r
o
m
0
r
ad
/s
.
T
h
e
r
ef
er
en
ce
an
d
a
ctu
al
r
o
to
r
s
p
e
ed
s
a
r
e
av
ailab
le
in
Fig
u
r
e
1
1
(
a)
.
Flu
x
o
r
ien
ta
tio
n
i
s
w
ell
m
ai
n
t
ain
ed
as
s
h
o
w
n
i
n
Fi
g
u
r
e
1
1
(
b
)
.
T
h
e
d
-
an
d
q
-
a
x
is
co
m
p
o
n
e
n
ts
o
f
s
tato
r
cu
r
r
en
t
s
ar
e
s
h
o
w
n
i
n
Fig
u
r
e
1
1
(
c)
an
d
Fig
u
r
e
1
1
(
d
)
.
T
h
e
ac
tu
al
an
d
esti
m
ated
α
-
a
n
d
β
-
a
x
i
s
cu
r
r
en
ts
ar
e
p
r
esen
ted
in
F
ig
u
r
e
1
1
(
e)
an
d
Fig
u
r
e
1
1
(
f
)
.
I
t is o
b
s
er
v
ed
th
at
esti
m
ated
c
u
r
r
en
t
f
o
llo
w
s
t
h
e
ac
tu
al
w
i
th
n
eg
l
ig
ib
le
er
r
o
r
.
5
.
2
.
Sp
ee
d Re
v
er
s
a
l
T
h
e
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
s
y
s
te
m
u
n
d
er
s
p
ee
d
r
ev
er
s
al
i
s
p
r
esen
ted
i
n
Fi
g
u
r
e
1
2
.
T
h
e
r
ef
er
en
ce
v
s
ac
tu
a
l
r
o
to
r
s
p
ee
d
s
is
s
h
o
w
n
i
n
Fi
g
u
r
e
1
2
(
a)
.
E
x
p
er
im
e
n
tal
r
es
u
lt
s
s
h
o
w
g
o
o
d
d
y
n
a
m
ics
d
u
r
i
n
g
s
p
ee
d
r
ev
er
s
al.
T
h
e
f
lu
x
i
s
o
r
ien
te
d
as
s
ee
n
i
n
Fi
g
u
r
e
1
2
(
b
)
.
T
h
e
d
an
d
q
ax
is
s
tato
r
c
u
r
r
en
ts
ar
e
s
h
o
w
n
in
Fig
u
r
e
12
(
c)
an
d
Fi
g
u
r
e
1
2
(
d
)
.
P
e
r
f
o
r
m
a
n
ce
o
f
t
h
e
cu
r
r
en
t
es
ti
m
ato
r
is
p
r
esen
ted
in
Fi
g
u
r
e
12
(
e)
an
d
Fig
u
r
e
1
2
(
f
)
,
w
h
ich
r
e
v
ea
ls
t
h
e
er
r
o
r
b
et
w
ee
n
ac
t
u
al
a
n
d
esti
m
ated
cu
r
r
en
t i
s
n
e
g
li
g
ib
l
y
s
m
all.
Evaluation Warning : The document was created with Spire.PDF for Python.