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r
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ted
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n
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h
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t
e
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t,
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p
ro
p
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se
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e
c
to
r
c
o
n
tro
l
a
lg
o
rit
h
m
s t
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re
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l
ts
o
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tain
e
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fro
m
v
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rio
u
s
m
e
th
o
d
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o
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ter
m
in
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ra
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e
ters
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s
m
a
c
h
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e
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re
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o
m
p
a
re
d
.
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c
a
lcu
late
th
e
v
a
rio
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s
p
a
ra
m
e
ters
a
n
d
th
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se
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t
th
e
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h
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ra
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teristics
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th
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sy
n
c
h
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s
m
a
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h
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e
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in
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ll
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imp
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e
n
t
t
h
e
v
e
c
to
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c
o
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tro
l
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se
d
a
s
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a
sis
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e
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b
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n
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ts.
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h
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s
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m
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l
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t
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x
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f
o
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m
a
n
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e
a
p
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l
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c
a
t
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o
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s
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K
ey
w
o
r
d
s
:
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n
ch
r
o
n
o
u
s
m
ac
h
in
e
DC
m
ac
h
in
e
E
lectr
o
m
ag
n
etic
to
r
q
u
e
Var
iab
le
s
p
ee
d
d
r
iv
e
Vec
to
r
co
n
tr
o
l
T
h
is i
s
a
n
o
p
e
n
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c
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ss
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rticle
u
n
d
e
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CC B
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c
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se
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C
o
r
r
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s
p
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nd
ing
A
uth
o
r
:
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in
eb
Me
k
r
in
i
,
L
ab
o
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ato
r
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o
f
in
f
o
r
m
atics,
Sy
s
tem
s
&
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elec
o
m
m
u
n
icatio
n
s
,
E
lectr
ical
E
n
g
in
ee
r
in
g
Dep
ar
t
em
en
t,
Facu
lty
o
f
Scien
ce
s
an
d
tec
h
n
i
q
u
es o
f
T
a
n
g
ier
,
Un
iv
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s
ity
o
f
Ab
d
elm
alek
E
s
s
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d
i,
Av
en
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e
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i
f
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a,
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m
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m
ek
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i
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co
m
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
f
ield
o
r
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d
co
n
tr
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asy
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ch
r
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ly
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teg
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ized
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d
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ate
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ated
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lcu
late
th
e
s
y
n
c
h
r
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o
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s
v
elo
city
[
1
]
.
Fo
r
d
ir
e
ct
co
n
tr
o
l,
th
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s
y
n
ch
r
o
n
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ased
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l
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g
le
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r
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h
e
f
lu
x
esti
m
a
to
r
o
r
f
lu
x
s
en
s
o
r
s
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h
e
in
d
ir
ec
t
f
ield
co
n
tr
o
l
tech
n
o
lo
g
y
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I
FOC
)
is
v
er
y
u
s
ef
u
l f
o
r
th
e
im
p
lem
e
n
tatio
n
o
f
h
ig
h
p
e
r
f
o
r
m
an
ce
in
d
u
ctio
n
m
o
to
r
d
r
i
v
e
s
y
s
tem
s
.
Simu
latio
n
s
f
o
r
v
ec
to
r
c
o
n
tr
o
l
ar
e
p
er
f
o
r
m
ed
to
v
alid
ate
co
n
tr
o
l
th
eo
r
ies
[
2
]
.
T
h
e
f
e
asib
ilit
y
o
f
m
o
n
ito
r
in
g
s
tr
ateg
ies
u
s
in
g
s
i
m
u
latio
n
is
n
ec
ess
ar
y
b
e
f
o
r
e
lab
o
r
ato
r
y
m
ea
s
u
r
em
e
n
ts
.
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h
u
s
,
th
e
s
im
u
la
tio
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m
o
d
els
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f
th
e
f
ield
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o
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ted
co
n
tr
o
l
(
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r
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t
ed
co
n
tr
o
l
a
r
e
b
ased
o
n
Simu
lin
k
a
n
d
b
lo
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s
.
A
1
.
5
k
W
in
d
u
ctio
n
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o
to
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is
u
s
ed
,
th
e
p
ar
am
eter
s
o
f
th
is
m
o
to
r
ar
e
d
eter
m
in
ed
f
r
o
m
v
ar
io
u
s
test
s
.
T
h
e
ex
p
er
im
e
n
tal
im
p
lan
tatio
n
o
f
an
asy
n
c
h
r
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o
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s
m
ac
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n
e
tr
ain
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g
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tem
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im
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o
r
tan
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o
f
th
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g
o
r
ith
m
s
te
s
ted
an
d
v
alid
ated
in
s
im
u
latio
n
[
3
]
.
I
n
th
is
ar
ticle,
we
p
r
esen
t
th
e
ex
p
er
im
e
n
tal
co
n
f
ig
u
r
atio
n
u
s
ed
to
p
e
r
f
o
r
m
th
e
v
ec
to
r
co
n
tr
o
l
test
s
.
Fi
n
ally
,
th
e
co
m
p
a
r
is
o
n
o
f
ex
p
er
im
en
tal
r
esu
lts
an
d
s
im
u
latio
n
s
is
illu
s
tr
ated
.
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I
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m
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2.
I
DE
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P
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M
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RS O
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W
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s
tar
ted
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id
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tific
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th
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am
eter
s
f
o
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a
n
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ch
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n
o
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s
m
ac
h
in
e
1
.
5
k
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m
ec
h
an
ically
co
u
p
led
to
a
d
ir
ec
t
cu
r
r
en
t
(
DC
)
m
o
to
r
a
n
d
th
e
m
ea
s
u
r
in
g
d
e
v
ices
(
v
o
ltm
eter
,
am
m
ete
r
an
d
o
s
cillo
s
co
p
e)
.
A
d
iag
r
am
o
f
th
e
ex
p
er
im
en
t
al
test
b
en
ch
in
th
e
lab
o
r
ato
r
y
is
s
h
o
wn
in
Fig
u
r
e
1
.
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n
ai
m
s
to
d
eter
m
in
e
th
e
elem
en
ts
o
f
th
e
eq
u
iv
alen
t
d
iag
r
am
o
f
th
is
m
ac
h
i
n
e,
we
ca
r
r
y
o
u
t
two
s
er
ies
o
f
test
s
:
th
e
n
o
-
lo
ad
test
an
d
th
e
b
lo
ck
ed
r
o
to
r
test
:
−
R
esi
s
tan
ce
o
f
a
s
tato
r
p
h
ase
R
s
.
−
E
q
u
iv
alen
t r
esis
tan
ce
o
f
a
r
o
to
r
p
h
ase
b
r
o
u
g
h
t b
ac
k
to
th
e
s
ta
to
r
R
'
r
.
−
Stato
r
leak
ag
e
in
d
u
ctan
ce
: L
s
an
d
r
o
t
o
r
L
r
.
−
Ma
g
n
etizin
g
in
d
u
ctan
ce
L
m
.
−
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h
e
s
tato
r
lo
s
s
es d
u
e
to
th
e
n
o
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lo
ad
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r
r
en
t Pf
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.
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u
r
e
1
.
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x
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im
e
n
tal
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ch
2
.
1
.
Co
nt
inu
o
us
curr
ent
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est
T
h
is
test
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u
s
ed
to
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alu
ate
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e
v
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e
o
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th
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s
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ce
b
y
th
e
v
o
ltam
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ic
m
eth
o
d
.
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n
th
is
tes
t,
we
g
iv
e
a
v
e
r
y
lo
w
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v
o
lta
g
e
at
th
e
ter
m
in
als
o
f
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h
ases
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an
d
b
.
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n
f
ac
t,
v
a
r
y
th
e
v
alu
e
o
f
th
is
v
o
ltag
e
wh
ile
m
ea
s
u
r
in
g
t
h
e
c
u
r
r
en
t
f
lo
win
g
th
r
o
u
g
h
th
e
m
as
s
h
o
wn
i
n
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ab
le
1
.
T
h
e
test
s
f
o
r
m
ea
s
u
r
in
g
th
e
r
esis
tan
ce
o
f
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s
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r
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er
p
h
ase
R
s
m
u
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r
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ly
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alu
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th
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n
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er
ed
.
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r
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r
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e
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g
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,
wh
ich
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iv
es R
s
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8
2
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m
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T
ab
le
1
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DC
test
V
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l
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g
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V
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C
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r
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t
(
A
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0
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10
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15
1
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11
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2
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2
. B
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ed
r
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t
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r
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est
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ad
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th
e
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ee
d
(
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ec
h
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eq
u
al
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o
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h
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s
ay
th
at
th
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lid
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g
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th
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ac
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y
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1
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o
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n
e
g
lect
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e
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ar
allel
b
r
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t
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h
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e
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ich
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o
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th
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ag
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ellin
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es
R
f
er
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n
a
i
m
s
t
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t
e
r
m
i
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h
e
r
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r
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m
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h
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h
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r
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p
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d
w
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b
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l
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n
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y
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d
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a
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r
e
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n
g
t
h
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v
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t
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g
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v
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l
u
e
[
4
]
w
h
i
l
e
k
e
e
p
in
g
t
h
e
r
o
t
o
r
l
o
c
k
e
d
.
T
h
e
v
o
l
t
a
g
e
,
s
t
at
o
r
c
u
r
r
e
n
t
a
n
d
a
c
t
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v
e
p
o
w
e
r
s
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r
e
s
h
o
w
n
i
n
T
a
b
l
e
2
.
T
h
e
o
p
e
r
atin
g
r
esu
lts
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f
th
e
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lo
c
k
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r
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r
test
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e
R
r
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h
m
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h
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et
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Var
.
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1
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T
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le
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ch
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s
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P
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r
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c
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r
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t
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l
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t
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R
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P
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r
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V
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φ
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1
0
0
1
.
9
5
4
5
.
6
6
.
4
2
1
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8
0
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5
6
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
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m
p
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xp
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l res
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lts
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f v
ec
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l fo
r
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yn
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eb
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3287
2.
3
.
B
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k
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ro
t
o
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t
est
W
h
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th
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m
o
to
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n
s
at
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n
o
lo
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co
u
p
led
to
t
h
e
m
o
to
r
)
,
its
r
o
tatio
n
s
p
ee
d
No
is
clo
s
e
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th
e
s
y
n
ch
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u
s
s
p
ee
d
Ns.
W
e
co
n
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er
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at
g
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d
No
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e
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av
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R
r
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ity
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n
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th
at
th
e
r
o
t
o
r
b
r
a
n
ch
is
o
p
en
cir
cu
it
[
2
,
3
]
.
T
h
e
ai
m
o
f
th
is
test
is
to
d
eter
m
in
e
th
e
co
n
s
tan
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lo
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e
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tead
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tate,
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at
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e
m
ec
h
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ical
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s
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d
t
h
e
ir
o
n
lo
s
s
es.
T
h
e
v
alu
e
o
f
R
an
d
X
ca
n
also
b
e
f
o
u
n
d
[
5
]
.
No
m
ec
h
a
n
ical
lo
a
d
is
a
p
p
lied
an
d
a
v
o
ltm
eter
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p
la
ce
d
o
n
th
e
m
ec
h
an
ical
a
r
m
to
k
ee
p
th
e
s
y
n
ch
r
o
n
o
u
s
v
elo
city
[
6
,
7
]
.
T
h
e
v
alu
e
o
f
th
e
c
o
m
p
o
u
n
d
v
o
ltag
e
b
etwe
en
two
s
tato
r
p
h
ases
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s
v
ar
ied
f
r
o
m
4
0
Vo
lts
to
1
9
0
Vo
lts
an
d
t
h
e
r
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to
r
v
o
ltag
e,
s
tato
r
cu
r
r
en
t
an
d
ac
tiv
e
p
o
wer
ar
e
also
n
o
ted
.
B
elo
w
is
th
e
d
ata
tab
le
as sh
o
wn
in
T
ab
le
3
.
T
ab
le
3
.
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-
lo
ad
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f
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asy
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ch
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o
n
o
u
s
m
ac
h
in
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V
s0
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r
(V)
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s0
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A
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Q
s0
(
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a
r
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1
9
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7
9
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1
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3
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3
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3
1
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1
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1
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7
80
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5
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6
4
8
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6
40
1
5
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9
5
0
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3
0
1
.
6
1
2
.
2
I
n
aim
s
to
o
b
tain
th
e
s
tatic
lo
s
s
es,
th
e
cu
r
v
e
Pfe
r
+
Pm
e
ca
(
=Pto
tal
-
Plo
s
s
es)
m
u
s
t
b
e
p
lo
tted
as
a
f
u
n
ctio
n
o
f
Vs2
as
s
h
o
wn
in
Fig
u
r
e
2
.
I
t
is
k
n
o
wn
th
at
it
is
p
o
s
s
ib
le
to
u
s
e
a
l
in
ea
r
eq
u
atio
n
to
ap
p
r
o
ac
h
th
e
cu
r
v
e
.
I
t
is
k
n
o
wn
t
h
at
w
h
en
th
er
e
is
n
o
v
o
ltag
e,
th
e
i
r
o
n
lo
s
s
es
ar
e
s
y
s
tem
atica
lly
ze
r
o
[
8
]
.
T
h
u
s
,
at
th
e
p
o
in
t V
s
=
0
,
th
er
e
ar
e
m
e
ch
an
ical
lo
s
s
es.
On
ce
th
e
v
alu
es
o
f
th
e
m
ec
h
an
ical
lo
s
s
es
an
d
th
e
v
alu
e
o
f
Pfe
r
+
Pm
éc
a
ar
e
o
b
tain
ed
a
t
n
o
m
in
al
v
o
ltag
e
(
3
8
0
Vo
lts
)
,
th
e
v
alu
e
o
f
Pfe
r
in
n
o
m
in
al
v
o
ltag
e
is
f
o
u
n
d
.
At
r
ate
d
v
o
ltag
e
,
it
is
also
n
ec
ess
ar
y
to
f
in
d
th
e
r
ea
ctiv
e
p
o
wer
.
T
o
c
alcu
late
th
e
m
ag
n
etic
in
d
u
ctan
ce
X
an
d
th
e
r
esis
tan
ce
m
o
d
elin
g
th
e
ir
o
n
l
o
s
s
es
R
f
er
b
y
th
e
f
o
llo
win
g
e
x
p
r
ess
io
n
s
an
d
g
iv
es th
e
f
o
llo
win
g
v
a
lu
e:
=
0
3
.
0
²
=
149
.
87
ℎ
=
3
.
2
=
2472
.
64
ℎ
(
3
)
Fig
u
r
e
2
.
No
-
lo
ad
r
esu
lt o
f
Pfe
r
+Pm
ec
a
3.
DE
SCR
I
P
T
I
O
N
O
F
T
H
E
E
XP
E
RI
M
E
NT
AL
S
E
T
UP
T
h
e
F
i
g
u
r
e
3
s
h
o
w
s
t
h
e
e
x
p
e
r
i
m
e
n
t
a
l
b
as
e
d
o
n
a
v
e
c
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r
c
o
n
t
r
o
l
s
p
e
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d
v
a
r
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a
t
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r
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m
p
l
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e
n
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d
f
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r
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d
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v
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l
o
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t
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c
h
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e
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t
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h
r
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m
a
c
h
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n
e
[
9
]
.
T
h
i
s
b
e
n
c
h
a
ll
o
ws
d
e
v
e
l
o
p
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n
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t
a
m
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r
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s
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n
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a
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h
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a
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e
.
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t
s
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o
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.
0
.
5
1
1
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2
2
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5
3
3
.
5
4
0
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
V
s²
(
V
)
*
1
0
4
P
f
e
r
+
P
m
e
ca
(
W
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
T
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L
KOM
NI
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T
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6
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em
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:
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5
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3288
Fig
u
r
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x
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en
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v
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r
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ith
v
ar
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le
s
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ee
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d
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3
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1
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ra
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is
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f
t
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s
y
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m
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o
r
T
h
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asy
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ch
r
o
n
o
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s
m
o
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h
as
a
p
o
we
r
o
f
1
.
5
KW
,
with
elec
tr
icals
p
ar
am
eter
s
:
n
o
m
in
al
cu
r
r
en
t
I
n
=
3
.
4
,
s
tato
r
r
esis
tan
ce
R
s
=
1
0
.
8
2
Ω
,
s
tato
r
in
d
u
cta
n
ce
L
s
=
2
2
m
H,
r
o
to
r
r
esis
tan
ce
R
r
=
3
.
1
2
Ω
,
r
o
to
r
in
d
u
ctan
ce
L
r
=2
2
m
H,
a
n
d
w
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t
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o
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c
h
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r
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t
e
d
i
n
T
a
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4
.
T
ab
le
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.
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h
ar
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ter
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o
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e
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Sp
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T
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Fig
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1
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er
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ir
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a
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h
to
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g
en
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ated
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ac
ce
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r
ate
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e
e
n
g
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[
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4
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]
.
Af
ter
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n
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.
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t
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r
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at
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to
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r
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ex
p
e
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r
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n
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d
to
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s
am
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e
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d
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[
1
6
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]
.
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h
is
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r
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v
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e
co
r
r
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t
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tific
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o
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m
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h
a
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ical
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d
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ca
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p
ar
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eter
s
o
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ch
r
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as
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u
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u
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1
0
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5.
CO
M
P
ARI
SO
N
S
T
UDY
I
n
o
r
d
er
to
ev
alu
ate
t
h
e
ad
v
a
n
ce
d
v
ec
to
r
co
n
tr
o
l
s
tr
ateg
y
o
f
asy
n
ch
r
o
n
o
u
s
m
ac
h
in
es,
th
e
f
o
llo
win
g
co
m
p
ar
is
o
n
is
in
tr
o
d
u
ce
d
[
1
8
,
1
9
]
.
T
h
e
r
esu
lts
o
b
tain
e
d
f
r
o
m
v
ar
io
u
s
m
eth
o
d
s
o
f
d
eter
m
i
n
in
g
th
e
p
ar
am
eter
s
f
o
r
asy
n
c
h
r
o
n
o
u
s
m
ac
h
in
e
ar
e
co
m
p
a
r
ed
.
W
e
ca
lcu
late
th
e
v
ar
io
u
s
p
ar
am
eter
s
a
n
d
th
en
we
p
r
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t
th
e
tech
n
ical
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ar
ac
te
r
is
tics
o
f
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ch
elem
en
t
o
f
th
e
a
s
y
n
ch
r
o
n
o
u
s
m
ac
h
i
n
e;
th
is
p
r
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v
es
th
e
c
o
r
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t
id
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tific
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n
o
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n
Fig
u
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e
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0
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d
u
r
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g
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m
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al
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T
h
e
[
9
]
p
r
e
s
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t
s
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l
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r
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r
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p
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;
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m
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d
f
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d
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t
a
n
t
[
2
1
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2
5
]
.
6.
CO
NCLU
SI
O
N
A
d
etailed
d
escr
ip
tio
n
o
f
th
e
ex
p
er
im
en
tal
d
ev
ice
u
s
ed
f
o
r
th
e
co
n
tr
o
l
o
f
an
asy
n
c
h
r
o
n
o
u
s
m
ac
h
in
e
was
g
iv
en
.
T
h
is
d
ev
ice
is
b
ased
o
n
th
e
u
s
e
o
f
a
v
ar
i
ab
le
s
p
ee
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d
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ich
wil
l
s
er
v
e
to
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n
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l
th
e
asy
n
ch
r
o
n
o
u
s
m
ac
h
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n
e
th
r
o
u
g
h
t
h
e
s
p
ee
d
co
n
t
r
o
l.
E
x
p
e
r
im
en
ts
ar
e
an
im
p
o
r
tan
t
s
tep
in
th
e
en
g
in
ee
r
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n
g
s
tu
d
y
.
I
t
h
as
b
ee
n
s
h
o
wn
th
at
s
im
u
latio
n
r
esu
lts
f
o
r
asy
n
c
h
r
o
n
o
u
s
m
o
to
r
s
o
p
er
atin
g
with
FOC
will
h
av
e
g
o
o
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s
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.
I
n
o
r
d
er
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d
em
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n
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ate
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ilit
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n
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er
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y
t
h
e
th
eo
r
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l
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aly
s
is
,
ex
p
e
r
i
m
en
ts
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e
ca
r
r
ie
d
o
u
t
u
n
d
er
d
if
f
er
en
t
co
n
d
itio
n
s
to
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th
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co
n
tr
o
l
s
tr
ateg
ies.
T
h
e
ex
p
er
im
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tal
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o
f
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[1
]
De
p
e
n
b
ro
c
k
M
,
“
Dire
c
t
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e
lf
C
o
n
tro
l
o
f
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n
v
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rter
-
F
e
d
I
n
d
u
c
ti
o
n
M
a
c
h
in
e
s
,
”
IEE
E
T
ra
n
s.
I
n
Po
we
r
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e
c
tro
n
ics
,
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o
l.
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,
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o
.
1
,
p
p
.
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0
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4
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9
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9
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.
[2
]
M
.
Aim
e
,
G
.
G
a
te
a
u
,
a
n
d
T.
M
e
y
n
a
rd
,
“
Im
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lem
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n
tatio
n
o
f
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p
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with
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fiel
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ro
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ra
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m
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le g
a
te arra
y
,
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IEE
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T
ra
n
s.
I
n
d
.
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c
tro
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l
.
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.
[3
]
K.
L.
S
h
i,
T.
F
.
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a
n
,
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K.
Wo
n
g
a
n
d
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.
L.
Ho
,
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o
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ll
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g
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d
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li
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,
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t
.
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.
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t.
En
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.
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.
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.
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.
[4
]
S.
Ay
a
su
n
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n
d
C.
Nw
a
n
k
,
“
I
n
d
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c
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io
n
M
o
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r
Tes
ts
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ATLAB/S
imu
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ra
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lec
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ry
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IEE
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ti
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n
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l.
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.
1
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.
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-
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6
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.
[5
]
Z.
M
e
k
ri
n
i,
a
n
d
S
.
Br
i,
“
A
M
o
d
u
l
a
r
Ap
p
ro
a
c
h
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n
d
S
imu
latio
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f
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As
y
n
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s
M
a
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in
e
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
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f
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e
c
trica
l
a
n
d
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o
mp
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ter
En
g
in
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rin
g
(IJ
ECE
),
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l.
6,
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o
.
4,
p
p
.
1
3
8
5
-
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3
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4
,
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1
6
.
[6
]
Z.
M
e
k
rin
i,
a
n
d
S
.
b
ri,
“
P
e
rf
o
rm
a
n
c
e
o
f
a
n
In
d
irec
t
F
ield
-
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ted
Co
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tr
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As
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s
M
a
c
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,
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ter
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io
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l
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o
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rn
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n
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rin
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),
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.
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o
.
7,
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p
.
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7
]
In
-
J
o
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n
g
H
a
,
a
n
d
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a
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-
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o
o
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,
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n
O
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o
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4
,
2
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0
0
.
[8
]
S
.
M
e
n
so
u
,
A.
Essa
d
k
i
,
T
.
Na
ss
e
r,
B
.
Bo
u
o
u
li
d
Id
rissi,
“
An
Eff
ici
e
n
t
No
n
li
n
e
a
r
Ba
c
k
ste
p
p
in
g
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n
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ro
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se
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DFIG
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In
ter
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J
o
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rn
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4,
p
p
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1
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8
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2
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1
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.
[
9
]
R
a
a
d
S
.
F
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o
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f
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,
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.
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d
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.
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a
n
d
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a
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o
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A
.
,
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l
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n
k
S
o
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t
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P
a
c
k
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g
e
,
”
J.
B
a
s
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a
h
R
e
s
e
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r
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s
,
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l
.
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.
1
,
p
p
.
83
-
9
4
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0
0
5
.
[1
0
]
M.
Aim
e
,
G
.
G
a
te
a
u
,
a
n
d
T.
M
e
y
n
a
rd
,
“
Im
p
lem
e
n
tatio
n
o
f
a
p
e
a
k
c
u
rre
n
t
c
o
n
tro
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lg
o
rit
h
m
with
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n
a
fiel
d
p
ro
g
ra
m
m
a
b
le g
a
te arra
y
,
”
IEE
E
T
ra
n
s.
I
n
d
.
El
e
c
tro
n
,
v
o
l
.
54
,
n
o
.
1,
p
p
.
4
0
6
-
4
1
8
,
2
0
0
7
.
[
1
1
]
C
.
A
t
t
a
i
a
n
e
s
e
,
V
i
t
o
N
a
r
d
i
,
A
l
d
o
P
e
r
f
e
t
t
o
,
a
n
d
G
i
u
s
e
p
p
e
T
o
m
a
s
s
o
,
“
V
e
c
t
o
r
i
a
l
T
o
r
q
u
e
C
o
n
t
r
o
l
:
a
N
o
v
e
l
A
p
p
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o
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c
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t
o
T
o
r
q
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e
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n
d
F
l
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x
C
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t
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I
n
d
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c
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n
M
o
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o
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D
r
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v
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s
,
”
I
E
E
E
T
r
a
n
s
a
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n
d
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s
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A
p
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n
s
,
v
o
l
.
35
,
n
o
.
6
,
1
9
9
9
.
[1
2
]
Z.
M
e
k
rin
i,
S
.
Bri,
“
F
u
z
z
y
L
o
g
i
c
Ap
p
li
c
a
ti
o
n
f
o
r
In
telli
g
e
n
t
Co
n
tro
l
o
f
An
As
y
n
c
h
r
o
n
o
u
s
M
a
c
h
in
e
,
”
In
d
o
n
e
sia
n
J
o
u
rn
a
l
o
f
El
e
c
trica
l
En
g
in
e
e
rin
g
a
n
d
Co
m
p
u
ter
S
c
ien
c
e
,
v
ol
.
7
,
n
o
.
1
,
p
p
.
61
-
7
0
,
2
0
1
7
.
[1
3
]
Z.
M
e
k
rin
i
,
S
.
Br
i
,
“
Hig
h
-
P
e
rfo
rm
a
n
c
e
u
sin
g
Ne
u
ra
l
Ne
tw
o
rk
s
in
Dire
c
t
T
o
rq
u
e
C
o
n
tr
o
l
f
o
r
As
y
n
c
h
r
o
n
o
u
s
M
a
c
h
in
e
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
C
o
mp
u
ter
En
g
in
e
e
rin
g
,
v
ol
.
8
,
n
o
.
2
,
p
p
.
31
-
3
8
,
2
0
1
8
.
[1
4
]
Blas
c
h
k
e
,
“
Th
e
p
rin
c
i
p
le
o
f
fiel
d
o
rien
tati
o
n
a
s
a
p
p
l
ied
to
t
h
e
n
e
w
tran
sv
e
c
to
r
c
lo
se
d
-
l
o
o
p
c
o
n
tro
l
sy
ste
m
fo
r
ro
tatin
g
fiel
d
M
a
c
h
i
n
e
s,”
S
iem
e
n
s
Rev
iew
,
v
o
l
.
3
4
,
p
p
.
2
1
7
-
2
2
0
,
1
9
7
2
.
[
1
5
]
J
.
H
o
l
t
z
,
“
S
e
n
s
o
r
l
e
s
s
C
o
n
t
r
o
l
o
f
I
n
d
u
c
t
i
o
n
M
o
t
o
r
D
r
i
v
e
,
”
P
r
o
c
e
e
d
i
n
g
s
o
f
t
h
e
I
E
E
E
,
v
o
l
.
9
0
,
n
o
.
8
,
p
p
.
1
3
5
9
-
1394,
2002.
[1
6
]
R.
D.
Lo
re
n
z
,
T.
A.
Li
p
o
,
a
n
d
D.
W.
No
v
o
tn
y
,
“
M
o
t
io
n
c
o
n
tr
o
l
with
in
d
u
c
ti
o
n
m
o
t
o
rs
,
”
Pro
c
e
e
d
in
g
s
o
f
IEE
E
:
e
sp
e
c
ia
l
issu
e
o
n
p
o
we
r e
lec
tro
n
i
c
a
n
d
mo
ti
o
n
c
o
n
tr
o
l
,
v
o
l.
82
,
n
o
.
8
,
pp
.
1
2
1
5
-
1
2
4
0
,
1
9
9
4
.
[1
7
]
D.
Cd
i,
G
.
G
rd
,
G
.
S
e
rra
,
A.
T
m
i,
“
Eff
e
c
ts
o
f
F
lu
x
a
n
d
T
o
rq
u
e
Hy
s
tere
sis
Ba
n
d
Am
p
li
tu
d
e
in
Dire
c
t
To
rq
u
e
Co
n
tr
o
l
o
f
In
d
u
c
ti
o
n
M
a
c
h
in
e
s,
”
Pro
c
e
e
d
in
g
s
o
f
t
h
e
IEE
E
,
1
9
9
4
.
[1
8
]
Ba
g
h
li
L
.
,
Ra
z
ik
H
.
,
Re
z
z
o
u
g
A
.
,
“
A
fiel
d
o
rien
ted
c
o
n
tro
l
m
e
th
o
d
u
sin
g
d
e
c
o
u
p
li
n
g
term
s
fo
r
in
d
u
c
ti
o
n
m
o
t
o
rs
,
”
Pro
c
.
2
n
d
EP
E
C
h
a
p
ter
sy
mp
o
siu
m o
n
e
lec
tric d
riv
e
d
e
si
g
n
a
n
d
a
p
p
li
c
a
ti
o
n
s
,
p
p
.
1
4
7
-
1
5
1
,
1
9
9
6
.
[1
9
]
Ra
m
i
A.
M
a
h
e
r,
Walid
Ema
r,
M
a
h
m
o
u
d
A,
“
In
d
irec
t
F
ield
Orie
n
te
d
Co
n
tr
o
l
o
f
a
n
In
d
u
c
ti
o
n
M
o
to
r
S
e
n
sin
g
DC
-
li
n
k
Cu
rre
n
t
wit
h
P
I
Co
n
tro
l
ler
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
C
o
n
tro
l
S
c
ien
c
e
a
n
d
En
g
in
e
e
rin
g
,
v
ol
.
2
,
p
p
.
1
9
-
25,
2
0
1
2
.
[2
0
]
O
.
Ak
i
n
,
I
.
Ala
n
,
“
T
h
e
u
se
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4
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Ra
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Je
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(IF
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Pro
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d
in
g
s
I
EE
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–
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4
,
In
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ti
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Co
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In
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stria
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T
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c
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,
v
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l.
2
,
p
p
.
569
-
5
7
3
,
2
0
0
4
.
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