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P
M
m
o
to
r
s
[
1
3
]
.
P
ar
ticu
lar
l
y
,
at
h
alt
co
n
d
itio
n
,
th
e
s
u
cc
e
s
s
f
u
l
R
P
D
p
r
eser
v
es
a
r
ea
s
o
n
ab
le
p
r
im
ar
y
o
p
er
atio
n
an
d
av
o
id
s
r
ev
er
s
e
r
u
n
n
i
n
g
o
r
s
tall
o
f
r
o
to
r
,
w
h
il
e
it
en
s
u
r
es
s
o
f
t
r
u
n
n
i
n
g
w
it
h
m
i
n
i
m
u
m
to
r
q
u
e
r
ip
p
le
at
lo
w
a
n
d
h
ig
h
m
o
to
r
s
p
ee
d
s
.
T
h
er
ef
o
r
e
,
v
ar
io
u
s
r
es
ea
r
ch
in
g
e
f
f
o
r
t
s
h
av
e
b
ee
n
ac
h
iev
ed
to
pr
ef
o
r
m
th
e
R
P
D
o
v
er
a
w
id
e
s
p
ee
d
r
an
g
e
o
f
m
o
to
r
r
u
n
n
i
n
g
,
f
r
o
m
h
alt
to
h
ig
h
s
p
ee
d
[
1
1
,
1
4
]
.
A
w
id
e
f
ield
o
f
th
o
s
e
r
esear
c
h
in
g
e
f
f
o
r
ts
h
as
co
n
ce
r
n
ed
th
e
p
er
m
a
n
en
t
m
a
g
n
e
t
s
y
n
c
h
r
o
n
o
u
s
m
o
to
r
s
P
MSM
,
b
y
its
t
w
o
f
o
ld
,
th
e
in
t
er
io
r
p
e
r
m
a
n
e
n
t
m
a
g
n
et
s
y
n
c
h
r
o
n
o
u
s
m
ac
h
i
n
e
(
I
P
MSM
)
an
d
s
u
r
f
ac
e
m
o
u
n
ted
p
er
m
a
n
e
n
t
m
a
g
n
et
s
y
n
ch
r
o
n
o
u
s
m
ac
h
i
n
e
(
SMP
MSM
)
.
K.
R
a
v
ik
u
m
ar
Sett
y
et
a
l.
[
1
5
]
p
r
ese
n
ted
a
class
if
ica
tio
n
to
th
e
m
et
h
o
d
s
o
f
R
P
D,
w
h
ic
h
s
till
ad
o
p
ted
u
p
to
d
ate.
A
lth
o
u
g
h
th
e
m
aj
o
r
it
y
o
f
R
P
D
m
e
th
o
d
s
,
o
r
s
tu
d
y
in
g
th
e
P
MSM
f
ea
t
u
r
es,
h
av
e
a
co
m
m
o
n
p
o
i
n
t
t
h
at
t
h
e
y
b
ased
o
n
tr
ac
k
in
g
t
h
e
r
o
to
r
m
a
g
n
eti
c
s
alie
n
c
y
,
s
u
c
h
a
s
in
[
1
6
,
1
7
]
,
th
ey
d
if
f
er
i
n
f
ield
o
f
ap
p
licatio
n
.
T
h
is
ap
p
licatio
n
f
ield
is
r
elate
d
to
s
p
ee
d
o
f
m
o
to
r
;
s
tan
d
s
till
(
h
alt)
,
lo
w
o
r
m
ed
i
u
m
/h
ig
h
s
p
ee
d
.
W
h
er
ea
s
,
th
e
m
in
o
r
it
y
o
f
R
P
D
m
eth
o
d
s
h
av
e
d
i
f
f
er
e
n
t
p
o
in
ts
o
f
v
ie
w
f
o
r
ac
h
iev
i
n
g
th
e
task
[
1
8
-
20]
.
Gr
ad
u
ally
,
th
e
R
P
D
b
e
co
m
es
s
o
i
m
p
o
r
tan
t
t
o
P
MSM
s
u
ch
th
at
o
n
e
o
f
th
e
co
n
tr
o
l
s
ch
e
m
e
s
o
f
P
MSM
co
n
tr
o
ls
,
ca
lled
“
v
ec
to
r
co
n
tr
o
l
”,
is
b
ased
o
n
it.
Aw
a
y
f
r
o
m
R
P
D,
an
o
t
h
er
co
n
tr
o
l
s
ch
e
m
e,
ca
lled
“Sca
ler
C
o
n
tr
o
l”
s
c
h
e
m
e,
d
ep
en
d
s
o
n
th
e
m
a
g
n
it
u
d
e
an
d
f
r
eq
u
e
n
c
y
o
f
s
tato
r
ap
p
lied
v
o
ltag
es
[2
1]
.
T
h
e
p
u
ls
e
in
j
ec
tio
n
m
et
h
o
d
,
w
h
ic
h
is
e
m
p
lo
y
ed
in
th
is
wo
r
k
,
s
tan
d
s
w
ith
in
t
h
e
ca
teg
o
r
y
o
f
R
P
D
m
et
h
o
d
s
,
g
iv
e
n
b
y
[
1
5
]
,
as
th
e
m
o
s
t
s
u
itab
le
to
b
e
u
s
ed
in
v
ec
to
r
co
n
tr
o
l
o
f
b
r
u
s
h
le
s
s
d
c
m
o
to
r
s
,
B
L
DC
s
.
B
y
th
is
m
et
h
o
d
,
th
e
y
ield
ed
i
m
p
u
ls
e
r
esp
o
n
s
es
ar
e
co
m
p
ar
ed
to
ea
ch
o
th
er
to
g
en
er
ate
a
s
ec
t
o
r
al
d
iv
is
io
n
to
th
e
w
h
o
le
s
p
atial
p
o
s
itio
n
s
o
f
p
er
m
an
e
n
t
m
a
g
n
et
r
o
to
r
[
2
2
]
.
A
lt
h
o
u
g
h
a
lo
w
r
eso
lu
tio
n
R
P
D
al
w
a
y
s
i
n
co
m
es
b
y
th
is
m
et
h
o
d
,
al
m
o
s
t
30
-
d
eg
r
e
e
r
eso
lu
tio
n
[
2
3
]
,
it
is
s
u
f
f
ic
ien
t
to
r
u
n
t
h
e
B
L
DC
.
I
n
co
n
tr
ast,
f
o
r
P
MSM
ap
p
licatio
n
s
,
th
e
lo
w
r
eso
l
u
ti
o
n
R
P
D
r
ep
r
esen
ts
a
n
ess
e
n
t
ial
d
r
a
w
b
ac
k
as
i
t
m
a
y
lead
to
d
eter
io
r
ate
th
e
p
er
f
o
r
m
a
n
ce
o
f
m
o
to
r
d
r
iv
e
s
y
s
te
m
[
2
4
]
.
I
n
liter
atu
r
e,
s
o
m
e
r
esear
ch
er
s
tr
ied
to
ad
d
r
ess
th
is
d
r
a
w
b
ac
k
.
Fo
r
ex
a
m
p
le,
Q.
Ni
e
t
a
l.
[
2
4
]
p
r
o
p
o
s
e
d
a
s
o
lu
tio
n
b
ased
o
n
m
er
g
in
g
t
h
e
s
ta
tis
t
ical
ap
p
r
o
ac
h
least
s
q
u
ar
es
m
et
h
o
d
(
L
SM
)
,
w
i
th
a
p
r
o
p
e
r
p
o
s
itio
n
in
g
a
n
d
s
p
ee
d
esti
m
ato
r
.
Ho
w
ev
er
,
th
o
s
e
r
esear
ch
in
g
ef
f
o
r
ts
m
a
y
s
u
f
f
er
ed
f
r
o
m
co
m
p
le
x
it
y
a
n
d
r
elativ
el
y
h
i
g
h
co
s
t.
Nev
er
th
ele
s
s
,
th
e
p
u
ls
e
in
j
ec
tio
n
m
e
t
h
o
d
w
as
e
f
f
icien
tl
y
u
s
ed
b
y
[
2
5
]
t
o
d
etec
t
th
e
r
o
to
r
p
o
s
itio
n
o
f
S
MP
MSM
th
r
o
u
g
h
i
n
j
ec
tio
n
o
f
th
r
ee
p
u
ls
e
s
i
n
to
th
e
m
o
to
r
s
tato
r
w
i
n
d
in
g
s
a
n
d
test
i
n
g
t
h
e
ter
m
i
n
al
v
o
ltag
e
r
e
s
p
o
n
s
es.
T
h
is
r
ef
er
e
n
ce
also
p
r
esen
ted
a
co
m
p
ar
ativ
e
s
c
h
ed
u
li
n
g
f
o
r
th
e
r
esu
l
ts
obt
ain
ed
b
y
o
t
h
er
r
elev
a
n
t
w
o
r
k
s
.
I
t
m
a
y
b
e
w
o
r
t
h
to
m
e
n
ti
o
n
th
at
th
e
tech
n
iq
u
e
o
f
p
u
l
s
e
in
j
ec
tio
n
s
h
as
b
ee
n
also
u
s
ed
i
n
d
r
iv
i
n
g
s
y
s
te
m
s
o
f
o
th
er
m
o
to
r
s
r
ath
er
th
a
n
P
MSM
.
Fo
r
in
s
ta
n
ce
,
X.
Z
h
o
u
et
a
l.
[
1
6
]
ap
p
lied
th
is
tech
n
iq
u
e
o
n
elec
tr
o
m
ag
n
etic
m
ac
h
in
e
o
f
d
o
u
b
l
y
s
al
ien
t to
p
r
ed
icate
th
e
r
o
to
r
p
o
s
itio
n
th
r
o
u
g
h
i
n
f
lu
e
n
ci
n
g
th
e
r
elatio
n
b
et
w
ee
n
t
h
e
r
o
to
r
s
ec
to
r
an
d
th
e
m
i
n
i
m
u
m
v
al
u
e
o
f
s
elf
-
in
d
u
cta
n
ce
.
T
h
is
p
ap
er
in
tr
o
d
u
ce
s
an
ap
p
r
o
ac
h
f
o
r
in
ter
io
r
p
er
m
a
n
en
t
m
ag
n
et
s
y
n
c
h
r
o
n
o
u
s
m
ac
h
i
n
e
(
I
P
MSM
)
r
o
to
r
p
o
s
itio
n
d
e
tectio
n
,
R
P
D.
T
h
e
w
o
r
k
s
p
ec
if
ical
l
y
d
ea
ls
w
it
h
th
e
m
o
to
r
in
h
alt
co
n
d
iti
o
n
w
it
h
o
u
t
a
n
y
f
o
r
m
o
f
p
o
s
itio
n
i
n
g
s
e
n
s
o
r
.
I
t
b
ases
o
n
in
f
l
u
e
n
cin
g
t
h
e
i
n
d
u
cta
n
ce
v
ar
iatio
n
s
i
n
t
h
e
s
tato
r
w
i
n
d
in
g
s
o
f
I
P
MSM
w
h
e
n
th
e
y
ex
c
ited
b
y
ap
p
l
y
in
g
t
w
o
c
ascad
ed
s
h
o
r
t
p
u
l
s
es
an
d
e
m
p
l
o
y
i
n
g
t
h
e
e
f
f
ec
t
o
f
r
o
to
r
h
i
g
h
s
alien
c
y
.
A
lt
h
o
u
g
h
,
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o
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v
o
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it
h
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b
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g
o
o
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p
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e
th
e
o
b
s
tacle
o
f
co
s
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co
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lex
it
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.
C
o
m
p
a
r
in
g
w
it
h
p
r
ev
io
u
s
w
o
r
k
s
,
t
h
e
m
ain
co
n
tr
ib
u
tio
n
s
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ad
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b
y
t
h
is
w
o
r
k
,
is
to
i
m
p
le
m
en
t
a
R
P
D
o
f
h
ig
h
r
es
o
lu
tio
n
at
1
d
eg
r
ee
.
R
em
ai
n
i
n
g
o
f
th
is
p
ap
er
is
o
r
g
an
ized
as
f
o
llo
w
i
n
g
:
s
ec
tio
n
t
w
o
h
ig
h
li
g
h
ts
t
h
e
p
ap
er
r
esear
ch
m
e
th
o
d
o
lo
g
y
.
I
t
i
n
cl
u
d
es
t
wo
s
u
b
s
ec
tio
n
s
w
h
ich
d
etai
ls
t
h
e
w
o
r
k
i
n
t
h
is
p
ap
er
.
T
h
e
r
esu
lts
a
n
d
t
h
eir
d
i
s
cu
s
s
io
n
ar
e
ex
p
lo
r
ed
in
s
ec
tio
n
t
h
r
ee
.
Fin
al
l
y
,
s
ec
tio
n
f
o
u
r
s
u
m
m
ar
i
s
es
t
h
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co
n
cl
u
s
io
n
s
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
T
h
e
p
r
o
p
o
s
ed
s
ch
e
m
e
in
t
h
is
p
ap
er
is
b
ased
o
n
cr
ea
tin
g
a
m
e
m
o
r
y
s
tr
u
ctu
r
e
w
h
o
s
e
ce
lls
ar
e
p
r
ev
io
u
s
l
y
lo
ad
ed
w
it
h
th
e
3
6
0
r
o
to
r
p
o
s
itio
n
s
,
R
P
s
.
T
h
en
,
m
ea
s
u
r
e
m
e
n
ts
o
f
th
e
m
o
to
r
ter
m
i
n
al
v
o
lta
g
es
an
d
cu
r
r
en
ts
,
at
ea
ch
R
P
,
s
h
o
u
ld
p
r
o
v
id
e
t
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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1
6
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6930
T
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3
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I
t c
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t th
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RE
F
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R
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NC
E
S
[1
]
C.
G
o
n
g
,
S
.
M
e
m
b
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r,
Y.
Hu
,
S
.
M
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m
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d
H.
W
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n
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Re
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Driv
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s
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[2
]
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Isa
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.
[3
]
J.
P
a
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o
-
A
c
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o
,
E.
R
o
m
e
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-
Ca
d
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.
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tero
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.
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rr
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l.
1
3
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0
.
[4
]
M
.
H.
Qa
is,
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M
.
Ha
sa
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ien
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a
n
d
S
.
A
lg
h
u
w
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m
,
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tl
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b
y
v
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le sp
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d
w
in
d
t
u
rb
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:
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re
v
iew
,
”
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.
En
g
.
,
v
o
l
.
2
0
1
7
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3
,
p
p
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7
5
0
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7
5
4
,
2
0
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.
[5
]
T
.
M
a
h
m
o
u
d
,
Z.
Y.
Do
n
g
,
a
n
d
J.
M
a
,
“
In
teg
ra
ted
o
p
t
im
a
l
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c
ti
v
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a
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d
re
a
c
ti
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tro
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ro
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s
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n
e
ra
to
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w
in
d
tu
r
b
in
e
s,”
IET
El
e
c
t
r.
Po
we
r
Ap
p
l.
,
v
o
l.
1
2
,
n
o
.
4
,
p
p
.
4
7
4
-
4
8
5
,
2
0
1
8
.
[6
]
K.
M
a
tsu
o
k
a
a
n
d
S
.
M
e
m
b
e
r,
“
De
v
e
lo
p
m
e
n
t
T
re
n
d
o
f
th
e
P
e
rm
a
n
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n
t
M
a
g
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t
S
y
n
c
h
ro
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o
u
s
M
o
t
o
r
f
o
r
Ra
il
w
a
y
T
ra
c
ti
o
n
,
”
IEE
J
T
ra
n
s.
El
e
c
tr.
El
e
c
tro
n
.
E
n
g
.
,
v
o
l.
2
0
0
7
,
n
o
.
2
,
p
p
.
1
5
4
-
1
6
1
,
2
0
0
7
.
[7
]
S
.
A
li
,
A
.
S
h
a
h
riari,
M
.
Ra
o
o
f
a
t,
M
.
De
h
g
h
a
n
i,
a
n
d
M
.
M
o
h
a
m
m
a
d
i,
“
Dy
n
a
m
ic
sta
te
e
sti
m
a
ti
o
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o
f
a
p
e
rm
a
n
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n
t
m
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g
n
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t
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n
c
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ro
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o
u
s g
e
n
e
ra
to
r
-
b
a
se
d
w
in
d
tu
r
b
in
e
,
”
IET
Ren
e
w.
P
o
we
r Ge
n
e
r.
,
v
o
l.
1
0
,
n
o
.
9
,
p
p
.
1
2
7
8
-
1
2
8
6
,
2
0
1
6
.
[8
]
S
.
F
a
n
g
,
B.
Z
h
o
u
,
a
n
d
Y.
L
iu
,
“
De
sig
n
a
n
d
re
a
li
z
a
ti
o
n
o
f
d
u
a
l
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u
n
d
a
n
c
y
P
M
S
M
e
lec
tri
c
a
l
d
riv
e
sy
st
e
m
s
,
”
2
0
0
9
4
t
h
IEE
E
Co
n
f.
I
n
d
.
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c
tro
n
.
A
p
p
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I
CIEA
2
0
0
9
,
2
0
0
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,
p
p
.
1
9
8
5
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1
9
8
9
.
[9
]
B.
A
.
F
a
d
h
e
e
l,
“
De
sig
n
o
f
a
n
RL
C
Co
m
p
e
n
sa
to
r
f
o
r
a
S
y
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h
ro
n
o
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s
M
o
to
r:
T
o
r
q
u
e
Ri
p
p
le
Im
p
ro
v
e
m
e
n
t,
”
Al
-
Qa
d
isiya
h
J
.
E
n
g
.
S
c
i.
,
v
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l.
1
2
,
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o
.
1
,
p
p
.
1
7
–
2
4
,
2
0
1
9
.
[1
0
]
K.
T
.
Ch
a
u
,
S
.
M
e
m
b
e
r,
C.
C.
Ch
a
n
,
C.
L
iu
,
a
n
d
S
.
M
e
m
b
e
r,
“
Ov
e
r
v
ie
w
o
f
P
e
r
m
a
n
e
n
t
-
M
a
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t
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sh
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tri
c
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n
d
Hy
b
rid
El
e
c
tri
c
V
e
h
i
c
les
,
”
IEE
E
T
ra
n
s.
In
d
.
El
e
c
tro
n
.
,
v
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l.
5
5
,
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o
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6
,
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p
.
2
2
4
6
-
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2
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,
2
0
0
8
.
[1
1
]
A
.
V
a
g
a
ti
,
G
.
P
e
ll
e
g
rin
o
,
a
n
d
P
.
G
u
g
li
e
l
m
i,
“
Co
m
p
a
riso
n
b
e
tw
e
e
n
S
P
M
a
n
d
I
P
M
m
o
to
r
d
riv
e
s
f
o
r
EV
a
p
p
li
c
a
ti
o
n
,
”
in
XIX
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
E
lec
trica
l
M
a
c
h
i
n
e
s
,
2
0
1
0
.
[1
2
]
T
.
Terra
s
a
n
d
K.
Ha
rtan
i,
“
S
e
n
so
rles
s
D
T
C
o
f
IP
M
S
M
f
o
r
e
m
b
e
d
d
e
d
s
y
ste
m
s,”
In
t.
J
.
Po
we
r
El
e
c
tr
o
n
.
Dr
ive
S
y
st.
,
v
o
l.
1
1
,
n
o
.
1
,
p
p
.
8
6
-
9
6
,
2
0
2
0
.
[1
3
]
M
.
A
l
Ib
ra
h
e
e
m
i
a
n
d
F
.
A
n
a
y
i
,
“
Op
ti
m
u
m
S
tan
d
stil
l
El
e
c
tr
o
n
i
c
Co
m
m
u
tatio
n
P
ro
c
e
ss
f
o
r
En
c
o
d
e
rles
s
P
M
M
a
c
h
in
e
s,”
J
.
En
g
.
Ap
p
l.
S
c
i.
,
v
o
l
.
1
4
,
n
o
.
5
,
p
p
.
8
9
3
3
-
8
9
3
9
,
2
0
1
9
.
[1
4
]
H.
Kim
,
S
.
M
e
m
b
e
r,
K.
Hu
h
,
S
.
M
e
m
b
e
r,
R.
D.
L
o
re
n
z
,
a
n
d
T
.
M
.
Ja
h
n
s,
“
A
No
v
e
l
M
e
th
o
d
f
o
r
In
it
i
a
l
Ro
to
r
P
o
siti
o
n
Esti
m
a
ti
o
n
f
o
r
IP
M
S
y
n
c
h
ro
n
o
u
s
M
a
c
h
in
e
Driv
e
s,”
IEE
E
T
ra
n
s.
I
n
d
.
A
p
p
l
.
,
v
o
l.
4
0
,
n
o
.
5
,
p
p
.
1
3
6
9
-
1
3
7
8
,
2
0
0
4
.
[1
5
]
K.
Ra
v
ik
u
m
a
r
S
e
tt
y
,
A
;W
e
k
h
a
n
d
e
,
S
h
a
sh
a
n
k
;
Ch
a
tt
e
rjee
,
“
Co
m
p
a
riso
n
o
f
h
ig
h
f
re
q
u
e
n
c
y
sig
n
a
l
i
n
jec
ti
o
n
tec
h
n
i
q
u
e
s
f
o
r
ro
to
r
p
o
sit
io
n
e
stim
a
ti
o
n
a
tl
o
w
sp
e
e
d
to
sta
n
d
stil
l
o
f
P
M
S
M
,
”
t
h
In
d
ia
In
t
.
Co
n
f.
Po
we
r E
lec
tro
n
.
,
2
0
1
2
,
p
p
.
1
-
6
.
[1
6
]
X
.
Zh
o
u
,
B.
Z
h
o
u
,
K
.
W
a
n
g
,
L
.
Zh
a
n
g
,
a
n
d
F
.
W
u
,
“
A
No
v
e
l
In
it
ial
Ro
t
o
r
P
o
siti
o
n
Esti
m
a
ti
o
n
S
trate
g
y
f
o
r
Do
u
b
ly
Sa
li
e
n
t
El
e
c
tr
o
m
a
g
n
e
ti
c
M
a
c
h
in
e
w
it
h
Tw
o
T
e
st
P
u
lse
s
I
n
jetc
io
n
,
”
2
0
1
9
2
2
n
d
In
t.
C
o
n
f
.
El
e
c
tr.
M
a
c
h
.
S
y
st.
ICEM
S
2
0
1
9
,
2
0
1
9
,
p
p
.
8
-
9
.
[1
7
]
K.
S
a
leh
a
n
d
M
.
S
u
m
n
e
r,
“
S
e
n
so
rles
s
c
o
n
tr
o
l
o
f
a
f
a
u
lt
-
to
lera
n
t
m
u
lt
i
-
lev
e
l
P
M
S
M
d
riv
e
,
”
T
EL
KOM
NIKA
T
e
lec
o
mm
u
n
ica
ti
o
n
Co
mp
u
t
i
n
g
E
lec
tro
n
ics
Co
n
tro
l
,
v
o
l.
1
6
,
n
o
.
6
,
p
p
.
2
9
3
0
–
2
9
4
2
,
2
0
1
8
.
[1
8
]
S
.
M
a
o
,
W
.
L
iu
,
J.
P
e
n
g
,
N.
Ji
a
o
,
a
n
d
Y
.
Jia
n
g
,
“
In
it
ial
r
o
t
o
r
p
o
siti
o
n
e
stim
a
ti
o
n
f
o
r
b
r
u
sh
les
s
s
y
n
c
h
ro
n
o
u
s
sta
rter/Ge
n
e
ra
to
rs,”
Co
n
f.
Pr
o
c
.
-
IEE
E
Ap
p
l.
P
o
we
r
El
e
c
tro
n
.
Co
n
f.
Exp
o
.
-
APEC
,
v
o
l.
2
0
1
9
-
M
a
rc
h
,
2
0
1
9
,
p
p
.
1
0
1
4
-
1
0
1
7
.
[1
9
]
T
.
M
e
n
g
,
W
.
L
iu
,
X
.
Ha
n
,
N.
Jia
o
,
J.
P
e
n
g
,
a
n
d
Y.
Jia
n
g
,
“
M
u
l
ti
-
S
tag
e
-
S
tru
c
tu
re
-
Ba
se
d
Ro
to
r
P
o
si
ti
o
n
Esti
m
a
ti
o
n
f
o
r
a
W
o
u
n
d
-
F
ield
S
y
n
c
h
ro
n
o
u
s
S
tarte
r/Ge
n
e
ra
to
r
in
th
e
L
o
w
-
S
p
e
e
d
Re
g
io
n
,
”
IEE
E
T
r
a
n
s.
Po
we
r
E
l
e
c
tro
n
.
,
v
o
l.
3
4
,
n
o
.
1
2
,
p
p
.
1
2
0
9
5
-
1
2
1
0
5
,
2
0
1
9
.
[2
0
]
S
.
Ya
n
g
,
R.
D.
L
o
re
n
z
,
a
n
d
T
.
M
.
Ja
h
n
s,
“
S
u
rf
a
c
e
P
e
rm
a
n
e
n
t
M
a
g
n
e
t
S
y
n
c
h
ro
n
o
u
s
M
a
c
h
in
e
De
sig
n
f
o
r
S
a
li
e
n
c
y
-
T
ra
c
k
in
g
S
e
lf
-
S
e
n
sin
g
P
o
siti
o
n
E
stim
a
ti
o
n
a
t
Zero
a
n
d
L
o
w
S
p
e
e
d
s,”
IEE
E
T
ra
n
s.
In
d
.
Ap
p
l.
,
p
p
.
3
4
9
3
-
3
5
0
0
,
2
0
1
0
.
[2
1
]
K.
L
e
e
a
n
d
Y.
Ha
n
,
“
M
T
P
A
c
o
n
tro
l
stra
teg
y
b
a
se
d
o
n
sig
n
a
l
in
jec
ti
o
n
f
o
r
V/f
sc
a
l
a
r
-
c
o
n
tro
ll
e
d
s
u
rf
a
c
e
p
e
r
m
a
n
e
n
t
m
a
g
n
e
t
s
y
n
c
h
ro
n
o
u
s m
a
c
h
in
e
d
riv
e
s,”
IEE
E
Acc
e
ss
,
v
o
l.
8
,
p
p
.
9
6
0
3
6
-
9
6
0
4
4
,
2
0
2
0
.
[2
2
]
N.
S
.
P
il
lai
a
n
d
R.
Ra
d
h
a
k
rish
n
a
n
,
“
A
n
a
l
y
sis
A
n
d
S
im
u
latio
n
S
tu
d
ies
F
o
r
P
o
siti
o
n
S
e
n
s
o
rles
s
BLDC
M
o
to
r
Driv
e
W
it
h
In
it
ial
R
o
t
o
r
P
o
siti
o
n
Esti
m
a
ti
o
n
,
”
2
0
1
5
I
n
t.
Co
n
f.
N
a
sc
e
n
t
T
e
c
h
n
o
l.
En
g
.
F
.
,
2
0
1
5
.
[2
3
]
X
.
W
u
a
n
d
Z
.
Z
h
u
,
“
A
No
v
e
l
Ro
t
o
r
I
n
it
ial
P
o
sit
io
n
De
tec
ti
o
n
M
e
th
o
d
Util
izin
g
DC
-
l
in
k
Vo
l
tag
e
S
e
n
so
r,
”
i
n
2
2
0
1
9
IEE
E
I
n
ter
n
a
ti
o
n
a
l
El
e
c
tric
M
a
c
h
in
e
s
&
Dr
ive
s
Co
n
fer
e
n
c
e
(
IEM
DC),
S
a
n
Die
g
o
,
CA
,
US
A,
2
0
1
9
,
2
0
1
9
,
p
p
.
1
0
9
3
-
1
0
9
8
.
[2
4
]
Q.
Ni
e
t
a
l
.
,
“
A
Ne
w
P
o
siti
o
n
a
n
d
S
p
e
e
d
Esti
m
a
ti
o
n
S
c
h
e
m
e
f
o
r
P
o
si
ti
o
n
C
o
n
tr
o
l
o
f
P
M
S
M
Driv
e
s
Us
in
g
L
o
w
-
R
e
so
lu
ti
o
n
P
o
siti
o
n
S
e
n
so
rs,
”
IEE
E
T
ra
n
s.
I
n
d
.
Ap
p
l.
,
v
o
l.
5
5
,
n
o
.
4
,
2
0
1
9
,
p
p
.
3
7
4
7
-
3
7
5
8
.
[2
5
]
F
.
A
n
a
y
i
a
n
d
M
.
M
.
A
.
A
l
Ib
ra
h
e
e
m
i,
“
Esti
m
a
ti
o
n
o
f
Ro
t
o
r
P
o
siti
o
n
f
o
r
P
e
rm
a
n
e
n
t
M
a
g
n
e
t
S
y
n
c
h
ro
n
o
u
s
M
o
to
r
a
t
S
tan
d
stil
l
Us
in
g
S
e
n
so
rles
s
V
o
lt
a
g
e
Co
n
tro
l
S
c
h
e
m
e
,
”
IEE
E/
AS
M
E
T
ra
n
s.
M
e
c
h
a
tro
n
ics
,
v
o
l.
2
5
,
n
o
.
3
,
p
p
.
1
6
1
2
-
1
6
2
1
,
2
0
2
0
.
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