I
nte
rna
t
io
na
l J
o
urna
l o
f
E
lect
rica
l a
nd
Co
m
p
ute
r
E
ng
in
ee
ring
(
I
J
E
CE
)
Vo
l.
7
,
No
.
5
,
Octo
b
e
r
2
0
1
7
,
p
p
.
2
9
0
2
~
2
910
I
SS
N:
2088
-
8708
,
DOI
: 1
0
.
1
1
5
9
1
/
i
j
ec
e
.
v
7
i
5
.
pp
2
9
0
2
-
2
910
2902
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ia
e
s
jo
u
r
n
a
l.c
o
m/o
n
lin
e/in
d
ex
.
p
h
p
/I
JE
C
E
M
o
deling
of Dyna
m
ica
l
Sy
ste
m
Piloted by
Discret
e S
ubsy
ste
m
Ba
sed o
n Bo
nd Gra
ph Approa
ch
B
en
Sa
le
m
J
,
L
a
k
ho
ua
M
.
N.
,
E
l A
m
ra
o
ui L
.
M
e
c
h
a
tro
n
ic
S
y
ste
m
s an
d
S
ig
n
a
ls,
ENICa
rth
a
g
e
,
Un
iv
e
rsity
o
f
Ca
rth
a
g
e
,
T
u
n
isia
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
A
p
r
20
,
2
0
1
7
R
ev
i
s
ed
J
u
n
5
,
2
0
1
7
A
cc
ep
ted
Sep
11
,
2
0
1
7
T
h
is
p
a
p
e
r
is
a
c
o
n
tri
b
u
ti
o
n
to
t
h
e
a
n
a
ly
sis
a
n
d
m
o
d
e
li
n
g
o
f
a
m
e
c
h
a
tro
n
ic
s
y
ste
m
w
it
h
d
y
n
a
m
ic b
e
h
a
v
io
r
th
a
t
is
c
o
n
tro
ll
e
d
b
y
a
d
ig
it
a
l
c
o
m
p
u
ter.
In
th
is
p
a
p
e
r,
a
b
i
b
li
o
g
ra
p
h
ic
re
se
a
rc
h
o
n
m
e
c
h
a
tro
n
ic
sy
ste
m
s
is
p
re
se
n
ted
b
y
sp
e
c
ify
in
g
a
c
a
se
stu
d
y
o
f
th
e
A
n
ti
-
lo
c
k
Bra
k
in
g
S
y
ste
m
(
A
BS
).
T
h
e
n
,
a
m
e
th
o
d
o
lo
g
y
o
f
s
y
ste
m
ic
m
o
d
e
li
n
g
o
f
th
e
A
BS
s
y
ste
m
b
a
se
d
o
n
tw
o
m
e
th
o
d
s
S
tru
c
tu
re
d
A
n
a
ly
sis
De
sig
n
T
e
c
h
n
i
q
u
e
(S
A
DT
)
a
n
d
b
o
n
d
g
ra
p
h
(BG
)
is
p
ro
p
o
se
d
.
T
h
e
m
o
d
e
l
c
re
a
ted
is
v
a
li
d
a
te
d
w
it
h
t
h
re
e
so
f
tw
a
r
e
p
ro
g
ra
m
s:
Ca
rS
im
,
2
0
S
im
a
n
d
S
im
u
li
n
k
.
K
ey
w
o
r
d
s
:
A
B
S b
r
ak
i
n
g
s
y
s
te
m
Me
ch
atr
o
n
ic
s
y
s
te
m
Mo
d
elin
g
o
f
a
d
y
n
a
m
ic
s
y
s
te
m
S
A
DT
b
o
n
d
g
r
ap
h
S
y
s
te
m
ic
m
o
d
eli
n
g
Co
p
y
rig
h
t
©
2
0
1
7
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
:
B
en
Sale
m
J
,
U.
R
: M
ec
h
atr
o
n
ic
S
y
s
te
m
s
a
n
d
Sig
n
al
s
,
E
NI
C
ar
t
h
ag
e
,
Un
i
v
er
s
it
y
o
f
C
ar
th
a
g
e,
T
u
n
is
i
a.
E
m
ail:
b
s
j
_
j
am
el
@
y
a
h
o
o
.
f
r
1.
I
NT
RO
D
UCT
I
O
N
Mo
d
elin
g
i
s
o
n
e
o
f
t
h
e
m
aj
o
r
ac
tiv
itie
s
o
f
r
esear
c
h
er
s
.
C
o
n
c
ep
tu
alizi
n
g
p
h
y
s
ical
p
h
e
n
o
m
e
n
a
th
r
o
u
g
h
a
m
o
d
el,
m
a
k
es
it
p
o
s
s
ib
le
to
u
n
d
er
s
ta
n
d
t
h
e
li
n
k
s
b
et
w
ee
n
th
e
p
h
y
s
ical
q
u
a
n
titi
e
s
s
p
ec
i
f
i
c
to
th
e
s
y
s
te
m
an
d
s
o
to
p
r
e
d
ict
th
e
r
o
le
o
f
a
m
o
d
if
icatio
n
o
f
th
e
s
y
s
te
m
s
p
ar
t.
Mo
d
elin
g
it
also
h
elp
s
r
e
-
en
g
i
n
ee
r
i
n
g
o
f
t
h
e
s
y
s
te
m
[
1
]
.
A
d
y
n
a
m
ic
s
y
s
te
m
is
a
s
et
o
f
co
m
p
o
n
e
n
ts
i
n
in
ter
ac
tio
n
,
s
p
r
ea
d
o
v
er
s
ev
er
al
s
tates
an
d
s
tr
u
ct
u
r
ed
ac
co
r
d
in
g
to
ce
r
tain
p
r
o
p
e
r
ties
.
C
u
r
r
en
t
l
y
,
d
y
n
a
m
ic
s
y
s
te
m
s
ar
e
co
n
tr
o
lled
b
y
co
m
p
u
t
er
s
,
w
h
ich
m
ak
e
it
p
o
s
s
ib
le
to
o
b
tain
f
u
n
ctio
n
s
o
f
u
s
e
a
n
d
to
tr
ea
t
th
e
f
u
n
cti
o
n
s
o
f
r
eq
u
ir
e
m
en
ts
o
f
t
h
e
s
y
s
te
m
s
.
Am
o
n
g
t
h
e
d
y
n
a
m
ic
s
y
s
te
m
s
co
n
tr
o
lled
b
y
d
ig
ital c
o
m
p
u
ter
s
,
w
e
f
o
u
n
d
th
e
m
ec
h
atr
o
n
ic
s
y
s
te
m
s
[
2
]
.
T
h
e
f
ir
s
t p
ar
t o
f
th
is
p
ap
er
p
r
e
s
en
t
s
th
e
m
ai
n
c
h
ar
ac
ter
is
tic
s
o
f
th
e
m
ec
h
atr
o
n
ic
s
y
s
te
m
s
.
T
h
en
,
a
ca
s
e
s
tu
d
y
o
f
an
A
B
S
b
r
ak
i
n
g
s
y
s
te
m
i
s
p
r
esen
ted
.
T
h
e
s
ec
o
n
d
p
ar
t
is
in
ter
ested
in
t
h
e
an
al
y
s
i
s
b
y
s
y
s
te
m
ic
ap
p
r
o
ac
h
,
in
th
is
p
ar
t
w
e
p
r
o
p
o
s
ed
a
m
et
h
o
d
o
lo
g
y
b
ased
o
n
t
w
o
to
o
ls
o
f
m
o
d
elin
g
.
T
h
e
th
ir
d
p
ar
t
p
r
o
p
o
s
es
a
s
tr
ateg
y
f
o
r
m
o
d
eli
n
g
an
d
s
i
m
u
l
atio
n
o
f
t
h
e
h
y
d
r
au
lic
p
ar
t
p
ilo
ted
b
y
a
d
ig
ital s
y
s
te
m
u
s
i
n
g
th
e
b
o
n
d
g
r
ap
h
ap
p
r
o
ac
h
.
2.
CARA
C
T
E
R
I
CS O
F
A
M
E
CATRO
N
I
C
SYS
T
E
M
T
h
e
ter
m
m
ec
h
atr
o
n
ics
w
as
in
tr
o
d
u
ce
d
in
1
9
6
9
b
y
an
en
g
i
n
e
er
f
r
o
m
t
h
e
J
ap
an
e
s
e
co
m
p
a
n
y
Yas
k
a
w
a
E
lectr
ic
C
o
r
p
o
r
atio
n
to
ch
ar
ac
ter
ize
a
s
y
s
te
m
i
n
te
g
r
atin
g
a
m
ec
h
an
ica
l p
ar
t a
n
d
an
elec
tr
o
n
i
c
p
ar
t.
Sev
er
al
r
ef
er
e
n
ce
s
d
e
f
in
e
m
ec
h
atr
o
n
ics
a
s
t
h
e
in
teg
r
atio
n
o
f
m
ec
h
a
n
ical
a
n
d
elec
tr
o
m
ec
h
a
n
ica
l
s
y
s
te
m
s
(
m
ec
h
a
n
ical
ele
m
en
t
s
,
m
ac
h
i
n
es,
p
r
ec
is
io
n
m
ec
h
a
n
ics)
w
i
th
elec
tr
o
n
ic
s
y
s
te
m
s
(
m
icr
o
elec
tr
o
n
ics,
p
o
w
er
elec
tr
o
n
ics,
s
en
s
o
r
s
,
ac
tu
ato
r
s
)
an
d
in
f
o
r
m
atio
n
tech
n
o
lo
g
y
(
s
y
s
te
m
s
t
h
eo
r
y
,
m
o
d
elin
g
,
au
to
m
atio
n
,
s
o
f
t
w
ar
e,
ar
tific
ial
i
n
telli
g
en
ce
)
[
3
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2088
-
8708
Mo
d
elin
g
o
f D
yn
a
mica
l S
ystem
P
ilo
ted
b
y
Dis
crete
S
u
b
s
ys
tem
B
a
s
ed
o
n
B
o
n
d
Gra
p
h
…
(
B
en
S
a
lem
J
)
2903
Mo
r
e
r
ec
en
tl
y
,
t
h
e
d
e
v
elo
p
m
e
n
t
o
f
th
e
m
icr
o
co
n
tr
o
ller
s
w
i
t
h
h
ig
h
i
n
te
g
r
atio
n
a
n
d
f
la
s
h
m
e
m
o
r
ies
a
s
w
ell
a
s
t
h
e
u
s
e
o
f
e
v
o
lv
ed
p
r
o
g
r
a
m
m
i
n
g
la
n
g
u
a
g
es,
al
lo
w
e
d
d
esig
n
i
n
g
s
y
s
te
m
s
v
er
y
s
u
c
ce
s
s
f
u
l
w
it
h
in
v
er
y
s
h
o
r
t ti
m
e
f
r
a
m
es.
T
h
e
ap
p
ea
r
an
ce
o
f
m
ec
h
a
tr
o
n
ic
s
y
s
te
m
s
is
a
r
ev
o
l
u
tio
n
f
o
r
th
e
i
n
d
u
s
tr
ial
w
o
r
ld
.
I
n
d
ee
d
,
th
e
m
ec
atr
o
n
ic
s
s
y
s
te
m
is
v
er
y
p
r
esen
t
i
n
o
u
r
ev
er
y
d
a
y
lif
e
a
s
w
ell
a
s
in
t
h
e
in
d
u
s
tr
ial
m
id
d
le.
I
t
af
f
ec
ts
m
a
n
y
ap
p
licatio
n
s
in
v
ar
io
u
s
f
ield
s
s
u
c
h
as
tr
an
s
p
o
r
t,
th
e
m
ed
ical
f
ield
,
th
e
s
p
ac
e
d
o
m
ai
n
as
w
el
l
as
it
af
f
ec
ts
m
o
r
e
an
d
m
o
r
e
th
e
w
o
r
ld
o
f
tr
an
s
p
o
r
t
an
d
in
p
ar
ticu
lar
th
e
au
to
m
o
tiv
e
s
ec
to
r
[
4
]
.
I
n
d
ee
d
,
in
th
e
cu
r
r
en
t
au
to
m
o
b
iles
,
w
e
u
s
e
p
r
o
ce
s
s
o
r
s
to
i
m
p
le
m
e
n
t
th
e
v
ar
io
u
s
s
y
s
te
m
s
o
f
co
n
tr
o
l.
T
h
e
m
icr
o
co
n
tr
o
ller
in
te
g
r
ate
s
s
o
m
e
e
m
b
ar
k
ed
m
e
m
o
r
y
(
E
E
P
R
OM
/EP
R
OM
)
,
allo
w
i
n
g
a
d
ig
ital
tr
ea
t
m
e
n
t
o
f
t
h
e
an
alo
g
in
p
u
ts
.
T
h
e
an
ti
-
lo
ck
b
r
ak
i
n
g
s
y
s
te
m
(
A
B
S)
w
a
s
also
in
tr
o
d
u
ce
d
i
n
ca
r
s
i
n
t
h
e
1
9
7
0
s
.
T
h
e
A
B
S
o
p
er
ates
b
y
d
etec
tin
g
t
h
e
w
h
ee
l lo
ck
a
n
d
th
e
n
r
ed
u
ce
s
o
r
eli
m
i
n
ates t
h
e
b
lo
ck
ag
e
b
y
m
o
d
u
lati
n
g
th
e
h
y
d
r
a
u
lic
p
r
es
s
u
r
e.
I
n
th
i
s
p
ap
er
,
w
e
tak
e
a
s
ex
a
m
p
le
th
e
A
B
S
s
y
s
te
m
to
ex
p
l
ain
o
u
r
co
n
tr
ib
u
tio
n
to
t
h
e
m
o
d
elin
g
o
f
a
d
y
n
a
m
ic
s
y
s
te
m
p
ilo
ted
b
y
a
d
ig
ital c
o
m
p
u
ter
.
3.
P
RE
S
E
NT
AT
I
O
N
O
F
T
H
E
AB
S SYST
E
M
T
h
e
A
B
S
s
y
s
te
m
allo
w
s
r
elax
in
g
th
e
h
y
d
r
a
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lic
p
r
ess
u
r
e
o
n
th
e
w
h
ee
l
w
h
en
i
t
d
etec
ts
a
b
l
o
ck
in
g
o
n
h
er
.
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h
en
it
in
cr
ea
s
e
s
it
u
n
til
th
e
n
e
w
b
lo
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in
g
o
cc
u
r
s
,
i
n
w
h
ic
h
th
e
c
y
cle
s
tar
t
s
ag
ai
n
[
5
]
.
T
h
e
lo
ck
in
g
o
f
a
w
h
ee
l
is
d
etec
ted
b
y
a
r
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tatio
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en
s
o
r
.
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h
e
ca
lcu
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m
p
ar
es
th
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d
ata
w
ith
t
h
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s
to
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ed
b
r
ak
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cu
r
v
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a
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d
d
etec
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th
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r
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lie
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h
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ical
l
y
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t
h
e
m
aster
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li
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er
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lace
d
b
y
s
o
len
o
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v
al
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h
at
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elea
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e
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p
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ess
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wh
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y
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h
a
s
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g
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d
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r
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ess
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r
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ed
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cir
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it b
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m
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co
m
m
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n
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o
th
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h
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m
.
T
h
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A
B
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s
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te
m
m
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lates
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ak
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p
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s
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m
a
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in
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ai
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r
ea
s
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th
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p
r
ess
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i
n
e
v
er
y
p
ip
e.
T
h
ese
s
o
len
o
id
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al
v
es
ar
e
co
m
m
a
n
d
ed
b
y
a
ca
lcu
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f
r
o
m
in
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o
r
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at
io
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g
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v
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n
b
y
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u
r
s
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n
s
o
r
s
,
to
th
e
r
is
k
o
f
b
lo
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in
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o
f
w
h
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ls
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v
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e
n
s
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r
p
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d
in
f
r
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n
t o
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a
tar
g
et
d
etec
ts
th
e
v
ar
iatio
n
o
f
t
h
e
w
h
ee
l sp
ee
d
.
T
h
e
A
B
S
s
y
s
te
m
in
cl
u
d
es:
a
h
y
d
r
a
u
lic
u
n
it;
an
elec
tr
o
n
ic
ca
l
cu
lato
r
; o
n
e
s
p
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d
s
e
n
s
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o
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g
et
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a
d
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icato
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ep
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a
m
an
-
m
ac
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e
i
n
ter
f
ac
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Fig
u
r
e
1
r
ep
r
esen
ts
th
e
A
B
S b
r
ak
in
g
s
y
s
te
m
[
6
]
.
Fig
u
r
e
1
.
E
le
m
en
t
s
o
f
t
h
e
A
B
S s
y
s
te
m
Du
r
in
g
t
h
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ak
i
n
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w
it
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t
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en
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lo
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g
,
b
o
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s
o
l
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o
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v
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ar
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at
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t
h
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o
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tio
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b
et
w
ee
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m
aster
c
y
li
n
d
er
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d
c
alip
er
is
o
p
en
.
T
h
e
ca
lip
er
r
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eiv
es
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ll
t
h
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p
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e
o
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tio
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cir
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it.
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f
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ten
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e
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e
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ex
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o
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o
len
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Sev
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e
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r
ch
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s
in
ter
ested
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o
d
eli
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g
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.
T
h
e
f
o
llo
w
i
n
g
p
ar
ag
r
ap
h
cites so
m
e
o
f
th
e
s
e
w
o
r
k
s
:
R
esear
ch
er
s
C
h
u
n
-
K
u
ei
Hu
a
n
g
&
al.
(
2
0
1
0
)
[
7
]
,
m
o
d
eled
th
e
h
y
d
r
au
lic
p
ar
t
o
f
t
h
e
A
B
S
b
r
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g
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s
te
m
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f
a
m
o
to
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c
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cle
a
n
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e
y
s
i
m
u
l
ated
its
f
u
n
ctio
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i
n
g
a
f
ter
esti
m
at
in
g
t
h
e
s
lip
s
a
n
d
s
p
ee
d
o
f
th
e
w
h
ee
l
s
.
C
h
a
n
k
it
J
ain
&
al.
(
2
0
1
4
)
[
8
]
,
h
av
e
ex
p
lai
n
ed
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e
d
y
n
a
m
ic
eq
u
atio
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r
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a
S
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m
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k
m
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d
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P
I
co
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a
teg
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n
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lip
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th
e
y
s
i
m
u
lated
t
h
e
s
p
ee
d
an
d
th
e
b
r
ak
in
g
d
is
ta
n
ce
o
f
th
e
v
e
h
icle.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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:
2
0
8
8
-
8708
I
J
E
C
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Vo
l.
7
,
No
.
5
,
Octo
b
er
201
7
:
2
9
0
3
–
2
9
1
0
2904
R
esear
ch
er
s
C
h
u
n
-
L
ia
n
g
L
i
n
&
al.
(
2
0
1
1
)
[
9
]
,
h
av
e
p
r
ese
n
t
ed
h
o
w
t
h
e
s
lip
r
atio
co
n
tr
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r
o
b
lem
i
n
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B
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o
n
li
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r
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d
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T
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s
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a
s
lid
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g
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o
d
e
co
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tr
o
ller
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ap
p
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q
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w
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w
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elec
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tim
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s
lip
r
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f
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r
ef
f
icie
n
t
v
e
h
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b
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4.
SYST
E
M
I
C
M
O
DE
L
I
NG
O
F
T
H
E
H
YDRA
U
L
I
C
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RO
UP
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AB
S
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in
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r
ac
tical
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d
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et
h
o
d
o
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g
ical
ap
p
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h
es,
r
elatin
g
to
t
h
e
s
t
u
d
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o
f
w
h
at
is
r
ec
o
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n
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as
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o
co
m
p
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ex
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tr
a
n
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v
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cien
t
if
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u
m
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f
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ci
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ic
o
b
j
ec
ts
[
1
0
]
.
I
n
d
ee
d
,
e
v
er
y
s
y
s
te
m
i
s
s
ee
n
f
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y
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e
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r
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t b
e
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y
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is
is
b
as
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o
n
s
ev
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m
et
h
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d
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lo
g
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I
n
th
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s
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ap
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,
w
e
w
ill
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s
e
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h
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Stru
ctu
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A
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De
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T
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(
S
A
DT
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m
et
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d
[
1
1
]
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d
th
e
B
o
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d
Gr
ap
h
(
B
G)
ap
p
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ac
h
[
1
2
]
to
m
o
d
el
t
h
e
h
y
d
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a
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lic
p
ar
t
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t
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b
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.
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n
t
h
e
f
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w
in
g
t
h
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b
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s
ar
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ted
.
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th
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ap
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S
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m
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e
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ases
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in
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al
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(
Fig
u
r
e
2
)
.
Fig
u
r
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2
.
O
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all
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o
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DT
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Fig
u
r
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3
.
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A
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th
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ADT
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T
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-
0
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a
k
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all
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h
e
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f
o
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m
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elati
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g
to
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is
s
y
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.
A
t
th
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s
lev
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t
h
e
f
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n
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tio
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o
t
y
e
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clea
r
.
T
h
e
p
r
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tatio
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o
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lo
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e
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s
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e
d
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iled
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ea
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th
e
s
y
s
te
m
f
u
n
cti
o
n
in
g
.
F
ig
u
r
e
3
s
h
o
w
s
t
h
e
A
0
n
o
d
e
o
f
th
e
S
A
DT
m
o
d
el.
T
h
e
p
r
ev
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s
g
r
ap
h
ic
r
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r
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tatio
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h
i
g
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li
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t
s
t
h
e
i
n
ter
n
al
o
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g
an
izatio
n
o
f
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s
y
s
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m
b
y
s
h
o
w
i
n
g
th
r
ee
b
lo
ck
s
t
h
at
co
n
tai
n
t
h
r
ee
p
h
ases
o
f
f
u
n
ct
io
n
i
n
g
d
etailed
th
er
ea
f
ter
.
I
ncre
a
s
e
t
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pres
s
ure:
T
h
e
f
o
r
ce
ex
er
ted
o
n
th
e
b
r
ak
e
p
ed
al
g
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ate
s
a
b
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p
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r
e,
w
h
ich
i
s
tr
an
s
m
itted
d
ir
ec
tl
y
to
t
h
e
ca
li
p
er
.
I
n
th
is
p
h
ase,
t
h
er
e
is
a
co
n
v
e
n
tio
n
al
b
r
ak
i
n
g
cir
c
u
it.
M
a
inta
in
t
he
press
ure:
T
h
e
r
is
k
o
f
b
lo
ck
ag
e
is
r
ea
ch
ed
,
at
th
i
s
ti
m
e
t
h
e
ex
h
a
u
s
t
s
o
l
en
o
id
v
al
v
e
r
e
m
ain
s
at
r
est
(
clo
s
ed
)
.
T
h
e
h
y
d
r
au
lic
cir
cu
it
b
et
w
ee
n
th
e
s
o
len
o
id
v
alv
e
s
an
d
t
h
e
ca
li
p
er
b
ec
o
m
es
is
o
lated
,
af
ter
th
e
ca
lcu
lato
r
clo
s
es
t
h
e
i
n
let
s
o
le
n
o
id
v
al
v
e.
T
h
e
ch
ec
k
v
a
lv
e
3
allo
w
s
r
elea
s
in
g
t
h
e
w
h
ee
l q
u
ic
k
l
y
.
Dec
re
a
s
e
t
he
pres
s
ure:
T
h
e
r
is
k
o
f
b
lo
ck
i
n
g
th
e
w
h
ee
l
p
er
s
is
ts
;
i
ts
s
lip
th
r
e
s
h
o
ld
is
e
x
ce
e
d
ed
.
A
t
th
is
ti
m
e,
t
h
e
ca
lcu
la
to
r
ac
ts
o
n
t
h
e
p
u
m
p
to
r
ed
u
ce
t
h
e
b
r
ak
e
p
r
ess
u
r
e
o
n
th
e
ca
lip
er
b
y
r
et
u
r
n
i
n
g
t
h
e
liq
u
id
to
th
e
m
as
ter
c
y
li
n
d
er
.
T
h
e
d
ec
eler
atio
n
o
f
th
e
w
h
ee
l
d
ec
r
ea
s
es
an
d
th
e
i
n
let
s
o
le
n
o
id
v
alv
e
r
e
m
ai
n
s
p
r
ess
u
r
ized
.
I
n
th
i
s
ca
s
e,
t
h
e
ca
lcu
lato
r
o
p
en
s
th
e
e
x
h
au
s
t so
l
en
o
id
v
alv
e.
5.
F
UNCTI
O
N
I
N
G
O
F
T
H
E
D
I
G
I
T
A
L
P
AR
T
SYS
T
E
M
T
ak
in
g
i
n
to
ac
co
u
n
t
t
h
e
s
i
g
n
al
s
m
ea
s
u
r
ed
b
y
th
e
s
p
ee
d
s
e
n
s
o
r
s
,
th
e
ca
lcu
lato
r
co
m
m
a
n
d
s
t
h
e
elec
tr
ic
ex
cite
m
en
t
o
f
s
o
le
n
o
id
v
al
v
es
f
o
llo
w
i
n
g
a
w
el
l
-
d
e
f
i
n
ed
s
tr
a
teg
y
.
I
n
d
ee
d
,
th
e
s
i
g
n
als
o
f
th
e
s
en
s
o
r
s
allo
w
th
e
ca
lcu
lato
r
to
d
eter
m
i
n
e
t
h
e
s
p
ee
d
s
,
th
e
ac
ce
ler
atio
n
s
,
a
n
d
t
h
e
s
l
id
in
g
o
f
th
e
w
h
ee
l
s
.
T
h
e
ca
lcu
lato
r
ta
k
es
i
n
p
r
ec
au
tio
n
th
e
er
r
o
r
s
o
f
m
ea
s
u
r
es;
it
is
b
ased
o
n
a
ca
lcu
lated
r
ef
er
en
ce
s
p
ee
d
,
w
h
ic
h
co
r
r
esp
o
n
d
s
to
a
m
ax
i
m
u
m
s
l
ip
.
T
h
e
r
ef
er
en
ce
s
p
ee
d
is
d
eter
m
in
ed
f
r
o
m
t
w
o
w
h
ee
l sp
ee
d
s
ta
k
en
d
ia
g
o
n
all
y
.
Fig
u
r
e
4
s
h
o
w
s
t
h
e
co
n
tr
o
l
s
tr
ateg
y
o
f
th
e
B
o
s
c
h
d
ig
ital c
alc
u
lato
r
o
f
th
e
s
elec
ted
s
y
s
te
m
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2088
-
8708
Mo
d
elin
g
o
f D
yn
a
mica
l S
ystem
P
ilo
ted
b
y
Dis
crete
S
u
b
s
ys
tem
B
a
s
ed
o
n
B
o
n
d
Gra
p
h
…
(
B
en
S
a
lem
J
)
2905
Fig
u
r
e
4
.
Op
er
atin
g
s
tr
ate
g
y
o
f
th
e
A
B
S c
alc
u
lato
r
L
e
g
en
d
:
S
ref
: T
h
e
ca
lcu
lated
r
ef
er
en
ce
s
p
ee
d
S
w
: T
h
e
lin
ea
r
w
h
ee
l
s
p
ee
d
S
v
: T
h
e
s
p
ee
d
o
f
th
e
v
e
h
icle
a
4
:
m
a
x
i
m
u
m
ac
ce
ler
atio
n
a
f
te
r
a
u
to
m
atic
b
r
ak
e
r
elea
s
e
a
3
:
m
i
n
i
m
u
m
v
eh
icle
ac
ce
ler
atio
n
af
ter
p
r
ess
u
r
e
r
ed
u
ctio
n
a
1
: a
cc
ep
tab
le
d
ec
eler
atio
n
f
o
r
n
o
r
m
al
b
r
ak
i
n
g
a
2
:
m
a
x
i
m
u
m
d
ec
eler
atio
n
ac
c
ep
ted
f
o
r
n
o
r
m
al
b
r
ak
i
n
g
I
n
itiall
y
t
h
e
w
h
ee
l
s
p
ee
d
a
n
d
t
h
e
r
ef
er
e
n
ce
s
p
ee
d
ar
e
id
en
tical.
A
s
th
e
p
r
ess
u
r
e
g
r
o
w
s
,
t
h
e
cir
cu
m
f
er
e
n
tial
d
ec
eler
atio
n
o
f
th
e
w
h
ee
l
i
n
cr
ea
s
es.
A
t
th
e
en
d
o
f
p
h
ase
1
,
th
e
d
ec
el
er
atio
n
ex
ce
ed
s
th
e
p
r
ed
eter
m
i
n
ed
f
i
x
ed
th
r
esh
o
ld
(
-
a1
)
,
w
h
ic
h
co
m
m
an
d
s
t
h
e
t
r
an
s
itio
n
f
r
o
m
t
h
e
s
o
len
o
id
v
alv
e
to
th
e
h
o
ld
in
g
p
o
s
itio
n
.
T
h
e
d
ec
eler
atio
n
in
c
r
ea
s
es
u
n
til
t
h
e
c
u
r
v
e
lea
v
es
t
h
e
s
tab
le
zo
n
e,
a
t
t
h
e
e
n
d
o
f
p
h
ase
2
.
T
h
e
w
h
ee
l
s
p
ee
d
d
r
o
p
s
b
elo
w
th
e
r
e
f
er
en
ce
s
p
ee
d
an
d
d
ec
eler
atio
n
b
ec
o
m
e
s
lar
g
e
(
g
r
ea
ter
th
a
n
a2
)
.
T
h
e
s
o
len
o
id
v
alv
e
is
s
u
p
p
lied
w
it
h
a
c
u
r
r
en
t
(
5
A
)
to
r
ed
u
ce
th
e
b
r
ak
in
g
p
r
es
s
u
r
e
u
n
til
t
h
e
ac
ce
le
r
atio
n
e
x
c
ee
d
s
th
e
th
r
es
h
o
ld
(
-
a1
)
.
A
t
t
h
is
t
i
m
e
th
e
ca
lc
u
la
to
r
p
r
o
d
u
ce
s
a
cu
r
r
en
t
o
f
2
A
to
r
et
u
r
n
to
t
h
e
p
r
ess
u
r
e
h
o
ld
in
g
p
h
ase.
T
h
e
ac
ce
ler
atio
n
in
cr
ea
s
e
s
an
d
ex
ce
ed
s
th
e
th
r
es
h
o
ld
(
a3
)
,
at
th
is
i
n
s
ta
n
t,
th
e
ca
lc
u
lato
r
o
p
en
s
t
h
e
cir
cu
it.
T
h
e
p
r
ess
u
r
e
i
n
th
e
w
h
ee
l
c
y
li
n
d
e
r
in
cr
ea
s
es,
t
h
e
n
a
h
o
ld
i
n
g
s
e
q
u
en
ce
.
P
h
ase
7
i
s
th
e
u
n
d
er
b
r
ak
in
g
p
h
ase,
i
n
w
h
ic
h
th
e
s
p
ee
d
v
ar
ies
b
et
w
e
en
a
m
in
i
m
al
ac
ce
ler
atio
n
a
n
d
a
m
i
n
i
m
al
d
ec
eler
atio
n
.
T
h
e
ca
lcu
lato
r
tr
ig
g
er
s
a
s
er
ies o
f
p
r
ess
u
r
e
s
u
r
g
es i
n
s
te
p
s
,
w
it
h
h
o
ld
i
n
g
r
a
n
g
e
s
u
n
til a
n
e
w
b
lo
ck
in
g
tr
e
n
d
.
I
n
o
r
d
er
to
d
eter
m
in
e
th
e
o
p
er
atin
g
p
r
i
n
cip
le
o
f
t
h
e
A
B
S
b
r
ak
in
g
s
y
s
te
m
,
w
e
u
s
ed
C
ar
Si
m
a
n
d
Ma
tlab
s
o
f
t
w
ar
e
p
r
o
g
r
a
m
s
.
I
n
f
ac
t,
C
ar
Si
m
s
o
f
t
w
ar
e
is
a
co
m
m
er
cial
s
o
f
t
w
ar
e
p
ac
k
a
g
e
th
at
p
r
ed
icts
th
e
p
er
f
o
r
m
a
n
ce
o
f
v
eh
ic
les
i
n
r
es
p
o
n
s
e
to
d
r
iv
er
co
n
tr
o
ls
in
a
g
iv
en
e
n
v
ir
o
n
m
en
t
[
1
2
]
.
T
h
e
Si
m
u
lin
k
s
o
f
t
w
ar
e
is
a
p
latf
o
r
m
f
o
r
m
o
d
eli
n
g
a
n
d
s
i
m
u
latio
n
o
f
d
y
n
a
m
ic
m
u
lt
i
-
d
o
m
a
in
s
y
s
te
m
s
.
T
h
e
m
o
d
el
o
f
th
e
b
r
ak
i
n
g
s
y
s
te
m
b
ased
o
n
t
h
e
t
w
o
s
o
f
t
w
ar
e
p
r
o
g
r
a
m
s
i
s
r
ep
r
esen
ted
b
y
t
h
e
Fi
g
u
r
e
5
,
t
h
e
b
r
ak
e
s
et
p
o
in
t
o
n
th
e
m
as
ter
c
y
l
in
d
er
is
r
ep
r
esen
ted
b
y
th
e
F
ig
u
r
e
6.
Fig
u
r
e
5
.
Si
m
u
li
n
k
-
C
ar
Si
m
m
o
d
el
o
f
th
e
A
B
S
s
y
s
te
m
Fig
u
r
e
6
.
B
r
ak
e
s
et
p
o
in
t o
n
th
e
m
aster
c
y
lin
d
er
T
h
e
m
o
d
el
co
n
s
i
s
ts
o
f
t
h
r
ee
b
lo
ck
s
:
T
h
e
C
ar
Si
m
S
-
F
u
n
ctio
n
b
lo
ck
is
th
e
m
o
d
el
o
f
a
v
eh
icle
,
p
r
o
g
r
am
m
ed
b
y
th
e
d
ev
elo
p
er
o
f
t
h
is
s
o
f
t
w
ar
e.
T
h
e
s
ec
o
n
d
b
lo
ck
r
ep
r
esen
ts
th
e
A
B
S
b
r
ak
in
g
s
y
s
te
m
o
f
t
h
e
0
1
2
3
4
5
6
7
8
9
10
ti
m
e
{s
}
0
5
10
15
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
J
E
C
E
Vo
l.
7
,
No
.
5
,
Octo
b
er
201
7
:
2
9
0
3
–
2
9
1
0
2906
v
eh
ic
le
w
it
h
a
s
i
m
p
lifie
d
en
v
ir
o
n
m
e
n
t
(
f
la
t
r
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ad
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d
f
r
ictio
n
f
o
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ce
s
ar
e
n
e
g
li
g
ib
le)
.
On
th
e
o
th
er
h
a
n
d
,
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e
th
ir
d
b
lo
ck
r
ep
r
esen
ts
a
p
ar
t o
f
th
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tr
ea
t
m
e
n
t o
f
t
h
e
s
i
g
n
als to
d
eter
m
i
n
e
t
h
e
o
p
er
atin
g
c
y
cle
s
o
f
th
e
ca
lc
u
lato
r
.
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h
e
f
o
llo
w
in
g
c
u
r
v
e
s
r
ep
r
esen
t: th
e
s
p
ee
d
ev
o
l
u
tio
n
o
f
th
e
f
o
r
w
ar
d
le
f
t
w
h
ee
l,
th
e
r
ef
er
e
n
ce
s
p
ee
d
o
f
th
e
v
e
h
icle,
s
o
t
h
e
p
r
ess
u
r
e
a
n
d
s
lip
co
ef
f
icie
n
t e
v
o
lu
tio
n
d
u
r
in
g
b
r
ak
i
n
g
.
Fig
u
r
e
7
.
T
h
e
s
p
ee
d
ev
o
lu
tio
n
o
f
th
e
f
o
r
w
ar
d
lef
t
w
h
ee
l (
K
m
/h
)
Fig
u
r
e
8
.
T
h
e
r
ef
er
en
ce
s
p
ee
d
o
f
th
e
v
eh
ic
le
(
K
m
/
h
)
Fig
u
r
e
9
.
P
r
ess
u
r
e
ev
o
lu
tio
n
a
p
p
lied
to
th
e
b
r
ak
e
d
is
c
d
u
r
in
g
th
e
b
r
ak
i
n
g
o
p
er
atio
n
Fig
u
r
e
1
0
.
Sli
p
co
ef
f
icie
n
t e
v
o
lu
tio
n
d
u
r
in
g
b
r
ak
in
g
T
h
e
s
p
ee
d
s
o
f
t
h
e
w
h
ee
l
r
ep
r
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ted
b
y
t
h
e
f
i
g
u
r
e
7
is
u
n
d
u
lated
,
it
i
n
cr
ea
s
es
w
h
en
th
e
wh
ee
l
m
ee
t
s
a
b
lo
ck
in
g
a
n
d
d
ec
r
ea
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ed
w
h
e
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lo
ck
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lled
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lc
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h
e
s
i
m
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la
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m
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I
n
d
ee
d
,
in
t
h
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o
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el
t
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ar
e
4
7
v
ar
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5
3
eq
u
atio
n
s
,
4
s
tate
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ar
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d
2
al
g
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r
aic
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o
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s
.
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h
is
f
o
r
ce
s
u
s
to
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i
m
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li
f
y
th
is
m
o
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el,
a
f
ter
n
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g
l
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tin
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th
e
e
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f
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o
f
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o
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e
ele
m
en
ts
i
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e
m
o
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el.
Ass
u
m
in
g
t
h
at
t
h
e
lo
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e
s
i
n
th
e
p
ip
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ar
e
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eg
li
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le,
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i
s
h
y
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a
k
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s
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f
m
o
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h
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len
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th
o
f
t
h
e
p
ip
e
is
1
.
2
m
eter
s
,
T
h
at
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to
s
a
y
t
h
e
i
n
d
u
cta
n
c
e
is
1
.
2
Hen
r
y
,
w
h
at
m
i
n
i
m
izes t
h
e
co
n
s
tan
t
o
f
ti
m
e
(
L
/R
)
.
I
n
t
h
is
ca
s
e
it is
p
o
s
s
i
b
le
to
n
eg
lect
t
h
e
ef
f
ec
ts
o
f
th
e
in
d
u
cta
n
ce
I
1
P
ip
e.
Kn
o
w
i
n
g
t
h
at
Se
is
a
D
C
v
o
ltag
e
o
f
1
2
V.
C
o
n
s
id
er
th
e
ca
s
e
w
h
er
e
t
h
e
DC
m
o
to
r
o
p
er
ates
in
p
er
m
a
n
e
n
t
r
eg
i
m
e.
I
n
th
is
ca
s
e
th
e
to
r
q
u
e
is
co
n
s
ta
n
t;
t
h
is
m
ak
e
s
th
e
p
u
m
p
w
h
ic
h
tr
an
s
f
o
r
m
s
th
e
to
r
q
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e
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n
p
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ess
u
r
e
b
y
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ea
n
s
o
f
a
n
ec
ce
n
tr
icit
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.
A
n
d
w
h
ic
h
is
r
ep
r
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ted
b
y
t
h
e
MT
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ele
m
en
t,
ca
n
b
e
r
ep
r
esen
ted
b
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ele
m
e
n
t
T
F
w
ith
co
n
s
ta
n
t
tr
an
s
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o
r
m
atio
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f
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r
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h
is
f
ac
to
r
is
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eter
m
i
n
ed
ac
co
r
d
in
g
to
th
e
m
o
to
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ch
ar
ac
ter
is
tic
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n
d
th
e
d
is
c
h
ar
g
e
p
r
ess
u
r
e
v
al
u
e.
6
.
2
.
Si
m
ula
t
io
n o
f
t
he
M
o
del
Af
ter
s
i
m
p
lific
atio
n
s
p
r
ev
io
u
s
l
y
i
n
d
icate
d
,
t
h
e
m
o
d
el
s
i
m
u
la
tio
n
w
i
th
t
h
e
s
o
f
t
w
ar
e
2
0
Si
m
g
i
v
es
t
h
e
f
o
llo
w
in
g
r
es
u
lt
s
.
Fig
u
r
e
1
4
s
h
o
w
s
t
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co
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tr
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ig
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ated
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2909
ass
u
m
e
s
a
v
al
u
e
o
f
6
MP
a,
if
th
e
ca
lc
u
lato
r
h
as
n
o
t
d
etec
te
d
a
w
h
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o
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a
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ca
lc
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tects
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g
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ar
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et
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n
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s
co
n
tr
o
l
r
ep
r
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te
d
b
y
f
ig
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r
e
9
,
s
i
m
u
la
ted
b
y
t
h
e
t
w
o
s
o
f
t
w
ar
e
C
ar
Si
m
a
n
d
Si
m
u
lin
k
,
a
n
d
t
h
e
cu
r
v
e
o
n
to
Fi
g
u
r
e
1
5
s
i
m
u
late
d
b
y
t
h
e
s
o
f
t
w
ar
e
2
0
Si
m
,
m
a
k
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o
s
s
ib
le
to
m
e
n
tio
n
t
h
e
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em
ar
k
s
b
elo
w
.
Fig
u
r
e
1
4
.
C
alcu
lato
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n
tr
o
l s
ig
n
a
ls
d
u
r
i
n
g
b
r
ak
in
g
Fig
u
r
e
1
5
.
P
r
ess
u
r
e
v
ar
iatio
n
a
s
a
f
u
n
ctio
n
o
f
t
h
e
s
p
ee
d
o
f
th
e
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t
w
h
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l
A
t
th
e
b
eg
i
n
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g
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h
e
n
t
h
e
s
p
ee
d
v
ar
ies
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et
w
ee
n
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d
6
0
k
m
/
h
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t
h
e
s
l
id
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g
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ep
r
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ted
b
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th
e
f
i
g
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r
e
1
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s
h
o
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th
at
t
h
e
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al
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e
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t
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itical.
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h
e
b
eh
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io
r
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f
t
w
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m
o
d
els
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id
en
t
ical
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w
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er
atin
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f
r
eq
u
en
c
y
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etc.
Du
r
in
g
t
h
e
cr
itical
p
h
ase
th
at
is
b
et
w
ee
n
2
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3
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o
n
d
s
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ies
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et
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3
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ir
s
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m
o
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el
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n
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D
u
r
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th
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ti
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w
ee
n
3
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d
5
s
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s
,
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h
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s
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d
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h
e
s
p
ee
d
v
ar
ies
b
et
w
ee
n
3
8
an
d
1
9
K
m
/
h
.
T
h
e
f
ir
s
t
m
o
d
el
is
r
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cted
i
n
th
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s
a
m
e
m
an
n
er
as
d
u
r
in
g
th
e
f
ir
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t
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ase
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h
e
s
p
ee
d
is
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ig
h
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th
e
o
th
er
h
a
n
d
,
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e
s
e
co
n
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m
o
d
el
w
o
r
k
s
w
it
h
t
h
e
to
tal
p
r
ess
u
r
e,
it
is
r
ea
s
o
n
ab
le
b
ec
au
s
e
th
e
s
lid
in
g
i
s
u
n
i
m
p
o
r
tan
t.
A
t
t
h
e
s
to
p
,
b
et
w
ee
n
6
an
d
7
s
,
th
e
p
ed
al
is
s
till
p
r
ess
ed
;
th
e
f
ir
s
t
m
o
d
el
is
s
lo
w
er
to
r
ea
ch
its
f
i
n
al
v
al
u
e
(
6
MP
a)
.
Ho
w
e
v
er
,
th
e
s
ec
o
n
d
m
o
d
el
r
esp
o
n
d
s
in
s
tan
ta
n
eo
u
s
l
y
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n
d
r
ea
ch
es th
e
s
a
m
e
f
i
n
al
p
r
ess
u
r
e
v
alu
e.
6
.
3
.
F
un
ct
io
nin
g
o
f
t
he
M
o
de
l
Du
r
in
g
b
r
ak
i
n
g
,
th
e
f
o
r
ce
(
p
r
e
s
s
u
r
e)
o
n
th
e
ca
t
h
o
d
e
o
f
th
e
c
h
ec
k
v
al
v
e
N
°
3
is
g
r
ea
ter
t
h
a
n
th
e
f
o
r
ce
o
n
th
e
an
o
d
e,
a
n
d
th
e
n
t
h
i
s
d
i
o
d
e
is
b
lo
ck
ed
u
n
til
t
h
e
d
r
iv
er
r
elea
s
es
t
h
e
p
ed
al
at
ti
m
e
8
s
.
T
h
e
v
ar
iatio
n
o
f
t
h
e
f
lo
w
v
ar
iab
le
(
th
e
o
il
f
lo
w
)
wh
ich
p
as
s
es t
h
r
o
u
g
h
t
h
i
s
d
io
d
e
is
r
ep
r
esen
ted
b
y
f
i
g
u
r
e
1
7
.
Fig
u
r
e
1
6
.
Oil f
lo
w
r
ate,
c
h
ec
k
v
al
v
e
3
Fig
u
r
e
1
7
.
Flo
w
v
ar
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n
in
t
h
e
p
ip
elin
e
Du
r
in
g
th
e
p
h
ase
o
f
in
cr
ea
s
e
o
f
b
r
ak
i
n
g
p
r
ess
u
r
e,
th
e
v
alv
e
N
°
1
is
clo
s
ed
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d
io
d
e
b
lo
ck
ed
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an
d
th
e
co
n
n
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tio
n
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it
h
t
h
e
v
al
v
e
N
°
2
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tu
r
n
ed
o
f
f
.
T
h
e
an
o
d
e
o
f
d
io
d
e
N
°
2
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s
u
b
j
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ted
to
th
e
s
a
m
e
f
o
r
ce
as
t
h
e
r
eser
v
o
ir
,
b
u
t th
e
d
io
d
e
is
b
lo
ck
ed
(
th
e
cir
cu
it i
s
o
p
en
)
.
Du
r
in
g
t
h
e
p
r
ess
u
r
e
h
o
ld
in
g
p
h
ase,
th
e
s
tate
s
o
f
d
io
d
es
d
o
n
o
t
ch
an
g
e.
Ha
v
in
g
t
h
e
ca
lcu
lato
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co
m
m
a
n
d
s
t
h
e
On
/O
f
f
r
esi
s
ta
n
ce
.
T
h
e
o
r
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ice
C
o
p
en
s
a
n
d
th
e
v
o
lu
m
e
o
f
t
h
e
r
eser
v
o
ir
in
cr
ea
s
es.
Du
r
in
g
t
h
e
p
r
ess
u
r
e
r
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ctio
n
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h
ase,
t
h
e
ca
lc
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lato
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s
.
RE
F
E
R
E
NC
E
S
[1
]
M
.
V
e
rg
é
a
n
d
D.
Ja
u
m
e
,
"
M
o
d
é
li
sa
ti
o
n
str
u
c
tu
ré
e
d
e
s sy
stè
m
e
s av
e
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les
b
o
n
d
G
ra
p
h
s
,"
Ed
it
i
o
n
T
EC
HN
IP
,
2
0
0
3
.
[2
]
Z.
Kh
a
o
u
c
h
,
M
.
Zek
ra
o
u
i,
J.
Be
n
g
o
u
rra
m
,
N.
Ko
u
id
e
r
a
n
d
M
.
M
a
b
ro
u
k
i,
"
M
e
c
h
a
tro
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ic
M
o
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e
li
n
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o
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a
7
5
0
k
W
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p
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d
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En
e
rg
y
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S
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m
Us
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Bo
n
d
G
ra
p
h
Ap
p
r
o
a
c
h
,"
IS
A
T
ra
n
sa
c
ti
o
n
s,
2
0
1
7
.
[3
]
F
.
A
.
S
a
lem
a
n
d
A
.
A
.
M
a
h
f
o
u
z
,
"
M
e
c
h
a
tro
n
ics
S
u
b
sy
ste
m
s
,
Clas
s
if
ica
ti
o
n
,
Ro
le,
S
e
lec
ti
o
n
Crit
e
ria
a
n
d
S
y
n
e
rg
isti
c
In
teg
r
a
ti
o
n
i
n
Ov
e
ra
ll
S
y
ste
m
D
e
sig
n
,"
Am
e
rica
n
Jo
u
rn
a
l
o
f
Ed
u
c
a
ti
o
n
a
l
S
c
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e
,
V
o
l.
2
,
No
.
3
,
p
p
.
1
6
-
2
8
,
2
0
1
6
.
[4
]
M
.
B
Ba
rro
n
a
n
d
W
.
F
P
o
w
e
rs,
"
T
h
e
Ro
le
o
f
El
e
c
tro
n
ic
Co
n
tr
o
ls
f
o
r
F
u
tu
re
A
u
to
m
o
ti
v
e
M
e
c
h
a
tr
o
n
ic
S
y
ste
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s
"
,
IEE
E/
A
S
M
A
T
ra
n
sa
c
ti
o
n
s o
n
m
e
c
h
a
tro
n
ics
,
1
9
9
6
.
[5
]
L
.
L
ian
g
X
u
ji
a
n
,
L
.
X
ian
g
y
u
Wan
g
,
Y.
L
iu
,
J.
S
o
n
g
a
n
d
X
.
Ra
n
,
"
T
ra
n
sie
n
t
S
w
it
c
h
in
g
Co
n
tro
l
S
trate
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ro
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Re
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e
ra
ti
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Bra
k
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g
to
a
n
ti
-
lo
c
k
Bra
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in
g
wi
th
a
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e
m
i
-
b
ra
k
e
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by
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w
ire
S
y
ste
m
,
”
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tern
a
ti
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a
l
Jo
u
rn
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f
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h
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M
e
c
h
a
n
ics
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n
d
M
o
b
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it
y
,
Vo
l
5
4
,
No
2
,
p
p
2
3
1
-
2
5
7
,
2
0
1
6
.
[6
]
J.
Be
n
S
a
lem
,
M
.
N.
L
a
k
h
o
u
a
a
n
d
L
.
El
Am
ra
o
u
i,
"
S
y
ste
m
A
p
p
ro
a
c
h
Ba
se
d
o
n
t
h
e
Bo
n
d
G
ra
p
h
A
p
p
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ti
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l
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k
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k
in
g
S
y
ste
m
,
"
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u
rn
a
l
A
u
to
m
a
ti
o
n
&
S
y
ste
m
s E
n
g
in
e
e
rin
g
,
v
o
l
1
1
,
n
o
1
,
p
p
1
-
1
0
,
2
0
1
7
.
[7
]
K.
Ch
u
n
Hu
a
n
g
a
n
d
S
.
M
in
g
-
Ch
a
n
g
,
"
De
sig
n
o
f
a
H
y
d
r
a
u
li
c
A
n
ti
-
lo
c
k
Bra
k
in
g
S
y
ste
m
(
ABS)
f
o
r
a
M
o
to
rc
y
c
le,"
Jo
u
rn
a
l
o
f
M
e
c
h
a
n
ica
l
S
c
ien
c
e
a
n
d
T
e
c
h
n
o
lo
g
y
,
V
o
l
2
4
,
No
5,
p
p
1
1
4
1
–
1
1
4
9
,
2
0
1
0
[8
]
J.
Ch
a
n
k
it
,
R
.
A
b
h
ish
e
k
,
D.
A
b
h
ish
e
k
,
"
L
in
e
a
r
Co
n
tro
l
T
e
c
h
n
iq
u
e
f
o
r
A
n
ti
-
L
o
c
k
Bra
k
in
g
S
y
ste
m
,"
Jo
u
rn
a
l
o
f
En
g
in
e
e
rin
g
Re
se
a
rc
h
a
n
d
A
p
p
li
c
a
ti
o
n
s,
Vo
l.
4
,
N
o
8
,
p
p
1
0
4
-
1
0
8
,
2
0
1
4
.
[9
]
L
.
Ch
u
n
-
L
ian
g
a
n
d
Y.
M
e
n
g
-
Ya
o
,
"
De
sig
n
o
f
A
n
ti
-
lo
c
k
Bra
k
in
g
S
y
ste
m
f
o
r
El
e
c
tri
c
V
e
h
icle
s
v
ia
S
h
o
rt
-
c
ircu
it
Bra
k
in
g
,
"
S
e
c
o
n
d
In
ter
n
a
ti
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
M
e
c
h
a
n
ic A
u
to
m
a
ti
o
n
a
n
d
C
o
n
tr
o
l
E
n
g
in
e
e
rin
g
(M
A
CE),
2
0
1
1
.
[1
0
]
P
.
Ja
u
len
t
,
“
G
é
n
ie l
o
g
icie
l
les
m
é
t
h
o
d
e
s
:
S
A
DT
,
S
A
,
E
-
A
,
S
A
-
R
T
,
S
YS
-
P
-
O,
OO
D,
HO
OD
,
”
A
r
m
a
n
d
Co
l
in
,
1
9
9
2
.
[1
1
]
A
.
M
u
g
h
a
l,
"
El
e
m
e
n
ts
o
f
BG
Re
a
l
T
i
m
e
M
o
d
e
li
n
g
,
S
im
u
latio
n
an
d
Co
n
tr
o
l
o
f
D
y
n
a
m
ica
l
S
y
st
e
m
s,"
S
p
rin
g
e
r,
2
0
1
6
.
[1
2
]
L
.
Ch
e
n
g
,
Z.
Ye
,
Z.
Eo
n
g
,
"
BG
M
o
d
e
li
n
g
a
n
d
S
im
u
latio
n
A
n
a
ly
sis
o
f
Dir
e
c
t
Dri
v
e
V
o
lu
m
e
Co
n
tro
l
El
e
c
tro
-
h
y
d
ra
u
li
c
S
e
rv
o
S
y
ste
m
W
it
h
L
o
n
g
P
i
p
e
li
n
e
,"
In
tern
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
on
Airc
ra
f
t
Util
it
y
S
y
ste
m
s (
A
US),
IEE
E/
CS
AA
,
2
0
1
6
Evaluation Warning : The document was created with Spire.PDF for Python.