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3323
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ase
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ter
s
f
o
r
a
d
esire
d
r
o
tatio
n
[
1
]
.
Du
e
to
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s
it
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o
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d
S
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p
p
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s
[
2
-
6
]
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R
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[
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8
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u
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[
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.
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[
1
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.
R
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Evaluation Warning : The document was created with Spire.PDF for Python.
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8708
I
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J
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Vo
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10
,
No
.
3
,
J
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2
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2
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3
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3
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3332
3324
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er
e
u
n
a
v
o
id
ab
le
[
1
4
]
.
W
h
ile
d
u
al
s
ta
to
r
d
esig
n
i
s
co
n
f
ig
u
r
ed
w
ith
s
in
g
le
co
n
s
ta
n
t
m
ag
n
etic
r
o
to
r
an
d
t
w
o
s
tato
r
(
DSP
M
-
SR
)
d
esig
n
,
o
u
ter
a
n
d
in
n
er
s
tato
r
s
tr
u
ct
u
r
e.
T
h
e
co
ils
ar
e
t
y
p
icall
y
w
o
u
n
d
ar
o
u
n
d
th
e
s
tato
r
teeth
w
h
ic
h
d
elib
er
ately
r
es
u
lt
s
t
w
o
s
et
s
o
f
i
n
d
ep
en
d
en
t
to
r
q
u
e
lead
i
n
g
to
a
r
elativ
e
h
i
g
h
o
f
m
o
to
r
’
s
to
r
q
u
e
d
en
s
it
y
an
d
f
l
u
x
li
n
k
a
g
e
s
th
at
w
er
e
ab
o
u
t
d
o
u
b
ly
t
h
an
t
h
e
co
n
v
e
n
tio
n
a
l
d
esig
n
g
eo
m
etr
y
[
1
5
,
1
6
]
.
T
h
e
in
v
esti
g
atio
n
i
s
th
en
ex
te
n
d
ed
w
it
h
d
esi
g
n
v
ar
iatio
n
s
o
f
s
lo
tted
s
tato
r
s
u
ch
a
s
Do
u
b
le
Sta
to
r
A
r
c
P
er
m
a
n
e
n
t
Ma
g
n
e
t
(
DSP
M
-
A
P
)
,
Do
u
b
le
Stato
r
Do
u
b
le
P
o
le
(
DSP
M
-
DP
)
,
Do
u
b
le
Stato
r
w
it
h
I
n
ter
io
r
Ma
g
n
et
(
D
SP
M
-
I
P
)
,
D
o
u
b
le
Stato
r
w
it
h
C
u
p
R
o
to
r
(
DSP
M
-
C
R
)
a
n
d
DSP
M
-
S
R
f
o
r
o
p
ti
m
u
m
to
r
q
u
e
p
er
f
o
r
m
a
n
ce
i.e
.
co
n
s
tan
t
to
r
q
u
e
d
en
s
it
y
an
d
d
esira
b
le
ef
f
icien
c
y
[
1
7
]
.
Ag
ain
,
p
ar
asit
ic
e
f
f
ec
ts
lik
e
h
i
g
h
co
g
g
i
n
g
to
r
q
u
e
an
d
h
ig
h
to
r
q
u
e
r
ip
p
le
to
g
eth
er
w
it
h
m
a
n
u
f
ac
t
u
r
in
g
co
n
s
tr
ain
t
s
lik
e
co
m
p
le
x
i
n
f
ab
r
icatio
n
l
ea
d
in
g
to
h
ig
h
co
s
t
w
er
e
n
o
t a
v
o
id
ab
le
.
I
n
s
tead
o
f
co
g
g
i
n
g
to
r
q
u
e
eli
m
i
n
atio
n
,
t
h
e
P
M
m
o
to
r
to
p
o
lo
g
ies
as
i
n
Fi
g
u
r
e
2
ar
e
r
ad
ial
f
l
u
x
o
r
ien
ted
.
I
t
s
h
o
u
ld
b
e
n
o
ted
th
at
t
h
e
m
ag
n
et
s
ar
e
s
till
ca
n
b
e
m
a
g
n
e
tized
i
n
r
ad
ial
o
r
p
ar
allel
d
ir
ec
tio
n
.
F
o
r
th
e
s
a
m
e
s
tato
r
co
n
f
i
g
u
r
atio
n
a
s
s
h
o
w
n
in
F
ig
u
r
e
3
[
1
8
]
,
its
r
o
to
r
m
ag
n
ets
ca
n
b
e
s
u
r
f
ac
e
m
o
u
n
ted
o
r
b
u
r
ied
(
in
ter
io
r
m
o
u
n
ted
)
.
A
lt
h
o
u
g
h
t
h
e
I
n
te
r
io
r
P
er
m
an
e
n
t
Ma
g
n
et
(
I
P
M)
m
o
to
r
is
s
u
p
er
io
r
th
a
n
t
h
e
S
u
r
f
ac
e
Mo
u
n
ted
P
er
m
a
n
en
t
Ma
g
n
et
(
SP
M)
m
o
to
r
d
u
e
to
L
q
a
n
d
L
d
ch
ar
ac
ter
is
tic
f
o
r
f
lu
x
-
w
ea
k
e
n
i
n
g
co
n
tr
o
l,
th
e
SP
M
m
o
to
r
is
s
till
a
co
m
p
et
iti
v
e
ca
n
d
id
ate
to
r
ep
lace
th
e
I
P
M
m
o
to
r
b
ec
au
s
e
o
f
le
s
s
co
m
p
le
x
it
y
i
n
f
ab
r
icatio
n
p
r
o
ce
s
s
.
Fig
u
r
e
1
.
An
o
v
er
v
ie
w
o
f
P
M
m
o
to
r
to
p
o
lo
g
ies
(
a)
(
b
)
(
c)
(
d
)
Fig
u
r
e
2
.
R
ad
ial
f
l
u
x
o
r
ien
tati
o
n
P
M
m
o
to
r
s
[
1
1
]
,
(
a)
s
lo
tted
(
s
in
g
le
-
s
id
ed
)
,
(
b
)
s
lo
tles
s
(
s
in
g
le
-
s
id
ed
)
,
(
c)
d
o
u
b
le
r
o
to
r
,
(
d
)
d
o
u
b
le
s
tato
r
Pe
r
m
a
n
e
n
t
M
a
g
n
e
t
m
o
t
o
r
R
a
d
i
a
l
Fl
u
x
o
r
i
e
n
t
a
t
i
o
n
S
i
n
g
l
e
-
si
d
e
d
D
o
u
b
l
e
-
s
i
d
e
d
A
x
i
a
l
Fl
u
x
o
r
i
e
n
t
a
t
i
o
n
S
i
n
g
l
e
-
s
i
d
e
d
D
o
u
b
l
e
-
s
i
d
e
d
S
l
o
t
t
e
d
S
l
o
t
l
e
ss
D
u
a
l
r
o
t
o
r
D
u
a
l
st
a
t
o
r
S
l
o
t
t
e
d
S
l
o
t
l
e
ss
In
t
e
r
i
o
r
st
a
t
o
r
In
t
e
r
i
o
r
r
o
t
o
r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2
0
8
8
-
8708
I
mp
r
o
ve
d
ma
g
n
etic
b
eh
a
vi
o
r
o
f h
emic
yc
le
P
M mo
to
r
via
s
ta
to
r
mo
d
ifica
tio
n
(
K
w
a
n
g
T.
C
.
)
3325
(
a)
(
b
)
Fig
u
r
e
3
.
T
y
p
e
o
f
p
er
m
a
n
e
n
t
m
ag
n
et
r
o
to
r
to
p
o
lo
g
ies
[
1
8
]
,
(
a)
s
u
r
f
ac
e
m
o
u
n
ted
,
(
b
)
in
ter
io
r
m
o
u
n
ted
I
n
s
tead
o
f
co
n
v
en
t
io
n
al
s
lo
tte
d
r
ad
ial
f
lu
x
SP
M
m
o
to
r
d
esig
n
s
,
th
e
a
x
ial
f
l
u
x
o
r
ien
ted
m
o
to
r
s
w
h
ic
h
g
eo
m
etr
y
is
a
p
an
ca
k
e
lo
o
k
ed
alik
e
is
a
n
alter
n
ati
v
e.
Fo
r
ax
i
al
f
l
u
x
d
esi
g
n
s
w
i
th
s
lo
tted
s
ta
to
r
,
th
e
m
o
to
r
s
ar
e
ad
v
an
ta
g
eo
u
s
in
ter
m
o
f
s
h
o
r
ter
s
tack
len
g
t
h
,
ac
h
ie
v
ea
b
le
h
ig
h
to
r
q
u
e
d
en
s
it
y
an
d
h
ig
h
ef
f
icie
n
c
y
as
co
m
p
ar
ed
to
th
e
s
lo
tted
,
r
a
d
ial
f
l
u
x
co
n
f
ig
u
r
atio
n
[
1
9
-
2
2
]
.
I
n
ad
d
itio
n
,
th
e
s
e
m
o
to
r
to
p
o
lo
g
ies
o
f
f
er
b
etter
v
en
t
ilatio
n
a
n
d
h
ea
t
r
e
m
o
v
al
[
2
3
]
.
Sim
ilar
to
co
n
v
en
t
io
n
a
l
f
l
u
x
to
p
o
lo
g
ies,
AFP
M
m
o
to
r
s
also
ca
n
b
e
co
n
s
tr
u
ct
ed
i
n
s
i
n
g
le
s
id
e
d
o
r
d
o
u
b
le
s
id
e
d
,
an
d
w
it
h
o
r
w
i
th
o
u
t
s
lo
ts
.
Fo
r
s
l
o
tted
ax
ial
f
lu
x
co
n
f
i
g
u
r
atio
n
,
th
e
s
in
g
le
-
s
id
ed
s
tr
u
ct
u
r
e
r
es
u
lts
s
i
m
p
le
g
eo
m
etr
y
a
n
d
ch
ea
p
er
b
u
t
p
o
ten
tiall
y
h
av
i
n
g
poor
p
er
f
o
r
m
a
n
ce
i.e
.
lo
w
to
r
q
u
e
d
en
s
i
t
y
,
lo
w
ef
f
i
cien
c
y
,
h
i
g
h
co
g
g
i
n
g
to
r
q
u
e
an
d
u
n
b
ala
n
ce
d
m
a
g
n
e
tic
f
o
r
ce
as
co
m
p
ar
ed
to
th
e
o
t
h
er
ax
ial
f
l
u
x
to
p
o
lo
g
ies
[
2
4
]
.
W
h
ile
f
o
r
n
o
n
-
s
lo
tted
t
y
p
e,
h
i
g
h
p
o
w
er
-
to
-
w
ei
g
h
t
r
a
tio
,
lo
w
in
d
u
ctan
ce
leak
ag
e
s
,
m
in
i
m
u
m
co
g
g
in
g
t
o
r
q
u
e
an
d
lo
w
v
ib
r
atio
n
ar
e
p
o
s
s
ib
l
y
ac
h
iev
ed
[
2
5
]
.
B
etter
to
r
q
u
e
p
er
f
o
r
m
a
n
ce
ca
n
b
e
ac
h
ie
v
ed
b
y
h
av
i
n
g
d
u
a
l
-
s
id
ed
co
n
f
i
g
u
r
atio
n
s
u
c
h
as
o
n
e
-
s
tato
r
t
w
o
-
r
o
to
r
(
T
OR
US)
an
d
t
wo
-
s
tato
r
-
o
n
e
-
r
o
to
r
(
AFI
R
)
d
e
s
ig
n
s
.
I
n
m
an
y
ca
s
es,
t
h
ese
to
p
o
lo
g
ies
r
esu
l
t
h
ig
h
-
to
r
q
u
e
d
en
s
it
y
,
b
ala
n
ce
d
m
ag
n
etic
f
o
r
ce
an
d
h
ig
h
p
o
w
er
d
en
s
it
y
in
s
tead
o
f
s
in
g
l
e
-
s
id
ed
t
y
p
e.
I
n
[
2
6
]
,
th
e
co
m
p
ar
is
o
n
o
f
T
OR
US
an
d
AFI
R
m
o
to
r
w
it
h
s
lo
tted
an
d
n
o
n
-
s
lo
tted
co
n
f
i
g
u
r
atio
n
s
w
er
e
i
n
v
e
s
ti
g
ated
.
T
h
e
s
lo
tted
T
OR
US
d
esi
g
n
r
esu
lt
ed
h
ig
h
to
r
q
u
e
d
en
s
i
t
y
w
it
h
a
r
elati
v
e
s
m
all
elec
tr
i
ca
l
lo
ad
in
g
.
W
h
ile
th
e
A
FI
R
m
o
to
r
s
,
a
r
elativ
e
l
o
w
c
u
r
r
en
t
d
e
n
s
it
y
f
o
r
a
s
i
m
ilar
a
m
o
u
n
t
o
f
elec
tr
ical
l
o
ad
in
g
i
s
o
b
tain
ed
.
Fo
r
n
o
n
-
s
lo
tted
co
n
f
i
g
u
r
atio
n
,
b
o
th
d
esig
n
s
w
o
u
ld
h
a
v
e
m
in
i
m
u
m
co
g
g
in
g
to
r
q
u
e
a
n
d
lo
w
to
r
q
u
e
r
ip
p
le
th
an
s
lo
tted
t
y
p
e
[
2
7
]
.
Ho
w
e
v
er
,
co
m
p
le
x
d
esi
g
n
,
s
ev
er
e
to
r
q
u
e
p
u
ls
a
tio
n
a
n
d
lo
w
to
r
q
u
e
d
en
s
it
y
in
v
ar
io
u
s
on
-
lo
ad
s
it
u
atio
n
s
w
er
e
in
h
er
it
ed
co
m
p
ar
ed
to
th
e
co
n
v
e
n
tio
n
al
m
o
to
r
s
d
esi
g
n
[
2
5
]
.
(
a)
(b
)
(c
)
(
d
)
Fig
u
r
e
4.
Ax
ial
f
lu
x
o
r
ien
tat
io
n
P
M
m
o
to
r
s
[
2
4
]
,
(a
)
Sin
g
le
-
s
id
ed
,
(
b
)
I
n
ter
io
r
s
tato
r
(
d
o
u
b
l
e
-
s
id
ed
)
,
(
c
)
I
n
ter
io
r
r
o
to
r
(
d
o
u
b
le
-
s
id
ed
)
,
d
)
Slo
tles
s
v
s
s
lo
tted
R
o
t
o
r
PM
R
o
t
o
r
PM
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t
J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
10
,
No
.
3
,
J
u
n
e
2
0
2
0
:
3
3
2
3
-
3332
3326
I
n
th
is
ar
ticle,
f
u
r
th
er
i
n
v
e
s
tig
a
tio
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o
n
th
e
d
e
v
elo
p
ed
p
r
o
to
ty
p
e
in
[
2
8
,
2
9
]
eq
u
ip
p
ed
w
it
h
as
y
m
m
etr
ic
s
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d
esig
n
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r
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en
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r
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ig
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As
t
h
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itial
ap
p
r
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w
as
tak
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y
b
y
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m
o
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tic
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o
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ath
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ich
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l
ts
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h
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le
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it
h
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m
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ic
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o
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itio
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h
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e
co
ils
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a
litt
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m
o
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if
icatio
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o
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en
d
s
o
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th
e
h
e
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tr
o
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ce
d
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h
e
in
v
e
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ti
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r
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D
-
Fi
n
ite
E
le
m
e
n
t
An
al
y
s
i
s
i
n
w
h
ic
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n
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li
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n
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2.
ANALY
SI
S
O
F
H
E
M
I
CYC
L
E
S
T
A
T
O
R
DE
SI
G
N
A
P
M
m
o
to
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w
h
ic
h
d
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ig
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co
n
f
i
g
u
r
ed
w
i
th
a
h
e
m
ic
y
cl
e
s
tato
r
is
b
as
icall
y
d
er
iv
ed
f
r
o
m
a
s
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t
n
u
m
b
er
/p
o
le
n
u
m
b
er
co
m
b
i
n
atio
n
o
f
Ns
=2
p
±
2
[
2
9
]
.
T
h
e
co
n
f
ig
u
r
atio
n
r
esu
lt
s
a
s
y
m
m
etr
ic
d
is
p
o
s
itio
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o
f
co
ils
f
o
r
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h
p
h
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s
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n
d
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ala
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d
w
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d
in
g
m
m
f
v
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a
m
o
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p
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T
h
u
s
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m
o
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ag
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ath
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b
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m
f
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is
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w
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th
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it
u
atio
n
w
i
l
l
n
o
t
b
e
o
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M
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w
h
ich
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s
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.
T
ab
le
1
tab
u
lates
p
ar
a
m
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ic
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etr
y
o
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h
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m
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.
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h
e
m
o
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s
ar
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esig
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1
0
0
r
p
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ile
th
e
e
x
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u
r
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en
t
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ep
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th
e
b
ac
k
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m
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1
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f
o
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v
e
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le
3A
f
o
r
h
e
m
ic
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p
o
lo
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Sil
ico
n
s
teel
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m
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r
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B
o
r
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ar
e
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s
o
f
t
an
d
h
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m
a
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ater
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s
ed
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i
s
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ab
le
2
co
m
p
ar
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a
f
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p
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s
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m
b
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f
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M
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co
n
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ted
in
to
h
e
m
ic
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cle
m
o
to
r
co
n
f
ig
u
r
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n
.
I
t
is
s
h
o
w
n
t
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at
t
h
e
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t
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to
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m
ai
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n
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h
a
n
g
ed
.
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t
s
h
o
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ld
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e
n
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te
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th
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t
h
e
r
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m
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o
n
m
ag
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ath
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i
n
th
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ea
r
l
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d
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o
r
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o
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p
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a
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ce
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T
ab
le
1
.
P
ar
am
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s
p
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f
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P
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ra
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ter
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p
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Co
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104
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104
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A
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8
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t n
u
m
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n
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m
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r
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Fro
m
th
e
p
r
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ti
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ati
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n
[
2
9
]
,
an
o
p
tim
u
m
w
id
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h
o
f
s
tato
r
teeth
an
d
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n
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f
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ated
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(
a)
(
b)
(
c)
Fig
u
r
e
5
.
Geo
m
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s
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(
a)
Desig
n
1
(
1
8
0
°,
ar
c
len
g
t
h
1
8
8
.
5
2
m
m
)
,
(
b
)
Desig
n
2
(
1
8
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°,
ar
c
len
g
t
h
1
8
8
.
5
2
m
m
),
(
c)
Desig
n
3
(
˃
180
○
,
ar
c
len
g
th
~
2
0
4
.
2
3
m
m
)
(
a)
(b
)
Fig
u
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e
6
.
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in
d
in
g
la
y
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ts
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a)
c
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n
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tio
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al
(
1
2
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s
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t)
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(
b
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De
s
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1
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2
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d
3
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2
.
1
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We
ig
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o
f
pro
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d
P
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m
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h
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s
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ar
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m
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d
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o
r
m
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as f
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ss
a
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A
d
d
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4
4
2
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c
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c
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N
L
S
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2
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m
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2
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w
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W
s
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m
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w
eig
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a
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w
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n
u
m
b
er
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f
tu
r
n
s
o
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c
o
p
p
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s
l
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p
o
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p
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r
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r
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p
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tiv
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Fo
r
th
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ass
d
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s
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p
s
s
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p
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p
m
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ity
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8
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an
d
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d
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m
an
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ag
n
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[
7
4
0
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k
g
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m
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r
esp
ec
t
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ely
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Fo
r
th
e
h
em
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cle
m
o
to
r
,
th
e
w
e
ig
h
t
o
f
s
tat
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d
y
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co
p
p
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w
in
d
in
g
an
d
p
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m
an
en
t m
ag
n
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m
ath
em
atica
lly
d
e
r
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d
as f
o
ll
o
w
s
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
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2
0
8
8
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I
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t
J
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&
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l.
10
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3
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J
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2
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:
3
3
2
3
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3332
3328
ss
a
s
si
so
sh
L
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4
4
3
6
0
1
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0
2
2
(4
)
c
s
t
a
tbw
c
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N
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L
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(
5
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m
p
a
mi
mo
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N
L
d
d
P
W
4
4
2
2
2
(
6
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w
h
e
r
e
W
sh
,
W
ch
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W
mh
a
r
e
th
e
t
o
ta
l
w
eig
h
t
o
f
s
tat
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r
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c
o
p
p
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w
in
d
in
g
s
an
d
p
er
m
an
en
t
m
ag
n
et
s
r
es
p
e
ctiv
e
ly
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Fin
ally
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th
e
f
o
r
m
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late
d
w
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h
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s
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m
m
ed
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p
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W
W
W
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(
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T
ab
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3
co
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h
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d
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ll
y
th
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m
o
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a
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all
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m
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d
e
s
ig
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1
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3
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d
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v
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4
4
%
r
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s
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ab
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3
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M
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5
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5
5
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2
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3.
RE
SU
L
T
S
A
ND
AN
AL
Y
SI
S
3
.1
.
M
o
difica
t
i
o
n o
n he
m
ic
y
cle
s
t
a
t
o
r
ends
Fig
u
r
e
7
co
m
p
ar
es
th
e
f
lu
x
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li
n
es
o
f
al
l
d
esi
g
n
s
at
n
o
-
lo
ad
c
o
n
d
itio
n
.
I
t
ca
n
b
e
s
ee
n
t
h
at
t
h
e
f
l
u
x
es
in
Desig
n
2
an
d
3
ar
e
h
ig
h
l
y
co
n
ce
n
tr
ated
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an
i
n
t
h
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D
esi
g
n
1
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n
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th
e
lit
tle
m
o
d
if
i
ca
tio
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at
b
o
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h
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h
e
m
ic
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tato
r
r
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lts
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e
w
r
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te
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r
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m
p
lete
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s
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ed
m
a
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etic
cir
c
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it.
T
h
is
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h
en
o
m
e
n
o
n
w
o
u
ld
h
elp
th
e
m
o
to
r
s
to
h
av
e
b
etter
elec
tr
o
m
ag
n
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c
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ar
ac
ter
is
tics
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u
c
h
as
f
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ux
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n
k
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g
e
s
a
n
d
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ac
k
-
e
m
f
s
.
T
h
e
b
ac
k
-
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m
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ar
ac
ter
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s
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o
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l
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n
s
ar
e
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m
p
ar
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in
Fig
u
r
e
s
8
(
a
)
-
(
b
)
.
Ob
v
io
u
s
l
y
,
t
h
e
Desi
g
n
1
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as
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a
3
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cr
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e
n
t
o
f
b
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k
-
e
m
f
f
r
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m
3
V
to
4
V
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eth
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lar
g
e
m
en
t
s
h
ap
e
w
h
ic
h
later
b
ec
o
m
e
s
Des
ig
n
3
.
Ho
w
ev
er
,
n
o
s
i
g
n
i
f
ican
t
c
h
an
g
e
o
f
p
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a
s
e
b
ac
k
-
e
m
f
ex
i
s
ts
i
n
De
s
i
g
n
2
as
th
e
s
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t
ar
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ad
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t
to
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e
5
m
m
i
n
w
ar
d
to
o
th
is
s
q
u
ee
ze
d
lead
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g
to
a
h
i
g
h
l
y
p
o
ten
tial
o
f
q
u
ic
k
s
at
u
r
atio
n
c
o
n
d
itio
n
.
T
h
e
h
ar
m
o
n
ics
co
n
ten
ts
i
n
ea
ch
b
ac
k
-
e
m
f
ca
n
b
e
co
m
p
ar
ed
in
Fi
g
u
r
e
8
(
b
)
.
T
h
e
r
is
e
o
f
h
ig
h
er
m
u
ltip
le
o
r
d
er
h
ar
m
o
n
ic
(3
rd
,
5
th
,
7
th
,
etc.
)
in
d
icate
s
d
en
ted
p
ea
k
s
in
all
b
ac
k
-
e
m
f
s
.
I
n
ter
est
in
g
l
y
i
n
Fig
u
r
e
8
(
c)
,
th
e
f
lu
x
-
li
n
k
ag
es
in
all
d
esi
g
n
ar
e
r
elativ
el
y
s
in
u
s
o
id
al
w
h
ic
h
o
p
p
o
s
es
th
e
ir
r
esp
ec
tiv
e
b
ac
k
-
e
m
f
’
s
s
h
ap
es.
T
h
e
p
ea
k
f
l
u
x
-
li
n
k
ag
e
in
Des
ig
n
1
is
0
.
0
6
W
b
an
d
r
o
s
e
u
p
to
3
3
%
in
Desi
g
n
3
.
W
h
ile
De
s
i
g
n
2
r
es
u
lts
n
o
s
i
g
n
i
f
ica
n
t
ch
a
n
g
e
o
f
f
l
u
x
li
n
k
ag
e
d
u
e
to
s
m
a
ller
s
lo
t
ar
ea
an
d
les
s
n
u
m
b
er
o
f
co
p
p
er
tu
r
n
s
.
Fig
u
r
e
9
co
m
p
ar
es
th
e
s
tati
c
to
r
q
u
e
in
all
d
esi
g
n
s
.
Ag
ain
,
t
h
e
De
s
ig
n
3
r
e
s
u
l
ts
b
e
tter
to
r
q
u
e
p
er
f
o
r
m
a
n
ce
i
n
ter
m
o
f
to
r
q
u
e
av
er
ag
e
to
r
q
u
e
an
d
to
r
q
u
e
r
ip
p
le.
T
h
e
to
r
q
u
e
av
er
ag
e
i
n
c
r
ea
s
es
ar
o
u
n
d
2
3
%,
f
r
o
m
4
.
8
N
m
i
n
Desi
g
n
1
to
5
.
9
N
m
a
n
d
th
e
to
r
q
u
e
r
ip
p
le
r
ed
u
ce
s
s
ig
n
i
f
ica
n
t
l
y
ar
o
u
n
d
5
0
%
.
Me
an
w
h
ile,
s
ev
er
e
to
r
q
u
e
p
er
f
o
r
m
an
ce
ex
i
s
ts
in
Desi
g
n
2
w
h
er
e
it
s
r
esp
e
ctiv
e
to
r
q
u
e
av
er
a
g
e
a
n
d
to
r
q
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e
r
ip
p
le
co
n
tr
as
to
th
e
o
n
e
o
b
tain
ed
b
y
De
s
ig
n
3
.
I
t
s
h
o
u
ld
b
e
n
o
ted
th
a
t
t
h
e
t
o
r
q
u
e
is
ca
lc
u
lat
ed
i
n
s
tatic
c
o
n
d
itio
n
i
n
w
h
ic
h
s
ix
-
s
tep
co
m
m
u
tatio
n
f
o
r
1
elec
tr
ical
c
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cle
is
i
m
p
le
m
e
n
t
ed
as
th
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r
ec
ticall
y
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v
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al
P
M
m
o
to
r
s
.
I
t
also
s
h
o
u
ld
b
e
tak
en
i
n
to
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n
s
id
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t
h
at
an
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ig
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n
t
s
w
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h
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n
g
s
ch
e
m
e
m
u
s
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b
e
ca
r
e
f
u
l
l
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d
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n
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n
ter
th
e
u
n
c
o
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v
e
n
tio
n
al
to
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e
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a
v
e
f
o
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m
.
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n
ter
m
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f
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g
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t
h
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Desi
g
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1
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iz
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r
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lt
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ax
i
m
u
m
p
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k
o
f
0
.
9
6
N
m
a
s
s
h
o
w
n
i
n
Fi
g
u
r
e
1
0
.
Ho
w
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er
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th
e
p
ea
k
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ce
s
w
h
e
n
De
s
ig
n
2
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d
D
e
s
ig
n
3
ar
e
in
tr
o
d
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ce
d
w
h
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9
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4
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4
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An
o
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v
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n
d
in
g
is
o
b
t
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ed
in
De
s
ig
n
3
w
h
er
e
th
er
e
ar
e
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I
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4
4
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
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&
C
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p
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I
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N:
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3331
4.
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ca
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RE
F
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NC
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S
[1
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Em
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i,
A
.
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Eff
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tri
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[2
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M
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ta
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n
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l.
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,
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o
.
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,
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p
.
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-
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,
2
0
1
7
.
[5
]
Ya
n
g
M
.
e
t
a
l,
“
A
Co
st
-
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ff
e
c
ti
v
e
M
e
th
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d
o
f
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c
tri
c
Bra
k
e
w
it
h
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n
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y
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g
e
n
e
ra
ti
o
n
f
o
r
El
e
c
tri
c
V
e
h
icle
,
”
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E
T
ra
n
sa
c
ti
o
n
o
n
In
d
u
stri
a
l
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lec
tro
n
ics
,
v
o
l.
5
6
,
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o
.
6
,
p
p
.
2
2
0
3
-
2
2
1
2
,
2
0
0
9
.
[6
]
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a
leb
i
e
t.
a
l.
,
“
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n
I
m
p
ro
v
e
d
M
e
th
o
d
to
Co
n
tro
l
th
e
S
p
e
e
d
o
f
P
M
-
BL
DC
M
o
t
o
rs
,
”
6
th
I
n
te
rn
a
ti
o
n
a
l
P
o
we
r
El
e
c
tro
n
ics
Dr
ive
S
y
ste
ms
a
n
d
T
e
c
h
n
o
l
o
g
ies
Co
n
fer
e
n
c
e
,
IEE
E
P
u
b
li
sh
e
r
,
3
-
4
F
e
b
r
u
a
ry
2
0
1
5
.
[7
]
S
e
o
,
J.
M
.
e
t
a
l,
“
De
sig
n
o
f
A
x
i
a
l
F
lu
x
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e
rm
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n
e
n
t
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g
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e
t
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sh
le
ss
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o
to
r
f
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r
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b
o
t
Jo
in
t
M
o
d
u
le,”
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h
e
2
0
1
0
In
ter
n
a
t
io
n
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l
Po
we
r E
lec
tro
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fer
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c
e
,
p
p
.
1
3
3
6
-
1
3
4
0
,
2
0
1
0
.
[8
]
Zh
o
u
L
.
,
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i
S
.
,
a
n
d
Ha
n
se
n
M
.
R.
,
“
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sig
n
Op
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m
iza
ti
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n
o
n
T
h
e
Driv
e
T
r
a
in
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a
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t
-
w
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g
h
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Ro
b
o
ti
c
A
r
m
,
”
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e
c
h
a
tro
n
ic
s,
v
o
l.
21
,
issu
e
3
,
p
p
.
5
6
0
–
5
6
9
,
2
0
1
1
.
[9
]
Am
it
N.
P
.
e
t
a
l,
“
In
f
lu
e
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c
e
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p
e
o
f
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tato
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n
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o
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ro
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f
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rf
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c
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m
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o
to
rs
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ter
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t
io
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o
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rn
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l
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o
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ter
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p
l
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n
E
n
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l.
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2
,
p
p
.
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0
1
4
.
[1
0
]
A
ro
ra
A
.
S
.
a
n
d
G
u
r
m
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S
.
,
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w
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s
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o
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r,
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d
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IR
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6
th
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ter
n
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ti
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fer
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p
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–
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1
5
,
2
0
1
5
.
[1
1
]
Ilk
a
R.
e
t.
a
l.
,
“
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e
sig
n
o
f
S
lo
tl
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ss
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L
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to
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f
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r
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i
m
in
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ti
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g
in
g
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o
rq
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e
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”
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o
u
rn
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l
o
f
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o
rld
’s
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trica
l
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g
i
n
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l.
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2
,
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p
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0
1
4
.
[1
2
]
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n
g
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a
i
Q.
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n
d
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h
o
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s
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.
L
.
,
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o
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d
,
P
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t
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t
M
a
c
h
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s,”
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T
ra
n
sa
c
ti
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n
In
d
u
stry
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p
p
li
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n
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l.
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9
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p
p
.
1
6
6
5
-
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6
7
3
,
2
0
0
3
.
[1
3
]
S
o
n
g
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.
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t.
a
l.
,
“
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sig
n
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n
d
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im
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latio
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l
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sh
les
s
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o
to
r
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”
17
th
In
ter
n
a
ti
o
n
a
l
Co
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fer
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c
e
o
n
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trica
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h
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n
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S
y
ste
ms
,
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li
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,
p
p
.
1
5
9
1
-
1
5
9
5
.
,
2
0
1
4
.
[1
4
]
P
ise
k
P
.
e
t.
a
l.
,
“
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e
rf
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m
a
n
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e
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o
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o
f
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n
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e
rm
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n
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t
M
a
g
n
e
t
M
a
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h
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e
s,”
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g
la
d
El
e
k
tro
tec
h
n
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y
,
v
o
l
.
8
7
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o
3
,
p
p
.
1
3
3
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136
,
2
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1
1
.
[1
5
]
S
w
iv
e
d
i
A
.
a
n
d
S
riv
a
sta
v
a
R.
K.,
“
A
n
a
l
y
sis
o
f
Du
a
l
S
tato
r
P
M
Br
u
sh
les
s
DC
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o
t
o
r,
”
IOS
R
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
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e
c
tro
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ics
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g
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,
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l
.
1
,
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o
.
2
,
p
p
.
5
1
-
56
,
2
0
1
2
.
[1
6
]
F
ird
a
u
s
R.
N.
e
t.
a
l.
,
“
M
o
d
e
ll
in
g
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f
to
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e
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n
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sp
e
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d
c
h
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ra
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terist
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o
f
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b
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to
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d
ro
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b
ru
sh
les
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o
to
r,
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IET
El
e
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tric P
o
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r A
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p
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s
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l.
1
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o
.
1
,
p
p
.
1
0
6
-
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1
3
,
2
0
1
8
.
[1
7
]
F
ird
a
u
s
R.
N.
e
t.
a
l
.
,
“
T
o
rq
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e
C
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n
sta
n
t
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sity
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f
e
r
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n
t
Ty
p
e
o
f
Do
u
b
le
S
tato
r
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e
rm
a
n
e
n
t
M
a
g
n
e
t
Bru
sh
les
s
DC
M
o
t
o
r,
”
Pro
g
re
ss
in
El
e
c
tro
m
a
g
n
e
t
ic R
e
se
a
rc
h
M
,
v
o
l.
6
6
,
p
p
.
1
2
7
-
1
4
2
,
2
0
1
8
.
[1
8
]
J.
R.
He
n
d
e
rsh
o
t
&
T
.
J.
M
il
ler,
“
De
sig
n
o
f
Bru
sh
les
s P
e
rm
a
n
e
n
t
M
a
g
n
e
t
M
a
c
h
in
e
s”
in
M
o
to
r
De
sig
n
Bo
o
k
s,
USA
:
F
lo
ri
d
a
,
2
0
1
0
.
[1
9
]
Ca
v
a
g
n
in
o
A
.
e
t
a
l,
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A
c
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m
p
a
ri
so
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e
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e
n
th
e
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x
ial
F
lu
x
a
n
d
th
e
Ra
d
ial
F
lu
x
S
tru
c
tu
re
s
f
o
r
P
M
s
y
n
c
h
ro
n
o
u
s
M
o
to
rs
,”
IEE
E
T
ra
n
s
a
c
ti
o
n
s o
n
I
n
d
u
stry
A
p
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s
,
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8
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o
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p
p
.
1
5
1
7
-
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5
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4
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2
0
0
2
.
[2
0
]
S
e
o
,
J.
M
.
e
t
a
l,
“
De
sig
n
o
f
A
x
i
a
l
F
lu
x
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n
e
n
t
M
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g
n
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t
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sh
le
ss
DC
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o
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r
f
o
r
Ro
b
o
t
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in
t
M
o
d
u
le,”
T
h
e
2
0
1
0
In
ter
n
a
t
io
n
a
l
Po
we
r E
lec
tro
n
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Co
n
fer
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n
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e
,
S
a
p
p
o
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o
,
p
p
.
1
3
3
6
-
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3
4
0
,
2
0
1
0
.
[2
1
]
G
u
o
B.
a
n
d
Hu
a
n
g
Y.,
“
A
fa
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-
a
n
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ly
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m
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l
o
f
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x
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/d
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m
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x
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c
e
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tri
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it
y
,
”
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o
u
rn
a
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M
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ti
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l.
2
1
,
p
p
.
5
5
4
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5
6
0
,
2
0
1
6
.
[2
2
]
Bo
u
a
z
iz
O.,
e
t.
a
l.
,
“
P
e
rf
o
rm
a
n
c
e
a
n
a
ly
sis
o
f
ra
d
ial
a
n
d
a
x
ial
f
lu
x
P
M
S
M
b
a
se
d
o
n
3
D
F
EM
m
o
d
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ll
in
g
,
”
T
u
rk
is
h
J
o
u
rn
a
l
o
f
El
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c
trica
l
En
g
in
e
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g
a
n
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Co
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p
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c
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e
s
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v
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l.
2
6
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o
.
3
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p
p
.
1
5
8
7
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5
9
8
,
2
0
1
8
.
[2
3
]
M
a
h
m
o
u
d
i
A
.
,
Ra
h
im
N.
A
.
,
a
n
d
He
w
W
.
P
.
,
“
A
n
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n
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ly
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a
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p
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y
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ti
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ial
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p
e
rm
a
n
e
n
t
m
a
g
n
e
t
m
a
c
h
in
e
s,”
I
n
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
Ap
p
l
ied
El
e
c
tro
ma
g
n
e
ti
c
s
M
a
c
h
in
e
s,
v
o
l.
37
,
n
o
.
1
,
p
p
.
1
9
-
34
,
2
0
1
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[2
4
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Ay
d
in
M
.
e
t.
a
l.
,
“
A
x
ial
F
lu
x
P
e
rm
a
n
e
n
t
M
a
g
n
e
t
Disc
M
a
c
h
i
n
e
s:
A
re
v
ie
w
,
”
W
isc
o
n
sin
P
o
w
e
r
El
e
c
tro
n
ics
Re
se
a
rc
h
Ce
n
tre
,
S
e
p
tem
b
e
r
2
0
0
4
.
[2
5
]
Ja
c
e
k
F
.
G
.
,
W
a
n
g
R.
a
n
d
M
a
a
rten
J.
K.,
“
A
x
ial
F
lu
x
P
e
rm
a
n
e
n
t
M
a
g
n
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t
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s
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les
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a
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,
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2
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Ed
it
i
o
n
.
S
p
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g
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,
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.
[2
6
]
M
a
h
m
o
u
d
i
A
.
,
P
i
n
g
H.W
.
a
n
d
Ra
h
im
N.
A
.
,
“
A
c
o
m
p
a
riso
n
b
e
tw
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n
th
e
T
ORU
S
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n
d
A
F
IR
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x
ial
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f
lu
x
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M
m
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n
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ter
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[2
7
]
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ter
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[2
8
]
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[2
9
]
Kw
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ter
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Ta
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Tek
n
ik
a
l
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lak
a
M
a
la
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(
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e
M
),
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e
lak
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,
M
a
la
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isa
in
2
0
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.
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rre
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ly
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t
Un
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siti
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g
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A
R
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in
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d
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iv
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rist
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,
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ield
,
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in
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1
,
a
ll
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lec
tri
c
a
l
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n
g
in
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e
rin
g
.
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is
c
u
rre
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tl
y
a
n
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m
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ian
in
F
a
c
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lt
y
o
f
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tri
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En
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rin
g
,
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iv
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rsity
Tek
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ik
a
l
M
a
la
y
sia
M
e
l
a
k
a
,
M
e
la
k
a
,
M
a
la
y
sia
.
H
e
is
a
lso
a
n
a
c
ti
v
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re
se
a
rc
h
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r
in
P
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w
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r
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c
tro
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n
d
Driv
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s
Re
se
a
rc
h
G
ro
u
p
(
P
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)
th
a
t
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sta
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sh
e
d
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n
d
e
r
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sa
m
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f
a
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lt
y
.
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r
e
se
a
rc
h
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tere
sts
in
c
lu
d
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th
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d
e
sig
n
,
c
o
n
tr
o
l
a
n
d
a
n
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ly
sis
o
f
p
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m
a
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t
-
m
a
g
n
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t
m
a
c
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in
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z
a
n
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J
id
in
re
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d
h
is
B.
E
n
g
,
M
.
E
n
g
.
A
n
d
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h
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D
,
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n
P
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w
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r
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tro
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Driv
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ro
m
Un
iv
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rsiti
T
e
k
n
o
lo
g
i
M
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lay
sia
(
UT
M
),
Jo
h
o
r
,
M
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lay
sia
in
2
0
0
2
,
2
0
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4
a
n
d
2
0
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1
re
sp
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c
ti
v
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ly
.
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c
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m
icia
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in
De
p
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rt
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f
P
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r
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tro
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Driv
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a
c
u
lt
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f
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tri
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rin
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,
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T
e
k
n
ik
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l
M
a
lay
sia
M
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lak
a
M
a
la
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si
a
.
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re
se
a
rc
h
in
tere
st
in
c
lu
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th
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f
ield
o
f
p
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tro
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,
m
o
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ig
it
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sig
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a
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p
ro
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p
p
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ti
o
n
s.
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