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1
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[
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Evaluation Warning : The document was created with Spire.PDF for Python.
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I
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wh
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r
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k
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R
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Mo
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s
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tu
n
i
n
g
t
h
e
g
a
in
s
o
f
t
h
e
p
r
o
p
o
r
ti
o
n
al
i
n
t
e
g
r
al
d
e
r
i
v
at
iv
e
(
PI
D
)
co
n
t
r
o
ll
er
b
y
co
n
s
i
d
e
r
i
n
g
B
L
DC
m
o
t
o
r
s
p
e
c
if
i
ca
t
io
n
s
b
y
c
o
n
s
i
d
e
r
i
n
g
t
h
e
d
y
n
a
m
ic
s
ta
tes
o
f
t
h
e
m
o
t
o
r
[
1
2
]
-
[
1
4
]
.
Fo
r
s
p
ee
d
co
n
tr
o
l
o
f
h
ig
h
-
s
p
e
ed
B
L
DC
m
o
to
r
s
with
o
u
t
s
en
s
o
r
s
,
a
f
lu
x
lin
k
ag
e
f
u
n
ctio
n
i
n
d
ep
en
d
en
t
o
f
s
p
ee
d
is
p
r
esen
ted
in
[
1
5
]
,
ass
u
r
in
g
a
r
o
b
u
s
t
o
p
er
atio
n
in
th
e
lo
w
-
s
p
ee
d
r
an
g
e
an
d
g
iv
in
g
a
co
r
r
ec
tio
n
ap
p
r
o
ac
h
f
o
r
p
r
ec
is
e
co
m
m
u
t
atio
n
p
o
in
ts
at
th
e
h
ig
h
er
s
p
e
ed
s
.
T
h
e
r
o
b
u
s
t
co
n
tr
o
ller
[
1
6
]
is
d
ev
elo
p
e
d
b
y
u
s
in
g
a
p
o
le
p
lace
m
en
t
s
tr
ateg
y
a
n
d
an
o
p
tim
al
lin
ea
r
q
u
ad
r
atic
r
e
g
u
lato
r
to
en
s
u
r
e
r
o
b
u
s
t
s
tab
ilit
y
.
T
h
e
s
p
id
er
-
b
ased
co
n
t
r
o
ller
alg
o
r
ith
m
[
1
7
]
is
ef
f
ec
tiv
e
in
m
ain
tai
n
in
g
co
n
s
tan
t
s
p
ee
d
o
v
er
lar
g
e
r
in
ter
v
als
o
f
tim
e.
W
h
en
th
e
h
all
s
en
s
o
r
'
s
d
ata
i
s
clu
b
b
ed
with
r
o
t
o
r
s
p
ee
d
in
[
1
8
]
.
T
h
e
ab
ilit
y
to
w
o
r
k
in
d
ep
en
d
en
tly
o
f
th
eir
co
r
r
ec
t
p
o
s
itio
n
is
m
ad
e
p
o
s
s
ib
le
b
y
th
e
lo
g
ical
s
ep
ar
atio
n
o
f
th
e
Hall
s
en
s
o
r
s
f
r
o
m
th
e
co
n
tr
o
l
tr
an
s
is
to
r
s
'
s
witch
in
g
f
u
n
ctio
n
.
I
t
allo
ws
u
s
to
cr
ea
te
an
alg
o
r
ith
m
th
at
ca
n
id
en
tify
is
s
u
es
with
an
y
o
r
all
o
f
th
e
s
en
s
o
r
s
with
o
u
t in
ter
f
er
in
g
with
th
e
m
o
to
r
'
s
p
er
f
o
r
m
an
ce
.
T
h
e
s
witch
in
g
o
f
p
o
wer
elec
t
r
o
n
ic
d
ev
ices
r
esu
lts
in
to
r
q
u
e
r
ip
p
les.
T
h
e
tech
n
iq
u
e
o
f
[
1
9
]
r
ed
u
ce
s
to
tal
h
ar
m
o
n
ic
d
is
to
r
tio
n
(
T
H
D
)
an
d
to
r
q
u
e
r
ip
p
les
as
well
as
im
p
r
o
v
es
ef
f
icien
cy
.
T
h
e
DT
C
s
ch
em
e
d
r
iv
es
th
e
B
L
DC
m
o
to
r
in
a
co
n
s
t
an
t
to
r
q
u
e
r
eg
i
o
n
[
2
0
]
.
I
n
DT
C
co
n
tr
o
l,
th
e
m
o
to
r
to
r
q
u
e
is
esti
m
ated
b
y
m
ea
s
u
r
in
g
th
e
m
o
to
r
v
o
ltag
e
,
an
d
th
e
f
lu
x
is
esti
m
ated
b
y
m
ea
s
u
r
in
g
th
e
m
o
to
r
cu
r
r
en
t.
Desig
n
er
s
an
d
en
g
in
ee
r
s
h
av
e
wo
r
k
e
d
o
u
t
wi
th
d
if
f
er
e
n
t
co
n
tr
o
ller
s
f
o
r
im
p
r
o
v
in
g
th
e
d
y
n
am
ic
r
esp
o
n
s
e
ch
ar
ac
ter
is
tics
lik
e
o
v
er
s
h
o
o
t
an
d
r
is
e
tim
e
,
with
f
u
zz
y
c
o
n
tr
o
ller
s
[
2
1
]
.
T
h
e
s
lid
in
g
m
o
d
e
o
b
s
er
v
e
r
is
d
e
p
lo
y
ed
in
[
2
2
]
f
o
r
in
s
tan
tan
eo
u
s
to
r
q
u
e
esti
m
atio
n
.
Fo
r
r
ed
u
cin
g
th
e
to
r
q
u
e
r
ip
p
les,
th
e
th
r
ee
-
p
h
ase
q
u
an
titi
es
o
f
m
o
to
r
v
o
ltag
e
an
d
cu
r
r
e
n
t
ar
e
tr
an
s
f
o
r
m
e
d
in
to
a
two
-
ax
is
s
y
s
tem
with
th
e
P
ar
k
tr
an
s
f
o
r
m
atio
n
[
2
3
]
,
a
n
d
th
en
esti
m
ate
th
e
to
r
q
u
e
with
a
lo
o
k
u
p
tab
le
ap
p
r
o
ac
h
.
T
h
e
d
-
a
x
is
cu
r
r
en
t
is
u
s
ed
b
y
th
e
s
en
s
o
r
-
les
s
DT
C
tech
n
iq
u
e
to
in
d
ir
ec
tly
r
eg
u
late
th
e
s
tato
r
f
lu
x
am
p
litu
d
e
a
n
d
d
ir
ec
tly
c
o
n
t
r
o
l th
e
to
r
q
u
e.
I
t is f
ea
s
ib
le
to
d
o
f
lu
x
-
wea
k
en
in
g
o
p
er
atio
n
s
b
ec
au
s
e
th
e
s
tato
r
f
lu
x
is
co
n
t
r
o
lled
.
T
h
is
tech
n
iq
u
e
[
2
4
]
en
a
b
les
th
e
f
lu
ctu
atin
g
s
ig
n
als
to
b
e
r
eg
u
lated
.
A
s
tr
aig
h
tf
o
r
war
d
l
o
o
k
-
u
p
tab
le
f
o
r
v
o
ltag
e
v
ec
t
o
r
s
elec
tio
n
is
in
ten
d
e
d
to
p
r
o
v
id
e
q
u
ick
to
r
q
u
e
an
d
f
lu
x
co
n
t
r
o
l.
I
n
f
ield
wea
k
en
in
g
r
e
g
io
n
s
,
d
ir
ec
t
p
o
wer
c
o
n
tr
o
l [
2
5
]
is
ef
f
ec
tiv
e.
2.
M
E
T
H
O
D
T
h
e
B
L
DC
m
o
to
r
’
s
m
ath
em
at
ical
f
o
r
ar
m
atu
r
e
win
d
in
g
v
o
ltag
es o
f
ar
e
e
x
p
r
ess
ed
as (
1
)
-
(
3
)
.
=
+
+
(
1
)
=
+
+
(
2
)
=
+
+
(
3
)
W
h
er
e
ia,
ib
,
an
d
ic
:
m
o
to
r
cu
r
r
en
t
;
Va,
V
b
,
an
d
Vc
:
m
o
to
r
’
s
p
h
ase
v
o
ltag
es
;
R
=Ra=Rb
=Rc
:
a
r
m
atu
r
e
r
esis
tan
ce
;
L
=L
a=
L
b
=L
c=
L
s
–
Lm
:
a
r
m
atu
r
e
in
d
u
ctan
ce
;
Ls
:
s
elf
-
in
d
u
ctan
ce
o
f
ar
m
a
tu
r
e
;
Lm
:
m
u
t
u
al
-
in
d
u
ctan
ce
o
f
ar
m
at
u
r
e
; a
n
d
e
a,
eb
,
an
d
ec
:
m
o
t
o
r
b
ac
k
E
M
F
.
I
n
m
atr
ix
f
o
r
m
(
4
)
:
[
]
=
[
+
∆
0
0
0
+
∆
0
0
0
+
∆
]
[
]
+
[
]
(
4
)
wh
er
e
∆
=
.
T
h
e
B
L
DC
m
o
to
r
’
s
b
ac
k
e
le
ctr
o
m
o
tiv
e
f
o
r
ce
(
EMF
)
is
tr
ap
ez
o
id
al
in
n
atu
r
e
d
u
e
to
p
er
m
an
en
t
m
ag
n
ets.
Hen
ce
,
th
e
b
ac
k
E
M
F
is
wr
itten
as
(
5
)
-
(
7
)
.
=
∅
(
)
(
)
(
5
)
=
∅
(
−
2
3
⁄
)
(
)
(
6
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
Dir
ec
t to
r
q
u
e
co
n
tr
o
l te
ch
n
iq
u
e
fo
r
B
LDC
mo
to
r
d
r
ive
in
ele
ctri
c
ve
h
icle
a
p
p
lica
tio
n
s
(
S
a
c
h
in
C
h
a
vh
a
n
)
819
=
∅
(
+
2
3
⁄
)
(
)
(
7
)
W
h
er
e
is
th
e
r
ea
l
r
o
to
r
s
p
ee
d
,
KE
is
th
e
b
ac
k
E
MF
co
n
s
tan
t,
an
d
is
th
e
an
g
le
o
f
th
e
r
o
to
r
p
o
s
itio
n
.
I
n
m
atr
ix
f
o
r
m
(
8
)
:
[
]
=
[
(
)
(
)
(
)
]
(
8
)
w
h
er
e
is
an
g
u
lar
s
p
ee
d
o
f
th
e
r
o
t
o
r
;
K
is
f
lu
x
lin
k
ag
e
;
i
s
ac
tu
al
r
o
to
r
p
o
s
itio
n
;
an
d
f
a
(
a)
,
f
b
(
b
)
,
an
d
f
c
(
c
)
ar
e
f
u
n
ctio
n
s
o
f
th
e
r
o
to
r
an
g
l
e
.
T
h
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
is
d
ef
in
ed
as
=
f
o
r
a
th
r
ee
-
p
h
ase
B
L
DC
m
o
to
r
,
it
ca
n
b
e
ex
p
r
ess
ed
as
(
9
)
.
=
+
+
(
9
)
Fo
r
DT
C
,
th
e
3
-
p
h
ase
AC
q
u
an
titi
es
ar
e
tr
an
s
f
o
r
m
ed
in
to
2
-
p
h
ase
with
P
ar
k
tr
an
s
f
o
r
m
s
.
Hen
ce
,
in
d
q
r
ef
er
en
ce
f
r
am
e
,
th
e
elec
tr
o
m
a
g
n
etic
to
r
q
u
e
is
ex
p
r
ess
ed
as
(
1
0
)
.
=
3
2
[
+
]
(
1
0
)
W
h
er
e
P
is
th
e
n
u
m
b
er
o
f
p
o
l
es
;
e
is
th
e
e
lectr
ical
r
o
to
r
s
p
ee
d
;
e
q
,
e
d
,
i
sq
,
an
d
i
sd
ar
e
t
h
e
d
q
a
x
is
b
ac
k
E
MF
an
d
cu
r
r
en
ts
;
an
d
re
is
th
e
e
le
ctr
ical
r
o
to
r
p
o
s
itio
n
.
T
h
e
m
ath
em
atica
l
f
o
r
m
u
latio
n
o
f
th
e
B
L
DC
m
o
to
r
with
th
e
DT
C
m
eth
o
d
is
d
o
n
e
f
r
o
m
(
1
)
to
(
1
0
)
.
Fig
u
r
e
1
s
h
o
ws
th
e
p
r
o
p
o
s
ed
DT
C
s
ch
em
e
f
o
r
B
L
DC
m
o
to
r
s
p
ee
d
co
n
tr
o
l.
T
h
e
s
y
s
tem
tak
es
th
e
in
p
u
t
f
o
r
r
ef
er
en
ce
s
p
ee
d
an
d
r
e
f
er
en
c
e
to
r
q
u
e.
On
th
e
m
o
to
r
s
id
e,
th
e
m
ea
s
u
r
em
en
ts
ar
e
ca
r
r
ied
o
u
t
f
o
r
v
o
lta
g
e,
cu
r
r
en
t
,
an
d
m
o
to
r
s
p
ee
d
.
F
o
r
s
p
ee
d
co
n
t
r
o
l
o
f
th
e
m
o
t
o
r
,
th
e
esti
m
ated
to
r
q
u
e
an
d
esti
m
ated
f
lu
x
ar
e
co
m
p
ar
ed
with
th
e
to
r
q
u
e
r
ef
e
r
en
ce
an
d
f
l
u
x
r
ef
e
r
en
ce
,
an
d
g
en
er
ate
an
er
r
o
r
s
ig
n
al
co
r
r
esp
o
n
d
in
g
to
f
lu
x
an
d
to
r
q
u
e.
T
h
ese
er
r
o
r
s
ig
n
als
an
d
esti
m
ated
to
r
q
u
e
an
d
f
lu
x
v
a
lu
es
ar
e
u
s
ed
to
s
elec
t
th
e
s
witch
in
g
s
tate
th
r
o
u
g
h
a
v
ec
to
r
s
elec
tio
n
tab
le
a
n
d
g
e
n
er
ate
th
e
g
ate
c
o
n
tr
o
l sig
n
als f
o
r
th
e
i
n
v
er
ter
.
Fig
u
r
e
1
.
B
lo
ck
d
iag
r
am
o
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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F
UNDING
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NF
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T
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w
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R
CO
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B
UT
I
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NS ST
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M
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N
T
T
h
is
jo
u
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s
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C
o
n
tr
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u
to
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o
les
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ax
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y
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ed
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to
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g
n
ize
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d
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id
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al
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th
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co
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tr
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tio
n
s
,
r
ed
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ce
au
th
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r
s
h
ip
d
is
p
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tes,
an
d
f
ac
ilit
ate
co
llab
o
r
atio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
16
,
No
.
2
,
J
u
n
e
20
25
:
8
1
7
-
8
2
6
824
Na
m
e
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f
Aut
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Sach
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h
esh
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m
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r
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tate
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ter
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DATA AV
AI
L
AB
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L
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T
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h
e
au
th
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co
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with
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th
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a
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ticle.
RE
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NC
E
S
[
1
]
S
.
K
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.
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.
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[
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