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I
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Ad
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m
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an
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tech
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ies,
esp
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lifts,
h
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ac
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s
p
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.
W
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in
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it
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th
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eq
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ter
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th
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s
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.
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to
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u
ild
in
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m
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s
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s
to
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s
u
r
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th
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s
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th
m
o
v
em
en
t
o
f
p
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o
p
le
an
d
p
r
o
d
u
cts.
I
t
is
in
ter
esti
n
g
to
co
m
p
r
eh
e
n
d
th
e
d
iv
e
r
s
e
k
in
d
s
o
f
elev
ato
r
s
y
s
tem
s
an
d
th
eir
d
is
tin
ct
f
ea
tu
r
es.
T
h
e
m
o
s
t
co
m
m
o
n
ty
p
es
o
f
elev
ato
r
s
y
s
tem
s
ar
e
tr
ac
tio
n
elev
ato
r
s
[
1
]
-
[
3
]
,
h
y
d
r
au
li
c
elev
ato
r
s
[
4
]
-
[
6
]
,
m
ac
h
in
e
r
o
o
m
-
less
(
MRL)
elev
ato
r
s
[
7
]
-
[
9
]
,
p
n
e
u
m
atic
elev
ato
r
s
[
1
0
]
-
[
12
]
,
an
d
f
r
ei
g
h
t e
le
v
at
o
r
s
[
1
3
]
-
[
1
5
]
.
On
th
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o
t
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a
n
d
,
th
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o
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b
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r
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g
m
eth
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d
i
n
to
AC
d
r
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elev
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r
[
1
6
]
,
[
1
7
]
,
DC
d
r
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elev
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r
[
1
8
]
,
[
1
9
]
,
h
y
d
r
au
lic
elev
ato
r
[
4
]
,
r
ac
k
an
d
p
in
io
n
elev
ato
r
[
2
0
]
,
[
2
1
]
,
s
cr
ew
elev
ato
r
[
2
2
]
,
[
2
3
]
,
an
d
lin
ea
r
m
o
to
r
-
d
r
iv
en
elev
ato
r
[
2
4
]
,
[
2
5
]
.
T
h
e
m
o
s
t
p
r
ev
alen
t
k
in
d
o
f
elev
ato
r
tech
n
o
lo
g
y
is
th
e
tr
ac
tio
n
elev
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r
.
T
h
e
elev
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r
ca
b
in
is
r
aised
an
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lo
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s
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a
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o
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weig
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a
s
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s
tem
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f
b
elts
,
an
d
ca
b
les
(
wir
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.
Alth
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u
g
h
th
ey
ar
e
v
er
y
d
ep
en
d
a
b
le
an
d
p
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s
m
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tr
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elev
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r
s
n
ee
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a
s
ep
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ate
m
ac
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r
o
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wh
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tak
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u
p
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a
lu
ab
le
s
p
ac
e
in
th
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b
u
ild
i
n
g
s
tr
u
ctu
r
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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&
Dr
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I
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N:
2088
-
8
6
9
4
Desig
n
a
n
d
imp
leme
n
ta
tio
n
o
f
jerk
-
co
n
tr
o
lled
elev
a
to
r
s
ystems
u
s
in
g
S
-
cu
r
ve
…
(
A
li A
b
d
u
lka
r
ee
m
A
li
)
781
Pas
s
en
g
er
well
-
b
ein
g
,
esp
ec
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in
h
ig
h
-
s
p
ee
d
elev
ato
r
s
in
s
k
y
s
cr
ap
er
s
,
is
a
cr
u
cial
co
n
s
id
er
atio
n
[
2
6
]
,
[
2
7
]
.
T
h
ese
elev
ato
r
s
u
s
u
ally
s
u
f
f
er
f
r
o
m
co
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licatio
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ch
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ip
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le
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o
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s
(
o
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)
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u
r
in
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o
p
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ati
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n
an
d
m
o
v
em
en
t
with
in
b
u
ild
in
g
s
tr
u
ctu
r
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T
h
e
ex
er
tio
n
o
f
th
ese
f
o
r
ce
s
ca
n
g
en
er
ate
p
o
wer
f
u
l
jo
lts
th
at
n
o
t
o
n
ly
ca
u
s
e
d
is
co
m
f
o
r
t
to
p
ass
en
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er
s
b
u
t
also
h
av
e
th
e
p
o
te
n
tial
to
d
am
a
g
e
th
e
m
ec
h
an
ical
an
d
elec
tr
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co
m
p
o
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e
n
ts
o
f
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elev
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r
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th
er
eb
y
d
im
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s
h
in
g
th
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o
v
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all
life
s
p
an
o
f
th
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liftin
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.
Ma
n
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in
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d
d
en
m
o
v
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is
cr
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cial
f
o
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m
in
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p
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d
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h
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Hig
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a
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cy
d
r
iv
es
(
VFDs
)
,
ar
e
am
o
n
g
th
e
m
o
s
t
ef
f
ec
ti
v
e
s
o
lu
tio
n
s
.
T
h
e
VFD
co
n
tr
o
ls
th
e
v
elo
city
an
d
r
o
tat
io
n
al
f
o
r
ce
o
f
AC
m
o
to
r
s
b
y
ad
ju
s
tin
g
th
e
in
p
u
t
v
o
ltag
e
an
d
f
r
e
q
u
en
c
y
.
T
h
e
m
ain
g
o
al
o
f
elev
ato
r
s
is
to
m
ain
tain
a
co
n
s
tan
t
r
atio
o
f
v
o
ltag
e
to
f
r
eq
u
e
n
cy
(
V/f
)
[
1
6
]
.
T
h
is
f
ea
tu
r
e
is
ess
en
tial
f
o
r
m
in
im
iz
in
g
m
ec
h
an
ical
s
tr
ess
,
in
cr
ea
s
in
g
s
y
s
tem
d
u
r
ab
ilit
y
,
an
d
g
u
ar
an
teein
g
a
s
m
o
o
t
h
s
tar
t a
n
d
s
to
p
o
f
ele
v
ato
r
o
p
er
atio
n
.
Nu
m
er
o
u
s
m
et
h
o
d
s
h
av
e
b
e
en
p
r
o
p
o
s
ed
to
a
d
d
r
ess
th
e
p
r
o
b
lem
o
f
s
u
d
d
e
n
m
o
v
em
e
n
ts
d
u
r
in
g
elev
ato
r
f
lo
o
r
tr
an
s
itio
n
s
,
wh
ich
h
av
e
b
ee
n
e
x
ten
s
iv
e
ly
ex
a
m
in
ed
.
An
in
v
e
n
tiv
e
d
r
iv
e
m
e
th
o
d
was
p
r
o
p
o
s
ed
by
Das
et
a
l.
[
1
9
]
f
o
r
m
i
d
-
r
is
e
an
d
m
id
-
s
p
ee
d
elev
ato
r
s
.
A
p
er
m
an
en
t
m
a
g
n
et
DC
m
o
to
r
with
PID
co
n
tr
o
l
p
o
wer
ed
th
e
ca
b
in
.
T
h
er
e
wer
e
s
ev
er
al
b
en
ef
its
to
u
s
in
g
t
h
is
m
o
to
r
,
i
n
clu
d
in
g
as
im
p
r
o
v
ed
r
id
in
g
c
o
m
f
o
r
t,
less
jer
k
,
an
d
en
h
a
n
ce
d
e
f
f
icien
cy
.
Sh
r
ee
lak
s
h
m
i
an
d
Ag
ar
wal
[
2
8
]
p
r
o
p
o
s
ed
co
m
b
in
in
g
r
ec
t
an
g
u
lar
an
d
s
in
u
s
o
id
al
jer
k
p
atter
n
s
to
cr
ea
te
a
s
m
o
o
th
s
p
ee
d
p
r
o
f
il
e
th
at
en
h
an
ce
s
co
m
f
o
r
t
wh
i
le
m
ain
tain
in
g
tr
av
el
tim
e.
C
r
ăc
iu
n
et
a
l.
[
2
9
]
co
n
d
u
cte
d
a
c
o
m
p
a
r
at
iv
e
s
tu
d
y
o
n
ch
a
n
g
es
in
th
e
elev
at
o
r
'
s
k
in
em
atic
p
ar
a
m
eter
s
u
s
in
g
elec
tr
o
n
ic
v
elo
city
m
o
d
elin
g
in
MA
T
L
AB
.
T
h
e
s
tu
d
y
f
o
c
u
s
ed
o
n
ac
h
iev
i
n
g
s
m
o
o
th
d
ec
eler
atio
n
b
y
ap
p
l
y
in
g
S
-
cu
r
v
es.
Ma
s
o
u
d
i
[
3
0
]
s
u
g
g
ested
em
p
lo
y
in
g
a
lin
ea
r
s
witch
in
g
r
el
u
ctan
ce
m
o
to
r
(
L
SR
M)
i
n
a
n
elev
a
to
r
s
y
s
tem
with
an
ap
p
r
o
p
r
iate
s
p
ee
d
p
atter
n
f
o
r
o
p
tim
al
an
d
s
m
o
o
th
t
r
av
el
wit
h
m
in
im
al
jer
k
.
DT
C
in
in
d
u
c
tio
n
m
o
to
r
d
r
i
v
er
s
was
ex
ten
s
iv
ely
s
tu
d
ied
b
y
Ar
af
a
et
a
l.
[
3
1
]
u
tili
zin
g
th
e
s
p
a
ce
v
ec
to
r
m
o
d
u
lated
-
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
(
SVM
-
DT
C
)
ap
p
r
o
ac
h
.
Sp
ee
d
p
r
o
f
ili
n
g
co
u
l
d
in
cr
ea
s
e
elev
ato
r
co
m
f
o
r
t.
Sh
r
ee
lak
s
h
m
i
an
d
Ag
a
r
wal
[
3
2
]
d
ev
el
o
p
ed
a
l
o
s
s
m
in
im
izatio
n
m
eth
o
d
f
o
r
i
n
d
u
ctio
n
m
o
to
r
-
d
r
iv
e
n
elev
ato
r
s
.
T
h
is
is
n
ee
d
e
d
to
f
in
d
an
en
er
g
y
-
o
p
tim
al
v
el
o
c
ity
p
atter
n
.
T
h
e
g
o
al
f
u
n
ctio
n
is
a
d
if
f
er
en
tial
eq
u
a
tio
n
th
at
ties
m
o
to
r
p
o
wer
lo
s
s
es
to
r
o
to
r
s
p
ee
d
.
Sp
ee
d
an
d
ac
c
eler
atio
n
ar
e
li
m
ited
b
y
p
ass
en
g
er
co
m
f
o
r
t.
Po
n
tr
y
a
g
in
'
s
m
in
im
u
m
p
r
in
cip
le
f
in
d
s
th
e
b
est tr
aje
cto
r
y
b
y
ch
o
o
s
in
g
a
Ham
ilto
n
i
an
f
u
n
ctio
n
.
T
h
e
p
e
r
m
an
en
t
m
ag
n
et
s
y
n
c
h
r
o
n
o
u
s
m
o
to
r
(
PMSM)
r
esp
o
n
d
s
q
u
ic
k
ly
to
ch
a
n
g
es,
b
u
t
t
h
e
elev
ato
r
s
p
ee
d
co
n
tr
o
ller
'
s
lim
ited
b
an
d
wid
th
ca
n
ca
u
s
e
is
s
u
es.
W
h
en
r
o
to
r
f
lu
x
lin
k
a
g
e
o
r
s
tatic
f
r
ictio
n
d
ev
iates
f
r
o
m
s
et
v
alu
es,
tr
ad
itio
n
al
jer
k
co
n
tr
o
l
m
eth
o
d
s
m
ay
lead
to
h
ig
h
er
s
tar
tin
g
en
e
r
g
y
.
T
o
m
iti
g
ate
th
ese
p
r
o
b
lem
s
,
R
an
g
ar
ajan
et
a
l.
[
3
3
]
p
r
o
p
o
s
e
d
a
n
o
v
el
d
is
tu
r
b
a
n
ce
o
b
s
er
v
er
th
at
tem
p
o
r
a
r
ily
m
o
d
if
ies
th
e
s
tato
r
f
lu
x
lin
k
a
g
e
s
p
ee
d
r
ath
er
th
a
n
th
e
to
r
q
u
e/c
u
r
r
en
t
d
u
r
in
g
s
tar
tin
g
.
Qiu
et
a
l.
[
2
7
]
p
r
o
p
o
s
ed
a
s
tr
ateg
y
to
im
p
r
o
v
e
v
ib
r
atio
n
-
r
e
lated
h
ig
h
-
s
p
ee
d
elev
at
o
r
d
es
i
g
n
.
T
h
ey
also
d
em
o
n
s
tr
ated
h
o
w
th
e
k
e
y
p
ar
am
eter
s
af
f
ec
ted
th
e
h
i
g
h
-
s
p
ee
d
elev
ato
r
h
o
r
izo
n
tal
v
ib
r
atio
n
s
y
s
tem
an
d
ch
o
s
e
th
e
o
p
tim
u
m
wa
y
to
i
m
p
r
o
v
e
th
ese
elev
ato
r
s
'
h
o
r
iz
o
n
tal
v
ib
r
atio
n
p
e
r
f
o
r
m
an
ce
,
o
p
er
atio
n
al
s
tab
ilit
y
,
an
d
r
id
e
c
o
m
f
o
r
t.
On
at
et
a
l.
[
2
5
]
u
s
ed
a
p
er
m
an
e
n
t
m
ag
n
eti
c
s
y
n
ch
r
o
n
o
u
s
lin
ea
r
m
o
to
r
f
e
d
f
r
o
m
a
VFD
an
d
p
r
o
g
r
a
m
m
ed
in
th
e
b
est
V/f
p
atter
n
f
o
r
th
e
b
est
s
p
ee
d
cu
r
v
e
p
r
o
f
ile
to
co
n
tr
o
l
th
e
elev
at
o
r
ca
b
'
s
s
p
ee
d
s
o
it
s
tar
ted
an
d
s
to
p
p
ed
s
m
o
o
th
ly
an
d
tr
av
eled
co
n
s
is
ten
tly
ac
r
o
s
s
th
e
elev
ato
r
f
lo
o
r
s
with
m
in
im
al
jer
k
.
T
h
is
d
r
iv
er
c
u
t je
r
k
v
al
u
es b
y
8
8
%
co
m
p
ar
ed
to
th
e
s
tan
d
a
r
d
s
ce
n
ar
io
.
T
h
er
e
a
r
e
s
ev
er
al
li
m
i
tat
io
n
s
t
o
t
h
e
c
u
r
r
e
n
t
r
ese
ar
c
h
o
n
e
le
v
a
to
r
s
y
s
te
m
s
,
e
v
en
if
t
h
er
e
h
a
v
e
b
e
en
g
r
ea
t
ad
v
a
n
ce
s
.
P
o
we
r
l
o
g
ic
c
o
n
tr
o
l
ler
s
(
PLCs
)
a
r
e
t
h
e
b
ac
k
b
o
n
e
o
f
m
a
n
y
o
l
d
e
r
co
n
t
r
o
l
s
y
s
te
m
s
,
b
u
t
th
ey
m
i
g
h
t
n
o
t
h
a
v
e
t
h
e
p
r
o
ce
s
s
i
n
g
p
o
we
r
t
o
s
u
p
p
o
r
t
m
o
r
e
c
o
m
p
le
x
c
o
n
t
r
o
l
al
g
o
r
i
th
m
s
.
Fu
r
t
h
er
m
o
r
e,
c
o
n
v
en
ti
o
n
al
s
y
s
t
em
s
f
r
e
q
u
en
tl
y
m
a
k
e
u
s
e
o
f
u
n
c
o
m
p
lic
ate
d
s
wit
ch
in
g
o
r
tr
an
s
is
to
r
m
o
d
u
l
es
b
ase
d
o
n
r
e
la
y
s
,
wh
i
ch
d
o
n
o
t
h
a
v
e
in
t
eg
r
ate
d
p
r
o
t
ec
t
io
n
o
r
ac
cu
r
ate
f
e
ed
b
a
c
k
m
ec
h
a
n
is
m
s
.
T
h
e
n
ec
ess
it
y
f
o
r
t
h
o
r
o
u
g
h
r
ea
l
-
t
im
e
m
o
n
it
o
r
i
n
g
a
n
d
m
o
d
i
f
i
ca
t
io
n
s
h
as
n
o
t
b
ee
n
s
u
f
f
i
cie
n
t
ly
a
d
d
r
ess
e
d
i
n
th
e
r
esea
r
c
h
t
h
at
h
as
i
n
v
esti
g
ate
d
PID
-
c
o
n
tr
o
l
le
d
DC
m
o
to
r
s
o
r
s
i
n
u
s
o
id
al
j
er
k
p
at
t
er
n
s
.
I
n
a
d
d
iti
o
n
,
m
a
n
y
s
tu
d
i
e
s
u
n
d
e
r
u
ti
liz
e
S
-
cu
r
v
e
p
r
o
f
il
es
,
o
f
te
n
r
es
u
lt
in
g
i
n
in
s
u
f
f
i
cie
n
t
je
r
k
r
e
d
u
cti
o
n
a
n
d
s
u
b
o
p
ti
m
a
l
r
id
e
c
o
m
f
o
r
t
.
To
e
n
h
a
n
c
e
e
le
v
at
o
r
p
e
r
f
o
r
m
a
n
c
e
a
n
d
p
ass
e
n
g
e
r
co
m
f
o
r
t
,
m
o
r
e
ad
v
an
ce
d
a
n
d
i
n
te
g
r
a
te
d
co
n
t
r
o
l
m
et
h
o
d
s
a
r
e
n
e
ce
s
s
a
r
y
,
as
t
h
es
e
l
i
m
its
h
a
v
e
s
h
o
wn
.
T
h
is
r
esear
ch
p
r
o
p
o
s
es
a
s
en
s
o
r
less
v
ec
to
r
co
n
tr
o
l
(
SVC
)
-
b
ased
th
r
ee
-
f
lo
o
r
r
o
p
in
g
elev
ato
r
p
r
o
to
ty
p
e
with
an
o
p
tim
ized
S
-
cu
r
v
e
s
p
ee
d
p
r
o
f
ile
o
p
er
ated
b
y
a
th
r
ee
-
p
h
ase
in
d
u
ctio
n
m
o
to
r
.
VFD
r
eg
u
lates
m
o
to
r
s
p
ee
d
.
T
h
e
VFD
is
f
u
lly
in
teg
r
ated
with
an
STM
3
2
m
icr
o
co
n
tr
o
ller
'
s
ex
ac
t
co
n
tr
o
l.
T
h
is
r
esear
ch
u
s
es
th
e
I
NVT
GD2
0
VFD
to
i
m
p
r
o
v
e
m
o
t
o
r
p
er
f
o
r
m
an
ce
an
d
s
p
ee
d
r
eg
u
latio
n
.
C
o
m
p
l
ex
co
n
t
r
o
l
s
y
s
tem
s
in
clu
d
in
g
in
f
r
ar
e
d
s
en
s
o
r
s
an
d
lim
it
s
witch
es
h
av
e
b
ee
n
b
u
il
t
in
to
th
e
elev
ato
r
.
T
h
e
o
p
tim
al
S
-
c
u
r
v
e
v
elo
city
p
r
o
f
ile
d
esig
n
an
d
im
p
lem
en
t
atio
n
will
b
e
th
e
f
o
c
u
s
o
f
th
is
s
tu
d
y
.
T
h
e
S
-
cu
r
v
e
ap
p
r
o
ac
h
r
ed
u
ce
s
m
ec
h
a
n
ical
jer
k
s
b
y
elim
in
atin
g
s
u
d
d
e
n
ac
ce
ler
atio
n
an
d
d
ec
eler
atio
n
ch
an
g
es,
u
n
lik
e
lin
ea
r
p
r
o
f
il
es.
T
h
e
s
in
u
s
o
id
al
lim
ited
-
jer
k
tr
ajec
to
r
y
ap
p
r
o
a
ch
d
escr
ib
ed
b
y
Mu
tlu
[
3
4
]
,
in
itially
ap
p
lied
to
PMSM,
is
wel
l
-
s
u
ited
f
o
r
elev
ato
r
s
y
s
tem
s
.
I
n
th
is
s
tu
d
y
,
th
e
a
p
p
r
o
ac
h
is
ad
ap
ted
f
o
r
u
s
e
with
an
in
d
u
cti
o
n
m
o
to
r
(
I
M)
,
d
e
m
o
n
s
tr
atin
g
its
ef
f
ec
tiv
en
ess
in
ac
h
iev
in
g
tim
e
o
p
tim
izatio
n
an
d
s
m
o
o
th
jer
k
tr
an
s
it
io
n
in
th
e
I
M
-
d
r
iv
en
elev
ato
r
s
y
s
tem
.
T
h
e
s
u
g
g
ested
elev
ato
r
tech
n
o
lo
g
y
,
wh
ich
m
im
ics th
r
ee
-
s
to
r
y
elev
ato
r
s
,
r
e
q
u
ir
es th
is
.
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
:
7
8
0
-
7
9
3
782
T
h
e
s
tu
d
y
h
as
s
o
m
e
o
b
jectiv
es:
i)
E
n
h
an
cin
g
p
ass
en
g
er
c
o
m
f
o
r
t
th
r
o
u
g
h
m
in
im
ized
m
ec
h
an
ical
jer
k
s
u
n
d
er
u
n
lo
ad
e
d
an
d
lo
a
d
ed
co
n
d
itio
n
s
; ii)
I
m
p
r
o
v
i
n
g
t
h
e
ef
f
icien
cy
an
d
r
eliab
ilit
y
o
f
th
e
elev
ato
r
s
y
s
tem
b
y
tak
i
n
g
a
d
v
an
ta
g
e
o
f
a
d
v
an
ce
d
m
o
t
o
r
s
p
ee
d
co
n
tr
o
l
an
d
m
icr
o
co
n
tr
o
ller
in
te
g
r
atio
n
;
a
n
d
iii)
B
u
ild
in
g
a
n
ef
f
icien
t
elev
ato
r
m
o
d
el
th
at
m
im
ics
a
r
ea
l
-
wo
r
ld
elev
ato
r
an
d
is
s
ca
lab
le
f
o
r
f
u
tu
r
e
elev
ato
r
s
y
s
tem
s
,
p
r
o
v
id
i
n
g
a
f
r
am
ewo
r
k
f
o
r
im
p
lem
en
tin
g
s
im
ilar
tech
n
o
lo
g
i
es in
co
m
m
er
cial
v
er
tical
tr
a
n
s
p
o
r
tatio
n
s
o
lu
tio
n
s
.
2.
T
H
E
O
R
E
T
I
CA
L
B
A
SI
S A
ND
P
RO
P
O
SE
D
M
E
T
H
O
D
2
.
1
.
I
nd
uct
io
n
m
o
t
o
r
(
I
M
)
I
n
a
r
e
f
er
en
ce
f
r
am
e
t
h
at
r
o
tat
es
in
s
y
n
ch
r
o
n
izatio
n
,
Fig
u
r
e
1
d
ep
icts
th
e
d
-
q
e
q
u
iv
alen
t
c
ir
cu
it
o
f
a
th
r
ee
-
p
h
ase
in
d
u
ctio
n
m
o
to
r
[
3
5
]
,
[
3
6
]
.
Fig
u
r
e
1
d
is
p
lay
s
t
h
e
d
-
q
cir
c
u
it
th
at
f
u
lf
ills
co
n
d
itio
n
s
(
1
)
to
(
5
)
.
T
h
ese
eq
u
atio
n
s
[
3
5
]
,
[
3
6
]
p
r
o
v
id
e
t
h
e
s
ta
n
d
ar
d
d
y
n
am
ic
m
o
d
el
o
f
a
n
in
d
u
ctio
n
m
o
t
o
r
,
with
o
u
t
c
o
n
s
id
er
in
g
m
ag
n
etic
m
ater
ial
s
atu
r
atio
n
,
r
o
to
r
r
esis
tan
ce
ch
an
g
es d
u
e
to
s
k
in
ef
f
ec
t,
an
d
s
tato
r
r
esis
tan
ce
f
lu
ctu
atio
n
s
d
u
e
to
tem
p
er
atu
r
e
v
ar
iatio
n
s
.
v
qr
=
+
d
dt
Ψ
qr
+
(
ω
e
-
ω
r
)
(
1
)
v
dr
=
+
d
dt
Ψ
dr
+
(
ω
e
-
ω
r
)
(
2
)
=
+
+
(
+
)
(
3)
=
+
+
(
+
)
(
4
)
=
3
2
×
2
(
−
)
(
5
)
W
h
er
e
th
e
v
ar
ia
b
les
v
qr
an
d
v
dr
d
en
o
te
t
h
e
r
o
to
r
v
o
ltag
es
in
d
-
q
co
o
r
d
in
ates,
wh
e
r
ea
s
,
i
qr
,
i
dr
,
Ψ
qr
,
an
d
Ψ
dr
in
d
icate
th
e
c
u
r
r
e
n
ts
an
d
f
lu
x
es
in
d
-
q
co
o
r
d
in
ates,
ω
e
is
th
e
r
e
v
o
lv
in
g
m
ag
n
etic
f
ield
an
g
u
lar
s
p
ee
d
,
ω
r
s
y
m
b
o
lizes
th
e
s
lip
an
g
u
lar
s
p
ee
d
,
wh
ile
T
e
r
ep
r
esen
ts
th
e
elec
tr
o
m
ag
n
e
tic
to
r
q
u
e.
T
h
e
p
ar
am
eter
s
o
f
th
e
m
o
to
r
ar
e
s
p
ec
if
ie
d
as
f
o
llo
ws:
P
d
en
o
tes
th
e
p
o
les'
n
u
m
b
er
,
R
r
r
ep
r
esen
ts
th
e
r
o
to
r
r
esis
tan
ce
,
L
m
r
ep
r
esen
ts
th
e
m
o
to
r
m
u
tu
al
i
n
d
u
ctan
ce
,
an
d
L
r
r
ep
r
esen
ts
th
e
r
o
to
r
in
d
u
ctan
ce
.
I
n
t
h
e
in
d
u
ctio
n
m
o
to
r
m
o
d
el,
R
r
a
f
f
ec
ts
t
h
e
h
ea
t
lo
s
s
es
an
d
to
r
q
u
e
p
r
o
d
u
ctio
n
in
th
e
m
o
to
r
.
A
h
ig
h
er
R
r
ca
n
lead
to
in
cr
ea
s
ed
lo
s
s
es
an
d
r
ed
u
ce
d
ef
f
icien
cy
.
T
h
e
m
u
tu
al
in
d
u
c
tan
ce
,
L
m
ch
ar
ac
ter
izes
th
e
co
u
p
lin
g
b
etwe
en
th
e
s
tato
r
an
d
r
o
to
r
m
ag
n
etic
f
ield
s
,
in
f
lu
en
cin
g
th
e
m
o
to
r
'
s
ab
ilit
y
to
p
r
o
d
u
c
e
to
r
q
u
e
.
Fig
u
r
e
1
.
d
-
q
e
q
u
iv
alen
t c
ir
c
u
i
t o
f
in
d
u
ctio
n
m
o
to
r
T
h
e
m
o
to
r
'
s
elec
tr
o
m
ag
n
etic
to
r
q
u
e
T
e
is
g
en
er
ated
d
u
e
to
th
e
in
ter
ac
tio
n
b
etwe
en
th
e
s
tato
r
's
m
ag
n
etic
f
ield
a
n
d
th
e
r
o
to
r
cu
r
r
en
ts
.
Var
iatio
n
s
in
th
e
s
lip
an
g
u
lar
s
p
ee
d
ω
r
d
ir
ec
tl
y
af
f
ec
t
th
e
t
o
r
q
u
e
p
r
o
d
u
ctio
n
,
w
h
ich
is
cr
u
cial
f
o
r
co
n
tr
o
llin
g
th
e
elev
ato
r
'
s
m
o
v
em
en
t.
C
o
n
tr
o
llin
g
th
e
to
r
q
u
e
a
n
d
s
lip
o
f
th
e
in
d
u
ctio
n
m
o
to
r
p
lay
s
a
cr
u
ci
al
r
o
le
in
r
e
d
u
cin
g
jer
k
d
u
r
in
g
elev
ato
r
m
o
tio
n
.
Sen
s
o
r
less
v
ec
to
r
co
n
tr
o
l
is
a
tech
n
iq
u
e
u
s
ed
to
m
an
a
g
e
th
e
m
o
to
r
'
s
to
r
q
u
e
an
d
s
p
ee
d
p
r
e
cisely
with
o
u
t
r
ely
in
g
o
n
p
h
y
s
ical
s
en
s
o
r
s
.
T
h
i
s
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
Desig
n
a
n
d
imp
leme
n
ta
tio
n
o
f
jerk
-
co
n
tr
o
lled
elev
a
to
r
s
ystems
u
s
in
g
S
-
cu
r
ve
…
(
A
li A
b
d
u
lka
r
ee
m
A
li
)
783
ap
p
r
o
ac
h
s
im
p
lifie
s
th
e
s
y
s
tem
wh
ile
s
till
p
r
o
v
id
in
g
ac
cu
r
ate
co
n
tr
o
l,
e
n
ab
lin
g
s
m
o
o
th
er
ac
ce
ler
atio
n
an
d
d
ec
eler
atio
n
,
wh
ich
h
elp
s
to
m
in
im
ize
ab
r
u
p
t c
h
an
g
es in
m
o
t
io
n
(
jer
k
)
.
2
.
2
.
Va
ri
a
ble f
re
qu
ency
driv
e
(
VF
D)
VFD
o
p
er
ates
b
y
ad
ju
s
tin
g
i
n
p
u
t
v
o
ltag
e
an
d
f
r
eq
u
e
n
cy
,
ad
ju
s
tin
g
th
e
to
r
q
u
e
an
d
s
p
e
ed
o
f
AC
m
o
to
r
s
an
d
is
wid
ely
u
s
ed
f
o
r
in
d
u
s
tr
ial
ap
p
licatio
n
s
.
I
n
r
ec
en
t
y
ea
r
s
,
th
e
tr
e
n
d
o
f
u
tili
zin
g
VFD
tech
n
o
lo
g
y
an
d
s
p
ee
d
co
n
tr
o
l
in
th
e
cu
r
r
en
t
m
o
to
r
s
h
as
g
ain
ed
tr
ac
tio
n
.
R
ec
en
t
in
n
o
v
atio
n
s
in
m
ag
n
etic
m
ater
ials
an
d
po
wer
elec
tr
o
n
ics
h
a
v
e
p
la
y
ed
a
la
r
g
e
r
o
le
i
n
th
e
m
ass
ad
o
p
tio
n
o
f
VFDs
.
VFDs
m
u
s
t
f
u
lf
il
ce
r
tain
r
eq
u
ir
em
e
n
ts
in
elev
ato
r
s
y
s
tem
s
,
s
u
ch
as
s
m
o
o
th
s
tar
ts
an
d
s
to
p
s
,
co
m
f
o
r
tab
le
r
id
es,
ac
c
u
r
ate
f
lo
o
r
lev
elin
g
,
an
d
ef
f
ec
tiv
e
b
r
ak
i
n
g
[
1
6
]
,
[
3
7
]
.
T
h
e
s
p
ee
d
o
f
th
e
AC
m
o
to
r
(
n
)
is
d
eter
m
in
ed
b
y
th
e
n
u
m
b
er
o
f
its
p
o
les
(
p
)
an
d
th
e
in
p
u
t
f
r
eq
u
e
n
cy
(
f
)
ac
co
r
d
in
g
to
(
6
)
.
=
(
1
−
)
120
(
6
)
W
h
er
e
s
is
th
e
m
o
to
r
s
lip
.
Mo
d
if
y
in
g
th
e
f
r
eq
u
e
n
cy
ap
p
lie
d
to
a
m
o
to
r
ca
n
b
e
a
s
im
p
le
an
d
ef
f
ec
tiv
e
way
to
r
eg
u
late
its
s
p
ee
d
.
T
h
e
VFD
co
n
tr
o
ls
th
e
in
d
u
ctio
n
m
o
to
r
'
s
s
p
ee
d
b
y
v
ar
y
in
g
t
h
e
in
p
u
t f
r
eq
u
en
cy
,
wh
ich
,
alo
n
g
with
th
e
n
u
m
b
er
o
f
p
o
les
d
eter
m
in
es
th
e
m
o
t
o
r
'
s
s
y
n
ch
r
o
n
o
u
s
s
p
ee
d
.
T
h
e
s
lip
,
d
ef
in
e
d
as
th
e
d
if
f
er
en
ce
b
etwe
en
s
y
n
ch
r
o
n
o
u
s
s
p
ee
d
an
d
r
o
to
r
s
p
ee
d
,
in
f
lu
e
n
ce
s
th
e
to
r
q
u
e
g
e
n
er
ated
.
Pro
p
e
r
co
n
tr
o
l
o
f
s
lip
allo
ws
f
o
r
s
m
o
o
th
ac
ce
ler
atio
n
an
d
d
ec
eler
atio
n
,
m
in
im
izin
g
jer
k
d
u
r
i
n
g
elev
a
to
r
o
p
er
atio
n
.
Ad
d
it
io
n
ally
,
i
m
p
lem
en
tin
g
a
n
S
-
cu
r
v
e
p
r
o
f
ile
f
u
r
th
e
r
en
h
an
ce
s
th
is
p
r
o
ce
s
s
b
y
f
latten
in
g
ac
ce
ler
atio
n
tr
an
s
itio
n
s
,
r
ed
u
cin
g
ab
r
u
p
t
ch
an
g
es
in
s
p
ee
d
,
an
d
im
p
r
o
v
in
g
o
v
er
all
r
id
e
co
m
f
o
r
t.
2
.
3
.
Sens
o
rless
v
ec
t
o
r
co
ntr
o
l (
SVC)
T
h
is
is
an
ad
v
an
ce
d
m
eth
o
d
o
f
co
n
tr
o
llin
g
th
e
to
r
q
u
e
an
d
s
p
ee
d
o
f
AC
m
o
to
r
s
,
n
o
r
m
ally
r
ef
er
r
ed
to
as
f
ield
-
o
r
ie
n
ted
c
o
n
tr
o
l
(
FO
C
)
,
wh
ich
is
ty
p
ically
u
s
ed
f
o
r
tr
ac
tio
n
ap
p
licatio
n
s
f
o
r
ele
v
ato
r
s
.
Fo
r
ex
a
m
p
le,
elev
ato
r
s
u
tili
ze
p
r
ec
is
e
co
n
tr
o
l
s
y
s
tem
s
f
o
r
th
eir
m
o
to
r
s
.
M
o
to
r
s
ca
n
f
ee
d
b
ac
k
th
eir
r
o
to
r
p
o
s
itio
n
an
d
s
p
ee
d
to
d
eter
m
in
e
th
e
ac
ti
v
e
co
n
tr
o
l
p
er
f
o
r
m
a
n
ce
,
b
u
t
FOC
p
er
f
o
r
m
s
m
u
ch
b
etter
with
o
u
t
r
eso
r
tin
g
to
th
ese
p
h
y
s
ical
s
en
s
o
r
s
.
T
h
is
ap
p
r
o
ac
h
ap
p
lies
m
ath
em
atica
l
m
o
d
els
an
d
esti
m
ates
d
er
iv
ed
f
r
o
m
th
e
elec
tr
ical
r
ea
d
in
g
s
o
f
th
e
en
g
in
e
,
lik
e
v
o
ltag
e
an
d
cu
r
r
en
t.
T
h
is
m
eth
o
d
s
im
p
lifie
d
th
e
s
y
s
tem
an
d
m
in
im
ize
d
m
a
in
ten
an
ce
r
e
q
u
ir
em
e
n
ts
wh
ile
en
s
u
r
in
g
ac
cu
r
ate
,
q
u
ick
co
n
tr
o
l
b
y
d
i
v
id
in
g
t
h
e
m
o
t
o
r
cu
r
r
en
t
i
n
to
two
p
a
r
ts
:
o
n
e
p
r
o
d
u
cin
g
f
lu
x
an
d
th
e
o
th
er
p
r
o
d
u
cin
g
to
r
q
u
e.
T
h
is
d
ec
o
u
p
lin
g
allo
w
s
f
o
r
in
d
ep
en
d
e
n
t
co
n
tr
o
l
o
f
m
o
to
r
t
o
r
q
u
e
a
n
d
f
lu
x
,
s
im
ilar
to
co
n
tr
o
llin
g
a
DC
m
o
to
r
,
b
u
t
ap
p
lied
to
AC
m
o
to
r
s
[
3
7
]
.
Fig
u
r
e
2
illu
s
tr
ates
th
e
b
lo
ck
d
iag
r
am
o
f
th
e
s
en
s
o
r
less
v
ec
to
r
co
n
tr
o
l
s
y
s
tem
f
o
r
a
n
in
d
u
ctio
n
m
o
to
r
(
I
M)
.
I
n
th
is
s
etu
p
,
t
h
e
r
o
to
r
s
p
ee
d
a
n
d
f
lu
x
ar
e
esti
m
ated
with
o
u
t
u
s
in
g
p
h
y
s
ical
s
en
s
o
r
s
,
allo
win
g
th
e
s
y
s
t
em
to
ac
cu
r
ately
co
n
tr
o
l
m
o
to
r
s
p
ee
d
an
d
to
r
q
u
e.
T
h
e
co
n
tr
o
l
s
tr
ateg
y
in
v
o
lv
e
s
co
n
v
er
tin
g
th
e
m
o
to
r
'
s
th
r
ee
-
p
h
ase
cu
r
r
en
ts
an
d
v
o
ltag
es
in
to
a
r
o
tatin
g
r
ef
er
en
ce
f
r
am
e
(
d
q
f
r
am
e)
f
o
r
ea
s
ier
co
n
tr
o
l.
Fig
u
r
e
2
.
Sen
s
o
r
less
v
ec
to
r
-
co
n
tr
o
lled
in
d
u
ctio
n
m
o
to
r
d
r
iv
e
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
:
7
8
0
-
7
9
3
784
2
.
4
.
J
er
k
r
educt
io
n in e
lev
a
t
o
rs
T
h
e
m
o
s
t
co
m
m
o
n
elev
ato
r
m
o
tio
n
p
r
o
f
iles
ar
e
tr
ian
g
u
la
r
an
d
tr
ap
ez
o
id
al.
I
n
Fig
u
r
e
3
(
a)
,
th
e
s
y
s
tem
s
p
ee
d
in
cr
ea
s
es
f
r
o
m
ze
r
o
to
its
m
ax
im
u
m
v
alu
e,
s
u
s
tain
s
i
t
f
o
r
a
p
r
ed
eter
m
in
e
d
d
u
r
atio
n
(
o
r
d
is
tan
ce
)
,
an
d
th
en
d
ec
eler
ates to
ze
r
o
in
a
tr
ap
ez
o
id
al
m
o
tio
n
p
r
o
f
ile.
Ho
wev
er
,
th
e
tr
ian
g
le
m
o
tio
n
p
r
o
f
ile
ac
ce
ler
ates to
it
s
m
ax
im
u
m
s
p
ee
d
,
th
en
d
ec
eler
ates
in
s
tan
tly
to
ze
r
o
,
m
ain
tai
n
in
g
a
c
o
n
s
tan
t
v
elo
city
.
U
n
f
o
r
tu
n
ately
,
n
o
n
e
o
f
th
ese
m
o
v
e
p
r
o
f
iles
ar
e
ap
p
r
o
p
r
iate
f
o
r
m
o
tio
n
s
y
s
tem
s
,
esp
ec
ially
elev
ato
r
s
th
at
m
u
s
t
tr
av
el
s
m
o
o
th
ly
,
p
o
s
itio
n
p
r
o
p
er
ly
,
an
d
r
em
ain
s
tab
le
af
ter
th
e
m
o
v
e
.
Acc
eler
atio
n
o
r
d
ec
eler
atio
n
ca
u
s
es jer
k
s
.
Similar
to
v
el
o
city
,
jer
k
is
ac
ce
ler
atio
n
'
s
r
ate
o
f
ch
an
g
e.
J
er
k
'
s
ac
ce
ler
atio
n
r
ate
is
its
in
cr
ea
s
e
o
r
d
ec
r
ea
s
e.
J
er
k
g
iv
es
f
ast,
jer
k
y
ac
tio
n
,
m
ak
i
n
g
it
u
n
co
m
f
o
r
tab
le.
An
ab
r
u
p
t
ac
ce
ler
atio
n
ch
an
g
e,
o
r
jer
k
,
s
h
ak
es
in
d
u
s
tr
ial
s
y
s
tem
s
.
Hi
g
h
er
jer
k
s
ca
u
s
e
m
o
r
e
v
ib
r
at
io
n
s
.
Vib
r
atio
n
s
s
lo
w
th
e
s
et
tlin
g
b
u
t
d
im
in
is
h
p
o
s
itio
n
in
g
ac
cu
r
ac
y
.
Av
o
id
in
g
jer
k
s
is
b
est
d
o
n
e
b
y
s
lo
win
g
d
o
wn
.
T
h
e
"jer
k
y
"
t
r
ap
ez
o
i
d
al
m
o
tio
n
p
r
o
f
i
le
ca
n
b
e
r
ep
lace
d
b
y
an
S
-
cu
r
v
e
m
o
tio
n
p
r
o
f
ile
in
m
o
tio
n
co
n
t
r
o
l
s
y
s
tem
s
[
2
5
]
,
[
3
8
]
,
[
3
9
]
.
An
in
f
i
n
ite
jer
k
an
d
r
ap
id
ac
ce
ler
atio
n
c
h
ar
ac
ter
ize
a
t
r
ap
ez
o
id
al
m
o
tio
n
p
r
o
f
ile.
T
o
r
e
d
u
ce
jer
k
,
ac
ce
ler
atio
n
an
d
d
ec
eler
atio
n
tr
an
s
itio
n
s
ar
e
f
latten
ed
in
to
an
"S"
f
o
r
m
.
Fig
u
r
e
3
(
b
)
s
h
o
ws
a
tr
ap
ez
o
id
al
an
d
tr
ian
g
u
la
r
m
o
tio
n
'
s
ac
ce
ler
atio
n
p
r
o
f
ile
as
a
s
tep
f
u
n
ctio
n
,
with
ac
ce
ler
atio
n
r
ap
i
d
ly
g
r
o
win
g
to
its
m
ax
im
u
m
an
d
d
ec
eler
ati
o
n
in
s
tan
tan
eo
u
s
ly
r
ed
u
cin
g
to
ze
r
o
.
A
m
ajo
r
jo
lt
will
h
ar
m
p
ass
en
g
er
s
an
d
th
e
elev
ato
r
'
s
m
ec
h
an
ical
s
y
s
tem
.
W
h
en
a
m
o
tio
n
f
o
llo
ws
an
S
-
cu
r
v
e,
th
e
ac
ce
ler
atio
n
p
r
o
f
ile
is
tr
ap
ez
o
i
d
al
,
an
d
ac
ce
ler
atio
n
an
d
s
lo
win
g
ar
e
m
o
d
er
ate.
(
a)
(
b
)
Fig
u
r
e
3
.
C
o
m
p
a
r
is
o
n
o
f
tr
ian
g
u
lar
,
tr
a
p
ez
o
id
al
,
a
n
d
s
-
cu
r
v
e
p
r
o
f
iles
:
(
a)
v
elo
city
an
d
(
b
)
a
cc
eler
atio
n
Fo
r
th
e
elev
ato
r
s
y
s
tem
to
p
r
o
v
id
e
a
s
m
o
o
t
h
elec
tr
o
-
m
ec
h
an
ical
to
r
q
u
e
t
h
at
lo
wer
s
v
ib
r
atio
n
an
d
len
g
th
en
s
life
s
p
an
,
th
e
ac
ce
ler
atio
n
m
u
s
t
h
av
e
a
co
n
tin
u
al
a
n
d
s
m
o
o
th
wav
ef
o
r
m
.
C
h
o
o
s
i
n
g
th
e
b
est
f
o
r
m
f
o
r
th
e
jer
k
ch
a
n
g
e
is
n
ec
ess
ar
y
t
o
p
r
o
d
u
ce
s
m
o
o
th
ac
ce
le
r
atio
n
.
T
h
is
s
tu
d
y
im
p
r
o
v
es
th
e
s
in
u
s
o
id
al
lim
ited
-
jer
k
tr
ajec
to
r
y
m
eth
o
d
to
b
etter
s
u
it
elev
ato
r
o
p
er
atio
n
,
p
r
o
v
id
in
g
a
s
o
lu
tio
n
th
at
o
p
tim
izes
b
o
th
tim
e
ef
f
icien
c
y
an
d
s
m
o
o
th
m
o
tio
n
.
A
lim
ited
jer
k
f
o
r
th
e
in
te
n
d
ed
m
o
tio
n
i
s
g
u
ar
an
teed
wh
en
a
s
in
u
s
o
i
d
a
l
jer
k
wav
ef
o
r
m
is
u
s
ed
,
as sp
ec
if
ied
b
y
(
7
)
.
=
{
2
,
∈
[
0
,
]
0
,
∈
[
,
2
]
−
2
(
−
2
)
,
∈
[
2
,
3
]
(
7
)
W
h
er
e
t
3
is
th
e
o
v
e
r
all
p
er
io
d
o
f
ca
b
in
m
o
v
em
en
t,
th
e
tim
e
T
is
tak
en
f
o
r
ac
ce
ler
atio
n
o
r
d
ec
eler
atio
n
,
t
2
is
eq
u
al
to
t
3
-
T
,
wh
ich
is
th
e
in
s
tan
t
wh
en
th
e
ca
b
in
b
e
g
in
s
d
ec
eler
atio
n
,
an
d
j
m
is
th
e
m
ax
im
u
m
jer
k
am
p
litu
d
e.
T
h
e
f
o
llo
win
g
r
elatio
n
s
h
ip
s
,
b
ased
o
n
(
7
)
,
ex
p
r
ess
th
e
ac
ce
l
er
atio
n
a
,
v
elo
city
v
,
an
d
d
is
p
lace
m
en
t
d
in
s
p
ec
if
ied
in
ter
v
als
,
as in
(
8
)
-
(
1
0
)
.
=
∫
+
(
8
)
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
Desig
n
a
n
d
imp
leme
n
ta
tio
n
o
f
jerk
-
co
n
tr
o
lled
elev
a
to
r
s
ystems
u
s
in
g
S
-
cu
r
ve
…
(
A
li A
b
d
u
lka
r
ee
m
A
li
)
785
=
∫
+
(
9
)
=
∫
+
(
1
0
)
C
o
n
s
tan
ts
C
a
,
C
v
,
an
d
C
d
ar
e
d
eter
m
in
e
d
f
r
o
m
in
itial
co
n
d
itio
n
s
.
Acc
eler
atio
n
is
c
alcu
lated
f
r
o
m
t
h
e
ex
p
r
ess
io
n
f
o
r
jer
k
,
as
in
(
1
1
)
.
=
c
os
(
2
)
+
(
1
1
)
C
a
is
ca
lcu
lated
b
ased
o
n
th
e
p
r
em
is
e
th
at
th
e
ac
ce
ler
atio
n
is
ze
r
o
at
t =
0
,
g
iv
en
in
(
1
2
)
.
=
2
(
1
2
)
D
u
r
in
g
th
e
i
n
ter
v
al
t
[
0
,
T
]
,
t
h
e
ac
ce
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I
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a
l
,
c
o
n
s
u
m
e
r
,
a
n
d
I
o
T
a
p
p
l
i
c
a
t
i
o
n
s
.
T
h
r
ee
tr
an
s
is
to
r
cir
cu
its
th
at
h
an
d
le
th
e
f
o
r
war
d
,
r
e
v
e
r
s
e,
an
d
s
to
p
s
ig
n
als,
wh
ich
ar
e
u
s
ed
to
co
n
tr
o
l
th
e
m
o
to
r
.
B
o
th
f
o
r
war
d
a
n
d
r
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er
s
e
s
ig
n
als
a
r
e
n
o
r
m
ally
o
p
en
(
NO)
co
n
tacts,
wh
ile
t
h
e
s
to
p
s
ig
n
al
is
a
n
o
r
m
ally
clo
s
ed
(
NC
)
co
n
tact
,
wh
ich
b
ec
o
m
es
o
p
e
n
to
s
to
p
th
e
m
o
to
r
wh
e
n
n
ee
d
ed
.
T
h
e
elev
ato
r
h
as
two
lim
it
s
witch
e
s
(
L
XW
5
-
1
1
G1
)
at
th
e
to
p
an
d
b
o
tto
m
to
s
to
p
th
e
ca
b
in
o
v
er
-
tr
av
el
an
d
e
n
s
u
r
e
s
af
e
o
p
er
atio
n
,
wh
ile
th
e
elev
ato
r
ca
b
ca
n
b
e
s
to
p
p
ed
o
n
ea
ch
f
lo
o
r
u
s
in
g
in
f
r
ar
ed
s
en
s
o
r
s
,
as
th
ese
s
en
s
o
r
s
g
en
er
ate
d
ig
ital
s
ig
n
als
wh
en
th
ey
d
etec
t
th
e
elev
ato
r
ca
b
i
n
with
in
t
h
eir
d
e
tectio
n
r
an
g
e.
T
h
ese
s
ig
n
als
a
r
e
p
r
o
ce
s
s
ed
b
y
an
STM
3
2
F4
0
7
VE
T
6
m
icr
o
co
n
tr
o
ller
,
wh
ich
p
r
ec
is
ely
r
eg
u
lates
th
e
elev
ato
r
'
s
p
r
o
g
r
ess
to
g
u
ar
an
tee
th
at
it
s
to
p
s
at
th
e
in
ten
d
ed
f
lo
o
r
.
Fig
u
r
e
5
d
e
p
icts
th
e
ex
p
er
im
e
n
tal
s
etu
p
o
f
th
e
elev
at
o
r
s
y
s
tem
p
r
o
to
ty
p
e,
h
i
g
h
lig
h
tin
g
th
e
i
n
teg
r
atio
n
o
f
k
ey
co
m
p
o
n
en
ts
.
T
h
e
f
lo
wch
ar
t
as
s
h
o
wn
in
Fig
u
r
e
6
,
illu
s
tr
ates
th
e
s
eq
u
en
ce
o
f
o
p
er
atio
n
s
f
o
r
th
e
elev
ato
r
s
y
s
tem
,
f
r
o
m
f
lo
o
r
ca
ll
h
an
d
lin
g
to
m
o
tio
n
e
x
ec
u
t
io
n
.
T
h
e
p
r
o
ce
s
s
s
tar
ts
with
r
ea
d
in
g
th
e
cu
r
r
e
n
t
f
lo
o
r
,
f
o
llo
wed
b
y
a
ch
ec
k
to
s
ee
if
th
e
r
eq
u
ested
f
lo
o
r
is
d
i
f
f
er
en
t.
I
f
n
ee
d
e
d
,
th
e
co
n
tr
o
l
s
y
s
tem
s
ig
n
als
th
e
VFD
to
m
o
v
e
th
e
elev
at
o
r
u
p
o
r
d
o
w
n
u
s
in
g
a
n
S
-
cu
r
v
e
p
r
o
f
ile
f
o
r
s
m
o
o
th
ac
ce
ler
atio
n
a
n
d
d
ec
eler
atio
n
.
D
u
r
i
n
g
m
o
t
i
o
n
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t
h
e
M
P
U
6
0
5
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e
n
s
o
r
m
o
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r
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t
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l
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v
a
t
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r
'
s
d
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a
m
i
c
s
,
s
e
n
d
i
n
g
d
a
t
a
f
o
r
a
n
a
l
y
s
i
s
.
A
s
t
h
e
e
l
e
v
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t
o
r
a
p
p
r
o
a
c
h
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u
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.
E
x
p
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im
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etu
p
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f
elev
ato
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s
tem
p
r
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Fig
u
r
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6
.
E
le
v
ato
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co
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tr
o
l
p
r
o
ce
s
s
3
.
2
.
Sca
la
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it
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lica
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W
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ased
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all
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p
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in
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o
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tr
ateg
ies
d
ev
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n
b
e
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i
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tly
ap
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u
ll
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s
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le
elev
ato
r
s
y
s
tem
s
in
lar
g
e
r
b
u
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in
g
s
.
T
h
e
f
o
llo
win
g
f
ac
to
r
s
d
em
o
n
s
tr
ate
th
e
s
ca
lab
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y
o
f
th
e
r
esu
lts
.
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
:
7
8
0
-
7
9
3
788
i)
C
o
n
tr
o
l
s
tr
ateg
y
ad
a
p
tatio
n
˗
T
h
e
S
-
cu
r
v
e
m
o
tio
n
p
r
o
f
ile
a
n
d
jer
k
m
i
n
im
izatio
n
tech
n
iq
u
es
u
s
ed
in
th
e
p
r
o
to
t
y
p
e
ca
n
b
e
s
ca
led
f
o
r
lar
g
er
elev
ato
r
s
b
y
ad
ju
s
tin
g
p
ar
am
eter
s
s
u
ch
as
ac
ce
ler
a
tio
n
,
d
ec
eler
atio
n
,
an
d
v
elo
ci
ty
lim
its
to
m
atch
th
e
r
eq
u
ir
e
m
en
ts
o
f
f
u
l
l
-
s
ize
s
y
s
tem
s
.
T
h
ese
ad
ju
s
tm
en
ts
en
s
u
r
e
th
e
co
m
f
o
r
t
b
en
ef
its
o
b
s
er
v
ed
in
th
e
p
r
o
to
ty
p
e
a
r
e
m
ain
tain
e
d
.
ii)
Sen
s
o
r
in
teg
r
atio
n
a
n
d
d
ata
h
a
n
d
lin
g
˗
Fu
ll
-
s
ca
le
im
p
lem
en
tatio
n
s
c
an
u
s
e
m
o
r
e
ad
v
an
ce
d
s
en
s
o
r
s
f
o
r
p
r
ec
is
e
m
o
tio
n
co
n
tr
o
l
an
d
d
ata
ac
q
u
is
itio
n
.
T
h
e
s
ca
lab
ilit
y
o
f
s
en
s
o
r
tech
n
o
lo
g
y
,
s
u
ch
as
ac
ce
ler
o
m
eter
s
an
d
en
c
o
d
er
s
,
allo
ws
f
o
r
s
im
ilar
d
ata
co
llectio
n
m
eth
o
d
s
to
b
e
u
s
ed
with
lar
g
e
r
elev
at
o
r
s
,
en
s
u
r
in
g
ac
cu
r
ate
c
o
n
tr
o
l.
iii)
Var
iab
le
f
r
eq
u
e
n
cy
d
r
iv
e
(
VF
D)
s
ca
lin
g
˗
T
h
e
VFD
u
s
ed
in
th
e
p
r
o
to
t
y
p
e
ca
n
b
e
s
ca
led
to
h
a
n
d
le
th
e
p
o
wer
an
d
t
o
r
q
u
e
r
eq
u
i
r
em
e
n
ts
o
f
lar
g
er
elev
ato
r
m
o
to
r
s
.
T
h
e
c
o
n
tr
o
l
alg
o
r
ith
m
s
r
em
ain
th
e
s
am
e,
b
u
t
p
o
wer
r
atin
g
s
an
d
h
ar
d
war
e
co
n
f
ig
u
r
atio
n
s
wo
u
ld
b
e
ad
a
p
t
ed
f
o
r
t
h
e
lar
g
e
r
s
y
s
tem
.
iv
)
C
h
allen
g
es
an
d
ad
ap
tatio
n
s
˗
Stru
ctu
r
al
c
o
n
s
id
er
atio
n
s
:
Fu
l
l
-
s
ca
le
elev
ato
r
s
in
taller
b
u
ild
in
g
s
m
ay
r
eq
u
ir
e
ad
d
itio
n
a
l
s
tr
u
ctu
r
al
s
u
p
p
o
r
t
to
m
in
im
ize
v
ib
r
atio
n
s
an
d
r
eso
n
an
ce
s
.
T
h
e
co
n
tr
o
l
alg
o
r
ith
m
m
ay
also
n
ee
d
to
ac
co
u
n
t
f
o
r
v
ar
iatio
n
s
in
lo
ad
d
is
tr
ib
u
tio
n
an
d
ca
b
le
d
y
n
am
ics.
˗
Saf
ety
s
tan
d
ar
d
s
an
d
r
eg
u
latio
n
s
:
L
ar
g
er
elev
ato
r
s
m
u
s
t
m
ee
t
s
tr
in
g
en
t
s
af
et
y
s
tan
d
ar
d
s
,
wh
ich
m
ay
n
ec
ess
itate
ad
d
itio
n
al
s
af
ety
f
ea
tu
r
es
lik
e
em
er
g
en
c
y
b
r
ak
in
g
s
y
s
tem
s
an
d
r
e
d
u
n
d
an
t
co
n
tr
o
l
m
ec
h
an
is
m
s
.
T
h
e
S
-
cu
r
v
e
p
r
o
f
ile
ca
n
b
e
in
teg
r
ated
in
to
t
h
ese
s
y
s
tem
s
f
o
r
s
m
o
o
th
er
e
m
er
g
e
n
cy
s
to
p
s
.
˗
Po
wer
re
q
u
ir
em
e
n
ts
:
Scalin
g
u
p
m
ay
in
v
o
lv
e
h
ig
h
er
p
o
wer
r
eq
u
ir
em
e
n
ts
an
d
m
o
r
e
c
o
m
p
l
ex
elec
tr
ical
s
y
s
tem
s
.
E
f
f
icien
t p
o
wer
m
an
ag
em
en
t a
n
d
co
n
tr
o
l tu
n
in
g
wi
ll b
e
ess
en
tial f
o
r
m
ain
tain
in
g
r
id
e
q
u
ality
.
T
h
e
s
ca
lab
ilit
y
co
n
s
id
er
atio
n
s
s
u
g
g
est
th
at
th
e
p
r
o
p
o
s
ed
m
eth
o
d
s
ca
n
en
h
a
n
ce
r
id
e
c
o
m
f
o
r
t
an
d
s
y
s
tem
ef
f
icien
cy
in
r
ea
l
-
life
elev
ato
r
ap
p
licatio
n
s
,
esp
ec
ially
in
h
i
g
h
-
r
is
e
b
u
il
d
in
g
s
wh
er
e
je
r
k
r
ed
u
ctio
n
is
cr
u
cial
f
o
r
p
ass
en
g
er
co
m
f
o
r
t.
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
j
e
r
k
d
a
t
a
a
n
a
l
y
s
i
s
f
o
r
t
h
e
el
e
v
a
t
o
r
p
r
o
t
o
t
y
p
e
s
h
o
w
e
d
a
n
o
ti
c
e
a
b
l
e
d
i
f
f
e
r
e
n
c
e
i
n
t
h
e
n
o
-
l
o
a
d
a
n
d
t
h
e
l
o
a
d
e
d
c
o
n
d
i
t
i
o
n
b
e
tw
e
e
n
t
h
e
c
a
s
e
w
i
t
h
o
u
t
a
n
d
w
it
h
t
h
e
S
-
cu
r
v
e
m
o
t
i
o
n
p
r
o
f
i
l
e
.
I
t
is
i
m
p
o
r
t
a
n
t
t
o
a
n
al
y
z
e
t
h
e
j
e
r
k
p
r
o
f
i
l
e
w
i
t
h
n
o
l
o
a
d
(
e
m
p
t
y
c
a
r
)
.
U
s
e
d
f
o
r
c
o
m
p
a
r
i
s
o
n
,
b
a
s
e
l
i
n
e
,
c
o
n
t
r
o
l
s
y
s
t
e
m
v
a
lid
a
t
i
o
n
a
n
d
a
r
e
a
s
o
f
i
m
p
r
o
v
e
m
e
n
t
.
T
h
i
s
a
l
l
o
ws
u
s
to
l
o
w
e
r
t
h
e
h
i
g
h
j
e
r
k
v
a
l
u
e
s
u
s
i
n
g
t
h
e
S
-
c
u
r
v
e
p
r
o
f
i
l
e
s
,
s
o
t
h
a
t
t
h
e
d
r
i
v
e
b
e
c
o
m
e
s
s
m
o
o
t
h
e
r
a
n
d
r
i
d
e
m
o
r
e
c
o
m
f
o
r
t
a
b
l
e
.
T
h
i
s
f
o
u
n
d
a
t
i
o
n
a
l
a
n
a
l
y
s
is
s
e
ts
t
h
e
s
t
a
g
e
f
o
r
f
u
r
t
h
e
r
t
e
s
t
i
n
g
w
it
h
l
o
a
d
s
,
u
l
t
i
m
a
t
el
y
l
e
a
d
i
n
g
t
o
a
c
o
m
p
r
e
h
e
n
s
i
v
e
u
n
d
e
r
s
t
a
n
d
i
n
g
o
f
t
h
e
ele
v
a
t
o
r
’
s
p
e
r
f
o
r
m
a
n
c
e
u
n
d
e
r
a
l
l
l
o
a
d
c
o
n
d
i
t
i
o
n
s
.
4
.
1
.
M
et
ho
do
lo
g
y
f
o
r
ca
lcula
t
ing
j
er
k
Acc
u
r
ate
jer
k
co
m
p
u
tatio
n
is
ess
en
tial
to
id
en
tify
s
u
d
d
en
c
h
an
g
es
in
elev
a
to
r
m
o
v
em
e
n
t
th
at
m
ay
co
m
p
r
o
m
is
e
p
ass
en
g
er
co
m
f
o
r
t a
n
d
s
af
ety
.
T
h
e
s
tep
s
f
o
r
ca
lc
u
latin
g
th
e
jer
k
ar
e
as f
o
llo
ws:
˗
T
h
e
p
r
ac
tical
p
r
o
ce
d
u
r
es
in
clu
d
e,
i
)
m
ea
s
u
r
in
g
th
e
in
itial
an
d
f
i
n
al
ac
ce
ler
atio
n
s
(
1
,
2
)
at
th
e
co
r
r
esp
o
n
d
in
g
tim
es
t
1
an
d
t
2
an
d
ii
)
c
alcu
latin
g
th
e
ch
an
g
e
in
ac
ce
ler
atio
n
:
Δ
=
2
−
1
an
d
th
e
co
r
r
esp
o
n
d
in
g
c
h
an
g
e
in
tim
e
Δ
=
2
−
1
.
W
h
er
e
∆
is
th
e
ch
a
n
g
e
in
ac
ce
ler
atio
n
an
d
∆
is
th
e
ch
an
g
e
i
n
tim
e.
T
h
e
ac
ce
ler
atio
n
v
alu
e
(
a)
h
as b
ee
n
m
ea
s
u
r
ed
u
s
in
g
an
MPU6
0
5
0
ac
ce
ler
o
m
eter
s
en
s
o
r
.
˗
T
h
e
jer
k
(
j
)
is
ca
lcu
lated
f
r
o
m
(
1
9
)
.
=
∆
∆
(
1
9
)
I
n
teg
r
atio
n
o
f
th
e
MPU6
0
5
0
s
en
s
o
r
with
th
e
aid
o
f
th
e
Ar
d
u
in
o
Un
o
R
4
W
i
-
Fi
m
icr
o
co
n
tr
o
ller
m
ak
es
it
ea
s
y
to
a
n
aly
ze
t
h
e
elev
ato
r
m
o
v
em
en
t.
T
h
e
Un
o
R
4
is
an
ad
a
p
tab
le
b
o
ar
d
th
a
t
in
co
r
p
o
r
ates
n
ew
en
h
an
ce
m
e
n
ts
an
d
wir
eless
c
ap
ab
ilit
ies
with
th
e
ea
s
e
o
f
u
s
e
o
f
th
e
class
ic
Ar
d
u
in
o
.
I
t
is
th
er
ef
o
r
e
th
e
id
ea
l
o
p
tio
n
f
o
r
ap
p
licatio
n
s
in
v
o
l
v
in
g
d
is
tan
t
s
en
s
in
g
.
T
h
e
m
o
tio
n
-
tr
ac
k
in
g
g
a
d
g
et,
th
e
MPU6
0
5
0
,
co
m
b
in
es
a
th
r
ee
-
ax
is
ac
ce
ler
o
m
eter
an
d
a
th
r
ee
-
ax
is
g
y
r
o
s
co
p
e.
Fo
r
th
e
g
y
r
o
s
co
p
e,
th
e
s
en
s
itiv
ity
r
an
g
es
ar
e
±
2
5
0
t
o
±
2
0
0
0
d
p
s
,
a
n
d
f
o
r
th
e
ac
ce
ler
o
m
eter
,
th
ey
ar
e
±
2
to
±
1
6
g
.
T
h
e
s
y
s
tem
s
etu
p
allo
ws
f
o
r
r
ea
l
-
tim
e
m
o
n
ito
r
in
g
an
d
an
aly
s
is
o
f
th
e
elev
ato
r
'
s
m
o
tio
n
,
with
d
ata
b
ein
g
s
en
t
wir
eless
ly
v
ia
W
i
-
Fi
n
etwo
r
k
to
a
r
em
o
te
s
y
s
tem
f
o
r
f
u
r
th
er
p
r
o
ce
s
s
in
g
o
r
d
i
s
p
lay
,
an
d
e
n
s
u
r
es
th
at
th
e
s
y
s
tem
r
em
ain
s
p
o
wer
ed
in
d
ep
en
d
en
tly
o
f
th
e
elev
ato
r
'
s
m
ain
p
o
wer
s
u
p
p
l
y
,
m
ak
in
g
it h
i
g
h
ly
p
r
ac
tical
f
o
r
u
s
e
in
d
y
n
a
m
ic
en
v
ir
o
n
m
e
n
ts
.
4
.
2
.
J
er
k
a
na
ly
s
is
wit
ho
ut
S
-
curv
e
I
n
t
h
e
f
i
r
s
t
c
a
s
e
(
w
i
t
h
o
u
t
S
-
c
u
r
v
e
,
n
o
-
l
o
a
d
)
s
h
o
w
n
i
n
F
i
g
u
r
e
s
7
a
n
d
8
,
t
h
e
j
e
r
k
d
a
t
a
e
x
h
i
b
i
t
e
d
s
i
g
n
i
f
i
c
a
n
t
v
a
r
i
a
b
i
l
it
y
,
w
i
t
h
s
h
a
r
p
p
e
a
k
s
a
n
d
t
r
o
u
g
h
s
d
u
r
i
n
g
b
o
t
h
u
p
w
a
r
d
a
n
d
d
o
w
n
w
a
r
d
m
o
v
e
m
e
n
t
.
T
h
e
m
a
x
i
m
u
m
p
o
s
i
t
i
v
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N:
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8
6
9
4
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e
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w
it
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t
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r
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e
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it
h
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ad
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s
h
o
w
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F
i
g
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r
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9
a
n
d
1
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t
h
e
je
r
k
v
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lu
e
s
r
em
ai
n
e
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d
i
ca
t
in
g
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o
ti
ce
ab
le
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e
ak
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n
d
tr
o
u
g
h
s
s
im
ila
r
to
t
h
e
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o
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lo
a
d
c
o
n
d
iti
o
n
.
A
b
o
v
e
,
th
e
m
ax
im
u
m
p
o
s
iti
v
e
jer
k
w
as
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o
u
t
2
.
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7
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t
h
e
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i
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r
k
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3
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6
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/s
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h
e
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d
o
w
n
w
ar
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e
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ax
im
u
m
p
o
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e
r
k
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3
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7
m
/s
³
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n
d
t
h
e
m
i
n
im
u
m
j
e
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k
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.
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/s
³
.
A
d
d
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g
a
l
o
a
d
s
li
g
h
tl
y
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r
e
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h
e
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er
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er
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s
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t
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ig
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ca
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t
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e
ch
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ic
al
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u
r
e
7
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J
er
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1
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t c
ase
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t
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cu
r
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e
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o
-
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ad
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p
war
d
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Fig
u
r
e
8
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er
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1
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t c
ase
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o
u
t s
-
cu
r
v
e
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o
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ad
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o
wn
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d
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Fig
u
r
e
9
.
J
er
k
in
th
e
2
n
d
ca
s
e
(
with
o
u
t s
-
cu
r
v
e
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lo
ad
e
d
,
u
p
war
d
)
Fig
u
r
e
1
0
.
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er
k
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th
e
2
n
d
ca
s
e
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with
o
u
t s
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cu
r
v
e
,
lo
ad
e
d
,
d
o
wn
war
d
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4
.
3
.
J
er
k
a
na
ly
s
is
wit
h S
-
cu
rv
e
I
n
th
e
th
ir
d
ca
s
e
(
with
S
-
cu
r
v
e,
n
o
lo
ad
)
illu
s
tr
ated
in
Fig
u
r
e
s
1
1
an
d
1
2
,
th
e
tr
a
n
s
itio
n
s
wer
e
m
u
ch
s
m
o
o
th
er
with
f
ewe
r
ab
r
u
p
t
c
h
an
g
es.
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h
en
u
p
war
d
,
th
e
m
ax
im
u
m
p
o
s
itiv
e
jer
k
r
ed
u
ce
d
to
ap
p
r
o
x
im
ately
2
.
3
5
m
/s
³
an
d
t
h
e
m
in
im
u
m
jer
k
t
o
-
2
.
5
7
m
/s
³.
W
h
en
d
o
wn
war
d
,
t
h
e
m
ax
im
u
m
p
o
s
itiv
e
jer
k
is
f
u
r
th
er
r
ed
u
ce
d
t
o
ab
o
u
t 1
.
6
8
m
/s
³,
an
d
th
e
m
in
im
u
m
jer
k
t
o
-
2
.
8
7
m
/s
³.
I
n
th
e
f
o
u
r
th
ca
s
e
(
with
S
-
cu
r
v
e,
with
lo
a
d
)
s
h
o
wn
in
Fig
u
r
e
s
1
3
an
d
1
4
,
t
h
e
S
-
cu
r
v
e
p
r
o
f
ile
f
u
r
th
e
r
s
m
o
o
th
ed
t
h
e
tr
a
n
s
itio
n
s
,
p
r
o
v
id
in
g
th
e
m
o
s
t
s
ig
n
if
ican
t
im
p
r
o
v
em
en
ts
.
W
h
en
u
p
war
d
,
th
e
m
ax
im
u
m
p
o
s
itiv
e
jer
k
was
ab
o
u
t
1
.
4
7
m
/s
³
an
d
th
e
m
in
im
u
m
jer
k
was
-
1
.
3
7
m
/s
³.
Similar
ly
,
wh
e
n
d
o
wn
war
d
,
th
e
m
ax
im
u
m
p
o
s
itiv
e
jer
k
r
em
ai
n
ed
at
1
.
4
7
m
/s
³
an
d
th
e
m
i
n
im
u
m
jer
k
at
-
1
.
3
7
m
/s
³.
T
h
e
S
-
c
u
r
v
e
e
f
f
ec
t
iv
ely
m
itig
ated
th
e
im
p
ac
t o
f
th
e
a
d
d
ed
lo
ad
,
en
s
u
r
in
g
s
m
o
o
th
er
tr
an
s
itio
n
s
an
d
en
h
an
cin
g
p
ass
en
g
er
c
o
m
f
o
r
t.
E
x
p
er
im
en
tal
test
s
u
n
d
er
p
ar
t
ial
lo
ad
co
n
d
itio
n
s
s
h
o
wed
th
at
in
cr
ea
s
ed
lo
ad
s
ig
n
if
ican
tly
r
ed
u
ce
d
jer
k
.
T
h
is
is
d
u
e
to
th
e
a
d
d
ed
in
er
tia
f
r
o
m
g
r
ea
ter
m
ass
,
wh
ich
d
am
p
e
n
s
ab
r
u
p
t
ac
c
eler
atio
n
,
cr
ea
tin
g
s
m
o
o
th
er
tr
an
s
itio
n
s
.
W
h
ile
t
h
ese
f
in
d
in
g
s
s
u
p
p
o
r
t
th
e
S
-
c
u
r
v
e'
s
ef
f
ec
tiv
en
ess
u
n
d
er
v
ar
ied
lo
ad
s
,
th
ey
wer
e
ex
clu
d
ed
f
r
o
m
th
e
m
ain
an
al
y
s
is
f
o
r
co
n
cisen
ess
.
Fu
tu
r
e
r
esear
ch
co
u
ld
p
e
r
f
o
r
m
a
b
r
o
a
d
er
an
aly
s
is
ac
r
o
s
s
d
if
f
er
en
t lo
a
d
s
f
o
r
d
ee
p
er
in
s
ig
h
ts
.
4.
4
.
Co
m
pa
riso
n o
f
c
o
ntr
o
l
m
et
ho
ds
T
o
clar
if
y
t
h
e
d
if
f
er
en
ce
s
b
et
wee
n
v
ar
io
u
s
elev
ato
r
m
o
tio
n
co
n
tr
o
l
m
eth
o
d
s
,
T
ab
le
2
co
m
p
ar
es
th
e
S
-
cu
r
v
e
m
o
tio
n
p
r
o
f
ile
with
a
lter
n
ativ
e
ap
p
r
o
ac
h
es
s
u
c
h
as
tr
ap
ez
o
id
al,
tr
ia
n
g
u
lar
p
r
o
f
iles
,
an
d
PID
co
n
t
r
o
l.
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