I
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Appl
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I
J
AP
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)
Vo
l.
14
,
No
.
4
,
Dec
em
b
er
20
25
,
p
p
.
7
6
9
~
7
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I
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2252
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.
pp
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782
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p
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s
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o
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PV
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p
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,
m
o
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a
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d
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DC
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rticle
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C
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p
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Kar
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Dep
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titu
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4
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in
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I
NT
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Ad
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icles
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as
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cr
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to
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ltaic
(
PV
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y
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tem
s
f
av
o
r
ed
f
o
r
th
eir
cle
an
an
d
r
eliab
le
p
o
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[
1
]
.
St
an
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d
m
a
x
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m
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o
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tr
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f
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ch
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s
[
2
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p
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ap
tiv
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P&
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3
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d
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if
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I
C
[
4
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h
a
v
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tah
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ch
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lik
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p
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ticle
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war
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ti
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izatio
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[
5
]
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g
en
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alg
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r
ith
m
(
GA
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[
6
]
,
an
d
an
t
c
o
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p
tim
izatio
n
(
AC
O
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[
7
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o
f
f
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r
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etter
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cu
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ac
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co
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p
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s
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[
8
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en
h
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ce
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s
tab
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R
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AI
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ased
tech
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q
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e
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s
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m
ac
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tr
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a
d
ap
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to
v
ar
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ir
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ad
ia
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ce
[
9
]
,
[
1
0
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.
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n
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Vs
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DC
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DC
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1
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-
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
2
2
5
2
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8
7
9
2
I
n
t J Ap
p
l Po
wer
E
n
g
,
Vo
l.
14
,
No
.
4
,
Dec
em
b
er
20
25
:
7
6
9
-
782
770
d
u
ty
ap
p
licatio
n
s
[
1
4
]
.
T
o
en
h
an
ce
m
o
to
r
p
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f
o
r
m
a
n
ce
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ased
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ch
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th
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R
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l.
[
1
5
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Awc
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ar
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a
l.
[
1
6
]
,
esti
m
ate
r
o
to
r
p
o
s
itio
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s
in
g
b
ac
k
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tr
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m
o
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o
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ce
(
EMF
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,
elim
in
atin
g
p
h
y
s
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s
en
s
o
r
s
[
1
7
]
.
Dig
it
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co
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tr
o
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m
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o
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s
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ased
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n
New
to
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f
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im
p
le,
ef
f
ec
tiv
e
s
o
lu
tio
n
s
[
1
8
]
.
I
n
tellig
e
n
t
co
n
tr
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ller
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GA
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tu
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f
u
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y
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g
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an
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q
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b
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alg
o
r
ith
m
s
aim
to
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p
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m
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w
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n
s
in
tr
an
s
ien
t
p
er
f
o
r
m
an
ce
[
1
9
]
-
[
2
4
]
.
Op
tim
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m
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an
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[
2
5
]
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2
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.
T
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n
tr
o
ller
s
lik
e
p
u
ls
e
wid
th
m
o
d
u
latio
n
(
PW
M)
,
b
ac
k
E
MF,
in
teg
r
al
d
e
r
iv
ativ
e
(
PID
)
,
an
d
h
y
s
ter
esis
b
an
d
ar
e
co
m
m
o
n
ly
u
s
ed
f
o
r
B
L
DC
m
o
to
r
s
p
ee
d
co
n
tr
o
l
[
2
9
]
-
[
3
1
]
.
W
h
ile
PW
M
an
d
b
ac
k
E
MF
o
f
f
er
p
r
ec
is
e
r
e
g
u
latio
n
,
th
ey
o
f
ten
in
tr
o
d
u
ce
r
ip
p
le
cu
r
r
e
n
t
an
d
to
r
q
u
e
in
s
tab
ilit
y
.
PID
co
n
tr
o
ller
s
,
esp
ec
ially
wh
en
alg
o
r
ith
m
ica
lly
tu
n
ed
,
p
r
o
v
id
e
s
tab
le
an
d
ac
cu
r
ate
c
o
n
tr
o
l.
Sp
id
er
-
b
ased
co
n
t
r
o
ller
s
h
av
e
r
ec
en
tly
d
r
awn
s
ig
n
i
f
ican
t
i
n
ter
est
f
o
r
th
eir
en
h
a
n
ce
d
d
y
n
am
ic
r
esp
o
n
s
e.
Ho
we
v
er
,
ex
is
tin
g
liter
atu
r
e
[
3
2
]
-
[
3
5
]
o
f
ten
ex
am
in
es
t
h
ese
co
n
tr
o
ller
s
in
is
o
latio
n
,
lac
k
in
g
d
i
r
ec
t
co
m
p
ar
is
o
n
s
with
o
th
er
m
eth
o
d
s
.
T
h
is
s
tu
d
y
ad
d
r
ess
es
th
at
g
ap
b
y
p
er
f
o
r
m
in
g
a
c
o
m
p
a
r
ativ
e
an
aly
s
is
o
f
PW
M,
PID
,
b
ac
k
E
MF,
an
d
s
p
id
e
r
co
n
tr
o
ller
s
u
s
in
g
MA
T
L
AB
/Si
m
u
lin
k
.
T
h
e
e
v
alu
atio
n
f
o
cu
s
es
o
n
k
ey
p
er
f
o
r
m
a
n
ce
i
n
d
icato
r
s
s
u
ch
as
m
ax
im
u
m
o
v
er
s
h
o
o
t,
s
ettlin
g
tim
e,
an
d
s
tead
y
-
s
tate
er
r
o
r
.
T
h
e
p
ap
er
is
o
r
g
a
n
ized
as:
Sectio
n
s
1
an
d
2
p
r
o
v
id
e
th
e
in
tr
o
d
u
ctio
n
an
d
d
escr
ib
e
th
e
B
L
DC
m
o
to
r
m
o
d
el
alo
n
g
with
t
h
e
p
r
o
p
o
s
ed
m
o
d
if
ied
b
r
id
g
eless
Ć
u
k
co
n
v
e
r
ter
.
Sectio
n
3
o
u
tlin
es
th
e
d
if
f
er
e
n
t
s
p
ee
d
co
n
t
r
o
l
s
tr
ateg
ies
em
p
lo
y
e
d
.
Sectio
n
4
p
r
esen
ts
th
e
an
aly
s
is
o
f
b
o
th
tr
a
n
s
ien
t
an
d
s
tead
y
-
s
tate
r
esp
o
n
s
es.
Sectio
n
5
d
etails
th
e
s
im
u
latio
n
o
u
tc
o
m
es,
an
d
s
ec
tio
n
6
en
d
s
u
p
with
s
u
m
m
a
r
ized
f
i
n
d
in
g
s
an
d
s
u
g
g
ested
f
u
tu
r
e
r
ese
ar
ch
d
ir
ec
tio
n
s
.
2.
SYST
E
M
CO
NF
I
G
URA
T
I
O
N
O
VE
RVI
E
W
Fig
u
r
e
1
(
a)
illu
s
tr
ates th
e
f
u
ll E
V
s
y
s
tem
,
wh
ile
Fig
u
r
e
1
(
b
)
h
ig
h
lig
h
ts
th
e
B
L
DC
m
o
to
r
co
n
tr
o
l u
s
ed
to
co
m
p
ar
e
s
p
ee
d
co
n
tr
o
l
m
eth
o
d
s
.
T
h
e
s
etu
p
in
clu
d
es
a
s
o
lar
PV
s
o
u
r
ce
,
b
atter
y
,
m
o
d
if
ied
b
r
i
d
g
eless
DC
-
DC
co
n
v
er
ter
,
th
r
ee
-
p
h
as
e
in
v
er
ter
,
B
L
DC
m
o
to
r
,
an
d
co
n
tr
o
ller
.
So
lar
PV
s
er
v
es
as
th
e
m
ain
p
o
we
r
s
o
u
r
ce
,
with
th
e
b
atter
y
e
n
s
u
r
in
g
s
tab
ilit
y
d
u
r
in
g
f
lu
ctu
ati
o
n
s
.
T
h
e
c
o
n
v
e
r
ter
ad
ju
s
ts
PV
v
o
ltag
e
to
m
ee
t
m
o
to
r
d
em
an
d
s
,
an
d
ex
ce
s
s
e
n
er
g
y
ch
ar
g
es
th
e
b
atter
y
.
T
h
e
in
v
er
ter
s
u
p
p
lies
AC
to
th
e
m
o
to
r
,
wh
ile
th
e
co
n
tr
o
ller
r
eg
u
lates
s
p
ee
d
b
ased
o
n
er
r
o
r
s
ig
n
als.
B
L
DC
m
o
to
r
s
ar
e
p
r
ef
er
r
e
d
in
E
Vs
f
o
r
th
eir
ef
f
icien
cy
an
d
lo
w
m
ain
ten
an
ce
.
Sp
ee
d
co
n
tr
o
l
is
im
p
lem
en
ted
u
s
in
g
s
en
s
o
r
-
b
ased
an
d
s
en
s
o
r
less
m
eth
o
d
s
.
MA
T
L
AB
/S
im
u
lin
k
is
u
s
ed
f
o
r
s
y
s
tem
m
o
d
elin
g
a
n
d
p
er
f
o
r
m
an
ce
an
aly
s
is
.
(
a)
(
b
)
Fig
u
r
e
1
.
Sch
em
atic
s
tr
u
ctu
r
e
o
f
E
V
:
(
a)
E
V
s
tr
u
ct
u
r
e
an
d
(
b
)
s
ch
em
atic
o
f
a
B
L
DC
m
o
to
r
with
a
co
n
tr
o
ller
3.
CO
M
P
UT
AT
I
O
NAL
M
O
D
E
L
O
F
T
H
E
SYS
T
E
M
Fig
u
r
e
2
d
ep
icts
th
e
lay
o
u
t
o
f
a
B
L
DC
m
o
to
r
d
r
iv
e
co
n
tr
o
l
s
y
s
tem
d
ev
elo
p
ed
f
o
r
elec
t
r
ic
v
eh
icle
ap
p
licatio
n
s
.
T
h
is
co
n
f
ig
u
r
ati
o
n
co
m
p
r
is
es
f
iv
e
co
m
p
o
n
en
t
s
:
v
o
ltag
e
s
o
u
r
ce
,
b
u
c
k
co
n
v
e
r
ter
,
b
atter
y
s
o
u
r
ce
,
in
v
er
ter
,
a
n
d
th
e
B
L
DC
m
o
to
r
.
Ou
tlin
ed
b
elo
w
is
th
e
m
o
d
eli
n
g
p
r
o
ce
s
s
o
f
ea
ch
s
y
s
tem
.
3
.
1
.
Ana
ly
t
ica
l mo
del o
f
B
L
DCM
B
L
DC
M
u
s
ed
in
th
is
wo
r
k
o
p
er
ates
in
th
r
ee
p
h
ases
,
as
it
g
iv
es
lo
w
to
r
q
u
e
a
n
d
b
etter
e
f
f
icien
cy
.
So
m
e
ass
u
m
p
tio
n
s
a
r
e
m
a
d
e
t
o
b
u
ild
t
h
e
a
n
aly
tical
m
o
d
el
o
f
B
L
DC
M.
T
h
e
s
tato
r
win
d
in
g
is
eq
u
ally
s
p
ac
e
d
with
6
0
º
.
T
h
e
B
L
DC
m
o
to
r
m
o
d
elin
g
is
wr
itten
b
y
c
o
n
s
id
er
in
g
V
as
,
V
bs
,
V
cs
as
s
tat
o
r
v
o
ltag
es,
s
tato
r
r
esis
tan
ce
as
R
,
i
a
,
i
b
,
i
c
as
s
tato
r
cu
r
r
en
ts
,
a
n
d
b
ac
k
E
MF
v
o
ltag
es
as
E
a
,
E
b
,
an
d
E
c
.
Fo
r
th
e
d
esig
n
o
f
a
B
L
DC
m
o
to
r
,
we
will n
eg
lect
a
r
m
atu
r
e
r
ea
ctio
n
,
m
ag
n
etic
s
atu
r
atio
n
,
h
y
s
ter
esis
,
an
d
v
o
r
tex
l
o
s
s
es.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ap
p
l Po
wer
E
n
g
I
SS
N:
2252
-
8
7
9
2
P
erfo
r
ma
n
ce
en
h
a
n
ce
me
n
t u
s
in
g
s
en
s
o
r
a
n
d
s
en
s
o
r
less
co
n
tr
o
l te
ch
n
iq
u
es
…
(
W.
Ma
r
g
a
r
et
A
mu
th
a
)
771
[
V
as
V
bs
V
cs
]
=
[
R
0
0
0
R
0
0
0
R
]
*
[
i
a
i
b
i
c
]
+
[
L
−
M
0
0
0
L
−
M
0
0
0
L
−
M
]
*
d
dt
[
i
a
i
b
i
c
]
+
[
E
a
E
b
E
c
]
(
1
)
+
+
=
0
(
2
)
T
h
e
lin
e
v
o
ltag
es a
r
e
:
[
V
ab
V
bc
V
ca
]
=*
[
i
a
i
b
i
c
]
+
[
L
−
M
0
0
0
L
−
M
0
0
0
L
−
M
]
*
d
dt
[
i
a
i
b
i
c
]
+
[
E
a
−
E
b
E
b
−
E
c
E
c
−
E
a
]
(
3
)
w
h
er
e
L
is
p
h
ase
win
d
in
g
in
d
u
ctan
ce
(
Hen
r
y
)
a
n
d
M
is
m
u
tu
al
in
d
u
ctan
ce
(
Hen
r
y
)
.
So
,
th
e
to
r
q
u
e
(
T
)
is
ex
p
r
ess
ed
as (
4
)
.
T
=
1
ω
(
E
a
i
a
+
E
b
i
b
+
E
c
i
c
)
(
4
)
T
h
e
n
o
m
in
al
v
o
ltag
e
an
d
cu
r
r
en
t
o
f
3
5
V,
5
A,
with
th
e
2
5
0
0
r
p
m
r
ated
s
p
ee
d
r
ate
is
co
n
s
id
er
ed
f
o
r
s
im
u
latio
n
.
Hen
ce
,
B
L
DC
m
o
to
r
’
s
tr
an
s
f
er
f
u
n
ctio
n
is
as (
5
)
.
G
(
s
)
=
0
.
01
0
.
05
S
2
+
0
.
6S
+
0
.
1
(
5
)
Fig
u
r
e
2
.
C
o
n
f
ig
u
r
atio
n
o
f
a
B
L
DC
m
o
to
r
with
a
s
p
ee
d
c
o
n
tr
o
l d
r
iv
e
3
.
2
.
Sy
s
t
e
m
e
lem
ent
s
3
.
2
.
1
.
So
la
r
P
V
(
SPV)
s
y
s
t
e
m
A
s
in
g
le
d
io
d
e
cir
cu
it
is
em
p
lo
y
ed
in
c
o
n
s
tr
u
ctin
g
th
e
SP
V
ce
ll.
T
h
e
m
ath
em
atica
l
m
o
d
e
l
o
f
a
PV
ce
ll is
im
p
lem
en
ted
u
s
in
g
th
e
MA
T
L
AB
/
S
im
u
lin
k
p
latf
o
r
m
.
Fig
u
r
e
3
(
a
)
s
h
o
ws a
PV to
p
o
l
o
g
y
co
n
s
tr
u
ctio
n
.
An
AI
-
b
ased
P&
O
MPPT
alg
o
r
ith
m
is
u
s
ed
to
tr
ac
k
th
e
m
ax
im
u
m
p
o
wer
p
o
in
t
o
f
t
h
e
s
o
lar
PV
s
o
u
r
ce
.
T
h
e
c
o
r
r
esp
o
n
d
in
g
M
AT
L
AB
co
d
e
is
p
r
o
v
id
e
d
.
T
h
e
I
-
V
c
h
ar
ac
ter
is
tics
o
f
th
e
P
V
m
o
d
u
le
ar
e
s
h
o
wn
in
Fig
u
r
e
3
(
b
)
.
Fig
u
r
e
4
(
a
)
d
is
p
lay
s
th
e
g
ate
p
u
ls
e
g
en
er
a
ted
b
y
th
e
MPPT
alg
o
r
ith
m
,
wh
ich
d
r
iv
es
th
e
m
o
d
if
ied
Ć
u
k
co
n
v
er
ter
.
Fo
r
s
im
u
latio
n
,
s
o
lar
in
s
o
latio
n
is
s
et
at
2
3
0
V,
6
.
5
A,
1
.
5
k
W
,
an
d
9
0
0
W
/m
².
Ou
tp
u
t v
o
ltag
e
,
cu
r
r
en
t,
an
d
p
o
wer
f
r
o
m
th
e
s
o
lar
s
o
u
r
ce
ar
e
s
h
o
wn
in
Fig
u
r
e
4
(
b
)
.
a
.
Mo
d
if
ied
Ć
u
k
co
n
v
er
ter
an
d
th
r
ee
-
p
h
ase
in
v
er
ter
T
h
e
m
ath
em
atica
l
m
o
d
el
o
f
th
e
s
y
s
tem
is
f
o
r
m
u
lated
as
f
o
llo
ws.
T
h
e
m
o
d
if
ied
Ć
u
k
c
o
n
v
e
r
ter
m
o
d
e
l
is
g
iv
en
as (
6
)
.
−
(
)
=
−
(
)
∗
(
6
)
T
ab
le
1
o
u
tlin
es
th
e
d
if
f
er
en
t
o
p
er
atin
g
m
o
d
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ter
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ativ
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ased
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cles,
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ter
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ates
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ed
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Fig
u
r
es 5
(
a
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to
5
(
d
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illu
s
tr
ate
th
e
f
u
n
ctio
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in
g
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f
ea
ch
m
o
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e
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
7
9
2
I
n
t J Ap
p
l Po
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g
,
Vo
l.
14
,
No
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4
,
Dec
em
b
er
20
25
:
7
6
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u
r
e
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ate
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Fig
u
r
e
5
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o
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er
atio
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o
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t
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,
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o
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e
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,
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d
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d
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M
o
d
e
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o
th
Qp
an
d
Qn
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OFF (
n
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ativ
e
in
p
u
t c
y
cle)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ap
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l Po
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E
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g
I
SS
N:
2252
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8
7
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2
P
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r
g
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th
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ab
le
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ter
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h
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n
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ter
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m
i
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f
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th
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tical
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o
n
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ter
s
p
ec
if
icatio
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s
ar
e
ca
lcu
lated
u
s
in
g
(
7
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a
n
d
(
8
)
.
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et
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=
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d
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d
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1
∗
=
0
.
8
an
d
=
4
∗
∗
∆
∗
∗
=
440
(
8)
T
h
e
v
o
lt
-
s
ec
o
n
d
b
alan
ce
m
eth
o
d
is
u
tili
ze
d
f
o
r
in
d
u
ct
o
r
s
L
1
an
d
L
2
,
as c
alcu
lated
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n
(
9
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d
(
1
0
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.
1
∗
(
1
2
∗
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−
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1
1
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(
9
)
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∗
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0
or
2
=
0
1
(
1
0
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F
r
o
m
th
e
d
e
r
iv
ed
e
q
u
atio
n
s
,
V
C
0
is
o
b
tain
ed
as sh
o
wn
in
(
1
1
)
.
0
=
−
∗
(
2
−
1
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∗
1
(
1
−
1
)
(
1
1
)
T
h
e
ch
ar
g
e
b
alan
ce
a
p
p
r
o
ac
h
i
s
ap
p
lied
to
C
1
, C
2
,
an
d
C
O
f
o
r
s
tead
y
-
s
tate
an
aly
s
is
,
as p
r
esen
ted
in
(
1
2
)
-
(
1
4
)
.
1
∗
(
−
1
1
)
+
2
∗
(
−
1
1
)
=
0
(
1
2
)
2
∗
(
1
2
)
+
3
∗
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1
−
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2
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=
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3
)
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L
3
*
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1
C
O
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+
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L
3
*
(
1
C
O
)
-
V
C
0
*
(
1
R*
C
O
)
=
0
(
1
4
)
So
lv
in
g
th
e
e
q
u
atio
n
s
g
iv
es th
e
r
elatio
n
as (
1
5
)
.
=
0
=
1
∗
1
(
1
−
1
)
+
2
∗
1
(
1
−
2
)
(
1
5
)
E
d
c
-
o
u
t(
t
)
is
th
e
DC
lin
k
en
er
g
y
o
u
tp
u
t in
k
W
h
,
wh
ile
E
d
c
-
in
(
t)
is
th
e
in
p
u
t v
o
ltag
e
co
n
v
e
r
ted
to
AC
b
y
th
e
co
n
v
er
te
r
,
with
η
d
c
as
its
ef
f
icien
cy
.
Fig
u
r
e
6
s
h
o
ws
th
e
o
u
tp
u
t
v
o
ltag
e,
cu
r
r
en
t,
an
d
p
o
wer
o
f
th
e
m
o
d
if
ied
Ć
u
k
co
n
v
er
ter
.
Su
r
p
l
u
s
en
er
g
y
c
h
ar
g
es th
e
b
atter
y
,
an
d
th
e
DC
o
u
tp
u
t is later
co
n
v
er
ted
to
AC
.
b
.
B
atter
y
T
h
e
s
o
lar
s
o
u
r
ce
r
elies
o
n
s
to
r
ag
e
elem
en
t
to
b
alan
ce
th
e
f
lu
ctu
atio
n
s
o
n
lo
a
d
d
em
a
n
d
a
n
d
th
e
p
o
wer
g
en
er
ated
.
A
b
atter
y
o
f
4
8
V,
1
6
Ah
h
as
b
ee
n
c
h
o
s
en
.
Fig
u
r
e
7
illu
s
tr
ates
b
atter
y
v
o
ltag
e,
cu
r
r
en
t
,
an
d
SOC
.
T
h
e
ch
ar
g
in
g
/ d
is
ch
ar
g
in
g
ca
p
ac
ity
o
f
th
e
b
atter
y
ca
n
b
e
ca
lc
u
lated
as
:
(
)
=
(
ℎ
)
(
)
⁄
(
16
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
7
9
2
I
n
t J Ap
p
l Po
wer
E
n
g
,
Vo
l.
14
,
No
.
4
,
Dec
em
b
er
20
25
:
7
6
9
-
782
774
(
)
=
(
−
1
)
−
(
)
(
1
7
)
DOD
(
De
pth
of
disc
ha
r
ge
)
=
(
1
-
d
)
*
100
(
1
8
)
Fig
u
r
e
6
.
C
o
n
v
er
ter
o
u
tp
u
t
v
o
l
tag
e,
cu
r
r
e
n
t
,
an
d
p
o
wer
Fig
u
r
e
7
.
B
atter
y
v
o
ltag
e,
cu
r
r
en
t
,
an
d
SOC
3
.
3
.
Appro
a
ches t
o
B
L
DC
m
o
t
o
r
s
peed
re
g
ula
t
io
n
T
h
is
wo
r
k
ap
p
lies
th
r
ee
tech
n
iq
u
es
to
co
n
tr
o
l
B
L
DC
m
o
to
r
s
p
ee
d
.
T
h
e
ac
t
u
al
s
p
ee
d
is
co
m
p
ar
ed
with
a
r
ef
er
en
ce
,
an
d
t
h
e
r
esu
l
tin
g
er
r
o
r
s
ig
n
al
g
e
n
er
ates g
at
e
p
u
ls
es to
ac
h
iev
e
th
e
tar
g
et
s
p
ee
d
.
3
.
3
.
1
.
P
WM
s
peed
co
ntr
o
l t
ec
hn
iq
ue
Fig
u
r
e
8
(
a
)
s
h
o
ws
th
e
co
m
m
o
n
ly
u
s
ed
s
p
ee
d
co
n
tr
o
l
s
etu
p
.
T
h
e
s
p
ee
d
e
r
r
o
r
is
f
ed
to
a
PW
M
g
en
er
ato
r
,
wh
ich
ad
ju
s
ts
th
e
d
u
ty
cy
cle
to
m
ain
tain
th
e
tar
g
et
s
p
ee
d
.
Fig
u
r
e
8
(
b
)
d
is
p
lay
s
th
e
in
v
er
ter
’
s
PW
M
p
u
ls
es
.
(
a)
(
b
)
Fig
u
r
e
8
.
PW
M
g
en
er
atio
n
:
(
a
)
b
lo
ck
d
iag
r
am
o
f
PW
M
g
en
e
r
ato
r
an
d
(
b
)
PW
M
p
u
ls
es
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ap
p
l Po
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E
n
g
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SS
N:
2252
-
8
7
9
2
P
erfo
r
ma
n
ce
en
h
a
n
ce
me
n
t u
s
in
g
s
en
s
o
r
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n
d
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s
o
r
less
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n
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l te
ch
n
iq
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es
…
(
W.
Ma
r
g
a
r
et
A
mu
th
a
)
775
3
.
3
.
2
.
P
I
D
ba
s
ed
s
peed
co
ntr
o
l st
ra
t
eg
y
T
h
e
p
icto
r
ial
d
iag
r
am
o
f
a
PI
D
s
p
ee
d
co
n
tr
o
l
tech
n
iq
u
e
is
g
iv
en
in
Fig
u
r
e
9
(
a
)
.
I
t
co
n
s
i
s
ts
o
f
th
e
ac
tu
al
p
r
o
ce
s
s
,
PID
co
n
tr
o
ller
,
an
d
a
f
ee
d
b
ac
k
s
y
s
tem
.
I
n
th
e
ab
s
en
ce
o
f
d
is
tu
r
b
an
ce
s
,
it
is
ass
u
m
ed
th
at
th
e
co
n
tr
o
lled
v
ar
iab
le
c(
t)
c(
t)
c
(
t)
clo
s
ely
ap
p
r
o
x
im
ates
th
e
d
es
ir
ed
in
p
u
t
r
(
t
)
.
Gatin
g
p
u
ls
es
o
b
tain
ed
u
s
in
g
PID
co
n
tr
o
ller
is
s
h
o
wn
in
Fig
u
r
e
9
(
b
).
T
h
e
tr
a
n
s
f
er
f
u
n
ctio
n
is
e
x
p
r
ess
ed
as (
1
9
)
.
(
)
=
+
+
(
1
9
)
(
a)
(
b
)
Fig
u
r
e
9
.
PID
co
n
tr
o
ller
:
(
a
)
r
e
p
r
esen
tatio
n
o
f
PID
co
n
tr
o
ller
an
d
(
b
)
g
atin
g
p
u
ls
es f
r
o
m
PI
D
co
n
tr
o
ller
3
.
3
.
3
.
B
a
ck
E
M
F
(
s
ens
o
r
les
s
t
ec
hn
iq
ue)
I
n
th
is
m
eth
o
d
,
s
witch
es
ar
e
t
r
ig
g
er
ed
b
y
d
ig
ital
p
u
ls
es
f
r
o
m
th
e
b
ac
k
E
MF
o
b
s
er
v
er
.
T
h
ese
p
u
ls
es
ar
e
d
ec
o
d
ed
i
n
to
g
atin
g
s
ig
n
als.
I
n
v
er
ter
co
m
m
u
tatio
n
is
p
er
f
o
r
m
ed
e
v
er
y
6
0
d
eg
r
ee
s
to
m
ax
im
ize
to
r
q
u
e
o
u
tp
u
t,
alig
n
i
n
g
th
e
r
ec
tan
g
u
l
ar
cu
r
r
en
t
with
th
e
b
ac
k
E
M
F.
Fig
u
r
e
1
0
(
a
)
p
r
esen
ts
th
e
b
ac
k
E
MF
o
b
s
er
v
er
,
wh
ile
Fig
u
r
e
1
0
(
b
)
d
is
p
lay
s
th
e
co
r
r
esp
o
n
d
in
g
g
atin
g
s
ig
n
als.
=
∗
an
d
=
ℎ
(
2
0
)
W
h
er
e
ω
m
ech
is
th
e
an
g
u
lar
v
elo
city
,
ω
e
is
th
e
r
o
to
r
s
p
ee
d
,
an
d
P
is
th
e
p
o
le
p
air
.
(
a)
(
b)
Fig
u
r
e
1
0
.
B
ac
k
E
MF
o
b
s
er
v
e
r
:
(
a)
f
u
n
ctio
n
al
r
e
p
r
esen
tatio
n
an
d
(
b
)
g
atin
g
th
r
o
u
g
h
b
ac
k
E
MF
o
b
s
er
v
er
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
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8
7
9
2
I
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p
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n
g
,
Vo
l.
14
,
No
.
4
,
Dec
em
b
er
20
25
:
7
6
9
-
782
776
3
.
3
.
4
.
Sp
ider
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ntr
o
l m
et
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d
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h
e
s
p
id
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b
ased
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n
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o
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en
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ates
s
witch
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g
s
eq
u
e
n
ce
s
b
y
c
o
m
p
ar
i
n
g
th
e
r
ef
er
en
ce
s
i
g
n
al
with
f
ee
d
b
ac
k
.
Gate
p
u
ls
es
ar
e
d
er
iv
ed
u
s
in
g
s
p
ee
d
an
d
Hall
s
en
s
o
r
o
u
t
p
u
ts
.
B
ac
k
E
MF
an
d
r
ec
tifie
d
v
o
ltag
e
ar
e
co
m
p
ar
ed
to
p
r
o
d
u
ce
s
ig
n
als.
T
h
e
m
eth
o
d
is
n
am
ed
f
o
r
its
r
e
s
em
b
lan
ce
to
a
s
p
id
er
’
s
web
-
b
u
ild
in
g
p
r
o
ce
s
s
.
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h
e
s
witch
in
g
f
o
llo
ws
th
e
p
att
er
n
s
h
o
wn
in
T
ab
le
2
.
T
h
e
esti
m
ated
H
all
p
o
s
itio
n
is
g
iv
en
i
n
T
ab
le
3
.
T
h
e
co
n
tr
o
lled
g
ate
p
u
ls
es
ap
p
lied
to
th
e
th
r
ee
-
p
h
ase
in
v
er
t
er
ar
e
g
iv
en
in
Fig
u
r
e
11
(
a
)
.
T
h
e
esti
m
ated
H
all
p
o
s
itio
n
wav
e
f
o
r
m
is
g
iv
e
n
in
Fig
u
r
e
1
1
(
b
)
.
T
ab
le
2
.
Switch
in
g
s
eq
u
en
ce
o
f
s
p
id
er
co
n
tr
o
ller
EM
F
a
EM
F
b
EM
F
c
Q1
Q2
Q3
Q4
Q5
Q6
-
1
1
0
0
0
1
1
0
0
1
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1
0
1
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0
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1
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1
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0
1
0
1
0
T
ab
le
3
.
E
s
tim
ated
h
all
p
o
s
itio
n
h
a
h
b
h
c
EM
F
a
EM
F
b
EM
F
c
0
0
0
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1
1
0
0
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1
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1
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1
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1
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1
1
1
0
0
1
-
1
1
1
1
0
0
0
(
a)
(
b
)
Fig
u
r
e
1
1
.
Sp
id
er
co
n
tr
o
ller
:
(
a)
d
u
ty
c
y
cle
f
o
r
in
v
e
r
ter
an
d
(
b
)
esti
m
ated
Hall
p
o
s
itio
n
wav
ef
o
r
m
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
p
r
o
p
o
s
ed
to
p
o
lo
g
y
an
d
c
o
n
tr
o
l
s
tr
ateg
y
a
r
e
s
im
u
lated
i
n
MA
T
L
AB
/Si
m
u
lin
k
u
s
in
g
th
e
B
L
DC
m
o
to
r
m
o
d
el
d
er
iv
ed
f
r
o
m
(
1
)
–
(
8
)
,
with
m
o
to
r
an
d
c
o
n
v
er
t
er
s
p
ec
if
icatio
n
s
lis
ted
in
T
ab
les
4
an
d
5
.
B
L
DC
m
o
to
r
s
p
ee
d
is
co
n
tr
o
lled
u
s
in
g
PW
M,
PID
,
b
ac
k
E
MF,
a
n
d
s
p
id
er
co
n
tr
o
ller
s
.
A
3
-
ar
m
in
v
er
te
r
s
u
p
p
o
r
ts
PW
M
at
5
0
0
Hz.
Fig
u
r
e
1
2
(
a
)
s
h
o
ws
a
1
.
3
2
o
v
er
s
h
o
o
t
with
0
.
0
3
s
s
ettlin
g
tim
e.
Fig
u
r
e
1
2
(
b
)
an
d
T
ab
le
6
co
m
p
ar
e
all
co
n
tr
o
ller
s
at
2
5
0
0
r
p
m
u
n
d
er
n
o
-
lo
ad
an
d
f
u
ll
-
l
o
ad
.
T
ab
le
4
.
Sp
ec
if
icatio
n
s
o
f
B
L
DC
m
o
to
r
P
a
r
a
me
t
e
r
R
a
t
i
n
g
P
h
a
se
3
N
u
mb
e
r
o
f
p
o
l
e
4
p
a
i
r
s
-
8
p
o
l
e
s
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q
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a
r
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f
l
a
n
g
e
si
z
e
80
mm
V
o
l
t
a
g
e
r
a
t
i
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g
1
7
0
V
R
a
t
i
n
g
o
f
t
h
e
c
u
r
r
e
n
t
18
A
R
a
t
i
n
g
o
f
t
h
e
p
o
w
e
r
3
kW
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p
e
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d
r
a
t
i
n
g
2
5
0
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r
p
m
H
o
l
d
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n
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t
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r
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2
.
4
N
m
P
e
a
k
t
o
r
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u
e
6
.
6
N
m
D
C
v
o
l
t
a
g
e
35
V
T
ab
le
5
.
Simu
latio
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s
p
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if
icati
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f
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n
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er
ter
P
a
r
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me
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e
r
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a
t
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u
r
r
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n
t
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5
A
I
n
d
u
c
t
o
r
L
1
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4
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6
μH
I
n
d
u
c
t
o
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3
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4
5
0
μH
C
a
p
a
c
i
t
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r
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.
8
μF
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a
p
a
c
i
t
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O
4
4
0
μF
S
w
i
t
c
h
i
n
g
f
r
e
q
u
e
n
c
y
(
F
s)
5
0
k
H
z
R
e
si
st
i
v
e
l
o
a
d
,
R
L
7
.
3
8
Ω
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ap
p
l Po
wer
E
n
g
I
SS
N:
2252
-
8
7
9
2
P
erfo
r
ma
n
ce
en
h
a
n
ce
me
n
t u
s
in
g
s
en
s
o
r
a
n
d
s
en
s
o
r
less
co
n
tr
o
l te
ch
n
iq
u
es
…
(
W.
Ma
r
g
a
r
et
A
mu
th
a
)
777
I
n
th
is
wo
r
k
,
co
m
p
o
n
en
t
v
al
u
es
ar
e
k
ep
t
c
o
n
s
tan
t
ac
r
o
s
s
all
co
n
tr
o
ller
ty
p
es.
T
a
b
le
7
s
h
o
ws
th
at
th
e
PW
M
co
n
tr
o
ller
r
esu
lts
in
h
ig
h
er
p
ea
k
o
v
er
s
h
o
o
t,
wh
ile
th
e
s
p
id
er
co
n
tr
o
ller
ac
h
iev
es
b
et
ter
p
er
f
o
r
m
an
ce
in
ter
m
s
o
f
o
v
er
s
h
o
o
t
(
Mp
)
,
r
is
e
tim
e
(
tr
)
,
an
d
s
ettlin
g
tim
e
(
ts
)
,
alo
n
g
with
s
tr
o
n
g
s
tar
tin
g
to
r
q
u
e.
Fig
u
r
e
1
3
(
a
)
d
is
p
lay
s
s
tab
le
s
tato
r
cu
r
r
e
n
t
with
th
e
s
p
id
er
c
o
n
tr
o
ller
u
n
d
er
v
ar
y
in
g
l
o
ad
s
.
Fig
u
r
e
1
3
(
b
)
s
h
o
ws
co
n
s
is
ten
t
elec
tr
o
m
ag
n
etic
to
r
q
u
e
(
T
e)
at
b
o
th
n
o
-
lo
ad
an
d
f
u
ll
-
lo
ad
,
in
d
icatin
g
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ate
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Evaluation Warning : The document was created with Spire.PDF for Python.
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12
Ω
Evaluation Warning : The document was created with Spire.PDF for Python.