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will in
f
lu
en
ce
tr
an
s
p
o
r
t
atio
n
in
th
e
f
u
tu
r
e.
T
h
e
co
n
tin
u
o
u
s
r
is
e
o
f
g
lo
b
al
war
m
in
g
le
d
th
e
lead
er
s
th
r
o
u
g
h
o
u
t
th
e
wo
r
ld
to
ar
r
iv
e
at
a
g
lo
b
a
l
clim
ate
ch
an
g
e
ag
r
ee
m
en
t
in
No
v
em
b
er
2
0
1
6
.
T
h
e
2
1
st
C
o
n
f
er
e
n
ce
o
f
t
h
e
Par
ties
(
C
o
P2
1
)
,
co
n
d
u
cted
in
No
v
em
b
er
2
0
1
5
in
Par
is
,
p
av
e
d
th
e
p
ath
f
o
r
th
e
g
l
o
b
al
clim
a
te
ch
an
g
e
ag
r
ee
m
e
n
t.
T
h
e
g
o
al
o
f
th
e
ag
r
ee
m
en
t
is
to
atten
u
ate
g
lo
b
al
war
m
i
n
g
b
y
1
.
5
to
2
℃
.
T
h
e
m
aj
o
r
ca
u
s
es
f
o
r
g
lo
b
al
war
m
in
g
ar
e
in
c
r
ea
s
ed
co
n
ce
n
tr
atio
n
s
o
f
g
r
ee
n
h
o
u
s
e
g
ases
,
wh
ich
ar
e
ca
u
s
ed
by
to
b
u
r
n
i
n
g
o
f
f
o
s
s
il
f
u
els
an
d
d
ef
o
r
estatio
n
.
Acc
o
r
d
in
g
to
2
0
1
4
s
tatis
tics
,
6
.
5
%
o
f
th
e
wo
r
l
d
'
s
ca
r
b
o
n
e
m
is
s
io
n
s
ar
e
f
r
o
m
I
n
d
ia.
I
n
d
ia
h
ad
d
ed
icate
d
its
elf
to
th
e
I
n
ten
d
ed
Natio
n
ally
Dete
r
m
in
ed
C
o
n
tr
ib
u
tio
n
(
N
DC
)
with
th
e
tar
g
et
o
f
m
in
im
izin
g
th
e
em
is
s
io
n
in
ten
s
ity
o
f
its
GDP
b
y
3
3
-
3
5
%
b
y
2
0
3
0
,
co
m
p
ar
ed
to
th
at
in
2
0
0
5
[
4
]
.
I
n
I
n
d
ia
,
9
7
%
o
f
th
e
v
eh
i
cles
ar
e
p
o
wer
ed
u
s
in
g
d
iesel
an
d
p
et
r
o
l
,
wh
ich
h
as
an
a
d
v
er
s
e
im
p
ac
t.
T
o
m
ee
t
its
g
r
ee
n
h
o
u
s
e
g
as
em
is
s
io
n
tar
g
ets
o
u
tlin
ed
in
I
n
d
ia’
s
I
n
ten
d
e
d
Natio
n
ally
Dete
r
m
in
ed
C
o
n
tr
ib
u
tio
n
,
I
n
d
ia
is
d
ir
ec
tin
g
its
ef
f
o
r
ts
to
war
d
s
m
o
b
ilit
y
tech
n
o
lo
g
ies b
ased
o
n
r
en
ewa
b
le
s
o
u
r
ce
s
.
[
4
]
.
I
n
th
e
p
r
o
p
o
s
ed
wo
r
k
,
a
co
m
b
in
atio
n
al
lo
g
ic
-
b
ased
co
n
t
r
o
l
alg
o
r
ith
m
is
d
e
v
elo
p
e
d
to
c
o
n
tr
o
l
th
e
s
p
ee
d
o
f
th
e
B
L
DC
m
o
to
r
.
T
h
e
co
n
tr
i
b
u
tio
n
s
m
ad
e
in
t
h
is
p
ap
er
ar
e
:
i)
A
c
o
m
b
in
atio
n
al
l
o
g
ic
-
b
ased
co
n
tr
o
l
alg
o
r
ith
m
is
d
ev
elo
p
ed
to
c
o
n
tr
o
l
th
e
B
L
DC
m
o
to
r
;
ii)
T
h
e
d
ev
elo
p
ed
co
n
tr
o
l
alg
o
r
ith
m
is
s
im
u
lated
u
s
in
g
Xilin
x
an
d
Pro
teu
s
s
o
f
twar
e
;
a
n
d
iii)
T
h
e
p
r
o
p
o
s
ed
co
m
b
in
at
io
n
al
lo
g
ic
-
b
ased
c
o
n
tr
o
l
alg
o
r
ith
m
is
test
ed
in
a
r
ea
l
-
tim
e
p
r
o
to
t
y
p
e
m
o
d
el
u
s
i
n
g
a
PIC
m
icr
o
co
n
tr
o
ller
.
2.
O
VE
RVI
E
W
O
F
E
L
E
CT
R
I
C
VE
H
I
C
L
E
T
h
e
t
r
a
d
i
t
i
o
n
a
l
a
u
t
o
m
o
b
i
l
es
r
e
le
a
s
e
a
l
o
t
o
f
e
m
i
s
s
i
o
n
s
.
T
o
r
e
d
u
c
e
e
m
i
s
s
i
o
n
s
,
t
h
e
a
u
t
o
m
o
b
i
l
e
i
n
d
u
s
t
r
y
i
n
t
h
e
e
n
t
i
r
e
w
o
r
l
d
i
s
m
o
v
i
n
g
t
o
wa
r
d
s
e
le
c
t
r
i
c
v
e
h
i
c
le
.
E
l
ec
t
r
i
c
v
e
h
i
c
l
e
h
as
a
d
d
e
d
a
d
v
a
n
t
a
g
e
s
s
u
c
h
a
s
b
ei
n
g
h
i
g
h
l
y
r
e
l
i
a
b
l
e
,
m
o
r
e
c
o
m
f
o
r
t
a
b
l
e
,
a
n
d
im
p
r
o
v
e
d
e
f
f
i
c
i
e
n
c
y
i
n
t
h
e
v
e
h
i
c
l
e
s
.
H
e
n
c
e
,
r
es
e
a
r
c
h
an
d
d
e
v
e
l
o
p
m
e
n
t
a
r
e
f
o
c
u
s
e
d
o
n
i
n
c
l
u
d
i
n
g
e
n
h
a
n
c
e
d
t
e
c
h
n
o
l
o
g
i
c
a
l
f
e
a
t
u
r
es
s
u
c
h
a
s
a
u
t
o
d
r
i
v
i
n
g
,
p
a
s
s
e
n
g
e
r
s
a
f
et
y
,
a
n
d
r
e
g
e
n
e
r
a
t
i
v
e
b
r
a
k
i
n
g
.
A
n
e
l
e
c
t
r
i
c
v
e
h
i
c
le
is
a
l
s
o
u
ti
l
i
z
e
d
as
a
c
o
n
t
r
o
l
l
a
b
l
e
l
o
a
d
f
o
r
t
h
e
s
t
a
n
d
a
r
d
i
z
a
ti
o
n
o
f
t
h
e
g
r
i
d
a
n
d
t
o
c
o
m
p
e
n
s
a
t
e
f
o
r
t
h
e
f
l
u
ct
u
a
t
i
o
n
s
c
a
u
s
e
d
d
u
e
t
o
t
h
e
s
p
o
r
a
d
i
c
n
a
tu
r
e
o
f
r
e
n
e
w
a
b
l
e
-
b
a
s
e
d
g
e
n
e
r
a
ti
o
n
[
5
]
.
T
h
e
f
u
n
d
am
en
tal
i
d
ea
o
f
an
elec
tr
ic
v
eh
icle
is
to
s
u
p
p
la
n
t
th
e
co
n
v
en
tio
n
al
i
n
ter
n
al
c
o
m
b
u
s
tio
n
en
g
in
e
with
a
co
m
b
in
a
tio
n
o
f
b
atter
y
,
m
o
t
o
r
,
an
d
p
o
wer
elec
tr
o
n
ic
co
n
tr
o
ller
(
Fig
u
r
e
1
)
.
T
h
u
s
,
th
e
m
ajo
r
p
ar
ts
o
f
an
elec
tr
ic
v
e
h
icle
ar
e
th
e
b
atter
y
,
c
h
ar
g
er
,
ch
a
r
g
in
g
p
o
r
t,
p
o
wer
elec
tr
o
n
ic
co
n
tr
o
ller
(
DC
-
DC
co
n
v
er
ter
,
i
n
v
er
ter
)
,
an
d
d
r
iv
e
t
r
ain
[
6
]
,
[
7
]
.
T
h
e
k
ey
co
m
p
o
n
en
t
o
f
an
elec
tr
ic
v
eh
icle
is
t
h
e
p
o
wer
e
lectr
o
n
ic
co
n
tr
o
ller
.
I
t
f
o
r
m
s
th
e
ad
ap
tiv
e
in
ter
f
a
ce
b
etwe
en
th
e
b
atter
y
a
n
d
m
o
to
r
b
y
m
a
k
in
g
t
h
e
o
u
tp
u
t
f
r
o
m
th
e
b
atter
y
co
m
p
atib
le
with
th
e
m
o
to
r
in
p
u
t.
I
t
also
m
ak
es
th
e
s
p
ee
d
a
n
d
to
r
q
u
e
o
f
th
e
tr
ac
tio
n
m
o
to
r
ad
ap
tiv
e
b
ased
o
n
th
e
s
ce
n
ar
io
.
T
h
e
b
atter
y
f
o
r
m
s
th
e
p
o
wer
s
o
u
r
ce
f
o
r
th
e
e
lectr
ic
m
o
to
r
.
T
h
e
m
o
to
r
tr
an
s
f
o
r
m
s
th
e
elec
tr
ical
en
er
g
y
i
n
to
m
ec
h
a
n
ical
en
er
g
y
,
wh
ich
is
u
tili
ze
d
to
p
o
wer
t
h
e
elec
tr
ic
v
eh
icle.
Fig
u
r
e
1
.
B
lo
ck
d
iag
r
am
o
f
a
n
elec
tr
ic
v
eh
icle
Fo
r
elec
tr
ic
v
eh
icle
ap
p
licatio
n
s
,
th
e
m
o
to
r
s
ar
e
co
n
tr
o
lled
t
o
b
e
o
p
er
ated
in
f
o
u
r
q
u
a
d
r
an
ts
,
n
am
ely
f
o
r
war
d
m
o
to
r
in
g
,
r
ev
e
r
s
e
m
o
to
r
in
g
,
f
o
r
war
d
b
r
a
k
in
g
,
a
n
d
r
ev
er
s
e
b
r
a
k
in
g
.
T
h
e
s
p
ee
d
is
co
n
tr
o
lled
b
y
co
n
tr
o
llin
g
th
e
p
u
ls
e
-
wid
th
m
o
d
u
latio
n
s
ig
n
al
g
iv
en
to
t
h
e
co
n
v
er
ter
[
8
]
.
T
h
e
d
r
i
v
e
tr
ain
is
a
d
ev
ice
th
at
d
eliv
er
s
m
ec
h
an
ical
p
o
wer
f
r
o
m
th
e
p
r
im
ar
y
en
g
i
n
e
to
d
r
i
v
e
th
e
wh
ee
ls
.
T
h
e
ch
ar
g
er
a
n
d
ch
a
r
g
in
g
p
o
r
t
ar
e
u
s
ed
to
ch
ar
g
e
th
e
b
atter
y
f
r
o
m
an
ex
ter
n
al
s
u
p
p
ly
.
Dif
f
er
e
n
t
v
ar
ieties
o
f
m
o
to
r
s
ap
p
lied
in
elec
tr
ic
v
eh
icles
en
co
m
p
ass
DC
m
o
to
r
s
,
b
r
u
s
h
less
DC
m
o
to
r
s
,
th
r
ee
-
p
h
ase
in
d
u
ctio
n
m
o
to
r
s
,
s
witch
ed
r
elu
ctan
ce
m
o
to
r
s
(
SR
M)
,
an
d
p
er
m
an
en
t
m
ag
n
et
s
y
n
ch
r
o
n
o
u
s
m
o
to
r
s
(
PMSM)
.
T
h
e
s
elec
tio
n
o
f
a
s
u
it
ab
le
m
o
to
r
f
o
r
an
elec
tr
ic
v
eh
icle
is
a
k
ey
f
ac
t
o
r
.
T
h
e
b
asic
r
eq
u
ir
em
e
n
t
s
f
o
r
tr
ac
tio
n
m
o
t
o
r
s
ar
e
a
h
ig
h
p
o
wer
-
to
-
s
ize
r
atio
,
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
d
ig
ita
l lo
g
ic
fo
r
b
r
u
s
h
less
DC
…
(
B
elw
in
J.
B
r
ea
r
ley
)
2145
m
o
r
e
to
r
q
u
e
at
lo
w
s
p
ee
d
,
f
ix
ed
p
o
wer
f
o
r
a
wid
e
v
a
r
iatio
n
o
f
s
p
ee
d
,
m
o
r
e
ef
f
icien
cy
,
an
d
elec
tr
o
n
ic
co
n
tr
o
llab
ilit
y
.
I
n
a
th
r
ee
-
p
h
a
s
e
in
d
u
ctio
n
m
o
to
r
,
th
e
s
p
ee
d
o
f
th
e
r
o
to
r
lag
s
b
eh
in
d
th
e
s
tato
r
f
lu
x
s
p
ee
d
b
y
th
e
s
lip
s
p
ee
d
.
T
h
e
s
lip
v
a
r
ies
in
d
ir
ec
t
p
r
o
p
o
r
tio
n
to
th
e
l
o
ad
to
r
q
u
e.
Als
o
,
it
d
r
aws
h
ig
h
in
itial
cu
r
r
e
n
t
,
an
d
th
e
s
lip
d
im
in
is
h
es
wh
en
th
e
m
o
to
r
s
p
ee
d
r
ea
c
h
es
th
e
r
ate
d
s
p
ee
d
.
I
n
a
DC
b
r
u
s
h
ed
m
o
to
r
,
th
e
t
o
r
q
u
e
o
f
th
e
m
o
to
r
is
in
v
er
s
ely
p
r
o
p
o
r
tio
n
a
l
to
its
r
o
to
r
s
p
ee
d
.
T
h
u
s
,
th
e
DC
m
o
to
r
p
r
o
d
u
ce
s
h
ig
h
t
o
r
q
u
e
at
r
ed
u
ce
d
s
p
ee
d
,
wh
ich
m
ak
es it o
n
e
o
f
th
e
b
ett
er
c
h
o
ices f
o
r
tr
ac
tio
n
a
p
p
licat
io
n
s
[
7
]
.
T
h
e
SR
M
b
elo
n
g
s
to
t
h
e
ca
t
eg
o
r
y
o
f
s
y
n
ch
r
o
n
o
u
s
m
o
to
r
s
.
B
u
t
it
d
o
es
n
o
t
h
a
v
e
a
s
lip
r
in
g
,
f
ield
win
d
in
g
,
or
b
r
u
s
h
es.
A
s
witch
ed
r
elu
cta
n
ce
m
o
t
o
r
(
SR
M)
h
as
a
f
er
r
o
m
ag
n
etic
r
o
t
o
r
.
T
h
e
SR
M
m
o
to
r
is
co
n
tr
o
lled
b
y
an
elec
tr
o
n
ic
co
m
m
u
tatio
n
tech
n
iq
u
e.
T
h
e
d
ir
ec
tio
n
o
f
th
e
t
o
r
q
u
e
p
r
o
d
u
ce
d
b
y
th
e
SR
M
d
ep
en
d
s
o
n
th
e
r
o
to
r
'
s
p
o
s
iti
o
n
an
d
th
e
s
eq
u
en
ce
in
wh
ic
h
th
e
p
h
ases
ar
e
en
er
g
ized
.
T
h
e
SR
M
m
o
to
r
is
s
im
p
le,
o
p
er
ates
i
n
a
wid
e
s
p
ee
d
r
a
n
g
e
u
n
d
e
r
f
ix
ed
p
o
wer
,
is
h
ig
h
l
y
r
eliab
le
,
an
d
h
as
l
o
w
co
s
t
,
m
a
k
in
g
it
ap
p
licab
le
f
o
r
tr
ac
tio
n
a
p
p
licat
io
n
s
.
T
h
e
p
er
m
an
e
n
t
m
ag
n
et
s
y
n
c
h
r
o
n
o
u
s
m
o
to
r
is
ca
teg
o
r
ized
a
s
eith
er
a
s
in
u
s
o
id
al
o
r
tr
ap
ez
o
id
al
wav
e
b
ac
k
elec
tr
o
m
o
tiv
e
f
o
r
ce
m
o
t
o
r
.
T
h
e
p
er
m
an
en
t
m
a
g
n
et
s
y
n
ch
r
o
n
o
u
s
AC
m
o
to
r
,
k
n
o
w
n
f
o
r
its
s
in
u
s
o
id
al
b
ac
k
em
f
,
is
ter
m
ed
th
e
p
er
m
an
en
t
m
ag
n
et
s
y
n
ch
r
o
n
o
u
s
AC
m
o
to
r
,
wh
ile
th
e
p
er
m
an
e
n
t
m
ag
n
et
b
r
u
s
h
less
DC
m
o
to
r
,
with
tr
ap
ez
o
id
al
b
ac
k
EMF
,
is
ca
lled
th
e
p
er
m
an
en
t
m
ag
n
et
b
r
u
s
h
less
DC
m
o
to
r
.
I
n
a
B
L
DC
m
o
to
r
,
c
o
m
m
u
tatio
n
is
d
o
n
e
elec
tr
o
n
ically
.
Hen
ce
,
it
n
ee
d
s
less
m
ain
ten
an
ce
an
d
also
d
is
s
ip
ates
m
in
im
al
p
o
wer
in
th
e
air
g
ap
.
T
h
er
e
ar
e
two
m
eth
o
d
s
o
f
co
n
tr
o
l o
f
th
e
B
L
D
C
m
o
to
r
.
T
h
ey
ar
e
s
en
s
o
r
m
o
d
es
o
f
co
n
tr
o
l
an
d
s
en
s
o
r
less
co
n
tr
o
l.
I
n
th
e
s
en
s
o
r
c
o
n
tr
o
l
m
o
d
e,
th
e
B
L
DC
m
o
to
r
in
c
o
r
p
o
r
ates
th
r
ee
Hall
s
en
s
o
r
s
,
ea
ch
p
lace
d
at
a
1
2
0
°
p
h
ase
s
h
if
t,
en
ab
lin
g
p
r
ec
is
e
m
o
n
ito
r
i
n
g
o
f
th
e
p
o
s
itio
n
o
f
th
e
r
o
to
r
.
T
h
e
ex
citin
g
s
eq
u
en
ce
o
f
th
e
B
L
DC
m
o
to
r
is
d
o
n
e
in
ac
co
r
d
an
ce
with
t
h
e
p
o
s
itio
n
o
f
th
e
r
o
t
o
r
.
I
n
s
e
n
s
o
r
less
co
n
tr
o
l,
th
e
p
o
s
itio
n
o
f
th
e
r
o
to
r
is
d
etec
ted
b
ased
o
n
th
e
m
o
to
r
p
ar
am
ete
r
s
s
u
ch
as
v
o
ltag
e,
b
ac
k
em
f
f
lu
x
lin
k
ag
e
p
o
s
itio
n
f
u
n
ctio
n
,
an
d
cu
r
r
en
t [
9
]
-
[
1
1
]
.
Ho
wev
er
,
th
e
s
en
s
o
r
less
co
n
tr
o
l m
o
d
e
i
s
m
o
r
e
co
m
p
licated
.
T
h
e
b
atter
y
p
ac
k
p
la
y
s
a
p
iv
o
ta
l
r
o
le
in
elec
tr
ic
v
eh
icles,
ac
tin
g
as
th
e
m
ain
en
er
g
y
s
to
r
ag
e
th
at
p
o
wer
s
th
eir
o
p
er
atio
n
.
Ad
v
a
n
ce
s
in
b
atter
y
tech
n
o
lo
g
y
ar
e
d
r
iv
in
g
th
e
ad
o
p
tio
n
o
f
E
Vs.
T
h
e
ad
v
an
ce
m
e
n
ts
o
f
b
atter
ies
ar
e
d
o
n
e
b
y
f
o
cu
s
i
n
g
o
n
th
e
im
p
r
o
v
em
en
t
o
f
en
e
r
g
y
d
en
s
ity
o
f
th
e
b
atte
r
y
,
ch
a
r
g
in
g
s
p
ee
d
,
an
d
its
o
v
er
all
p
er
f
o
r
m
an
ce
.
Sev
er
al
b
atter
ies
u
s
ed
in
E
Vs
ar
e
lead
-
ac
id
b
atter
ies
,
lith
iu
m
-
io
n
b
a
tter
ies
,
s
o
d
iu
m
-
io
n
b
atter
ies
,
an
d
n
ick
el
-
m
etal
-
h
y
d
r
id
e
b
atter
ies
.
Ho
wev
er
,
an
a
p
p
r
o
p
r
iate
co
n
tr
o
l
s
tr
ateg
y
h
a
s
to
b
e
d
esig
n
ed
to
ac
h
iev
e
b
etter
r
o
b
u
s
tn
ess
an
d
ef
f
icien
cy
[
1
2
]
.
C
h
ar
g
in
g
e
q
u
ip
m
e
n
t
p
lay
s
a
p
iv
o
tal
r
o
le
in
th
e
elec
tr
ic
v
eh
icle
ec
o
s
y
s
tem
,
f
ac
ilit
atin
g
th
e
r
ep
len
is
h
m
en
t
o
f
en
er
g
y
in
E
V
b
atter
y
p
ac
k
s
.
E
lectr
ic
v
eh
i
cle
ch
ar
g
in
g
in
f
r
astru
ctu
r
e
en
co
m
p
as
s
es
m
u
ltip
le
s
o
lu
tio
n
s
,
in
clu
d
in
g
p
u
b
lic
ch
ar
g
in
g
s
tatio
n
s
,
r
esid
en
tial
ch
ar
g
in
g
s
etu
p
s
,
an
d
f
ast
-
ch
ar
g
i
n
g
o
p
tio
n
s
.
Ho
m
e
ch
ar
g
in
g
s
tatio
n
s
o
f
f
e
r
th
e
co
n
v
en
ie
n
ce
o
f
o
v
e
r
n
ig
h
t
o
r
l
o
w
-
d
em
an
d
ch
ar
g
i
n
g
,
ca
ter
in
g
to
d
aily
ch
ar
g
i
n
g
n
ee
d
s
.
Alth
o
u
g
h
t
h
ey
ty
p
ical
ly
p
r
o
v
i
d
e
s
lo
wer
ch
ar
g
in
g
s
p
ee
d
s
,
th
ey
ar
e
id
ea
l
f
o
r
r
e
s
id
en
tial
ch
ar
g
in
g
r
eq
u
ir
em
e
n
ts
.
Pu
b
lic
ch
ar
g
in
g
s
tatio
n
s
ar
e
v
er
y
m
u
c
h
ess
en
tial
f
o
r
E
V
o
wn
er
s
wh
o
r
eq
u
ir
e
ch
ar
g
in
g
o
p
tio
n
s
wh
ile
awa
y
.
T
h
ese
s
tatio
n
s
ar
e
o
p
tim
ally
lo
ca
ted
in
p
u
b
lic
ar
ea
s
,
p
ar
k
in
g
lo
ts
,
a
n
d
co
m
m
er
cial
s
p
ac
es,
p
r
o
v
id
i
n
g
E
V
o
wn
e
r
s
with
th
e
co
n
v
en
ie
n
ce
o
f
c
h
ar
g
in
g
th
eir
v
eh
icles
d
u
r
in
g
th
eir
d
ail
y
ac
tiv
ities
.
Pu
b
lic
ch
ar
g
in
g
s
tatio
n
s
o
f
f
er
v
ar
y
in
g
ch
a
r
g
in
g
s
p
ee
d
s
,
r
an
g
i
n
g
f
r
o
m
s
lo
wer
le
v
el
2
ch
a
r
g
er
s
t
o
f
aster
le
v
el
3
DC
f
ast
ch
ar
g
er
s
.
Fas
t
-
ch
ar
g
in
g
s
tatio
n
s
,
also
k
n
o
wn
as
r
ap
i
d
ch
ar
g
er
s
,
ar
e
d
esig
n
e
d
to
s
u
p
p
ly
a
s
u
b
s
tan
tial
ch
ar
g
e
to
a
n
E
V
in
a
s
h
o
r
t
p
er
io
d
.
T
h
ese
s
tatio
n
s
u
tili
ze
h
ig
h
-
p
o
wer
ch
ar
g
in
g
in
f
r
astru
c
tu
r
e,
en
ab
lin
g
E
V
o
wn
er
s
to
q
u
ick
ly
r
ep
len
is
h
th
eir
b
atter
y
lev
els
d
u
r
in
g
lo
n
g
-
d
is
tan
ce
tr
av
el
o
r
wh
en
ti
m
e
is
lim
ited
.
Fas
t
-
ch
ar
g
in
g
s
tatio
n
s
ar
e
ty
p
ically
f
o
u
n
d
alo
n
g
m
ajo
r
h
ig
h
wa
y
s
,
f
ac
ilit
atin
g
ex
ten
d
ed
E
V
tr
av
el
with
m
in
im
al
ch
ar
g
in
g
tim
e.
T
h
e
p
o
wer
elec
tr
o
n
ics
co
m
p
o
n
e
n
ts
o
f
an
elec
tr
ic
v
eh
icle
ar
e
ess
en
tial
f
o
r
ef
f
icien
t
p
o
wer
c
o
n
v
er
s
io
n
,
m
o
to
r
co
n
tr
o
l
,
a
n
d
ch
ar
g
in
g
ca
p
ab
ilit
ies.
T
h
ese
co
m
p
o
n
en
ts
in
clu
d
e
th
e
in
v
er
ter
,
co
n
v
er
ter
,
m
o
to
r
co
n
tr
o
ller
,
DC
-
DC
co
n
v
er
ter
,
an
d
o
n
-
b
o
a
r
d
c
h
ar
g
er
[
1
3
]
.
3.
CO
NT
RO
L
L
E
RS F
O
R
B
L
DC
M
O
T
O
R
A
B
L
DC
m
o
to
r
tr
an
s
f
o
r
m
s
elec
tr
ical
en
er
g
y
in
t
o
m
ec
h
a
n
ical
en
er
g
y
th
r
o
u
g
h
elec
tr
o
m
ag
n
etis
m
.
Un
lik
e
r
eg
u
lar
b
r
u
s
h
ed
m
o
to
r
s
,
B
L
DC
m
o
to
r
s
d
o
n
'
t n
ee
d
b
r
u
s
h
es &
co
m
m
u
tato
r
to
alter
th
e
cu
r
r
en
t d
ir
ec
tio
n
.
T
h
ey
u
s
e
elec
tr
o
n
ic
co
m
m
u
n
i
ca
tio
n
in
s
tead
.
[
1
4
]
.
A
n
elec
t
r
o
n
ic
c
o
n
tr
o
ller
ad
ju
s
ts
th
e
c
u
r
r
en
t
in
th
e
s
tato
r
co
ils
b
ased
o
n
th
e
f
ee
d
b
ac
k
o
b
tain
ed
f
r
o
m
th
e
p
o
s
itio
n
s
en
s
o
r
s
lo
ca
ted
in
th
e
r
o
to
r
.
T
h
e
s
tato
r
f
ield
in
ter
ac
ts
with
th
e
r
o
to
r
m
a
g
n
ets,
allo
win
g
p
r
ec
is
e
co
n
tr
o
l
o
f
s
p
ee
d
an
d
d
ir
ec
ti
o
n
.
I
n
a
B
L
DC
m
o
to
r
,
th
e
r
o
to
r
’
s
p
o
s
itio
n
is
id
en
tifie
d
u
s
in
g
s
en
s
o
r
s
lik
e
h
all
e
f
f
ec
t
s
e
n
s
o
r
s
a
n
d
en
c
o
d
er
s
.
B
y
p
r
ec
is
ely
c
o
n
tr
o
llin
g
th
e
cu
r
r
en
t
in
th
e
s
tato
r
c
o
ils
b
ased
o
n
f
e
ed
b
ac
k
,
B
L
DC
m
o
to
r
s
wo
r
k
ef
f
icien
tly
an
d
ac
cu
r
ately
in
v
ar
io
u
s
ap
p
licatio
n
s
lik
e
elec
tr
ic
v
eh
icles,
in
d
u
s
tr
ial
m
ac
h
in
es
,
an
d
elec
tr
o
n
ics.
T
h
e
co
n
tr
o
l
tech
n
i
q
u
es
f
o
r
B
L
DC
m
o
to
r
s
ar
e
class
if
ied
m
ain
ly
in
to
two
ty
p
es
,
n
am
ely
s
en
s
o
r
ed
a
n
d
s
en
s
o
r
less
co
n
tr
o
l
tech
n
iq
u
es
[
1
5
]
.
I
n
s
en
s
o
r
ed
co
n
tr
o
l
tech
n
i
q
u
es
,
s
en
s
o
r
s
s
u
ch
as
b
ac
k
-
E
MF
d
ete
ctio
n
,
h
all
e
f
f
ec
t
s
e
n
s
o
r
s
,
an
d
en
co
d
er
s
ar
e
u
tili
ze
d
to
tr
ac
k
th
e
in
f
o
r
m
atio
n
r
e
g
ar
d
in
g
th
e
r
o
to
r
’
s
p
o
s
itio
n
.
I
n
th
e
h
all
ef
f
ec
t
s
en
s
o
r
-
b
ased
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
.
4
,
Dec
em
b
er
20
25
:
2143
-
2
1
5
5
2146
co
n
tr
o
l
tech
n
iq
u
e,
th
r
ee
s
en
s
o
r
s
ar
e
u
tili
ze
d
to
tr
ac
k
th
e
r
o
t
o
r
'
s
p
o
s
itio
n
in
r
ef
er
en
ce
to
t
h
e
s
tato
r
win
d
in
g
s
.
B
ased
o
n
th
e
s
ig
n
als
f
r
o
m
th
ese
s
en
s
o
r
s
,
th
e
co
n
tr
o
ller
ca
n
d
eter
m
in
e
th
e
o
p
tim
al
tim
in
g
f
o
r
co
m
m
u
tatin
g
th
e
m
o
to
r
win
d
i
n
g
s
[
1
6
]
.
I
n
t
h
e
b
a
c
k
e
l
e
c
t
r
o
m
o
t
i
v
e
f
o
r
c
e
(
E
M
F
)
d
e
t
ec
t
i
o
n
-
b
a
s
e
d
m
et
h
o
d
,
t
h
e
E
M
F
p
r
o
d
u
c
e
d
b
y
t
h
e
m
o
t
o
r
w
i
n
d
i
n
g
s
is
m
e
as
u
r
e
d
w
h
e
n
t
h
e
m
o
t
o
r
r
o
t
a
t
e
s
.
B
y
a
n
a
l
y
zi
n
g
t
h
e
a
n
g
u
l
a
r
d
i
s
p
l
a
c
e
m
e
n
t
o
f
t
h
e
b
a
c
k
E
M
F
w
a
v
e
f
o
r
m
,
t
h
e
c
o
n
t
r
o
l
l
e
r
ca
n
d
e
d
u
c
e
t
h
e
r
o
t
o
r
'
s
p
o
s
i
ti
o
n
a
n
d
a
d
j
u
s
t
t
h
e
c
o
m
m
u
t
a
t
i
o
n
ac
c
o
r
d
i
n
g
l
y
.
T
h
i
s
m
et
h
o
d
o
f
f
e
r
s
p
r
e
c
i
s
e
c
o
n
t
r
o
l
b
u
t
m
a
y
b
e
m
o
r
e
c
o
m
p
l
e
x
a
n
d
e
x
p
e
n
s
i
v
e
c
o
m
p
a
r
e
d
t
o
h
a
l
l
e
f
f
e
c
t
s
e
n
s
o
r
s
[
1
4
]
,
[
1
7
]
.
I
n
s
en
s
o
r
less
co
n
tr
o
l
o
f
B
L
DC
m
o
to
r
s
,
s
ev
er
al
m
eth
o
d
s
s
u
ch
as
b
ac
k
E
MF
ze
r
o
cr
o
s
s
in
g
d
etec
tio
n
,
m
o
d
el
-
b
ased
esti
m
atio
n
,
h
ig
h
-
f
r
eq
u
e
n
cy
in
jectio
n
,
o
b
s
er
v
er
-
b
ased
tech
n
iq
u
es,
an
d
th
ir
d
h
ar
m
o
n
ic
in
jectio
n
ar
e
u
tili
ze
d
f
o
r
e
s
tim
atin
g
r
o
to
r
p
o
s
itio
n
an
d
co
n
tr
o
llin
g
m
o
to
r
o
p
er
atio
n
.
I
n
th
e
b
ac
k
E
MF
ze
r
o
-
cr
o
s
s
in
g
d
etec
tio
n
m
eth
o
d
,
th
e
ze
r
o
-
cr
o
s
s
in
g
p
o
in
ts
o
f
th
e
b
ac
k
E
M
F
wav
ef
o
r
m
ar
e
g
en
er
ated
b
y
th
e
u
n
e
x
cited
p
h
ase
win
d
in
g
.
T
h
ese
p
o
in
ts
ar
e
u
til
ized
to
esti
m
ate
r
o
to
r
p
o
s
itio
n
f
o
r
s
en
s
o
r
l
ess
co
m
m
u
tatio
n
[
1
8
]
,
[
1
9
]
.
Ho
wev
er
,
d
etec
tin
g
b
ac
k
E
MF
ze
r
o
cr
o
s
s
in
g
s
is
cr
u
cial
f
o
r
co
n
tr
o
llin
g
B
L
DC
m
o
to
r
s
ac
cu
r
ately
[
2
0
]
.
Sen
s
o
r
-
b
ased
m
eth
o
d
s
o
f
f
er
h
ig
h
ac
cu
r
ac
y
b
u
t
ca
n
b
e
co
s
tly
.
Sen
s
o
r
less
m
eth
o
d
s
ar
e
ch
ea
p
er
an
d
s
im
p
ler
b
u
t
m
ay
n
o
t
alwa
y
s
b
e
as
a
cc
u
r
ate.
Mo
r
e
r
esear
ch
is
r
eq
u
ir
ed
to
en
h
an
ce
th
e
ac
cu
r
ac
y
o
f
s
en
s
o
r
less
m
eth
o
d
s
,
esp
ec
ially
at
lo
w
s
p
ee
d
s
an
d
u
n
d
er
v
ar
io
u
s
co
n
d
itio
n
s
.
Scalar
an
d
v
ec
to
r
co
n
tr
o
l
ar
e
two
co
m
m
o
n
m
eth
o
d
s
u
s
ed
f
o
r
co
n
tr
o
llin
g
t
h
e
to
r
q
u
e
an
d
s
p
ee
d
o
f
B
L
DC
m
o
to
r
s
.
B
o
th
m
eth
o
d
s
h
av
e
th
eir
ad
v
an
tag
es
an
d
a
r
e
s
u
itab
le
f
o
r
d
if
f
er
e
n
t
ap
p
licatio
n
s
.
Scalar
co
n
tr
o
l
is
a
s
tr
aig
h
tf
o
r
war
d
m
eth
o
d
u
s
ed
to
co
n
tr
o
l
th
e
s
p
ee
d
o
f
B
L
DC
m
o
to
r
s
[
2
1
]
,
[
2
2
]
.
I
n
s
ca
lar
co
n
tr
o
l,
th
e
v
o
ltag
e
a
n
d
f
r
eq
u
en
cy
ap
p
lied
to
th
e
m
o
t
o
r
a
r
e
ch
a
n
g
ed
in
p
r
o
p
o
r
ti
o
n
t
o
co
n
tr
o
l
t
h
e
s
p
ee
d
.
Hen
ce
,
it'
s
ca
lled
s
ca
lar
co
n
tr
o
l
b
ec
au
s
e
o
n
ly
t
h
e
m
ag
n
itu
d
e
(
o
r
s
ca
lar
)
o
f
th
e
v
o
ltag
e
s
ig
n
al
is
ad
ju
s
ted
.
T
h
is
m
eth
o
d
is
r
elativ
ely
s
im
p
le
to
im
p
lem
e
n
t
an
d
is
co
m
m
o
n
ly
u
s
ed
in
a
p
p
licatio
n
s
wh
er
e
ac
c
u
r
ate
co
n
tr
o
l
o
f
to
r
q
u
e
an
d
s
p
ee
d
is
n
o
t
r
eq
u
ir
ed
.
Ho
we
v
er
,
s
ca
lar
co
n
tr
o
l
lack
s
th
e
ab
i
lity
to
in
d
iv
id
u
ally
co
n
tr
o
l
th
e
f
lu
x
an
d
to
r
q
u
e
o
f
th
e
m
o
to
r
,
wh
ich
lim
its
its
p
er
f
o
r
m
an
ce
in
d
y
n
am
ic
ap
p
licatio
n
s
.
Vec
to
r
co
n
tr
o
l,
alter
n
ativ
el
y
ter
m
ed
f
iel
d
-
o
r
ien
ted
co
n
tr
o
l
(
FOC
)
,
r
ep
r
esen
ts
an
ad
v
an
ce
d
m
eth
o
d
em
p
lo
y
ed
t
o
ac
h
iev
e
p
r
ec
is
e
co
n
tr
o
l
o
v
er
B
L
DC
m
o
to
r
s
.
I
n
v
ec
to
r
co
n
tr
o
l,
th
e
s
tato
r
c
u
r
r
en
ts
ar
e
co
n
tr
o
lled
in
b
o
th
m
ag
n
itu
d
e
an
d
p
h
ase
an
g
le
with
r
esp
ec
t
to
t
h
e
r
o
t
o
r
f
lu
x
,
t
h
er
eb
y
en
ab
lin
g
th
e
i
n
d
ep
en
d
en
t
c
o
n
tr
o
l
o
f
f
lu
x
an
d
t
o
r
q
u
e
[
2
3
]
-
[
2
6
]
.
B
y
co
n
tr
o
llin
g
th
e
s
tato
r
c
u
r
r
en
t
s
with
in
a
r
o
tatin
g
r
ef
er
en
ce
f
r
am
e
s
y
n
ch
r
o
n
ized
with
th
e
r
o
to
r
f
lu
x
,
th
e
v
ec
to
r
co
n
tr
o
l
ef
f
ec
tiv
ely
d
ec
o
u
p
les
t
h
e
f
lu
x
a
n
d
to
r
q
u
e
c
o
n
tr
o
l
lo
o
p
s
,
en
ab
lin
g
h
ig
h
-
p
er
f
o
r
m
an
ce
co
n
t
r
o
l
o
f
b
o
th
s
p
ee
d
an
d
to
r
q
u
e.
Vec
to
r
co
n
tr
o
l
p
r
o
v
i
d
es
s
u
p
er
io
r
d
y
n
am
i
c
p
er
f
o
r
m
a
n
ce
an
d
ef
f
icien
cy
co
m
p
ar
ed
to
s
ca
la
r
co
n
tr
o
l,
m
a
k
in
g
it
s
u
itab
le
f
o
r
ap
p
licatio
n
s
wh
er
e
ex
ac
t
co
n
tr
o
l
o
f
s
p
ee
d
,
to
r
q
u
e
,
an
d
f
lu
x
is
r
eq
u
ir
e
d
,
s
u
ch
as
in
i
n
d
u
s
tr
ial
au
to
m
atio
n
s
y
s
tem
s
an
d
elec
tr
ic
v
eh
icle
s
.
Ho
wev
er
,
v
ec
t
o
r
co
n
tr
o
l a
lg
o
r
ith
m
s
ar
e
m
o
r
e
c
o
m
p
lex
a
n
d
r
e
q
u
ir
e
m
o
r
e
co
m
p
u
tatio
n
al
r
eso
u
r
ce
s
co
m
p
ar
e
d
to
s
ca
lar
co
n
tr
o
l.
S
u
t
i
k
n
o
e
t
a
l
.
s
u
g
g
e
s
t
e
d
an
F
P
G
A
-
b
a
s
e
d
P
W
M
c
o
n
t
r
o
l
f
o
r
B
L
D
C
c
o
n
t
r
o
l
[
2
6
]
.
N
a
q
v
i
e
t
a
l
.
c
r
e
a
t
e
d
a
m
u
l
t
i
-
o
b
j
e
c
t
i
v
e
o
p
t
i
m
i
z
a
t
i
o
n
s
p
e
e
d
c
o
n
t
r
o
l
s
y
s
t
e
m
f
o
r
B
L
D
C
m
o
t
o
r
s
u
s
i
n
g
p
a
r
t
i
c
l
e
s
w
a
r
m
o
p
t
i
m
i
z
e
d
P
I
D
c
o
n
t
r
o
l
l
e
r
s
a
n
d
r
e
s
t
r
i
c
t
e
d
d
i
f
f
e
r
e
n
t
i
a
l
e
v
o
l
u
t
i
o
n
.
T
h
e
s
u
g
g
e
s
t
e
d
a
p
p
r
o
a
c
h
i
m
p
r
o
v
e
s
E
V
m
o
t
o
r
s
p
e
e
d
c
o
n
t
r
o
l
[
2
7
]
.
A
n
a
r
t
i
f
i
c
i
a
l
n
e
u
r
a
l
n
e
t
w
o
r
k
c
o
n
t
r
o
l
l
e
r
-
b
a
s
e
d
s
p
e
e
d
c
o
n
t
r
o
l
o
f
a
B
L
D
C
m
o
t
o
r
w
a
s
s
u
g
g
e
s
t
e
d
b
y
M
e
g
r
i
n
i
et
a
l
.
T
h
e
s
y
s
t
e
m
i
s
r
a
p
i
d
l
y
s
t
a
b
i
l
i
z
e
d
a
n
d
r
e
s
p
o
n
d
s
w
e
l
l
t
o
t
h
e
a
r
t
i
f
i
c
i
a
l
n
e
u
r
a
l
n
e
t
w
o
r
k
c
o
n
t
r
o
l
l
e
r
[
2
8
]
.
T
h
e
p
r
o
p
o
s
ed
co
n
tr
o
l
alg
o
r
ith
m
is
a
s
en
s
o
r
-
b
ased
c
o
n
tr
o
l
al
g
o
r
ith
m
.
T
h
e
au
th
o
r
s
m
a
d
e
a
n
attem
p
t
to
r
ep
lace
th
e
co
m
p
lex
s
en
s
o
r
-
b
ased
alg
o
r
ith
m
with
a
s
im
p
le
alg
o
r
ith
m
.
T
h
e
tr
ad
itio
n
al
s
e
n
s
o
r
-
b
ased
co
n
tr
o
l
alg
o
r
ith
m
s
co
n
tin
u
o
u
s
ly
tr
ac
k
th
e
p
o
s
itio
n
o
f
th
e
r
o
to
r
an
d
v
er
if
y
with
th
e
lo
o
k
u
p
tab
le
,
an
d
g
en
er
ate
th
e
co
n
tr
o
l
s
ig
n
al
ac
co
r
d
in
g
ly
.
T
h
is
in
v
o
lv
es
s
ev
er
al
s
witch
ca
s
es
,
wh
ich
in
cr
ea
s
es
th
e
tim
e
d
elay
.
In
th
e
p
r
o
p
o
s
ed
co
m
b
i
n
atio
n
al
lo
g
ic
-
b
ased
alg
o
r
ith
m
,
th
e
c
o
n
tr
o
l
s
ig
n
al
is
g
en
er
ated
d
ir
ec
tly
b
a
s
ed
o
n
th
e
p
o
s
itio
n
o
f
th
e
r
o
to
r
(
i.e
.
,
it
d
ep
e
n
d
s
o
n
ly
o
n
th
e
p
r
esen
t
i
n
p
u
ts
)
.
Hen
ce
,
th
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
p
r
o
v
id
es
a
f
ast
r
esp
o
n
s
e
in
th
e
g
en
er
atio
n
o
f
a
co
n
tr
o
l
s
ig
n
al
f
o
r
th
e
co
m
m
u
tatio
n
o
f
s
witch
es
,
wh
ich
s
u
i
ts
v
er
y
m
u
ch
b
etter
f
o
r
r
ea
l
tim
e
ap
p
licatio
n
s
.
T
h
e
s
en
s
o
r
less
co
n
tr
o
l
in
v
o
l
v
es
a
v
er
y
co
m
p
lex
alg
o
r
ith
m
.
T
h
e
co
m
p
lex
ity
in
cr
ea
s
es
with
th
e
n
u
m
b
e
r
o
f
s
witch
es
u
s
ed
in
th
e
in
v
er
ter
.
B
u
t
th
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
r
em
ain
s
s
im
p
le
an
d
f
ast en
o
u
g
h
ev
en
with
an
in
cr
e
ased
n
u
m
b
e
r
o
f
h
all
s
en
s
o
r
s
.
4.
CO
M
B
I
NA
T
I
O
N
-
B
AS
E
D
C
O
NT
RO
L
A
L
G
O
RI
T
H
M
F
O
R
B
L
DC
M
O
T
O
R
T
h
is
ar
ticle
p
r
o
p
o
s
es
a
co
m
b
i
n
atio
n
al
lo
g
ic
-
b
ased
co
n
tr
o
l
alg
o
r
ith
m
f
o
r
B
L
DC
m
o
to
r
.
As
d
is
cu
s
s
ed
ea
r
lier
,
a
B
L
DC
m
o
to
r
is
co
m
p
o
s
ed
o
f
two
m
a
jo
r
p
ar
ts
:
th
e
s
tato
r
,
wh
ich
r
em
ain
s
s
tati
o
n
ar
y
an
d
co
n
tain
s
wir
e
co
ils
wo
u
n
d
ar
o
u
n
d
ir
o
n
co
r
es
,
a
n
d
t
h
e
r
o
to
r
,
wh
ic
h
is
th
e
r
o
ta
tin
g
c
o
m
p
o
n
en
t
m
ad
e
o
f
p
er
m
an
en
t
m
ag
n
ets.
T
h
e
o
p
e
r
atio
n
o
f
a
B
L
DC
m
o
to
r
h
ea
v
ily
d
e
p
en
d
s
o
n
an
elec
tr
o
n
ic
s
p
ee
d
c
o
n
tr
o
lle
r
(
E
SC
)
to
m
an
ag
e
its
s
p
ee
d
an
d
d
ir
ec
tio
n
b
y
tr
an
s
m
itti
n
g
ap
p
r
o
p
r
iate
elec
tr
ical
s
ig
n
als
to
th
e
m
o
to
r
win
d
in
g
s
.
Hall
ef
f
ec
t
s
en
s
o
r
s
ar
e
in
co
r
p
o
r
ated
to
i
d
en
tify
th
e
r
o
to
r
m
ag
n
ets'
p
o
s
itio
n
an
d
to
p
r
o
v
id
e
f
ee
d
b
a
ck
to
th
e
E
SC
f
o
r
p
r
ec
is
e
co
n
tr
o
l.
T
h
e
E
SC
tr
ig
g
er
s
th
e
s
tato
r
co
ils
in
a
p
r
ed
eter
m
in
ed
o
r
d
er
to
g
e
n
er
ate
a
r
o
tatin
g
m
ag
n
etic
f
ield
,
en
s
u
r
i
n
g
its
in
ter
ac
tio
n
with
th
e
p
er
m
an
e
n
t
m
ag
n
e
ts
o
n
t
h
e
r
o
to
r
,
th
er
eb
y
in
itiati
n
g
r
o
tatio
n
.
Sp
ee
d
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
d
ig
ita
l lo
g
ic
fo
r
b
r
u
s
h
less
DC
…
(
B
elw
in
J.
B
r
ea
r
ley
)
2147
r
eg
u
latio
n
is
ac
h
iev
ed
t
h
r
o
u
g
h
th
e
E
SC
'
s
m
o
d
u
latio
n
o
f
th
e
a
m
p
litu
d
e
an
d
d
u
r
atio
n
o
f
elec
tr
ical
p
u
ls
es
s
en
t
to
th
e
s
t
ato
r
co
ils
.
T
h
is
co
n
tr
o
l
m
eth
o
d
,
k
n
o
wn
as
p
u
ls
e
-
wi
d
th
m
o
d
u
latio
n
(
PW
M)
,
ef
f
e
ctiv
ely
ad
j
u
s
ts
th
e
av
er
ag
e
v
o
ltag
e
ap
p
lied
to
th
e
m
o
to
r
,
th
u
s
co
n
tr
o
llin
g
its
s
p
ee
d
.
T
h
e
p
r
o
p
o
s
ed
wo
r
k
s
u
g
g
ests
an
in
n
o
v
ativ
e
co
n
tr
o
l
alg
o
r
ith
m
f
o
r
th
e
B
L
DC
m
o
to
r
,
wh
ich
p
r
o
p
els
th
e
elec
tr
ic
v
eh
icle
(
Fig
u
r
e
2
)
.
T
h
e
B
L
DC
m
o
to
r
is
f
ed
by
a
b
atter
y
th
r
o
u
g
h
th
e
v
o
ltag
e
s
o
u
r
ce
in
v
e
r
ter
.
T
h
r
ee
h
all
ef
f
ec
t
s
en
s
o
r
s
ar
e
p
lace
d
at
1
2
0
°
p
h
ase
s
h
if
t
t
o
tr
ac
k
th
e
r
o
to
r
p
o
s
itio
n
.
Fig
u
r
e
2
.
B
lo
ck
d
iag
r
am
o
f
B
L
DC
m
o
to
r
d
r
iv
e
s
y
s
tem
I
n
th
is
p
r
o
p
o
s
ed
m
et
h
o
d
,
th
e
g
ate
s
ig
n
als
to
tr
ig
g
er
t
h
e
s
witch
es
ar
e
g
e
n
er
ated
b
a
s
ed
o
n
a
co
m
b
in
atio
n
al
cir
cu
it.
A
c
o
m
b
in
atio
n
al
cir
c
u
it
is
a
d
ig
ital
e
lectr
o
n
ic
cir
c
u
it
in
wh
ich
th
e
o
u
tp
u
t
r
elies
o
n
th
e
in
p
u
t
v
ar
iab
les.
T
h
e
p
r
o
ce
d
u
r
e
to
d
esig
n
th
e
co
m
b
i
n
a
tio
n
al
cir
cu
it
is
i)
D
ec
id
e
th
e
n
u
m
b
e
r
o
f
in
p
u
t
v
ar
iab
les
;
ii)
D
ec
id
e
th
e
n
u
m
b
e
r
o
f
o
u
tp
u
t
v
ar
iab
les
;
an
d
iii)
C
r
ea
te
a
tr
u
th
tab
le
with
in
p
u
ts
an
d
o
u
tp
u
ts
.
Fo
r
a
cir
cu
it
with
‘
n
’
in
p
u
t
v
ar
iab
les
,
th
e
p
o
s
s
ib
le
co
m
b
in
atio
n
s
o
f
in
p
u
t
s
ar
e
2
n
.
Fo
r
all
p
o
s
s
ib
l
e
co
m
b
in
atio
n
s
o
f
in
p
u
ts
,
f
ill
th
e
r
eq
u
ir
ed
o
u
tp
u
t
;
iv
)
R
e
late
th
e
o
u
tp
u
t
v
a
r
iab
les
in
ter
m
s
o
f
in
p
u
t
v
a
r
iab
les
u
s
in
g
th
e
Kar
n
au
g
h
Ma
p
in
a
lo
g
ical
ex
p
r
ess
io
n
;
an
d
v
)
U
s
in
g
th
e
r
ed
u
ce
d
ex
p
r
ess
io
n
,
i
m
p
lem
en
t
th
e
co
m
b
in
atio
n
al
cir
cu
it.
A
h
alf
ad
d
er
is
an
ex
am
p
le
o
f
a
co
m
b
in
atio
n
al
cir
cu
it.
F
o
r
e
x
a
m
p
l
e
,
t
o
d
e
s
i
g
n
a
n
d
i
m
p
l
e
m
e
n
t
a
c
i
r
c
u
it
t
h
a
t
a
d
d
s
tw
o
s
i
n
g
l
e
-
b
i
t
n
u
m
b
e
r
s
(
a
h
a
l
f
a
d
d
er
c
i
r
c
u
i
t
)
:
-
Step
1
:
Dec
id
e
t
h
e
n
u
m
b
e
r
o
f
in
p
u
t
v
a
r
iab
les
.
T
h
e
o
b
jectiv
e
is
to
ad
d
two
s
in
g
le
-
b
it
n
u
m
b
er
s
.
Hen
ce
,
th
e
n
u
m
b
er
o
f
i
n
p
u
ts
is
2
.
L
et
it b
e
A
an
d
B
;
-
Step
2
: D
ec
id
e
th
e
n
u
m
b
er
o
f
o
u
tp
u
t v
ar
ia
b
les
.
T
h
e
f
u
n
ctio
n
th
at
h
as to
b
e
ex
ec
u
ted
b
y
a
h
alf
ad
d
er
cir
cu
it
is
to
ad
d
A
an
d
B
.
Hen
ce
,
th
e
ex
p
ec
ted
o
u
tp
u
ts
ar
e
2
(
s
u
m
a
n
d
ca
r
r
y
)
;
-
Step
3
:
C
r
ea
te
a
tr
u
th
tab
le
(
T
ab
le
2
)
with
in
p
u
ts
an
d
o
u
tp
u
ts
.
Sin
ce
we
h
av
e
2
in
p
u
t
s
,
th
e
p
o
s
s
ib
le
co
m
b
in
atio
n
s
o
f
o
u
tp
u
ts
a
r
e
2
2
=
4
.
T
h
e
y
ar
e
0
0
,
0
1
,
1
0
,
1
1
.
Fo
r
all
th
e
p
o
s
s
ib
le
in
p
u
t
co
m
b
in
atio
n
s
,
f
ill
in
th
e
ex
p
ec
te
d
o
u
tp
u
ts
.
T
h
e
f
u
n
ctio
n
is
to
ad
d
A
a
n
d
B
.
So
,
w
h
en
we
ad
d
th
e
f
ir
s
t
s
et
o
f
in
p
u
ts
0
a
n
d
0
,
t
h
e
r
eq
u
ir
ed
o
u
tp
u
t is su
m
=
0
a
n
d
ca
r
r
y
=
0
.
L
ik
ewise
,
f
ill
in
th
e
ex
p
ec
ted
o
u
tp
u
t
f
o
r
all
p
o
s
s
ib
ilit
ies
; a
n
d
-
Step
4
: N
o
w
ex
p
r
ess
th
e
in
p
u
ts
in
ter
m
s
o
f
th
e
Ou
tp
u
t b
y
p
lo
ttin
g
(
Fig
u
r
e
3
)
in
a
Kar
n
au
g
h
Ma
p
(
K
-
Ma
p
)
.
Usi
n
g
th
e
r
ed
u
ce
d
ex
p
r
ess
io
n
,
im
p
lem
en
t th
e
c
o
m
b
in
atio
n
al
cir
cu
it (
Fig
u
r
e
4
)
.
I
n
a
s
im
ilar
m
an
n
er
,
th
e
co
n
tr
o
l
s
ig
n
als
f
o
r
th
e
in
v
er
ter
tr
ig
g
er
in
g
th
e
B
L
DC
m
o
to
r
d
r
iv
e
a
r
e
g
en
er
ate
d
in
th
is
p
r
o
p
o
s
ed
alg
o
r
ith
m
,
wh
ich
is
d
is
cu
s
s
ed
in
d
etail
b
elo
w.
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
.
4
,
Dec
em
b
er
20
25
:
2143
-
2
1
5
5
2148
T
ab
le
2
.
T
r
u
th
tab
le
o
f
h
al
f
ad
d
er
I
n
p
u
t
O
u
t
p
u
t
A
B
S
u
m
C
a
r
r
y
0
0
0
0
0
1
1
0
1
0
1
0
1
1
0
1
Fig
u
r
e
3
.
K
-
m
a
p
f
o
r
a
h
al
f
ad
d
er
Fig
u
r
e
4
.
C
o
m
b
i
n
atio
n
al
cir
cu
it o
f
a
h
alf
ad
d
e
r
I
n
a
4
-
p
o
le
B
L
DC
m
o
to
r
,
th
r
ee
h
all
s
en
s
o
r
s
(
Ha,
Hb
,
Hc
)
ar
e
attac
h
ed
t
o
d
eter
m
in
e
th
e
p
o
s
itio
n
o
f
th
e
r
o
to
r
.
A
h
all
s
en
s
o
r
p
r
o
d
u
ce
s
th
e
o
u
tp
u
t
s
ig
n
al
o
n
ly
wh
en
th
e
n
o
r
th
p
o
le
p
ass
es
th
r
o
u
g
h
th
e
h
all
s
en
s
o
r
.
T
h
er
e
will
b
e
s
ix
p
o
s
s
ib
ilit
ies
o
f
o
u
tp
u
ts
f
r
o
m
h
all
s
en
s
o
r
s
.
W
h
en
th
e
r
o
to
r
is
in
a
p
o
s
itio
n
s
im
ilar
to
Fig
u
r
e
5
,
th
e
h
all
s
en
s
o
r
o
u
tp
u
ts
ar
e
(
0
,
0
,
1
)
.
T
h
en
,
s
tato
r
co
ils
A
s
h
o
u
ld
b
e
ex
cited
as
th
e
n
o
r
th
p
o
le
,
wh
ich
will
p
u
s
h
th
e
r
o
to
r
in
a
clo
c
k
wis
e
d
ir
ec
t
io
n
,
an
d
e
x
cite
th
e
s
tato
r
co
il
C
as
th
e
s
o
u
th
p
o
le
,
wh
ich
wil
l
attr
ac
t
th
e
r
o
to
r
i
n
a
clo
ck
wis
e
d
ir
ec
tio
n
.
Similar
ly
,
wh
en
th
e
h
all
s
en
s
o
r
o
u
tp
u
ts
ar
e
0
1
1
,
th
e
s
witch
es
co
n
n
e
cted
to
th
e
A
p
h
ase
an
d
B
p
h
ase
h
av
e
to
b
e
ex
cite
d
,
wh
ich
is
tab
u
lated
i
n
T
ab
les
3
an
d
4
f
o
r
all
p
o
s
s
ib
ilit
ies.
T
h
e
d
ir
ec
tio
n
o
f
th
e
m
o
to
r
is
c
o
n
tr
o
lled
u
s
in
g
th
e
in
p
u
t
‘
d
ir
’
an
d
th
e
m
o
d
e
o
f
o
p
er
atio
n
u
s
in
g
th
e
in
p
u
t
‘
m
o
d
e’
,
r
esp
ec
tiv
ely
.
T
h
e
m
o
to
r
is
s
witch
ed
ON
u
s
in
g
th
e
in
p
u
t
‘
ctr
’
.
As
s
o
o
n
as
th
e
‘
ctr
’
is
en
ab
led
,
th
e
co
ils
will
b
e
ex
cited
ac
co
r
d
in
g
l
y
to
th
e
c
o
m
b
in
atio
n
a
l
lo
g
ic
u
n
til
th
e
h
all
s
en
s
o
r
o
u
tp
u
t
ch
an
g
es.
T
h
e
ex
citatio
n
is
d
o
n
e
b
ased
o
n
th
e
cu
r
r
en
t
p
o
s
itio
n
o
f
th
e
r
o
to
r
,
m
o
d
e
o
f
o
p
e
r
atio
n
,
a
n
d
d
ir
ec
tio
n
o
f
th
e
m
o
t
o
r
.
T
h
u
s
,
th
e
in
p
u
ts
to
th
e
co
n
tr
o
l
ler
to
g
en
er
ate
g
ate
p
u
ls
es
ar
e
h
all
s
en
s
o
r
p
o
s
itio
n
s
(
A,
B,
C
)
,
m
o
d
e
o
f
o
p
er
atio
n
(
m
o
to
r
in
g
,
b
r
a
k
in
g
)
,
d
ir
ec
tio
n
o
f
r
o
tatio
n
(
f
o
r
war
d
,
r
ev
er
s
e)
,
an
d
th
e
o
u
tp
u
ts
ar
e
g
ate
p
u
ls
es
f
o
r
th
e
in
v
er
ter
(
A
H
,
A
L
,
B
H
,
B
L
,
C
H
,
an
d
C
L
)
.
T
ab
le
s
3
an
d
4
[
2
6
]
r
ep
r
esen
t
th
e
s
eq
u
en
ce
s
o
f
g
ate
p
u
ls
es
to
b
e
g
iv
en
to
th
e
in
v
er
ter
cir
cu
it
to
d
r
iv
e
th
e
B
L
DC
m
o
to
r
.
Usi
n
g
T
ab
les
3
an
d
4
as
th
e
tr
u
th
t
ab
le,
th
e
g
ate
p
u
ls
e
o
u
tp
u
ts
(
A
H
,
A
L
,
B
H
,
B
L
,
C
H
,
an
d
C
L
)
in
ter
m
s
o
f
in
p
u
ts
ar
e
g
en
er
ated
b
y
r
ed
u
ci
n
g
th
e
K
-
m
ap
ex
p
r
ess
io
n
,
wh
ich
is
s
h
o
wn
in
(
1
)
–
(
6
)
.
=
(
(
+
(
⊕
)
)
)
(
1
)
=
(
+
(
⊕
)
)
)
(
2
)
=
(
(
(
(
+
)
)
)
+
(
)
)
(
3
)
=
(
(
)
+
(
(
+
)
)
)
(
4
)
=
(
(
(
⊕
)
+
(
⊕
)
)
(
5
)
=
(
(
⊕
)
+
(
⊕
)
)
(
6
)
I
n
itially
,
th
e
co
n
t
r
o
l
lo
g
ic
s
u
g
g
ested
in
(
1
)
to
(
6
)
is
v
er
if
ied
in
Xilin
x
s
o
f
twar
e
(
s
h
o
wn
in
Fig
u
r
e
6
)
.
Fo
r
all
th
e
p
o
s
s
ib
ilit
ies
an
d
m
o
d
es
o
f
o
p
er
atio
n
,
th
e
co
n
tr
o
l
alg
o
r
ith
m
was
g
en
er
ated
p
r
ec
is
ely
as
g
iv
en
in
T
ab
le
s
3
an
d
4
.
T
h
e
n
,
th
e
s
am
e
p
r
o
p
o
s
ed
c
o
n
tr
o
ller
f
o
r
s
p
ee
d
co
n
tr
o
l
o
f
th
e
B
L
DC
m
o
to
r
is
d
esig
n
ed
with
a
PIC
m
icr
o
co
n
tr
o
ller
u
s
in
g
Pr
o
teu
s
s
o
f
twar
e
(
s
h
o
wn
i
n
Fig
u
r
e
7
)
.
T
h
e
o
u
tp
u
t
f
r
o
m
th
e
c
o
n
tr
o
ller
is
f
ed
t
o
th
e
d
r
iv
er
cir
cu
it
to
tr
ig
g
e
r
th
e
I
GB
T
s
in
th
e
v
o
ltag
e
s
o
u
r
ce
in
v
er
ter
.
T
h
e
v
o
ltag
e
s
o
u
r
ce
in
v
er
ter
d
r
iv
es
th
e
B
L
DC
m
o
to
r
,
wh
ich
is
u
s
ed
to
p
r
o
p
el
th
e
v
e
h
icle
(
s
h
o
wn
in
Fig
u
r
e
8
)
.
Fo
r
d
i
f
f
er
en
t
o
p
er
atin
g
m
o
d
es,
th
e
ex
citatio
n
is
f
aster
t
h
an
t
h
e
s
tate
m
ac
h
in
e
lo
g
ic.
B
y
m
ea
n
s
o
f
th
e
ab
o
v
e
c
o
m
b
in
atio
n
al
lo
g
ic,
th
e
d
esire
d
g
ate
s
ig
n
als will b
e
f
aster
th
an
th
e
s
eq
u
en
tial lo
g
ic
co
n
t
r
o
ller
.
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
d
ig
ita
l lo
g
ic
fo
r
b
r
u
s
h
less
DC
…
(
B
elw
in
J.
B
r
ea
r
ley
)
2149
Fig
u
r
e
5
.
Dif
f
e
r
en
t p
o
s
s
ib
ilit
ie
s
o
f
h
all
s
en
s
o
r
o
u
tp
u
ts
T
ab
le
3
.
Po
s
itio
n
o
f
th
e
h
all
s
e
n
s
o
r
an
d
d
r
iv
e
b
its
in
f
o
r
war
d
an
d
r
ev
e
r
s
e
r
o
tatio
n
s
H
a
l
l
e
f
f
e
c
t
s
e
n
s
o
r
P
h
a
se
F
o
r
w
a
r
d
r
o
t
a
t
i
o
n
P
h
a
se
R
e
v
e
r
se
r
o
t
a
t
i
o
n
A
B
C
A
H
A
L
B
H
B
L
C
H
C
L
A
H
A
L
B
H
B
L
C
H
C
L
0
0
1
1
1
0
0
0
0
1
6
0
1
0
0
1
0
0
1
1
2
1
0
0
1
0
0
5
0
1
1
0
0
0
0
1
0
3
0
0
0
1
1
0
4
0
0
1
0
0
1
1
1
0
4
0
1
0
0
1
0
3
1
0
0
0
0
1
1
0
0
5
0
1
1
0
0
0
2
1
0
0
1
0
0
1
0
1
6
0
0
1
0
0
1
1
0
0
0
1
1
0
T
ab
le
4
.
Po
s
itio
n
o
f
h
all
s
en
s
o
r
an
d
d
r
iv
e
b
its
in
f
o
r
war
d
an
d
r
ev
er
s
e
r
eg
e
n
er
ativ
e
b
r
ak
in
g
H
a
l
l
e
f
f
e
c
t
s
e
n
s
o
r
P
h
a
se
F
o
r
w
a
r
d
r
e
g
e
n
e
r
a
t
i
v
e
b
r
a
k
i
n
g
P
h
a
se
R
e
v
e
r
se
r
e
g
e
n
e
r
a
t
i
v
e
b
r
a
k
i
n
g
A
B
C
A
H
A
L
B
H
B
L
C
H
C
L
A
H
A
L
B
H
B
L
C
H
C
L
0
0
1
1
0
0
0
0
0
1
6
0
1
0
0
0
0
0
1
1
2
0
0
0
1
0
0
5
0
1
0
0
0
0
0
1
0
3
0
0
0
1
0
0
4
0
0
0
0
0
1
1
1
0
4
0
1
0
0
0
0
3
0
0
0
0
0
1
1
0
0
5
0
1
0
0
0
0
2
0
0
0
1
0
0
1
0
1
6
0
0
0
0
0
1
1
0
0
0
1
0
0
Fig
u
r
e
6
.
C
o
n
tr
o
l lo
g
ic
alg
o
r
it
h
m
f
o
r
th
e
B
L
DC
m
o
to
r
in
Xil
in
x
s
o
f
twar
e
A
co
u
n
ter
ci
r
cu
it
is
in
co
r
p
o
r
a
ted
to
f
ac
ilit
ate
p
r
ec
is
e
s
p
ee
d
co
n
tr
o
l
o
f
th
e
B
L
DC
m
o
to
r
(
Fig
u
r
e
9
)
.
T
h
e
co
u
n
ter
h
as
th
e
in
p
u
t
o
f
clo
ck
,
co
u
n
t,
a
n
d
en
d
v
alu
e
o
f
n
+1
b
its
(
E
0
,
E
1
,
…,
E
n
)
.
T
h
e
co
u
n
ter
s
tar
ts
co
u
n
tin
g
f
r
o
m
0
to
E
(
m
a
x
v
al
u
e)
.
On
ce
th
e
c
o
u
n
ter
r
ea
ch
es
th
e
v
alu
e
E
,
th
e
lo
ad
p
in
g
o
es
h
ig
h
,
w
h
ich
r
esets
th
e
co
u
n
ter
an
d
en
a
b
les
th
e
c
o
m
b
in
atio
n
al
lo
g
ic
al
g
o
r
ith
m
an
d
t
h
e
r
e
g
is
ter
.
Acc
o
r
d
i
n
g
to
th
e
h
all
s
en
s
o
r
s
'
o
u
tp
u
ts
,
m
o
d
e,
an
d
d
ir
ec
tio
n
,
t
h
e
g
ate
p
u
ls
e
s
ig
n
als
ar
e
g
en
er
ated
f
o
r
t
h
e
in
v
er
te
r
.
T
h
e
g
a
te
p
u
ls
e
in
p
u
t
v
al
u
es
is
s
to
r
ed
in
th
e
r
eg
is
ter
u
n
til th
e
lo
ad
p
in
b
ec
o
m
es h
i
g
h
.
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
.
4
,
Dec
em
b
er
20
25
:
2143
-
2
1
5
5
2150
Fig
u
r
e
7
.
C
o
n
tr
o
l lo
g
ic
alg
o
r
it
h
m
f
o
r
th
e
B
L
DC
m
o
to
r
in
Pr
o
teu
s
s
o
f
twar
e
T
h
e
v
alu
e
o
f
‘
E
’
is
ca
lcu
lated
b
ased
o
n
th
e
r
e
q
u
ir
ed
s
p
ee
d
o
f
th
e
B
L
DC
m
o
to
r
.
L
et
u
s
co
n
s
id
er
‘
f
’
to
b
e
th
e
clo
ck
f
r
eq
u
en
cy
,
‘
m
’
b
e
th
e
co
u
n
te
r
en
d
v
alu
e
in
d
ec
im
al,
‘
t
e
’
to
b
e
t
h
e
tim
e
r
eq
u
ir
ed
f
o
r
e
x
citatio
n
of
th
e
co
m
b
in
atio
n
al
lo
g
ic,
a
n
d
‘
tr
’
to
b
e
th
e
tim
e
r
eq
u
ir
ed
f
o
r
o
n
e
co
m
p
lete
r
e
v
o
lu
tio
n
o
f
th
e
r
o
to
r
.
T
h
en
:
t
e
=
(7
)
Sin
ce
ea
ch
co
il
is
p
o
s
itio
n
ed
ex
ac
tly
60°
,
th
e
r
e
ar
e
1
2
d
i
f
f
er
en
t
p
o
s
itio
n
s
f
o
r
th
e
r
o
to
r
to
co
m
p
lete
o
n
e
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as
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en
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t
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,
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e
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tr
o
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ca
n
b
e
r
ep
lace
d
with
an
FP
GA
co
n
tr
o
ller
.
F
UNDING
I
NF
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M
A
T
I
O
N
Au
th
o
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s
s
tate
n
o
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n
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in
v
o
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.
AUTHO
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B
UT
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M
E
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T
h
is
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u
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s
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th
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C
o
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tr
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to
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o
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T
ax
o
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o
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y
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ize
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al
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th
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tio
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s
,
r
ed
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ce
au
th
o
r
s
h
ip
d
is
p
u
tes,
an
d
f
ac
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llab
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atio
n
.
Na
m
e
o
f
Aut
ho
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M
So
Va
Fo
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Vi
Su
P
Fu
B
elwin
J
.
B
r
ea
r
ley
✓
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✓
✓
K.
R
eg
in
B
o
s
e
✓
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✓
✓
✓
✓
K.
Gan
esh
Ku
m
ar
✓
✓
✓
✓
C
:
C
o
n
c
e
p
t
u
a
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a
t
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:
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Au
th
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tate
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co
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t
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DATA AV
AI
L
AB
I
L
I
T
Y
T
h
e
a
u
t
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o
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s
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a
r
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a
v
a
i
la
b
l
e
wi
t
h
i
n
t
h
e
a
r
t
i
c
le
.
Evaluation Warning : The document was created with Spire.PDF for Python.