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I
J
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Vo
l.
1
6
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.
1
,
Feb
r
u
ar
y
20
2
6
,
p
p
.
135
~
148
I
SS
N:
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-
8
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DOI
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a
ls
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h
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sp
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,
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a
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d
su
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se
n
siti
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m
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ti
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n
-
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tr
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teg
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tro
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a
n
ica
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d
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sy
ste
m
s
.
K
ey
w
o
r
d
s
:
Acc
eler
atio
n
p
r
o
ce
s
s
E
lev
ato
r
d
r
i
v
e
s
y
s
tem
Field
p
r
o
g
r
a
m
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ab
le
g
ate
a
r
r
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-
cu
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v
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p
r
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f
ile
T
h
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s
a
n
o
p
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n
a
c
c
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ss
a
rticle
u
n
d
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r th
e
CC B
Y
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SA
li
c
e
n
se
.
C
o
r
r
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s
p
o
nd
ing
A
uth
o
r
:
Do
Van
C
an
Facu
lty
o
f
E
n
g
in
ee
r
in
g
an
d
T
e
ch
n
o
lo
g
y
,
Qu
y
Nh
o
n
Un
iv
er
s
i
ty
1
7
0
An
D
u
o
n
g
Vu
o
n
g
Stre
et,
Qu
y
Nh
o
n
C
ity
,
B
in
h
Din
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Pr
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v
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ce
,
Vietn
am
E
m
ail: d
o
v
an
ca
n
@
q
n
u
.
ed
u
.
v
n
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
ac
ce
ler
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n
p
r
o
ce
s
s
o
f
a
th
r
ee
-
p
h
ase
in
d
u
ctio
n
m
o
to
r
p
lay
s
a
p
iv
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tal
r
o
le
in
d
eter
m
in
in
g
th
e
p
er
f
o
r
m
an
ce
,
e
n
er
g
y
ef
f
icien
c
y
,
an
d
p
ass
en
g
er
co
m
f
o
r
t
o
f
e
lev
ato
r
s
y
s
tem
s
.
I
n
ap
p
r
o
p
r
iate
ac
ce
ler
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n
eith
er
to
o
s
lo
w
o
r
to
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ab
r
u
p
t
ca
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lead
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ec
h
a
n
ical
s
tr
ess
,
r
ed
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ce
d
life
s
p
an
o
f
co
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p
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n
en
ts
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an
d
u
n
c
o
m
f
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r
tab
le
ex
p
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ien
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s
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p
ar
ticu
la
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ly
f
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s
en
s
itiv
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u
s
er
s
s
u
ch
as
th
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eld
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ly
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d
c
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ild
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en
.
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ce
,
o
p
tim
izin
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th
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ce
ler
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s
tr
ateg
y
is
n
o
t
o
n
l
y
ess
en
tial f
o
r
s
y
s
tem
r
eliab
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b
u
t a
ls
o
f
o
r
en
s
u
r
in
g
s
af
ety
an
d
r
id
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q
u
ality
.
C
o
n
v
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tio
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al
elev
ato
r
s
y
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te
m
s
o
f
ten
r
ely
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n
lin
ea
r
ac
c
eler
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n
p
r
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iles
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e
s
im
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le
to
im
p
lem
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t
b
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t
in
h
e
r
en
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n
tr
o
d
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ce
h
ig
h
lev
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o
f
jer
k
at
t
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e
tr
an
s
itio
n
p
o
in
ts
.
T
h
is
r
esu
lts
in
u
n
d
esira
b
le
v
ib
r
atio
n
s
,
n
o
is
e,
an
d
m
ec
h
a
n
ical
wea
r
,
d
eg
r
ad
in
g
th
e
o
v
er
all
p
er
f
o
r
m
a
n
ce
o
f
th
e
d
r
iv
e
s
y
s
tem
.
I
n
co
n
tr
ast,
S
-
cu
r
v
e
ac
ce
ler
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n
p
r
o
f
iles
p
r
o
v
id
e
a
s
m
o
o
th
tr
an
s
itio
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b
y
lim
itin
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jer
k
an
d
allo
win
g
g
r
ad
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al
ch
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es
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th
er
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o
f
f
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s
u
p
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r
id
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co
m
f
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t
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m
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tab
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in
cr
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cia
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d
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d
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n
m
o
d
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tical
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n
s
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.
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[
1
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,
[
2
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.
H
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
2
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8
8
-
8
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8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
1
6
,
No
.
1
,
Feb
r
u
ar
y
20
2
6
:
1
3
5
-
148
136
a
t
t
e
n
t
i
o
n
t
o
m
o
ti
o
n
q
u
a
l
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ti
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I
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[
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a
n
d
[
2
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,
F
OC
is
t
y
p
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c
al
l
y
c
o
m
b
i
n
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d
w
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FOC
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DT
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m
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to
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3
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s
tato
r
v
o
ltag
e
co
m
p
o
n
en
ts
[
4
]
,
[
5
]
,
wh
ile
DT
C
u
s
e
s
a
n
o
n
lin
ea
r
ap
p
r
o
ac
h
to
d
ir
ec
tly
g
en
er
ate
v
o
ltag
e
v
ec
to
r
s
with
o
u
t
m
o
d
u
lato
r
s
[
6
]
.
Stu
d
ies
s
u
ch
as
[
7
]
,
[
8
]
h
a
v
e
an
aly
ze
d
th
e
ad
v
a
n
tag
es
an
d
d
is
ad
v
an
tag
es
o
f
th
ese
two
m
eth
o
d
s
ac
r
o
s
s
s
ev
er
al
cr
iter
ia,
in
clu
d
in
g
co
n
tr
o
l
ch
ar
ac
ter
is
tics
,
d
y
n
am
ic
p
er
f
o
r
m
an
ce
,
p
ar
a
m
eter
s
en
s
itiv
ity
,
an
d
im
p
lem
e
n
tatio
n
c
o
m
p
lex
ity
,
f
o
r
b
o
t
h
in
d
u
ctio
n
m
o
to
r
s
(
I
Ms)
an
d
p
e
r
m
an
en
t m
a
g
n
et
s
y
n
c
h
r
o
n
o
u
s
m
o
to
r
s
(
PMSMs).
Ho
wev
er
,
m
o
s
t
o
f
th
ese
s
tu
d
ies
f
o
cu
s
p
r
im
ar
ily
o
n
co
n
tr
o
l
p
er
f
o
r
m
an
ce
,
f
ast
d
y
n
a
m
ic
r
esp
o
n
s
e,
an
d
s
y
s
tem
s
tab
ilit
y
,
wh
ile
n
eg
le
ctin
g
m
o
tio
n
q
u
ality
esp
ec
ia
lly
th
e
im
p
ac
t
o
f
jer
k
d
u
r
in
g
ac
ce
ler
atio
n
an
d
d
ec
eler
atio
n
p
h
ases
.
T
h
is
b
ec
o
m
es
a
s
ig
n
if
ican
t
lim
itatio
n
in
ap
p
licatio
n
s
r
eq
u
ir
i
n
g
h
ig
h
le
v
els
o
f
s
m
o
o
th
n
ess
an
d
s
af
ety
,
s
u
ch
as
elev
ato
r
d
r
iv
e
s
y
s
tem
s
,
wh
er
e
ab
r
u
p
t
s
p
ee
d
ch
an
g
es
ca
n
lead
t
o
v
i
b
r
atio
n
,
m
ec
h
an
ical
wea
r
,
an
d
r
ed
u
ce
d
u
s
er
co
m
f
o
r
t.
Pre
v
io
u
s
s
tu
d
ies
h
av
e
ap
p
lied
in
tellig
en
t
co
n
tr
o
l
m
eth
o
d
s
s
u
ch
as
ar
tific
ial
n
eu
r
al
n
etwo
r
k
s
(
ANN)
[
9
]
an
d
r
ec
u
r
r
en
t
f
u
zz
y
n
eu
r
al
n
etwo
r
k
s
(
R
FNN)
[
1
0
]
to
im
p
r
o
v
e
a
d
ap
tab
ilit
y
an
d
co
m
p
e
n
s
ate
f
o
r
p
ar
a
m
eter
u
n
ce
r
tain
ties
in
AC
m
o
to
r
co
n
tr
o
l.
W
h
ile
th
ese
ap
p
r
o
ac
h
e
s
en
h
an
ce
d
y
n
am
ic
r
esp
o
n
s
e
an
d
s
tab
ilit
y
,
th
ey
f
o
cu
s
p
r
im
ar
ily
o
n
r
e
g
u
latio
n
p
er
f
o
r
m
an
ce
an
d
d
o
n
o
t
co
n
s
i
d
er
jer
k
s
u
p
p
r
ess
io
n
o
r
s
m
o
o
t
h
m
o
tio
n
p
lan
n
in
g
,
wh
ich
ar
e
cr
itical
in
ap
p
licati
o
n
s
lik
e
elev
ato
r
s
y
s
tem
s
.
T
h
is
p
ap
er
ad
d
r
ess
es
th
at
g
ap
b
y
in
teg
r
atin
g
jer
k
-
lim
ited
S
-
cu
r
v
e
p
r
o
f
iles
in
to
t
h
e
co
n
tr
o
l stra
teg
y
to
im
p
r
o
v
e
r
id
e
co
m
f
o
r
t a
n
d
m
ec
h
a
n
ical
s
tab
ilit
y
.
Pre
v
io
u
s
wo
r
k
s
h
av
e
m
ain
ly
e
m
p
h
asized
f
ast
r
esp
o
n
s
e
in
m
o
to
r
co
n
tr
o
l
b
u
t
o
v
er
l
o
o
k
e
d
th
e
is
s
u
e
o
f
jer
k
,
wh
ich
b
ec
o
m
es
cr
itical
in
elev
ato
r
lo
ad
a
p
p
licatio
n
s
.
Alth
o
u
g
h
S
-
cu
r
v
e
ac
ce
ler
atio
n
p
r
o
f
iles
h
av
e
b
ee
n
wid
ely
ap
p
lied
in
s
tep
p
er
an
d
s
er
v
o
m
o
t
o
r
s
y
s
tem
s
to
r
e
d
u
ce
v
ib
r
atio
n
an
d
en
h
an
ce
p
o
s
itio
n
in
g
ac
cu
r
ac
y
[
1
1
]
,
[
1
2
]
,
th
ese
s
o
lu
tio
n
s
ar
e
o
f
ten
co
n
s
tr
ain
e
d
b
y
th
e
lim
ited
co
m
p
u
tatio
n
al
ca
p
a
b
ilit
ies
o
f
s
tep
p
er
co
n
tr
o
ller
s
a
n
d
ar
e
r
ar
ely
ex
te
n
d
ed
to
i
n
d
u
ctio
n
m
o
to
r
d
r
i
v
e
s
.
Stu
d
ies
[
1
3
]
,
[
1
4
]
h
av
e
s
h
o
wn
th
at
o
p
tim
izin
g
ac
ce
ler
atio
n
an
d
d
ec
eler
atio
n
p
h
ases
ca
n
s
ig
n
if
ican
tly
im
p
r
o
v
e
m
o
tio
n
s
tab
ilit
y
an
d
r
ed
u
ce
m
ec
h
an
ical
s
tr
ess
.
Ho
wev
er
,
t
h
ese
tech
n
iq
u
es
h
a
v
e
y
et
to
b
e
ad
ap
ted
f
o
r
h
ig
h
-
in
er
tia,
r
ea
l
-
tim
e
ap
p
licatio
n
s
lik
e
elev
ato
r
s
.
T
h
is
s
tu
d
y
ad
d
r
ess
es
th
at
g
ap
b
y
a
p
p
ly
in
g
h
ig
h
-
o
r
d
er
S
-
cu
r
v
e
p
r
o
f
iles
to
th
r
ee
-
p
h
ase
in
d
u
ctio
n
m
o
to
r
s
u
n
d
e
r
F
O
C
,
aim
in
g
to
en
s
u
r
e
b
o
t
h
m
o
tio
n
s
m
o
o
th
n
ess
an
d
s
y
s
tem
r
esp
o
n
s
iv
en
ess
.
Sev
er
al
s
tu
d
ies
h
av
e
f
o
cu
s
ed
o
n
a
d
v
an
ce
d
co
n
tr
o
l
s
tr
ateg
ies
f
o
r
elec
tr
ic
d
r
i
v
es.
Fo
r
ex
a
m
p
le,
[
1
5
]
,
[
1
6
]
p
r
o
p
o
s
ed
an
ad
a
p
tiv
e
c
o
n
tr
o
ller
u
s
in
g
f
ee
d
b
ac
k
er
r
o
r
lear
n
in
g
(
FEL
)
th
at
co
m
b
in
es
a
p
r
o
p
o
r
tio
n
al
in
teg
r
al
d
e
r
iv
ativ
e
(
PID
)
-
b
ase
d
f
ee
d
b
ac
k
lo
o
p
with
an
in
tell
ig
en
t
f
ee
d
f
o
r
war
d
co
n
tr
o
ller
to
im
p
r
o
v
e
tr
ac
k
in
g
an
d
s
y
s
tem
s
tab
ilit
y
.
I
n
p
ar
all
el,
m
o
tio
n
co
n
tr
o
l
in
s
er
v
o
[
1
7
]
an
d
s
tep
p
er
m
o
to
r
s
[
1
8
]
h
a
s
b
ee
n
s
tu
d
ied
f
o
r
p
r
ec
is
io
n
ap
p
licatio
n
s
lik
e
c
am
er
a
p
o
s
itio
n
in
g
,
e
m
p
h
asizin
g
s
m
o
o
th
ac
ce
ler
atio
n
to
a
v
o
id
v
ib
r
atio
n
an
d
p
o
s
itio
n
al
er
r
o
r
s
.
I
n
elev
ato
r
s
y
s
tem
s
,
wh
er
e
in
d
u
ctio
n
m
o
t
o
r
s
m
u
s
t
d
eli
v
er
b
o
th
p
r
ec
is
e
s
to
p
p
in
g
an
d
h
ig
h
co
m
f
o
r
t
[
1
9
]
,
v
ar
ia
b
le
-
s
p
ee
d
d
r
iv
es
h
a
v
e
b
ec
o
m
e
ess
en
tial
to
h
an
d
le
f
r
eq
u
e
n
t
s
tar
ts
an
d
s
to
p
s
wh
ile
e
n
s
u
r
in
g
s
m
o
o
th
an
d
s
af
e
t
r
av
el
[
2
0
]
,
[
2
1
]
.
Alth
o
u
g
h
r
ec
e
n
t
wo
r
k
s
h
a
v
e
p
r
o
p
o
s
ed
jer
k
-
r
ed
u
ctio
n
s
tr
ateg
ies
f
o
r
ele
v
ato
r
d
r
iv
es,
m
an
y
ar
e
b
ased
o
n
s
im
p
lifie
d
m
o
d
els
o
r
lab
-
s
ca
le
s
etu
p
s
th
at
lack
co
m
p
atib
il
ity
with
r
ea
l
-
wo
r
ld
elev
ato
r
r
eq
u
ir
em
en
ts
[
2
1
]
.
T
h
u
s
,
ex
is
tin
g
r
esear
ch
tr
en
d
s
f
all
in
to
two
m
ain
s
tr
ea
m
s
:
i
)
ad
v
an
ce
d
co
n
tr
o
l
tec
h
n
iq
u
es
f
o
r
in
d
u
ctio
n
m
o
to
r
s
th
at
p
r
io
r
iti
ze
s
p
ee
d
tr
ac
k
in
g
b
u
t
o
f
ten
ig
n
o
r
e
je
r
k
ef
f
ec
ts
;
an
d
ii
)
S
-
cu
r
v
e
ac
ce
ler
atio
n
p
lan
n
in
g
th
at
s
u
cc
ess
f
u
lly
lim
its
jer
k
in
s
er
v
o
o
r
s
tep
p
e
r
m
o
to
r
a
p
p
licatio
n
s
[
2
2
]
,
[
2
3
]
,
b
u
t
h
as
s
ee
n
lim
ited
ad
o
p
tio
n
in
f
u
ll
-
s
ca
le
in
d
u
cti
o
n
m
o
to
r
elev
at
o
r
s
y
s
tem
s
.
T
h
is
s
tu
d
y
aim
s
to
b
r
id
g
e
th
at
g
ap
b
y
i
n
teg
r
atin
g
h
ig
h
-
o
r
d
er
S
-
c
u
r
v
e
ac
ce
ler
atio
n
in
to
FOC
f
o
r
th
r
ee
-
p
h
ase
in
d
u
ctio
n
m
o
to
r
s
,
en
a
b
lin
g
b
o
th
s
m
o
o
th
m
o
tio
n
an
d
f
ast d
y
n
am
ic
r
esp
o
n
s
e.
N
o
t
o
n
l
y
e
l
e
v
a
t
o
r
l
o
a
d
s
b
u
t
a
ls
o
m
o
s
t
d
r
i
v
es
p
o
w
e
r
e
d
b
y
i
n
d
u
c
t
i
o
n
m
o
t
o
r
s
r
e
q
u
i
r
e
a
s
m
o
o
t
h
s
t
a
r
t
-
u
p
p
r
o
c
e
s
s
t
o
r
e
d
u
c
e
v
i
b
r
a
t
i
o
n
,
n
o
i
s
e
,
a
n
d
e
x
t
e
n
d
e
q
u
i
p
m
e
n
t
l
i
f
e
s
p
a
n
.
T
h
is
s
t
u
d
y
a
d
d
r
e
s
s
es
t
h
e
g
a
p
b
e
t
w
ee
n
f
a
s
t
-
r
e
s
p
o
n
s
e
v
e
c
t
o
r
c
o
n
t
r
o
l
s
t
r
a
t
eg
i
e
s
a
n
d
t
h
e
n
e
e
d
f
o
r
j
e
r
k
-
l
i
m
i
t
e
d
m
o
t
i
o
n
p
l
a
n
n
i
n
g
b
y
p
r
o
p
o
s
i
n
g
a
m
e
t
h
o
d
t
h
a
t
c
o
m
b
i
n
e
s
F
OC
wi
t
h
h
i
g
h
-
o
r
d
e
r
S
-
c
u
r
v
e
a
c
c
e
l
e
r
at
i
o
n
p
r
o
f
i
l
e
s
.
T
h
e
p
r
o
p
o
s
e
d
a
p
p
r
o
a
c
h
e
n
s
u
r
e
s
s
m
o
o
t
h
a
n
d
s
ta
b
l
e
a
c
c
e
l
e
r
a
ti
o
n
w
h
i
l
e
m
a
i
n
ta
i
n
i
n
g
f
a
s
t
d
y
n
a
m
i
c
r
e
s
p
o
n
s
e
a
n
d
h
i
g
h
e
n
e
r
g
y
e
f
f
i
c
i
e
n
c
y
.
I
t
i
s
s
u
i
t
a
b
l
e
f
o
r
p
r
a
c
t
i
c
a
l
i
m
p
l
e
m
e
n
t
a
ti
o
n
i
n
m
o
d
e
r
n
d
r
i
v
e
s
y
s
t
e
m
s
,
p
a
r
ti
c
u
l
a
r
l
y
i
n
v
e
r
t
i
ca
l
t
r
a
n
s
p
o
r
t
at
i
o
n
a
p
p
l
i
c
at
i
o
n
s
s
u
c
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at
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r
s
.
2.
M
E
T
H
O
D
2
.
1
.
K
inem
a
t
ic
mo
del o
f
t
he
elev
a
t
o
r
s
y
s
t
em
T
h
e
elev
ato
r
d
r
i
v
e
s
y
s
tem
co
m
p
r
is
es
k
ey
m
ec
h
an
ical
co
m
p
o
n
en
ts
,
in
clu
d
in
g
a
th
r
ee
-
p
h
ase
in
d
u
ctio
n
m
o
to
r
,
g
ea
r
b
o
x
,
tr
ac
tio
n
p
u
lley
,
s
teel
ca
b
les,
co
u
n
ter
we
ig
h
t,
an
d
ca
b
in
.
I
ts
o
p
er
ati
o
n
is
s
ig
n
if
ican
tly
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
S
tu
d
y
o
n
th
e
a
cc
elera
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p
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s
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f th
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ee
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r
ivin
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elev
a
to
r
lo
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(
Do
V
a
n
C
a
n
)
137
in
f
lu
en
ce
d
b
y
u
n
b
alan
ce
d
l
o
a
d
in
g
,
m
ec
h
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ical
f
r
ictio
n
,
a
n
d
th
e
s
y
s
tem
’
s
to
tal
m
o
m
en
t
o
f
in
er
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r
esu
ltin
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in
n
o
n
lin
ea
r
d
y
n
am
ic
b
e
h
av
io
r
d
u
r
in
g
ac
ce
ler
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an
d
d
ec
eler
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n
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Fo
r
m
o
d
elin
g
an
d
s
im
u
l
atio
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p
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r
p
o
s
es,
th
e
m
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an
ical
s
tr
u
ctu
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e
is
s
im
p
lifie
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to
a
n
eq
u
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t
l
o
ad
m
ass
r
ef
er
r
ed
to
th
e
m
o
t
o
r
s
h
af
t.
T
h
e
s
y
s
tem
’
s
m
o
tio
n
d
y
n
am
ics ar
e
g
o
v
er
n
e
d
b
y
th
e
f
o
llo
win
g
(
1
)
[
6
]
:
⋅
=
−
(
1
)
w
h
er
e
is
eq
u
iv
alen
t
m
o
m
e
n
t
o
f
in
er
tia
r
ef
er
r
e
d
to
th
e
m
o
t
o
r
s
h
af
t
(
k
g
·
m
²)
;
ω
is
a
n
g
u
lar
v
elo
city
o
f
th
e
m
o
to
r
s
h
af
t
(
r
a
d
/s
)
;
is
m
o
to
r
-
g
en
er
ated
to
r
q
u
e
(
Nm
)
;
is
lo
ad
to
r
q
u
e
(
in
clu
d
i
n
g
f
r
ictio
n
,
lo
ad
g
r
av
ity
,
an
d
in
er
tia)
T
h
e
lo
ad
to
r
q
u
e
is
ca
lcu
lated
a
s
(
2
)
:
=
.
(
.
+
)
(
2
)
w
h
er
e
is
th
e
r
ad
iu
s
o
f
th
e
tr
ac
tio
n
p
u
lley
;
is
th
e
to
tal
s
tatic
f
r
ictio
n
f
o
r
ce
.
I
n
a
v
elo
city
co
n
tr
o
l
s
y
s
tem
,
th
is
m
o
d
el
is
u
s
ed
to
d
eter
m
in
e
th
e
r
elatio
n
s
h
ip
b
etwe
en
m
o
to
r
to
r
q
u
e
,
r
o
tatio
n
al
s
p
ee
d
,
a
n
d
l
o
ad
at
ea
ch
p
o
in
t
d
u
r
in
g
th
e
m
o
tio
n
cy
cle.
T
h
e
th
r
ee
-
p
h
ase
in
d
u
c
tio
n
m
o
t
o
r
u
s
ed
in
elev
ato
r
s
y
s
tem
s
is
ty
p
ically
o
f
th
e
s
q
u
ir
r
el
-
ca
g
e
r
o
to
r
ty
p
e
,
co
n
tr
o
lled
b
y
a
th
r
ee
-
p
h
ase
in
v
er
ter
th
at
ad
ju
s
ts
b
o
th
f
r
eq
u
e
n
cy
an
d
v
o
ltag
e
s
u
p
p
lied
to
th
e
m
o
to
r
.
T
h
e
elec
tr
o
m
a
g
n
etic
m
o
d
el
o
f
th
e
in
d
u
ctio
n
m
o
t
o
r
is
r
e
p
r
e
s
en
ted
in
th
e
d
q
r
ef
e
r
en
ce
f
r
a
m
e
(
r
o
t
o
r
f
lu
x
-
o
r
ien
ted
)
,
wh
ich
s
im
p
lifie
s
to
r
q
u
e
an
d
s
p
ee
d
c
o
n
tr
o
l
w
h
en
u
s
in
g
a
v
ar
iab
le
f
r
eq
u
en
c
y
d
r
i
v
e
(
VFD)
.
T
h
e
f
u
n
d
am
e
n
tal
eq
u
atio
n
s
in
th
is
m
o
d
el
ar
e
e
x
p
r
ess
ed
as f
o
llo
w
s
[
2
4
]
:
{
=
+
−
=
+
−
=
+
=
+
(
3
)
w
h
er
e
,
ar
e
co
m
p
o
n
en
ts
o
f
s
t
ato
r
cu
r
r
en
t
in
th
e
d
q
r
ef
e
r
en
c
e
f
r
am
e
(
A)
;
,
ar
e
s
tato
r
v
o
lta
g
es
in
th
e
d
q
r
e
f
er
en
ce
f
r
a
m
e
(
V)
;
,
ar
e
d
–
q
ax
is
f
lu
x
lin
k
ag
es
(
W
b
)
;
is
elec
tr
ical
an
g
u
lar
s
p
ee
d
(
r
ad
/s
)
;
is
s
tato
r
r
esis
tan
ce
(
Ω
)
;
is
th
e
in
d
u
ctan
ce
(
H)
.
I
n
s
y
s
tem
-
lev
el
s
im
u
latio
n
s
,
a
p
ar
am
eter
ized
m
o
d
el
b
ased
o
n
th
e
d
r
iv
e
ch
a
r
ac
ter
is
tics
d
escr
ib
ed
in
(
1
)
an
d
(
3
)
ca
n
b
e
u
s
ed
.
T
h
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
M
m
(
t)
ca
n
b
e
ass
ig
n
ed
d
ir
ec
tly
b
y
a
PID
co
n
tr
o
ller
o
r
g
en
er
ated
f
r
o
m
a
m
o
ti
o
n
p
r
o
f
ile
b
lo
ck
b
ased
o
n
th
e
in
p
u
t
p
r
o
f
ile,
s
u
ch
as
a
lin
ea
r
ac
ce
l
er
atio
n
p
r
o
f
ile.
T
h
e
in
v
er
ter
is
a
d
ev
ice
th
at
co
n
tr
o
ls
th
e
v
o
ltag
e
an
d
f
r
eq
u
en
cy
s
u
p
p
lied
to
th
e
in
d
u
ctio
n
m
o
t
o
r
,
allo
win
g
p
r
ec
is
e
ad
ju
s
tm
en
t
o
f
th
e
m
o
to
r
’
s
r
o
t
atio
n
al
s
p
ee
d
.
I
n
elev
at
o
r
s
y
s
tem
s
,
ac
cu
r
ate
s
p
ee
d
co
n
tr
o
l
is
ess
en
tial
to
en
s
u
r
e
th
at
th
e
ca
b
in
s
to
p
s
p
r
ec
is
ely
at
th
e
c
o
r
r
ec
t
f
lo
o
r
,
p
r
o
v
id
es
s
m
o
o
th
m
o
tio
n
d
u
r
in
g
s
tar
tin
g
an
d
s
to
p
p
in
g
,
an
d
r
em
ain
s
s
tab
le
u
n
d
er
v
ar
y
i
n
g
l
o
ad
co
n
d
itio
n
s
.
I
n
th
is
s
tu
d
y
,
a
n
o
v
el
co
n
tr
o
l
s
tr
ateg
y
is
p
r
o
p
o
s
ed
th
at
in
te
g
r
ates
f
ield
-
o
r
ien
ted
co
n
t
r
o
l
(
FOC
)
with
an
S
-
cu
r
v
e
ac
ce
ler
atio
n
tr
ajec
to
r
y
.
T
h
is
co
m
b
in
ed
ap
p
r
o
ac
h
aim
s
to
r
ed
u
ce
jer
k
,
im
p
r
o
v
e
r
id
e
co
m
f
o
r
t,
an
d
en
h
an
ce
d
y
n
am
ic
p
er
f
o
r
m
an
ce
k
ey
r
eq
u
ir
em
e
n
ts
f
o
r
elev
ato
r
s
y
s
tem
s
an
d
o
th
er
h
ig
h
-
p
r
ec
is
io
n
m
o
tio
n
ap
p
licatio
n
s
.
2
.
2
.
P
r
o
po
s
ed
a
cc
eler
a
t
io
n a
lg
o
rit
hm
f
o
r
mo
t
o
r
ba
s
ed
o
n
S
-
Curv
e
pro
f
ile
T
h
e
jer
k
eq
u
atio
n
(
5
)
ch
ar
ac
t
er
izes
th
e
r
ate
o
f
ch
an
g
e
o
f
ac
ce
ler
atio
n
,
wh
ich
d
ir
ec
tly
a
f
f
ec
ts
th
e
q
u
ality
o
f
m
o
to
r
ac
ce
ler
atio
n
i
n
elev
ato
r
a
p
p
licatio
n
s
.
(
)
=
(
)
(
4
)
T
h
e
s
tan
d
ar
d
f
o
r
m
o
f
th
is
Pro
f
ile
d
iv
id
es
th
e
m
o
tio
n
i
n
to
s
ev
en
s
eg
m
en
ts
,
en
s
u
r
in
g
th
at
a
cc
eler
atio
n
ch
an
g
es
co
n
tin
u
o
u
s
ly
in
Fig
u
r
e
1
:
J
er
k
in
cr
ea
s
es
to
j
max
,
a
cc
eler
atio
n
in
cr
ea
s
es
to
a
max
,
J
er
k
d
ec
r
e
a
s
es
to
0
→
v
elo
city
is
m
ain
tain
ed
.
Neg
ativ
e
jer
k
d
ec
r
ea
s
es
to
–
j
max
,
a
cc
eler
atio
n
d
ec
r
ea
s
es
to
0
→
p
r
ep
ar
es
f
o
r
s
to
p
p
in
g
.
T
h
e
d
esig
n
m
eth
o
d
f
o
r
th
e
S
-
c
u
r
v
e
Pr
o
f
ile
in
v
o
lv
es
d
eter
m
i
n
in
g
th
e
n
u
m
b
er
o
f
m
o
tio
n
s
eg
m
en
ts
b
ased
o
n
a
p
r
ed
e
f
in
e
d
m
o
tio
n
p
atter
n
[
2
5
]
.
T
h
en
,
th
e
co
n
n
ec
tio
n
tim
es
b
etwe
en
s
eg
m
en
ts
ar
e
ca
lcu
lated
to
en
s
u
r
e
s
m
o
o
th
tr
an
s
itio
n
s
.
T
h
er
e
f
o
r
e,
f
o
r
a
g
en
er
alize
d
S
-
c
u
r
v
e
Pro
f
ile
m
o
d
el,
th
e
to
tal
n
u
m
b
er
o
f
m
o
tio
n
s
eg
m
en
ts
is
g
iv
en
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
1
6
,
No
.
1
,
Feb
r
u
ar
y
20
2
6
:
1
3
5
-
148
138
b
y
2
n−
1
.
C
o
n
s
eq
u
e
n
tly
,
t
h
e
n
u
m
b
er
o
f
tr
an
s
itio
n
p
o
in
ts
th
at
n
ee
d
to
b
e
ca
lcu
late
d
is
2
n
.
T
h
e
p
r
o
b
lem
d
e
f
in
itio
n
f
o
r
th
e
al
g
o
r
ith
m
is
as
Fig
u
r
e
2
:
Fig
u
r
e
1
.
Sp
ee
d
co
n
tr
o
l m
o
d
el
with
in
teg
r
ated
S
-
C
u
r
v
e
ac
ce
ler
atio
n
p
r
o
f
ile
Fig
u
r
e
2
.
T
e
m
p
late
o
f
t
h
e
n
th
-
o
r
d
er
S
-
c
u
r
v
e
p
r
o
f
ile
m
o
d
el
I
n
p
u
t:
T
h
e
m
ax
im
u
m
allo
wab
le
v
alu
es
o
f
k
in
em
atic
ch
ar
ac
ter
is
tics
s
u
ch
as
0
,
1
,
2
…
.
T
h
e
g
o
al
is
to
d
esig
n
a
s
m
o
o
th
p
o
ly
n
o
m
ial
S
-
cu
r
v
e
p
r
o
f
ile
with
a
f
in
ite
s
u
p
p
o
r
t
s
u
c
h
th
at
th
ese
m
ax
im
u
m
v
alu
es
ar
e
n
o
t
ex
c
ee
d
ed
.
B
ased
o
n
th
e
d
ef
in
itio
n
o
f
th
e
g
en
er
alize
d
S
-
cu
r
v
e
p
r
o
f
ile
m
o
d
el,
its
k
in
em
atic
f
ea
tu
r
es
ca
n
b
e
in
d
i
r
ec
tly
d
eter
m
in
ed
as
f
o
llo
ws.
I
t
s
h
o
u
ld
b
e
n
o
ted
t
h
at
t
k
r
ep
r
esen
ts
th
e
tr
an
s
itio
n
tim
e
b
etwe
en
th
e
k
an
d
(
k
+1
)
s
eg
m
en
ts
o
f
th
e
p
r
o
f
ile,
wh
ile
τ
k
d
en
o
tes
th
e
d
u
r
atio
n
o
f
a
co
n
s
tan
t
co
n
tr
o
l
in
p
u
t in
th
e
d
ef
in
ed
as f
o
llo
w
s
[
2
6
]
:
0
=
2
∏
(
2
−
1
−
0
+
+
1
−
)
=
1
=
2
∏
[
(
∑
2
+
1
−
+
−
1
=
0
)
+
+
1
−
]
=
1
(
5
)
Similar
ly
,
1
=
2
−
1
∏
[
(
∑
2
+
1
−
+
−
1
=
0
)
+
+
1
−
]
−
1
=
1
(
6
)
=
2
−
∏
[
(
∑
2
+
1
−
+
−
1
=
0
)
+
+
1
−
]
−
=
1
(
7
)
−
1
=
2
(
1
−
0
+
)
=
(
8
)
Alg
o
r
ith
m
:
T
h
e
m
ain
task
o
f
t
h
e
alg
o
r
ith
m
is
to
co
m
p
u
te
T
p
,
th
e
d
u
r
atio
n
o
f
th
e
c
o
n
s
tan
t
i
n
p
u
t
p
h
ase
.
T
h
e
p
s
eu
d
o
co
d
e
o
f
t
h
e
alg
o
r
ith
m
is
p
r
esen
ted
Fig
u
r
e
3
:
0
=
2
2
∏
[
(
∑
2
+
1
−
+
−
1
=
0
)
+
+
1
−
]
=
1
(
9
)
2
−
∏
[
(
∑
2
+
1
−
+
−
1
=
0
)
+
+
1
−
]
−
=
1
(
10
)
=
2
−
∏
[
(
∑
2
+
1
−
+
−
1
=
0
)
+
+
1
−
]
−
=
1
(
11
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
S
tu
d
y
o
n
th
e
a
cc
elera
tio
n
p
r
o
ce
s
s
o
f th
r
ee
-
p
h
a
s
e
in
d
u
ctio
n
mo
to
r
s
d
r
ivin
g
elev
a
to
r
lo
a
d
s
(
Do
V
a
n
C
a
n
)
139
I
n
th
e
alg
o
r
ith
m
,
all
d
u
r
atio
n
s
T
p
ar
e
in
itially
s
et
to
ze
r
o
ac
co
r
d
in
g
to
eq
u
atio
n
(
9
)
.
T
h
e
v
al
u
e
o
f
T
p
is
f
ir
s
t
esti
m
ated
b
ased
o
n
th
e
p
ea
k
v
alu
e
o
f
th
e
p
o
s
itio
n
(
)
,
as
d
ef
in
ed
in
(
1
1
)
.
T
h
is
v
alu
e
o
f
T
p
is
th
e
n
u
s
ed
to
co
m
p
u
te
th
e
m
ax
im
u
m
v
alu
es
o
f
th
e
k
in
em
atic
ch
ar
ac
ter
is
tics
ac
co
r
d
i
n
g
t
o
(
1
0
)
.
T
h
ese
co
m
p
u
ted
m
ax
im
u
m
v
al
u
es
a
r
e
th
en
c
o
m
p
a
r
ed
with
t
h
e
co
r
r
esp
o
n
d
i
n
g
in
p
u
t
p
ea
k
v
alu
e
s
.
I
f
an
y
co
m
p
u
ted
m
ax
im
u
m
ex
ce
e
d
s
th
e
in
p
u
t
p
ea
k
,
it
in
d
icate
s
th
at
T
p
is
to
o
lar
g
e.
I
n
s
u
ch
ca
s
e,
T
p
is
r
ec
al
cu
lated
u
s
in
g
(
1
1
)
.
T
h
is
iter
ativ
e
p
r
o
ce
s
s
co
n
tin
u
e
s
u
n
til n
o
n
e
o
f
th
e
i
n
p
u
t
p
ea
k
l
im
its
ar
e
v
io
lated
.
Fig
u
r
e
3
.
Flo
wch
ar
t: S
-
C
u
r
v
e
p
r
o
f
ile
g
e
n
er
atio
n
al
g
o
r
ith
m
T
h
e
S
-
cu
r
v
e
al
g
o
r
ith
m
,
in
h
er
ited
f
r
o
m
r
e
f
er
en
ce
[
2
6
]
is
ap
p
lied
f
o
r
th
e
f
ir
s
t
tim
e
to
th
e
co
n
tr
o
l
o
f
in
d
u
ctio
n
m
o
to
r
s
d
r
iv
in
g
elev
ato
r
lo
ad
s
.
T
h
is
r
ep
r
esen
ts
a
n
o
v
el
r
esear
ch
d
ir
ec
tio
n
,
as
n
o
p
r
ev
io
u
s
s
tu
d
ies
h
av
e
im
p
lem
en
te
d
it,
aim
in
g
to
im
p
r
o
v
e
s
m
o
o
th
ac
ce
ler
atio
n
an
d
r
e
d
u
ce
v
i
b
r
atio
n
s
d
u
r
in
g
t
h
e
s
tar
tu
p
p
r
o
ce
s
s
.
C
o
m
p
ar
ed
to
p
r
io
r
wo
r
k
s
,
th
is
alg
o
r
ith
m
s
tan
d
s
o
u
t b
y
:
−
B
ein
g
tailo
r
ed
f
o
r
in
d
u
ctio
n
m
o
to
r
co
n
tr
o
l
,
w
h
ich
h
as
n
o
t
b
ee
n
ex
ten
s
iv
ely
ad
d
r
ess
ed
in
ex
is
tin
g
S
-
cu
r
v
e
r
esear
ch
;
−
E
n
s
u
r
in
g
s
m
o
o
th
to
r
q
u
e
g
en
er
atio
n
,
wh
ich
m
i
n
im
izes c
u
r
r
en
t sp
ik
es a
n
d
m
ec
h
a
n
ical
o
s
cillatio
n
;
−
Su
p
p
o
r
tin
g
h
ar
d
war
e
-
lev
el
im
p
lem
en
tatio
n
o
n
f
ield
p
r
o
g
r
a
m
m
ab
le
g
ate
ar
r
ay
(
FP
GA)
f
o
r
h
ig
h
-
s
p
ee
d
r
ea
l
-
tim
e
o
p
er
atio
n
,
v
alid
ated
i
n
th
is
p
ap
er
th
r
o
u
g
h
b
o
th
s
im
u
latio
n
an
d
h
ar
d
war
e
-
in
-
t
h
e
-
lo
o
p
t
esti
n
g
.
T
h
e
co
m
b
in
atio
n
o
f
h
ig
h
s
m
o
o
th
n
ess
,
ad
ap
tab
ilit
y
,
an
d
h
ar
d
war
e
f
ea
s
ib
ilit
y
m
ak
es
th
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
a
r
o
b
u
s
t
an
d
p
r
ac
tical
s
o
lu
tio
n
f
o
r
m
o
d
er
n
elev
ato
r
d
r
iv
es
a
n
d
o
th
er
i
n
d
u
s
tr
ial
ap
p
licatio
n
s
r
eq
u
ir
in
g
p
r
ec
is
io
n
an
d
co
m
f
o
r
t.
2
.
3
.
H
a
rdwa
re
im
plem
ent
a
t
io
n o
f
a
cc
eler
a
t
io
n a
nd
dece
lera
t
io
n
Fig
u
r
e
4
illu
s
tr
ates
th
e
co
n
tr
o
l
cir
cu
it
f
o
r
S
-
cu
r
v
e
ac
ce
ler
atio
n
/d
ec
eler
atio
n
,
im
p
lem
e
n
t
ed
u
s
in
g
a
d
ig
ital
d
if
f
er
en
tial
an
al
y
ze
r
(
D
DA)
.
B
asic
co
n
ce
p
t
o
f
S
-
cu
r
v
e
ac
ce
ler
atio
n
/d
ec
eler
atio
n
c
o
n
tr
o
l
:
First,
a
s
er
ies
o
f
p
u
ls
es
with
a
co
n
s
tan
t
f
r
eq
u
en
cy
Fi
is
g
en
er
ated
b
y
a
p
u
ls
e
g
en
er
ato
r
.
T
h
e
to
tal
n
u
m
b
er
o
f
g
e
n
er
ated
p
u
ls
es
N
d
eter
m
in
es
th
e
d
is
p
l
ac
em
en
t
d
u
r
in
g
ac
ce
ler
atio
n
,
wh
ile
th
e
f
r
eq
u
e
n
cy
Fi
d
ef
i
n
e
s
th
e
tar
g
et
s
p
ee
d
.
T
h
e
co
n
tr
o
l
s
ig
n
al
is
o
b
tain
ed
b
y
s
u
b
tr
ac
tin
g
th
e
o
u
tp
u
t
o
f
an
ac
cu
m
u
lato
r
f
r
o
m
t
h
e
p
u
ls
e
g
en
e
r
ato
r
o
u
tp
u
t,
an
d
th
is
r
esu
lt
is
s
to
r
ed
in
r
e
g
is
ter
p
.
Simu
ltan
eo
u
s
ly
,
th
e
v
alu
e
o
f
r
eg
is
ter
p
(
x)
an
d
th
e
a
cc
u
m
u
lato
r
o
u
t
p
u
t
y
ar
e
s
u
m
m
ed
ea
ch
tim
e
a
p
u
ls
e
Fa
is
g
en
er
ated
.
T
h
e
s
ig
n
al
Fa
is
g
en
er
ated
at
f
ix
ed
tim
e
in
ter
v
als.
Fu
r
th
er
m
o
r
e
,
th
e
s
u
m
o
f
th
e
r
e
g
is
ter
v
alu
e
x
an
d
th
e
ac
cu
m
u
l
ato
r
o
u
tp
u
t y
is
u
p
d
ated
as f
o
llo
ws:
y←x
+y
.
T
h
e
FP
GA
h
ar
d
war
e
co
n
f
ig
u
r
atio
n
is
ca
r
ef
u
lly
d
esig
n
ed
t
o
ex
ec
u
te
th
e
co
n
tr
o
l
alg
o
r
ith
m
in
r
ea
l
-
tim
e
with
h
ig
h
p
r
ec
is
io
n
.
T
h
e
im
p
lem
en
tatio
n
o
n
th
e
DE
1
-
So
C
FP
GA
k
it
n
o
t
o
n
ly
d
em
o
n
s
tr
ates
th
e
f
ea
s
ib
ilit
y
o
f
th
e
S
-
cu
r
v
e
co
n
t
r
o
l
alg
o
r
ith
m
f
o
r
in
d
u
ctio
n
m
o
to
r
s
b
u
t
also
o
p
en
s
u
p
p
r
ac
tical
ap
p
licatio
n
s
in
elev
ato
r
co
n
tr
o
l
s
y
s
tem
s
.
T
h
e
h
ar
d
war
e
ar
ch
itectu
r
e
en
s
u
r
es r
ea
l
-
tim
e
r
esp
o
n
s
iv
en
ess
an
d
o
p
tim
izes
lo
g
ic
a
n
d
m
em
o
r
y
r
eso
u
r
ce
s
,
m
ee
tin
g
th
e
d
em
an
d
s
o
f
in
d
u
s
tr
ial
em
b
ed
d
ed
s
y
s
tem
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
1
6
,
No
.
1
,
Feb
r
u
ar
y
20
2
6
:
1
3
5
-
148
140
Fig
u
r
e
4
.
Har
d
war
e
a
r
ch
itectu
r
e
f
o
r
S
-
C
u
r
v
e
ac
ce
ler
atio
n
/d
e
ce
ler
atio
n
co
n
tr
o
l
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
3
.
1
.
Appl
ica
t
io
n
s
ce
na
rio
C
o
n
s
id
er
a
th
r
ee
-
p
h
ase
s
q
u
ir
r
el
-
ca
g
e
in
d
u
ctio
n
m
o
t
o
r
u
s
ed
in
an
ele
v
ato
r
s
y
s
tem
in
T
ab
le
1
,
co
n
tr
o
lled
v
ia
a
d
r
i
v
e
s
y
s
tem
co
n
s
is
tin
g
o
f
an
in
v
er
ter
a
n
d
th
e
m
o
to
r
its
elf
.
Su
p
p
o
s
e
we
in
ten
d
to
u
tili
ze
a
m
icr
o
co
n
tr
o
ller
in
teg
r
ate
d
with
th
e
in
v
e
r
ter
f
o
r
co
n
tr
o
l im
p
l
em
en
tatio
n
.
T
ab
le
1
.
Mo
t
o
r
p
a
r
am
eter
s
u
s
ed
in
s
im
u
latio
n
P
a
r
a
me
t
e
r
V
a
l
u
e
N
o
t
e
R
a
t
e
d
v
o
l
t
a
g
e
3
8
0
V
Th
r
e
e
-
p
h
a
s
e
,
s
t
a
r
c
o
n
n
e
c
t
i
o
n
R
a
t
e
d
f
r
e
q
u
e
n
c
y
5
0
H
z
V
i
e
t
n
a
m
/
E
u
r
o
p
e
a
n
st
a
n
d
a
r
d
R
a
t
e
d
p
o
w
e
r
2
.
2
k
W
S
u
i
t
a
b
l
e
f
o
r
e
l
e
v
a
t
o
r
a
p
p
l
i
c
a
t
i
o
n
s
R
a
t
e
d
c
u
r
r
e
n
t
5
.
0
A
N
u
mb
e
r
o
f
p
o
l
e
s
4
S
y
n
c
h
r
o
n
o
u
s s
p
e
e
d
:
1
5
0
0
r
p
m
R
a
t
e
d
s
p
e
e
d
1
4
2
0
r
p
m
S
l
i
p
≈
5
.
3
%
M
o
me
n
t
o
f
i
n
e
r
t
i
a
J
0
.
0
2
k
g
·
m²
I
n
c
l
u
d
e
s
e
l
e
v
a
t
o
r
l
o
a
d
S
t
a
t
o
r
r
e
s
i
st
a
n
c
e
R
1
1
.
4
0
5
Ω
M
e
a
su
r
e
d
f
r
o
m
n
a
m
e
p
l
a
t
e
o
r
t
e
s
t
R
o
t
o
r
r
e
si
s
t
a
n
c
e
R
2
(
r
e
f
e
r
r
e
d
t
o
st
a
t
o
r
)
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ty
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ically
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ely
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ical
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ased
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ateg
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tu
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ies
o
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in
teg
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m
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s
im
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lated
an
d
ev
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ated
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il,
as
illu
s
tr
ated
in
Fig
u
r
e
5
,
a
n
d
co
m
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ar
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ag
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t tr
ad
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p
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[
1
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]
,
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1
3
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wh
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ately
1
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els
[
1
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s
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r
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o
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ical
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cles.
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r
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r
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lik
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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141
Fig
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atic
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s
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ly
p
r
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r
itized
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n
m
o
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Ana
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S
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Curv
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Fig
u
r
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at
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s
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o
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co
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ef
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ar
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ter
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o
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th
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S
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m
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an
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q
u
e
in
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s
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d
u
r
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th
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ase,
p
ea
k
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ately
1
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with
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h
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ical
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elatio
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h
ip
wh
er
e
to
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q
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e
is
p
r
o
p
o
r
tio
n
al
to
ac
ce
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ath
er
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an
s
p
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d
.
T
h
is
s
m
o
o
t
h
to
r
q
u
e
v
ar
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ed
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ce
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h
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n
ical
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ess
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ce
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r
i
v
e
s
y
s
tem
s
tab
ilit
y
.
Fig
u
r
e
6
.
M
o
to
r
s
p
ee
d
an
d
t
o
r
q
u
e
d
u
r
in
g
S
-
C
u
r
v
e
ac
ce
ler
ati
o
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
1
6
,
No
.
1
,
Feb
r
u
ar
y
20
2
6
:
1
3
5
-
148
142
Fig
u
r
e
7
.
Star
tu
p
o
f
in
d
u
ctio
n
m
o
to
r
u
s
in
g
S
-
C
u
r
v
e
p
r
o
f
ile
C
o
m
p
ar
ed
to
p
r
ev
io
u
s
s
tu
d
ies,
th
e
p
r
o
p
o
s
ed
ap
p
r
o
ac
h
d
e
m
o
n
s
tr
ates
s
ig
n
if
ican
t
im
p
r
o
v
em
en
ts
.
I
n
[
8
]
,
th
e
lin
ea
r
ac
ce
le
r
atio
n
m
eth
o
d
f
ailed
to
c
o
n
tr
o
l
je
r
k
ef
f
ec
tiv
ely
,
r
esu
ltin
g
in
h
i
g
h
i
m
p
u
ls
iv
e
f
o
r
ce
s
an
d
m
ec
h
an
ical
v
ib
r
atio
n
.
Ou
r
S
-
cu
r
v
e
s
o
lu
tio
n
m
itig
ates
th
ese
is
s
u
es
b
y
p
r
o
v
id
in
g
co
n
tin
u
o
u
s
jer
k
co
n
tr
o
l.
I
n
[
1
1
]
,
alth
o
u
g
h
FOC
was
im
p
l
em
en
ted
,
th
e
lack
o
f
in
teg
r
ate
d
m
o
tio
n
p
lan
n
i
n
g
led
to
lim
ited
s
m
o
o
th
n
ess
.
Ou
r
m
eth
o
d
,
c
o
m
b
in
i
n
g
FOC
with
S
-
cu
r
v
e
p
lan
n
in
g
,
ac
h
iev
es
c
o
m
p
r
eh
e
n
s
iv
e
o
p
tim
izatio
n
o
f
b
o
th
s
p
ee
d
co
n
tr
o
l
an
d
k
in
em
atic
p
e
r
f
o
r
m
an
ce
.
Mo
r
eo
v
er
,
wh
ile
[
2
5
]
p
r
esen
ts
a
th
e
o
r
etica
l
tr
ajec
to
r
y
g
e
n
er
atio
n
alg
o
r
ith
m
,
it
is
n
o
t
ap
p
lied
to
i
n
d
u
ctio
n
m
o
to
r
s
with
lar
g
e
in
er
tia,
s
u
c
h
as
elev
ato
r
s
y
s
tem
s
.
I
n
co
n
tr
ast,
th
is
s
tu
d
y
im
p
lem
en
ts
th
e
alg
o
r
ith
m
o
n
an
FP
GA
-
b
ased
p
latf
o
r
m
,
co
n
f
ir
m
in
g
its
r
ea
l
-
tim
e
f
ea
s
ib
ilit
y
an
d
s
u
itab
ilit
y
f
o
r
em
b
ed
d
e
d
ap
p
licatio
n
s
.
I
n
s
u
m
m
ar
y
,
Fig
u
r
es
6
an
d
7
v
alid
ate
th
at
t
h
e
p
r
o
p
o
s
ed
S
-
cu
r
v
e
s
tr
ateg
y
en
h
an
c
es
m
o
tio
n
s
m
o
o
th
n
ess
,
m
in
im
izes
m
ec
h
a
n
ical
s
h
o
ck
,
an
d
ex
ten
d
s
th
e
o
p
er
atio
n
al
life
o
f
th
e
s
y
s
tem
—
m
ak
in
g
it
id
ea
l
f
o
r
ap
p
licatio
n
s
r
eq
u
ir
in
g
r
ap
id
y
et
g
en
tle
ac
ce
le
r
atio
n
,
s
u
ch
as
elev
ato
r
s
,
c
r
an
es,
an
d
p
r
ec
is
io
n
m
ec
h
atr
o
n
ic
s
y
s
tem
s
.
3
.
4
.
F
P
G
A
im
plem
ent
a
t
io
n
–
ex
perim
ent
a
l r
esu
lt
s
I
n
itial
p
ar
am
eter
s
:
Sy
s
tem
cl
o
ck
:
5
0
MH
z
(
clo
c
k
p
er
i
o
d
=
2
0
n
s
)
,
Ou
tp
u
t
f
r
eq
u
en
cy
:
in
cr
ea
s
es
s
m
o
o
th
ly
f
r
o
m
~
1
k
Hz
to
~3
0
k
Hz
with
in
1
s
ec
o
n
d
,
Up
d
a
te
in
ter
v
al
:
ev
er
y
~1
5
–
2
0
m
s
,
o
n
e
p
er
io
d
v
alu
e
is
u
p
d
ated
.
Simu
latio
n
r
esu
lts
f
r
o
m
th
e
s
_
cu
r
v
e_
g
e
n
er
ato
r
m
o
d
u
le
d
em
o
n
s
tr
ate
t
h
at
th
e
s
y
s
tem
s
u
cc
ess
f
u
lly
g
en
er
ates
p
u
ls
e
s
ig
n
als
with
a
g
r
ad
u
ally
in
cr
ea
s
in
g
f
r
eq
u
e
n
cy
f
o
llo
win
g
an
S
-
cu
r
v
e
p
r
o
f
i
le
o
v
er
a
1
-
s
ec
o
n
d
d
u
r
atio
n
.
T
h
e
s
y
s
tem
was
im
p
lem
en
ted
in
Ver
ilo
g
a
n
d
s
im
u
lated
u
s
in
g
Mo
d
elSim
.
Ke
y
m
o
d
el
p
ar
am
eter
s
in
clu
d
e:
A
5
0
MH
z
s
y
s
tem
cl
o
ck
a
to
tal
o
f
2
0
S
-
c
u
r
v
e
s
tep
s
(
co
r
r
esp
o
n
d
in
g
to
an
u
p
d
ate
in
ter
v
al
o
f
~
5
0
m
s
)
.
Pu
ls
e
p
er
io
d
v
alu
es r
a
n
g
in
g
f
r
o
m
5
0
,
0
0
0
to
1
2
,
0
0
0
clo
ck
cy
cles
(
eq
u
iv
alen
t to
1
k
Hz
to
~
3
0
k
Hz)
.
Sp
ec
if
ically
,
th
e
o
u
tp
u
t
s
ig
n
al
p
u
ls
e_
o
u
t
is
g
en
e
r
ated
with
an
in
itial
p
er
io
d
o
f
5
0
,
0
0
0
cl
o
ck
cy
cles
(
wh
ich
e
q
u
als
1
k
Hz
wh
en
th
e
s
y
s
tem
clo
ck
is
5
0
MH
z)
.
Af
ter
ea
ch
p
r
e
d
ef
in
ed
tim
e
in
ter
v
al
(
~2
0
m
s
)
,
th
e
p
er
io
d
v
alu
e
is
u
p
d
ated
b
ased
o
n
a
l
o
o
k
u
p
ta
b
le
(
L
UT
)
d
esi
g
n
ed
ac
co
r
d
in
g
to
a
n
S
-
c
u
r
v
e
p
r
o
f
ile.
T
h
e
p
er
io
d
g
r
ad
u
ally
d
ec
r
ea
s
es
in
s
tep
s
n
o
t
lin
ea
r
ly
b
u
t
ac
co
r
d
i
n
g
to
th
e
ch
ar
ac
ter
is
tic
S
-
cu
r
v
e
s
h
ap
e,
wh
ich
en
ab
les
s
m
o
o
th
an
d
p
r
o
g
r
ess
iv
e
s
p
ee
d
in
cr
ea
s
es
.
T
h
e
f
in
al
p
u
ls
e
p
er
i
o
d
r
ea
ch
es
1
2
,
0
0
0
clo
ck
cy
cle
s
,
co
r
r
esp
o
n
d
i
n
g
to
a
f
r
eq
u
e
n
cy
o
f
ap
p
r
o
x
im
ately
4
.
1
7
k
Hz
,
an
d
ca
n
b
e
f
u
r
t
h
er
i
n
cr
ea
s
ed
if
th
e
L
UT
is
ex
te
n
d
ed
.
T
h
e
s
im
u
lated
(
Fig
u
r
e
8
)
o
u
t
p
u
t
s
ig
n
al
pulse_out
e
x
h
i
b
its
a
s
m
o
o
th
a
n
d
c
o
n
tin
u
o
u
s
ly
v
ar
y
i
n
g
f
r
eq
u
e
n
cy
p
r
o
f
ile
,
with
o
u
t
an
y
ab
r
u
p
t
j
u
m
p
s
ty
p
ically
s
ee
n
in
lin
ea
r
ac
ce
le
r
atio
n
.
T
h
is
b
eh
a
v
io
r
is
clea
r
ly
o
b
s
er
v
ed
in
th
r
ee
d
is
tin
ct
p
h
ases
:
I
n
th
e
in
itial p
h
ase
,
t
h
e
f
r
e
q
u
e
n
cy
in
cr
ea
s
es sl
o
wly
(
p
o
s
itiv
e
jer
k
)
I
n
th
e
m
id
d
le
p
h
ase
,
t
h
e
f
r
e
q
u
en
cy
in
cr
ea
s
es st
ea
d
ily
(
co
n
s
t
an
t a
cc
eler
atio
n
)
I
n
th
e
f
i
n
al
p
h
ase
,
th
e
f
r
eq
u
en
cy
in
cr
ea
s
es m
o
r
e
g
r
ad
u
ally
(
n
eg
ativ
e
jer
k
)
T
h
is
f
u
lly
r
ef
lects th
e
ch
a
r
ac
te
r
is
tic
"S"
s
h
ap
e
o
f
th
e
S
-
cu
r
v
e
Pro
f
ile.
Acc
eler
atio
n
tim
e:
1
s
ec
o
n
d
Fre
q
u
en
cy
r
an
g
e
:
f
r
o
m
1
k
Hz
to
3
0
k
Hz
Nu
m
b
er
o
f
p
o
i
n
ts
: 6
4
s
am
p
les g
en
er
ated
ac
c
o
r
d
i
n
g
to
t
h
e
S
-
cu
r
v
e
p
r
o
f
ile
C
alcu
lated
p
ar
am
eter
s
in
clu
d
e
: Fr
eq
u
en
cy
v
alu
es (
Hz)
,
c
o
r
r
e
s
p
o
n
d
in
g
p
er
io
d
s
(
µs)
C
l
o
c
k
c
y
c
le
s
p
e
r
p
e
r
i
o
d
b
as
e
d
o
n
a
5
0
M
H
z
s
y
s
t
e
m
c
l
o
c
k
(
f
o
r
u
s
e
i
n
L
U
T
s
i
n
Ve
r
i
l
o
g
i
m
p
l
em
e
n
t
a
t
i
o
n
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
S
tu
d
y
o
n
th
e
a
cc
elera
tio
n
p
r
o
ce
s
s
o
f th
r
ee
-
p
h
a
s
e
in
d
u
ctio
n
mo
to
r
s
d
r
ivin
g
elev
a
to
r
lo
a
d
s
(
Do
V
a
n
C
a
n
)
143
Fig
u
r
e
8
. S
-
C
u
r
v
e
ac
ce
ler
atio
n
p
r
o
ce
s
s
o
n
th
e
p
u
ls
e
o
u
t
p
u
t p
i
n
o
f
th
e
FP
GA
ch
ip
Fig
u
r
e
9
s
h
o
ws
b
o
th
th
e
f
r
eq
u
en
cy
cu
r
v
e
an
d
th
e
p
u
ls
e
p
e
r
io
d
(
clo
ck
cy
cles)
o
v
er
tim
e
p
r
esen
ts
a
s
im
u
latio
n
o
f
th
e
S
-
c
u
r
v
e
ac
c
eler
atio
n
p
r
o
f
ile,
u
s
in
g
6
4
ev
e
n
ly
d
is
tr
ib
u
te
d
p
o
in
ts
o
v
e
r
a
t
o
tal
d
u
r
atio
n
o
f
1
s
(
ea
ch
s
am
p
le
s
p
ac
ed
ap
p
r
o
x
i
m
ately
1
5
.
8
7
m
s
)
.
T
h
e
r
esu
l
ts
d
em
o
n
s
tr
ate
th
e
s
y
s
tem
’
s
ab
ilit
y
to
ac
h
iev
e
p
r
ec
is
e
an
d
s
m
o
o
th
s
p
ee
d
co
n
tr
o
l.
T
wo
m
ain
p
l
o
ts
ar
e
s
h
o
w
n
:
f
r
eq
u
en
cy
v
s
.
tim
e
a
n
d
cl
o
c
k
cy
cles
p
er
p
er
i
o
d
v
s
.
tim
e,
b
o
th
r
ef
lectin
g
th
e
ac
ce
ler
atio
n
b
eh
a
v
io
r
o
f
th
e
m
o
t
o
r
co
n
t
r
o
l sy
s
tem
u
n
d
er
th
e
S
-
cu
r
v
e
ap
p
r
o
ac
h
.
Fre
q
u
en
cy
Plo
t:
T
h
e
u
p
p
er
g
r
a
p
h
s
h
o
ws
(
Fig
u
r
e
9
)
t
h
e
f
r
e
q
u
en
cy
in
cr
ea
s
in
g
f
r
o
m
1
,
0
0
0
Hz
at
t
=
0
s
to
3
0
,
0
0
0
Hz
at
t
=
1
s
.
Un
lik
e
lin
ea
r
ac
ce
ler
atio
n
,
th
e
f
r
e
q
u
en
cy
d
o
es
n
o
t
in
cr
ea
s
e
u
n
i
f
o
r
m
ly
.
I
n
s
tead
,
it
in
cr
ea
s
es
s
lo
wly
at
f
ir
s
t,
th
en
m
o
r
e
r
ap
id
ly
in
th
e
m
id
d
le,
an
d
s
lo
ws
d
o
wn
ag
ain
as
it
ap
p
r
o
ac
h
es
th
e
tar
g
et
f
r
eq
u
e
n
cy
.
T
h
e
cu
r
v
e
ex
h
ib
its
a
s
y
m
m
etr
ic
h
alf
-
co
s
in
e
s
h
ap
e
,
ch
ar
ac
ter
is
tic
o
f
an
S
-
cu
r
v
e
p
r
o
f
ile
th
at
en
s
u
r
es
co
n
tr
o
lled
jer
k
d
u
r
in
g
ac
c
eler
a
tio
n
.
Fig
u
r
e
9
.
Fre
q
u
en
cy
an
d
p
er
io
d
r
ep
r
esen
tatio
n
d
u
r
in
g
S
-
C
u
r
v
e
ac
ce
ler
atio
n
3
.
4
.
1
.
H
a
rdwa
re
I
m
plem
ent
a
t
io
n o
n F
P
G
A
T
h
e
p
r
o
p
o
s
ed
m
eth
o
d
was
e
x
p
er
im
en
tally
v
alid
ated
u
s
in
g
th
e
DE
1
-
So
C
d
ev
el
o
p
m
e
n
t
b
o
ar
d
as
s
h
o
wn
in
Fig
u
r
e
1
0
.
T
h
e
e
x
p
e
r
im
en
ts
wer
e
co
n
d
u
cte
d
at
th
e
C
h
ip
Desig
n
L
ab
o
r
ato
r
y
o
f
Q
u
y
Nh
o
n
U
n
iv
er
s
ity
to
v
er
if
y
th
e
f
ea
s
ib
ilit
y
an
d
r
ea
l
-
tim
e
p
er
f
o
r
m
an
ce
o
f
t
h
e
tr
ig
o
n
o
m
etr
ic
S
-
cu
r
v
e
ac
ce
ler
atio
n
p
r
o
f
ile
im
p
lem
en
ted
in
h
ar
d
war
e.
A
Ver
ilo
g
-
b
ased
im
p
lem
en
tati
o
n
was
d
ev
elo
p
ed
to
g
en
er
at
e
a
o
n
e
-
s
h
o
t
PW
M
s
ig
n
al
with
a
p
u
ls
e
wid
th
m
o
d
u
lated
ac
co
r
d
in
g
to
th
e
tr
i
g
o
n
o
m
etr
ic
S
-
cu
r
v
e
tr
ajec
to
r
y
.
T
h
e
d
esig
n
u
tili
ze
s
a
co
u
n
ter
to
tr
ac
k
tim
e
an
d
a
lo
o
k
u
p
tab
le
(
L
UT
)
s
to
r
ed
in
a
m
em
o
r
y
-
in
itializatio
n
f
ile
(
.
m
if
)
to
g
en
er
ate
th
e
d
esire
d
am
p
litu
d
e
p
r
o
f
ile.
T
h
e
PW
M
p
u
ls
e
is
p
r
o
d
u
ce
d
b
y
co
m
p
ar
i
n
g
th
e
L
UT
v
al
u
e
w
ith
a
co
n
tin
u
o
u
s
ly
r
u
n
n
in
g
co
u
n
ter
,
en
a
b
lin
g
s
m
o
o
th
m
o
d
u
latio
n
o
f
th
e
p
u
ls
e
wid
th
.
T
h
e
s
y
s
tem
is
p
r
o
g
r
a
m
m
ed
o
n
to
t
h
e
DE
1
-
So
C
b
o
ar
d
(
FP
GA
m
o
d
el
5
C
S
E
MA
5
F3
1
)
,
with
th
e
PW
M
o
u
tp
u
t a
v
ailab
le
o
n
GPI
O_
0
.
An
ex
ten
d
ed
v
er
s
io
n
o
f
th
e
top_scurve_pwm.v
m
o
d
u
le
was
d
ev
elo
p
ed
to
co
n
tr
o
l
s
ix
P
W
M
ch
an
n
els
(
GPI
O_
0
to
GPI
O_
5
)
.
T
h
ese
o
u
tp
u
ts
r
ep
r
esen
t
t
h
r
ee
-
p
h
ase
m
o
to
r
s
ig
n
als
(
U,
V,
W
)
an
d
th
eir
co
m
p
lem
en
tar
y
s
ig
n
als
(
~U,
~V,
~W
)
,
with
ea
ch
p
h
ase
s
h
if
ted
b
y
o
n
e
-
th
i
r
d
o
f
a
cy
cle.
All
ch
an
n
els
u
s
e
th
e
s
am
e
S
-
cu
r
v
e
p
r
o
f
ile
s
to
r
e
d
i
n
R
OM
b
u
t
ar
e
p
h
ase
-
s
h
if
ted
a
cc
o
r
d
in
g
l
y
.
T
h
e
PW
M
s
witch
i
n
g
f
r
eq
u
e
n
cy
is
s
et
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
1
6
,
No
.
1
,
Feb
r
u
ar
y
20
2
6
:
1
3
5
-
148
144
at
1
k
Hz,
an
d
th
e
d
u
ty
cy
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e
d
y
n
am
ically
f
o
ll
o
ws
th
e
tr
ig
o
n
o
m
etr
ic
S
-
cu
r
v
e.
Af
ter
c
o
m
p
ilatio
n
an
d
p
in
ass
ig
n
m
en
t,
th
e
d
esig
n
is
d
o
wn
lo
ad
ed
t
o
th
e
FP
GA
b
o
ar
d
f
o
r
r
ea
l
-
tim
e
test
in
g
an
d
wav
ef
o
r
m
ac
q
u
is
itio
n
.
Fig
u
r
e
10
.
E
x
p
e
r
im
en
tal
s
etu
p
f
o
r
tr
ig
o
n
o
m
etr
ic
S
-
cu
r
v
e
im
p
lem
en
tatio
n
o
n
FP
GA
T
h
e
o
u
tp
u
t
PW
M
f
r
eq
u
en
cy
r
em
ain
s
s
tab
le
at
1
k
Hz
(
Fig
u
r
e
1
1
is
s
ig
n
als
U,
V)
,
m
ain
t
ain
ed
b
y
a
p
r
ec
is
e
co
u
n
ter
s
y
n
ch
r
o
n
ized
to
th
e
5
0
MH
z
s
y
s
tem
clo
c
k
.
T
h
is
f
r
eq
u
en
c
y
is
well
-
s
u
i
ted
f
o
r
co
n
tr
o
llin
g
in
d
u
ctio
n
m
o
to
r
s
in
ap
p
licati
o
n
s
th
at
r
eq
u
ir
e
s
m
o
o
th
v
ar
i
atio
n
s
in
s
p
ee
d
an
d
to
r
q
u
e,
s
u
ch
as
elev
ato
r
s
o
r
cr
an
es.
T
h
e
u
s
e
o
f
a
s
in
u
s
o
id
a
l/co
s
in
e
-
b
ased
S
-
cu
r
v
e
tr
ajec
t
o
r
y
e
n
ab
les
s
m
o
o
th
m
o
d
u
latio
n
o
f
th
e
PW
M
d
u
ty
cy
cle,
av
o
id
in
g
ab
r
u
p
t
tr
a
n
s
itio
n
s
.
T
h
e
d
u
t
y
cy
cle
g
r
a
d
u
ally
in
cr
ea
s
es
f
r
o
m
0
%
to
a
p
p
r
o
x
im
ately
1
0
0
%
an
d
th
en
s
y
m
m
etr
ically
d
ec
r
ea
s
es,
f
o
r
m
in
g
a
s
m
o
o
th
ac
ce
ler
ati
o
n
-
d
ec
eler
atio
n
cy
cle.
T
h
is
ap
p
r
o
ac
h
h
elp
s
lim
it
cu
r
r
en
t
s
u
r
g
es
in
th
e
s
tato
r
win
d
in
g
s
,
r
ed
u
ce
to
r
q
u
e
r
ip
p
le,
an
d
m
itig
ate
m
ec
h
an
ical
s
h
o
c
k
s
d
u
r
in
g
tr
an
s
ien
t
p
h
ases
.
Fig
u
r
e
11.
PW
M
wav
ef
o
r
m
b
a
s
ed
o
n
tr
ig
o
n
o
m
etr
ic
S
-
c
u
r
v
e
p
r
o
f
ile
T
h
e
th
r
ee
o
u
tp
u
t
ch
an
n
els
(
U
,
V,
W
)
ar
e
p
h
ase
-
s
h
if
ted
b
y
1
2
0
elec
tr
ical
d
eg
r
ee
s
,
e
n
s
u
r
i
n
g
p
r
o
p
er
tem
p
o
r
al
d
is
tr
ib
u
tio
n
ac
r
o
s
s
p
h
ases
an
d
ac
cu
r
ately
r
ec
o
n
s
tr
u
ctin
g
a
b
alan
ce
d
r
o
tatin
g
m
ag
n
etic
f
ield
.
T
h
e
co
m
p
lem
en
tar
y
ch
an
n
els
(
~U,
~V,
~W
)
p
r
o
v
id
e
in
v
er
te
d
PW
M
s
ig
n
als
f
o
r
H
-
b
r
id
g
e
o
r
t
h
r
ee
-
p
h
ase
in
v
er
ter
co
n
f
ig
u
r
atio
n
s
,
en
ab
lin
g
ef
f
icien
t
b
id
ir
ec
tio
n
al
to
r
q
u
e
co
n
tr
o
l.
Fig
u
r
e
1
2
s
h
o
w
th
e
PW
M
wav
ef
o
r
m
o
f
p
h
ase
U
an
d
its
co
m
p
lem
en
ta
r
y
s
ig
n
al;
th
e
r
em
ain
in
g
p
h
ases
(
V
an
d
W
)
ex
h
ib
it si
m
ilar
b
eh
a
v
io
r
.
Evaluation Warning : The document was created with Spire.PDF for Python.