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Wh
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c
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p
a
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tra
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it
io
n
a
l
c
a
rs,
e
le
c
tri
c
v
e
h
icle
s
(EVs)
h
a
v
e
les
s
p
o
ll
u
ti
o
n
,
b
e
tt
e
r
fu
e
l
e
fficie
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c
y
,
a
n
d
a
re
b
e
tt
e
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f
o
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th
e
e
n
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n
m
e
n
t.
Th
is
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ss
a
y
e
x
p
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re
s
th
e
e
v
o
l
u
ti
o
n
o
f
EVs
in
g
re
a
t
d
e
tail,
e
m
p
h
a
siz
in
g
th
e
ir
v
it
a
l
ro
le
in
lo
we
ri
n
g
CO
2
e
m
issio
n
s
a
n
d
p
r
o
m
o
ti
n
g
s
u
sta
in
a
b
i
li
ty
.
I
t
b
u
il
d
s
a
d
y
n
a
m
ic
m
o
d
e
l
fo
r
EVs
u
sin
g
M
ATLAB/S
imu
li
n
k
,
wh
ich
e
x
p
lai
n
s
th
e
sta
te
o
f
c
h
a
rg
e
(S
OC)
a
n
d
ra
n
g
e
p
re
d
ic
ti
o
n
.
T
h
e
stu
d
y
e
m
p
h
a
siz
e
s
th
e
i
m
p
o
rtan
c
e
o
f
EVs
in
p
r
o
m
o
ti
n
g
a
su
sta
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n
a
b
le
fu
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re
b
y
t
h
o
r
o
u
g
h
l
y
c
o
v
e
ri
n
g
d
e
sig
n
de
tails,
m
o
d
e
li
n
g
,
a
n
d
a
sc
ien
ti
fic
m
e
th
o
d
o
l
o
g
y
.
Th
r
o
u
g
h
th
e
u
se
o
f
m
o
d
e
li
n
g
t
o
c
larif
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tec
h
n
ica
l
a
s
p
e
c
ts
a
n
d
h
i
g
h
li
g
h
t
th
e
si
g
n
if
ica
n
c
e
o
f
EV
a
d
o
p
t
io
n
,
th
is
stu
d
y
h
i
g
h
li
g
h
ts
th
e
v
it
a
l
ro
le
th
a
t
EVs
p
lay
in
re
d
u
c
in
g
e
n
v
iro
n
m
e
n
tal
imp
a
c
t
a
n
d
a
d
v
a
n
c
in
g
e
n
v
iro
n
m
e
n
tally
frien
d
ly
tran
sp
o
rtati
o
n
.
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h
i
g
h
li
g
h
ts
EVs'
p
o
te
n
ti
a
l
t
o
re
v
o
l
u
ti
o
n
ize
t
h
e
a
u
to
m
o
b
il
e
se
c
to
r
wh
il
e
p
ro
m
o
ti
n
g
c
lea
n
e
r
m
o
d
e
s
o
f
tran
sp
o
rtati
o
n
.
It
o
ffe
rs
a
th
o
r
o
u
g
h
o
v
e
rv
iew
o
f
EV
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r
o
d
u
c
ti
o
n
a
n
d
u
sa
g
e
a
n
d
fe
rv
e
n
tl
y
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ro
m
o
tes
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h
e
ir
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e
r
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c
c
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p
tan
c
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a
s
a
m
e
a
n
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o
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lay
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d
wo
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k
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o
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m
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su
sta
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b
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c
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re
.
K
ey
w
o
r
d
s
:
B
atter
y
m
an
ag
em
en
t
s
y
s
tem
Dr
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c
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E
lectr
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icles
MA
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I
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8
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u
d
i
n
g
th
o
s
e
in
Am
e
r
ica,
E
u
r
o
p
e,
an
d
C
h
in
a
,
ac
co
u
n
t
f
o
r
th
e
m
ajo
r
ity
o
f
th
is
in
cr
ea
s
e.
E
lectr
ic
v
eh
icles
with
b
ig
-
ca
p
ac
ity
b
atter
ies
r
ely
o
n
ly
o
n
th
e
o
n
b
o
a
r
d
b
atter
y
;
all
o
n
b
o
ar
d
elec
tr
o
n
i
cs
an
d
elec
tr
ic
m
o
to
r
s
r
u
n
o
f
f
s
ep
ar
ate
b
atter
ies.
T
o
x
ic
co
n
tam
in
an
ts
ar
e
n
o
t
r
elea
s
ed
b
y
elec
tr
ic
v
eh
icles,
m
ak
in
g
th
em
s
af
e
to
d
r
i
v
e.
C
o
n
s
eq
u
en
tly
,
elec
tr
ic
ca
r
s
will
b
e
s
ee
n
as
th
e
m
o
s
t
p
r
o
m
is
in
g
f
o
r
m
o
f
tr
a
n
s
p
o
r
tat
io
n
s
o
o
n
.
B
atter
ies
with
a
h
u
g
e
ca
p
ac
ity
p
o
we
r
an
elec
tr
ic
v
eh
icle.
B
atter
ies
p
o
wer
a
v
ar
iety
o
f
o
n
b
o
a
r
d
d
ev
ices,
in
clu
d
in
g
elec
tr
ic
m
o
to
r
s
.
On
e
ef
f
ec
tiv
e
f
o
r
m
o
f
m
o
b
ilit
y
in
to
wn
s
an
d
v
illag
es
is
th
e
au
to
m
o
b
ile.
T
h
e
g
lo
b
al
f
u
el
co
n
s
u
m
p
tio
n
o
f
au
to
m
o
b
iles
is
r
is
in
g
d
r
am
atica
lly
.
T
h
is
ac
co
u
n
ts
f
o
r
alm
o
s
t
h
alf
o
f
t
h
e
en
e
r
g
y
u
s
ed
in
tr
an
s
p
o
r
tatio
n
w
o
r
ld
wid
e.
On
e
o
f
th
e
b
ig
g
est
p
r
o
b
lem
s
th
e
wo
r
l
d
'
s
ec
o
lo
g
y
is
cu
r
r
en
tly
c
o
n
f
r
o
n
ti
n
g
is
en
er
g
y
co
n
s
er
v
atio
n
.
A
s
a
r
esu
lt,
th
er
e
ar
e
n
u
m
er
o
u
s
d
if
f
icu
lties
f
ac
in
g
o
u
r
g
lo
b
al
e
n
er
g
y
ec
o
s
y
s
tem
.
W
e
b
eliev
e
th
at
r
ed
u
ci
n
g
f
u
tu
r
e
en
e
r
g
y
u
s
e
will
b
e
s
ig
n
if
ican
tly
aid
e
d
b
y
tr
an
s
p
o
r
tatio
n
,
ev
e
n
if
ev
er
y
p
r
ed
ictio
n
ab
o
u
t
th
e
f
u
tu
r
e
d
e
p
en
d
s
o
n
en
er
g
y
.
Ov
er
th
e
p
ast
ce
n
tu
r
y
,
ad
v
an
ce
s
in
in
ter
n
al
co
m
b
u
s
tio
n
en
g
in
e
(
I
C
E
)
tech
n
o
lo
g
y
h
av
e
m
o
s
tly
f
o
cu
s
ed
o
n
lo
wer
in
g
p
o
llu
ta
n
ts
an
d
im
p
r
o
v
i
n
g
f
u
el
ef
f
icien
c
y
[
11
]
,
[
12
]
.
T
h
e
m
ain
is
s
u
es
with
E
Vs
ar
e
b
atter
y
-
r
elate
d
,
in
cl
u
d
in
g
th
eir
h
ig
h
s
tar
tin
g
c
o
s
ts
,
s
h
o
r
t d
r
iv
in
g
r
an
g
es,
an
d
len
g
t
h
y
b
atter
y
ch
ar
g
in
g
tim
es [
13
].
An
EV
h
as
b
ee
n
cr
ea
ted
th
r
o
u
g
h
MA
T
L
AB
s
im
u
latio
n
;
it
m
ig
h
t
b
e
u
tili
ze
d
to
r
esear
ch
th
e
ca
r
m
o
d
el
th
r
o
u
g
h
th
e
em
p
l
o
y
m
e
n
t
o
f
f
o
r
m
u
lae
[
14
]
,
[
15
]
.
T
h
e
e
-
b
ik
e
s
y
s
tem
's
s
u
b
s
y
s
tem
s
ar
e
s
im
u
lated
,
an
d
s
ep
ar
ate
d
is
cu
s
s
io
n
s
ar
e
h
eld
f
o
r
t
h
e
b
atter
y
(
lith
iu
m
-
i
o
n
)
,
c
o
n
tr
o
ller
(
f
ield
d
i
r
ec
tio
n
co
n
tr
o
l)
,
m
o
to
r
(
p
er
m
an
e
n
t
m
ag
n
et
s
y
n
ch
r
o
n
o
u
s
m
o
to
r
)
,
r
an
g
e
ca
lcu
latio
n
,
an
d
s
tatu
s
o
f
th
e
ch
ar
g
e.
T
o
p
r
o
v
id
e
t
h
e
r
eq
u
ir
ed
r
o
ad
r
esp
o
n
s
iv
en
ess
,
th
e
b
icy
cle'
s
d
y
n
am
ics
h
av
e
also
b
ee
n
in
v
esti
g
ated
an
d
p
r
ec
is
ely
m
o
d
eled
[
1
6
].
A
lith
iu
m
-
io
n
(
L
i
-
io
n
)
b
atter
y
'
s
p
o
wer
s
u
p
p
ly
is
a
c
r
u
cial
p
a
r
t
o
f
t
h
e
b
atter
y
,
a
n
d
th
e
MA
T
L
AB
m
o
d
el
r
elies
o
n
m
ath
em
atica
l f
o
r
m
u
las.
E
v
er
y
co
m
p
o
n
e
n
t is n
ee
d
ed
t
o
cr
ea
te
an
E
V
s
y
s
tem
,
as sh
o
wn
i
n
Fig
u
r
e
1
.
Fig
u
r
e
1
.
B
lo
ck
d
iag
r
am
f
o
r
E
V
d
esig
n
2.
M
E
T
H
O
DO
L
O
G
Y
T
h
e
p
r
esen
t
g
en
er
atio
n
o
f
in
te
r
n
al
co
m
b
u
s
tio
n
e
n
g
in
es
will
b
e
r
en
d
er
ed
o
b
s
o
lete
in
au
to
m
o
b
iles
d
u
e
to
f
ac
to
r
s
s
u
c
h
as
ex
ce
s
s
iv
e
p
o
llu
tio
n
lev
els,
g
lo
b
al
wa
r
m
in
g
,
an
d
ap
p
r
o
ac
h
in
g
f
u
el
s
h
o
r
ta
g
es.
R
ig
h
t
n
o
w,
th
e
b
est
ca
r
to
d
r
i
v
e
is
a
n
elec
tr
ic
o
n
e
,
b
ec
a
u
s
e
a
wid
e
r
an
g
e
o
f
ex
p
e
n
s
iv
e
ca
r
s
a
n
d
m
o
d
er
n
tech
n
o
lo
g
y
a
r
e
av
ailab
le
to
u
s
.
A
lo
t
o
f
ca
r
s
n
ee
d
to
b
e
r
e
g
is
ter
ed
an
d
h
a
v
e
ce
r
tific
ates
f
r
o
m
th
e
g
o
v
er
n
m
en
t.
T
h
e
s
ea
m
less
d
ep
lo
y
m
e
n
t
o
f
elec
tr
ic
v
eh
icl
es
is
h
am
p
er
ed
b
y
n
u
m
er
o
u
s
p
r
o
b
lem
s
an
d
r
estrictio
n
s
.
W
e
s
u
g
g
est
a
two
-
wh
ee
ler
in
th
is
m
o
d
el
th
at
d
o
esn
'
t
n
ee
d
a
ca
r
[
1
7
]
,
[
18]
.
Acc
o
r
d
in
g
t
o
g
o
v
er
n
m
e
n
t
la
ws,
h
elm
ets
ar
e
n
o
t
r
eq
u
ir
ed
wh
en
t
r
av
elin
g
b
y
v
e
h
icle
at
s
p
ee
d
s
b
elo
w
2
5
k
m
/
s
p
er
h
o
u
r
.
T
h
is
m
o
d
el
is
co
m
p
a
tib
le
with
b
icy
cles
an
d
s
co
o
ter
s
.
T
h
is
r
esear
ch
s
u
g
g
ests
th
at
s
m
all
m
o
to
r
v
eh
icl
es
s
h
o
u
ld
b
e
ab
le
t
o
id
e
n
tify
t
h
e
p
lace
s
th
at
u
s
e
th
e
m
o
s
t
en
er
g
y
a
n
d
s
u
g
g
est
tr
av
el
cy
cles
[
1
9
]
.
T
h
e
two
-
wh
ee
ler
we
ar
e
u
s
in
g
'
s
b
lo
ck
lay
o
u
t
is
s
h
o
wn
in
Fig
u
r
e
2
.
Fig
u
r
e
2
.
E
lectr
ic
v
eh
icle
b
o
d
y
ap
p
r
o
ac
h
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.
1
5
,
No
.
1
,
Ma
r
ch
20
2
6
:
1
86
-
1
9
4
188
2
.1
.
T
he
f
o
rc
e
o
f
g
r
a
v
it
y
a
n
d phy
s
ic
s
o
f
f
lig
ht
I
f
two
o
f
th
e
co
m
p
o
n
en
ts
ar
e
p
ar
allel
to
th
e
m
o
tio
n
an
d
o
n
e
is
p
er
p
en
d
icu
lar
to
it,
th
en
n
o
wo
r
k
is
d
o
n
e
in
th
at
d
ir
ec
tio
n
.
T
h
e
eq
u
atio
n
will
o
n
ly
tak
e
in
to
ac
co
u
n
t
th
e
p
ar
allel
lo
ad
co
m
p
o
n
en
t
if
th
e
f
o
r
ce
is
p
er
p
en
d
icu
lar
[
2
0
]
.
=
×
×
s
in
(
α
)
(
1
)
W
h
er
e
s
tan
d
s
f
o
r
th
e
g
r
av
itatio
n
al
co
n
s
tan
t
,
α
is
th
e
an
g
le
cr
ea
ted
b
etwe
en
th
e
h
o
r
izo
n
t
al
p
lan
e
an
d
th
e
g
r
o
u
n
d
,
an
d
is
th
e
two
-
wh
ee
l
weig
h
t.
T
h
e
s
y
s
t
em
'
s
f
o
r
ce
,
o
r
ae
r
o
d
y
n
am
ic
f
lo
w,
is
wh
at
p
r
o
p
els
a
s
co
o
ter
th
r
o
u
g
h
a
f
l
u
id
(
air
)
.
=
1
2
2
(
2
)
W
h
er
e
ρ
is
1
.
2
2
5
k
g
/m
3
,
th
e
air
d
en
s
ity
.
T
h
e
d
r
a
g
co
e
f
f
ici
en
t,
o
r
f
o
r
th
is
k
i
n
d
o
f
ca
r
is
r
o
u
g
h
ly
0
.
9
.
T
h
e
co
n
d
u
ct
o
r
s
u
r
f
ac
e
is
p
a
r
t
o
f
t
h
e
f
r
o
n
t
s
u
r
f
ac
e
[
2
1
]
,
[
22]
,
w
h
ich
is
d
e
n
o
ted
b
y
th
e
letter
S
in
m
2
.
V
in
d
icate
s
h
o
w
f
ast th
e
s
co
o
ter
is
m
o
v
in
g
r
elativ
e
to
th
e
air
.
2
.
2
.
T
he
f
o
rc
e
o
f
ro
llin
g
re
s
i
s
t
a
nce
a
nd
equil
i
brium
o
f
t
he
f
o
rc
es
W
h
en
m
o
tio
n
is
tr
an
s
m
itted
,
p
o
wer
is
lo
s
t
th
r
o
u
g
h
th
e
wh
e
els
'
co
n
tact
with
th
e
g
r
o
u
n
d
.
T
h
is
lo
s
s
i
s
ex
p
r
ess
ed
in
(
3
).
=
×
×
×
(
)
(
3
)
W
h
er
e
is
th
e
r
o
llin
g
co
ef
f
icien
t,
wh
ich
is
eq
u
al
to
0
.
1
0
7
1
;
m
is
th
e
s
y
s
tem
's
to
tal
m
as
s
;
g
is
g
r
av
ity
;
an
d
α
is
th
e
s
lo
p
e's
an
g
le
ex
p
r
ess
ed
in
d
eg
r
ee
s
.
T
h
e
m
ass
o
f
an
i
tem
tim
es
its
ac
ce
ler
atio
n
eq
u
als
th
e
s
u
m
o
f
all
f
o
r
ce
s
ac
tin
g
o
n
it,
ac
co
r
d
in
g
to
th
e
f
ir
s
t
r
u
le
o
f
m
o
tio
n
[
2
3
]
.
Sin
ce
ea
ch
o
f
th
e
f
o
r
ce
s
a
f
f
ec
tin
g
th
e
ca
r
h
as
alr
ea
d
y
b
ee
n
d
is
cu
s
s
ed
,
it
is
p
o
s
s
ib
le
to
d
eter
m
in
e
its
s
ize.
S
o
th
at
s
u
f
f
icien
t
m
ec
h
an
ical
p
o
wer
m
u
s
t
b
e
g
iv
en
f
o
r
th
to
m
ak
e
u
p
f
o
r
th
em
.
T
h
e
(
4
)
m
a
y
b
e
d
er
iv
ed
f
r
o
m
(
1
)
-
(
3
)
,
lead
i
n
g
to
(
5
)
.
(
)
=
−
−
−
(
4
)
/
=
(
+
+
+
)
(
5
)
3.
DE
T
AI
L
S AN
D
V
AL
U
E
S A
P
P
L
I
E
D
T
O
T
H
E
E
V
D
E
S
I
G
N
Sp
ec
if
ic
r
ef
er
en
ce
d
ata
u
n
d
e
r
ty
p
ical
o
p
er
atin
g
cir
cu
m
s
tan
ce
s
ar
e
n
ee
d
ed
f
o
r
th
e
d
esig
n
o
f
elec
tr
ic
v
eh
icles.
T
h
e
T
VS
iQu
b
e
s
tan
d
ar
d
a
n
d
o
th
er
s
im
u
latio
n
d
es
ig
n
f
ac
to
r
s
h
av
e
b
ee
n
tak
en
in
to
co
n
s
id
er
atio
n
in
th
is
in
v
esti
g
atio
n
.
T
h
is
E
V
d
esig
n
'
s
ch
ar
ac
ter
is
tic
s
an
d
p
a
r
am
eter
s
wer
e
all
o
b
tain
ed
f
r
o
m
T
VS'
s
o
f
f
icial
web
s
ite
an
d
th
e
b
r
o
c
h
u
r
e
f
iles
f
o
r
ea
ch
u
n
iq
u
e
v
eh
icle
[
24
]
.
T
h
is
s
im
u
latio
n
r
esear
ch
h
as
f
ilter
ed
all
d
esire
d
p
ar
am
eter
s
.
T
h
e
p
a
r
am
eter
s
f
o
r
th
e
b
atter
y
an
d
m
o
to
r
,
as we
ll a
s
all
o
th
er
ch
ar
ac
ter
is
tics
af
f
ec
tin
g
th
e
v
eh
icle,
ar
e
lis
ted
in
T
ab
les 1
an
d
2
,
r
e
s
p
ec
tiv
ely
.
Per
m
an
en
t m
ag
n
et
s
y
n
ch
r
o
n
o
u
s
m
o
to
r
s
(
PMSMs
)
o
p
er
atin
g
in
th
r
ee
p
h
ases
with
a
lith
iu
m
-
io
n
b
atter
y
,
an
d
ass
o
ciate
d
p
ar
ts
,
ar
e
u
s
ed
in
th
e
T
VS iQu
b
e
E
V.
I
n
T
ab
le
1
,
a
f
ew
o
f
th
e
T
VS
iQu
b
e
Sco
o
ter
s
s
y
s
tem
s
p
ec
if
i
ca
tio
n
s
th
at
im
p
ac
t
its
ef
f
ec
tiv
en
ess
an
d
p
er
f
o
r
m
an
ce
ar
e
d
is
p
lay
ed
in
t
h
e
tab
le
o
f
co
n
ten
ts
.
T
h
e
o
v
er
all
b
o
d
y
m
ass
,
f
r
o
n
tal
ar
ea
,
g
e
ar
r
atio
,
wh
ee
l size,
an
d
v
eh
icle
g
r
ad
ea
b
ilit
y
ar
e
a
m
o
n
g
th
e
ch
ar
ac
ter
is
tics
[
2
5
]
,
[
2
6
]
.
T
h
e
weig
h
t
o
f
th
e
s
co
o
ter
,
in
cl
u
d
in
g
th
e
b
atter
y
an
d
th
e
r
id
er
,
is
th
e
to
tal
b
o
d
y
m
ass
.
W
h
en
th
e
s
co
o
ter
m
o
v
es,
th
e
f
r
o
n
tal
ar
ea
is
th
e
p
ar
t
th
at
en
co
u
n
ter
s
air
r
esis
tan
ce
.
T
h
e
g
ea
r
r
atio
is
th
e
m
o
t
o
r
'
s
s
p
ee
d
d
iv
id
ed
b
y
t
h
e
wh
ee
l
s
p
ee
d
th
e
tire
s
'
b
r
ea
d
th
an
d
d
iam
eter
eq
u
al
th
e
wh
ee
l
s
izes.
T
h
e
h
ig
h
est
s
lo
p
e
th
e
s
co
o
ter
ca
n
clim
b
with
o
u
t
lo
s
in
g
s
p
ee
d
is
k
n
o
wn
as
v
eh
icle
g
r
ad
a
b
ilit
y
.
T
ab
le
2
illu
s
tr
ates
s
o
m
e
o
f
th
e
p
ar
am
eter
s
t
h
at
af
f
ec
t
th
e
T
VS
iQu
b
e
elec
tr
ic
s
co
o
ter
v
e
h
icle
b
o
d
y
an
d
m
o
tio
n
,
an
d
en
er
g
y
co
n
s
u
m
p
tio
n
is
d
is
p
lay
e
d
in
th
e
tab
le
o
f
co
n
ten
ts
.
T
h
e
air
d
en
s
ity
,
th
e
r
o
llin
g
r
esis
tan
ce
f
o
r
ce
,
th
e
air
d
r
ag
f
o
r
ce
,
th
e
ac
ce
ler
atio
n
f
o
r
ce
,
t
h
e
an
g
le
o
f
g
r
ad
ie
n
t,
th
e
co
ef
f
icien
t
o
f
d
r
ag
,
an
d
th
e
r
o
llin
g
r
esis
tan
ce
co
ef
f
icien
t
ar
e
am
o
n
g
th
e
p
ar
a
m
eter
s
[
2
7
]
,
[
2
8
]
.
T
h
ese
v
ar
iab
les
c
o
n
tr
o
l
th
e
f
o
r
ce
a
n
d
r
esis
tan
ce
th
e
s
co
o
ter
s
en
co
u
n
ter
wh
en
tr
av
elin
g
at
s
p
ec
if
ic
s
p
ee
d
s
an
d
g
r
o
u
n
d
.
T
h
e
s
co
o
t
er
p
er
f
o
r
m
s
an
d
is
m
o
r
e
ef
f
icien
t
th
e
lo
wer
t
h
e
r
esis
tan
ce
an
d
th
e
h
ig
h
er
th
e
f
o
r
ce
.
As
T
ab
le
3
s
h
o
ws,
s
o
m
e
o
f
th
e
lith
iu
m
-
io
n
b
atter
y
p
a
r
am
eter
s
f
o
r
th
e
T
V
S
iQu
b
e
elec
tr
ic
s
co
o
ter
ar
e
d
i
s
p
lay
ed
in
t
h
e
tab
le
o
f
co
n
ten
t
s
[
2
9
]
.
T
h
e
v
o
ltag
e,
o
r
th
e
d
if
f
er
e
n
ce
in
elec
tr
ic
p
o
ten
tial
b
etwe
en
th
e
b
atter
y
'
s
ter
m
in
als;
th
e
ca
p
ac
ity
,
o
r
th
e
m
ax
im
u
m
am
o
u
n
t
o
f
en
er
g
y
th
e
b
atter
y
ca
n
h
o
l
d
;
an
d
th
e
r
ated
v
o
ltag
e,
o
r
th
e
n
o
m
in
al
v
o
ltag
e
th
e
b
atter
y
ca
n
d
eliv
er
,
ar
e
all
in
clu
d
ed
in
th
e
b
atter
y
s
p
ec
if
i
ca
tio
n
s
.
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
Mo
d
u
la
tio
n
a
n
d
p
erfo
r
ma
n
ce
a
n
a
lysi
s
o
f tw
o
-
w
h
ee
ler ele
ctr
ic
ve
h
icle
(
Deb
a
n
i P
r
a
s
a
d
Mis
h
r
a
)
189
T
ab
le
1
.
Veh
icle
s
y
s
tem
s
p
ec
i
f
icatio
n
s
(
tak
en
f
r
o
m
T
VS
o
f
f
i
cial
web
s
ite
)
S
p
e
c
i
f
i
c
a
t
i
o
n
s
P
r
i
n
c
i
p
l
e
s
To
t
a
l
b
o
d
y
mass
(
M
)
1
1
7
.
8
k
g
F
r
o
n
t
a
l
a
r
e
a
(
A
)
0
.
7
3
5
3
M
3
G
e
a
r
r
a
t
i
o
(
G
)
0
.
0
0
9
7
W
h
e
e
l
s
i
z
e
9
0
/
9
0
-
12
V
e
h
i
c
l
e
g
r
a
d
e
a
b
i
l
i
t
y
0
.
1
2
%
T
a
b
le
2
.
Pa
r
a
m
e
te
r
s
ac
ti
n
g
o
n
v
e
h
i
cle
b
o
d
y
(
ca
l
cu
lat
e
d
)
P
a
r
a
me
t
e
r
s
V
a
l
u
e
s
C
o
e
f
f
i
c
i
e
n
t
o
f
d
r
a
g
(
C
d
)
0
.
1
5
R
o
l
l
i
n
g
r
e
si
s
t
a
n
c
e
C
o
e
f
f
i
c
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e
n
t
(
C
r
)
0
.
5
A
n
g
l
e
o
f
g
r
a
d
i
e
n
t
(
α)
10
0
Th
e
a
i
r
's d
e
n
si
t
y
(
ρ
)
1
.
2
0
2
k
g
/
m
3
R
o
l
l
i
n
g
r
e
si
s
t
a
n
c
e
f
o
r
c
e
(F
rr
)
1
2
N
F
o
r
c
e
o
f
a
i
r
d
r
a
g
(F
dr
)
9
6
.
1
9
N
A
c
c
e
l
e
r
a
t
i
o
n
f
o
r
c
e
(
F
ac
)
2
5
6
.
5
N
T
a
b
le
3
.
B
at
te
r
y
s
p
e
ci
f
ic
ati
o
n
(
tak
e
n
f
r
o
m
T
VS
o
f
f
i
cia
l w
e
b
s
i
te
)
P
a
r
a
me
t
e
r
s
V
a
l
u
e
s
V
o
l
t
a
g
e
o
f
b
a
t
t
e
r
y
7
.
2
4
V
C
a
p
a
c
i
t
y
o
f
b
a
t
t
e
r
y
4
.
5
6
k
W
h
R
a
t
e
d
v
o
l
t
a
g
e
5
2
V
4.
E
V
DE
SI
G
N
I
NG
AP
P
RO
A
CH
E
S IN
SI
M
UL
I
NK
Six
b
lo
ck
s
a
r
e
n
ee
d
ed
to
b
u
il
d
an
E
V
s
y
s
tem
f
u
lly
.
Her
e
,
th
e
s
im
u
latio
n
o
f
all
th
e
b
lo
c
k
s
will
b
e
d
is
cu
s
s
ed
s
tep
b
y
s
tep
.
I
n
Fi
g
u
r
e
3
,
th
e
d
r
iv
i
n
g
c
y
cle
b
lo
ck
is
th
e
f
ir
s
t
b
l
o
ck
d
iag
r
am
in
th
e
s
etu
p
o
f
th
e
elec
tr
ic
v
eh
icle
s
y
s
tem
.
A
h
ea
d
er
in
d
icatin
g
th
e
s
tar
t
o
f
th
e
d
esig
n
p
r
o
ce
s
s
with
th
e
d
r
iv
in
g
cy
cle
s
o
u
r
ce
will
s
h
o
w
o
n
th
e
S
im
u
lin
k
f
ile
af
ter
s
tar
tin
g
an
d
r
u
n
n
i
n
g
th
e
MA
T
L
AB
/S
im
u
lin
k
s
o
f
twar
e
[
1
1
]
.
T
h
is
b
lo
ck
ac
ts
as
th
e
b
eg
in
n
in
g
p
o
in
t
f
o
r
th
e
d
esig
n
p
r
o
ce
s
s
,
wh
ich
m
ay
b
e
ac
ce
s
s
ed
b
y
g
o
in
g
to
th
e
lib
r
ar
y
b
r
o
wser
an
d
s
elec
tin
g
th
e
d
r
iv
e
cy
cle
b
lo
c
k
.
Do
u
b
le
-
click
in
g
o
n
d
r
iv
e
c
y
cle
will
in
s
tan
tly
r
ev
ea
l
a
s
elec
tio
n
o
f
a
v
ailab
le
d
r
iv
e
cy
cles;
if
d
r
iv
e
c
y
cles
ar
e
n
o
t
alr
ea
d
y
in
s
talled
,
ad
d
th
em
.
Dr
iv
e
cy
c
le
is
ess
en
tially
th
e
m
o
s
t
im
p
o
r
tan
t
b
lo
ck
in
t
h
e
d
r
i
v
e
cy
cle
s
o
u
r
c
e
co
n
f
ig
u
r
atio
n
[
3
0
]
,
[
3
1
]
.
A
r
an
g
e
o
f
ex
ter
n
al
s
o
u
r
ce
f
o
r
m
a
ts
,
in
clu
d
in
g
E
x
ce
l
f
iles
,
s
lid
er
s
,
d
ata
s
h
ee
ts
,
an
d
s
o
o
n
,
c
an
also
b
e
u
s
ed
to
a
d
d
a
n
ew
d
r
iv
e
c
y
cle
s
o
u
r
ce
t
o
th
e
lib
r
ar
y
.
Fig
u
r
e
4
illu
s
tr
ates
th
e
d
esig
n
o
f
d
r
i
v
er
c
o
n
tr
o
l
.
I
n
th
is
c
o
n
tr
o
l,
th
e
lo
n
g
itu
d
i
n
al
d
r
iv
e
r
b
lo
c
k
is
cu
r
r
en
tly
p
o
wer
ed
b
y
a
d
r
iv
er
co
n
tr
o
ller
o
f
th
e
p
r
o
p
o
r
tio
n
al
-
in
teg
r
al
(
PI)
ty
p
e.
I
t
f
ea
tu
r
es
th
r
ee
p
o
r
ts
f
o
r
in
p
u
t
an
d
th
r
ee
f
o
r
o
u
tp
u
t.
T
h
is
u
s
es
th
e
Vel
Fd
b
k
p
o
r
t
to
p
r
o
v
id
e
f
ee
d
b
ac
k
to
th
e
PI
co
n
tr
o
ller
a
n
d
th
e
VelRef
p
o
r
t
as
in
p
u
t
f
o
r
th
e
d
r
i
v
e
cy
cle.
Ad
d
itio
n
ally
,
th
e
c
o
n
tr
o
lled
v
o
ltag
e
s
o
u
r
ce
r
ec
ei
v
es
th
e
ac
c
eler
atio
n
co
m
m
a
n
d
s
ig
n
al
an
d
f
o
r
war
d
s
it to
th
e
H
-
b
r
id
g
e'
s
co
n
n
ec
ted
r
eg
u
lated
p
u
ls
e
wid
th
m
o
d
u
latio
n
(
PW
M
)
v
o
ltag
e
b
lo
ck
.
I
n
th
e
d
esig
n
o
f
th
e
m
o
to
r
co
n
t
r
o
ller
,
as
s
h
o
wn
in
Fig
u
r
e
5
,
E
V
is
a
k
ey
to
o
l
f
o
r
m
o
to
r
v
eh
icle
o
p
er
atio
n
.
T
h
er
ef
o
r
e
,
m
o
to
r
co
n
tr
o
l
is
u
s
ed
f
o
r
p
r
o
p
er
v
e
h
icle
h
an
d
lin
g
an
d
e
f
f
icien
t
r
e
g
en
er
ati
v
e
b
r
a
k
in
g
.
Du
r
in
g
d
ec
eler
atio
n
,
th
e
lib
r
ar
y
'
s
H
-
b
r
id
g
e
c
o
n
v
e
r
ter
is
ta
k
en
o
u
t
i
n
o
r
d
er
to
co
n
tr
o
l
th
e
en
g
in
e
an
d
g
en
er
ate
f
r
esh
p
o
wer
[
1
2
]
.
T
h
e
b
r
ak
e
in
p
u
t
p
o
r
t,
th
e
r
ef
er
e
n
ce
,
an
d
th
e
P
W
M
in
p
u
t
p
o
r
t
ar
e
all
elec
tr
ically
g
r
o
u
n
d
ed
.
T
h
e
d
r
iv
er
c
o
n
tr
o
ller
'
s
s
ig
n
al
is
co
n
n
ec
ted
to
th
e
PW
M
o
u
tp
u
t
o
f
th
e
r
e
g
u
lated
PW
M
v
o
ltag
e
b
lo
ck
.
T
h
e
m
o
to
r
will b
e
lin
k
ed
to
b
o
th
its
p
o
s
itiv
e
an
d
n
eg
ativ
e
o
u
tp
u
t te
r
m
in
als.
I
n
th
e
ba
tter
y
s
etu
p
d
esig
n
,
as sh
o
wn
in
Fig
u
r
e
6
,
th
e
b
atter
y
s
etu
p
h
as
b
ee
n
d
esig
n
e
d
a
f
ter
th
e
m
o
to
r
co
n
tr
o
ller
d
esig
n
.
A
7
.
2
4
V
lith
iu
m
-
io
n
b
atter
y
is
an
ticip
ate
d
.
T
h
e
b
atter
y
h
as
a
0
.
1
-
s
ec
o
n
d
r
esp
o
n
s
e
tim
e,
a
1
0
0
%
s
tar
tin
g
p
o
in
t
o
f
ch
ar
g
e
(
So
C
)
,
an
d
a
r
ate
d
ca
p
ac
ity
o
f
4
.
5
6
k
W
h
.
I
t
h
as
a
cu
r
r
en
t
s
en
s
o
r
th
at
is
wir
ed
to
b
o
th
t
h
e
b
atter
y
an
d
th
e
H
-
b
r
id
g
e.
T
o
d
o
cu
m
en
t
t
h
e
s
tate
o
f
c
h
ar
g
e
(
So
C
)
o
f
th
e
b
atter
y
wh
ile
it
is
b
ein
g
ch
ar
g
ed
an
d
d
is
ch
ar
g
ed
,
a
b
u
s
s
elec
to
r
is
co
n
n
ec
ted
to
th
e
b
atter
y
.
All
th
at
is
n
ee
d
e
d
t
o
o
b
s
er
v
e
r
ea
l
-
tim
e
d
ata
is
to
attac
h
th
e
d
is
p
lay
an
d
s
co
p
e
to
th
e
s
elec
tio
n
b
lo
ck
.
Fig
u
r
e
7
d
is
p
lay
s
th
e
e
n
tire
m
o
to
r
d
esig
n
co
n
f
ig
u
r
atio
n
,
alth
o
u
g
h
th
e
m
o
to
r
'
s
p
o
s
itiv
e
an
d
n
e
g
ativ
e
te
r
m
in
als
ar
e
lin
k
ed
to
th
e
H
b
r
i
d
g
e
an
d
th
e
s
tato
r
is
co
n
n
ec
ted
to
a
m
ec
h
an
ical
r
o
tatin
g
r
ef
e
r
en
ce
,
th
e
m
o
to
r
'
s
r
o
to
r
is
s
till
co
u
p
le
d
to
th
e
v
eh
icle
b
o
d
y
'
s
g
ea
r
s
h
af
t [
1
3
]
.
T
o
m
ea
s
u
r
e
th
e
to
r
q
u
e,
a
to
r
q
u
e
s
en
s
o
r
is
p
o
s
itio
n
ed
in
th
e
ce
n
ter
.
T
h
e
m
o
s
t
f
u
n
d
am
en
tal,
s
ig
n
if
ican
t,
an
d
ess
en
tial
co
m
p
o
n
e
n
t
o
f
ev
e
r
y
v
e
h
icle
is
its
b
o
d
y
.
A
ca
r
'
s
b
o
d
y
is
m
ad
e
u
p
o
f
s
ev
er
al
d
i
f
f
er
en
t
s
ec
tio
n
s
;
th
e
m
o
s
t
cr
u
cial
b
ein
g
th
e
f
r
am
e,
ch
ass
is
,
wh
ee
ls
,
an
d
p
o
wer
tr
an
s
m
is
s
io
n
co
m
p
o
n
en
ts
.
Her
e,
we'
l
l
s
tar
t
b
y
ch
o
o
s
in
g
th
e
c
ar
b
o
d
y
f
r
o
m
th
e
Simu
lin
k
lib
r
ar
y
.
Nex
t,
we
will
co
n
f
ig
u
r
e
th
e
v
eh
icle
b
o
d
y
wit
h
all
r
eq
u
ir
e
d
s
p
ec
if
icatio
n
s
.
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.
1
5
,
No
.
1
,
Ma
r
ch
20
2
6
:
1
86
-
1
9
4
190
Fig
u
r
e
3
.
Set u
p
f
o
r
d
r
iv
e
cy
cl
e
s
o
u
r
ce
Fig
u
r
e
4
.
Dr
iv
e
r
co
n
tr
o
l d
esig
n
Fig
u
r
e
5
.
Mo
t
o
r
co
n
tr
o
ller
d
esig
n
Fig
u
r
e
6
.
B
atter
y
s
etu
p
a
n
d
d
e
s
ig
n
Fig
u
r
e
7
.
DC
m
o
to
r
s
etu
p
d
esi
g
n
5.
B
E
N
CH
M
ARK
E
L
E
C
T
RIC
AL
T
WO
-
WH
E
E
L
E
R
M
O
D
E
L
T
h
e
b
o
d
y
o
f
th
e
v
eh
icle
is
atta
ch
ed
to
two
tire
s
with
a
h
u
b
a
n
d
NR
.
T
h
e
weig
h
t
o
f
an
elec
t
r
ic
v
eh
icle
ca
n
b
e
u
p
to
6
0
0
k
g
.
T
h
e
d
r
a
g
co
ef
f
icien
t
is
0
.
5
,
a
n
d
th
e
f
r
o
n
tal
ar
ea
is
2
m
2
.
Ad
d
itio
n
ally
,
th
e
d
if
f
er
e
n
tial
is
attac
h
ed
to
th
e
tire
s
.
W
e
ca
n
o
p
tio
n
ally
in
te
g
r
ate
ad
d
iti
o
n
s
an
d
lo
s
s
es
f
r
o
m
v
is
co
u
s
f
r
ictio
n
an
d
g
ea
r
m
ac
h
in
es
with
th
e
aid
o
f
a
d
if
f
er
en
tial.
I
t
lin
k
s
th
e
DC
m
o
to
r
an
d
d
if
f
er
en
tial
with
t
h
e
b
asic
g
ea
r
.
T
h
e
d
if
f
er
en
tial
tire
,
o
n
t
h
e
o
th
er
h
an
d
,
jo
in
s
t
h
e
two
ax
les.
Usi
n
g
a
s
co
p
e
to
m
ea
s
u
r
e
th
e
v
e
h
icle'
s
ac
tu
al
s
p
ee
d
an
d
a
PS
-
Simu
lin
k
co
n
v
er
ter
to
d
is
p
lay
t
h
e
d
i
g
ital
n
u
m
b
er
,
th
e
d
is
p
lay
s
h
o
ws
th
e
s
p
ee
d
.
On
o
n
e
s
id
e
o
f
th
e
DC
m
o
to
r
,
th
er
e
is
a
m
ec
h
an
ical
r
o
tatio
n
al
r
ef
er
en
ce
an
d
a
b
asic
g
ea
r
;
o
n
th
e
o
th
er
,
th
er
e
is
an
elec
tr
ical
r
ef
er
en
ce
,
an
H
-
b
r
id
g
e,
a
n
d
a
cu
r
r
en
t
s
en
s
o
r
.
A
PW
M
v
o
lta
g
e
s
ig
n
al
will
b
e
s
u
p
p
lied
b
y
th
e
co
n
tr
o
l.
T
h
e
H
b
r
id
g
e
h
elp
s
with
b
r
ak
in
g
,
r
ev
er
s
in
g
,
an
d
ac
ce
ler
atio
n
,
a
n
d
we
ca
n
m
a
n
ag
e
b
o
th
in
ter
n
al
an
d
ex
te
r
n
al
p
o
wer
s
u
p
p
ly
in
an
H
-
b
r
id
g
e.
T
o
g
e
t
an
o
p
tim
ized
m
o
d
el,
we
m
a
in
tain
th
e
PW
M
am
p
litu
d
e
at
I
V
an
d
th
e
in
p
u
t
th
r
esh
o
ld
v
o
ltag
e
at
a
v
er
y
lo
w
v
alu
e
o
f
0
.
0
0
1
,
b
ec
au
s
e
th
e
s
im
u
latio
n
is
d
o
n
e
i
n
av
e
r
ag
i
n
g
m
o
d
e
t
o
r
e
d
u
ce
th
e
s
im
u
latio
n
tim
e
a
n
d
m
ak
e
th
e
o
u
tp
u
t
v
o
ltag
e
5
0
V.
T
h
e
m
aster
s
ca
lin
g
o
f
th
e
PW
M
v
o
ltag
e
in
p
u
t
ca
n
b
e
s
et
to
1
f
o
r
h
ig
h
v
alu
es
an
d
0
f
o
r
l
o
w
v
alu
es.
T
h
e
l
o
n
g
itu
d
in
al
d
r
iv
e
r
p
r
o
v
id
es
o
n
e
o
r
ze
r
o
as
th
e
PW
M'
s
in
p
u
t.
C
o
n
n
ec
t
th
e
s
co
p
e
s
o
y
o
u
ca
n
s
ee
th
e
m
o
to
r
'
s
cu
r
r
en
t
,
an
d
th
e
H
-
b
r
id
g
e
to
th
e
elec
tr
ical
r
ef
er
en
ce
,
wh
er
e
th
e
s
o
lv
er
,
b
r
a
k
e,
an
d
r
ev
er
s
e
ar
e
all
co
n
n
ec
ted
.
W
e
r
ef
er
to
th
e
ad
d
itio
n
al
s
u
b
s
y
s
tem
in
th
is
s
y
s
tem
a
s
th
e
m
o
to
r
an
d
co
n
tr
o
ller
.
T
h
e
co
n
tr
o
l
u
n
it
is
ch
a
n
g
ed
to
PI
co
n
tr
o
l,
an
d
th
e
l
o
n
g
itu
d
in
al
d
r
iv
er
'
s
r
ef
er
en
ce
f
ee
d
b
ac
k
u
n
it
is
ch
an
g
e
d
to
k
m
/h
.
Ho
we
v
er
,
t
h
e
g
r
ad
e
a
b
ilit
y
is
s
et
at
a
co
n
s
tan
t
ze
r
o
,
an
d
th
e
m
a
x
im
u
m
s
p
ee
d
is
lim
ited
to
1
0
0
k
m
/h
.
T
h
e
v
eh
icle
b
o
d
y
p
r
o
v
id
es
f
ee
d
b
ac
k
,
wh
ile
th
e
s
ig
n
al
b
u
ild
er
p
r
o
v
id
es
th
e
v
elo
city
r
ef
er
en
ce
.
Acc
eler
atio
n
an
d
d
ec
eler
atio
n
o
r
d
er
s
ar
e
d
er
iv
ed
f
r
o
m
th
e
f
ee
d
b
ac
k
an
d
s
en
t
to
th
e
P
W
M
u
s
in
g
th
e
Simu
lin
k
-
PS
co
n
v
er
t
er
in
co
n
j
u
n
ctio
n
with
t
h
e
r
eg
u
lated
v
o
ltag
e
s
o
u
r
ce
.
6.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
W
h
en
ev
alu
atin
g
th
e
o
u
tco
m
e
s
o
f
th
e
s
im
u
latio
n
,
k
ee
p
th
e
f
o
llo
win
g
co
n
s
id
er
atio
n
s
in
m
i
n
d
.
I
n
th
e
r
esu
lts
,
o
u
r
p
r
im
ar
y
c
o
n
s
id
er
atio
n
s
ar
e
s
tate
o
f
ch
ar
g
e
(
SOC
)
an
d
r
an
g
e
esti
m
atio
n
.
I
t
is
ev
id
en
t
f
r
o
m
th
e
SOC
f
in
d
in
g
s
th
at
th
e
b
atter
y
d
is
ch
ar
g
es
n
o
n
lin
ea
r
ly
f
o
r
th
e
f
ir
s
t
1
0
0
s
ec
o
n
d
s
an
d
th
en
l
in
ea
r
ly
f
o
r
th
e
n
ex
t
1
0
0
.
I
n
ad
d
itio
n
,
f
ee
d
b
ac
k
allo
ws it to
b
e
ch
ar
g
ed
an
d
d
r
ain
e
d
in
2
0
0
s
ec
o
n
d
s
.
T
im
e
is
d
is
p
lay
ed
o
n
t
h
e
x
-
a
x
is
f
o
r
b
o
th
cu
r
v
es,
wh
ile
th
e
v
o
ltag
e
an
d
s
p
ee
d
a
r
e
d
ep
icted
o
n
th
e
y
-
ax
is
,
r
esp
ec
tiv
ely
.
F
r
o
m
wh
ich
t
h
e
r
ea
l
s
p
ee
d
an
d
th
e
r
ef
er
e
n
ce
s
p
ee
d
ar
e
d
e
r
iv
ed
.
T
h
e
p
r
im
ar
y
f
i
n
d
in
g
f
r
o
m
th
e
d
ata
is
th
at
th
e
av
er
ag
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I
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8
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(
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191
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u
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ates
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o
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'
s
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o
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t
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in
Fig
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r
e
1
2
.
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h
e
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eh
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b
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ee
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is
in
d
icate
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a
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es th
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v
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er
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with
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to
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.
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r
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(
2
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r
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atter
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tim
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r
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r
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1
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r
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u
r
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1
1
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r
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1
2
.
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o
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e
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icl
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d
d
r
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s
tim
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7.
CO
NCLU
SI
O
N
I
n
th
is
p
ap
er
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a
s
im
u
latio
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o
f
a
2
-
wh
ee
ler
elec
tr
ic
v
eh
icle
h
as
b
ee
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ca
r
r
ied
o
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t
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s
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g
MA
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/S
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in
g
an
elec
tr
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e
h
icle
h
as
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ee
n
co
v
e
r
ed
.
Stu
d
ies
h
av
e
also
b
ee
n
d
o
n
e
o
n
SOC
,
r
an
g
e
esti
m
atio
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an
d
s
p
ee
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.
T
h
e
b
atter
y
v
o
lta
g
e
is
lim
ited
to
an
av
er
ag
e
o
f
4
8
V
.
Stu
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ies
also
r
ev
ea
l
t
h
at
th
e
m
o
d
el
ca
n
b
e
im
p
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y
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th
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m
a
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y
d
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th
at
ar
e
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s
s
ib
le
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B
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m
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y
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v
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a
s
tep
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way
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elp
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eg
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esig
n
in
g
an
d
p
e
r
f
o
r
m
an
c
e
an
aly
s
is
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
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q
u
ests
.
RE
F
E
R
E
NC
E
S
[
1
]
K
.
Tá
n
c
z
o
s
a
n
d
Á
.
Tö
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k
,
“
I
mp
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[
2
]
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.
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.
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.
D
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is
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e
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g
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rg
y
so
u
rc
e
s.
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c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
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:
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re
n
d
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u
.
a
c
.
k
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.
Evaluation Warning : The document was created with Spire.PDF for Python.