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I
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m
ec
h
an
ical
co
n
n
ec
tio
n
s
is
b
eh
in
d
th
e
p
h
en
o
m
en
o
n
o
f
v
ib
r
atio
n
s
.
I
n
u
n
f
av
o
r
a
b
le
c
o
n
d
itio
n
s
,
th
es
e
v
ib
r
atio
n
s
ar
e
ca
p
ab
le
o
f
d
r
asti
ca
lly
in
cr
ea
s
in
g
th
e
d
y
n
am
ic
lo
ad
s
o
n
w
o
r
k
in
g
m
ac
h
in
e
r
y
[
9
]
-
[
1
2
]
.
Par
tial
d
if
f
er
e
n
tial
eq
u
atio
n
s
d
escr
i
b
e
th
e
m
o
tio
n
o
f
a
s
y
s
tem
with
d
is
tr
ib
u
ted
p
ar
am
eter
s
.
T
h
e
s
o
lu
tio
n
o
f
th
ese
e
q
u
atio
n
s
g
en
er
ally
p
o
s
es
s
ig
n
if
i
ca
n
t
m
ath
em
atica
l
ch
allen
g
es
[
1
3
]
-
[
1
6
]
.
Ho
wev
e
r
,
f
o
r
a
q
u
alitativ
e
an
aly
s
is
o
f
th
e
p
h
y
s
ical
p
r
o
ce
s
s
es
th
at
o
cc
u
r
in
th
e
in
itial
s
tag
es
o
f
co
n
v
ey
o
r
s
,
a
r
ea
l
m
ec
h
an
ical
s
y
s
tem
ca
n
b
e
s
im
p
lifie
d
b
y
u
s
in
g
a
d
y
n
am
i
c
m
o
d
el
in
wh
ich
d
is
tr
ib
u
ted
m
ass
es
,
elasticiti
e
s
,
an
d
f
o
r
ce
s
ar
e
r
e
p
lace
d
with
eq
u
iv
alen
tly
c
o
n
ce
n
tr
ate
d
o
n
e
s
.
Dy
n
am
ic
lo
ad
s
d
u
r
in
g
elastic
v
ib
r
atio
n
s
ca
n
s
ig
n
if
ican
tly
ex
ce
ed
s
tatic
an
d
in
er
tial
lo
ad
s
,
p
o
ten
tially
lead
in
g
to
o
v
er
lo
a
d
s
b
r
ea
k
a
g
e
o
f
p
a
r
ts
,
an
d
d
elay
s
in
s
tar
t
-
u
p
tim
e.
E
co
n
o
m
ic
ca
lcu
latio
n
s
s
h
o
w
th
at
th
e
c
o
s
t
o
f
th
e
b
elt
is
o
n
av
er
a
g
e
5
0
to
6
0
%
o
f
t
h
e
co
s
t
o
f
t
h
e
co
n
v
e
y
o
r
,
a
n
d
f
o
r
m
in
e
co
n
v
ey
o
r
s
it
r
ea
ch
es
6
7
%
[
1
7
]
.
C
o
m
p
u
ter
m
o
d
elin
g
m
eth
o
d
s
u
s
in
g
th
e
Simu
lin
k
s
im
u
lati
o
n
e
n
v
ir
o
n
m
en
t
o
f
th
e
MA
T
L
AB
p
ac
k
ag
e
ar
e
cu
r
r
en
tly
u
tili
ze
d
to
s
tu
d
y
o
b
j
ec
ts
in
s
y
s
tem
s
o
f
alm
o
s
t
an
y
co
m
p
lex
ity
[
1
8
]
-
[
2
0
]
.
A
n
im
p
o
r
tan
t
ad
v
an
tag
e
o
f
th
is
m
eth
o
d
is
th
e
ab
ilit
y
to
m
o
n
ito
r
th
e
p
r
o
ce
s
s
o
v
e
r
tim
e.
2.
F
O
RM
UL
AT
I
O
N
OF
T
H
E
P
RO
B
L
E
M
B
elt
co
n
v
ey
o
r
s
ar
e
h
ig
h
ly
co
m
p
licated
elec
tr
o
m
ec
h
an
ic
al
s
y
s
tem
s
in
v
o
lv
in
g
m
u
tu
a
l
d
y
n
am
ic
in
ter
ac
tio
n
o
f
t
h
eir
elec
tr
ic
d
r
iv
e,
m
ec
h
an
ical
tr
a
n
s
m
is
s
io
n
,
an
d
elastic
b
elt
d
u
r
in
g
s
tar
t
-
u
p
p
h
ase
o
p
er
atio
n
.
Su
ch
a
m
o
d
e
o
f
o
p
er
atio
n
is
an
ac
tu
al
o
n
e
s
in
ce
it
is
ch
ar
ac
ter
ized
b
y
v
ar
i
o
u
s
tr
an
s
ien
t
p
r
o
ce
s
s
es
with
h
ig
h
cu
r
r
en
t
v
alu
es
o
f
th
e
s
tato
r
cu
r
r
en
ts
,
to
r
q
u
e
p
u
ls
atio
n
s
,
s
p
ee
d
v
ar
iatio
n
s
,
an
d
n
o
n
u
n
if
o
r
m
v
alu
es
o
f
b
elt
ten
s
io
n
.
B
ec
au
s
e
o
f
th
e
d
is
tr
ib
u
ted
p
ar
am
eter
s
o
f
c
o
n
v
e
y
o
r
s
,
wh
ich
in
clu
d
e
th
e
elasticity
o
f
a
b
elt,
m
ass
o
f
tr
an
s
p
o
r
ted
ca
r
g
o
,
an
d
r
esis
tan
ce
f
o
r
ce
s
,
elastic
o
s
cillatio
n
s
ar
e
also
o
b
s
er
v
ed
alo
n
g
th
e
ir
co
n
v
ey
o
r
r
o
u
tes.
Par
tial
d
if
f
er
en
tial
eq
u
atio
n
s
ar
e
u
s
ed
to
an
aly
ze
th
ese
p
r
o
ce
s
s
es;
h
o
wev
er
,
th
eir
co
m
p
l
ex
ity
h
in
d
er
s
th
ei
r
ap
p
licab
ilit
y
.
T
h
e
p
u
r
p
o
s
e
o
f
th
is
wo
r
k
is
to
cr
ea
te
a
m
ath
e
m
atica
l
m
o
d
el
o
f
th
e
elec
tr
ic
m
o
to
r
d
r
iv
e
s
y
s
tem
o
f
th
e
b
elt
co
n
v
ey
o
r
b
ased
o
n
th
e
m
o
s
t
ess
en
tial
n
o
n
lin
ea
r
p
h
en
o
m
en
a.
T
h
e
d
ev
el
o
p
ed
m
ath
em
atica
l
m
o
d
el
allo
ws
f
o
r
t
h
e
s
tu
d
y
o
f
th
e
s
tatic
an
d
d
y
n
a
m
ic
o
p
er
atio
n
o
f
th
e
elec
tr
ic
m
o
t
o
r
d
r
iv
e
s
y
s
tem
in
t
h
e
s
tar
tu
p
p
h
ase
o
f
th
e
c
o
n
v
e
y
o
r
.
Fo
r
t
h
is
p
u
r
p
o
s
e,
th
e
m
o
d
el
u
s
es
th
e
m
ec
h
an
ical
p
a
r
am
eter
s
o
f
th
e
s
y
s
tem
in
a
co
n
ce
n
tr
ated
f
o
r
m
th
at
m
ak
es
it
p
o
s
s
ib
le
to
ev
alu
ate
th
eir
ef
f
ec
tiv
en
ess
in
th
e
s
tar
tu
p
p
h
ase
o
f
th
e
s
y
s
te
m
u
n
d
er
v
ar
io
u
s
co
n
d
itio
n
s
.
I
t
i
s
p
o
s
s
ib
le
th
r
o
u
g
h
th
e
em
p
lo
y
m
en
t
o
f
t
h
e
MA
T
L
AB
/Si
m
u
lin
k
en
v
ir
o
n
m
e
n
t
,
wh
ich
m
ak
es
it
p
o
s
s
ib
le
to
ex
a
m
in
e
ess
en
tial p
er
f
o
r
m
a
n
ce
ch
ar
ac
ter
is
tics
o
f
th
e
s
y
s
tem
.
3.
T
H
E
O
RY
T
h
e
p
r
esen
ce
o
f
elastic
m
ec
h
an
ical
co
n
n
e
ctio
n
s
b
etwe
en
th
e
in
ter
co
n
n
ec
ted
m
ass
es
r
esu
lts
in
th
e
g
en
er
atio
n
o
f
v
ib
r
atio
n
s
,
s
i
g
n
i
f
i
c
a
n
t
l
y
in
cr
ea
s
in
g
th
e
d
y
n
a
m
ic
lo
ad
s
o
n
th
e
o
p
er
atio
n
al
m
ac
h
in
er
y
.
Par
tial
d
if
f
er
en
tial
eq
u
atio
n
s
d
escr
ib
e
th
e
m
o
tio
n
o
f
a
s
y
s
tem
with
d
is
tr
ib
u
ted
p
ar
a
m
eter
s
.
T
h
e
s
o
lu
tio
n
o
f
th
ese
eq
u
atio
n
s
in
g
e
n
er
al
f
o
r
m
p
o
s
es
s
ig
n
if
ican
t
m
ath
em
atica
l
ch
allen
g
es.
T
o
ac
c
o
u
n
t
f
o
r
p
h
y
s
ical
p
r
o
ce
s
s
es
d
u
r
in
g
co
n
v
ey
o
r
s
tar
tu
p
s
,
a
r
ea
l
m
ec
h
an
ical
s
y
s
tem
ca
n
b
e
r
ep
r
esen
ted
b
y
a
s
im
p
lifie
d
d
y
n
am
ic
m
o
d
el
i
n
wh
ich
d
is
tr
ib
u
ted
m
ass
es
,
elasticiti
es
,
an
d
f
o
r
ce
s
ar
e
r
ep
lace
d
b
y
e
q
u
iv
alen
tly
co
n
ce
n
tr
ate
d
o
n
es.
T
o
cr
ea
te
a
m
o
d
e
l
,
y
o
u
c
a
n
u
t
il
i
z
e
t
h
e
t
e
n
s
io
n
d
i
a
g
r
a
m
o
f
t
h
e
c
o
n
v
e
y
o
r
b
e
lt
i
n
s
t
a
r
t
-
u
p
m
o
d
e
.
I
f
we
a
c
ce
p
t
t
h
e
e
q
u
a
li
t
y
o
f
t
h
e
ten
s
io
n
s
o
f
th
e
tr
ac
tio
n
elem
en
t
o
n
th
e
d
r
iv
e
elem
en
t
o
f
th
e
r
ea
l
s
y
s
tem
to
th
e
ten
s
io
n
s
at
th
e
co
r
r
esp
o
n
d
i
n
g
p
o
in
ts
o
f
th
e
d
r
iv
e
elem
en
t
o
n
th
e
m
o
d
el
as
a
n
eq
u
i
v
alen
ce
co
n
d
itio
n
,
th
en
th
e
d
y
n
am
ic
m
o
d
el
o
f
th
e
m
o
v
in
g
p
ar
t o
f
t
h
e
co
n
v
ey
o
r
r
ed
u
ce
d
t
o
tr
an
s
latio
n
al
m
o
tio
n
will h
av
e
th
e
f
o
r
m
s
h
o
wn
in
Fig
u
r
e
1
[
2
1
]
-
[
2
4
]
.
Fig
u
r
e
1
.
C
o
m
p
u
tatio
n
al
d
y
n
a
m
ic
m
o
d
el
o
f
th
e
co
n
v
ey
o
r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
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lec
&
Dr
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s
t
I
SS
N:
2088
-
8
6
9
4
Dev
elo
p
men
t o
f a
ma
t
h
ema
tic
a
l m
o
d
el
fo
r
elec
tr
ic
d
r
ive
d
yn
a
mics in
b
elt
…
(
K
h
a
la
f Y.
A
lz
yo
u
d
)
71
Fro
m
Fig
u
r
e
1
,
t
h
e
p
ar
am
ete
r
s
an
d
d
en
o
te
th
e
m
ass
es
o
f
th
e
wo
r
k
in
g
an
d
i
d
le
b
r
an
c
h
es
o
f
th
e
co
n
v
e
y
o
r
,
r
esp
ec
tiv
ely
.
T
h
ese
v
alu
es
co
n
s
id
er
t
h
e
m
a
s
s
o
f
th
e
ten
s
io
n
d
r
u
m
r
ed
u
c
ed
to
tr
an
s
latio
n
al
m
o
tio
n
.
Ad
d
itio
n
ally
,
r
ep
r
esen
ts
th
e
d
r
iv
e
m
ass
,
wh
ich
i
s
also
r
ed
u
ce
d
to
tr
an
s
latio
n
al
m
o
tio
n
.
T
h
e
eq
u
iv
alen
t
s
tiff
n
ess
o
f
th
e
tr
a
ctio
n
o
r
g
a
n
b
r
a
n
ch
es
is
r
ep
r
esen
ted
b
y
.
T
h
e
co
o
r
d
in
ates
o
f
th
e
co
n
ce
n
tr
ate
d
m
ass
es
an
d
ar
e
g
iv
en
b
y
an
d
:
r
esp
ec
tiv
ely
.
T
h
e
elastic
f
o
r
ce
s
in
th
e
wo
r
k
in
g
an
d
id
le
b
r
an
ch
es o
f
th
e
tr
ac
tio
n
elem
e
n
t a
r
e
d
ef
i
n
ed
b
y
(1
)
an
d
(
2
).
=
(
−
)
(
1
)
=
(
−
)
(
2)
H
er
e
an
d
co
r
r
esp
o
n
d
to
th
e
elastic f
o
r
ce
s
in
th
e
wo
r
k
in
g
an
d
id
le
b
r
an
ch
es
,
r
esp
ec
tiv
ely
,
o
f
th
e
tr
ac
tio
n
elem
en
t.
T
h
e
r
esu
ltin
g
s
tatic
r
esis
tan
ce
f
o
r
ce
s
in
th
e
wo
r
k
in
g
an
d
id
le
b
r
a
n
ch
es
ar
e
d
en
o
ted
b
y
an
d
wh
er
e
th
e
s
u
m
o
f
th
ese
f
o
r
ce
s
is
g
iv
en
b
y
(
3
)
.
+
=
(
3
)
R
eso
lv
in
g
th
e
s
y
s
tem
o
f
e
q
u
a
tio
n
s
in
v
o
lv
i
n
g
t
h
e
d
is
p
lace
m
en
t
co
o
r
d
in
ate
we
o
b
tain
a
n
eq
u
atio
n
o
f
th
e
f
o
r
m
af
te
r
th
e
L
ap
lace
tr
an
s
f
o
r
m
atio
n
.
(
1
2
+
1
)
(
2
2
+
1
)
2
=
(
−
)
(
+
+
)
(
4
)
=
2
2
+
(
5
)
W
h
er
e
1
=
1
1
2
=
1
2
last
ly
F
D
r
ep
r
esen
ts
th
e
tr
ac
tio
n
f
o
r
ce
ex
er
ted
b
y
t
h
e
d
r
iv
e.
wh
e
r
e
ten
s
io
n
s
lik
e
1
2
wo
u
ld
r
e
p
r
esen
t
th
e
f
o
r
ce
at
s
p
ec
if
ic
p
o
i
n
ts
in
f
lu
en
ce
d
b
y
p
ar
am
eter
s
s
u
ch
a
s
lo
ad
d
is
tr
ib
u
tio
n
,
s
ec
tio
n
len
g
th
,
r
e
s
is
tan
ce
co
ef
f
icien
ts
,
an
d
an
g
l
e
o
f
in
clin
atio
n
.
T
h
e
m
o
d
el
o
f
th
e
c
o
n
v
e
y
o
r
m
ec
h
an
is
m
co
n
s
tr
u
cted
ac
co
r
d
in
g
to
th
is
eq
u
atio
n
is
illu
s
tr
ated
in
Fig
u
r
e
2
.
T
o
ac
co
u
n
t
f
o
r
th
e
d
am
p
ed
n
atu
r
e
o
f
o
s
cillatio
n
s
ca
u
s
ed
b
y
th
e
d
am
p
in
g
e
f
f
ec
t
o
f
v
is
co
u
s
f
r
ictio
n
f
o
r
ce
s
th
e
d
am
p
in
g
c
o
ef
f
ici
en
t
is
in
co
r
p
o
r
ate
d
in
to
th
e
m
o
d
el.
T
h
is
co
e
f
f
icien
t
h
e
lp
s
r
ed
u
ce
th
e
am
p
litu
d
e
o
f
ac
ce
le
r
atio
n
o
s
cillatio
n
s
o
v
er
tim
e
.
T
h
e
m
o
d
el
ca
lcu
lates
th
e
b
elt
s
p
ee
d
an
d
th
e
c
o
o
r
d
in
ate
=
.
T
o
ca
lcu
late
th
e
r
esu
ltin
g
s
t
atic
r
esis
tan
ce
f
o
r
ce
s
o
f
th
e
wo
r
k
in
g
an
d
id
le
b
r
an
ch
es
o
f
th
e
tr
ac
tio
n
elem
en
t Fc
b
lo
ck
B1
is
u
s
ed
.
T
h
e
in
ter
n
al
s
tr
u
ctu
r
e
o
f
th
e
b
lo
ck
B1
is
illu
s
tr
ated
in
Fig
u
r
e
2
.
Fig
u
r
e
2
.
C
o
n
v
ey
o
r
m
o
d
el
L
et
u
s
tak
e
a
s
p
ec
if
ic
ex
am
p
le
o
f
a
b
elt
co
n
v
ey
o
r
s
y
s
tem
wit
h
two
ac
tiv
e
o
r
lo
ad
ed
b
r
a
n
ch
es a
n
d
two
id
le
b
r
an
ch
es;
th
e
lay
o
u
t
o
f
s
u
ch
a
s
y
s
tem
is
g
iv
en
in
Fig
u
r
e
3
.
I
n
t
h
is
s
y
s
tem
o
r
lay
o
u
t,
th
e
p
ath
o
f
th
e
co
n
v
ey
o
r
co
n
s
is
ts
o
f
v
ar
io
u
s
s
tr
aig
h
t
an
d
cu
r
v
e
d
o
r
b
e
n
d
in
g
s
ec
tio
n
s
;
ea
ch
s
ec
tio
n
h
as
a
d
if
f
er
en
t
ef
f
ec
t
o
n
th
e
r
esis
tan
ce
an
d
ten
s
io
n
o
f
f
er
ed
b
y
a
b
elt
as
it
tr
av
er
s
es
th
e
s
y
s
tem
.
T
h
er
e
ar
e
v
ar
io
u
s
f
ac
to
r
s
ass
o
ciate
d
with
a
b
elt
co
n
v
ey
o
r
s
y
s
tem
th
at
af
f
ec
t
its
p
er
f
o
r
m
an
ce
an
d
s
h
o
u
ld
b
e
c
o
n
s
id
er
ed
i
n
a
m
a
th
em
atica
l
m
o
d
el
to
p
r
ed
ict
d
if
f
er
e
n
t
r
esis
tan
ce
s
ac
cu
r
ately
;
s
o
m
e
o
f
th
e
f
ac
to
r
s
t
o
p
e
r
f
o
r
m
ac
c
u
r
ate
ca
lcu
latio
n
s
o
f
t
h
e
f
o
r
ce
s
in
a
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.
1
7
,
No
.
1
,
Ma
r
c
h
20
2
6
:
69
-
81
72
co
n
v
ey
o
r
b
elt,
a
s
y
s
tem
atic
n
u
m
b
er
i
n
g
o
f
th
e
co
n
v
ey
o
r
b
elt
s
ec
tio
n
s
n
ee
d
s
to
b
e
d
o
n
e.
T
h
is
is
d
o
n
e
b
y
n
u
m
b
er
i
n
g
th
e
s
ec
tio
n
s
af
ter
t
h
e
b
elt
ex
its
th
e
d
r
iv
e
d
r
u
m
i
n
a
m
an
n
er
i
n
d
icate
d
in
Fig
u
r
e
3
.
I
n
a
c
o
n
v
e
y
o
r
b
elt
th
eo
r
y
a
p
p
licatio
n
,
s
u
ch
a
s
y
s
tem
atic
ap
p
r
o
ac
h
h
elp
s
in
d
o
in
g
th
e
s
tep
-
by
-
s
tep
ca
lc
u
latio
n
o
f
r
esis
tan
ce
f
o
r
ce
s
in
a
m
an
n
er
th
at
h
el
p
s
in
th
e
d
eter
m
in
atio
n
o
f
th
e
b
el
t
ten
s
io
n
in
ea
ch
s
ec
tio
n
with
a
ce
r
tain
d
eg
r
ee
o
f
ac
cu
r
ac
y
,
wh
ich
is
f
u
n
d
a
m
en
t
al
in
ac
cu
r
ately
m
o
d
elin
g
th
e
d
y
n
am
ic
b
eh
av
i
o
r
o
f
th
e
co
n
v
ey
o
r
b
elt
s
y
s
tem
.
I
n
a
co
n
v
ey
o
r
b
elt
th
eo
r
y
p
r
o
b
le
m
,
a
s
y
s
tem
atic
n
u
m
b
er
in
g
ap
p
r
o
ac
h
h
elp
s
en
s
u
r
e
th
at
th
er
e
is
a
co
r
r
ec
t step
-
by
-
s
tep
ca
lcu
latio
n
o
f
th
e
b
elt
te
n
s
io
n
in
a
way
t
h
at
is
f
u
n
d
a
m
en
tal
in
ac
cu
r
ately
m
o
d
elin
g
t
h
e
b
eh
a
v
io
r
o
f
th
e
co
n
v
ey
o
r
b
elt
s
y
s
tem
.
T
h
is
a
p
p
r
o
ac
h
h
elp
s
in
d
o
in
g
th
e
c
o
r
r
ec
t
s
tep
-
by
-
s
tep
ca
lcu
latio
n
o
f
b
elt
ten
s
io
n
in
a
m
an
n
er
th
at
lea
d
s
to
a
ce
r
tain
d
eg
r
ee
o
f
ac
cu
r
ac
y
in
m
o
d
elin
g
th
e
b
e
h
av
io
r
o
f
th
e
co
n
v
ey
o
r
b
elt
s
y
s
tem
.
C
o
n
v
ey
o
r
b
elts
p
la
y
a
p
iv
o
tal
r
o
le
in
in
d
u
s
tr
ial
m
ater
ial
h
a
n
d
lin
g
f
ac
ilit
atin
g
ef
f
icien
t
tr
an
s
p
o
r
tatio
n
o
f
g
o
o
d
s
ac
r
o
s
s
v
ar
io
u
s
d
is
tan
ce
s
an
d
ter
r
ain
s
.
T
h
e
co
r
e
o
f
c
o
n
v
ey
o
r
s
y
s
tem
ef
f
icien
cy
lies
in
p
r
o
p
er
ten
s
io
n
lev
els
in
th
e
b
elt
o
p
er
atio
n
.
N
o
t
o
n
ly
d
o
es
ten
s
io
n
af
f
ec
t
o
p
er
atio
n
al
ef
f
icien
c
y
,
b
u
t
it
ca
n
also
h
av
e
an
im
p
ac
t
o
n
co
n
v
ey
o
r
co
m
p
o
n
e
n
t
life
s
p
an
.
T
h
er
ef
o
r
e,
ac
c
u
r
ate
te
n
s
io
n
d
eter
m
in
atio
n
is
cr
itical
f
o
r
o
p
tim
izin
g
co
n
v
ey
o
r
ef
f
icien
cy
an
d
m
in
i
m
izin
g
m
ain
ten
a
n
ce
r
eq
u
ir
em
en
ts
.
Fig
u
r
e
3
.
C
o
n
v
ey
o
r
b
elt
d
iag
r
am
4.
M
E
T
H
O
D
T
o
d
eter
m
in
e
th
e
ten
s
io
n
i
n
a
co
n
v
ey
o
r
b
elt
,
s
ev
e
r
al
k
ey
s
te
p
s
ar
e
as f
o
llo
ws:
a)
C
alcu
latio
n
o
f
ca
r
g
o
weig
h
t
: T
h
e
weig
h
t o
f
1
m
eter
o
f
tr
a
n
s
p
o
r
ted
ca
r
g
o
∗
is
co
m
p
u
ted
in
(
6
)
.
∗
=
(
6
)
W
h
er
e
r
ep
r
esen
ts
co
n
v
ey
o
r
p
r
o
d
u
ctiv
ity
in
k
g
/s
an
d
d
en
o
tes th
e
b
elt
s
p
ee
d
in
m
/s
.
b)
Dete
r
m
in
atio
n
o
f
lo
ad
f
ac
t
o
r
s
:
−
W
eig
h
t lo
ad
d
eter
m
in
e
d
b
y
th
e
m
ass
o
f
th
e
p
ay
l
o
ad
is
ca
lcu
lated
in
(
7
)
.
=
9
.
81
∗
(
7
)
−
W
eig
h
t lo
ad
d
eter
m
in
e
d
b
y
th
e
m
ass
o
f
th
e
b
elt
is
d
er
iv
ed
f
r
o
m
.
=
0
.
1
(
8
)
−
R
esi
s
tan
ce
f
o
r
ce
s
to
m
o
v
em
en
t in
th
e
s
tr
aig
h
t sectio
n
ar
e
ca
l
cu
lated
in
(
9
)
.
∆
=
(
∓
)
(
9
)
W
h
er
e
is
th
e
weig
h
t lo
ad
o
f
t
h
e
s
ec
tio
n
o
n
t
h
e
f
ir
s
t
tr
ac
k
(
f
o
r
th
e
wo
r
k
i
n
g
b
r
an
ch
o
f
th
e
co
n
v
ey
o
r
.
4
=
3
=
+
r
an
d
th
e
id
le
b
r
a
n
ch
(
1
=
3
=
0
)
;
wh
er
e
is
th
e
s
ec
tio
n
len
g
th
;
in
d
icate
s
th
e
co
ef
f
icien
t
o
f
r
esis
tan
ce
to
m
o
v
em
en
t o
n
a
s
tr
ai
g
h
t
s
ec
tio
n
)
;
an
d
r
ep
r
esen
t
th
e
an
g
le
o
f
in
clin
atio
n
o
f
th
e
s
ite.
I
n
t
h
e
f
o
r
m
u
la
,
t
h
e
“+
”
s
ig
n
co
r
r
e
s
p
o
n
d
s
to
s
ec
tio
n
s
wh
er
e
th
e
b
elt
m
o
v
es
u
p
h
ill
,
an
d
th
e
“
-
”
s
ig
n
wh
en
m
o
v
in
g
d
o
wn
h
ill.
Fo
r
th
e
c
o
n
v
ey
o
r
d
iag
r
am
in
Fig
u
r
e
3
.
∆
1
=
1
1
(
П
2
−
2
)
(1
0
)
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
Dev
elo
p
men
t o
f a
ma
t
h
ema
tic
a
l m
o
d
el
fo
r
elec
tr
ic
d
r
ive
d
yn
a
mics in
b
elt
…
(
K
h
a
la
f Y.
A
lz
yo
u
d
)
73
∆
2
=
2
2
(
П
1
−
1
)
(1
1
)
∆
3
=
3
3
(
П
1
+
1
)
(1
2
)
∆
4
=
4
4
(
П
2
+
2
)
(1
3
)
c)
C
o
m
p
u
tatio
n
o
f
r
esu
ltin
g
r
esis
tan
ce
f
o
r
ce
:
T
h
e
r
esu
ltin
g
r
esis
tan
ce
f
o
r
ce
in
s
tr
aig
h
t
s
ec
tio
n
s
`
is
ca
lcu
lated
b
y
s
u
m
m
in
g
u
p
i
n
d
iv
id
u
al
r
esis
tan
ce
f
o
r
ce
s
,
ac
co
u
n
tin
g
f
o
r
ten
s
io
n
i
n
cr
e
ase
in
b
en
d
in
g
s
ec
tio
n
s
.
`
=
∆
4
+
∆
3
+
∆
2
2
+
∆
1
3
(1
4
)
W
h
er
e
ar
e
th
e
co
e
f
f
icien
ts
o
f
ten
s
io
n
in
cr
ea
s
e
in
b
e
n
d
in
g
s
ec
tio
n
s
an
d
ar
e
s
ee
n
i
n
(
1
5
)
.
=1
+
(1
5
)
W
h
er
e
p
r
esen
ts
th
e
r
esis
tan
ce
co
ef
f
icien
ts
in
b
en
d
in
g
s
ec
tio
n
s
.
d)
T
en
s
io
n
ca
lcu
latio
n
an
d
d
ia
g
r
am
co
n
s
tr
u
ctio
n
:
Hav
in
g
th
e
t
en
s
io
n
at
th
e
r
u
n
n
in
g
p
o
in
t
o
f
th
e
Т
d
r
iv
e
d
r
u
m
it
is
p
o
s
s
ib
le
to
ca
lcu
lat
e
an
d
co
n
s
tr
u
ct
a
te
n
s
io
n
d
iag
r
am
o
f
th
e
co
n
v
ey
o
r
b
elt.
T
h
e
ten
s
io
n
i
n
ea
ch
s
ec
tio
n
is
d
eter
m
in
e
d
in
(
1
6
)
f
o
r
s
tr
aig
h
t sectio
n
s
.
Т
=
Т
+
∆
(1
6
)
T
h
e
b
en
d
in
g
a
r
ea
s
ar
e
d
eter
m
i
n
ed
in
(
1
7
)
.
Т
=
Т
(1
7
)
I
t is n
ec
ess
ar
y
to
tak
e
in
to
ac
c
o
u
n
t th
at
Т
=
Т
−
1
and
Т
=
Т
.
T
h
e
ten
s
io
n
d
iag
r
a
m
d
eter
m
i
n
es
th
e
h
ig
h
est
an
d
lo
west
ten
s
io
n
in
th
e
co
n
v
ey
o
r
b
elt.
T
h
e
r
esu
ltin
g
r
esis
tan
ce
f
o
r
ce
is
d
ef
in
ed
as th
e
d
if
f
er
e
n
ce
in
ten
s
io
n
o
n
th
e
d
r
iv
e
d
r
u
m
,
wh
ich
is
ca
lcu
lated
in
(
1
8
)
.
=
Т
−
Т
(1
8
)
Usi
n
g
ten
s
io
n
at
t
h
e
d
r
iv
e
d
r
u
m
as
a
r
ef
er
e
n
ce
p
o
in
t
,
te
n
s
io
n
in
ea
ch
s
ec
tio
n
is
co
m
p
u
te
d
f
o
r
b
o
th
s
tr
aig
h
t
an
d
b
en
d
i
n
g
a
r
ea
s
.
T
h
e
ten
s
io
n
d
ia
g
r
am
illu
s
tr
ates
th
e
d
is
tr
ib
u
tio
n
o
f
ten
s
io
n
alo
n
g
th
e
c
o
n
v
e
y
o
r
b
elt
,
h
ig
h
lig
h
tin
g
v
ar
iatio
n
s
ac
r
o
s
s
d
if
f
er
en
t
s
ec
tio
n
s
.
T
h
e
ten
s
io
n
an
aly
s
is
p
r
o
v
i
d
es
in
s
ig
h
ts
in
to
th
e
d
y
n
am
ics
o
f
co
n
v
ey
o
r
b
elt
o
p
e
r
atio
n
,
r
ev
e
alin
g
ar
ea
s
o
f
h
ig
h
an
d
lo
w
ten
s
io
n
.
B
y
u
n
d
er
s
tan
d
in
g
ten
s
io
n
d
is
tr
ib
u
tio
n
,
o
p
er
ato
r
s
ca
n
i
d
en
tify
p
o
te
n
tial
s
tr
ess
p
o
in
ts
an
d
im
p
lem
e
n
t c
o
r
r
ec
tiv
e
m
ea
s
u
r
es
to
o
p
tim
i
ze
p
er
f
o
r
m
a
n
ce
an
d
en
h
an
ce
s
y
s
tem
r
eliab
ilit
y
.
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h
e
m
o
d
el
o
f
th
e
b
l
o
ck
f
o
r
ca
l
cu
latin
g
ten
s
io
n
f
o
r
ce
s
o
n
v
a
r
io
u
s
s
ec
tio
n
s
o
f
th
e
co
n
v
ey
o
r
(
B
1
in
Fig
u
r
e
3
)
is
s
h
o
wn
in
Fig
u
r
e
4.
Fig
u
r
e
5
d
e
p
icts
th
e
m
o
d
el
o
f
th
e
elec
tr
ic
d
r
iv
e
s
y
s
tem
o
f
th
e
co
n
v
e
y
o
r
.
T
h
is
m
o
d
el
d
e
s
cr
ib
es
a
co
m
p
lete
r
ep
r
esen
tatio
n
o
f
t
h
e
co
m
b
in
e
d
d
y
n
am
ics
o
f
th
e
elec
tr
ical
an
d
m
ec
h
a
n
ical
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y
s
tem
s
.
T
h
e
m
o
d
el
in
clu
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es
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th
r
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-
p
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ase
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ain
s
v
o
ltag
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s
o
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r
ce
th
at
ac
ts
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u
p
p
ly
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o
r
th
e
asy
n
ch
r
o
n
o
u
s
(
in
d
u
ctio
n
)
m
o
to
r
(
M)
.
T
h
is
is
th
e
m
ajo
r
d
r
iv
in
g
co
m
p
o
n
en
t
f
o
r
th
e
co
n
v
ey
o
r
s
y
s
tem
.
T
h
e
m
o
to
r
co
n
s
u
m
es
th
e
elec
tr
ic
p
o
wer
f
r
o
m
th
e
s
u
p
p
ly
an
d
g
en
er
ates
m
ec
h
an
ical
to
r
q
u
e
t
h
at
d
r
iv
es
th
e
c
o
n
v
e
y
o
r
b
elt
v
ia
th
e
m
ec
h
a
n
ical
d
r
iv
e
tr
ain
.
T
h
is
r
ep
r
esen
tatio
n
d
escr
ib
es
th
e
m
o
s
t
co
m
m
o
n
ly
ap
p
lied
in
d
u
s
tr
ial
s
o
lu
tio
n
f
o
r
b
elt
co
n
v
ey
o
r
d
r
iv
es
o
win
g
to
th
e
h
i
g
h
er
r
eliab
ilit
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an
d
s
im
p
ler
co
n
s
tr
u
ctio
n
.
T
h
e
m
o
d
el
also
in
clu
d
es
a
p
o
wer
s
u
p
p
ly
s
y
s
tem
an
d
th
e
asy
n
ch
r
o
n
o
u
s
(
in
d
u
ctio
n
)
m
o
to
r
(
M)
th
at
d
r
iv
es th
e
co
n
v
ey
o
r
.
A
B
M
m
ea
s
u
r
em
en
t
u
n
it
an
d
s
p
ec
if
ic
m
ea
s
u
r
em
en
t
to
o
l
s
ar
e
also
i
n
clu
d
ed
in
th
e
m
o
d
el
f
o
r
o
b
s
er
v
atio
n
o
f
th
e
m
o
s
t
ess
en
t
ial
elec
tr
ic
an
d
m
ec
h
an
ical
p
ar
am
eter
s
.
T
h
ese
to
o
ls
allo
w
f
o
r
o
n
lin
e
m
o
n
ito
r
in
g
an
d
m
ea
s
u
r
em
en
t
o
f
th
e
s
tato
r
cu
r
r
en
t
v
alu
es,
th
e
r
o
tatio
n
a
l
s
p
ee
d
o
f
th
e
m
o
to
r
,
th
e
elec
tr
o
m
ag
n
etic
to
r
q
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e
p
r
o
d
u
ce
d
d
u
r
in
g
t
h
e
o
p
e
r
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o
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th
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asy
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ch
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s
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in
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n
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m
o
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r
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d
th
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alu
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o
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h
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r
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ce
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ce
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tin
g
o
n
th
e
m
o
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r
s
h
af
t.
T
h
e
co
n
v
e
y
o
r
m
ec
h
a
n
is
m
s
u
b
s
y
s
tem
r
ep
r
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ts
th
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co
m
p
lete
m
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h
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ical
d
y
n
am
ics
o
f
th
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elt
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v
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r
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at
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tial,
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MA
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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8
8
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4
I
n
t J Po
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&
Dr
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s
t
,
Vo
l.
1
7
,
No
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1
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Ma
r
c
h
20
2
6
:
69
-
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74
Fig
u
r
e
4
.
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d
el
f
o
r
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lcu
latin
g
f
o
r
ce
s
o
n
co
n
v
ey
o
r
s
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tio
n
Fig
u
r
e
5
.
C
o
n
v
ey
o
r
elec
tr
ic
d
r
iv
e
m
o
d
el
5.
E
XP
E
R
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M
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A
L
RE
SUL
T
S
T
r
an
s
ien
t
p
r
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ce
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s
es
(
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s
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g
r
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s
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wer
e
co
m
p
ar
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f
o
r
v
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r
io
u
s
p
ar
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eter
s
o
f
th
e
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tr
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d
r
iv
e
an
d
co
n
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o
r
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ec
h
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is
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d
u
r
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g
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h
e
in
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t
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tar
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-
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.
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e
tr
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s
ien
t
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r
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ce
s
s
es
o
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s
er
v
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o
n
th
e
m
o
d
el
f
o
r
s
tato
r
cu
r
r
en
ts
s
p
ee
d
,
to
r
q
u
es
,
an
d
r
esis
tan
ce
f
o
r
ce
s
o
n
th
e
s
h
af
t
o
f
a
n
asy
n
ch
r
o
n
o
u
s
m
o
to
r
ar
e
d
ep
i
cted
d
u
r
in
g
th
e
in
itial
s
tar
t
o
f
th
e
b
elt
co
n
v
ey
o
r
,
as
s
h
o
wn
in
Fig
u
r
e
6
(
a)
,
an
d
d
u
r
in
g
s
tar
t
-
u
p
with
l
o
ad
ed
wo
r
k
in
g
ar
ea
s
,
as
s
h
o
wn
i
n
Fig
u
r
e
6
(
b
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.
Fig
u
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6
illu
s
tr
ates
tr
an
s
ien
t
p
r
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ce
s
s
es
o
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s
er
v
ed
in
s
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r
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r
r
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ts
s
p
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,
to
r
q
u
e
,
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esis
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ce
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e
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in
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tar
t
o
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a
b
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co
n
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ey
o
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an
d
th
e
s
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t
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u
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wo
r
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h
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itio
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n
Fig
u
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7
,
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e
o
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g
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am
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o
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th
e
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n
v
e
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o
r
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elt
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o
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e
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o
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en
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in
g
m
o
d
es
o
f
t
h
e
co
n
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ey
o
r
b
elt
s
y
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tem
.
I
n
p
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ticu
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,
in
Fig
u
r
e
7
(
a
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,
th
e
s
tar
t
-
u
p
d
y
n
am
ics
o
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th
e
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n
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ey
o
r
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elt
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e
illu
s
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ated
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en
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r
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m
o
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e
,
wh
er
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s
in
F
ig
u
r
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7
(
b
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,
th
e
s
tar
t
-
u
p
d
y
n
a
m
ics
ar
e
p
r
esen
t
ed
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en
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r
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g
with
lo
ad
e
d
wo
r
k
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g
ar
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s
.
I
t
is
s
ee
n
f
r
o
m
th
e
an
aly
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is
o
f
Fig
u
r
e
7
(
a)
s
h
o
ws
th
at
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o
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th
e
u
n
lo
ad
e
d
s
tar
t
-
u
p
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r
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ce
s
s
o
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n
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r
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e
s
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ee
d
o
f
th
e
b
el
t
co
n
s
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ab
ly
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es
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a
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h
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s
h
o
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t
to
r
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ch
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e
s
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ied
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e
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ce
ler
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o
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.
On
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,
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aly
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Fig
u
r
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7
(
b
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r
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v
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ls
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at
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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I
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