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th
e
s
am
e
r
ef
e
r
en
ce
f
r
am
e.
T
h
e
co
m
p
a
r
is
o
n
b
etwe
en
t
h
ese
co
n
tr
o
l
m
eth
o
d
s
is
o
f
ten
b
ased
o
n
th
eir
r
esp
ec
tiv
e
s
witch
in
g
s
tr
ateg
ies.
I
FO
C
em
p
lo
y
s
in
d
ep
e
n
d
en
t
co
n
tr
o
l
o
f
elec
tr
o
m
ag
n
etic
to
r
q
u
e
an
d
r
o
to
r
f
lu
x
(
as
il
lu
s
tr
ated
in
Fig
u
r
e
1
)
,
wh
ile
DT
C
u
til
izes
a
s
wi
tch
in
g
tab
le
to
m
ain
tain
elec
tr
o
m
ag
n
etic
to
r
q
u
e
a
n
d
s
ta
to
r
f
lu
x
with
in
p
r
e
d
ef
in
ed
h
y
s
t
er
esis
b
an
d
s
(
s
ee
Fig
u
r
e
2
)
.
T
h
is
s
tu
d
y
ex
am
in
es
th
e
d
y
n
a
m
ic
p
er
f
o
r
m
an
ce
o
f
b
o
th
I
FO
C
an
d
DT
C
u
n
d
er
l
o
w
-
f
r
eq
u
e
n
cy
s
p
ee
d
co
n
tr
o
l
co
n
d
itio
n
s
.
I
t
also
ev
alu
ates
th
eir
s
en
s
i
tiv
ity
to
in
ac
cu
r
ac
ies
in
m
o
to
r
p
ar
am
eter
s
.
Fo
r
I
FOC
,
cr
i
tical
p
ar
am
eter
s
in
clu
d
e
m
a
g
n
etizi
n
g
in
d
u
ctan
ce
,
r
o
to
r
r
esis
tan
ce
,
an
d
r
o
to
r
in
d
u
ctan
ce
,
wh
e
r
ea
s
in
DT
C
,
s
tato
r
r
esis
tan
ce
is
p
ar
ticu
lar
ly
s
ig
n
i
f
ican
t.
T
wo
ty
p
es
o
f
i
n
d
u
ctio
n
m
o
t
o
r
c
o
n
tr
o
l
s
ch
em
es
ar
e
an
aly
ze
d
—
b
o
th
in
ter
m
s
o
f
d
y
n
a
m
ic
an
d
s
tead
y
-
s
tate
p
er
f
o
r
m
an
ce
th
r
o
u
g
h
s
im
u
latio
n
an
d
e
x
p
er
im
e
n
tal
im
p
lem
en
tatio
n
.
R
ec
o
m
m
en
d
atio
n
s
f
o
r
t
h
eir
a
p
p
licatio
n
ar
e
p
r
o
v
id
e
d
,
b
ase
d
o
n
th
e
m
ath
e
m
atica
l
p
r
in
ci
p
les
u
n
d
er
ly
in
g
ea
ch
co
n
tr
o
ller
,
a
n
d
th
e
r
esu
lts
o
b
ta
in
ed
f
r
o
m
t
h
e
two
co
n
tr
o
l a
lg
o
r
ith
m
s
an
aly
ze
d
ar
e
DT
C
an
d
I
FOC
.
Simu
latio
n
s
f
o
r
ea
ch
co
n
tr
o
l
ty
p
e
a
r
e
p
e
r
f
o
r
m
e
d
in
MA
T
L
AB
/Si
m
u
li
n
k
to
s
tu
d
y
th
e
s
en
s
itiv
ity
to
in
ter
n
al
m
ac
h
in
e
p
ar
am
eter
s
,
an
d
r
ea
l
-
tim
e
im
p
l
em
en
tatio
n
s
u
s
in
g
a
d
SP
AC
E
1
1
0
4
b
o
ar
d
ar
e
c
o
n
d
u
cted
f
o
r
co
m
p
ar
is
o
n
.
T
o
th
e
b
est
o
f
o
u
r
k
n
o
wled
g
e
,
n
o
d
ir
ec
t
co
m
p
ar
is
o
n
s
o
f
th
e
d
y
n
am
ic
r
esp
o
n
s
es
o
f
I
FOC
an
d
DT
C
h
av
e
b
ee
n
r
ep
o
r
ted
in
th
e
lite
r
atu
r
e.
E
x
is
tin
g
s
tu
d
ies
o
n
p
a
r
am
eter
s
en
s
itiv
ity
d
o
n
o
t
q
u
a
n
tify
th
e
im
p
ac
t
o
f
p
ar
am
eter
v
ar
iatio
n
s
o
r
er
r
o
r
s
o
n
tr
an
s
ien
t
r
esp
o
n
s
es.
Mo
s
t
p
u
b
licatio
n
s
f
o
c
u
s
p
r
im
a
r
ily
o
n
s
tead
y
-
s
tate
p
er
f
o
r
m
an
ce
[
8
]
-
[
1
1
]
,
wh
ile
[
1
1
]
,
[
1
2
]
o
f
f
er
o
n
ly
lim
ited
co
m
p
ar
is
o
n
s
o
f
d
y
n
am
ic
b
eh
av
i
o
r
.
I
n
co
n
tr
ast,
th
e
s
tu
d
y
in
[
1
3
]
p
r
o
p
o
s
es
a
ty
p
e
-
2
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
aim
e
d
at
en
h
a
n
cin
g
t
h
e
p
er
f
o
r
m
an
ce
o
f
th
e
c
o
n
v
e
n
tio
n
al
PI
co
n
tr
o
ller
with
in
th
e
i
n
d
ir
ec
t
f
ield
-
o
r
ien
ted
c
o
n
tr
o
l (
I
FOC
)
s
tr
ateg
y
u
n
d
er
b
r
o
k
e
n
-
b
ar
co
n
d
itio
n
s
.
T
h
e
au
th
o
r
s
r
e
p
o
r
t
th
at
th
is
ap
p
r
o
ac
h
also
im
p
r
o
v
es
r
o
b
u
s
tn
ess
ag
ain
s
t
m
o
to
r
p
ar
am
eter
v
ar
iatio
n
s
.
Similar
ly
,
th
e
wo
r
k
in
[
1
4
]
p
r
esen
ts
a
r
o
b
u
s
t,
s
en
s
o
r
less
f
au
lt
-
to
ler
an
t
co
n
tr
o
ller
f
o
r
in
d
u
ctio
n
m
o
to
r
s
,
em
p
lo
y
in
g
a
b
ac
k
s
tep
p
in
g
s
tr
ateg
y
to
co
m
p
en
s
ate
f
o
r
lo
ad
-
to
r
q
u
e
d
is
t
u
r
b
an
ce
s
a
n
d
r
o
to
r
-
r
esis
tan
ce
v
ar
iatio
n
s
r
esu
ltin
g
f
r
o
m
b
r
o
k
e
n
r
o
t
o
r
b
a
r
s
.
T
h
e
r
esu
lts
in
d
icate
th
at
th
e
m
ac
h
in
e
s
u
s
tain
s
ac
ce
p
tab
le
p
er
f
o
r
m
an
ce
e
v
en
af
te
r
f
au
lt
o
cc
u
r
r
e
n
ce
.
T
h
e
p
r
o
p
o
s
ed
m
eth
o
d
d
o
es
n
o
t
r
eq
u
ir
e
a
d
iag
n
o
s
tic
m
o
d
u
le
o
r
co
n
tr
o
ller
r
ec
o
n
f
ig
u
r
ati
o
n
a
n
d
is
t
h
er
ef
o
r
e
class
if
ied
as
a
p
ass
iv
e
f
au
lt
-
to
ler
an
t
ap
p
r
o
ac
h
,
m
ak
in
g
it
s
u
itab
le
f
o
r
s
af
ety
-
c
r
itical
ap
p
l
icatio
n
s
u
n
til
f
in
al
m
ain
ten
an
ce
ca
n
b
e
p
er
f
o
r
m
ed
.
T
h
e
in
cr
ea
s
in
g
d
em
an
d
f
o
r
r
eliab
ilit
y
an
d
s
af
ety
in
in
d
u
s
tr
ial
s
y
s
tem
s
ex
p
o
s
ed
to
p
r
o
ce
s
s
an
o
m
alies
an
d
co
m
p
o
n
en
t
f
ailu
r
es
m
ak
es
ea
r
ly
d
etec
tio
n
a
n
d
i
d
e
n
tific
atio
n
o
f
f
au
lts
ess
en
tial.
Fau
lt
-
to
ler
an
t
o
p
er
a
tio
n
is
r
eq
u
ir
ed
to
m
in
im
ize
p
er
f
o
r
m
an
ce
d
e
g
r
ad
atio
n
an
d
p
r
ev
en
t
h
az
ar
d
o
u
s
co
n
d
itio
n
s
.
Ov
er
r
ec
en
t
d
ec
a
d
es,
v
ar
io
u
s
f
au
lt
-
d
iag
n
o
s
is
t
ec
h
n
iq
u
es
h
a
v
e
b
ee
n
p
r
o
p
o
s
ed
,
wh
ich
ca
n
b
e
b
r
o
ad
ly
c
ateg
o
r
ized
in
to
th
r
ee
g
r
o
u
p
s
:
h
ar
d
war
e
-
r
ed
u
n
d
an
cy
ap
p
r
o
ac
h
es,
s
ig
n
al
-
b
ased
ap
p
r
o
ac
h
es,
an
d
m
o
d
el
-
b
ased
a
n
aly
tical
ap
p
r
o
a
ch
es [
1
5
]
.
As
p
r
esen
ted
in
[
1
6
]
,
f
au
lt
-
to
l
er
an
t
in
v
e
r
ter
to
p
o
lo
g
ies
o
f
te
n
r
ely
o
n
h
ar
d
war
e
r
ed
u
n
d
an
cy
wh
en
a
co
n
v
er
ter
le
g
b
ec
o
m
es
u
n
av
ailab
le.
A
s
im
ilar
co
n
ce
p
t
w
as
ad
o
p
ted
in
[
1
7
]
f
o
r
p
h
as
e
-
lo
s
s
to
ler
an
ce
in
tr
ac
tio
n
-
o
r
ien
te
d
in
d
u
ctio
n
m
o
to
r
s
,
u
s
in
g
a
d
u
al
-
in
v
er
ter
r
ec
o
n
f
ig
u
r
atio
n
s
tr
ateg
y
.
Gate
-
d
r
iv
e
o
p
en
-
cir
c
u
it
f
au
lts
ca
n
ar
is
e
f
r
o
m
b
o
n
d
-
w
ir
e
lift
-
o
f
f
ca
u
s
ed
b
y
th
er
m
al
cy
clin
g
,
d
r
iv
er
m
alf
u
n
cti
o
n
s
,
o
r
I
GB
T
r
u
p
tu
r
e
tr
ig
g
er
ed
b
y
s
h
o
r
t
-
cir
cu
it
co
n
d
itio
n
s
.
T
h
ese
f
au
lts
in
d
u
ce
D
C
cu
r
r
en
t
o
f
f
s
ets
in
b
o
t
h
th
e
a
f
f
ec
ted
an
d
h
ea
lth
y
p
h
ases
.
T
h
e
in
ter
ac
tio
n
b
etwe
en
th
e
DC
co
m
p
o
n
e
n
t
an
d
th
e
m
ag
n
etic
f
ield
g
e
n
er
ates
to
r
q
u
e
p
u
ls
atio
n
s
at
th
e
s
tato
r
-
cu
r
r
en
t
f
r
eq
u
e
n
cy
,
m
ar
k
ed
ly
r
ed
u
cin
g
th
e
m
ax
im
u
m
a
v
er
ag
e
to
r
q
u
e
a
v
ailab
le
f
o
r
tr
a
ctio
n
[
1
8
]
.
T
h
ese
DC
o
f
f
s
et
s
also
in
d
u
ce
u
n
ev
en
s
tr
ess
o
n
th
e
in
v
er
ter
s
witch
es,
p
o
ten
tially
ca
u
s
in
g
s
ec
o
n
d
ar
y
f
ailu
r
es
in
th
e
co
n
v
er
ter
,
th
e
m
o
to
r
,
o
r
th
e
lo
a
d
.
Sin
ce
v
o
ltag
es
an
d
cu
r
r
en
ts
ca
r
r
y
d
i
s
tin
g
u
is
h
ab
le
f
au
lt
s
ig
n
atu
r
es,
th
ey
ca
n
b
e
an
al
y
ze
d
f
o
r
f
a
u
lt
d
etec
tio
n
an
d
l
o
ca
lizatio
n
.
Alth
o
u
g
h
o
p
e
n
-
ci
r
cu
it
f
au
lts
d
o
n
o
t
g
en
er
ally
lead
t
o
im
m
e
d
iate
s
h
u
td
o
wn
,
th
e
y
d
eg
r
ad
e
s
y
s
tem
p
er
f
o
r
m
a
n
ce
;
h
e
n
ce
,
th
eir
d
iag
n
o
s
is
is
ess
en
tial
in
f
au
lt
-
to
ler
an
t
co
n
v
er
ter
s
y
s
tem
s
[
1
9
]
.
I
n
m
o
d
el
-
b
ased
d
iag
n
o
s
tic
ap
p
r
o
ac
h
es,
f
au
lt
d
etec
tio
n
r
elie
s
o
n
a
m
ath
e
m
atica
l
m
o
d
el
o
p
er
atin
g
in
p
ar
allel
with
th
e
r
ea
l
s
y
s
tem
.
Diag
n
o
s
tic
v
ar
iab
les
ar
e
o
b
tai
n
ed
b
y
c
o
m
p
ar
in
g
th
e
ac
tu
al
s
y
s
tem
o
u
tp
u
ts
with
th
o
s
e
p
r
ed
icted
b
y
th
e
m
o
d
el.
I
n
th
is
co
n
tex
t,
t
h
e
s
tu
d
y
in
[
2
0
]
p
r
o
p
o
s
es
a
n
o
n
lin
ea
r
o
b
s
e
r
v
er
f
o
r
esti
m
atin
g
r
o
to
r
f
lu
x
es
an
d
s
tato
r
cu
r
r
e
n
ts
in
th
e
(
d
,
q
)
r
o
tatin
g
f
r
am
e.
Op
en
-
cir
cu
it
in
s
u
lated
g
ate
b
ip
o
lar
tr
an
s
is
to
r
(
I
GB
T
)
f
au
lts
ar
e
d
etec
ted
b
y
ev
alu
atin
g
t
h
e
r
esid
u
als
b
etw
ee
n
m
ea
s
u
r
ed
an
d
esti
m
ated
s
tato
r
cu
r
r
e
n
ts
.
T
h
is
m
eth
o
d
is
lo
ad
-
in
d
ep
e
n
d
en
t a
n
d
r
eq
u
ir
es n
o
a
d
d
itio
n
al
cir
c
u
itry
.
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
.
2
,
J
u
n
e
20
2
6
:
8
9
4
-
9
0
7
896
Similar
ly
,
C
h
ik
o
n
d
r
a
et
a
l.
[
2
1
]
p
r
esen
t
a
f
au
lt
-
to
ler
a
n
t
co
n
tr
o
l
s
ch
em
e
f
o
r
a
f
iv
e
-
p
h
ase
in
d
u
ctio
n
m
o
to
r
s
u
p
p
lie
d
b
y
a
th
r
ee
-
le
v
el
NPC
VSI
,
b
ased
o
n
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
(
DT
C
)
p
r
i
n
cip
les.
T
h
e
s
tr
ateg
y
g
u
ar
an
tees
co
n
tin
u
o
u
s
o
p
er
ati
o
n
ev
en
in
th
e
ev
e
n
t
o
f
an
o
p
en
-
p
h
ase
f
au
lt.
A
s
ig
n
if
ican
t
ad
v
an
tag
e
is
th
at
th
e
co
n
tr
o
ller
r
e
q
u
ir
es n
o
r
ec
o
n
f
ig
u
r
atio
n
u
p
o
n
f
a
u
lt o
cc
u
r
r
en
ce
,
m
ak
in
g
it a
p
r
o
m
is
in
g
o
p
tio
n
f
o
r
in
teg
r
atio
n
in
t
o
f
au
lt
-
to
ler
an
t d
r
iv
e
ar
c
h
itectu
r
es.
T
o
in
co
r
p
o
r
ate
ef
f
icien
cy
,
th
e
r
m
al
co
n
s
id
er
atio
n
s
,
an
d
lo
n
g
-
ter
m
r
eliab
ilit
y
r
eq
u
ir
em
en
ts
in
s
af
ety
-
cr
itical
r
ea
l
-
tim
e
s
y
s
tem
s
,
it
i
s
n
ec
ess
ar
y
to
ac
cu
r
ately
m
o
n
ito
r
co
m
p
o
n
en
t
p
er
f
o
r
m
a
n
ce
,
life
tim
e,
an
d
co
s
t.
Fau
lt
to
ler
an
ce
in
h
er
e
n
tly
in
v
o
lv
es
a
tr
ad
e
-
o
f
f
b
etwe
en
p
er
f
o
r
m
a
n
ce
an
d
r
eliab
ilit
y
.
L
o
n
g
-
d
u
r
atio
n
,
h
ig
h
-
p
er
f
o
r
m
an
ce
p
r
o
ce
s
s
es
o
f
ten
e
m
p
lo
y
ch
ec
k
p
o
in
t
a
n
d
r
o
llb
ac
k
m
ec
h
a
n
is
m
s
to
ac
h
ie
v
e
f
a
u
l
t
to
ler
an
ce
,
as
th
ey
r
ed
u
ce
o
v
er
all
p
r
o
g
r
am
ex
ec
u
tio
n
tim
e
af
ter
a
f
ailu
r
e.
C
h
ec
k
p
o
i
n
tin
g
r
em
ai
n
s
a
r
elativ
ely
co
s
t
-
ef
f
ec
tiv
e
tech
n
iq
u
e
[
2
2
]
.
Fig
u
r
e
1.
I
FOC
B
lo
ck
d
iag
r
a
m
Fig
u
r
e
2
.
DT
C
b
lo
c
k
d
iag
r
am
2.
I
NDUC
T
I
O
N
M
ACH
I
NE
M
O
DE
L
T
h
e
m
o
d
el
u
s
ed
f
o
r
th
e
in
d
u
ctio
n
m
ac
h
i
n
e
is
estab
lis
h
ed
in
a
r
e
f
er
en
ce
f
r
am
e
alig
n
e
d
with
th
e
r
o
tatin
g
m
a
g
n
etic
f
ield
(
g
en
e
r
ally
th
e
s
y
n
ch
r
o
n
ized
dq
r
ef
e
r
en
ce
f
r
a
m
e)
.
W
ith
in
th
is
f
r
a
m
ewo
r
k
,
t
h
e
s
tato
r
cu
r
r
en
ts
,
r
o
to
r
f
lu
x
es,
an
d
ele
ctr
o
m
ec
h
an
ical
s
p
ee
d
a
r
e
co
n
s
id
er
ed
s
tate
v
ar
iab
les,
wh
ile
th
e
s
tato
r
v
o
ltag
es
ar
e
tr
ea
ted
as c
o
n
tr
o
l v
ar
ia
b
les.
T
h
is
d
y
n
am
ic
m
o
d
el
ca
n
b
e
ex
p
r
ess
ed
u
s
in
g
(
1
)
-
(
6
)
:
=
−
+
+
+
+
1
(
1
)
=
−
−
+
+
+
1
(
2
)
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
R
ea
l
-
time
imp
leme
n
ta
tio
n
a
n
d
co
mp
a
r
a
tive
a
n
a
lysi
s
o
f fa
u
lt
-
to
lera
n
t c
o
n
tr
o
l
…
(
A
s
ma
a
Ha
mmo
u
)
897
=
−
1
+
(
−
)
(
3
)
=
−
(
−
)
−
1
(
4
)
=
(
−
)
(
5
)
=
1
(
−
)
−
(
6
)
with
:
=
+
2
2
:
=
;
=
;
=
1
−
2
w
h
er
e
,
:
(
d
,
q
)
s
tato
r
cu
r
r
en
ts
,
,
:
(
d
,
q
)
r
o
to
r
f
lu
x
es
,
,
:
(
d
,
q
)
s
tato
r
v
o
ltag
es
,
,
:
s
y
n
ch
r
o
n
o
u
s
s
p
ee
d
-
an
g
u
lar
s
p
ee
d
,
:
m
ec
h
an
ical
r
o
tatio
n
al
s
p
ee
d
,
an
d
,
:
elec
tr
o
m
ag
n
e
tic
to
r
q
u
e
-
r
esis
tan
t to
r
q
u
e
.
3.
RO
T
O
R
F
L
UX
O
R
I
E
N
T
E
D
CO
NT
RO
L
T
h
e
r
o
to
r
f
lu
x
-
o
r
ien
ted
c
o
n
t
r
o
l
o
f
an
in
d
u
ctio
n
m
o
to
r
a
im
s
to
m
ak
e
th
e
m
ac
h
in
e’
s
b
eh
av
io
r
an
alo
g
o
u
s
to
t
h
at
o
f
a
s
ep
ar
ate
ly
ex
cited
DC
m
o
to
r
,
in
wh
ich
th
e
f
lu
x
an
d
to
r
q
u
e
co
n
t
r
o
ls
a
r
e
in
d
e
p
en
d
e
n
t.
T
o
ac
h
iev
e
th
is
,
th
e
co
n
tr
o
l r
e
f
er
e
n
ce
f
r
am
e
is
o
r
ien
ted
s
u
ch
t
h
at:
=
=
0
(
7
)
Alig
n
in
g
th
e
r
o
to
r
f
lu
x
v
ec
to
r
with
th
e
d
-
ax
is
g
r
ea
tly
s
im
p
lif
ies
th
e
m
o
d
el,
with
as
a
co
n
s
tan
t
m
atr
ix
an
d
A
as
a
n
o
n
lin
ea
r
m
atr
ix
.
Su
b
s
titu
tin
g
in
(
7
)
in
to
th
e
m
o
d
el
e
q
u
atio
n
s
(
n
o
tab
ly
in
(
3
)
an
d
(
5
)
,
we
o
b
tain
th
e
f
o
llo
win
g
ex
p
r
ess
io
n
s
:
-
R
o
to
r
f
lu
x
=
+
1
(
8
)
-
E
lectr
o
m
ag
n
etic
to
r
q
u
e
=
(
9
)
I
n
th
is
c
o
n
f
ig
u
r
atio
n
,
th
e
to
r
q
u
e
d
e
p
en
d
s
o
n
ly
o
n
th
e
s
tato
r
cu
r
r
en
t
in
(
1
0
)
,
wh
ich
m
ak
es
t
h
e
b
e
h
av
io
r
v
er
y
s
im
ilar
to
th
at
o
f
a
DC
m
o
to
r
:
=
k′
.
.
(
10)
wh
er
e
is
th
e
f
lu
x
an
d
is
th
e
ar
m
atu
r
e
cu
r
r
e
n
t
(
h
er
e
)
.
T
h
u
s
,
two
i
n
d
ep
e
n
d
en
t
co
n
tr
o
l
v
ar
iab
les
ar
e
d
is
tin
g
u
is
h
ed
:
→
to
r
eg
u
late
th
e
f
lu
x
a
n
d
→
to
co
n
tr
o
l th
e
t
o
r
q
u
e.
-
R
o
tatin
g
f
ield
p
o
s
itio
n
(
a
n
g
u
la
r
s
p
ee
d
)
I
n
th
is
co
n
tex
t
,
in
(
4
)
b
ec
o
m
es
:
=
+
(
1
1
)
an
d
th
e
s
tato
r
a
n
g
le
u
s
ed
in
all
ab
c
↔
d
q
o
tr
an
s
f
o
r
m
atio
n
s
is
o
b
tain
ed
b
y
in
te
g
r
atio
n
:
=
∫
(
1
2
)
T
h
e
o
v
e
r
all
d
iag
r
am
o
f
th
e
I
R
FOC
s
ch
em
e
o
f
an
I
M
is
illu
s
tr
ated
in
Fig
u
r
e
1.
4.
F
AULT
Y
M
A
T
H
E
M
A
T
I
C
AL
M
O
D
E
L
O
F
I
M
AND
P
RO
B
L
E
M
F
O
R
M
U
L
AT
I
O
N
T
h
e
d
y
n
am
ic
m
o
d
el
o
f
an
i
n
d
u
ctio
n
m
o
to
r
(
I
M)
in
th
e
s
ta
to
r
r
ef
er
e
n
ce
f
r
am
e
ca
n
b
e
d
e
s
cr
ib
ed
as
(
1
3
)
a
n
d
(
1
4
)
.
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
.
2
,
J
u
n
e
20
2
6
:
8
9
4
-
9
0
7
898
̇
=
+
(
1
3
)
{
=
[
1
2
3
4
]
=
[
]
=
[
1
2
]
=
[
]
(
1
4
)
C
o
n
s
id
er
th
e
in
d
u
ctio
n
m
o
to
r
m
o
d
el
d
escr
ib
ed
b
y
(
1
3
)
,
wh
ich
is
s
u
b
ject
to
f
au
lts
th
at
m
ay
b
e
elec
tr
ical
in
n
atu
r
e,
as d
is
cu
s
s
ed
in
[
2
3
]
.
̇
=
+
+
(
15)
I
n
th
e
ab
s
en
ce
o
f
f
au
lts
,
F is
id
en
tically
ze
r
o
,
a
n
d
it f
o
llo
ws t
h
at
(
1
6
)
.
{
=
[
1
0
0
1
0
0
0
0
]
=
[
1
2
]
(
1
6
)
E
lectr
ical
an
d
/o
r
m
ec
h
a
n
ical
f
au
lts
in
tr
o
d
u
ce
asy
m
m
et
r
ies
in
th
e
in
d
u
ctio
n
m
o
to
r
(
I
M)
,
lead
in
g
to
th
e
g
en
er
atio
n
o
f
s
lo
t h
a
r
m
o
n
ics i
n
th
e
s
tato
r
win
d
in
g
s
(
1
7
)
.
{
1
→
1
+
ℎ1
2
→
2
+
ℎ2
(
1
7
)
W
h
er
e:
{
ℎ1
=
∑
s
in
(
+
)
ℎ2
=
∑
c
os
(
+
)
=
2
+
2
=
2
(
+
)
(
1
8
)
with
:
: n
u
m
b
er
o
f
f
a
u
lts
,
: c
h
ar
ac
ter
is
tic
f
au
lt f
r
eq
u
en
c
y
,
an
d
: f
u
n
d
am
e
n
tal
f
r
eq
u
en
cy
.
5.
DIRE
CT
T
O
RQ
UE
CO
N
T
RO
L
(
DT
C)
[
2
4
]
DT
C
is
a
co
n
tr
o
l
s
tr
ateg
y
in
wh
ich
th
e
m
o
to
r
to
r
q
u
e
an
d
s
p
ee
d
ar
e
d
ir
ec
tly
r
eg
u
lated
b
a
s
ed
o
n
its
elec
tr
o
m
ag
n
etic
s
tate,
s
im
ilar
l
y
to
a
d
ir
ec
t
cu
r
r
e
n
t
(
DC
)
m
o
t
o
r
.
Un
lik
e
co
n
v
en
tio
n
al
Pu
ls
e
W
id
th
Mo
d
u
latio
n
(
PW
M)
m
eth
o
d
s
,
wh
ich
ad
ju
s
t
th
e
in
p
u
t
v
o
ltag
e
an
d
f
r
eq
u
e
n
cy
,
DT
C
en
a
b
les
d
ir
ec
t
c
o
n
t
r
o
l
o
f
k
e
y
p
h
y
s
ical
v
ar
iab
les
s
u
ch
as
to
r
q
u
e
an
d
f
lu
x
.
Fo
r
in
d
u
ctio
n
m
o
to
r
s
(
I
M)
,
th
e
co
n
v
e
n
tio
n
al
DT
C
p
r
in
cip
le
r
elies
o
n
th
e
d
ir
ec
t
s
elec
tio
n
o
f
s
tato
r
v
o
ltag
e
v
ec
to
r
s
u
s
in
g
h
y
s
ter
esis
co
n
tr
o
ller
s
f
o
r
b
o
t
h
s
tato
r
f
lu
x
a
n
d
elec
tr
o
m
ag
n
etic
to
r
q
u
e,
as d
ep
icted
in
Fig
u
r
e
2
.
B
ased
o
n
th
e
f
ig
u
r
e,
th
e
r
ef
er
en
ce
s
tato
r
f
lu
x
Ψ
s
*
an
d
r
e
f
er
en
ce
to
r
q
u
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T
e
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c
o
m
p
ar
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d
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th
eir
r
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ec
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m
ated
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h
e
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r
f
l
u
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t
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er
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ed
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o
m
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a
r
ato
r
s
.
Sp
ec
if
ically
,
th
e
th
r
o
u
g
h
s
tato
r
f
lu
x
is
r
eg
u
lated
b
y
a
two
-
lev
el
h
y
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ter
esis
co
m
p
ar
ato
r
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wh
ile
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e
to
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q
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e
is
co
n
tr
o
lled
b
y
a
th
r
ee
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lev
el
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m
p
ar
ato
r
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ased
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n
th
e
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u
t
p
u
t
s
o
f
th
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co
m
p
ar
ato
r
s
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d
th
e
s
tato
r
f
lu
x
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ec
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,
an
ap
p
r
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p
r
iate
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o
r
th
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v
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s
o
u
r
ce
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v
er
ter
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is
s
elec
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r
o
m
t
h
e
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witch
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g
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le
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h
o
wn
in
T
ab
le
1
.
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n
a
s
y
m
m
etr
ical
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r
ee
-
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d
u
ctio
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m
ac
h
in
e,
t
h
e
in
s
tan
tan
eo
u
s
elec
tr
o
m
ag
n
etic
to
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q
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e
is
g
en
er
ally
p
r
o
p
o
r
tio
n
al
to
th
e
c
r
o
s
s
p
r
o
d
u
ct
o
f
th
e
s
tato
r
f
lu
x
s
p
ac
e
v
ec
to
r
an
d
th
e
r
o
to
r
f
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x
s
p
ac
e
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ec
to
r
[
2
4
].
=
(
3
2
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s
in
(
)
(
1
9
)
W
h
er
e
Ψ
s
:
r
ep
r
esen
ts
th
e
s
tato
r
f
l
u
x
s
p
ac
e
v
e
cto
r
,
Ψ
r
:
d
e
n
o
tes
th
e
r
o
to
r
f
lu
x
s
p
ac
e
v
ec
t
o
r
(
r
ef
er
r
e
d
t
o
th
e
s
tato
r
)
,
an
d
Δ:
is
th
e
an
g
le
b
etwe
en
th
e
s
tato
r
an
d
r
o
to
r
f
lu
x
v
ec
to
r
s
.
T
h
e
eq
u
atio
n
s
u
s
ed
to
esti
m
ate
th
e
s
tato
r
f
lu
x
ψₛ
,
its
p
o
s
itio
n
θₛ,
an
d
t
h
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
a
r
e
ex
p
r
ess
ed
as
(
2
0
)
to
(
2
2
)
:
=
√
2
+
2
(
2
0
)
=
ta
n
−
1
(
)
(
2
1
)
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
R
ea
l
-
time
imp
leme
n
ta
tio
n
a
n
d
co
mp
a
r
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tive
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n
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lysi
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f fa
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lt
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lera
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t c
o
n
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o
l
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(
A
s
ma
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Ha
mmo
u
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899
=
(
3
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(
−
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(
2
2
)
T
ab
le
1
.
I
n
v
er
ter
s
witch
in
g
tab
le
S
e
c
t
o
r
s
S1
S2
S3
S4
S5
S6
d
ψs
=
0
d
Te
=
1
V2
V3
V4
V5
V6
V1
d
Te
=
0
V7
V0
V1
V2
V3
V4
d
Te
=
−
1
V6
V1
V2
V3
V4
V5
d
ψs
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d
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=
1
V3
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d
Te
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0
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d
Te
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−
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V5
V6
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V2
V3
V4
6.
SE
NS
I
T
I
V
I
T
Y
A
NALY
SI
S O
F
I
M
P
ARA
M
E
T
E
RS
6
.
1
.
O
v
er
v
iew
C
h
an
g
es
in
m
o
to
r
p
ar
a
m
eter
s
ca
n
s
ig
n
if
ican
tly
af
f
ec
t
th
e
d
y
n
am
ic
b
eh
a
v
io
r
o
f
d
r
iv
e
s
y
s
tem
s
.
I
n
th
e
ca
s
e
o
f
in
d
ir
ec
t
f
ield
-
o
r
ien
te
d
co
n
tr
o
l
(
I
FOC
)
,
p
er
f
o
r
m
a
n
ce
is
in
f
lu
en
ce
d
b
y
r
o
to
r
in
d
u
ctan
ce
,
s
tato
r
in
d
u
ctan
ce
,
an
d
r
o
t
o
r
r
esis
tan
ce
.
C
o
n
v
er
s
ely
,
f
o
r
d
i
r
ec
t
to
r
q
u
e
c
o
n
tr
o
l
(
DT
C
)
u
s
in
g
a
s
witch
in
g
tab
le,
p
er
f
o
r
m
an
ce
p
r
im
ar
ily
d
ep
en
d
s
o
n
th
e
s
tato
r
r
esis
tan
ce
.
T
o
q
u
an
tify
th
ese
ef
f
ec
ts
,
a
J
ac
o
b
ian
m
atr
ix
J
ca
n
b
e
co
n
s
tr
u
cted
,
ca
p
t
u
r
in
g
th
e
s
en
s
itiv
ities
o
f
to
r
q
u
e,
s
p
ee
d
,
a
n
d
o
th
er
r
ele
v
an
t
o
u
t
p
u
t
v
ar
ia
b
les
with
r
esp
ec
t
to
v
ar
iatio
n
s
in
m
o
t
o
r
p
a
r
am
eter
s
.
Fo
r
I
FOC
,
th
e
J
ac
o
b
ian
m
atr
i
x
ty
p
ically
tak
es
(
2
3
)
:
(
∆
∆
)
=
(
∆
∆
∆
)
(
2
3
)
w
h
er
e:
=
(
)
(
2
4
)
Fo
r
d
ir
ec
t to
r
q
u
e
co
n
t
r
o
l
(
DT
C
)
u
s
in
g
a
s
witch
in
g
tab
le,
th
e
J
ac
o
b
ian
m
atr
ix
is
s
im
p
ler
an
d
p
r
im
ar
ily
r
ef
lects th
e
s
en
s
itiv
ity
o
f
th
e
s
y
s
tem
to
v
ar
iatio
n
s
in
s
tato
r
r
e
s
is
tan
ce
.
(
∆
∆
)
=
−
[
∆
(
2
5
)
W
h
er
e
:
−
=
(
)
(
2
6
)
I
t
is
im
p
o
r
tan
t
h
er
e
to
co
n
s
id
er
th
e
to
r
q
u
e
a
n
d
s
p
ee
d
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ip
p
l
es
u
n
d
er
c
o
n
tr
o
l
f
o
r
b
o
t
h
I
FO
C
an
d
DT
C
.
W
h
ile
s
en
s
itiv
ity
an
aly
s
es
r
esu
lt
in
s
tead
y
-
s
tate
v
ar
iatio
n
s
o
f
T
ₑ
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d
,
d
y
n
a
m
ic
v
ar
iatio
n
s
m
ay
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s
o
ar
is
e
d
u
e
to
th
e
co
n
tr
o
l
p
r
o
ce
s
s
its
elf
.
I
n
p
a
r
ticu
lar
,
f
o
r
a
g
iv
e
n
s
t
ato
r
cu
r
r
en
t
u
n
d
e
r
h
y
s
ter
esis
co
n
tr
o
l,
d
e
r
iv
in
g
th
e
a
b
o
v
e
J
ac
o
b
ian
m
atr
ices
b
ec
o
m
es
ch
allen
g
in
g
d
u
e
to
th
e
n
o
n
lin
ea
r
s
witc
h
in
g
d
y
n
am
ics
in
v
o
lv
ed
.
I
f
th
e
s
tato
r
cu
r
r
en
t
is
ex
p
r
ess
ed
as
(
2
7
)
.
=
+
∆
(
2
7
)
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h
er
e
∆
r
ep
r
esen
ts
th
e
h
y
s
ter
esis
b
an
d
wid
th
,
th
e
ex
p
ec
ted
v
alu
es
o
f
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
an
d
r
o
to
r
s
p
ee
d
ar
e
(
2
8
)
an
d
(
2
9
)
.
=
(
)
+
∆
(
ℎ
)
(
2
8
)
=
(
)
+
∆
(
ℎ
)
(
2
9
)
Den
o
tin
g
th
e
tim
e
a
v
er
ag
e
o
f
a
v
ar
iab
le
x
b
y
⟨
x
⟩
,
th
e
r
esu
ltin
g
av
er
a
g
es b
ec
o
m
e
(
3
0
)
an
d
(
3
1
)
.
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
.
2
,
J
u
n
e
20
2
6
:
8
9
4
-
9
0
7
900
〈
〉
=
〈
(
)
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(
ℎ
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(
3
0
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=
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(
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∆
(
ℎ
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〉
(
3
1
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No
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f
f
s
et
o
cc
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r
s
if
〈
∆
(
ℎ
)
〉
an
d
〈
∆
(
ℎ
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〉
ar
e
ze
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o
.
Ho
wev
er
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a
ze
r
o
-
m
ea
n
r
ip
p
le
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n
o
t
g
u
ar
an
teed
in
g
en
er
al
an
d
m
u
s
t
b
e
co
m
p
en
s
ated
th
r
o
u
g
h
an
i
n
teg
r
al
g
ain
in
th
e
co
n
tr
o
l
l
o
o
p
s
.
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o
ex
a
m
in
e
th
e
s
en
s
itiv
ities
o
f
(
2
4
)
an
d
(
2
6
)
f
r
o
m
a
p
r
ac
ti
ca
l
s
tan
d
p
o
in
t,
s
im
u
latio
n
s
o
f
b
o
th
I
FOC
an
d
DT
C
wer
e
p
er
f
o
r
m
ed
with
m
o
to
r
p
ar
am
eter
s
in
cr
ea
s
ed
b
y
+2
0
%
an
d
+4
0
%,
in
ad
d
itio
n
to
n
o
m
in
al
v
alu
es
f
o
r
th
e
r
e
g
u
la
to
r
s
an
d
esti
m
ato
r
s
.
T
h
e
r
esu
lts
o
f
th
ese
s
im
u
latio
n
s
ar
e
an
aly
ze
d
in
th
e
f
o
llo
win
g
s
ec
tio
n
.
6
.
2
.
Ana
ly
s
is
o
f
s
im
ula
t
io
n r
esu
lt
s
co
m
pa
ring
I
F
O
C
a
nd
DT
C
Fig
u
r
es
3
to
6
s
h
o
w
th
e
r
esu
lts
o
b
tain
ed
u
n
d
e
r
p
ar
am
ete
r
v
ar
iatio
n
s
f
o
r
b
o
th
I
FOC
an
d
DT
C
.
T
h
e
to
r
q
u
e
r
ef
er
e
n
ce
is
f
ix
e
d
at
20
m
N.
Fo
r
I
FOC
,
Fig
u
r
e
3
s
h
o
ws
th
at
a
n
in
c
o
r
r
ec
t
r
o
to
r
r
esis
tan
ce
m
ain
l
y
af
f
ec
ts
th
e
tr
an
s
ien
t
b
eh
av
io
r
,
with
a
4
0
%
in
cr
ea
s
e
—
p
o
s
s
ib
ly
d
u
e
to
a
b
r
o
k
en
b
ar
—
wh
ile
th
e
s
tead
y
-
s
tate
to
r
q
u
e
o
f
f
s
et
r
e
m
ain
s
alm
o
s
t
u
n
af
f
ec
ted
.
Fig
u
r
e
4
i
n
d
icate
s
th
at
th
e
im
p
ac
t
o
f
a
s
tato
r
in
d
u
ctan
ce
e
r
r
o
r
is
n
eg
lig
ib
le,
lead
in
g
to
o
n
ly
a
m
in
im
al
to
r
q
u
e
d
e
v
iatio
n
.
C
o
n
v
er
s
ely
,
Fig
u
r
e
5
s
h
o
ws
th
at
a
r
o
to
r
in
d
u
ctan
ce
er
r
o
r
h
as a
s
m
aller
im
p
ac
t,
in
f
lu
en
cin
g
th
e
tr
an
s
ien
t r
esp
o
n
s
e
b
u
t le
av
in
g
th
e
s
tead
y
s
tate
u
n
ch
an
g
ed
.
Fig
u
r
e
6
in
d
icate
s
th
at
DT
C
is
r
elativ
el
y
in
s
en
s
itiv
e
to
v
ar
iatio
n
s
o
f
th
e
test
ed
p
ar
am
eter
,
with
m
i
n
i
m
al
im
p
ac
t
o
n
b
o
th
th
e
s
tead
y
-
s
tate
to
r
q
u
e
o
f
f
s
et
a
n
d
th
e
d
y
n
am
ic
.
Fig
u
r
e
3
.
Sen
s
itiv
ity
o
f
I
FOC
to
R
r
v
ar
iatio
n
s
Fig
u
r
e
4
.
Sen
s
itiv
ity
o
f
I
FOC
to
L
s
v
ar
iatio
n
s
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
R
ea
l
-
time
imp
leme
n
ta
tio
n
a
n
d
co
mp
a
r
a
tive
a
n
a
lysi
s
o
f fa
u
lt
-
to
lera
n
t c
o
n
tr
o
l
…
(
A
s
ma
a
Ha
mmo
u
)
901
Fig
u
r
e
5
.
Sen
s
itiv
ity
o
f
I
FOC
to
L
r
v
a
r
iatio
n
s
Fig
u
r
e
6
.
Sen
s
itiv
ity
o
f
DT
C
to
R
s
v
ar
iatio
n
s
7.
F
L
UCT
UAT
I
NG
RE
SPO
NS
E
S
B
o
th
I
FOC
an
d
DT
C
s
er
v
e
as
to
r
q
u
e
tr
an
s
d
u
ce
r
s
with
s
tr
o
n
g
tr
ac
k
in
g
ca
p
a
b
ilit
ies.
T
h
eir
d
y
n
a
m
ic
p
er
f
o
r
m
an
ce
is
g
en
er
ally
co
m
p
ar
ed
in
d
e
p
en
d
e
n
tly
o
f
th
e
s
p
ec
if
ic
s
witch
in
g
s
ch
em
es
u
s
e
d
b
y
ea
ch
m
eth
o
d
.
T
o
em
u
late
an
elec
tr
ic
o
r
h
y
b
r
id
v
eh
icle
d
r
iv
in
g
cy
cle,
a
s
tep
p
ed
to
r
q
u
e
p
r
o
f
ile
was
s
im
u
lated
in
Simu
lin
k
u
n
d
er
b
o
th
c
o
n
tr
o
l stra
teg
ies.
T
h
e
I
FOC
s
im
u
latio
n
f
o
llo
ws
th
e
ap
p
r
o
ac
h
in
[
2
5
]
,
wh
ile
th
e
DT
C
s
im
u
latio
n
is
b
ase
d
o
n
[
2
6
]
.
T
h
e
m
o
to
r
m
o
d
el
em
p
lo
y
ed
is
a
3
-
kW
asy
n
c
h
r
o
n
o
u
s
m
ac
h
i
n
e.
T
h
e
s
im
u
latio
n
r
an
f
o
r
8
s
ec
o
n
d
s
,
with
to
r
q
u
e
co
m
m
an
d
s
o
f
2
0
,
1
0
,
1
8
,
an
d
1
4
Nm
ap
p
lied
ev
e
r
y
2
s
ec
o
n
d
s
.
Fix
ed
f
lu
x
r
ef
er
en
ce
s
wer
e
s
et
at
2
.
2
5
W
b
f
o
r
DT
C
an
d
1
W
b
f
o
r
I
FOC
.
Simu
latio
n
r
esu
lts
ar
e
p
r
esen
ted
in
Fig
u
r
es 7
an
d
8
.
Fig
u
r
e
7
s
h
o
ws
th
at,
d
u
r
in
g
th
e
test
cy
cle,
th
e
m
ain
d
if
f
e
r
en
ce
b
etwe
en
th
e
two
m
eth
o
d
s
lies
in
r
esp
o
n
s
e
tim
e
a
n
d
s
tab
ilizatio
n
u
n
d
er
s
tar
t
-
u
p
an
d
lo
a
d
c
h
an
g
es.
I
FOC
ex
h
ib
its
a
s
lo
wer
s
p
ee
d
r
esp
o
n
s
e,
wh
er
ea
s
DT
C
r
ea
cts
m
o
r
e
q
u
i
ck
ly
an
d
s
tab
ilizes
f
aster
i
n
t
h
e
s
tead
y
s
tate.
Min
o
r
d
is
tu
r
b
an
ce
s
ar
e
o
b
s
er
v
e
d
d
u
r
in
g
s
p
ee
d
tr
an
s
itio
n
s
.
Fig
u
r
e
8
h
ig
h
lig
h
ts
th
at
I
FOC
r
eq
u
ir
es
ab
o
u
t
0
.
5
s
to
r
ea
c
h
a
s
tead
y
-
s
tate
to
r
q
u
e
o
f
1
8
Nm
,
wh
ile
DT
C
ac
h
iev
es
th
e
s
am
e
to
r
q
u
e
in
o
n
l
y
0
.
1
s
.
Desp
ite
th
is
,
th
e
o
v
er
all
t
o
r
q
u
e
p
er
f
o
r
m
an
ce
is
co
m
p
ar
ab
le,
s
h
o
win
g
f
ast
r
esp
o
n
s
e
with
in
th
e
co
n
s
id
er
ed
t
im
e
f
r
am
e.
Alth
o
u
g
h
it
is
ch
allen
g
in
g
to
d
ir
ec
tly
co
m
p
ar
e
th
e
m
eth
o
d
s
d
u
e
to
d
if
f
er
in
g
s
witch
in
g
s
ch
em
es,
D
T
C
d
em
o
n
s
tr
ates
s
u
p
er
io
r
d
y
n
am
ic
p
er
f
o
r
m
an
ce
in
th
is
s
ce
n
ar
io
,
with
a
s
ig
n
if
ic
an
tly
s
h
o
r
ter
s
tab
ilizatio
n
tim
e
co
m
p
ar
e
d
to
I
FOC
.
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
.
2
,
J
u
n
e
20
2
6
:
8
9
4
-
9
0
7
902
Fig
u
r
e
7
.
Sp
ee
d
r
esp
o
n
s
e
d
u
r
i
n
g
a
d
r
iv
in
g
c
y
cle
Fig
u
r
e
8
.
T
o
r
q
u
e
r
esp
o
n
s
e
d
u
r
in
g
a
d
r
i
v
in
g
c
y
cle
8.
E
XP
E
R
I
M
E
N
T
A
L
ST
UDY
O
F
F
AULT
-
T
O
L
E
RAN
T
D
T
C
AND
I
F
O
C
CO
N
T
RO
L
I
n
th
is
s
ec
tio
n
,
a
r
ea
l
-
tim
e
s
tu
d
y
is
ca
r
r
ied
o
u
t
to
an
aly
ze
an
d
co
m
p
a
r
e
two
f
au
lt
-
to
ler
an
t
co
n
tr
o
l
m
eth
o
d
s
,
DT
C
an
d
I
FOC
.
B
o
th
co
n
tr
o
ller
s
ar
e
ap
p
lied
to
a
n
in
d
u
ctio
n
m
o
to
r
p
o
wer
ed
b
y
an
in
v
er
ter
u
n
d
er
f
au
lt c
o
n
d
itio
n
s
.
T
h
e
test
b
en
c
h
co
n
s
is
ts
o
f
th
e
f
o
llo
win
g
co
m
p
o
n
e
n
ts
,
as sh
o
wn
in
Fig
u
r
e
9
:
-
A
PC
u
s
ed
f
o
r
s
o
f
twar
e
d
e
v
elo
p
m
en
t a
n
d
r
esu
lts
v
is
u
aliza
tio
n
.
-
A
d
SP
AC
E
1
1
0
4
b
o
ar
d
co
n
n
ec
ted
to
th
e
PC
an
d
co
n
tr
o
lled
v
i
a
d
ed
icate
d
s
o
f
twar
e.
-
A
3
k
W
th
r
ee
-
p
h
ase
in
d
u
ctio
n
m
o
to
r
with
s
tato
r
win
d
i
n
g
s
c
o
n
n
ec
ted
in
a
d
elta
co
n
f
ig
u
r
at
io
n
to
a
3
×
3
8
0
V
n
etwo
r
k
.
T
h
e
m
o
t
o
r
p
a
r
am
eter
s
ar
e
g
iv
en
in
T
ab
le
2
.
-
A
s
ep
ar
ately
ex
cited
g
e
n
er
ato
r
s
u
p
p
ly
in
g
r
esis
tiv
e
lo
ad
s
.
-
A
SEM
I
KR
ON
p
o
wer
co
n
v
er
t
er
co
n
s
is
tin
g
o
f
a
r
ec
tifie
r
an
d
a
th
r
ee
-
p
h
ase
in
v
er
ter
.
-
On
ly
two
cu
r
r
e
n
t sen
s
o
r
s
Fo
r
DT
C
,
co
s
t
ca
n
b
e
r
ed
u
ce
d
an
d
h
ar
d
wa
r
e
m
in
im
ized
b
y
esti
m
atin
g
th
e
p
h
ase
v
o
ltag
e
s
f
r
o
m
th
e
DC
b
u
s
an
d
th
e
in
v
er
ter
s
witch
in
g
s
tates
(
Sa,
Sb
,
Sc)
,
in
s
t
ea
d
o
f
u
s
in
g
th
r
ee
v
o
ltag
e
s
en
s
o
r
s
.
In
(
3
2
)
,
th
e
esti
m
ated
p
h
ase
v
o
ltag
es f
o
r
DT
C
ar
e
s
h
o
wn
in
th
e
b
asic f
u
n
ctio
n
al
d
iag
r
a
m
in
Fig
u
r
e
2
.
V
an
=
V
d
c
3
(
2
S
a
−
S
b
−
S
c
)
bn
=
V
d
c
3
(
−
S
a
+
2
S
b
−
S
c
)
V
cn
=
V
d
c
3
(
−
S
a
−
S
b
+
2S
c
)
}
(3
2
)
Fig
u
r
e
10
p
r
esen
ts
an
ex
p
er
i
m
en
tal
elec
tr
ical
d
r
iv
e
s
y
s
tem
u
s
ed
f
o
r
test
in
g
a
f
au
lt
-
to
l
er
an
t
co
n
t
r
o
l
s
tr
ateg
y
b
ased
o
n
I
FOC
–
DT
C
alg
o
r
ith
m
s
.
T
h
e
s
etu
p
in
clu
d
es
a
n
etwo
r
k
s
u
p
p
ly
f
e
ed
in
g
t
h
e
s
y
s
tem
th
r
o
u
g
h
an
au
to
tr
an
s
f
o
r
m
er
,
with
f
au
lt
in
jectio
n
ca
p
ab
ilit
y
s
u
ch
as
a
th
r
ee
-
p
h
ase
b
r
ea
k
an
d
co
n
v
er
ter
f
au
lts
.
T
h
e
co
n
tr
o
l
ar
ch
itectu
r
e
is
im
p
lem
en
ted
i
n
MA
T
L
AB
/Si
m
u
lin
k
an
d
e
x
ec
u
ted
v
ia
a
d
SP
AC
E
C
o
n
t
r
o
l
Desk
p
latf
o
r
m
,
wh
ich
m
an
ag
es th
e
i
n
v
er
ter
,
m
ea
s
u
r
em
en
t sig
n
als,
an
d
r
ea
l
-
tim
e
co
n
tr
o
l l
o
o
p
s
.
On
th
e
p
o
wer
s
id
e,
th
e
s
y
s
te
m
d
r
i
v
es
an
in
d
u
ctio
n
m
o
to
r
m
ec
h
an
ically
c
o
u
p
le
d
to
a
D
C
g
en
er
ato
r
ac
tin
g
as
a
r
esis
tiv
e
lo
ad
.
T
h
e
m
ea
s
u
r
ed
v
ar
iab
les,
in
clu
d
in
g
s
tato
r
cu
r
r
en
ts
,
r
o
to
r
s
p
ee
d
,
a
n
d
elec
tr
o
m
ag
n
etic
to
r
q
u
e,
ar
e
f
e
d
b
ac
k
to
th
e
c
o
n
tr
o
l
u
n
it
f
o
r
m
o
n
ito
r
in
g
an
d
ad
ap
tatio
n
.
I
s
o
latio
n
an
d
ad
a
p
tatio
n
s
tag
es
en
s
u
r
e
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
R
ea
l
-
time
imp
leme
n
ta
tio
n
a
n
d
co
mp
a
r
a
tive
a
n
a
lysi
s
o
f fa
u
lt
-
to
lera
n
t c
o
n
tr
o
l
…
(
A
s
ma
a
Ha
mmo
u
)
903
s
af
e
s
ig
n
al
co
n
d
itio
n
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g
b
et
wee
n
th
e
p
o
wer
cir
cu
it
an
d
th
e
co
n
t
r
o
l
i
n
ter
f
ac
e,
en
ab
lin
g
r
eliab
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r
ea
l
-
tim
e
ex
p
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im
en
tatio
n
u
n
d
er
b
o
th
h
e
alth
y
an
d
f
au
lty
o
p
er
atin
g
co
n
d
itio
n
s
.
Fig
u
r
e
9
.
Ph
o
to
g
r
a
p
h
o
f
th
e
e
x
p
er
im
en
tal
test
b
en
ch
Fig
u
r
e
10
.
Ov
er
v
iew
o
f
th
e
e
x
p
er
im
en
tal
elec
tr
ical
d
r
iv
e
s
y
s
tem
T
ab
le
2
.
3
-
k
W
in
d
u
ctio
n
m
o
t
o
r
p
ar
am
eter
s
G
r
e
a
t
n
e
ss
V
a
l
u
e
G
r
e
a
t
n
e
ss
V
a
l
u
e
N
o
mi
n
a
l
c
o
m
p
o
u
n
d
v
o
l
t
a
g
e
:
U
3
8
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t
a
t
o
r
l
e
a
k
a
g
e
i
n
d
u
c
t
a
n
c
e
:
L
s
0
.
5
6
6
8
H
N
o
mi
n
a
l
t
o
r
q
u
e
:
T
n
20
Nm
R
o
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r
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a
k
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n
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t
a
n
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e
:
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r
0
.
5
1
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2
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N
o
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n
a
l
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i
n
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c
u
r
r
e
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t
:
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s
7
A
M
u
t
u
a
l
i
n
d
u
c
t
a
n
c
e
:
M
0
.
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1
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C
o
u
p
l
i
n
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e
r
o
f
p
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i
r
p
o
l
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2p
2
R
o
t
o
r
r
e
si
s
t
a
n
c
e
:
R
r
2
.
8
Ω
M
o
me
n
t
o
f
i
n
t
e
r
t
i
e
:
j
0
.
0
5
8
k
g
m
S
t
a
t
o
r
r
e
s
i
st
a
n
c
e
:
R
s
6
Ω
C
o
e
f
f
i
c
i
e
n
t
o
f
v
i
s
c
o
u
s
f
r
i
c
t
i
o
n
:
f
0
.
0
0
5
N
m
/
r
a
d
/
s
8
.
1
.
F
a
ult
-
t
o
ler
a
nt
DT
C
c
o
ntr
o
l
Fig
u
r
es
1
1
(
a)
to
11
(
c)
illu
s
tr
ate
th
e
wav
ef
o
r
m
s
o
f
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
,
th
e
s
tato
r
cu
r
r
en
ts
(
iₛ
ₐ
,
iₛ
ᵦ
,
iₛ
)
,
an
d
th
e
r
o
tatio
n
al
s
p
ee
d
.
T
h
e
r
esu
lts
o
b
tain
ed
f
r
o
m
th
e
DT
C
u
n
d
er
b
o
th
f
au
lt
an
d
f
au
lt
-
to
ler
an
t
m
o
d
es
ar
e
d
is
p
lay
ed
o
n
th
e
C
o
n
tr
o
l
Desk
s
o
f
twar
e
in
ter
f
ac
e
in
Fig
u
r
e
1
2
,
with
th
e
f
au
lt
in
tr
o
d
u
ce
d
at
t
=
7
s
.
T
h
ese
r
esu
lts
h
ig
h
lig
h
t
th
e
d
y
n
am
ic
b
eh
av
io
r
o
f
th
e
s
y
s
tem
d
u
r
in
g
th
e
o
cc
u
r
r
e
n
ce
o
f
th
e
f
au
lt
an
d
af
ter
th
e
ac
tiv
atio
n
o
f
th
e
f
a
u
lt
-
to
ler
an
t
s
tr
ateg
y
.
T
h
ey
also
s
h
o
w
h
o
w
th
e
co
n
tr
o
l
s
y
s
tem
r
esp
o
n
d
s
to
d
is
tu
r
b
an
ce
s
in
r
ea
l
tim
e.
Fu
r
th
er
m
o
r
e,
th
e
p
r
esen
ted
wav
ef
o
r
m
s
allo
w
a
cl
ea
r
ev
alu
atio
n
o
f
th
e
s
tab
ilit
y
an
d
p
er
f
o
r
m
a
n
ce
o
f
th
e
DT
C
ap
p
r
o
ac
h
u
n
d
er
f
a
u
lty
o
p
er
atin
g
co
n
d
itio
n
s
.
8
.
2
.
F
O
C
co
ntr
o
l
f
a
ult
-
t
o
ler
a
nt
Fig
u
r
es
1
3
(
a
)
to
13
(
c
)
s
h
o
w
th
e
wav
ef
o
r
m
s
o
f
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e,
t
h
e
s
tato
r
c
u
r
r
en
ts
(
iₛ
ₐ
,
iₛ
ᵦ
,
iₛ
)
,
an
d
th
e
r
o
tatio
n
al
s
p
ee
d
.
T
h
e
r
esu
lts
o
b
tain
ed
f
r
o
m
I
FOC
u
n
d
er
b
o
th
f
a
u
lt
an
d
f
au
lt
-
to
ler
an
t
m
o
d
es
ar
e
d
is
p
lay
ed
o
n
th
e
C
o
n
t
r
o
l
Desk
s
o
f
twar
e
in
ter
f
ac
e
in
Fig
u
r
e
1
4
,
with
th
e
f
a
u
lt
in
tr
o
d
u
ce
d
at
t
=
7
s
.
T
h
ese
r
esu
lts
illu
s
tr
ate
th
e
b
eh
av
io
r
o
f
th
e
s
y
s
tem
b
ef
o
r
e
an
d
af
ter
th
e
o
cc
u
r
r
en
ce
o
f
th
e
f
a
u
lt.
T
h
ey
p
r
o
v
id
e
i
n
s
ig
h
t
in
to
th
e
ca
p
ab
ilit
y
o
f
th
e
I
F
OC
s
tr
ateg
y
to
m
ain
tain
ac
ce
p
tab
le
p
er
f
o
r
m
an
ce
u
n
d
e
r
d
is
tu
r
b
ed
co
n
d
itio
n
s
.
Mo
r
eo
v
er
,
th
e
wa
v
ef
o
r
m
s
en
a
b
le
a
d
etailed
a
n
aly
s
is
o
f
th
e
d
y
n
am
ic
r
esp
o
n
s
e
an
d
th
e
s
tab
ilit
y
o
f
th
e
s
y
s
tem
d
u
r
in
g
f
au
lt c
o
n
d
itio
n
s
.
I
t
ca
n
b
e
o
b
s
er
v
ed
th
at
a
s
in
g
le
in
v
er
ter
f
au
lt
ca
u
s
es
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
o
f
th
e
in
d
u
ctio
n
m
o
to
r
to
in
c
r
ea
s
e
to
3
0
m
N·
m
f
o
r
b
o
th
DT
C
an
d
I
FOC
.
DT
C
p
r
o
d
u
ce
s
a
n
o
is
ier
to
r
q
u
e
s
i
g
n
al,
wh
er
ea
s
I
FOC
m
ain
tain
s
a
s
m
o
o
th
er
r
esp
o
n
s
e
(
Fig
u
r
es 1
1
(
a
)
a
n
d
1
3
(
a
)
)
.
A
t
th
e
m
o
m
en
t
o
f
th
e
f
au
lt,
th
e
s
tato
r
cu
r
r
e
n
t
o
f
o
n
e
p
h
ase
d
r
o
p
s
to
ze
r
o
d
u
r
in
g
th
e
p
o
s
itiv
e
h
alf
-
cy
cle,
as
s
h
o
w
n
in
Fig
u
r
es
1
1
(
b
)
a
n
d
1
3
(
b
)
.
Fig
u
r
es
1
1
(
c)
a
n
d
1
3
(
c)
s
h
o
w
th
at
th
e
m
o
to
r
s
p
ee
d
r
e
m
ain
s
s
tab
le
in
r
ea
l
tim
e
u
n
d
er
t
h
e
f
a
u
lt
-
to
ler
an
t
co
n
d
itio
n
at
t=7
s
,
f
o
llo
win
g
o
n
ly
a
s
lig
h
t
d
is
tu
r
b
an
ce
f
o
r
b
o
th
co
n
tr
o
l
s
tr
ateg
ies.
T
ab
le
3
p
r
esen
ts
a
co
m
p
ar
is
o
n
b
etwe
en
th
e
two
co
n
tr
o
ller
s
.
I
t
ca
n
b
e
co
n
clu
d
ed
th
at
b
o
th
p
r
o
p
o
s
ed
an
d
co
m
p
ar
e
d
co
n
tr
o
l
s
tr
ateg
ies
ar
e
r
o
b
u
s
t
an
d
d
em
o
n
s
tr
ate
ef
f
ec
tiv
e
f
au
lt
-
to
l
er
an
t c
ap
ab
ilit
ies.
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