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is
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h
o
w
p
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sta
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i
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n
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o
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th
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y
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a
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d
p
ro
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m
ic
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g
e
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o
m
p
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sa
ti
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th
is
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m
is
a
b
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t
o
m
a
in
tain
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e
a
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d
in
c
re
a
se
s
o
v
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ll
e
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n
c
y
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e
c
o
n
o
m
ica
l
s
o
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d
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f
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d
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b
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se
d
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tr
o
l.
Re
su
lt
s
d
isp
lay
e
d
t
h
e
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latio
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i
p
b
e
twe
e
n
to
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q
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e
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sp
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d
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n
d
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e
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c
u
rre
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t
c
u
rv
e
s
with
a
n
d
with
o
u
t
th
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o
o
st
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it
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F
in
a
l
ly
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i
t
h
a
s
b
e
e
n
c
o
n
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lu
d
e
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t
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t
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d
a
t
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h
e
d
e
sire
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v
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l
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e
.
K
ey
w
o
r
d
s
:
Ar
d
u
in
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B
o
o
s
t c
o
n
v
e
r
ter
DC
m
o
to
r
Pu
ls
e
-
wid
th
m
o
d
u
latio
n
Sp
ee
d
co
n
tr
o
l
T
h
is i
s
a
n
o
p
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n
a
c
c
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ss
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rticle
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n
d
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r th
e
CC B
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SA
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se
.
C
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r
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s
p
o
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ing
A
uth
o
r
:
Ali S.
Alh
f
id
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Dep
ar
tm
en
t o
f
Po
wer
T
ec
h
n
iq
u
es E
n
g
in
ee
r
in
g
,
T
ec
h
n
ical
C
o
lleg
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o
f
E
n
g
in
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r
i
n
g
No
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th
er
n
T
ec
h
n
ical
Un
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r
s
ity
Mo
s
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l 4
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I
r
aq
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m
ail:
ali.
alh
af
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@
n
tu
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ed
u
.
iq
1.
I
NT
RO
D
UCT
I
O
N
W
ith
th
e
d
ev
elo
p
m
en
t
o
f
te
ch
n
o
lo
g
y
,
d
ir
ec
t
c
u
r
r
en
t
(
DC
)
m
o
to
r
s
ar
e
ex
ten
s
iv
ely
u
tili
ze
d
in
in
d
u
s
tr
ial
an
d
d
o
m
esti
c
ap
p
licatio
n
s
.
Ho
wev
er
,
th
e
y
f
r
eq
u
en
tly
en
c
o
u
n
ter
s
p
ee
d
f
lu
ct
u
a
tio
n
s
u
n
d
er
v
ar
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n
g
lo
ad
s
,
n
ec
ess
itatin
g
th
e
u
s
e
o
f
a
co
n
tr
o
ller
[
1
]
.
I
n
m
o
d
e
r
n
e
lectr
ical
en
g
in
ee
r
in
g
a
p
p
licatio
n
s
,
th
e
co
n
tr
o
l
o
f
D
C
m
o
to
r
s
p
la
y
s
a
p
iv
o
tal
r
o
le
in
v
ar
io
u
s
in
d
u
s
tr
ial
an
d
co
n
s
u
m
e
r
s
y
s
tem
s
[
2
]
.
T
h
e
ab
ilit
y
to
p
r
ec
is
ely
r
eg
u
late
m
o
to
r
s
p
ee
d
is
ess
en
tial
f
o
r
en
h
an
cin
g
p
er
f
o
r
m
a
n
ce
,
ef
f
icien
cy
,
an
d
r
eliab
ilit
y
in
ap
p
licatio
n
s
r
an
g
in
g
f
r
o
m
r
o
b
o
tics
to
au
to
m
o
tiv
e
s
y
s
tem
s
.
C
h
a
n
g
in
g
th
e
v
o
ltag
e
o
r
em
p
lo
y
i
n
g
r
esis
tiv
e
m
eth
o
d
s
ar
e
two
co
m
m
o
n
way
s
to
m
an
a
g
e
s
p
ee
d
,
b
u
t t
h
ey
ca
n
b
e
wastef
u
l a
n
d
ca
u
s
e
a
lo
t o
f
p
r
o
b
lem
s
[
3
]
.
Po
wer
elec
tr
o
n
ics
h
av
e
r
ev
o
l
u
tio
n
ized
m
o
to
r
co
n
tr
o
l
in
th
at
it
h
as
m
ad
e
p
o
s
s
ib
le
th
e
ac
cu
r
ate,
ef
f
icien
t
,
an
d
f
l
ex
ib
le
c
o
n
tr
o
l
o
f
elec
tr
ical
p
o
wer
s
u
p
p
ly
to
th
e
m
o
to
r
s
.
Dy
n
am
ically
co
n
tr
o
lled
v
o
ltag
e
an
d
cu
r
r
en
t,
wh
ic
h
ca
n
b
e
ac
h
iev
ed
th
r
o
u
g
h
th
e
u
s
e
o
f
h
i
g
h
-
p
o
wer
elec
tr
o
n
ic
co
n
v
er
ter
s
,
c
o
u
ld
r
esu
lt
in
b
etter
p
er
f
o
r
m
an
ce
o
f
t
h
e
m
o
to
r
i
n
t
er
m
s
o
f
to
r
q
u
e
an
d
s
p
ee
d
.
I
n
ad
d
itio
n
,
t
h
ese
tech
n
o
lo
g
ies
i
m
p
r
o
v
e
th
e
o
v
er
all
s
y
s
tem
ef
f
icien
cy
an
d
m
in
im
ize
en
er
g
y
wastag
e
as
co
m
p
ar
ed
to
tr
ad
itio
n
al
co
n
tr
o
l
tech
n
iq
u
es.
T
h
er
ef
o
r
e,
p
o
wer
elec
tr
o
n
ics
h
as
b
ec
o
m
e
im
p
o
r
tan
t
in
c
u
r
r
en
t
m
o
to
r
co
n
tr
o
l
s
y
s
tem
s
,
esp
ec
ially
in
f
ield
s
wh
er
e
h
i
g
h
p
er
f
o
r
m
an
ce
an
d
f
lex
i
b
ilit
y
ar
e
n
ee
d
ed
i
n
th
e
f
ac
e
o
f
d
if
f
er
e
n
t o
p
er
atin
g
en
v
i
r
o
n
m
e
n
ts
[
4
]
,
[
5
]
.
R
ec
en
t
im
p
r
o
v
em
e
n
ts
in
p
o
w
er
elec
tr
o
n
ics
h
av
e
m
ad
e
it
p
o
s
s
ib
le
to
f
in
d
b
etter
s
o
lu
tio
n
s
,
s
u
ch
as
b
o
o
s
t
co
n
v
er
ter
s
.
T
h
e
t
o
r
q
u
e
an
d
s
p
ee
d
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
m
o
to
r
ar
e
im
p
r
o
v
ed
b
y
a
b
o
o
s
t
co
n
v
er
ter
,
wh
ich
r
aises
th
e
in
p
u
t
v
o
ltag
e
an
d
p
er
m
its
a
h
ig
h
er
s
u
p
p
l
y
v
o
ltag
e
to
th
e
m
o
to
r
.
W
h
en
u
s
ed
wi
th
a
m
icr
o
co
n
tr
o
ller
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
Desig
n
a
n
d
imp
leme
n
t
a
tio
n
a
b
o
o
s
t c
o
n
ve
r
ter circu
it b
a
s
ed
o
n
A
r
d
u
in
o
kit
(
A
li S
.
A
lh
fid
h
)
1631
lik
e
th
e
Ar
d
u
in
o
,
t
h
e
co
n
tr
o
l
s
y
s
tem
ca
n
b
e
b
o
th
f
lex
ib
le
a
n
d
ac
cu
r
ate,
lettin
g
y
o
u
m
a
k
e
c
h
an
g
es
in
r
e
al
tim
e
b
ased
o
n
f
ee
d
b
ac
k
[
6
]
.
T
h
e
a
p
p
licatio
n
o
f
a
b
o
o
s
t
co
n
v
e
r
t
er
to
r
eg
u
late
a
DC
m
o
to
r
'
s
s
p
ee
d
h
ig
h
lig
h
ts
th
e
b
en
ef
its
o
f
t
h
is
s
tr
ateg
y
o
v
er
tr
ad
itio
n
al
tech
n
i
q
u
es
[
7
]
.
W
e
will
ex
am
in
e
h
o
w
b
o
o
s
t
co
n
v
er
ter
s
wo
r
k
,
h
o
w
th
ey
af
f
ec
t
m
o
to
r
p
er
f
o
r
m
an
ce
,
an
d
r
elate
d
co
n
tr
o
l
tech
n
iq
u
es
th
at
im
p
r
o
v
e
s
y
s
tem
r
esp
o
n
s
iv
en
ess
an
d
s
tab
ilit
y
[
1
]
.
W
e
wan
t
to
s
h
o
w
th
at
th
is
m
eth
o
d
wo
r
k
s
f
o
r
ef
f
icien
t
an
d
p
r
ec
is
e
s
p
ee
d
c
o
n
tr
o
l
in
a
r
a
n
g
e
o
f
s
itu
atio
n
s
b
y
u
s
in
g
s
im
u
latio
n
s
an
d
r
ea
l
-
wo
r
ld
test
s
.
T
h
is
p
r
o
ject
is
ab
o
u
t
m
ak
in
g
an
Ar
d
u
in
o
-
b
ased
co
n
tr
o
l
s
y
s
tem
th
at
u
s
es
a
b
o
o
s
t
co
n
v
er
ter
to
co
n
tr
o
l
th
e
s
p
ee
d
o
f
a
DC
m
o
to
r
.
W
ith
th
e
Ar
d
u
in
o
an
d
th
e
b
u
ck
co
n
v
er
ter
,
we
ca
n
m
o
n
ito
r
an
d
m
o
d
if
y
it,
g
iv
in
g
u
s
a
co
n
tr
o
l
s
y
s
tem
with
a
r
esp
o
n
s
e
tim
e
f
ast
en
o
u
g
h
to
allo
w
f
o
r
im
p
r
o
v
ed
ef
f
ici
en
cy
[
8
]
.
T
h
e
ad
d
itio
n
o
f
f
ee
d
b
ac
k
m
ec
h
an
is
m
s
an
d
th
e
lik
e,
s
u
ch
as
p
u
ls
e
wid
th
m
o
d
u
latio
n
(
PW
M
)
,
is
to
allo
w
f
o
r
f
in
er
ad
ju
s
tm
en
t
o
f
th
e
s
p
ee
d
o
f
th
e
m
o
to
r
an
d
,
b
y
d
o
in
g
s
o
,
r
esu
lts
in
h
ig
h
er
ef
f
icien
cy
an
d
b
etter
f
u
n
ctio
n
[
9
]
.
I
n
th
is
p
r
o
ject
,
we
will
lear
n
a
b
o
u
t
t
h
e
b
o
o
s
t
c
o
n
v
er
te
r
,
its
c
o
n
s
tr
u
ctio
n
an
d
o
p
er
atio
n
,
p
r
o
g
r
am
m
in
g
th
e
Ar
d
u
i
n
o
co
n
tr
o
ller
,
a
n
d
co
m
b
in
in
g
all
th
ese
item
s
t
o
p
r
o
v
id
e
u
s
with
ef
f
e
ctiv
e
m
o
t
o
r
s
p
ee
d
co
n
t
r
o
l
[
1
0
]
.
W
e
ex
p
ec
t
o
u
r
r
esu
lts
to
u
n
d
er
s
co
r
e
th
e
b
en
e
f
its
o
f
t
h
is
m
eth
o
d
i
n
a
n
u
m
b
er
o
f
ap
p
licat
io
n
s
,
attesti
n
g
to
a
f
lex
ib
le
an
d
p
o
wer
f
u
l te
ch
n
iq
u
e
f
o
r
cu
r
r
en
t m
o
t
o
r
co
n
tr
o
l.
2
.
L
I
T
E
R
AT
U
RE
R
E
VI
E
W
C
o
n
tr
o
l
o
f
th
e
s
p
ee
d
o
f
DC
m
o
to
r
s
h
as
b
ee
n
a
to
p
ic
o
f
th
o
r
o
u
g
h
in
v
esti
g
atio
n
d
u
r
in
g
th
e
last
s
ev
er
al
d
ec
ad
es
b
ec
au
s
e
o
f
an
ex
ten
s
iv
e
s
co
p
e
o
f
its
ap
p
licatio
n
s
in
r
o
b
o
tics
,
elec
tr
ic
ca
r
s
,
in
d
u
s
tr
ial
au
to
m
atio
n
,
an
d
o
th
er
elec
tr
o
m
ec
h
an
ical
s
y
s
tem
s
.
R
esear
ch
er
s
h
av
e
co
m
e
u
p
with
a
m
y
r
iad
o
f
co
n
tr
o
l
m
ea
s
u
r
es
th
at
f
o
cu
s
o
n
en
h
an
cin
g
p
er
f
o
r
m
an
ce
,
ac
cu
r
ac
y
,
an
d
en
er
g
y
co
n
s
u
m
p
tio
n
u
n
d
er
v
ar
y
in
g
o
p
er
atin
g
co
n
d
itio
n
s
.
T
h
ese
m
eth
o
d
s
co
n
s
is
t
o
f
b
o
th
class
ical
co
n
tr
o
l
tech
n
iq
u
es
an
d
cu
r
r
en
t
o
n
es
th
at
in
v
o
lv
e
th
e
u
s
e
o
f
p
o
wer
elec
tr
o
n
ics
an
d
in
tellig
en
t
co
n
tr
o
l
alg
o
r
ith
m
s
.
C
o
n
s
eq
u
en
tly
,
DC
m
o
to
r
s
p
ee
d
co
n
tr
o
l
co
n
tin
u
es
to
b
e
a
d
y
n
am
ic
an
d
s
ig
n
if
ican
t f
ield
o
f
s
tu
d
y
in
th
e
f
ield
o
f
elec
tr
ical
en
g
in
ee
r
in
g
.
I
n
2024
,
R
ath
i
an
d
Asp
alli
[
1
1
]
p
r
o
p
o
s
ed
a
m
o
d
el
an
d
s
im
u
lated
th
e
b
o
o
s
t
co
n
v
er
ter
with
Ar
d
u
in
o
u
s
in
g
two
p
u
s
h
b
u
tto
n
s
;
th
e
p
r
esen
ted
wo
r
k
is
an
o
p
en
-
lo
o
p
m
o
d
el
with
m
in
im
ized
h
ar
d
war
e,
h
ig
h
p
er
f
o
r
m
an
ce
,
less
weig
h
t,
an
d
ac
cu
r
ac
y
.
Ar
d
u
in
o
allo
ws
f
o
r
s
im
p
le
r
eg
u
latio
n
o
f
DC
o
u
tp
u
t
v
o
ltag
e,
d
esp
ite
lo
wer
p
o
wer
co
n
s
u
m
p
tio
n
co
m
p
ar
ed
to
co
m
p
lex
h
ar
d
war
e
cir
cu
its
.
I
n
2
0
2
1
,
Ma
’
ar
if
an
d
Setiawan
[
6
]
f
o
cu
s
ed
o
n
co
n
tr
o
llin
g
a
DC
m
o
to
r
b
ased
o
n
in
teg
r
al
s
tate
f
ee
d
b
ac
k
th
r
o
u
g
h
s
im
u
latio
n
s
o
f
twar
e
an
d
h
ar
d
war
e
im
p
lem
en
tatio
n
.
R
esu
lts
s
h
o
wed
g
o
o
d
p
er
f
o
r
m
an
ce
in
r
ea
ch
in
g
s
et
p
o
in
ts
an
d
tr
ac
k
in
g
co
n
tr
o
l,
with
f
ast
r
is
e
an
d
s
ettlin
g
tim
es.
T
h
e
r
esear
ch
also
s
h
o
wed
b
etter
s
y
s
tem
r
esp
o
n
s
e
in
tr
ac
k
in
g
co
n
tr
o
l
co
m
p
ar
ed
to
PID
co
n
tr
o
ller
s
.
Fu
tu
r
e
r
esear
ch
in
clu
d
es
d
eter
m
in
in
g
co
n
tr
o
ller
p
ar
am
eter
s
,
o
v
er
co
m
in
g
th
e
ch
allen
g
e
o
f
all
s
tates
b
ein
g
k
n
o
wn
,
an
d
ap
p
ly
in
g
Kalm
an
f
ilter
s
to
m
in
im
ize
o
s
cillatio
n
an
d
n
o
is
e
in
o
u
tp
u
t sen
s
o
r
s
.
I
n
2
0
2
3
,
R
ik
wan
an
d
Ma
’
ar
if
[
1
0
]
s
tu
d
ied
th
e
co
n
tr
o
ller
f
o
r
DC
m
o
to
r
an
g
u
lar
v
elo
city
u
s
in
g
th
e
Ar
d
u
in
o
UNO
-
b
ased
PID
m
eth
o
d
,
wh
ich
was
test
ed
,
an
d
co
n
clu
d
ed
th
at
th
e
co
r
r
ec
t
PID
v
alu
e
ca
n
b
e
o
b
tain
ed
b
y
ch
an
g
in
g
KP,
KI
,
an
d
KD
v
alu
es
ac
co
r
d
in
g
to
th
e
tr
ial
-
an
d
-
er
r
o
r
m
eth
o
d
.
T
h
e
s
y
s
tem
r
esp
o
n
s
e
was o
b
tain
ed
f
r
o
m
th
e
test
ed
p
ar
am
eter
s
,
with
r
is
e
tim
e
=
0
.
9
9
2
5
,
s
ettlin
g
tim
e
=
2
.
7
3
6
8
,
o
v
er
s
h
o
o
t =
1
.
3
3
3
3
,
an
d
s
tead
y
-
s
tate
er
r
o
r
=
0
.
I
n
2
0
2
3
,
Su
lak
h
e
et
a
l
.
[
1
2
]
an
aly
ze
d
th
e
DC
m
o
to
r
s
p
ee
d
co
n
tr
o
l
u
s
in
g
a
ch
o
p
p
er
an
d
a
p
r
o
p
o
r
tio
n
al
-
in
teg
r
al
-
ty
p
e
s
p
ee
d
an
d
cu
r
r
en
t
co
n
tr
o
ller
.
T
h
e
m
o
d
el
is
ad
ap
ted
to
ch
an
g
e
lo
ad
co
n
d
itio
n
s
,
in
p
u
t
v
o
ltag
e
,
an
d
r
ef
er
en
ce
s
p
ee
d
co
n
d
itio
n
s
,
an
d
th
e
r
esu
lts
ar
e
an
aly
ze
d
f
o
r
r
ated
an
d
u
n
d
er
-
r
ated
s
p
ee
d
s
.
T
h
is
p
r
o
ject
is
d
ev
elo
p
ed
b
ased
o
n
ea
r
lier
wo
r
k
s
b
y
in
co
r
p
o
r
atin
g
P
WM
-
b
ased
co
n
tr
o
l
with
an
Ar
d
u
in
o
p
latf
o
r
m
,
v
o
ltag
e
co
n
tr
o
l
with
a
b
o
o
s
t
co
n
v
er
ter
,
an
d
s
p
ee
d
co
n
tr
o
l
with
a
f
ee
d
b
ac
k
-
b
ased
s
y
s
tem
to
en
ab
le
ef
f
icien
t
co
n
tr
o
l
o
f
a
DC
m
o
to
r
.
T
h
ese
tech
n
iq
u
es
to
g
eth
er
en
ab
le
th
e
f
in
e
co
n
tr
o
l
o
f
th
e
m
o
to
r
s
p
ee
d
in
a
v
ar
iety
o
f
lo
ad
co
n
d
itio
n
s
,
with
th
e
PW
M
s
ig
n
al
d
y
n
am
ically
ch
an
g
in
g
th
e
d
u
ty
cy
cle
to
ad
ju
s
t th
e
o
u
tp
u
t
v
o
ltag
e
o
f
th
e
co
n
v
er
ter
.
Mo
r
eo
v
er
,
th
e
f
ee
d
b
ac
k
m
ec
h
an
is
m
h
elp
s
to
in
cr
ea
s
e
th
e
s
tab
ilit
y
o
f
th
e
s
y
s
tem
an
d
m
ak
e
s
u
r
e
th
at
th
e
m
o
to
r
h
as
a
r
ath
er
co
n
s
tan
t
s
p
ee
d
in
s
p
ite
o
f
d
is
tu
r
b
an
ce
s
lik
e
lo
ad
o
r
to
r
q
u
e
ch
an
g
es.
T
h
u
s
,
th
e
s
u
g
g
ested
s
o
lu
tio
n
is
a
co
s
t
-
ef
f
icien
t
an
d
s
u
s
tain
ab
le
s
o
lu
tio
n
th
at
will e
n
h
an
ce
th
e
p
er
f
o
r
m
an
ce
an
d
en
er
g
y
ef
f
icien
cy
o
v
er
th
e
co
n
v
en
tio
n
al
co
n
tr
o
l so
lu
tio
n
s
.
3.
M
E
T
H
O
D
DC
m
o
to
r
s
a
r
e
u
t
i
li
ze
d
e
x
te
n
s
iv
e
ly
in
r
o
b
o
t
ics
,
el
ec
t
r
i
c
ca
r
s
,
i
n
d
u
s
t
r
ia
l
a
u
t
o
m
ati
o
n
,
an
d
d
o
m
es
tic
ap
p
li
ca
ti
o
n
s
,
m
a
k
i
n
g
s
p
ee
d
c
o
n
tr
o
l
a
n
ess
en
tia
l
s
u
b
je
ct
i
n
ele
ct
r
ic
al
e
n
g
i
n
ee
r
i
n
g
.
T
h
e
ir
ea
s
e
o
f
co
n
t
r
o
l
,
ex
ce
l
le
n
t
e
f
f
ic
ie
n
c
y
,
an
d
p
r
e
d
i
cta
b
l
e
to
r
q
u
e
–
s
p
ee
d
c
h
a
r
ac
t
er
i
s
tics
a
l
l
m
ak
e
t
h
e
m
s
o
p
o
p
u
l
ar
.
Ho
we
v
e
r
,
b
e
ca
u
s
e
o
f
v
o
lta
g
e
d
r
o
p
s
a
n
d
v
a
r
ia
ti
o
n
s
in
t
o
r
q
u
e
r
e
q
u
i
r
e
m
e
n
ts
,
t
h
e
m
o
to
r
s
p
ee
d
te
n
d
s
t
o
f
l
u
ct
u
at
e
u
n
d
e
r
d
i
f
f
e
r
e
n
t
l
o
a
d
cir
c
u
m
s
t
a
n
ce
s
.
T
h
u
s
,
t
o
en
s
u
r
e
c
o
n
s
is
te
n
t
p
e
r
f
o
r
m
a
n
c
e,
s
t
r
o
n
g
a
n
d
a
d
a
p
t
a
b
le
c
o
n
t
r
o
l
m
e
c
h
a
n
is
m
s
ar
e
n
e
e
d
e
d
.
3
.
1
.
DC
m
o
t
o
r
mo
dellin
g
T
h
e
ar
m
at
u
r
e
win
d
in
g
o
f
a
S
E
DC
M
is
p
o
wer
ed
b
y
a
n
e
x
ter
n
al
s
o
u
r
ce
,
wh
er
ea
s
th
e
f
ield
win
d
in
g
r
ec
eiv
es
cu
r
r
en
t
d
ir
ec
tly
f
r
o
m
th
e
a
r
m
atu
r
e
[
1
3
]
.
T
h
e
co
r
r
es
p
o
n
d
in
g
eq
u
iv
ale
n
t
cir
cu
it
is
s
h
o
wn
in
Fig
u
r
e
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
.
3
,
Sep
tem
b
er
20
2
6
:
163
0
-
1
6
4
2
1632
T
h
is
co
n
f
ig
u
r
atio
n
im
p
lies
t
h
at
th
e
a
r
m
atu
r
e
an
d
f
ield
c
u
r
r
en
ts
ar
e
in
d
e
p
en
d
e
n
t.
D
u
r
in
g
o
p
er
atio
n
,
th
e
ar
m
atu
r
e
cu
r
r
e
n
t
in
d
u
ce
s
a
b
ac
k
elec
tr
o
m
o
tiv
e
f
o
r
ce
(
b
ac
k
-
E
MF)
o
p
p
o
s
in
g
th
e
s
u
p
p
ly
cu
r
r
en
t
[
1
4
]
.
T
h
e
m
o
to
r
co
n
tin
u
es
to
r
o
tate
u
n
til
th
e
ap
p
lied
v
o
ltag
e
an
d
t
h
e
b
ac
k
-
E
MF
b
alan
ce
ea
ch
o
th
e
r
,
at
wh
ich
p
o
in
t
th
e
d
ev
elo
p
e
d
to
r
q
u
e
eq
u
als th
e
lo
ad
to
r
q
u
e.
T
h
e
ar
m
atu
r
e
win
d
i
n
g
is
p
r
o
v
id
ed
with
cu
r
r
en
t
f
r
o
m
an
e
x
ter
n
al
s
u
p
p
ly
,
wh
ile
th
e
f
ield
win
d
in
g
is
s
u
p
p
lied
with
c
u
r
r
en
t
f
r
o
m
th
e
ar
m
atu
r
e
win
d
in
g
its
elf
.
T
h
is
in
d
ic
ates
th
at
th
er
e
is
n
o
r
e
latio
n
s
h
ip
b
etwe
e
n
th
e
ar
m
atu
r
e
cu
r
r
en
t
a
n
d
t
h
e
f
ield
cu
r
r
en
t
[
1
5
]
.
W
h
en
t
h
e
m
o
to
r
is
r
u
n
n
i
n
g
,
th
e
ar
m
atu
r
e
cu
r
r
e
n
t
cr
ea
tes
a
b
ac
k
elec
tr
o
m
o
tiv
e
f
o
r
ce
(
B
E
MF)
th
at
o
p
p
o
s
es
th
e
cu
r
r
en
t
f
lo
win
g
th
r
o
u
g
h
th
e
ar
m
atu
r
e
win
d
in
g
[
1
6
]
.
T
h
e
mo
to
r
will
k
ee
p
t
u
r
n
in
g
u
n
til
th
e
ap
p
lied
v
o
ltag
e
an
d
th
e
b
ac
k
E
MF
ar
e
eq
u
al.
At
th
is
p
o
in
t,
th
e
m
o
to
r
will
p
r
o
d
u
ce
a
to
r
q
u
e
t
h
at
is
eq
u
al
to
t
h
e
lo
a
d
to
r
q
u
e
[
1
7
]
,
[
1
8
]
.
T
h
e
ar
m
at
u
r
e
c
u
r
r
e
n
t
will
alw
ay
s
b
e
g
r
ea
ter
th
an
th
e
f
ield
cu
r
r
en
t
b
ec
a
u
s
e
th
e
ar
m
atu
r
e
win
d
i
n
g
h
as
a
h
i
g
h
e
r
r
esis
tan
ce
th
an
th
e
f
ield
wi
n
d
in
g
.
T
h
is
is
wh
y
s
ep
ar
ately
ex
cited
DC
m
o
to
r
s
ar
e
o
f
ten
u
s
ed
in
a
p
p
licatio
n
s
wh
er
e
p
r
ec
is
e
s
p
ee
d
c
o
n
tr
o
l
is
r
eq
u
ir
ed
[
9
]
.
T
h
e
f
u
n
d
am
e
n
tal
m
o
to
r
eq
u
atio
n
s
ar
e:
=
+
+
(
1
)
=
+
+
(
2
)
T
h
e
m
o
to
r
'
s
b
ac
k
em
f
ca
n
also
b
e
ex
p
r
ess
ed
as
(
3
)
.
=
(
3
)
Als
o
,
=
(4
)
wh
er
e
V
a
is
th
e
ar
m
atu
r
e
v
o
ltag
e
(
V)
;
I
a
is
th
e
ar
m
atu
r
e
cu
r
r
en
t
(
A)
;
R
a
is
th
e
ar
m
atu
r
e
r
esis
tan
ce
(
Ω
)
;
L
a
is
th
e
ar
m
atu
r
e
in
d
u
cta
n
ce
(
H)
;
E
b
is
th
e
b
ac
k
elec
tr
o
m
o
tiv
e
f
o
r
ce
(
V)
;
T
L
is
th
e
lo
ad
to
r
q
u
e
(
N
.
m)
;
T
d
is
th
e
d
ev
elo
p
e
d
to
r
q
u
e
(
N
.
m)
;
J
is
th
e
m
o
m
en
t
o
f
in
er
tia
(
k
g
·
m
²)
;
B
is
th
e
m
o
to
r
f
r
ictio
n
co
ef
f
icien
t,
ω
is
th
e
an
g
u
lar
v
elo
city
(
r
ad
/s
)
;
an
d
φ
is
th
e
d
e
v
elo
p
e
d
m
ag
n
etic
f
lu
x
(
W
b
)
.
Un
d
er
s
tead
y
-
s
tate
co
n
d
itio
n
s
,
th
e
ar
m
atu
r
e
in
d
u
ctan
ce
ter
m
ca
n
b
e
n
eg
lecte
d
,
an
d
t
h
e
an
g
u
lar
v
elo
city
is
th
er
ef
o
r
e
ex
p
r
ess
ed
as (
5
)
.
=
−
(5
)
T
h
u
s
,
u
s
i
n
g
t
h
e
a
f
o
r
e
m
e
n
t
i
o
n
ed
(
5
)
,
t
h
e
DC
m
o
t
o
r
'
s
s
p
e
e
d
m
a
y
b
e
c
o
n
t
r
o
l
le
d
b
y
a
d
j
u
s
t
i
n
g
th
e
a
r
m
a
t
u
r
e
v
o
l
t
a
g
e
a
n
d
f
i
e
l
d
f
l
u
x
.
A
m
o
n
g
t
h
e
t
h
r
e
e
t
e
c
h
n
i
q
u
es
f
o
r
r
e
g
u
la
t
i
n
g
a
DC
m
o
t
o
r
'
s
s
p
e
e
d
,
t
h
e
a
r
m
a
t
u
r
e
e
n
a
b
l
es
a
s
e
a
m
l
ess
c
h
a
n
g
e
o
v
e
r
f
r
o
m
ze
r
o
t
o
b
a
s
e
s
p
e
e
d
[
1
9
]
.
At
t
h
e
r
a
t
e
d
v
o
l
t
a
g
e
o
f
t
h
e
s
u
p
p
l
y
,
t
h
e
s
p
e
e
d
a
t
ta
i
n
e
d
is
k
n
o
w
n
a
s
t
h
e
b
a
s
e
s
p
e
e
d
.
T
h
e
(
2
)
b
e
c
o
m
e
s
(
6
)
i
f
w
e
as
s
u
m
e
t
h
a
t
t
h
e
m
o
t
o
r
'
s
f
r
i
c
t
i
o
n
is
n
e
g
l
i
g
ib
l
e
(
B
=
0
)
.
=
+
(
6
)
T
h
e
(
6
)
-
(
9
)
ar
e
o
b
tain
ed
b
y
ap
p
ly
in
g
th
e
L
ap
lace
t
r
an
s
f
o
r
m
t
o
th
e
p
r
e
v
io
u
s
ly
s
tated
(
7
)
-
(
9
)
:
(
)
=
−
+
∗
(
7
)
(
)
=
−
(
1
+
)
=
−
(
1
+
)
(
8
)
(
)
=
−
=
−
(
9
)
w
h
er
e
=
.
T
h
e
b
lo
ck
d
iag
r
am
o
f
th
e
D
C
m
o
to
r
m
o
d
el
is
illu
s
tr
ated
in
Fig
u
r
e
2
.
T
h
e
tr
an
s
f
er
f
u
n
ctio
n
th
at
r
esu
lts
f
r
o
m
ca
r
r
y
in
g
o
u
t th
e
b
lo
ck
r
ed
u
ctio
n
will h
av
e
t
h
e
f
o
llo
win
g
s
tr
u
ctu
r
e.
(
)
(
)
=
/
(
1
+
)
1
+
2
2
(
1
+
)
=
1
/
(
1
+
)
+
1
(
1
0
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
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&
Dr
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s
t
I
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N:
2088
-
8
6
9
4
Desig
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tio
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o
s
t c
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ve
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ter circu
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in
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(
A
li S
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1633
Ass
u
m
in
g
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(
)
2
a
n
d
r
e
p
lacin
g
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,
(
1
0
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ca
n
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e
r
e
d
u
ce
d
to
(
1
1
)
.
(
)
(
)
=
(
+
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(
+
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(
1
1
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As
a
r
esu
lt,
f
o
r
th
e
s
y
s
tem
m
en
tio
n
ed
ab
o
v
e,
an
d
s
tan
d
f
o
r
th
e
tim
e
co
n
s
tan
ts
u
s
ed
in
th
e
tr
an
s
f
er
f
u
n
ctio
n
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T
h
e
s
y
s
tem
'
s
o
v
er
all
r
ea
ctio
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will
b
e
im
p
a
cted
b
y
th
ese
tem
p
o
r
al
co
n
s
tan
ts
[
2
0
]
.
T
h
er
e
f
o
r
e,
th
e
tr
an
s
f
er
f
u
n
ctio
n
o
b
tain
ed
in
(
1
1
)
with
in
th
e
m
o
d
el
ca
n
b
e
u
s
ed
in
p
lace
o
f
th
e
DC
m
o
t
o
r
[
2
1
]
.
T
h
e
T
er
co
DC
m
o
to
r
u
tili
ze
d
in
th
e
s
im
u
l
atio
n
in
th
is
p
ap
e
r
h
as th
e
p
a
r
a
m
eter
s
lis
ted
in
T
ab
le
1
.
F
i
g
u
r
e
1
.
E
q
u
i
v
a
l
e
n
t
ci
r
c
u
i
t
o
f
a
S
E
DC
M
Fig
u
r
e
2
.
DC
m
o
to
r
m
o
d
el
T
ab
le
1
.
Descr
ip
tio
n
o
f
Te
r
co
DC
m
o
to
r
P
a
r
a
me
t
e
r
s
S
t
a
n
d
a
r
d
s
P
a
r
a
me
t
e
r
s
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t
a
n
d
a
r
d
s
A
a
a
a
a
1
.
0
0
1
1
1
Jm
0
.
0
1
2
k
g
.
m
2
B
b
b
b
b
1
1
.
1
2
3
Bm
0
.
0
2
0
4
N
.
m
.
s .
r
a
d
-
1
Ra
0
.
2
5
Ω
Kb
1
0
V
.
s.ra
d
-
1
La
6
0
.
8
1
mH
R
a
t
e
d
s
p
e
e
d
m
3
.
2
.
P
WM
P
W
M
c
o
n
t
r
o
ls
DC
m
o
t
o
r
s
p
ee
d
b
y
v
a
r
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g
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h
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t
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l
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r
o
m
(
0
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t
o
1
0
0
%
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t
o
al
t
e
r
t
h
e
e
f
f
e
c
t
i
v
e
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o
l
t
a
g
e
.
M
a
n
a
g
e
d
b
y
m
i
c
r
o
c
o
n
t
r
o
l
l
e
r
s
a
n
d
MO
SF
E
T
s
,
th
i
s
m
e
t
h
o
d
e
n
s
u
r
es
P
r
ec
i
s
e
m
o
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e
m
e
n
t
,
h
i
g
h
e
r
e
f
f
i
c
i
e
n
c
y
,
a
n
d
r
e
d
u
c
e
d
P
o
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e
r
l
o
s
s
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t
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n
e
c
e
s
s
a
r
y
t
o
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a
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s
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o
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k
f
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q
u
e
n
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y
o
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t
h
e
P
W
M
s
i
g
n
a
l
.
T
y
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i
c
a
ll
y
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m
o
t
o
r
s
h
a
v
e
s
p
e
c
i
f
i
c
a
ti
o
n
s
u
n
d
e
r
w
h
i
c
h
t
h
e
y
n
e
e
d
t
o
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e
o
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e
r
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d
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o
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o
t
o
r
s
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s
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e
e
d
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o
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t
r
o
l
s
h
o
u
l
d
b
e
a
t
l
e
as
t
1
k
H
z
o
r
h
i
g
h
e
r
i
n
f
r
e
q
u
e
n
c
y
.
P
o
w
e
r
l
o
s
s
e
s
i
n
c
r
ea
s
e
as
t
h
e
f
r
e
q
u
e
n
c
y
d
e
c
r
e
a
s
e
s
.
H
o
w
e
v
e
r
,
m
o
d
e
r
n
p
o
w
e
r
M
O
SF
E
T
s
a
r
e
a
l
r
e
a
d
y
s
u
i
t
a
b
l
e
e
n
c
ap
s
u
l
a
t
e
d
p
a
c
k
a
g
es
,
g
i
v
e
n
t
h
is
r
e
q
u
i
r
e
m
e
n
t
.
3
.
3
.
P
WM
f
re
qu
ency
a
nd
du
t
y
cy
cle
im
pa
ct
o
n sy
s
t
em
p
er
f
o
rma
nce
S
witch
in
g
f
r
eq
u
en
c
y
is
a
b
alan
ce
b
etwe
en
ef
f
icien
cy
an
d
p
er
f
o
r
m
a
n
ce
.
Hig
h
er
f
r
e
q
u
en
ci
es
im
p
r
o
v
e
m
o
to
r
Stab
ilit
y
a
n
d
r
e
d
u
ce
r
i
p
p
les
,
b
u
t
i
n
cr
ea
s
e
s
witch
in
g
lo
s
s
es
an
d
E
MI
.
C
o
n
v
e
r
s
ely
,
lo
wer
f
r
eq
u
en
cy
is
g
en
er
ally
r
eq
u
i
r
ed
wh
er
e
r
ed
u
ce
d
s
witch
in
g
f
r
eq
u
en
cies
ar
e
less
Pro
n
e
to
s
witch
in
g
lo
s
s
es a
n
d
m
o
r
e
ef
f
icien
t,
b
u
t
g
en
e
r
ate
h
ig
h
er
v
o
ltag
e
r
i
p
p
le
an
d
cu
r
r
en
t
v
a
r
iatio
n
s
,
w
h
ich
ca
n
a
d
v
er
s
ely
a
f
f
ec
t
th
e
m
o
to
r
Per
f
o
r
m
an
ce
an
d
ad
d
u
n
wan
te
d
o
s
cillatio
n
s
[
2
2
]
.
3
.
4
.
A
bo
o
s
t
c
o
nv
er
t
er
A
b
o
o
s
t
co
n
v
er
ter
is
a
DC
-
DC
p
o
wer
elec
tr
o
n
ic
co
n
v
er
ter
,
wh
ich
is
a
s
tep
-
u
p
ch
o
p
p
e
r
,
a
n
d
is
m
ad
e
to
r
aise
th
e
in
p
u
t v
o
ltag
e
to
a
m
ax
im
u
m
o
u
t
p
u
t v
o
ltag
e
lev
el
.
I
t
ac
co
m
p
lis
h
es
th
is
r
o
le
b
y
s
to
r
in
g
en
er
g
y
i
n
a
n
in
d
u
cto
r
an
d
a
s
witch
in
g
ac
ti
o
n
th
at
is
r
eg
u
lated
,
f
ac
ilit
ati
n
g
th
e
c
o
n
v
e
r
s
io
n
o
f
v
o
ltag
es
ef
f
ec
tiv
ely
.
T
h
is
is
th
e
r
ea
s
o
n
wh
y
b
o
o
s
t
co
n
v
e
r
te
r
s
ar
e
esp
ec
ially
ap
p
r
o
p
r
iate
in
ap
p
licatio
n
s
th
at
n
ee
d
m
o
r
e
o
u
tp
u
t
v
o
ltag
e
th
a
n
th
e
av
ailab
le
in
p
u
t
s
u
p
p
ly
,
s
u
ch
as
DC
m
o
to
r
co
n
tr
o
l
s
y
s
tem
s
[
2
1
]
.
Fig
u
r
e
3
illu
s
tr
ates
th
e
cir
cu
it
d
iag
r
am
o
f
th
e
b
o
o
s
t
co
n
v
er
ter
.
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
.
3
,
Sep
tem
b
er
20
2
6
:
163
0
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1
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2
1634
Fig
u
r
e
3
.
B
o
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t c
o
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v
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ter
ci
r
c
u
it d
iag
r
am
3
.
4
.
1
.
M
a
t
hem
a
t
ic
a
l m
o
delin
g
o
f
bo
o
s
t
co
nv
er
t
er
Ma
th
em
atica
l
m
o
d
elin
g
o
f
a
b
o
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s
t
co
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ter
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a
f
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n
d
am
e
n
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al
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p
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tr
o
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s
tip
u
latin
g
h
o
w
a
DC
-
DC
co
n
v
er
ter
ca
n
ef
f
ec
tiv
ely
b
o
o
s
t
a
s
o
u
r
ce
v
o
ltag
e
to
a
h
i
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h
er
o
u
tp
u
t
v
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.
T
h
e
b
o
o
s
t
co
n
v
er
ter
is
a
n
o
n
-
lin
ea
r
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y
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tem
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at
r
eg
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lates
th
e
f
lo
w
o
f
e
n
er
g
y
u
s
in
g
an
in
d
u
cto
r
an
d
a
h
ig
h
-
s
p
ee
d
s
witch
(
MO
SF
E
T
/I
GB
T
)
.
B
a
s
ed
o
n
th
e
in
d
u
cto
r
v
o
lt
-
s
ec
o
n
d
b
ala
n
ce
p
r
in
cip
le,
en
er
g
y
is
s
to
r
ed
in
th
e
in
d
u
ct
o
r
d
u
r
in
g
th
e
ON
s
tate
an
d
tr
a
n
s
f
er
r
ed
t
o
th
e
lo
ad
d
u
r
in
g
th
e
OFF
s
tate.
T
h
is
p
r
o
ce
s
s
is
m
ath
em
atica
lly
co
n
tr
o
lled
b
y
th
e
d
u
t
y
cy
cle
(
D)
,
wh
ich
d
eter
m
in
es
th
e
s
witch
'
s
co
n
d
u
ctio
n
tim
e
[
2
3
]
.
T
h
e
in
d
u
cto
r
cu
r
r
e
n
t
r
ip
p
le
is
an
im
p
o
r
tan
t p
a
r
am
et
er
af
f
ec
tin
g
c
o
n
v
e
r
ter
p
e
r
f
o
r
m
an
ce
an
d
is
ex
p
r
ess
ed
as
(
1
2
)
:
=
⋅
⋅
(
1
2
)
w
h
er
e
Δ
is
th
e
in
d
u
cto
r
cu
r
r
en
t r
ip
p
le
;
is
th
e
in
d
u
ctan
ce
; a
n
d
is
th
e
s
witch
in
g
f
r
eq
u
e
n
cy
.
A
p
r
o
p
e
r
ly
s
elec
ted
in
d
u
cto
r
en
s
u
r
es
co
n
tin
u
o
u
s
co
n
d
u
ct
io
n
an
d
r
e
d
u
ce
s
cu
r
r
en
t
r
ip
p
le,
wh
ich
im
p
r
o
v
es
s
y
s
tem
s
tab
ilit
y
.
T
h
e
o
u
tp
u
t
v
o
ltag
e
r
ip
p
le
d
e
p
en
d
s
o
n
th
e
ca
p
ac
ito
r
v
alu
e
an
d
lo
ad
cu
r
r
en
t
an
d
is
g
iv
en
b
y
(
1
3
)
:
=
⋅
⋅
(
1
3
)
wh
er
e
Δ
is
th
e
o
u
tp
u
t v
o
ltag
e
r
i
p
p
le
;
is
th
e
o
u
tp
u
t c
u
r
r
e
n
t
; a
n
d
is
th
e
ca
p
ac
itan
ce
.
Min
im
izin
g
v
o
ltag
e
r
ip
p
le
is
ess
en
tial
f
o
r
m
ain
tain
in
g
a
s
ta
b
le
m
o
to
r
s
p
ee
d
.
Switch
in
g
lo
s
s
es
o
cc
u
r
in
th
e
p
o
wer
MO
SF
E
T
d
u
r
in
g
th
e
tr
a
n
s
itio
n
b
etwe
en
th
e
on
an
d
o
f
f
s
tates.
A
co
m
m
o
n
li
n
ea
r
ap
p
r
o
x
im
atio
n
f
o
r
th
e
t
o
tal
s
witch
in
g
lo
s
s
P is
:
=
1
2
.
.
.
(
+
)
.
(
1
4
)
wh
er
e
V
out
is
t
h
e
v
o
ltag
e
ac
r
o
s
s
th
e
s
witch
wh
en
o
f
f
;
an
d
I
L
is
t
h
e
cu
r
r
en
t
th
r
o
u
g
h
th
e
s
witch
wh
en
o
n
.
B
o
o
s
t
co
n
v
er
ter
c
o
m
p
o
n
en
ts
wer
e
s
elec
ted
b
ased
o
n
wo
r
s
t
-
ca
s
e
o
p
er
atin
g
co
n
d
itio
n
s
an
d
ex
p
er
im
en
tal
d
ata.
C
alcu
latin
g
r
atin
g
s
in
clu
d
ed
s
af
ety
m
ar
g
i
n
s
to
en
s
u
r
e
s
y
s
te
m
s
tab
ilit
y
,
as d
etailed
in
T
ab
l
e
2
.
T
ab
le
2
.
R
atin
g
s
o
f
b
o
o
s
t c
o
n
v
er
ter
co
m
p
o
n
en
ts
C
o
m
p
o
n
e
n
t
C
a
l
c
u
l
a
t
e
d
r
e
q
u
i
r
e
me
n
t
S
e
l
e
c
t
e
d
r
a
t
i
n
g
I
n
d
u
c
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o
r
6
5
0
µ
H
,
I
sa
t
≥
1
9
.
5
A
6
5
0
µH
/
2
0
A
C
a
p
a
c
i
t
o
r
C
≥
4
0
.
4
µ
F
,
V
≥
3
1
7
.
2
5
V
1
0
0
µ
F
/
4
0
0
V
,
l
o
w
ESR
D
i
o
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e
V
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1
7
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2
5
V
,
I
≥
1
3
.
4
4
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4
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/
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20
A
f
a
st
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M
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ET/
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2
5
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,
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≥
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4
0
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3
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A
3
.
5
.
Arduin
o
UNO
o
v
er
v
iew
Ar
d
u
in
o
-
b
ased
s
p
ee
d
c
o
n
tr
o
l
o
f
a
DC
m
o
to
r
with
Ar
d
u
i
n
o
UNO
[
2
4
]
.
Fo
r
Ar
d
u
in
o
-
b
a
s
ed
s
p
ee
d
co
n
tr
o
l,
th
e
d
esire
d
s
p
ee
d
is
co
m
p
a
r
ed
with
th
e
m
o
t
o
r
s
p
ee
d
m
ea
s
u
r
ed
th
r
o
u
g
h
a
ta
ch
o
m
eter
,
an
d
th
e
d
if
f
er
en
ce
is
u
s
ed
as
an
in
p
u
t
to
co
n
tr
o
l
th
e
ar
m
at
u
r
e
v
o
ltag
e
o
f
th
e
DC
m
o
to
r
,
wh
ich
in
d
ir
ec
tly
co
n
tr
o
ls
th
e
m
o
to
r
s
p
ee
d
.
T
h
e
o
u
tp
u
t
v
o
lt
ag
e
p
r
o
v
id
ed
to
th
e
m
o
to
r
is
co
n
tr
o
lled
b
y
u
s
in
g
a
b
o
o
s
t
c
o
n
v
er
ter
[
2
5
]
.
T
h
e
cir
cu
it
o
f
th
e
p
r
o
p
o
s
ed
wo
r
k
i
s
s
im
u
lated
an
d
test
ed
f
o
r
b
o
t
h
clo
s
ed
-
lo
o
p
a
n
d
o
p
en
-
lo
o
p
s
y
s
tem
s
f
o
r
an
aly
s
is
an
d
p
er
f
o
r
m
a
n
ce
co
m
p
ar
is
o
n
.
T
h
e
Ar
d
u
in
o
UNO
b
o
ar
d
is
d
esig
n
ed
to
m
ak
e
th
e
p
r
o
ce
s
s
o
f
u
s
in
g
m
icr
o
co
n
tr
o
ller
s
b
y
s
tu
d
en
ts
o
r
p
r
o
f
ess
io
n
als
as
ea
s
y
as
p
o
s
s
ib
le
[
2
6
]
.
I
t
is
eq
u
i
p
p
ed
with
a
n
Atm
eg
a3
2
8
m
icr
o
c
o
n
tr
o
ller
th
at
o
p
er
ates
at
5
V.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
Desig
n
a
n
d
imp
leme
n
t
a
tio
n
a
b
o
o
s
t c
o
n
ve
r
ter circu
it b
a
s
ed
o
n
A
r
d
u
in
o
kit
(
A
li S
.
A
lh
fid
h
)
1635
I
t
h
as
3
2
-
k
B
f
lash
m
em
o
r
y
a
n
d
1
4
d
ig
ital
in
p
u
t/o
u
tp
u
t
p
i
n
s
.
T
h
e
m
ajo
r
co
m
p
o
n
e
n
ts
o
f
th
e
Ar
d
u
in
o
UNO
ar
e
th
e
m
ain
in
p
u
t
p
o
r
t
p
in
,
USB
en
d
p
o
r
t,
DC
p
o
wer
in
p
u
t
p
o
r
t,
an
alo
g
in
p
u
t
p
in
s
,
th
e
an
alo
g
in
p
u
t
p
in
s
co
n
v
er
t
u
p
to
0
-
5
V,
DC
in
p
u
t
p
in
s
,
L
C
D
in
p
u
ts
,
an
d
b
u
zz
er
o
u
tp
u
t
p
in
.
T
h
e
d
etailed
p
in
d
escr
ip
ti
o
n
s
ar
e
m
e
n
tio
n
ed
in
th
e
tex
t.
T
h
e
b
lo
ck
d
iag
r
am
o
f
th
e
Ar
d
u
in
o
UNO
b
o
ar
d
is
s
h
o
wn
in
th
e
tex
t.
I
/O
PIN
B
OARD
:
7
-
b
it
p
o
r
t,
4
-
b
it p
o
r
t,
7
-
b
it p
o
r
t.
Fig
u
r
e
4
illu
s
tr
ates th
e
Ar
d
u
in
o
k
it.
Fig
u
r
e
4
.
Ar
d
u
in
o
UNO
k
it
3
.
6
.
I
nte
g
ra
t
io
n o
f
bo
o
s
t
co
n
v
er
t
er
wit
h DC
m
o
t
o
r
T
h
e
b
o
o
s
t
c
o
n
v
e
r
ter
u
tili
ze
s
an
in
d
u
cto
r
,
c
ap
ac
ito
r
,
an
d
a
d
io
d
e
co
n
tr
o
lled
b
y
an
Ar
d
u
i
n
o
PW
M
s
ig
n
al
v
ia
o
n
I
G
ST
s
witch
to
r
eg
u
late
v
o
ltag
e.
B
y
ad
ju
s
tin
g
th
e
d
u
ty
cy
cle,
th
e
s
y
s
tem
m
an
ag
es
p
o
we
r
f
lo
w
to
th
e
DC
m
o
to
r
,
u
s
in
g
a
f
r
ee
-
wh
ee
lin
g
d
io
d
e
to
m
ai
n
tain
cu
r
r
en
t
an
d
p
r
e
v
en
t
b
ac
k
E
M
F
is
s
u
es
d
u
r
in
g
t
h
e
Switch
'
s
"OFF"
p
er
io
d
s
.
Fig
u
r
e
5
s
h
o
ws
th
e
f
lo
wc
h
ar
t
o
f
DC
m
o
to
r
s
p
ee
d
c
o
n
tr
o
l
b
ase
d
o
n
Ar
d
u
in
o
,
wh
ic
h
d
escr
ib
es
th
e
in
ter
p
la
y
b
etwe
e
n
th
e
im
p
o
r
tan
t
p
ar
ts
,
s
u
ch
a
s
th
e
r
ef
er
e
n
ce
in
p
u
t,
c
o
m
p
ar
ato
r
,
Ar
d
u
in
o
-
b
ased
co
n
tr
o
ller
,
b
o
o
s
t
co
n
v
er
ter
,
DC
p
o
wer
s
o
u
r
ce
,
an
d
th
e
m
o
to
r
with
its
f
ee
d
b
ac
k
lo
o
p
.
T
h
e
f
ig
u
r
e
g
iv
es
a
g
o
o
d
illu
s
tr
atio
n
o
f
th
e
s
ig
n
al
f
lo
w
an
d
p
o
wer
tr
an
s
f
er
in
th
e
s
y
s
tem
an
d
h
o
w
th
e
co
n
t
r
o
ller
m
o
d
u
lates
th
e
co
n
v
er
ter
d
u
ty
cy
cle
to
e
n
s
u
r
e
th
e
m
o
to
r
r
u
n
s
at
th
e
d
esire
d
s
p
ee
d
in
v
ar
y
in
g
o
p
er
atin
g
co
n
d
itio
n
s
.
Fig
u
r
e
5
.
F
lo
wch
ar
t
o
f
DC
m
o
to
r
s
p
ee
d
co
n
tr
o
l u
s
in
g
b
o
o
s
t c
o
n
v
er
ter
an
d
Ar
d
u
in
o
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
.
3
,
Sep
tem
b
er
20
2
6
:
163
0
-
1
6
4
2
1636
4
.
RE
SU
L
T
S
AND
D
I
SCU
SS
I
O
N
An
ex
p
er
im
en
tal
p
r
o
to
ty
p
e
w
as
cr
ea
ted
an
d
p
u
t
th
r
o
u
g
h
la
b
o
r
ato
r
y
test
in
g
in
o
r
d
er
to
ar
r
iv
e
at
th
e
s
u
g
g
ested
co
n
tr
o
l
tech
n
iq
u
e.
T
h
e
p
r
o
to
t
y
p
e
d
esig
n
in
clu
d
e
s
a
s
ep
ar
ately
ex
cited
DC
m
o
to
r
lin
k
ed
to
a
DC
g
en
er
ato
r
th
at
ac
ts
as
a
co
n
tr
o
lled
lo
ad
.
T
o
s
u
p
p
l
y
e
lectr
icity
to
th
e
m
o
to
r
,
a
b
o
o
s
t
co
n
v
e
r
ter
is
u
s
ed
,
an
d
an
Ar
d
u
in
o
UNO
m
icr
o
c
o
n
tr
o
lle
r
u
s
es
PW
M
to
r
eg
u
late
th
e
o
u
tp
u
t
v
o
ltag
e.
T
h
e
m
o
to
r
s
h
af
t
is
eq
u
ip
p
e
d
with
a
tach
g
en
er
at
o
r
,
w
h
ich
g
i
v
es
th
e
co
n
tr
o
l
s
y
s
tem
r
ea
l
-
tim
e
s
p
ee
d
f
ee
d
b
ac
k
.
Fig
u
r
e
6
p
r
o
v
i
d
es
an
im
ag
e
o
f
t
h
e
to
tal
s
y
s
tem
.
Fig
u
r
e
6
.
Pra
ctica
l
b
o
ar
d
T
h
e
r
esis
tan
ce
in
th
e
g
en
er
ato
r
'
s
cir
cu
it th
e
lo
ad
was c
h
an
g
ed
.
Nex
t,
th
e
b
o
o
s
t c
o
n
v
er
ter
w
as in
s
er
ted
b
etwe
en
th
e
p
o
wer
s
u
p
p
ly
an
d
th
e
m
o
to
r
.
PW
M
s
ig
n
als
we
r
e
p
r
o
d
u
ce
d
b
y
th
e
Ar
d
u
in
o
UNO
to
r
eg
u
late
th
e
d
u
ty
c
y
cle
o
f
th
e
co
n
v
er
ter
.
I
n
o
r
d
e
r
to
co
m
p
en
s
ate
f
o
r
a
n
y
s
p
ee
d
v
ar
iatio
n
b
r
o
u
g
h
t
o
n
b
y
v
ar
iatio
n
s
i
n
lo
a
d
,
th
e
Ar
d
u
in
o
co
n
tin
u
o
u
s
ly
r
ea
d
th
e
tach
g
e
n
er
ato
r
s
ig
n
al,
co
m
p
ar
ed
it
to
th
e
r
e
f
er
en
ce
s
p
e
ed
,
an
d
m
o
d
i
f
ied
th
e
d
u
ty
cy
cle.
Data
h
as
b
ee
n
co
llected
f
o
r
th
e
two
o
p
en
-
lo
o
p
(
with
o
u
t
b
o
o
s
t)
an
d
clo
s
ed
-
lo
o
p
(
with
b
o
o
s
t)
co
n
f
ig
u
r
atio
n
s
.
A
clo
s
ed
-
lo
o
p
m
eth
o
d
was u
s
ed
to
a
ch
iev
e
th
is
.
T
h
e
ex
p
er
im
e
n
tal
d
esig
n
in
v
o
lv
es
two
s
ep
ar
ately
ex
cited
DC
m
o
to
r
s
co
u
p
led
to
g
eth
e
r
m
e
ch
an
ically
with
a
DC
g
en
er
ato
r
,
wh
ich
is
a
co
n
tr
o
llab
le
lo
ad
.
T
h
e
s
y
s
tem
also
h
as
a
tach
g
en
er
ato
r
to
p
r
o
v
i
d
e
s
p
ee
d
f
ee
d
b
ac
k
,
a
b
o
o
s
t
co
n
v
er
ter
t
o
p
r
o
v
i
d
e
v
o
ltag
e
r
e
g
u
latio
n
,
an
d
an
Ar
d
u
i
n
o
-
b
ased
c
o
n
tr
o
l
u
n
it
to
p
r
o
d
u
ce
PW
M
s
ig
n
als.
Mo
r
eo
v
er
,
m
e
asu
r
em
en
t
d
ev
ices
an
d
a
v
o
ltag
e
d
iv
id
er
f
ee
d
b
ac
k
cir
c
u
it
ar
e
also
p
r
o
v
id
ed
to
ch
ec
k
th
e
p
e
r
f
o
r
m
an
ce
o
f
th
e
s
y
s
tem
an
d
to
co
n
tr
o
l
it
ac
cu
r
ately
.
Su
ch
a
co
m
b
i
n
ed
s
etu
p
allo
ws
ass
e
s
s
in
g
th
e
o
f
f
er
ed
s
tr
ateg
y
o
f
m
o
to
r
s
p
ee
d
r
eg
u
latio
n
in
d
i
f
f
er
en
t
o
p
er
at
in
g
co
n
d
itio
n
s
ef
f
ec
tiv
ely
.
4
.
1
.
E
x
perim
ent
a
l
p
ro
ce
du
r
e
On
th
e
s
am
e
s
h
af
t,
th
e
g
en
er
ato
r
an
d
m
o
to
r
wer
e
f
ix
e
d
ly
co
n
n
ec
ted
.
T
o
d
eter
m
i
n
e
a
b
aselin
e
r
ea
ctio
n
,
th
e
m
o
to
r
s
u
p
p
ly
wa
s
in
itially
co
n
n
ec
te
d
d
ir
e
ctly
with
o
u
t
th
e
b
o
o
s
t
co
n
v
e
r
ter
.
Un
d
er
v
ar
io
u
s
l
o
ad
s
ce
n
ar
io
s
,
m
ea
s
u
r
em
en
ts
wer
e
m
ad
e
o
f
s
p
ee
d
,
ar
m
atu
r
e
c
u
r
r
en
t,
t
o
r
q
u
e
(
d
e
r
iv
ed
f
r
o
m
g
en
er
ato
r
lo
ad
)
,
an
d
s
u
p
p
ly
v
o
ltag
e.
B
y
a
d
ju
s
tin
g
th
e
r
esis
tan
ce
in
t
h
e
g
en
er
ato
r
'
s
cir
cu
it,
th
e
lo
ad
was
ch
an
g
ed
.
Nex
t,
th
e
b
o
o
s
t
co
n
v
er
ter
was in
s
er
ted
b
etwe
e
n
th
e
p
o
wer
s
u
p
p
ly
an
d
th
e
m
o
to
r
.
PW
M
s
ig
n
als we
r
e
p
r
o
d
u
ce
d
b
y
th
e
A
r
d
u
in
o
UNO
to
r
eg
u
late
th
e
d
u
t
y
cy
c
le
o
f
th
e
co
n
v
er
ter
.
I
n
o
r
d
er
t
o
c
o
m
p
e
n
s
ate
f
o
r
an
y
s
p
ee
d
v
ar
iatio
n
b
r
o
u
g
h
t
o
n
b
y
v
a
r
iatio
n
s
in
lo
ad
,
th
e
Ar
d
u
in
o
c
o
n
tin
u
o
u
s
ly
r
ea
d
th
e
ta
ch
g
en
e
r
ato
r
s
ig
n
al,
c
o
m
p
ar
e
d
it
to
th
e
r
e
f
er
en
ce
s
p
ee
d
,
an
d
m
o
d
if
ie
d
th
e
d
u
ty
c
y
cle.
Data
h
as
b
ee
n
c
o
llected
f
o
r
th
e
two
o
p
en
-
lo
o
p
(
with
o
u
t
b
o
o
s
t)
a
n
d
clo
s
ed
-
l
o
o
p
(
with
b
o
o
s
t)
co
n
f
ig
u
r
atio
n
s
.
A
clo
s
ed
-
l
o
o
p
m
eth
o
d
was
u
s
ed
to
ac
h
ie
v
e
th
is
.
T
h
is
b
o
ar
d
co
n
s
is
ts
o
f
a
se
p
ar
ately
ex
cited
DC
m
o
to
r
co
u
p
led
with
a
DC
g
en
er
ato
r
,
a
tach
g
en
e
r
ato
r
,
a
b
o
o
s
t
co
n
v
e
r
ter
,
d
o
u
b
le
v
o
ltag
e
d
iv
id
er
f
ee
d
b
ac
k
,
Ar
d
u
in
o
k
it
,
an
d
m
ea
s
u
r
em
en
t
m
eter
s
.
T
ab
le
3
r
ep
r
esen
ts
th
e
p
r
ac
tical
r
ea
d
in
g
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
Desig
n
a
n
d
imp
leme
n
t
a
tio
n
a
b
o
o
s
t c
o
n
ve
r
ter circu
it b
a
s
ed
o
n
A
r
d
u
in
o
kit
(
A
li S
.
A
lh
fid
h
)
1637
T
ab
le
3
.
L
a
b
p
r
ac
tical
r
ea
d
in
g
s
V
in
(
V
)
(
B
o
o
s
t
)
V
o
ut
(
V
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(
B
o
o
s
t
)
I
in
(
A
)
(
B
o
o
s
t
)
I
out
(
A
)
(
B
o
o
s
t
)
N
(
r
p
m)
T
(
N·m
)
1
0
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.
8
0
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8
1
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0
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2
5
98
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2
T
h
e
p
r
o
p
o
s
ed
b
o
o
s
t
co
n
v
er
t
er
was
co
n
s
id
er
ed
,
an
d
its
ef
f
icien
cy
was
ass
es
s
ed
b
as
ed
o
n
th
e
ex
p
er
im
en
tal
s
co
r
es
r
ep
r
esen
ted
in
T
ab
le
3
,
wh
e
r
e
th
e
in
p
u
t
an
d
o
u
t
p
u
t
v
o
ltag
es
an
d
cu
r
r
e
n
ts
wer
e
m
ea
s
u
r
ed
at
v
ar
io
u
s
lo
ad
to
r
q
u
e
co
n
f
i
g
u
r
atio
n
s
.
Acc
o
r
d
in
g
to
th
ese
m
ea
s
u
r
em
en
ts
,
th
e
in
p
u
t
p
o
w
er
,
o
u
tp
u
t
p
o
wer
an
d
ef
f
icien
cy
wer
e
d
eter
m
in
ed
b
ased
o
n
(
1
5
)
-
(
1
7
)
.
=
⋅
(
1
5
)
=
⋅
(
1
6
)
=
×
100%
(
1
7
)
T
ab
le
4
s
u
m
m
a
r
izes
th
e
ca
lcu
lated
ef
f
icien
cy
v
alu
es.
As
illu
s
tr
ated
in
th
e
c
o
m
p
a
r
is
o
n
b
e
twee
n
T
ab
le
2
an
d
T
ab
le
3
,
t
h
e
in
p
u
t
p
o
wer
r
is
es
with
lo
ad
t
o
r
q
u
e
b
ec
a
u
s
e
o
f
t
h
e
h
ig
h
er
cu
r
r
en
t
r
eq
u
i
r
ed
b
y
th
e
DC
m
o
to
r
,
an
d
th
e
o
u
tp
u
t p
o
wer
also
r
is
es to
en
s
u
r
e
th
at
th
e
s
p
ee
d
o
f
t
h
e
m
o
to
r
r
em
ai
n
s
at
a
co
n
s
tan
t v
alu
e
o
f
1
5
0
0
r
p
m
.
Dep
en
d
in
g
o
n
T
ab
le
4
,
it
ca
n
b
e
s
ee
n
t
h
at
co
n
v
er
ter
e
f
f
icie
n
cy
lies
in
th
e
v
icin
ity
o
f
8
7
.
8
to
9
4
.
3
,
wh
ich
im
p
lies
th
at
it
ca
n
o
p
er
ate
ef
f
icien
tly
u
n
d
er
d
iv
er
s
e
lo
ad
co
n
d
itio
n
s
.
T
h
e
ef
f
icien
c
y
tr
en
d
is
g
r
ad
u
ally
o
n
th
e
r
is
e
with
in
cr
ea
s
in
g
lo
ad
to
r
q
u
e.
T
h
is
ca
n
b
e
attr
ib
u
ted
to
th
e
f
ac
t
th
at,
ev
e
n
t
h
o
u
g
h
th
e
co
n
d
u
ctio
n
lo
s
s
es
in
cr
ea
s
e
as
th
e
c
u
r
r
en
t
i
n
cr
ea
s
es
,
th
e
r
atio
o
f
t
h
e
u
s
ef
u
l
o
u
tp
u
t
p
o
wer
t
o
th
e
to
tal
i
n
p
u
t
p
o
we
r
in
c
r
ea
s
es.
C
o
n
tr
asti
n
g
ly
,
s
witch
in
g
lo
s
s
es
ar
e
co
n
s
tan
t
at
a
g
iv
e
n
PW
M
f
r
eq
u
en
cy
,
lead
in
g
to
in
cr
ea
s
ed
o
v
er
all
ef
f
icien
cy
at
h
i
g
h
er
l
o
ad
s
.
Fu
r
th
er
m
o
r
e,
th
e
d
if
f
er
en
ce
b
etwe
en
i
n
p
u
t
a
n
d
o
u
tp
u
t
p
o
wer
in
T
ab
le
3
r
e
p
r
esen
ts
th
e
to
tal
p
o
wer
lo
s
s
es:
=
−
(
1
8
)
T
h
ese
lo
s
s
es
ar
e
th
e
co
n
d
u
cti
o
n
lo
s
s
es
o
f
th
e
s
em
ico
n
d
u
cto
r
d
e
v
ices
an
d
p
as
s
iv
e
c
o
m
p
o
n
en
ts
,
an
d
s
witch
in
g
lo
s
s
es
d
u
r
in
g
th
e
t
u
r
n
-
o
f
f
an
d
tu
r
n
-
o
n
o
f
th
e
s
witch
in
g
d
ev
ice.
T
h
e
r
esu
lts
o
f
th
e
co
m
p
ar
is
o
n
b
etwe
en
T
ab
le
s
3
an
d
4
clea
r
ly
s
h
o
w
th
at
th
e
p
r
o
p
o
s
ed
b
o
o
s
t
co
n
v
er
te
r
is
ab
le
t
o
co
n
v
e
r
t
p
o
wer
ef
f
icien
tly
an
d
k
ee
p
th
e
m
o
to
r
r
u
n
n
i
n
g
a
t
th
e
s
am
e
lo
ad
u
n
d
er
v
ar
y
in
g
lo
ad
to
r
q
u
e
co
n
d
itio
n
s
.
T
ab
le
4
s
u
m
m
ar
izes
th
e
ca
lcu
lated
ef
f
icien
cy
v
alu
es
.
T
ab
le
4
.
Per
f
o
r
m
an
ce
an
aly
s
is
v
alu
es u
n
d
e
r
v
ar
y
in
g
l
o
ad
To
r
q
u
e
(
N
.
m)
P
in
(W)
P
out
(W)
Ef
f
i
c
i
e
n
c
y
(
%)
To
r
q
u
e
(
N
.
m)
P
in
(W)
P
out
(W)
Ef
f
i
c
i
e
n
c
y
(
%)
0
.
2
5
1
8
0
.
0
0
1
8
0
.
0
0
1
0
0
.
0
0
4
.
0
0
8
0
3
.
2
5
8
9
8
.
7
0
1
1
1
.
8
8
0
.
8
0
2
8
4
.
2
0
2
8
4
.
2
0
1
0
0
.
0
0
4
.
6
0
9
0
4
.
3
2
1
0
1
8
.
5
0
1
1
2
.
6
3
1
.
5
0
3
9
0
.
0
0
4
0
8
.
0
0
1
0
4
.
6
2
5
.
2
0
1
0
1
5
.
2
0
1
1
4
7
.
2
3
1
1
3
.
0
1
2
.
1
0
5
0
4
.
4
0
5
3
3
.
0
0
1
0
5
.
6
7
5
.
8
0
1
0
6
5
.
6
0
1
2
6
6
.
0
0
1
1
8
.
8
1
2
.
8
0
6
1
4
.
4
0
6
5
9
.
2
0
1
0
7
.
2
9
6
.
2
0
1
0
9
2
.
0
0
1
3
7
4
.
7
5
1
2
5
.
8
9
3
.
4
0
7
0
3
.
0
0
7
6
5
.
9
0
1
0
8
.
9
5
Fig
u
r
e
7
s
h
o
ws
th
e
ch
an
g
e
in
co
n
v
er
ter
ef
f
icien
cy
with
lo
ad
to
r
q
u
e.
On
e
ca
n
n
o
tice
th
at
th
e
ef
f
icien
cy
in
cr
ea
s
es
s
lo
wly
with
th
e
in
cr
ea
s
e
in
th
e
lo
ad
to
r
q
u
e,
with
v
alu
es
o
f
a
b
o
u
t
8
7
.
8
%
wh
en
th
e
lo
ad
to
r
q
u
e
is
lo
wer
an
d
9
4
.
3
%
w
h
en
th
e
lo
ad
to
r
q
u
e
is
h
ig
h
e
r
.
T
h
is
te
n
d
en
cy
im
p
lies
b
etter
u
tili
za
tio
n
o
f
in
p
u
t
p
o
wer
at
h
i
g
h
er
o
p
er
atin
g
c
o
n
d
itio
n
s
(
wh
e
r
e
th
e
p
r
o
p
o
r
t
io
n
ate
co
n
tr
i
b
u
tio
n
o
f
s
witch
in
g
lo
s
s
es
is
less
im
p
o
r
tan
t th
a
n
th
e
o
u
tp
u
t
p
o
w
er
)
.
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
.
3
,
Sep
tem
b
er
20
2
6
:
163
0
-
1
6
4
2
1638
I
n
th
is
s
ec
tio
n
,
th
e
r
esu
lts
o
f
ex
p
er
im
en
tal
test
in
g
o
f
a
p
r
o
p
o
s
ed
s
p
ee
d
c
on
tr
o
l
o
f
a
DC
m
o
to
r
ar
e
p
r
esen
ted
an
d
d
is
cu
s
s
ed
.
T
h
i
s
an
aly
s
is
co
m
p
ar
es
th
e
p
er
f
o
r
m
an
ce
of
th
e
s
tan
d
ar
d
s
etu
p
(
with
o
u
t
a
b
o
o
s
t
c
o
n
v
er
ter
)
with
th
e
en
h
an
ce
d
s
y
s
tem
(
with
a
b
o
o
s
t
c
o
n
v
e
r
ter
)
u
n
d
er
v
a
r
ied
lo
ad
a
n
d
s
u
p
p
ly
C
o
n
d
itio
n
s
.
Fig
u
r
es
7
to
1
6
s
h
o
w
h
o
w
i
m
p
o
r
tan
t
m
ec
h
an
ical
an
d
ele
ctr
ical
f
ac
to
r
s
,
s
u
ch
as
to
r
q
u
e
,
s
p
ee
d
,
cu
r
r
en
t,
a
n
d
v
o
ltag
e
,
r
elate
to
o
n
e
a
n
o
th
er
.
Fro
m
Fig
u
r
e
7
,
n
o
tice
th
at
th
e
ef
f
icien
cy
in
c
r
ea
s
es
s
lo
wly
with
th
e
i
n
cr
ea
s
e
o
f
th
e
lo
ad
to
r
q
u
e,
with
v
alu
es
o
f
ab
o
u
t
8
7
.
8
%.
W
h
e
n
th
e
lo
ad
to
r
q
u
e
is
lo
w
an
d
9
4
.
3
%.
W
h
en
th
e
lo
ad
to
r
q
u
e
is
h
ig
h
,
Fig
u
r
e
8
s
h
o
wed
th
at
th
e
v
elo
city
o
f
th
e
m
o
to
r
g
r
ad
u
ally
d
r
o
p
s
wh
ile
th
e
lo
ad
to
r
q
u
e
r
is
es.
Fig
u
r
e
9
d
is
p
lay
ed
th
at
th
e
s
p
ee
d
r
em
ain
s
c
o
n
s
tan
t e
v
en
a
s
to
r
q
u
e
r
is
es.
Fig
u
r
e
1
0
illu
s
tr
ated
th
at
th
e
ar
m
atu
r
e
cu
r
r
e
n
t
in
cr
ea
s
es
a
s
th
e
to
r
q
u
e
in
cr
ea
s
es
also
,
b
u
t
with
o
u
t
u
s
in
g
th
e
b
o
o
s
t
,
b
o
u
t
ca
s
ed
th
e
m
o
to
r
s
p
ee
d
f
ell
as
a
r
esu
lt
o
f
v
o
ltag
e
d
r
o
p
s
.
Fig
u
r
e
1
1
g
a
v
e
s
im
ilar
b
eh
a
v
io
r
b
etwe
en
to
r
q
u
e
an
d
ar
m
atu
r
e
cu
r
r
en
t
as
Fig
u
r
e
10
,
b
u
t
th
e
m
o
to
r
s
p
ee
d
r
em
ain
ed
co
n
s
tan
t
d
esp
ite
c
h
a
n
g
es
i
n
th
e
to
r
q
u
e
a
n
d
b
etter
s
p
ee
d
r
eg
u
latio
n
th
a
n
th
e
n
o
n
-
b
o
o
s
t
ca
s
e.
Fig
u
r
e
12
s
h
o
ws
a
s
m
all
o
v
er
s
h
o
o
t
a
n
d
q
u
ick
ly
s
ettles,
wh
ich
m
ea
n
s
t
h
at
th
e
b
eh
a
v
io
r
is
s
tab
le
an
d
well
-
d
am
p
ed
.
Fig
u
r
e
7
.
C
o
n
v
er
ter
ef
f
icien
cy
V
-
S so
u
r
ce
Fig
u
r
e
8
.
T
o
r
q
u
e
–
s
p
ee
d
c
h
ar
a
cter
is
tic
o
f
DC
m
o
to
r
Fig
u
r
e
9
.
T
o
r
q
u
e
-
s
p
ee
d
c
u
r
v
e
with
b
o
o
s
t
Fig
u
r
e
1
0
.
T
o
r
q
u
e
-
cu
r
r
en
t w
it
h
o
u
t b
o
o
s
t
Fig
u
r
e
1
3
s
h
o
ws
th
e
s
p
ee
d
r
e
d
u
ctio
n
o
cc
u
r
r
e
d
d
u
e
t
o
th
e
r
e
latio
n
s
h
ip
in
th
e
elec
tr
o
m
a
g
n
e
tic
to
r
q
u
e
as
a
r
esu
lt
o
f
th
e
lac
k
o
f
v
o
lta
g
e
co
m
p
e
n
s
atio
n
d
u
r
in
g
lo
ad
i
n
g
with
o
u
t
u
s
in
g
th
e
b
o
o
s
t.
Fig
u
r
e
1
4
,
th
e
s
p
ee
d
r
em
ain
s
c
o
n
s
tan
t
with
r
esp
ec
t
to
an
in
cr
ea
s
e
in
lo
ad
w
h
en
u
s
in
g
th
e
b
o
o
s
t.
Fro
m
Fig
u
r
e
1
5
,
with
th
e
ab
s
en
ce
o
f
th
e
b
o
o
s
t
co
n
v
er
ter
,
th
e
m
o
to
r
s
p
ee
d
r
ed
u
ce
d
p
r
o
p
o
r
t
io
n
ately
with
r
esp
ec
t
to
t
h
e
d
ec
r
ea
s
e
in
s
u
p
p
lied
v
o
ltag
e,
b
u
t th
e
s
p
ee
d
r
em
ain
e
d
c
o
n
s
tan
t a
t b
o
o
s
t v
o
ltag
e
2
0
3
V,
as
s
h
o
wn
in
Fig
u
r
e
1
6
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
Desig
n
a
n
d
imp
leme
n
t
a
tio
n
a
b
o
o
s
t c
o
n
ve
r
ter circu
it b
a
s
ed
o
n
A
r
d
u
in
o
kit
(
A
li S
.
A
lh
fid
h
)
1639
T
h
e
Ar
d
u
in
o
c
o
n
tr
o
l
s
y
s
tem
c
an
b
e
u
s
ed
in
lo
w
-
to
m
ed
i
u
m
-
p
o
wer
s
y
s
tem
s
b
ec
a
u
s
e
o
f
its
s
im
p
licity
an
d
af
f
o
r
d
a
b
ilit
y
.
N
ev
er
th
eles
s
,
its
p
o
wer
is
r
estricte
d
b
y
p
r
o
ce
s
s
in
g
p
o
wer
,
r
eso
lu
tio
n
o
f
PW
M
o
u
tp
u
t,
an
d
cu
r
r
en
t
lim
itin
g
i
n
its
ab
ilit
y
to
d
r
iv
e
h
ig
h
-
p
o
wer
in
d
u
s
tr
ial
m
o
to
r
s
.
Mo
r
e
ad
v
a
n
ce
d
co
n
tr
o
ller
s
lik
e
DSPs
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