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20
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l a
lter
n
ativ
e
t
o
co
n
v
en
tio
n
al
co
n
tr
o
ller
s
[
7
]
.
T
h
e
n
ew
to
u
c
h
s
cr
ee
n
-
b
ased
h
u
m
an
–
m
ac
h
in
e
i
n
ter
f
ac
e
in
teg
r
ates
m
u
ltip
le
co
m
p
o
n
en
ts
f
o
r
r
ea
l
-
tim
e
m
o
n
ito
r
in
g
(
R
PM,
cu
r
r
en
t,
p
o
wer
,
tem
p
er
atu
r
e
)
an
d
au
to
m
atic
o
v
er
h
ea
t
p
r
o
tectio
n
,
all
with
in
a
s
in
g
le
lo
w
-
co
s
t
m
o
d
u
lar
p
r
o
t
o
ty
p
e.
Mo
s
t
ex
is
tin
g
wo
r
k
h
an
d
les
to
u
ch
s
c
r
ee
n
h
u
m
a
n
–
m
ac
h
i
n
e
in
ter
f
ac
e
(
HM
I
)
o
r
th
er
m
al
p
r
o
tectio
n
in
d
e
p
en
d
e
n
tly
.
I
n
co
n
tr
ast,
t
h
is
s
y
s
tem
in
teg
r
ates
b
o
th
f
ea
tu
r
es,
allo
win
g
p
r
ed
ictiv
e
th
er
m
al
s
h
u
td
o
wn
to
b
e
ac
tiv
ated
s
ea
m
less
ly
an
d
f
lex
ib
le
u
s
er
in
ter
ac
tio
n
with
in
a
s
y
s
tem
d
esig
n
ed
f
o
r
af
f
o
r
d
a
b
ilit
y
.
2.
T
H
E
CO
M
P
RE
H
E
NS
I
VE
T
H
E
O
RE
T
I
CA
L
B
ASI
S AN
D
T
H
E
R
E
S
E
ARCH
M
E
T
H
O
D
A
m
eth
o
d
ical
p
r
o
ce
d
u
r
e
is
f
o
ll
o
wed
f
o
r
th
e
AC
m
o
to
r
s
p
ee
d
co
n
tr
o
llin
g
s
y
s
tem
u
s
in
g
a
to
u
ch
s
cr
e
en
with
o
v
er
h
ea
t
p
r
o
tectio
n
f
o
r
it
to
b
e
ef
f
icien
t,
r
eliab
le,
an
d
u
s
er
-
f
r
ie
n
d
ly
.
T
h
e
f
ir
s
t
p
ar
t
is
ac
q
u
ir
in
g
th
e
ess
en
tial
co
m
p
o
n
en
ts
,
wh
ich
i
n
clu
d
e
a
n
Ar
d
u
in
o
Un
o
m
icr
o
co
n
tr
o
ller
,
T
r
iac
B
T
1
3
6
m
o
t
o
r
d
r
iv
e
r
,
DS1
8
B
2
0
o
r
L
M3
5
tem
p
er
atu
r
e
s
en
s
o
r
,
an
d
a
2
.
4
-
in
ch
t
h
in
-
f
ilm
tr
a
n
s
is
to
r
(
T
FT
)
to
u
ch
s
cr
ee
n
d
is
p
lay
.
T
h
e
s
o
f
twar
e
r
eq
u
ir
em
e
n
ts
ar
e
also
s
p
ec
if
ie
d
,
wh
ich
in
clu
d
e
u
s
in
g
Pro
teu
s
f
o
r
cir
cu
it
m
o
d
elin
g
a
n
d
an
Ar
d
u
in
o
in
teg
r
ate
d
d
ev
elo
p
m
e
n
t
en
v
ir
o
n
m
en
t
(
I
DE
)
f
o
r
p
r
o
g
r
am
m
in
g
.
Su
b
s
e
q
u
en
tly
,
a
cir
cu
it
lay
o
u
t
is
m
ad
e
u
s
in
g
Pro
teu
s
,
a
b
lo
ck
d
iag
r
am
is
m
ad
e
t
o
s
h
o
w
th
e
c
o
n
n
ec
tiv
ity
,
an
d
a
b
r
ea
d
b
o
a
r
d
is
u
s
ed
to
test
th
e
co
n
n
ec
tiv
ity
o
f
th
e
cir
cu
it
f
o
r
th
e
f
ir
s
t
tim
e.
Ar
d
u
in
o
co
d
e
is
d
ev
elo
p
ed
d
u
r
i
n
g
th
e
p
r
o
ce
s
s
o
f
f
ir
m
war
e
d
e
v
elo
p
m
en
t
to
d
ec
o
d
e
to
u
ch
s
cr
ee
n
in
p
u
ts
,
ad
ju
s
t
th
e
p
u
ls
e
wid
th
m
o
d
u
latio
n
(
PW
M)
s
ig
n
al
f
o
r
m
o
to
r
s
p
e
ed
ad
ju
s
tm
en
t,
an
d
m
o
n
ito
r
tem
p
er
atu
r
e
d
ata
f
r
o
m
th
e
DS1
8
B
2
0
o
r
L
M3
5
[
8
]
.
I
f
th
e
tem
p
er
atu
r
e
ex
ce
ed
s
a
ce
r
tain
th
r
esh
o
ld
,
an
o
v
er
h
ea
t
s
af
ety
m
ec
h
a
n
is
m
is
ac
tiv
ated
to
s
witch
o
f
f
th
e
m
o
to
r
.
Af
ter
in
teg
r
atio
n
an
d
test
in
g
,
th
e
h
ar
d
war
e
is
ass
em
b
led
o
n
a
p
r
in
ted
cir
c
u
it
b
o
ar
d
(
PC
B
)
o
r
p
r
o
to
ty
p
e
s
etu
p
,
an
d
o
v
e
r
h
ea
ts
s
im
u
l
atio
n
,
m
o
to
r
s
p
ee
d
v
ar
iatio
n
,
a
n
d
to
u
ch
s
cr
ee
n
r
e
s
p
o
n
s
e
ar
e
em
p
lo
y
ed
to
v
er
if
y
f
u
n
ctio
n
ality
.
C
o
d
e
is
r
ef
in
e
d
an
d
d
eb
u
g
g
e
d
f
o
r
o
p
tim
al
ef
f
ec
tiv
en
ess
[
9
]
.
Dep
lo
y
m
en
t
in
a
n
in
d
u
s
tr
ial
o
r
test
en
v
ir
o
n
m
en
t,
m
o
n
ito
r
in
g
its
p
er
f
o
r
m
an
ce
in
t
h
e
f
ield
,
an
d
en
s
u
r
in
g
it
m
ee
ts
s
af
ety
s
tan
d
ar
d
s
an
d
ac
cu
r
ac
y
o
f
s
p
ee
d
c
o
n
tr
o
l
ar
e
all
with
in
t
h
e
im
p
lem
e
n
tatio
n
an
d
v
e
r
if
icatio
n
p
h
ase.
T
o
u
ch
s
cr
ee
n
UI
im
p
r
o
v
em
en
t,
o
p
ti
m
izatio
n
o
f
PW
M
alg
o
r
ith
m
s
f
o
r
en
er
g
y
s
av
in
g
,
an
d
th
e
ad
d
itio
n
o
f
I
o
T
-
b
ased
r
em
o
te
m
o
n
ito
r
in
g
f
o
r
ad
v
a
n
c
ed
ap
p
licatio
n
s
ar
e
s
o
m
e
o
f
th
e
o
p
tim
izatio
n
an
d
s
ca
lab
ilit
y
im
p
r
o
v
em
e
n
ts
th
at
ar
e
u
ltima
tely
ex
p
lo
r
e
d
[
1
0
]
.
Fo
r
au
to
m
atio
n
an
d
in
d
u
s
tr
ial
ap
p
licatio
n
s
,
th
is
m
eth
o
d
o
l
o
g
ical
s
tr
u
ctu
r
e
en
s
u
r
es
a
s
y
s
tem
atic
p
r
o
ce
s
s
o
f
d
ev
elo
p
in
g
a
n
in
tellig
en
t
an
d
r
eliab
le
AC
m
o
to
r
s
p
ee
d
co
n
tr
o
l sy
s
tem
[
1
1
]
.
I
n
i
ts
r
o
t
o
r
,
o
r
s
p
i
n
n
i
n
g
co
m
p
o
n
en
t,
a
n
el
ec
t
r
i
c
m
o
t
o
r
t
r
a
n
s
f
o
r
m
s
ele
ct
r
ic
al
p
o
w
er
i
n
t
o
m
ec
h
an
ica
l
p
o
we
r
.
T
h
er
e
a
r
e
s
e
v
e
r
al
m
et
h
o
d
s
f
o
r
p
r
o
v
i
d
i
n
g
t
h
e
r
o
t
o
r
wit
h
p
o
we
r
.
T
h
is
p
o
w
er
is
i
n
d
u
c
ed
i
n
t
h
e
s
p
i
n
n
in
g
d
e
v
i
ce
o
f
a
n
i
n
d
u
c
ti
o
n
m
o
to
r
,
wh
e
r
e
as
i
n
a
DC
m
o
to
r
,
i
t is d
i
r
e
ctl
y
d
eli
v
e
r
e
d
t
o
th
e
a
r
m
at
u
r
e
f
r
o
m
a
DC
s
o
u
r
ce
[
1
2
]
.
A
n
i
n
d
u
ct
io
n
m
o
t
o
r
is
f
r
e
q
u
en
tl
y
r
e
f
e
r
r
e
d
t
o
as
a
s
p
in
n
i
n
g
t
r
a
n
s
f
o
r
m
e
r
s
i
n
c
e
t
h
e
r
o
to
r
,
o
r
r
e
v
o
lv
in
g
co
m
p
o
n
e
n
t
,
is
t
h
e
s
e
c
o
n
d
ar
y
s
i
d
e
o
f
th
e
tr
an
s
f
o
r
m
er
a
n
d
t
h
e
s
tat
o
r
,
o
r
s
tati
o
n
a
r
y
p
a
r
t
,
is
b
as
i
ca
ll
y
t
h
e
m
a
in
s
i
d
e
.
T
h
er
e
a
r
e
m
an
y
a
p
p
li
ca
t
io
n
s
f
o
r
in
d
u
c
ti
o
n
m
o
to
r
s
,
p
a
r
t
i
cu
l
a
r
l
y
p
o
l
y
p
h
ase
i
n
d
u
cti
o
n
m
o
to
r
s
,
w
h
ic
h
ar
e
co
m
m
o
n
l
y
u
s
ed
i
n
i
n
d
u
s
t
r
i
al
d
r
i
v
es
[
1
3
]
.
N
o
w
ad
a
y
s
,
i
n
d
u
ct
io
n
m
o
t
o
r
s
ar
e
t
h
e
g
o
-
t
o
o
p
ti
o
n
f
o
r
i
n
d
u
s
tr
i
al
m
o
to
r
s
b
ec
a
u
s
e
o
f
t
h
eir
d
u
r
a
b
l
e
d
es
ig
n
,
la
ck
o
f
b
r
u
s
h
es
(
wh
i
ch
a
r
e
n
ec
ess
ar
y
f
o
r
t
h
e
m
a
jo
r
ity
o
f
DC
m
o
t
o
r
s
)
,
an
d
s
p
ee
d
co
n
t
r
o
l
c
a
p
a
b
ili
ty
.
T
h
e
r
o
t
o
r
is
th
e
r
e
v
o
lv
in
g
p
o
r
t
io
n
o
f
t
h
e
m
o
t
o
r
.
I
n
s
in
g
l
e
-
p
h
as
e
i
n
d
u
cti
o
n
m
o
t
o
r
s
,
th
e
r
o
t
o
r
is
m
a
d
e
u
p
o
f
a
s
q
u
ir
r
el
-
ca
g
e
th
at
c
o
m
p
r
is
es
c
o
n
d
u
c
ti
v
e
b
a
r
s
p
la
ce
d
i
n
s
lo
t
s
a
r
o
u
n
d
i
n
r
o
t
o
r
'
s
cir
c
u
m
f
e
r
e
n
c
e
[
1
4
]
.
E
n
d
r
in
g
s
s
h
o
r
t
-
c
ir
c
u
it
t
h
e
b
a
r
s
at
b
o
t
h
e
n
d
s
.
W
h
e
n
t
h
e
s
tat
o
r
'
s
r
o
ta
ti
n
g
m
a
g
n
et
ic
f
ie
ld
c
u
ts
ac
r
o
s
s
th
e
s
q
u
i
r
r
el
ca
g
e
b
ar
s
,
it
i
n
d
u
c
es
c
u
r
r
e
n
ts
,
c
r
ea
ti
n
g
a
m
a
g
n
eti
c
f
ie
ld
in
th
e
r
o
t
o
r
t
h
a
t
in
te
r
a
cts
wi
th
th
e
s
tat
o
r
'
s
f
i
el
d
,
r
es
u
lti
n
g
in
r
o
t
a
tio
n
.
T
h
ese
r
o
t
o
r
co
n
d
u
ct
o
r
s
ar
e
b
r
ac
ed
t
o
th
e
e
n
d
r
i
n
g
t
o
p
r
o
v
i
d
e
m
ec
h
a
n
i
ca
l
s
tr
e
n
g
t
h
,
f
o
r
m
i
n
g
a
co
m
p
le
te
clo
s
e
d
ci
r
c
u
it
r
ese
m
b
li
n
g
a
ca
g
e
,
h
en
ce
t
h
e
n
a
m
e
s
q
u
i
r
r
el
c
ag
e
i
n
d
u
ct
io
n
m
o
t
o
r
[
1
5
]
.
B
ec
au
s
e
t
h
e
e
n
d
r
i
n
g
s
p
e
r
m
an
e
n
tl
y
s
h
o
r
t
th
e
b
a
r
s
,
t
h
e
r
o
t
o
r
'
s
e
lec
tr
ica
l
r
esis
t
a
n
ce
is
v
er
y
l
o
w
,
a
n
d
a
d
d
i
n
g
ex
t
e
r
n
al
r
esis
ta
n
c
e
is
n
o
t
c
o
n
ce
i
v
a
b
l
e
b
ec
a
u
s
e
t
h
e
b
ar
s
ar
e
c
o
n
s
t
an
tl
y
s
h
o
r
te
d
.
T
h
e
la
ck
o
f
a
s
li
p
r
i
n
g
a
n
d
b
r
u
s
h
es
s
i
m
p
li
f
ies
a
n
d
s
tr
e
n
g
th
en
s
t
h
e
c
o
n
s
t
r
u
cti
o
n
o
f
a
s
in
g
l
e
-
p
h
ase
i
n
d
u
cti
o
n
m
o
to
r
[
1
6
]
.
3.
M
E
T
H
O
D
T
h
e
AC
m
o
to
r
s
p
ee
d
co
n
tr
o
lli
n
g
an
d
m
o
n
ito
r
in
g
s
y
s
tem
b
lo
ck
d
iag
r
am
is
an
in
teg
r
ated
s
o
lu
tio
n
f
o
r
ef
f
ec
tiv
e
m
o
to
r
c
o
n
tr
o
l
an
d
s
af
ety
is
th
e
u
s
es
o
f
a
to
u
ch
s
cr
ee
n
with
o
v
er
h
ea
t
p
r
o
tectio
n
.
A
co
n
tr
o
lled
p
o
wer
s
u
p
p
ly
p
o
we
r
s
th
e
s
y
s
tem
,
en
s
u
r
in
g
th
at
ev
e
r
y
co
m
p
o
n
en
t
h
as
a
s
tead
y
v
o
ltag
e.
T
h
e
Ar
d
u
in
o
Un
o
m
icr
o
co
n
tr
o
ller
,
wh
ich
h
an
d
les
in
p
u
ts
f
r
o
m
m
an
y
s
en
s
o
r
s
an
d
th
e
3
.
5
-
in
c
h
to
u
c
h
s
cr
ee
n
d
is
p
lay
,
is
th
e
ce
n
tr
al
co
m
p
o
n
en
t
o
f
th
e
s
y
s
tem
.
As
th
e
u
s
er
in
ter
f
ac
e,
th
e
to
u
ch
s
cr
ee
n
lets
u
s
er
s
ad
ju
s
t
th
e
m
o
to
r
s
p
ee
d
an
d
k
ee
p
an
ey
e
o
n
r
ea
l
-
tim
e
m
etr
ics
in
clu
d
in
g
tem
p
er
at
u
r
e,
v
o
lt
ag
e,
cu
r
r
en
t,
a
n
d
R
PM.
A
DS1
8
B
2
0
o
r
L
M
3
5
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
d
ev
elo
p
men
t
o
f A
C
mo
to
r
s
p
ee
d
co
n
tr
o
llin
g
s
ystem
u
s
in
g
…
(
P
r
a
th
ip
a
ti R
a
tn
a
S
u
d
h
a
R
a
n
i
)
2431
tem
p
er
atu
r
e
s
en
s
o
r
co
n
tin
u
ally
m
o
n
ito
r
s
th
e
m
o
to
r
'
s
tem
p
er
atu
r
e;
if
it
r
is
es
o
v
er
a
s
et
th
r
esh
o
ld
,
th
e
o
v
er
h
ea
t
p
r
o
tectio
n
s
y
s
tem
k
ick
s
in
,
e
ith
er
war
n
in
g
th
e
u
s
er
o
r
t
u
r
n
in
g
th
e
m
o
t
o
r
OFF
to
p
r
e
v
e
n
t
d
am
a
g
e
[
1
7
]
.
A
cu
r
r
en
t
s
en
s
o
r
(
AC
S7
1
2
-
0
-
5
A)
m
o
n
ito
r
s
th
e
cu
r
r
en
t
c
o
n
s
u
m
p
tio
n
o
f
th
e
m
o
to
r
t
o
m
o
n
ito
r
p
o
wer
co
n
s
u
m
p
tio
n
.
T
h
e
Ar
d
u
in
o
U
n
o
later
r
ea
d
s
a
n
d
d
is
p
lay
s
th
e
d
ata.
A
T
R
I
AC
r
eg
u
latin
g
p
o
wer
s
u
p
p
lied
to
t
h
e
2
3
0
V
s
in
g
le
-
p
h
ase
AC
in
d
u
ct
io
n
m
o
to
r
b
ased
o
n
a
PW
M
s
ig
n
al
g
en
er
ate
d
b
y
th
e
Ar
d
u
in
o
is
em
p
lo
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ed
in
ac
h
iev
in
g
th
e
m
o
to
r
s
p
ee
d
.
An
AC
m
o
to
r
s
p
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co
n
tr
o
l
an
d
m
o
n
it
o
r
s
y
s
tem
cir
cu
it
d
iag
r
am
is
s
h
o
wn
in
Fig
u
r
e
1
,
wh
er
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s
ev
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al
co
m
p
o
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e
n
ts
ar
e
co
m
b
in
ed
to
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n
s
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r
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p
r
ec
is
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co
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o
l,
r
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tim
e
m
o
n
ito
r
in
g
,
an
d
p
r
o
tectiv
e
f
ea
tu
r
es.
Fig
u
r
e
1
.
C
ir
cu
it d
iag
r
am
o
f
th
e
p
r
o
p
o
s
ed
m
eth
o
d
An
AC
p
o
wer
s
o
u
r
ce
,
elec
tr
ical
en
er
g
y
is
f
ir
s
t
m
o
d
if
ied
b
y
a
T
R
I
AC
(
B
T
1
3
6
)
an
d
an
MO
C
3
0
2
1
o
p
to
is
o
lato
r
,
a
n
d
th
e
n
co
n
tr
o
l
led
b
y
Ar
d
u
in
o
to
e
x
ec
u
te
P
W
M
to
ch
an
g
e
th
e
m
o
to
r
s
p
e
ed
s
[
1
8
]
.
C
o
m
m
an
d
in
p
u
ts
an
d
c
o
n
tr
o
l
task
s
f
r
o
m
m
u
ltip
le
s
en
s
o
r
s
ar
e
r
o
u
te
d
th
r
o
u
g
h
th
e
ce
n
tr
al
u
n
it,
wh
ich
is
alwa
y
s
th
e
Ar
d
u
in
o
.
User
s
ca
n
v
iew
o
p
e
r
atio
n
al
d
ata
an
d
alter
m
o
t
o
r
s
p
ee
d
s
f
r
o
m
th
e
to
u
c
h
co
n
tr
o
l
in
ter
f
ac
e.
W
h
en
m
o
to
r
s
p
ee
d
n
ee
d
s
to
b
e
alter
e
d
,
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e
to
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ch
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ter
f
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d
s
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co
m
m
an
d
to
Ar
d
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in
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en
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o
m
p
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tes
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n
ec
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ar
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PW
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ig
n
al
to
d
r
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T
R
I
AC
.
I
t
will
c
o
n
tr
o
l
th
e
AC
v
o
ltag
e
to
th
e
i
n
d
u
ct
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n
m
o
to
r
,
an
d
th
e
s
p
ee
d
will
ch
an
g
e
ac
co
r
d
in
g
ly
.
T
o
e
n
s
u
r
e
o
p
er
atio
n
al
ef
f
ic
ien
cy
an
d
s
af
e
wo
r
k
in
g
co
n
d
i
tio
n
s
,
th
e
cir
cu
it
is
eq
u
ip
p
e
d
with
au
to
m
ated
r
ea
l
-
tim
e
m
o
n
ito
r
in
g
th
r
o
u
g
h
s
en
s
o
r
s
,
o
n
e
o
f
wh
ich
is
a
cu
r
r
e
n
t
s
en
s
o
r
.
I
t
h
elp
s
tr
ac
k
p
o
wer
m
o
to
r
co
n
s
u
m
p
tio
n
to
d
etec
t
f
au
lts
.
Fo
r
tem
p
er
atu
r
e
co
n
t
r
o
l,
th
e
s
y
s
tem
u
s
es
a
m
o
to
r
tem
p
er
atu
r
e
s
en
s
o
r
an
d
an
Ar
d
u
in
o
p
r
o
g
r
a
m
m
ed
with
th
e
o
v
er
h
ea
tin
g
tem
p
er
atu
r
e
lim
it
s
to
co
n
tr
o
l
s
p
ee
d
,
s
h
u
td
o
wn
,
o
r
o
th
er
m
ea
s
u
r
es [
1
9
]
.
T
o
e
n
s
u
r
e
ac
cu
r
ate
s
p
ee
d
m
o
n
ito
r
in
g
an
d
c
o
n
tr
o
l,
a
n
in
f
r
ar
ed
s
en
s
o
r
is
also
p
r
o
v
id
e
d
,
p
r
o
b
a
b
ly
to
d
etec
t th
e
r
o
tatio
n
al
s
p
ee
d
(
R
PM)
o
f
t
h
e
m
o
to
r
.
An
L
C
D
d
is
p
lay
in
d
icate
s
th
e
r
ea
l
-
tim
e
s
tatis
t
ics
o
f
th
e
s
y
s
tem
,
in
clu
d
in
g
tem
p
er
atu
r
e,
s
p
ee
d
,
an
d
p
o
wer
co
n
s
u
m
p
tio
n
,
allo
win
g
th
e
u
s
er
to
m
o
n
ito
r
th
e
s
y
s
tem
's
p
er
f
o
r
m
a
n
ce
at
a
g
l
an
ce
.
T
h
e
cir
c
u
it's
s
tr
u
ctu
r
ed
ar
ch
itectu
r
e
e
n
s
u
r
e
s
s
m
o
o
th
co
m
m
u
n
icatio
n
am
o
n
g
co
m
p
o
n
e
n
ts
.
All
th
e
m
o
d
u
les
d
er
iv
e
th
eir
v
o
ltag
e
r
eq
u
i
r
em
en
ts
f
r
o
m
t
h
e
co
n
n
ec
tio
n
s
o
f
p
o
wer
an
d
th
e
s
en
s
o
r
s
,
alo
n
g
with
co
n
tr
o
l
co
m
p
o
n
e
n
ts
,
s
y
n
ch
r
o
n
ize
to
g
eth
e
r
with
Ar
d
u
in
o
t
o
p
r
o
v
id
e
a
s
ea
m
less
an
d
s
elf
-
d
r
i
v
en
m
o
to
r
co
n
tr
o
llin
g
s
y
s
tem
.
All
th
ese
h
elp
elev
ate
t
h
e
s
af
ety
,
ef
f
ic
ien
cy
,
as
well
as
o
p
tim
izatio
n
o
f
AC
r
u
n
n
in
g
in
a
u
to
m
at
io
n
,
an
d
in
d
u
s
tr
ial
m
o
to
r
s
th
r
o
u
g
h
to
u
ch
s
cr
ee
n
-
d
r
iv
en
co
n
tr
o
l,
o
n
-
s
ite
m
o
n
ito
r
in
g
,
an
d
p
r
o
tectio
n
[
2
0
]
.
3
.
1
.
H
a
rdwa
re
pro
t
o
t
y
pe
o
f
t
he
pro
po
s
ed
m
o
del a
nd
it
s
wo
rk
ing
W
h
en
th
e
cir
cu
it
is
p
o
wer
ed
b
y
an
in
p
u
t
p
o
wer
s
o
u
r
ce
,
th
e
Ar
d
u
in
o
m
icr
o
c
o
n
tr
o
ller
,
to
u
ch
s
cr
ee
n
d
is
p
lay
,
s
en
s
o
r
s
,
an
d
m
o
t
o
r
d
r
iv
er
ar
e
all
en
e
r
g
ized
a
n
d
th
e
s
y
s
tem
s
tar
ts
u
p
.
T
o
g
u
a
r
an
tee
s
tead
y
an
d
ef
f
ec
tiv
e
f
u
n
ctio
n
in
g
,
th
e
p
o
wer
s
u
p
p
ly
is
co
n
tr
o
lled
to
g
u
ar
an
tee
t
h
at
ev
er
y
co
m
p
o
n
en
t
r
ec
eiv
es
th
e
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.
16
,
No
.
4
,
Dec
em
b
er
20
25
:
2429
-
2
4
4
0
2432
n
ec
ess
ar
y
v
o
ltag
e
[
2
1
]
.
T
h
e
t
o
u
ch
s
cr
ee
n
in
te
r
f
ac
e
o
p
en
s
wh
en
th
e
d
e
v
ice
is
s
witch
ed
o
n
,
s
h
o
win
g
th
e
m
o
to
r
s
p
ee
d
as
it
is
an
d
lettin
g
th
e
u
s
er
en
ter
th
e
s
p
ee
d
th
e
y
wan
t.
T
h
e
m
ain
in
ter
f
ac
e
f
o
r
u
s
er
en
g
ag
em
e
n
t
is
th
e
to
u
ch
s
cr
ee
n
,
wh
e
r
e
b
asic
to
u
ch
in
p
u
ts
allo
w
th
e
u
s
er
to
ch
o
o
s
e
o
r
m
o
d
if
y
m
o
to
r
s
p
ee
d
s
ettin
g
s
.
Af
ter
p
r
o
ce
s
s
in
g
th
is
in
p
u
t,
th
e
Ar
d
u
in
o
d
ec
o
d
es
th
e
u
s
er
'
s
co
m
m
an
d
an
d
p
r
o
d
u
ce
s
th
e
p
r
o
p
er
co
n
tr
o
l
s
ig
n
al.
T
h
e
h
ar
d
war
e
p
r
o
to
ty
p
e
o
f
th
e
p
r
o
p
o
s
ed
m
eth
o
d
is
s
h
o
wn
in
Fig
u
r
e
2
.
S
i
n
g
l
e
P
h
a
s
e
2
3
0
V
A
C
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n
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c
t
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o
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M
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t
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N
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c
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n
D
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l
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V
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P
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p
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B
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p
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T
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m
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(
D
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A
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t
a
l
C
o
n
v
e
r
t
e
r
S
e
t
C
u
r
r
e
n
t
S
e
n
s
o
r
(
A
C
S
7
1
2
)
(
0
-
5
A
)
T
R
I
A
C
(
B
T
1
3
6
)
Fig
u
r
e
2
.
Har
d
wa
r
e
p
r
o
to
ty
p
e
o
f
th
e
p
r
o
p
o
s
ed
m
eth
o
d
Usi
n
g
PW
M
s
ig
n
als,
th
e
Ar
d
u
in
o
in
ter
p
r
ets
th
e
u
s
er
'
s
s
p
ee
d
in
p
u
t
a
n
d
m
o
d
if
ies
th
e
m
o
to
r
'
s
s
p
ee
d
ap
p
r
o
p
r
iately
[
2
2
]
.
T
h
e
T
r
iac
B
T
1
3
6
,
wh
ich
s
er
v
es
as
a
m
o
to
r
d
r
i
v
er
an
d
c
o
n
tr
o
ls
th
e
p
o
wer
s
u
p
p
lied
t
o
th
e
in
d
u
ctio
n
m
o
to
r
,
r
ec
eiv
es
th
e
s
e
PW
M
s
ig
n
als.
R
ea
l
-
tim
e
s
p
ee
d
d
ata
is
co
n
c
u
r
r
e
n
tly
r
ec
o
r
d
ed
an
d
s
h
o
wn
o
n
th
e
to
u
c
h
s
cr
ee
n
as
th
e
m
o
to
r
s
p
ee
d
f
lu
ctu
ates
ac
co
r
d
in
g
to
th
e
PW
M
d
u
t
y
cy
cle.
A
t
em
p
er
atu
r
e
s
en
s
o
r
(
DS1
8
B
2
0
o
r
L
M3
5
)
is
in
co
r
p
o
r
ated
in
to
t
h
e
s
y
s
tem
in
ad
d
itio
n
to
s
p
ee
d
co
n
tr
o
l
to
c
o
n
tin
u
ally
ch
ec
k
t
h
e
m
o
to
r
'
s
tem
p
er
atu
r
e
[
2
3
]
.
T
h
e
Ar
d
u
in
o
r
ec
eiv
es
tem
p
e
r
atu
r
e
m
ea
s
u
r
em
en
ts
f
r
o
m
th
e
s
en
s
o
r
co
n
tin
u
ally
,
an
aly
s
es
th
em
,
an
d
co
m
p
a
r
es
th
em
to
a
p
r
eset
th
r
esh
o
ld
v
al
u
e.
T
h
e
m
o
to
r
k
ee
p
s
r
u
n
n
in
g
p
r
o
p
er
l
y
as
lo
n
g
as
th
e
tem
p
er
atu
r
e
is
with
in
a
s
af
e
r
an
g
e.
Nev
er
th
eless
,
th
e
s
y
s
tem
in
itiates
an
o
v
er
h
ea
t
s
af
ety
m
ec
h
an
is
m
if
th
e
tem
p
er
atu
r
e
o
v
e
r
th
e
th
r
esh
o
ld
,
wh
ich
ca
n
eith
er
in
s
tan
tly
s
to
p
th
e
m
o
to
r
to
av
o
i
d
h
ar
m
o
r
n
o
tif
y
th
e
u
s
e
r
th
r
o
u
g
h
th
e
to
u
ch
s
cr
ee
n
[
2
4
]
.
T
o
m
ak
e
s
u
r
e
th
e
s
y
s
tem
r
u
n
s
with
in
s
af
e
elec
tr
ical
b
o
u
n
d
s
,
a
cu
r
r
en
t
s
en
s
o
r
is
also
u
s
ed
to
d
etec
t
an
d
tr
ac
k
t
h
e
m
o
to
r
'
s
p
o
wer
u
s
ag
e.
T
h
e
in
f
r
a
r
ed
s
en
s
o
r
d
ete
cts
an
d
i
d
en
tifie
s
o
b
jects
o
r
o
b
s
tr
u
ctio
n
s
ar
o
u
n
d
th
e
m
o
to
r
,
en
h
an
cin
g
au
t
o
m
a
tio
n
,
an
d
m
ay
ass
is
t
in
in
d
u
s
tr
ial
s
af
ety
[
2
5
]
.
So
m
e
p
r
o
ce
s
s
ed
d
ata,
s
u
ch
as
m
o
to
r
s
p
ee
d
an
d
tem
p
er
at
u
r
e
,
an
d
cu
r
r
en
t
co
n
s
u
m
p
tio
n
,
a
r
e
eith
er
s
en
t
f
o
r
f
u
r
th
er
a
n
aly
s
is
o
r
k
ep
t
in
th
e
s
y
s
tem
m
em
o
r
y
.
R
esu
lts
ar
e
co
n
s
tan
tly
u
p
d
ated
o
n
th
e
to
u
ch
s
cr
ee
n
in
ter
f
ac
e
[
2
6
]
,
all
o
win
g
th
e
u
s
er
to
m
o
n
ito
r
an
d
ad
ju
s
t
m
o
to
r
o
p
er
atio
n
d
u
r
in
g
th
e
p
er
f
o
r
m
an
ce
.
Fo
r
d
iv
e
r
s
e
co
m
m
e
r
cial
an
d
in
d
u
s
tr
ial
ap
p
licatio
n
s
,
th
e
s
y
s
tem
'
s
ef
f
e
ctiv
e
an
d
r
eliab
le
o
p
er
atio
n
is
en
s
u
r
ed
b
y
th
e
s
ea
m
less
co
m
b
in
atio
n
o
f
p
r
ec
is
e
s
p
ee
d
r
eg
u
latio
n
,
s
af
ety
f
ea
tu
r
es,
an
d
th
e
ab
ilit
y
to
p
r
o
v
id
e
c
o
n
s
tan
t r
ea
l
-
tim
e
f
ee
d
b
ac
k
[
2
7
]
-
[
2
8
]
.
3
.
2
.
I
nv
er
t
er
t
o
po
lo
g
y
a
nd
s
wit
ching
cha
ra
ct
er
is
t
ics
T
h
e
m
o
t
o
r
d
r
iv
e
u
s
es
a
T
R
I
AC
(
B
T
1
3
6
)
with
an
MO
C
3
0
2
1
o
p
to
is
o
lato
r
f
o
r
is
o
latio
n
an
d
s
af
e
tr
ig
g
er
in
g
.
Fo
r
p
r
ec
is
e
m
o
to
r
s
p
ee
d
co
n
tr
o
l,
T
R
I
AC
s
wit
ch
in
g
f
r
e
q
u
en
c
y
is
v
ar
ied
w
ith
Ar
d
u
in
o
PW
M
s
ig
n
als.
E
lectr
o
m
ag
n
etic
i
n
te
r
f
er
en
ce
(
EMI
)
is
r
ed
u
ce
d
with
th
e
o
p
to
-
is
o
lated
d
esig
n
,
g
u
a
r
an
teein
g
s
af
e
f
u
n
ctio
n
ality
am
id
s
t
in
d
u
s
tr
ial
n
o
is
e.
T
h
is
co
n
tr
o
l
m
eth
o
d
im
p
ac
ts
m
o
to
r
to
r
q
u
e
r
ip
p
le
an
d
ef
f
icien
c
y
.
C
o
m
p
ar
ed
to
co
n
v
en
tio
n
al
VFD
d
r
iv
es,
th
e
p
r
esen
ted
to
p
o
lo
g
y
is
s
im
p
ler
an
d
m
o
r
e
co
s
t
-
ef
f
ec
tiv
e
wh
ile
s
till
p
r
o
v
id
i
n
g
r
eliab
le
c
o
n
tr
o
l
an
d
f
au
lt to
ler
an
ce
.
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
d
ev
elo
p
men
t
o
f A
C
mo
to
r
s
p
ee
d
co
n
tr
o
llin
g
s
ystem
u
s
in
g
…
(
P
r
a
th
ip
a
ti R
a
tn
a
S
u
d
h
a
R
a
n
i
)
2433
3
.
3
.
M
a
t
hema
t
ica
l Mo
delin
g
T
h
e
r
elatio
n
s
h
i
p
b
etwe
en
PW
M
d
u
ty
cy
cle
(
D
)
an
d
m
o
t
o
r
s
p
ee
d
(
N
)
ca
n
b
e
ap
p
r
o
x
im
ate
d
as
s
h
o
wn
in
(
1
)
.
N
∝
D
×
V
in
(
1
)
W
h
er
e
V
in
is
th
e
in
p
u
t
v
o
ltag
e
a
p
p
lied
th
r
o
u
g
h
th
e
T
R
I
AC
d
r
iv
er
.
Similar
ly
,
th
e
m
o
to
r
th
e
r
m
al
b
e
h
av
io
r
is
m
o
d
eled
as sh
o
wn
i
n
(
2
)
.
T
(
t
)
=
T
am
b
+
R
th
⋅
P
l
o
s
s
(
1
−
e
−
t
τ
)
(
2
)
W
h
er
e
T
(
t
)
is
th
e
m
o
to
r
tem
p
er
at
u
r
e
at
tim
e
t
,
T
am
b
is
am
b
ien
t
tem
p
er
atu
r
e,
R
th
is
th
e
th
er
m
al
r
esis
tan
ce
o
f
th
e
m
o
to
r
(
℃
/
W
)
,
P
l
o
s
s
is
p
o
wer
lo
s
s
in
t
h
e
m
o
to
r
(
c
o
n
v
er
te
d
in
to
h
ea
t)
,
is
th
e
th
er
m
al
tim
e
co
n
s
tan
t
o
f
th
e
m
o
to
r
s
y
s
tem
,
an
d
e
−
t
τ
r
ep
r
esen
t
s
h
o
w
q
u
ick
ly
th
e
m
o
to
r
ap
p
r
o
ac
h
es
s
tead
y
-
s
tate
h
ea
tin
g
.
T
h
ese
s
im
p
lifie
d
m
o
d
els
s
u
p
p
o
r
t
ex
p
er
im
en
tal
r
esu
lts
b
y
co
r
r
elatin
g
PW
M
v
ar
iatio
n
with
m
o
to
r
R
PM,
an
d
p
o
we
r
d
is
s
ip
atio
n
with
tem
p
er
atu
r
e
r
is
e.
T
h
is
g
i
v
es
a
s
im
p
le
th
e
r
m
al
r
esp
o
n
s
e
m
o
d
el
to
s
h
o
w
th
e
r
ev
iewe
r
s
th
at
y
o
u
co
n
s
id
er
ed
th
e
m
o
to
r
’
s
h
ea
tin
g
d
y
n
am
ics,
ev
en
if
it’s n
o
t a
f
u
ll th
e
r
m
al
f
in
ite
elem
en
t m
eth
o
d
(
FEM
)
s
im
u
latio
n
.
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
o
p
er
atio
n
o
f
th
e
m
o
to
r
u
n
d
er
n
o
r
m
al
co
n
d
itio
n
s
is
g
iv
en
in
T
ab
le
1
,
wh
er
e
a
n
u
m
b
er
o
f
s
p
ee
d
lev
els
ar
e
g
iv
en
alo
n
g
with
t
h
e
cu
r
r
en
t,
v
o
ltag
e,
tem
p
er
at
u
r
e,
p
o
wer
,
a
n
d
t
h
eir
co
r
r
esp
o
n
d
in
g
R
PM
v
alu
es.
T
h
e
s
y
s
tem
e
n
s
u
r
es
th
ese
p
a
r
am
eter
s
r
em
ain
with
in
s
af
ety
o
p
er
atin
g
lim
its
at
ea
ch
le
v
el
o
f
s
p
ee
d
.
As
a
p
r
ec
au
tio
n
ag
ain
s
t
o
v
er
h
ea
tin
g
an
d
p
o
ten
tial
d
am
ag
e,
th
e
t
em
p
er
atu
r
e
lim
it
f
o
r
t
h
e
m
o
to
r
o
p
er
atio
n
is
s
et
at
50
°C
.
T
h
e
tech
n
o
lo
g
y
i
n
s
tan
tly
s
h
u
ts
d
o
wn
t
h
e
m
o
to
r
o
p
e
r
a
tio
n
b
y
tr
ig
g
er
in
g
a
n
au
t
o
m
ate
d
tr
ip
d
ev
ice
wh
en
th
e
tem
p
er
atu
r
e
o
f
th
e
m
o
to
r
ex
ce
ed
s
th
is
lim
it.
All
o
f
th
e
p
ar
am
eter
v
alu
es,
s
u
ch
as
cu
r
r
en
t,
p
o
wer
,
an
d
R
PM,
d
r
o
p
to
ze
r
o
in
th
is
tr
ip
p
ed
m
o
d
e,
en
s
u
r
in
g
th
e
m
o
t
o
r
s
to
p
s
r
u
n
n
in
g
to
p
r
ev
e
n
t
ad
d
itio
n
al
h
ea
tin
g
o
r
d
am
ag
e.
T
h
e
L
C
D
d
is
p
lay
g
r
a
p
h
ically
illu
s
tr
ates
th
is
s
itu
ati
o
n
,
m
a
k
in
g
t
h
e
m
o
t
o
r
s
h
u
t
d
o
wn
p
r
o
ce
s
s
o
b
v
io
u
s
.
T
h
e
s
y
s
tem
is
a
r
eliab
le
an
d
s
elf
-
co
r
r
ec
tin
g
m
o
to
r
co
n
tr
o
l
d
ev
ice
d
u
e
to
its
au
to
m
atic
s
af
ety
r
esp
o
n
s
e,
en
s
u
r
in
g
d
e
p
en
d
ab
ilit
y
an
d
s
af
ety
.
4
.
1
.
O
bs
er
v
a
t
io
n o
f
re
s
ults a
t
diff
er
ent
s
peed
lev
els
4
.
1
.
1
.
O
utc
o
m
e
a
t
s
peed
lev
el
1
T
h
e
s
y
s
tem
titl
e,
R
P
M,
s
p
ee
d
lev
els,
an
d
in
cr
em
en
t/d
ec
r
em
en
t
ch
o
ices
ar
e
s
h
o
wn
o
n
th
e
to
u
ch
s
cr
ee
n
in
ter
f
ac
e
wh
e
n
th
e
s
u
p
p
ly
is
tu
r
n
ed
o
n
at
a
s
tead
y
v
o
ltag
e
o
f
2
3
0
V
,
as
s
h
o
wn
i
n
Fig
u
r
e
3
.
T
h
e
T
R
I
AC
p
r
o
ce
s
s
es
th
e
co
m
m
an
d
an
d
s
en
d
s
th
e
m
o
d
if
ied
s
ig
n
al
to
th
e
Ar
d
u
in
o
wh
e
n
th
e
u
s
er
u
s
es
a
s
ty
lu
s
f
o
r
in
ter
ac
tio
n
with
th
e
to
u
c
h
s
cr
e
en
to
s
p
ee
d
it
u
p
.
T
h
e
in
c
r
ea
s
in
g
lo
a
d
as
th
e
m
o
to
r
s
p
ee
d
in
cr
ea
s
es
is
r
ef
lecte
d
in
th
e
L
C
D
s
cr
ee
n
'
s
r
ea
d
in
g
s
o
f
2
1
0
m
illi
am
p
er
es
o
f
c
u
r
r
en
t,
3
0
°C
,
an
d
5
0
watts
o
f
p
o
w
er
u
s
ag
e.
I
n
o
r
d
e
r
to
g
iv
e
th
e
u
s
er
r
ea
l
-
tim
e
f
ee
d
b
a
ck
o
n
t
h
e
s
p
ec
if
ied
ac
tio
n
,
th
e
to
u
ch
s
cr
ee
n
s
im
u
ltan
eo
u
s
ly
ch
an
g
es
to
d
is
p
lay
th
e
cu
r
r
e
n
t sp
ee
d
lev
el
as "Sp
e
ed
1
"
an
d
th
e
ass
o
ciate
d
R
PM
o
f
7
6
0
,
as sh
o
wn
i
n
Fig
u
r
e
4
.
Fig
u
r
e
3
.
Set u
p
at
s
p
ee
d
lev
el
-
1
Fig
u
r
e
4
.
Dis
p
lay
o
f
s
p
ee
d
in
R
PM
at
lev
el
-
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.
16
,
No
.
4
,
Dec
em
b
er
20
25
:
2429
-
2
4
4
0
2434
4
.
1
.
2
.
O
utc
o
me
a
t
s
peed
lev
el
2
T
h
e
im
p
r
o
v
ed
to
u
c
h
s
cr
ee
n
in
i
tializes
an
d
d
is
p
lay
s
th
e
s
y
s
te
m
in
ter
f
ac
e
with
s
p
ee
d
co
n
tr
o
l
ch
o
ices
af
ter
th
e
2
3
0
V
s
u
p
p
ly
is
s
u
p
p
lied
,
as
s
h
o
wn
in
Fig
u
r
e
5
.
T
h
e
in
p
u
t
is
ev
alu
ated
wh
e
n
t
h
e
s
ty
lu
s
is
u
s
ed
to
p
ick
th
e
in
cr
e
m
en
t
o
p
tio
n
,
a
n
d
th
e
T
R
I
AC
th
en
ad
ju
s
ts
th
e
p
o
wer
s
en
t
to
th
e
m
o
to
r
ap
p
r
o
p
r
iately
.
T
h
e
L
C
D
d
is
p
lay
r
ef
r
esh
es
th
e
r
ea
l
-
tim
e
p
ar
am
eter
s
o
n
ce
th
e
Ar
d
u
in
o
p
r
o
ce
s
s
es
th
e
s
ig
n
al.
I
t
d
is
p
lay
s
a
tem
p
er
atu
r
e
o
f
30
°C
,
a
p
o
wer
co
n
s
u
m
p
tio
n
o
f
6
8
watts,
an
d
a
cu
r
r
e
n
t
co
n
s
u
m
p
tio
n
o
f
3
0
6
m
illi
am
p
er
es.
T
h
e
u
s
er
ca
n
watc
h
th
e
p
r
ec
is
e
m
o
to
r
s
p
ee
d
a
n
d
m
ak
e
n
ec
ess
ar
y
m
o
d
if
icatio
n
s
s
in
ce
th
e
to
u
ch
s
cr
ee
n
s
im
u
ltan
eo
u
s
ly
s
h
o
ws
"Sp
ee
d
2
"
an
d
th
e
m
atc
h
in
g
R
PM
o
f
1
0
2
0
,
as sh
o
wn
i
n
Fig
u
r
e
6
.
Fig
u
r
e
5
.
Set u
p
at
s
p
ee
d
lev
el
2
Fig
u
r
e
6
.
Dis
p
lay
o
f
s
p
ee
d
in
R
PM
at
lev
el
-
2
4
.
1
.
3
.
O
utc
o
me
a
t
s
peed
lev
el
4
T
h
e
s
y
s
tem
tu
r
n
s
o
n
,
an
d
th
e
to
u
ch
s
cr
ee
n
in
ter
f
ac
e
,
wh
ich
s
h
o
ws
th
e
m
o
to
r
co
n
tr
o
l
p
ar
a
m
eter
s
,
is
o
p
er
atio
n
al
wh
e
n
th
e
s
u
p
p
l
y
v
o
ltag
e
is
k
ep
t
at
2
3
0
V
,
as
s
h
o
wn
in
Fig
u
r
e
7
.
T
h
e
Ar
d
u
in
o
p
r
o
ce
s
s
es
th
e
m
o
d
if
ied
in
p
u
t
af
ter
th
e
T
R
I
AC
m
o
d
u
lates
th
e
s
ig
n
al
wh
e
n
t
h
e
u
s
er
tap
s
o
n
th
e
in
cr
e
m
en
t
o
p
tio
n
to
c
h
o
o
s
e
a
h
ig
h
er
s
p
ee
d
lev
el.
T
h
e
co
n
s
ta
n
tly
u
p
d
atin
g
L
C
D
p
an
el
d
is
p
l
ay
s
a
tem
p
er
atu
r
e
o
f
3
2
°C
,
a
p
o
wer
u
s
ag
e
o
f
8
3
watts,
an
d
an
in
c
r
ea
s
ed
cu
r
r
e
n
t
d
em
an
d
o
f
3
6
3
m
illi
am
p
e
r
es.
Simu
ltan
eo
u
s
ly
,
th
e
to
u
ch
s
cr
ee
n
d
is
p
lay
s
th
e
r
ev
is
ed
R
PM
m
ea
s
u
r
em
en
t
o
f
1
6
0
0
as
s
h
o
wn
in
Fig
u
r
e
8
a
n
d
th
e
n
ew
s
p
ee
d
o
p
tio
n
,
"Sp
ee
d
4
,
"
g
i
v
in
g
th
e
u
s
er
r
ea
l
-
tim
e
f
ee
d
b
ac
k
f
o
r
im
p
r
o
v
e
d
m
an
a
g
em
en
t a
n
d
m
o
n
i
to
r
in
g
.
Fig
u
r
e
7
.
Set u
p
at
s
p
ee
d
lev
el
4
Fig
u
r
e
8
.
Dis
p
lay
o
f
s
p
ee
d
in
R
PM
at
lev
el
4
4
.
1
.
4
.
Resul
t
when
t
he
m
o
t
o
r
is
o
v
er
hea
t
ed
T
h
e
m
o
to
r
'
s
o
p
er
atio
n
u
n
d
er
t
y
p
ical
cir
cu
m
s
tan
ce
s
is
illu
s
tr
ated
in
T
ab
le
1
,
wh
ich
lis
ts
s
ev
er
al
s
p
ee
d
lev
els
to
g
eth
er
with
th
e
c
u
r
r
e
n
t,
v
o
ltag
e,
tem
p
er
atu
r
e,
p
o
wer
,
an
d
R
PM
v
alu
es
th
at
co
r
r
e
s
p
o
n
d
to
t
h
em
.
T
h
e
s
y
s
tem
m
ak
es
s
u
r
e
th
at
th
ese
p
ar
am
eter
s
s
tay
with
in
s
af
e
o
p
er
atin
g
b
o
u
n
d
s
at
e
v
er
y
s
p
ee
d
lev
el.
As
a
s
af
eg
u
ar
d
a
g
ain
s
t
o
v
er
h
ea
tin
g
an
d
p
o
s
s
ib
le
d
am
ag
e,
th
e
m
o
to
r
'
s
tem
p
er
atu
r
e
th
r
esh
o
ld
is
s
et
at
5
0
°C
,
as
s
h
o
wn
in
Fig
u
r
e
9
.
T
h
e
tech
n
o
lo
g
y
q
u
ic
k
ly
s
to
p
s
th
e
m
o
to
r
'
s
f
u
n
ctio
n
in
g
b
y
ac
tiv
atin
g
an
au
to
m
ate
d
tr
ip
m
ec
h
an
is
m
wh
en
th
e
m
o
to
r
te
m
p
er
atu
r
e
o
v
e
r
th
is
lev
el.
All
p
ar
am
eter
v
alu
es,
in
clu
d
in
g
c
u
r
r
en
t,
p
o
wer
,
an
d
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
d
ev
elo
p
men
t
o
f A
C
mo
to
r
s
p
ee
d
co
n
tr
o
llin
g
s
ystem
u
s
in
g
…
(
P
r
a
th
ip
a
ti R
a
tn
a
S
u
d
h
a
R
a
n
i
)
2435
R
PM,
f
all
to
ze
r
o
in
th
is
tr
ip
p
ed
s
tate,
g
u
ar
a
n
teein
g
th
at
t
h
e
m
o
to
r
s
to
p
s
r
o
tatin
g
to
s
t
o
p
m
o
r
e
h
ea
tin
g
o
r
f
ailu
r
e.
T
h
e
L
C
D
d
is
p
lay
g
r
ap
h
ically
d
ep
icts
th
is
cir
cu
m
s
t
an
ce
,
m
ak
in
g
th
e
m
o
t
o
r
s
h
u
t
d
o
wn
s
tep
ev
id
en
t.
T
h
e
s
y
s
tem
is
an
ef
f
ec
tiv
e
a
n
d
s
elf
-
r
eg
u
latin
g
m
o
to
r
c
o
n
t
r
o
l
m
ec
h
a
n
is
m
b
ec
au
s
e
o
f
its
au
to
m
atic
s
af
ety
r
ea
ctio
n
,
wh
ich
g
u
a
r
an
tees
d
e
p
en
d
ab
ilit
y
an
d
p
r
o
tectio
n
.
Fig
u
r
e
1
0
s
h
o
ws
th
e
o
u
t
p
u
t
g
r
a
p
h
s
h
o
win
g
cu
r
r
en
t,
p
o
wer
,
a
n
d
s
p
ee
d
v
alu
es
o
f
AC
Mo
to
r
at
d
if
f
e
r
en
t
lev
els
.
T
h
ese
m
etr
ics
h
ig
h
lig
h
t
th
e
ef
f
icien
cy
o
f
t
h
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
co
m
p
ar
ed
to
t
r
ad
itio
n
al
co
n
tr
o
ller
s
,
wh
er
e
n
o
in
te
g
r
ated
o
v
e
r
h
ea
t
p
r
o
tectio
n
o
r
r
ea
l
-
tim
e
p
ar
am
eter
d
is
p
lay
e
x
is
ts
.
Fo
r
co
m
p
ar
is
o
n
,
c
o
n
v
e
n
tio
n
al
VFD
-
b
ased
co
n
tr
o
ller
s
g
en
er
ally
lack
in
teg
r
ated
r
ea
l
-
tim
e
p
r
o
tectio
n
an
d
p
ar
a
m
eter
m
o
n
ito
r
in
g
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
tem
en
s
u
r
e
s
s
tab
le
R
PM
r
eg
u
latio
n
,
wh
ile
s
im
u
ltan
eo
u
s
ly
m
o
n
ito
r
in
g
v
o
ltag
e,
cu
r
r
en
t,
p
o
wer
,
an
d
tem
p
e
r
atu
r
e
with
au
to
m
atic
tr
ip
p
in
g
at
5
0
°C
.
Un
lik
e
co
m
m
er
cial
VFD
+
HM
I
s
etu
p
s
,
th
is
Ar
d
u
in
o
-
b
ased
d
esig
n
is
lig
h
tweig
h
t
an
d
l
o
w
-
co
s
t
y
et
p
r
o
v
id
es
en
h
an
ce
d
u
s
ab
ilit
y
an
d
s
af
ety
.
Un
lik
e
co
n
v
en
tio
n
al
m
o
to
r
c
o
n
tr
o
ller
s
,
wh
ich
ty
p
ically
r
eq
u
i
r
e
ex
ter
n
al
th
e
r
m
al
r
elay
s
o
r
lac
k
r
ea
l
-
tim
e
p
ar
am
eter
f
ee
d
b
ac
k
,
th
e
p
r
o
p
o
s
ed
s
y
s
tem
in
teg
r
ates
au
to
m
atic
s
h
u
td
o
wn
at
5
0
°C
with
s
im
u
ltan
eo
u
s
m
o
n
ito
r
in
g
o
f
R
PM,
p
o
wer
,
an
d
c
u
r
r
en
t.
T
h
is
co
m
p
ar
ativ
e
ad
v
an
tag
e
e
n
s
u
r
es
b
o
th
s
af
ety
an
d
u
s
ab
ilit
y
in
in
d
u
s
tr
ial
s
ettin
g
s
.
T
ab
le
1
.
Per
f
o
r
m
an
ce
m
etr
ics o
f
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
(
v
o
l
tag
e,
cu
r
r
e
n
t,
p
o
wer
,
tem
p
e
r
atu
r
e,
R
PM)
at
d
if
f
er
en
t sp
ee
d
lev
els co
m
p
a
r
e
d
with
co
n
v
en
tio
n
al
m
o
to
r
c
o
n
tr
o
ller
s
S
p
e
e
d
l
e
v
e
l
V
o
l
t
a
g
e
(V)
C
u
r
r
e
n
t
(A)
P
o
w
e
r
(W)
Te
mp
e
r
a
t
u
r
e
(
°
C
)
S
p
e
e
d
i
n
R
P
M
1
2
3
0
0
.
2
1
50
30
7
6
0
2
2
3
0
0
.
3
0
6
68
30
1
0
2
0
3
2
3
0
0
.
3
3
3
76
31
1
2
5
0
4
2
3
0
0
.
3
6
3
83
32
1
6
0
0
5
2
3
0
0
.
3
7
8
87
32
1
7
2
0
Fig
u
r
e
9
.
Dis
p
lay
o
f
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lts
wh
en
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m
o
to
r
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ted
F
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g
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r
a
p
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o
m
p
a
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r
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4
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2
.
C
o
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e
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o
d
e
i
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l
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m
e
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a
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b
a
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a
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t
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c
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i
o
n
T
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e
wh
o
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y
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was
im
p
le
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ted
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te
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s
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Ar
d
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in
o
-
b
ased
p
r
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g
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am
m
in
g
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o
r
b
o
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th
e
to
u
ch
in
ter
f
ac
e
an
d
m
o
to
r
d
r
iv
e
r
.
T
h
e
co
m
b
in
e
d
s
o
f
twar
e
s
u
p
p
o
r
ts
r
ea
l
-
tim
e
u
s
er
in
p
u
t,
d
ata
co
m
m
u
n
icatio
n
b
etwe
en
th
e
t
o
u
ch
s
cr
ee
n
an
d
m
o
to
r
d
r
iv
e
r
,
an
d
o
v
er
h
ea
t
p
r
o
tectio
n
.
T
h
e
p
r
o
g
r
a
m
co
n
s
is
ts
o
f
two
lo
g
ical
s
eg
m
en
ts
with
in
o
n
e
in
teg
r
ate
d
f
r
am
ewo
r
k
.
T
h
e
f
ir
s
t
s
eg
m
en
t
g
o
v
er
n
s
th
e
to
u
ch
s
cr
ee
n
in
ter
f
ac
e
s
o
th
at
th
e
u
s
er
ca
n
in
cr
ea
s
e
o
r
r
ed
u
ce
th
e
m
o
t
o
r
s
p
ee
d
b
etw
ee
n
f
iv
e
d
if
f
er
en
t v
alu
es.
T
h
e
ch
o
s
en
s
p
ee
d
v
alu
e
is
co
n
v
er
ted
in
to
a
s
er
ies
an
d
s
en
t
to
th
e
Ar
d
u
in
o
U
no
m
icr
o
co
n
tr
o
ller
.
T
h
e
s
ec
o
n
d
h
alf
o
f
th
e
co
d
e
r
u
n
s
o
n
th
e
m
o
to
r
co
n
tr
o
l
u
n
it,
wh
ich
tak
es
th
e
s
er
ial
d
ata
a
n
d
r
eg
u
lates
th
e
m
o
t
o
r
s
p
ee
d
with
PW
M
v
ia
a
T
R
I
AC
d
r
iv
er
.
A
tem
p
er
atu
r
e
s
en
s
o
r
(
L
M3
5
/DS1
8
B
2
0
)
r
ea
d
s
th
e
m
o
to
r
tem
p
e
r
atu
r
e
co
n
s
tan
tly
.
As
th
e
tem
p
er
atu
r
e
a
p
p
r
o
ac
h
e
s
th
e
lim
it
o
f
5
0
°C
,
th
e
co
n
t
r
o
ller
cu
ts
p
o
wer
au
to
m
atica
ll
y
to
av
o
id
o
v
er
h
ea
tin
g
.
At
th
e
s
am
e
tim
e,
th
e
L
C
D
m
o
d
u
le
d
is
p
lay
s
th
e
r
u
n
n
in
g
s
p
ee
d
,
tem
p
e
r
atu
r
e,
an
d
r
ea
l
-
tim
e
r
o
tatio
n
al
s
p
ee
d
(
R
PM)
u
s
in
g
an
in
f
r
a
r
ed
s
en
s
o
r
co
n
n
ec
ted
to
th
e
i
n
ter
r
u
p
t
p
in
.
T
h
e
co
d
e
,
th
er
ef
o
r
e
co
m
b
in
es
s
p
ee
d
co
n
tr
o
l,
m
o
n
ito
r
in
g
,
an
d
p
r
o
tectio
n
ag
ain
s
t
o
v
er
h
e
atin
g
in
a
s
m
all
an
d
ef
f
ec
tiv
e
s
p
ac
e.
T
h
e
last
ex
ec
u
tab
le
co
d
e
o
f
th
e
c
o
m
p
l
ete
s
y
s
tem
is
g
iv
en
b
elo
w.
I
t
o
f
f
er
s
a
wo
r
k
ab
le
a
n
d
r
ep
r
o
d
u
cib
le
s
o
lu
tio
n
f
o
r
b
o
th
h
a
r
d
war
e
m
o
d
u
les.
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.
16
,
No
.
4
,
Dec
em
b
er
20
25
:
2429
-
2
4
4
0
2436
Co
de
:
/
/
=
=
=
=
=
TO
U
C
H
S
C
R
E
EN
I
N
TER
F
A
C
E
TO
M
I
C
R
O
C
O
N
T
R
O
LL
ER
=
=
=
=
=
#include <Adafruit_GFX.h>
#include <MCUFRIEND_kbv.h>
#include <TouchScreen.h>
MCUFRIEND_kbv tft;
const int XP=6, XM=A2, YP=A1, YM=7;
TouchScreen ts(XP, YP, XM, YM, 300);
#define MINPRESSURE 200
#define MAXPRESSURE 1000
#define BLACK 0x0000, CYAN 0x07FF, GREEN 0x07E0, WHITE 0xFFFF
int speedv = 0; int pixel_x, pixel_y;
bool Touch_getXY() {
TSPoint p = ts.getPoint();
pinMode(YP, OUTPUT); pinMode(XM, OUTPUT);
digitalWrite(YP, HIGH); digitalWrite(XM, HIGH);
if (p.z > MINPRESSURE && p.z < MAXPRESSURE) {
pixel_x = map(p.x, 907, 136, 0, tft.width());
pixel_y = map(p.y, 942, 139, 0, tft.height());
return true;
} return false;
}
void showmsgXY(int x,int y,const char *msg){
tft.setCursor(x,y); tft.setTextColor(GREEN); tft.setTextSize(2); tft.print(msg);
}
void setup() {
Serial.begin(9600);
tft.begin(tft.readID()); tft.setRotation(0); tft.fillScreen(BLACK);
showmsgXY(20,20,"AC Motor Control");
showmsgXY(20,160,"Speed:");
}
void loop() {
if(Touch_getXY()){
if(pixel_x<120) speedv++; else speedv
--
;
if(speedv<0) speedv=0; if(speedv>5) speedv=5;
Serial.write(speedv + '0');
tft.fillRect(100,160,60,30,BLACK);
showmsgXY(100,160,String(speedv).c_str());
delay(300);
}
}
/
/
=
=
=
=
=
A
R
D
U
I
N
O
U
N
O
TO
M
O
T
O
R
=
=
=
=
=
#include <LiquidCrystal.h>
LiquidCrystal lcd(6,7,5,4,3,8);
#define motor 10
int countm=0, rpm=0; float tempc=0; volatile int objects=0;
unsigned long prevMillis=0;
void setup2() {
Serial.begin(9600);
pinMode(motor,OUTPUT); attachInterrupt(digitalPinToInterrupt(2), count, FALLING);
lcd.begin(16,2); lcd.print("AC
Motor Ready");
}
void loop2() {
if(Serial.available()) countm = Serial.read()
-
'0';
if(countm==0) digitalWrite(motor,HIGH);
else analogWrite(motor,countm*50);
tempc = analogRead(A1)*0.488;
if(tempc>=50) digitalWrite(motor,HIGH);
if(millis()
-
prevMillis>1000){ rpm=(objects/3.0)*60; objects=0; prevMillis=millis(); }
lcd.setCursor(0,0); lcd.print("SPD:"); lcd.print(countm);
lcd.setCursor(0,1); lcd.print("T:"); lcd.print(tempc); lcd.print(" RPM:");
lcd.print(rpm);
}
void count(){ objects++; }
5.
CO
NCLU
SI
O
N
T
h
e
AC
m
o
to
r
s
p
ee
d
co
n
t
r
o
l
lin
g
an
d
m
o
n
ito
r
in
g
s
y
s
tem
’
s
to
u
ch
s
cr
ee
n
an
d
o
v
e
r
h
ea
t
p
r
o
tectio
n
en
s
u
r
e
s
af
ety
an
d
r
ea
l
-
tim
e
m
o
n
ito
r
in
g
o
f
s
p
ee
d
co
n
t
r
o
l
m
an
ag
em
en
t
.
So
f
t
to
u
ch
s
cr
ee
n
co
n
tr
o
l
aid
s
m
o
to
r
s
p
ee
d
ad
ju
s
tm
en
t
a
n
d
m
o
n
ito
r
in
g
o
f
cr
itical
p
a
r
am
eter
s
,
in
clu
d
in
g
R
PM,
tem
p
er
at
u
r
e,
c
u
r
r
en
t,
p
o
wer
,
an
d
o
v
er
all
en
er
g
y
co
n
s
u
m
p
tio
n
.
T
h
e
s
y
s
tem
ef
f
icien
tly
v
ar
ies
s
p
ee
d
d
u
e
to
th
e
Ad
v
an
ce
d
C
lo
s
ed
L
o
o
p
T
R
I
AC
PW
M
m
o
to
r
s
p
ee
d
co
n
tr
o
l
s
y
s
tem
.
T
h
e
o
v
er
h
ea
t
p
r
o
tectio
n
s
y
s
tem
en
s
u
r
es
m
o
to
r
tem
p
er
atu
r
e
c
o
n
tr
o
l
an
d
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
d
ev
elo
p
men
t
o
f A
C
mo
to
r
s
p
ee
d
co
n
tr
o
llin
g
s
ystem
u
s
in
g
…
(
P
r
a
th
ip
a
ti R
a
tn
a
S
u
d
h
a
R
a
n
i
)
2437
cu
ts
p
o
wer
if
it
ex
ce
ed
s
th
e
5
0
°C
th
r
esh
o
ld
to
m
in
im
ize
ex
tr
em
e
d
am
ag
e
a
n
d
en
s
u
r
e
s
y
s
tem
r
eliab
ilit
y
.
R
ea
l
-
tim
e
d
ata
ea
r
n
ed
f
r
o
m
p
o
wer
u
s
ag
e
tr
en
d
s
is
an
aly
ze
d
an
d
d
is
p
lay
ed
o
n
a
n
L
C
D
p
an
el
,
a
id
in
g
in
m
o
n
ito
r
in
g
p
u
ls
atin
g
in
co
n
tr
o
l.
T
h
e
s
y
s
t
em
ef
f
icien
tly
v
ar
ies
s
p
ee
d
d
u
e
to
th
e
A
d
v
an
ce
d
C
lo
s
ed
L
o
o
p
T
R
I
AC
PW
M
m
o
to
r
s
p
ee
d
co
n
tr
o
l sy
s
tem
.
Du
e
to
its
m
o
d
u
lar
d
esig
n
an
d
ca
p
ab
ilit
ies
f
o
r
r
ea
l
-
tim
e
m
o
n
ito
r
in
g
,
th
e
s
y
s
tem
wo
r
k
s
r
ea
lly
well
f
o
r
in
d
u
s
tr
ial
an
d
au
to
m
atio
n
a
p
p
licatio
n
s
wh
er
e
s
af
ety
an
d
e
f
f
icien
cy
a
r
e
m
o
s
t
im
p
o
r
tan
t.
Fu
tu
r
e
wo
r
k
c
o
u
ld
f
o
cu
s
o
n
th
e
I
o
T
r
em
o
te
m
o
n
ito
r
in
g
s
o
th
at
u
s
er
s
ca
n
co
n
t
r
o
l
an
d
ev
alu
ate
th
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
m
o
t
o
r
s
th
r
o
u
g
h
web
an
d
m
o
b
ile
a
p
p
licatio
n
s
.
T
o
m
i
n
im
ize
d
o
wn
tim
e,
th
e
s
y
s
tem
ca
n
als
o
in
co
r
p
o
r
ate
A
I
to
PR
E
DI
C
T
m
o
to
r
f
au
lts
a
n
d
a
d
d
r
ess
th
em
I
T
.
E
lim
in
atin
g
t
h
e
n
ee
d
f
o
r
u
s
er
c
o
n
tr
o
l
g
r
ea
t
ly
im
p
r
o
v
es
s
y
s
tem
ad
ap
tab
ilit
y
.
Allo
win
g
th
e
s
y
s
tem
to
b
e
ca
p
ab
le
o
f
co
n
tr
o
lli
n
g
m
u
ltip
le
m
o
to
r
s
an
d
d
if
f
e
r
en
t
lo
ad
s
ce
n
ar
io
s
wo
u
ld
b
e
a
s
ig
n
if
ican
t
ad
v
an
ce
m
en
t.
Ad
v
an
ce
d
m
o
to
r
co
n
tr
o
l
in
r
ea
l
-
tim
e
m
ea
n
s
th
e
s
y
s
tem
ca
n
b
e
a
f
u
lly
au
to
m
ated
in
tellig
en
t
s
o
lu
tio
n
,
p
r
o
v
id
in
g
ev
en
m
o
r
e
ef
f
ic
ien
cy
,
s
af
ety
,
a
n
d
s
ca
lab
ilit
y
f
o
r
in
d
u
s
tr
ial
an
d
au
to
m
atio
n
a
p
p
licatio
n
s
.
Au
to
m
atio
n
,
r
em
o
te
ac
ce
s
s
,
an
d
s
m
ar
t
co
n
tr
o
ls
ca
n
in
cr
ea
s
e
s
y
s
tem
s
'
ef
f
icien
cy
an
d
u
s
ab
ilit
y
.
W
ith
I
o
T
-
b
ased
m
o
n
ito
r
in
g
,
u
s
er
s
c
an
r
em
o
tely
o
v
er
s
ee
an
d
m
a
n
a
g
e
m
o
to
r
p
er
f
o
r
m
an
ce
th
r
o
u
g
h
clo
u
d
d
ash
b
o
ar
d
s
o
r
m
o
b
ile
ap
p
s
,
im
p
r
o
v
in
g
ac
ce
s
s
an
d
o
p
er
atio
n
al
ef
f
icien
c
y
.
T
h
e
elim
in
atio
n
o
f
ca
b
le
c
o
n
n
ec
tio
n
s
th
r
o
u
g
h
Wi
-
Fi
o
r
B
lu
eto
o
th
wir
eless
n
etwo
r
k
in
g
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I
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16
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4
,
Dec
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b
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20
25
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2429
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CO
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DATA AV
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NC
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[
1
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.
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