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Hab
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id
1.
I
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RO
D
UCT
I
O
N
Hig
h
-
s
p
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d
r
ail
(
HST)
s
y
s
tem
s
ar
e
d
esig
n
ed
to
p
r
o
v
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d
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f
ast,
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eliab
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d
co
m
f
o
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ta
b
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tr
an
s
p
o
r
tatio
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,
an
d
ca
n
s
ig
n
if
ican
tly
r
ed
u
ce
t
r
av
el
tim
e
b
etwe
en
m
ajo
r
citi
es
[
1
]
,
[
2
]
.
HST
is
k
n
o
wn
to
b
e
m
o
r
e
ef
f
icien
t
in
en
er
g
y
u
s
e
th
an
o
th
er
air
a
n
d
l
an
d
tr
an
s
p
o
r
tatio
n
o
v
e
r
th
e
s
am
e
d
is
tan
ce
[
3
]
.
I
n
HST,
th
e
tr
ac
tio
n
tr
an
s
m
is
s
io
n
s
y
s
tem
co
n
v
er
ts
elec
tr
ical
e
n
er
g
y
s
u
p
p
lied
f
r
o
m
th
e
ele
ctr
icity
g
r
id
in
to
m
ec
h
a
n
ical
en
er
g
y
f
o
r
tr
ain
m
o
v
em
en
t
b
y
tr
an
s
f
er
r
i
n
g
t
o
r
q
u
e,
th
u
s
p
r
o
v
id
in
g
a
s
tab
le
p
o
wer
s
o
u
r
ce
f
o
r
th
e
tr
ain
[
4
]
.
T
h
e
p
o
wer
r
eq
u
ir
em
e
n
ts
o
f
HST
m
ain
ly
in
clu
d
e
en
er
g
y
f
o
r
th
e
tr
ac
tio
n
s
y
s
tem
an
d
s
o
m
e
f
o
r
au
x
iliar
y
f
ac
ilit
ies.
T
h
e
au
x
iliar
y
en
er
g
y
is
g
en
er
ally
c
o
n
s
tan
t,
wh
ile
th
e
tr
ac
tio
n
en
er
g
y
will
v
ar
y
o
v
er
tim
e,
b
ec
a
u
s
e
it
i
s
d
eter
m
in
ed
b
y
th
e
o
p
er
atin
g
co
n
d
itio
n
s
o
f
th
e
tr
ain
s
u
ch
as
ac
ce
ler
atio
n
,
wh
e
n
tr
a
v
elin
g
at
a
co
n
s
ta
n
t
s
p
ee
d
,
an
d
wh
e
n
b
r
ak
in
g
wh
e
n
a
p
p
r
o
ac
h
in
g
a
s
tatio
n
.
I
n
ad
d
itio
n
,
t
h
e
r
ailway
tr
ac
k
p
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f
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s
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ch
as
th
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ate
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ascen
t
a
n
d
d
escen
t,
r
ad
iu
s
o
f
c
u
r
v
atu
r
e,
an
d
r
o
llin
g
r
esis
tan
ce
,
as
well
as
th
e
weig
h
t
o
f
th
e
tr
ain
also
af
f
ec
t
th
e
p
o
wer
r
eq
u
ir
em
e
n
ts
o
f
th
e
HST
tr
a
ctio
n
m
o
to
r
s
y
s
tem
[
5
]
.
Ae
r
o
d
y
n
am
ics
p
lay
s
an
im
p
o
r
ta
n
t
r
o
le
in
th
e
e
n
er
g
y
ef
f
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cy
,
s
tab
ilit
y
,
an
d
co
m
f
o
r
t
o
f
HST,
esp
ec
ially
wh
en
tr
av
elin
g
at
v
e
r
y
h
ig
h
s
p
ee
d
s
.
At
h
ig
h
s
p
ee
d
s
,
ae
r
o
d
y
n
am
ic
f
o
r
ce
s
s
u
ch
as
d
r
ag
(
air
r
esis
tan
ce
)
an
d
lift
(
liftin
g
f
o
r
ce
)
b
ec
o
m
e
cr
itical
f
ac
to
r
s
th
at
af
f
ec
t
th
e
en
er
g
y
e
f
f
icien
cy
a
n
d
s
tab
ilit
y
o
f
th
e
tr
ai
n
[
6
]
.
C
u
r
r
en
tly
,
HST
g
en
er
ally
u
s
e
s
elec
tr
ical
m
u
ltip
le
u
n
its
(
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MU
)
to
m
ee
t
en
er
g
y
c
o
n
s
u
m
p
tio
n
to
b
e
m
o
r
e
ef
f
icien
t
wh
ile
p
r
o
v
i
d
in
g
o
p
tim
al
tr
ac
tio
n
a
n
d
b
r
ak
i
n
g
p
er
f
o
r
m
a
n
ce
.
Fig
u
r
e
1
s
h
o
ws
th
e
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o
u
t
o
f
t
h
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
P
erfo
r
ma
n
ce
o
f h
ig
h
-
s
p
ee
d
tr
a
in
tr
a
ctio
n
mo
to
r
s
ystem
in
a
cc
elera
tio
n
–
cru
is
e
mo
d
e:
…
(
Tr
i Wid
o
d
o
)
239
HST
u
s
ed
as
a
m
o
d
el
in
th
is
s
tu
d
y
.
T
h
e
tr
ac
tio
n
d
r
iv
e
s
y
s
tem
in
HST
with
E
MU
in
v
o
l
v
es
co
m
p
lex
in
ter
ac
tio
n
s
b
etwe
en
elec
tr
ic
al
co
m
p
o
n
en
ts
s
u
ch
as
tr
ac
ti
o
n
m
o
t
o
r
s
,
in
v
er
te
r
s
,
an
d
c
o
n
tr
o
l
s
y
s
tem
s
with
m
ec
h
an
ical
co
m
p
o
n
en
ts
s
u
ch
as
g
ea
r
b
o
x
es
an
d
wh
ee
ls
[
7
]
.
Sev
er
al
s
tu
d
ies
h
av
e
b
ee
n
d
ev
elo
p
ed
to
r
ed
u
ce
en
er
g
y
c
o
n
s
u
m
p
tio
n
in
t
r
ain
s
th
r
o
u
g
h
en
e
r
g
y
ev
alu
atio
n
o
f
t
h
e
tr
ain
tr
ac
tio
n
d
r
iv
e
s
y
s
tem
[
8
]
,
m
a
n
ag
em
e
n
t
o
f
th
e
tr
ac
tio
n
p
o
wer
s
u
p
p
ly
s
y
s
t
em
[
9
]
,
elec
tr
o
m
ec
h
an
ical
clu
t
ch
m
o
d
els
[
4
]
,
co
m
b
i
n
in
g
m
e
ch
an
ical
-
elec
tr
ical
-
h
y
d
r
a
u
lic
d
y
n
am
ic
clu
tc
h
d
r
iv
e
s
y
s
tem
s
(
ME
H
-
DC
D
S)
[
1
0
]
,
an
d
th
r
o
u
g
h
t
r
ac
tio
n
tr
an
s
m
is
s
io
n
s
y
s
tem
co
n
tr
o
l
(
T
T
S)
[
1
1
]
.
T
h
is
co
n
tr
o
l
tech
n
o
lo
g
y
h
as
also
b
ee
n
d
ev
elo
p
ed
u
s
in
g
t
h
e
m
o
d
el
p
r
ed
ictiv
e
co
n
tr
o
l
(
MPC
)
,
ad
ap
tiv
e
co
n
tr
o
l,
an
d
s
lid
in
g
m
o
d
e
c
o
n
tr
o
l
(
SMC
)
m
eth
o
d
s
[
1
2
]
.
Var
io
u
s
s
tu
d
ies
o
n
t
h
e
d
esig
n
an
d
p
e
r
f
o
r
m
an
ce
a
n
aly
s
is
o
f
tr
ac
tio
n
m
o
to
r
s
in
u
r
b
an
tr
ain
s
,
HST,
an
d
m
ag
lev
tr
ai
n
s
h
av
e
b
ee
n
c
o
n
d
u
cted
,
in
clu
d
i
n
g
Ham
e
d
an
i
et
a
l.
[
1
3
]
b
u
ild
a
s
im
u
latio
n
o
f
th
e
m
ec
h
an
ical
m
o
v
em
en
t
o
f
DC
elec
tr
ic
tr
ain
s
in
th
e
f
o
r
m
o
f
a
r
eg
en
e
r
ativ
e
b
r
a
k
in
g
m
o
d
el
an
d
s
teer
in
g
c
o
n
tr
o
l
with
co
asti
n
g
co
n
tr
o
l.
T
h
e
n
th
e
o
p
t
im
izatio
n
m
o
d
el
o
f
th
e
u
r
b
an
t
r
ain
tr
av
el
c
u
r
v
e
i
n
f
ast
an
d
s
lo
w
tr
ain
m
o
d
es
h
as
also
b
ee
n
cr
ea
ted
[
1
4
]
.
T
h
e
s
im
u
latio
n
ca
lc
u
latio
n
o
f
th
e
m
ag
lev
tr
ain
tr
ac
tio
n
is
d
esig
n
e
d
an
d
th
e
s
im
u
latio
n
s
y
s
tem
is
d
ev
elo
p
ed
u
s
in
g
th
e
ac
tu
al
o
p
er
atio
n
al
tr
ain
tr
ac
k
[
1
5
]
.
I
n
ad
d
itio
n
,
r
esear
ch
o
n
d
r
iv
in
g
s
tr
ateg
y
o
p
tim
izatio
n
an
d
f
ield
test
r
esu
lts
o
n
th
e
u
r
b
a
n
r
ail
tr
a
n
s
p
o
r
t
atio
n
s
y
s
tem
h
as
b
ee
n
ca
r
r
ied
o
u
t
[
1
6
]
as
well
as
an
an
aly
s
is
o
f
th
e
e
f
f
icien
cy
o
f
1
8
0
k
W
m
o
to
r
s
o
n
u
r
b
an
tr
ai
n
s
[
1
7
]
.
I
n
I
n
d
o
n
esia,
th
er
e
h
as
b
ee
n
a
r
ap
id
in
cr
ea
s
e
in
elec
tr
ic
-
b
ased
tr
ain
d
r
iv
e
s
y
s
tem
tech
n
o
lo
g
y
.
Ur
b
a
n
tr
ain
s
u
s
e
tr
ac
tio
n
m
o
to
r
s
with
an
o
u
tp
u
t
p
o
wer
o
f
1
0
0
k
W
an
d
1
8
0
k
W
[
1
8
]
,
[
1
9
]
.
T
h
en
th
er
e
is
a
ty
p
e
o
f
d
iesel
elec
tr
ic
m
u
ltip
le
u
n
it
(
DE
MU
)
th
at
u
s
es
a
tr
ac
tio
n
m
o
to
r
with
an
o
u
tp
u
t
p
o
wer
o
f
5
5
0
k
W
[
2
0
]
.
I
n
ad
d
itio
n
,
th
e
HST
r
o
u
te
J
ak
ar
ta
-
B
an
d
u
n
g
is
cu
r
r
en
tl
y
o
p
e
r
atin
g
with
a
m
ax
im
u
m
o
p
er
atin
g
s
p
ee
d
o
f
3
5
0
k
m
/h
[
2
1
]
.
As
a
co
m
p
ar
is
o
n
,
HST
in
th
e
wo
r
ld
wh
ich
h
as
a
s
p
ee
d
o
f
2
5
0
-
3
0
0
k
m
/
h
g
en
er
ally
u
s
es
tr
ac
tio
n
m
o
to
r
s
with
s
p
ec
if
icatio
n
s
b
et
wee
n
3
0
0
-
1
2
0
0
k
W
[
1
2
]
,
[
2
2
]
,
[
2
3
]
.
I
n
I
n
d
o
n
esia
its
elf
,
th
e
HST
r
o
u
te
J
ak
ar
ta
-
Su
r
ab
ay
a
is
cu
r
r
e
n
tly
b
ein
g
d
ev
elo
p
ed
with
a
s
p
ee
d
o
f
2
5
0
-
3
0
0
k
m
/h
.
T
o
b
e
ab
le
to
ac
h
iev
e
th
is
s
p
ee
d
,
a
s
q
u
ir
r
el
ca
g
e
in
d
u
ctio
n
m
o
to
r
(
SC
I
M)
d
esig
n
h
as
b
ee
n
d
ev
elo
p
ed
f
o
r
th
e
4
8
0
k
W
E
MU
[
2
4
]
.
Ho
wev
e
r
,
th
e
480
-
kW
m
o
to
r
d
esig
n
h
as n
o
t
s
im
u
lated
th
e
tr
ac
tio
n
m
o
to
r
s
y
s
tem
,
wh
ich
is
af
f
ec
ted
b
y
th
e
tr
ain
'
s
o
p
er
atio
n
al
tr
av
el
m
o
d
e,
n
am
ely
d
u
r
i
n
g
ac
ce
ler
atio
n
m
o
d
e
an
d
cr
u
is
e
m
o
d
e.
Mo
s
t
p
r
ev
io
u
s
s
tu
d
ies
h
av
e
p
r
im
ar
ily
f
o
c
u
s
ed
o
n
t
o
tal
en
er
g
y
c
o
n
s
u
m
p
tio
n
an
d
p
o
w
er
co
n
tr
o
l
s
tr
ateg
ies.
Ho
wev
er
,
lim
ited
r
esear
ch
h
as
b
ee
n
c
o
n
d
u
cted
o
n
th
e
d
etailed
f
r
ag
m
en
tatio
n
o
f
o
p
er
atio
n
al
m
o
d
es
(
i.e
.
,
ac
ce
ler
atio
n
an
d
cr
u
is
in
g
)
an
d
th
e
m
o
d
elin
g
o
f
r
esis
tiv
e
f
o
r
ce
s
in
clu
d
in
g
in
er
tia,
ae
r
o
d
y
n
a
m
ic
d
r
ag
,
a
n
d
g
r
ad
ien
t
r
esis
tan
ce
with
in
a
s
im
p
lifie
d
m
ath
em
atica
l
f
r
am
ewo
r
k
.
Su
c
h
a
f
r
am
ewo
r
k
wo
u
ld
f
ac
ilit
ate
in
teg
r
atio
n
with
d
r
iv
e
tr
ain
s
im
u
latio
n
s
an
d
r
ea
l
-
tim
e
co
n
tr
o
l
p
latf
o
r
m
s
,
p
ar
ticu
lar
ly
f
o
r
4
8
0
k
W
tr
ac
tio
n
m
o
to
r
s
.
T
h
is
s
tu
d
y
s
ee
k
s
to
ad
d
r
ess
th
ese
g
ap
s
b
y
p
r
o
p
o
s
in
g
a
m
o
d
el
th
at
b
alan
ce
s
co
m
p
u
tatio
n
al
ef
f
icien
cy
an
d
an
aly
tical
ac
cu
r
ac
y
f
o
r
th
e
ea
r
ly
-
s
tag
e
p
er
f
o
r
m
a
n
ce
ev
al
u
atio
n
o
f
tr
ac
tio
n
m
o
to
r
s
.
W
e
p
r
esen
t
a
s
im
u
latio
n
o
f
a
480
-
kW
h
ig
h
-
s
p
ee
d
tr
ain
t
r
a
ctio
n
m
o
t
o
r
o
p
er
atin
g
u
n
d
er
two
m
ain
co
n
d
itio
n
s
—
ac
ce
ler
atio
n
an
d
cr
u
is
in
g
b
ased
o
n
th
eo
r
etica
l
an
aly
s
is
.
T
h
e
an
aly
s
is
in
clu
d
es
an
ex
am
in
atio
n
o
f
th
e
m
o
to
r
’
s
to
r
q
u
e
d
y
n
am
ics,
p
o
wer
co
n
s
u
m
p
tio
n
,
an
d
o
p
er
atio
n
al
ef
f
icien
cy
u
n
d
er
v
ar
io
u
s
co
n
d
itio
n
s
,
as
well
as a
n
a
s
s
es
s
m
en
t o
f
h
o
w
s
p
ee
d
v
ar
iatio
n
s
an
d
tr
ac
k
p
r
o
f
iles
in
f
lu
en
ce
p
o
wer
r
eq
u
ir
e
m
en
ts
.
Alth
o
u
g
h
th
is
s
tu
d
y
f
o
c
u
s
es
o
n
th
e
m
o
d
elin
g
o
f
t
h
e
tr
ac
tio
n
m
o
to
r
,
th
e
o
v
er
all
p
er
f
o
r
m
an
ce
o
f
a
h
ig
h
-
s
p
ee
d
tr
ain
is
h
ig
h
l
y
d
ep
en
d
e
n
t
o
n
th
e
in
teg
r
atio
n
o
f
th
e
m
o
to
r
with
th
e
i
n
v
er
ter
,
p
o
wer
co
n
v
er
ter
,
an
d
co
n
tr
o
l
s
tr
ateg
y
.
T
h
er
ef
o
r
e,
f
u
tu
r
e
r
esear
c
h
s
h
o
u
l
d
b
e
d
ir
ec
ted
to
war
d
i
n
v
esti
g
atin
g
t
h
e
m
o
to
r
–
in
v
e
r
ter
in
ter
f
ac
e
to
o
p
tim
ize
en
e
r
g
y
co
n
s
u
m
p
tio
n
,
en
h
a
n
ce
ef
f
icien
cy
,
an
d
en
ab
le
th
e
in
teg
r
atio
n
o
f
r
eg
e
n
er
ativ
e
en
e
r
g
y
r
ec
o
v
e
r
y
s
y
s
tem
s
.
Fig
u
r
e
1
.
HST
lay
o
u
t
2.
H
ST
T
R
AVE
L
O
P
E
RA
T
I
O
NAL M
O
D
E
T
h
e
ca
lcu
latio
n
o
f
tr
ain
m
o
v
em
en
t
is
b
ased
o
n
New
to
n
'
s
laws
o
f
m
o
tio
n
,
co
n
s
id
er
in
g
g
r
ad
ien
ts
,
s
p
ee
d
lim
itatio
n
s
,
an
d
o
p
er
ati
n
g
m
o
d
es
[
2
5
]
.
I
n
th
is
s
tu
d
y
,
th
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
tr
ac
tio
n
m
o
to
r
s
y
s
tem
is
f
o
cu
s
ed
o
n
th
e
ac
ce
ler
atio
n
an
d
cr
u
is
e
m
o
d
es.
2
.
1
.
Acc
eler
a
t
io
n o
de
A
c
c
e
l
e
r
at
i
o
n
m
o
d
e
i
s
a
m
o
d
e
in
w
h
i
c
h
t
h
e
t
r
a
i
n
q
u
i
c
k
l
y
i
n
c
r
e
a
s
es
i
ts
s
p
e
e
d
f
r
o
m
a
s
t
a
n
d
s
t
il
l
o
r
i
n
i
t
i
al
s
p
e
e
d
t
o
c
r
u
i
s
e
s
p
e
e
d
.
W
h
e
n
ac
c
e
l
e
r
a
ti
o
n
m
o
d
e
o
c
c
u
r
s
,
H
S
T
r
e
q
u
i
r
e
s
h
i
g
h
t
o
r
q
u
e
a
t
t
h
e
s
t
ar
t
o
f
a
c
c
e
l
e
r
a
t
i
o
n
t
o
o
v
e
r
c
o
m
e
i
n
e
r
t
i
a
a
n
d
a
c
c
el
e
r
at
e
t
h
e
t
r
a
i
n
.
A
s
a
r
es
u
l
t
,
p
o
we
r
c
o
n
s
u
m
p
t
i
o
n
r
e
ac
h
e
s
a
m
ax
i
m
u
m
b
e
c
a
u
s
e
t
h
e
m
o
t
o
r
w
o
r
k
s
h
a
r
d
e
r
t
o
p
r
o
v
i
d
e
a
c
c
e
l
e
r
at
i
o
n
.
T
h
e
t
o
t
a
l
H
S
T
f
o
r
c
e
t
h
a
t
a
r
i
s
es
i
n
t
h
is
m
o
d
e
is
a
e
r
o
d
y
n
a
m
i
c
f
o
r
c
e
,
w
h
e
e
l
f
r
i
c
ti
o
n
,
i
n
c
l
i
n
e
r
e
s
i
s
t
a
n
c
e
,
a
n
d
a
c
c
e
l
e
r
a
ti
o
n
f
o
r
c
e
.
A
c
c
e
l
e
r
a
ti
o
n
m
o
d
e
h
a
s
a
s
h
o
r
t
d
u
r
a
t
i
o
n
b
e
c
a
u
s
e
t
h
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.
1
7
,
No
.
1
,
Ma
r
c
h
20
2
6
:
238
-
2
49
240
t
r
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f
HS
T
a
cc
e
l
e
r
a
ti
o
n
m
o
d
e
i
s
l
i
m
i
t
e
d
f
r
o
m
0
k
m
/
h
t
o
0
.
9
×
v
m
ax
.
I
f
t
h
e
m
a
x
i
m
u
m
s
p
e
e
d
(
v
ma
x
)
i
s
5
5
.
5
m
/
s
,
t
h
e
n
t
h
e
s
p
ee
d
l
i
m
it
i
s
0
-
5
0
m
/s
.
2
.
1
.
1
.
Cruis
e
m
o
de
C
r
u
is
e
m
o
d
e
o
cc
u
r
s
wh
en
t
h
e
tr
ain
h
as
r
ea
ch
ed
a
co
n
s
tan
t
s
p
ee
d
an
d
n
o
lo
n
g
e
r
e
x
p
er
ien
ce
s
s
ig
n
if
ican
t
ac
ce
ler
atio
n
o
r
d
e
ce
ler
atio
n
.
T
h
e
p
o
wer
in
th
e
tr
ac
tio
n
m
o
to
r
is
u
s
ed
to
o
v
e
r
co
m
e
air
r
esis
tan
ce
an
d
f
r
ictio
n
.
C
r
u
is
e
m
o
d
e
h
as
lo
wer
to
r
q
u
e
th
a
n
ac
ce
ler
atio
n
m
o
d
e
b
ec
au
s
e
th
e
m
o
to
r
o
n
ly
n
ee
d
s
to
m
ain
tain
s
p
ee
d
.
T
h
is
af
f
ec
ts
th
e
p
o
wer
co
n
s
u
m
p
tio
n
i
n
th
e
HST
wh
ich
is
lo
wer
th
an
in
ac
ce
ler
atio
n
m
o
d
e
b
ec
a
u
s
e
n
o
ad
d
itio
n
al
en
er
g
y
is
n
ee
d
e
d
to
in
cr
ea
s
e
s
p
ee
d
.
T
h
e
to
tal
f
o
r
ce
in
cr
u
is
e
m
o
d
e
c
o
m
es f
r
o
m
ae
r
o
d
y
n
am
ic
f
o
r
ce
s
,
wh
ee
l
f
r
ictio
n
,
an
d
u
p
h
ill
r
esis
tan
ce
(
n
o
ac
ce
ler
atio
n
f
o
r
ce
)
.
Ho
wev
er
,
th
e
d
u
r
atio
n
o
f
cr
u
is
e
m
o
d
e
is
lo
n
g
er
th
an
ac
ce
ler
atio
n
m
o
d
e
b
ec
a
u
s
e
th
e
tr
ain
ca
n
r
em
ain
in
t
h
is
m
o
d
e
f
o
r
a
lo
n
g
d
is
tan
ce
.
I
n
t
h
is
s
tu
d
y
,
th
e
s
p
ee
d
o
f
cr
u
is
e
m
o
d
e
is
lim
ited
f
r
o
m
0
.
9
×
v
max
to
v
max
,
s
o
t
h
e
s
p
ee
d
lim
it
is
5
0
-
5
5
.
5
m
/s
.
A
c
o
m
p
ar
is
o
n
o
f
th
ese
two
m
o
d
es c
an
b
e
s
ee
n
in
T
ab
le
1.
T
ab
le
1
.
C
h
ar
ac
ter
is
tics
o
f
ac
c
eler
atio
n
m
o
d
e
an
d
c
r
u
is
e
m
o
d
e
P
a
r
a
me
t
e
r
A
c
c
e
l
e
r
a
t
i
o
n
m
o
d
e
C
r
u
i
se
m
o
d
e
S
p
e
e
d
I
n
c
r
e
a
se
(
v
↑)
C
o
n
st
a
n
t
(
v
f
i
x
e
d
)
A
c
c
e
l
e
r
a
t
i
o
n
(
a
)
a
>
0
a
≈
0
(
a
p
p
r
o
a
c
h
e
s
0
)
M
o
t
o
r
t
o
r
q
u
e
Ta
l
l
Lo
w
e
r
Th
e
st
y
l
e
a
t
w
o
r
k
I
n
e
r
t
i
a
,
a
e
r
o
d
y
n
a
mi
c
s
,
f
r
i
c
t
i
o
n
,
sl
o
p
e
A
e
r
o
d
y
n
a
m
i
c
s
,
f
r
i
c
t
i
o
n
,
r
a
mp
D
u
r
a
t
i
o
n
S
h
o
r
t
Lo
n
g
3.
M
E
T
H
O
DO
L
O
G
Y
3
.
1
.
H
ST
t
ra
c
t
io
n m
o
t
o
r
s
pecif
ica
t
io
ns
B
ased
o
n
p
er
f
o
r
m
a
n
ce
r
e
q
u
ir
em
en
ts
an
d
f
ield
c
o
n
d
itio
n
s
,
th
e
g
en
e
r
al
tech
n
ical
s
p
ec
i
f
icatio
n
s
o
f
tr
ac
tio
n
m
o
t
o
r
s
f
o
r
HST
ca
n
b
e
s
ee
n
in
T
ab
le
2
.
T
h
e
d
esig
n
s
p
ec
if
icatio
n
s
o
f
tr
ac
tio
n
m
o
to
r
s
in
T
ab
le
2
ar
e
s
o
u
r
ce
d
f
r
o
m
s
im
ilar
s
tu
d
ies
a
n
d
in
p
u
t
f
r
o
m
tr
ac
tio
n
m
o
to
r
e
n
g
in
ee
r
in
g
e
x
p
er
ts
.
Sev
e
r
al
f
a
cto
r
s
co
n
s
id
er
e
d
in
d
esig
n
in
g
tr
ac
tio
n
m
o
to
r
s
ar
e
th
at
th
e
m
o
to
r
m
u
s
t
h
av
e
ef
f
i
cien
cy
an
d
p
o
wer
f
ac
to
r
i
n
ac
co
r
d
an
ce
with
h
ig
h
in
itial
to
r
q
u
e
r
eq
u
ir
e
m
en
ts
.
T
ab
le
3
c
o
n
tain
s
d
ata
o
n
s
im
ilar
HST
f
ac
ilit
ies
with
th
e
s
am
e
o
r
s
im
ilar
s
p
ec
if
icatio
n
s
to
th
e
HST
th
at
we
d
esig
n
ed
an
d
h
a
v
e
b
ee
n
d
e
v
elo
p
ed
i
n
o
th
e
r
s
tu
d
ies
o
r
h
a
v
e
b
ee
n
b
u
ilt
in
t
h
e
r
ailway
in
d
u
s
tr
y
.
T
h
is
d
ata
is
u
s
ed
to
d
eter
m
in
e
th
e
p
er
f
o
r
m
an
ce
o
f
tr
ac
tio
n
m
o
to
r
s
d
u
r
i
n
g
HST
o
p
er
atio
n
al
co
n
d
itio
n
s
,
n
a
m
ely
wh
en
ac
ce
ler
atio
n
m
o
d
e
an
d
c
r
u
is
e
m
o
d
e
ar
e
r
eq
u
ir
ed
.
T
ab
le
2
.
HST
tr
ac
tio
n
m
o
to
r
s
p
ec
if
icatio
n
s
P
a
r
a
me
t
e
r
Ty
p
e
/
v
a
l
u
e
M
o
t
o
r
p
o
w
e
r
(
P
)
4
8
0
k
W
V
o
l
t
a
g
e
(
V
)
2
3
0
0
V
A
C
F
r
e
q
u
e
n
c
y
(
f
)
8
5
H
z
S
p
e
e
d
(
N
)
1
5
0
0
r
p
m
Ef
f
i
c
i
e
n
c
y
(
η
)
9
5
%
W
h
e
e
l
S
p
o
k
e
s
0
.
5
m
T
ab
le
3
.
Sy
n
t
h
etic
p
ar
am
eter
s
f
o
r
HST
in
d
e
v
elo
p
m
e
n
t
P
a
r
a
me
t
e
r
V
a
l
u
e
N
u
mb
e
r
o
f
t
r
a
i
n
se
t
s
4
s
e
r
i
e
s
To
t
a
l
mass
o
f
t
r
a
i
n
(
m
)
4
0
0
,
0
0
0
k
g
A
i
r
r
e
si
s
t
a
n
c
e
c
o
e
f
f
i
c
i
e
n
t
(
C
d
)
0
.
2
–
0
.
3
F
r
o
n
t
a
l
c
r
o
ss
-
sec
t
i
o
n
a
l
a
r
e
a
(
A
)
1
0
–
1
2
m²
M
a
x
i
m
u
m
r
a
i
l
g
r
a
d
i
e
n
t
(
θ
)
4°
C
o
e
f
f
i
c
i
e
n
t
o
f
f
r
i
c
t
i
o
n
(
f
r
)
0
.
0
0
2
–
0
.
0
0
5
G
e
a
r
r
a
t
i
o
(
GR
)
3
A
i
r
d
e
n
s
i
t
y
(
)
~
1
.
2
2
5
k
g
/
m
3
G
r
a
v
i
t
y
(
g
)
9
.
8
1
m/
s
2
3
.
2
.
M
a
t
hem
a
t
ic
a
l m
o
delin
g
3
.
2
.
1
.
Ca
lcula
t
io
n o
f
t
he
f
o
rc
es a
ct
ing
o
n t
he
H
ST
T
h
e
f
o
r
ce
s
ac
tin
g
o
n
HST
s
tar
t f
r
o
m
New
to
n
'
s
f
o
r
ce
(
F
acc
)
in
(
1
)
.
=
(
1
)
T
h
en
th
e
ae
r
o
d
y
n
am
ic
d
r
ag
f
o
r
ce
(
F
aero
)
ap
p
ea
r
s
,
in
(
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
P
erfo
r
ma
n
ce
o
f h
ig
h
-
s
p
ee
d
tr
a
in
tr
a
ctio
n
mo
to
r
s
ystem
in
a
cc
elera
tio
n
–
cru
is
e
mo
d
e:
…
(
Tr
i Wid
o
d
o
)
241
=
2
2
(
2
)
I
n
ad
d
itio
n
,
in
th
e
HST,
th
er
e
i
s
also
a
f
r
ictio
n
al
r
esis
tan
ce
f
o
r
ce
(
F
rolling
)
ac
co
r
d
in
g
to
(
3
)
.
=
(
3
)
W
h
en
th
e
HST
o
p
er
ates o
n
an
u
p
h
ill r
o
a
d
(
θ
>
0
)
,
a
n
u
p
h
ill r
esis
tan
ce
f
o
r
ce
(
F
grade
)
ap
p
ea
r
s
as sh
o
wn
in
(
4
)
.
=
s
in
(
4
)
S
o,
th
e
to
tal
f
o
r
ce
th
at
m
u
s
t b
e
co
m
p
en
s
ated
b
y
th
e
t
r
ac
tio
n
m
o
to
r
in
(
5
)
.
=
+
+
+
(
5
)
T
h
e
tr
ac
tio
n
m
o
to
r
to
r
q
u
e
v
al
u
e
o
cc
u
r
s
b
ased
o
n
th
e
r
elatio
n
s
h
ip
b
etwe
en
th
e
to
tal
f
o
r
ce
ac
tin
g
o
n
th
e
tr
ain
an
d
th
e
r
a
d
iu
s
o
f
th
e
tr
ain
wh
ee
ls
.
T
h
e
(
6
)
s
h
o
ws
t
h
e
r
elatio
n
s
h
ip
b
etwe
en
th
e
tr
ac
tio
n
m
o
to
r
to
r
q
u
e
an
d
th
e
f
o
r
ce
ac
tin
g
o
n
th
e
tr
ai
n
,
as in
(
6
)
.
=
ℎ
(
6
)
W
h
er
e
T
m
is
th
e
m
o
to
r
to
r
q
u
e,
F
total
is
th
e
to
tal
f
o
r
ce
(
N)
,
ℎ
is
t
h
e
r
ad
iu
s
o
f
th
e
tr
ain
wh
ee
l.
3
.
2
.
2
.
T
ra
ct
io
n
mo
t
o
r
po
wer
co
ns
um
ptio
n
C
o
n
s
u
m
p
tio
n
o
n
HST
d
u
r
in
g
ac
ce
ler
atio
n
m
o
d
e
is
ce
r
tain
ly
d
if
f
e
r
en
t
f
r
o
m
HST
in
cr
u
is
e
m
o
d
e.
W
h
en
HST
is
in
ac
ce
ler
atio
n
m
o
d
e,
th
e
to
r
q
u
e
th
at
wo
r
k
s
is
g
r
ea
ter
wh
e
n
co
m
p
ar
ed
to
cr
u
is
e
m
o
d
e.
T
h
e
m
o
to
r
p
o
wer
co
n
s
u
m
p
tio
n
eq
u
atio
n
is
as seen
in
(
7
)
.
=
(
7
)
W
h
er
e
P
motor
is
th
e
m
o
to
r
p
o
wer
(
watts),
ω
is
th
e
an
g
u
lar
v
elo
city
(
r
ad
/s
)
.
T
h
e
n
th
e
an
g
u
lar
v
elo
city
o
f
th
e
m
o
to
r
is
f
o
u
n
d
as sh
o
w
n
in
(
8
)
.
=
2
60
(
8
)
W
h
er
e
N
is
th
e
n
u
m
b
er
o
f
r
e
v
o
lu
tio
n
s
(
r
p
m
)
.
3
.
2
.
3
.
Ana
ly
zing
t
he
ef
f
icienc
y
co
m
pa
riso
n o
f
a
cc
eler
a
t
io
n a
nd
cr
uis
e
m
o
des
I
n
th
e
ac
tu
al
s
y
s
tem
,
th
e
elec
tr
ical
p
o
wer
in
p
u
t
to
th
e
m
o
t
o
r
is
o
b
tain
ed
f
r
o
m
a
DC
–
AC
co
n
v
er
ter
-
b
ased
in
v
er
te
r
.
T
h
e
in
v
er
ter
e
f
f
icien
cy
η
inv
an
d
th
e
co
n
t
r
o
l
s
t
r
ateg
y
(
V/f
)
will
af
f
ec
t
th
e
i
n
p
u
t
p
o
wer
v
alu
e
P
in
in
(
1
0
)
.
T
h
u
s
,
th
e
to
tal
ef
f
icien
cy
o
f
th
e
d
r
iv
e
s
y
s
tem
ca
n
b
e
d
ef
in
ed
as (
9
)
.
=
(
9
)
T
h
e
ef
f
icien
cy
o
f
t
h
e
HST
tr
ac
tio
n
m
o
to
r
is
ca
lcu
lated
u
s
in
g
(
1
0
)
.
=
100%
(
1
0
)
W
h
er
e
P
outt
is
o
u
tp
u
t p
o
wer
,
P
in
is
in
p
u
t p
o
wer
.
3
.
3
.
T
ra
ct
io
n mo
t
o
r
perf
o
r
m
a
nce
a
na
ly
s
is
3
.
3
.
1
.
T
he
re
la
t
io
ns
hip
bet
we
en
m
o
t
o
r
t
o
rque
a
nd
t
im
e
f
u
nct
io
n
I
n
an
H
S
T
d
r
i
v
e
s
y
s
te
m
,
t
r
a
c
tio
n
m
o
t
o
r
t
o
r
q
u
e
i
s
t
h
e
m
a
i
n
f
ac
t
o
r
t
h
a
t
d
e
t
e
r
m
i
n
e
s
h
o
w
t
h
e
ac
c
e
l
e
r
a
ti
o
n
a
n
d
s
p
e
e
d
o
f
t
h
e
t
r
ai
n
d
e
v
e
l
o
p
o
v
e
r
t
i
m
e
.
M
o
t
o
r
t
o
r
q
u
e
as
a
f
u
n
c
t
i
o
n
o
f
t
i
m
e
d
e
s
c
r
i
b
e
s
h
o
w
t
h
e
f
o
r
c
e
p
r
o
d
u
c
e
d
b
y
t
h
e
m
o
t
o
r
c
h
a
n
g
e
s
i
n
v
a
r
i
o
u
s
s
t
a
g
es
o
f
t
r
a
i
n
o
p
e
r
a
t
i
o
n
,
f
r
o
m
a
c
c
e
l
e
r
a
t
i
o
n
,
c
r
u
i
s
e
,
t
o
d
e
c
e
l
e
r
a
t
i
o
n
.
T
h
e
t
o
r
q
u
e
(
T
m
)
p
r
o
d
u
c
e
d
b
y
t
h
e
e
l
e
c
t
r
ic
m
o
t
o
r
c
a
n
b
e
d
e
s
c
r
i
b
e
d
as
a
f
u
n
c
t
i
o
n
o
f
t
i
m
e
u
s
i
n
g
(
1
1
)
.
=
(
)
(
1
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
.
1
,
Ma
r
c
h
20
2
6
:
238
-
2
49
242
W
h
er
e
GR
is
th
e
Gea
r
R
atio
,
V
(
t)
is
th
e
s
p
ee
d
at
tim
e
t.
3
.
3
.
2
.
T
he
re
la
t
io
ns
hip
bet
we
en
po
wer
a
nd
t
im
e
f
un
ct
io
n
I
n
h
ig
h
-
s
p
ee
d
r
ail
s
y
s
tem
s
,
p
o
wer
as
a
f
u
n
ctio
n
o
f
tim
e
p
lay
s
a
m
ajo
r
r
o
le
in
u
n
d
er
s
ta
n
d
in
g
th
e
ef
f
icien
cy
a
n
d
p
er
f
o
r
m
an
ce
o
f
tr
ain
o
p
er
atio
n
in
ac
ce
ler
atio
n
m
o
d
e
an
d
cr
u
is
e
m
o
d
e.
T
h
e
(
1
2
)
s
h
o
ws
th
e
to
tal
p
o
wer
o
u
tp
u
t b
y
th
e
m
o
to
r
,
an
d
(
13
)
s
h
o
ws th
e
to
tal
f
o
r
ce
ap
p
ea
r
in
g
in
th
e
m
o
t
o
r
af
f
ec
ted
b
y
tim
e
.
(
)
=
(
)
(
)
(
12
)
(
)
=
.
(
)
+
+
(
13
)
W
h
er
e
P
(
t)
is
th
e
to
tal
p
o
wer
f
u
n
ctio
n
o
f
tim
e,
is
F
(
t)
is
th
e
t
o
tal
f
o
r
ce
f
u
n
ctio
n
o
f
tim
e.
T
h
e
h
ig
h
er
th
e
s
p
ee
d
,
th
e
g
r
ea
ter
th
e
p
o
wer
r
eq
u
ir
e
d
b
ec
au
s
e
th
e
ae
r
o
d
y
n
am
ic
d
r
a
g
in
cr
ea
s
es e
x
p
o
n
en
tially
in
(
14
)
.
∝
2
(
14
)
3
.
3
.
3
.
Rela
t
io
ns
hip
bet
wee
n
ef
f
iciency
a
nd
s
peed
f
un
ct
io
n
I
n
HST
tr
an
s
p
o
r
tatio
n
s
y
s
tem
s
,
en
er
g
y
ef
f
icien
cy
as
a
f
u
n
c
tio
n
o
f
s
p
ee
d
p
la
y
s
an
im
p
o
r
t
an
t
r
o
le
in
o
p
tim
izin
g
p
er
f
o
r
m
an
ce
an
d
p
o
wer
c
o
n
s
u
m
p
tio
n
.
T
h
is
ef
f
i
cien
cy
d
e
p
en
d
s
o
n
t
h
e
o
p
er
at
in
g
s
p
ee
d
,
ex
ter
n
al
d
r
ag
f
o
r
ce
,
a
n
d
tr
ac
tio
n
m
o
t
o
r
ch
ar
ac
ter
is
tics
.
T
h
e
r
elatio
n
s
h
ip
b
etwe
en
e
f
f
icien
cy
(
η
)
an
d
s
p
ee
d
(
v
)
is
b
ased
o
n
th
e
p
r
in
cip
les o
f
elec
tr
ic
v
e
h
icle
p
h
y
s
ics an
d
e
n
g
in
ee
r
in
g
in
(
15
)
.
=
(
15
)
W
h
er
e
P
out
is
th
e
m
ec
h
an
ical
p
o
wer
u
s
ed
to
d
r
iv
e
th
e
tr
ain
,
P
in
is
th
e
e
lectr
ical
p
o
wer
s
u
p
p
lied
to
th
e
tr
ac
tio
n
m
o
to
r
f
r
o
m
t
h
e
elec
tr
ical
s
y
s
tem
,
η
is
th
e
E
f
f
icien
c
y
o
f
th
e
m
o
to
r
v
ar
ies
d
ep
e
n
d
in
g
o
n
t
h
e
r
esis
tan
ce
f
ac
to
r
wh
ich
ch
an
g
es with
s
p
ee
d
.
I
n
ad
d
itio
n
to
n
u
m
er
ical
an
al
y
s
is
,
s
im
u
latio
n
r
esu
lts
ar
e
v
is
u
alize
d
g
r
ap
h
ically
to
f
ac
ili
tate
tr
en
d
in
ter
p
r
etatio
n
.
I
n
clu
d
ed
p
l
o
ts
in
clu
d
e
to
r
q
u
e
v
er
s
u
s
tim
e,
p
o
wer
v
er
s
u
s
tim
e,
p
o
wer
v
er
s
u
s
s
p
ee
d
,
an
d
ef
f
icien
cy
v
er
s
u
s
s
p
ee
d
.
T
h
ese
g
r
ap
h
s
ar
e
u
s
ed
to
id
en
tify
cr
itical
o
p
er
atin
g
p
o
in
ts
an
d
p
ea
k
m
o
to
r
d
em
a
n
d
,
an
d
to
a
p
p
ly
th
ese
to
m
o
to
r
s
izin
g
,
co
o
lin
g
s
y
s
tem
s
,
an
d
e
n
er
g
y
m
an
a
g
em
en
t.
3
.
4
.
Sens
it
iv
it
y
a
nd
un
ce
rt
a
inty
a
na
ly
s
is
3
.
4
.
1
.
L
o
ca
l
s
ens
it
iv
it
y
a
na
ly
s
is
L
o
ca
l
s
en
s
itiv
ity
an
aly
s
is
is
c
o
n
d
u
cte
d
to
ass
ess
th
e
ef
f
ec
t
o
f
s
m
all
ch
an
g
es
in
in
p
u
t
p
ar
am
eter
s
o
n
m
o
d
el
o
u
t
p
u
t,
s
p
ec
if
ically
tr
ac
tio
n
m
o
to
r
to
r
q
u
e.
T
h
is
ap
p
r
o
ac
h
u
s
es
a
n
u
m
er
ical
d
if
f
er
en
tiatio
n
m
eth
o
d
(
f
in
ite
d
if
f
er
en
ce
m
eth
o
d
)
ar
o
u
n
d
th
e
n
o
m
i
n
al
p
ar
am
eter
v
alu
es
[
2
6
]
.
Par
am
eter
ch
an
g
es
ar
e
m
ad
e
o
n
e
at
a
tim
e
with
v
ar
iatio
n
s
o
f
±
Δ
y
a
n
d
±
Δ
p
,
wh
ile
o
th
er
p
ar
am
ete
r
s
ar
e
k
ep
t
co
n
s
tan
t.
T
h
e
s
en
s
itiv
ity
co
ef
f
icien
t
is
ca
lcu
lated
as a
n
o
r
m
alize
d
s
en
s
itiv
ity
in
(
16
)
.
=
(
∆
)
(
∆
)
⁄
(
16
)
W
h
er
e
S
p
in
d
icate
s
th
e
r
elativ
e
r
ate
o
f
c
h
an
g
e
i
n
o
u
t
p
u
t (
y
)
r
e
lativ
e
to
th
e
r
elativ
e
ch
a
n
g
e
in
p
ar
am
eter
(
p
).
T
h
e
p
ar
am
ete
r
s
an
aly
ze
d
in
cl
u
d
e
th
e
tr
ac
k
g
r
ad
ien
t
(
θ
)
,
t
h
e
r
o
llin
g
c
o
ef
f
icien
t
(
f
r
)
,
an
d
th
e
d
r
a
g
co
ef
f
icien
t (
C
d
)
.
T
h
is
an
aly
s
is
p
r
o
v
id
es a
n
in
itial u
n
d
er
s
tan
d
i
n
g
o
f
th
e
s
y
s
tem
's s
en
s
itiv
ity
a
r
o
u
n
d
th
e
n
o
m
in
al
o
p
er
atin
g
p
o
i
n
t
an
d
s
er
v
es
as
a
b
asis
f
o
r
d
eter
m
in
i
n
g
t
h
e
p
a
r
am
eter
v
a
r
iatio
n
r
an
g
e
f
o
r
th
e
g
lo
b
al
s
en
s
itiv
ity
an
aly
s
is
.
3
.
4
.
2
.
Sens
it
iv
it
y
a
na
ly
s
is
a
nd
g
lo
ba
l uncer
t
a
inty
A
g
lo
b
al
s
en
s
itiv
ity
an
aly
s
is
is
u
s
ed
to
e
v
alu
ate
th
e
s
im
u
l
tan
eo
u
s
in
f
l
u
en
ce
o
f
all
p
ar
a
m
eter
s
o
n
m
o
d
el
o
u
tp
u
t,
as
well
as
th
e
in
ter
ac
tio
n
s
b
etwe
en
p
ar
a
m
eter
s
.
T
h
e
ap
p
r
o
ac
h
u
s
ed
is
m
o
n
te
C
ar
lo
s
am
p
lin
g
(
MCS
)
with
a
s
am
p
le
s
ize
o
f
N=
5
,
0
0
0
[
2
7
]
.
Fiv
e
m
ain
p
ar
am
eter
s
ar
e
u
s
ed
as
r
an
d
o
m
v
ar
iab
les:
tr
ajec
to
r
y
g
r
ad
ien
t
(
θ
)
,
r
o
llin
g
co
ef
f
icie
n
t
(
f
r
)
,
d
r
a
g
co
ef
f
icien
t
(
C
d
)
,
to
tal
m
ass
(
m
)
,
an
d
f
r
o
n
tal
ar
ea
(
A
)
.
Par
am
eter
s
with
f
ix
ed
v
alu
e
b
o
u
n
d
ar
ies
ar
e
ass
u
m
ed
to
h
av
e
a
u
n
if
o
r
m
d
is
tr
ib
u
tio
n
,
w
h
ile
p
ar
am
eter
s
with
n
atu
r
al
v
ar
iatio
n
a
r
o
u
n
d
t
h
eir
n
o
m
in
al
v
alu
es
ar
e
ass
u
m
ed
t
o
b
e
n
o
r
m
al.
At
ea
ch
iter
atio
n
,
a
s
et
o
f
p
ar
am
eter
s
is
r
an
d
o
m
l
y
d
r
awn
f
r
o
m
a
p
r
e
d
eter
m
in
ed
d
is
tr
ib
u
tio
n
to
ca
lc
u
late
m
o
d
el
o
u
tp
u
ts
(
to
r
q
u
e,
p
o
wer
,
ef
f
icien
cy
)
.
T
h
is
p
r
o
ce
s
s
is
r
ep
ea
ted
th
o
u
s
an
d
s
o
f
tim
es to
f
o
r
m
a
s
tatis
tical
d
is
tr
ib
u
tio
n
o
f
th
e
r
esu
lts
.
T
h
e
m
ea
n
,
s
tan
d
ar
d
d
ev
iatio
n
,
m
e
d
ian
,
a
n
d
5
–
9
5
%
co
n
f
id
e
n
ce
in
ter
v
al
is
ca
lcu
lat
ed
to
d
escr
ib
e
m
o
d
el
u
n
ce
r
tain
ty
.
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
P
erfo
r
ma
n
ce
o
f h
ig
h
-
s
p
ee
d
tr
a
in
tr
a
ctio
n
mo
to
r
s
ystem
in
a
cc
elera
tio
n
–
cru
is
e
mo
d
e:
…
(
Tr
i Wid
o
d
o
)
243
T
o
ass
ess
th
e
r
elatio
n
s
h
ip
b
etwe
en
in
p
u
t
an
d
o
u
tp
u
t
p
ar
am
eter
s
,
th
e
p
ar
tial
r
a
n
k
co
r
r
elatio
n
co
ef
f
icien
t
(
PR
C
C
)
is
u
s
ed
,
wh
ich
ca
lcu
lates
th
e
p
ar
tial
c
o
r
r
elatio
n
b
etwe
en
v
a
r
iab
les
wh
ile
co
n
tr
o
llin
g
f
o
r
th
e
in
f
lu
e
n
ce
o
f
o
t
h
er
p
ar
am
et
er
s
.
PR
C
C
v
alu
es
r
an
g
e
f
r
o
m
−1
to
+
1
,
with
lar
g
er
ab
s
o
lu
te
v
alu
es
in
d
icatin
g
a
p
ar
am
eter
'
s
g
r
ea
ter
in
f
lu
en
ce
o
n
m
o
d
el
o
u
tp
u
t
v
ar
iatio
n
.
T
h
e
PR
C
C
m
eth
o
d
is
ef
f
ec
tiv
e
f
o
r
id
en
tify
i
n
g
g
lo
b
al
s
en
s
itiv
ity
in
n
o
n
lin
ea
r
s
y
s
tem
s
an
d
h
as
b
ee
n
wid
ely
a
p
p
li
ed
in
u
n
ce
r
tain
t
y
s
tu
d
ies
[
2
8
]
.
T
h
e
c
o
m
b
in
atio
n
o
f
th
e
MCS
an
d
PR
C
C
ap
p
r
o
ac
h
es
allo
ws
f
o
r
a
m
o
r
e
c
o
m
p
r
eh
e
n
s
iv
e
s
en
s
itiv
ity
an
aly
s
is
th
an
s
im
p
le
d
eter
m
in
is
tic
m
eth
o
d
s
.
Simu
la
tio
n
s
wer
e
co
n
d
u
cted
u
s
in
g
Py
th
o
n
3
.
8
.
I
n
ad
d
itio
n
to
s
en
s
itiv
ity
,
r
ea
l
-
wo
r
ld
lim
itatio
n
s
m
u
s
t
b
e
co
n
s
id
er
ed
.
Mo
to
r
tr
ac
tio
n
p
e
r
f
o
r
m
an
ce
is
lim
ited
b
y
win
d
in
g
tem
p
er
at
u
r
e
an
d
c
o
o
lin
g
ca
p
ac
ity
,
s
o
th
e
co
n
tin
u
o
u
s
to
r
q
u
e
r
atin
g
is
lo
wer
t
h
an
t
h
e
th
eo
r
etica
l
p
ea
k
to
r
q
u
e.
Similar
ly
,
in
v
er
ter
d
y
n
am
ics
(
s
witch
in
g
l
o
s
s
es,
cu
r
r
en
t h
ar
m
o
n
ics)
ca
n
r
ed
u
ce
s
y
s
tem
ef
f
icien
cy
b
y
s
ev
er
al
p
er
ce
n
t
co
m
p
ar
ed
to
id
ea
l
esti
m
ates.
T
h
ese
f
ac
to
r
s
m
u
s
t
b
e
tak
en
i
n
to
ac
co
u
n
t
d
u
r
in
g
d
esig
n
,
p
ar
ticu
lar
l
y
f
o
r
lo
n
g
-
te
r
m
o
p
e
r
atio
n
an
d
h
ig
h
-
g
r
ad
ien
t tr
ac
k
co
n
d
itio
n
s
.
4.
T
E
ST
R
E
SU
L
T
S AN
D
AN
A
L
YS
I
S
B
ased
o
n
th
e
tr
ac
tio
n
m
o
t
o
r
s
p
ec
if
icatio
n
d
ata
in
T
ab
le
2
a
n
d
th
e
d
escr
ip
tio
n
o
f
th
e
HST
o
p
er
atio
n
al
co
n
d
itio
n
s
in
T
ab
le
3
,
a
n
an
aly
s
is
o
f
th
e
to
tal
f
o
r
ce
,
HST
tr
ac
tio
n
m
o
to
r
to
r
q
u
e,
a
n
d
HST
tr
ac
tio
n
m
o
to
r
p
o
wer
co
n
s
u
m
p
tio
n
th
at
o
cc
u
r
s
o
n
th
e
HST
in
ac
ce
ler
atio
n
m
o
d
e
an
d
cr
u
is
e
m
o
d
e
is
ca
r
r
ied
o
u
t,
wh
ich
ca
n
b
e
s
ee
n
in
T
ab
le
4.
T
ab
le
4
s
h
o
ws
th
at
th
e
s
p
ee
d
g
r
a
d
u
ally
in
c
r
ea
s
es
lin
ea
r
ly
wit
h
in
cr
ea
s
in
g
tim
e.
C
o
n
v
er
s
ely
,
th
e
in
cr
ea
s
in
g
s
p
ee
d
th
en
at
a
ce
r
tain
p
o
in
t
th
e
ac
ce
ler
atio
n
d
ec
r
ea
s
es
u
n
til
it
ap
p
r
o
ac
h
es
ze
r
o
.
Fro
m
th
e
tab
le
s
h
o
ws
th
e
ac
c
eler
atio
n
m
o
d
e
s
tar
tin
g
f
r
o
m
s
till
m
o
v
in
g
t
o
a
s
p
ee
d
a
p
p
r
o
ac
h
in
g
5
0
m
/s
,
in
cr
u
is
e
m
o
d
e
t
h
e
s
p
ee
d
h
as
s
tar
ted
to
s
tab
ilize
s
tar
tin
g
f
r
o
m
a
s
p
ee
d
o
f
5
0
m
/s
to
5
5
m
/s
.
I
n
HST
o
p
er
atio
n
s
,
s
p
ee
d
as a
f
u
n
ctio
n
o
f
tim
e
as seen
in
Fig
u
r
e
2
.
T
ab
le
4
.
C
alcu
latio
n
o
f
f
o
r
ce
,
to
r
q
u
e
a
n
d
p
o
wer
o
f
HST
tr
ac
tio
n
m
o
to
r
t
(
s)
V
(
m/
s)
a
(
m/
s²)
F
(N)
T
m
(
N
m)
P
(W)
1
1
.
3
7
2
.
7
1
5
4
1
,
8
7
0
.
8
9
4
,
8
3
8
.
1
3
4
6
,
5
0
3
.
9
5
10
2
1
.
0
2
1
.
7
3
3
4
5
,
3
5
6
.
5
3
3
,
0
8
3
.
5
4
4
5
3
,
8
0
9
.
0
8
20
3
4
.
6
2
1
.
0
5
2
0
9
,
3
6
4
.
5
1
1
,
8
6
9
.
3
3
4
5
3
,
0
6
0
.
0
4
30
4
2
.
8
7
0
.
6
3
1
2
6
,
9
2
2
.
4
5
1
,
1
3
3
.
2
4
3
4
0
,
0
5
5
.
4
6
40
4
7
.
8
7
0
.
3
8
7
6
,
9
4
3
.
8
4
6
8
7
.
0
0
2
3
0
,
1
8
5
.
4
2
50
5
0
.
9
0
0
.
2
3
4
6
,
6
4
5
.
4
5
4
1
6
.
4
8
1
4
8
,
3
7
7
.
6
3
60
5
2
.
7
3
0
.
1
4
2
8
,
2
7
7
.
7
4
2
5
2
.
4
8
9
3
,
1
9
6
.
7
7
70
5
3
.
8
5
0
.
0
9
1
7
,
1
4
2
.
7
3
1
5
3
.
0
6
5
7
,
6
9
1
.
4
4
80
5
4
.
5
2
0
.
0
5
1
0
,
3
9
2
.
3
9
9
2
.
7
9
3
5
,
4
1
2
.
5
7
90
5
4
.
9
3
0
.
0
3
6
,
3
0
0
.
1
5
5
6
.
2
5
2
1
,
6
2
9
.
1
9
1
0
0
5
5
.
1
8
0
.
0
2
3
,
8
1
9
.
3
2
3
4
.
1
0
1
3
,
1
7
1
.
4
2
Fig
u
r
e
2
.
HST
o
p
er
atio
n
al
s
p
e
ed
with
tim
e
f
u
n
ctio
n
v
a
r
iatio
n
4
.
1
.
Rela
t
io
ns
hip
bet
wee
n m
o
t
o
r
t
o
rque
a
nd
t
im
e
f
un
ct
io
n
T
h
e
to
r
q
u
e
with
a
f
u
n
ctio
n
o
f
tim
e
p
r
o
d
u
ce
d
b
y
th
e
tr
ac
ti
o
n
m
o
to
r
is
af
f
ec
ted
b
y
t
h
e
tr
ain
'
s
o
p
er
atin
g
m
o
d
e,
n
a
m
ely
ac
ce
ler
atio
n
m
o
d
e
an
d
c
r
u
is
e
m
o
d
e.
Fig
u
r
e
3
(
a)
s
h
o
ws
th
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
tr
ac
tio
n
m
o
t
o
r
v
er
s
u
s
th
e
f
u
n
ctio
n
o
f
tim
e
b
a
s
ed
o
n
t
h
e
d
ata
in
T
a
b
le
4
.
I
n
ac
ce
ler
atio
n
m
o
d
e,
t
h
er
e
is
an
in
cr
ea
s
e
in
t
o
r
q
u
e
at
th
e
b
eg
in
n
in
g
o
f
tim
e.
T
h
is
is
b
ec
au
s
e
th
e
tr
ac
tio
n
m
o
to
r
m
u
s
t p
r
o
v
id
e
a
lar
g
e
th
r
u
s
t to
o
v
er
co
m
e
t
h
e
tr
ain
'
s
in
er
tia,
wh
ee
l
f
r
ictio
n
,
ae
r
o
d
y
n
am
ic
f
o
r
ce
an
d
in
cr
ea
s
ed
s
p
ee
d
.
I
f
th
e
ac
ce
ler
atio
n
r
e
m
ain
s
co
n
s
tan
t,
th
e
to
r
q
u
e
r
em
ain
s
at
a
h
ig
h
v
al
u
e
b
ef
o
r
e
s
tar
tin
g
to
d
ec
r
ea
s
e
as
th
e
s
p
ee
d
in
cr
ea
s
es.
I
n
c
r
u
is
e
m
o
d
e,
af
ter
th
e
s
p
ee
d
is
s
tab
le,
th
e
ac
ce
ler
atio
n
ap
p
r
o
ac
h
es
ze
r
o
(
a
≈
0
)
th
en
th
e
to
r
q
u
e
ten
d
s
to
d
e
cr
ea
s
e
an
d
ten
d
s
to
s
tab
ilize
at
a
lo
wer
v
alu
e.
T
o
r
q
u
e
is
u
s
ed
to
co
u
n
ter
ac
t
r
esis
tan
ce
s
u
ch
as
wh
ee
l
f
r
ictio
n
,
air
r
esis
tan
ce
,
an
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
1
7
,
No
.
1
,
Ma
r
c
h
20
2
6
:
238
-
2
49
244
tr
ac
k
p
r
o
f
ile.
T
h
e
to
r
q
u
e
i
n
cr
u
is
e
m
o
d
e
is
co
n
s
tan
t
an
d
lo
w
er
th
an
in
ac
ce
ler
atio
n
m
o
d
e,
b
ec
au
s
e
it
f
u
n
ctio
n
s
to
m
ain
tain
s
p
ee
d
.
Fu
r
th
er
m
o
r
e
,
th
e
in
itial
to
r
q
u
e
(
≈
4
,
8
3
8
Nm
)
is
o
b
s
er
v
e
d
d
u
r
in
g
ac
ce
ler
atio
n
,
wh
ich
t
h
e
n
d
ec
r
ea
s
es
an
d
s
tab
ilizes at
ar
o
u
n
d
1
,
1
0
0
Nm
in
cr
u
is
e
m
o
d
e.
T
h
is
u
n
d
e
r
s
co
r
es th
e
im
p
o
r
tan
ce
o
f
d
esi
g
n
in
g
a
m
o
to
r
with
h
ig
h
in
itial
to
r
q
u
e
ca
p
ab
ilit
y
t
o
o
v
er
c
o
m
e
th
e
in
er
tia
an
d
r
esis
tiv
e
f
o
r
ce
s
o
f
th
e
HST.
T
h
e
m
o
to
r
p
er
f
o
r
m
a
n
ce
d
escr
ib
ed
h
er
e
is
clo
s
ely
r
elat
ed
to
t
h
e
c
o
n
v
er
te
r
co
n
tr
o
l
s
tr
ateg
y
.
T
h
e
u
s
e
o
f
f
ield
-
o
r
ien
te
d
co
n
t
r
o
l
(
FOC
)
o
r
m
o
d
el
p
r
ed
ictiv
e
co
n
tr
o
l
(
MPC
)
ca
n
m
ain
tain
o
p
tim
al
to
r
q
u
e
wh
ile
m
in
im
izin
g
s
witch
in
g
l
o
s
s
es.
Fu
r
th
er
m
o
r
e
,
th
e
in
teg
r
atio
n
o
f
r
eg
en
er
ativ
e
b
r
ak
in
g
allo
ws
en
er
g
y
r
ec
o
v
er
y
o
n
d
o
wn
h
ill
s
lo
p
es,
th
u
s
r
ed
u
cin
g
to
tal
e
n
er
g
y
co
n
s
u
m
p
tio
n
.
T
h
e
d
ev
elo
p
ed
m
o
d
el
ca
n
b
e
in
ter
f
ac
e
d
with
t
h
e
co
n
tr
o
l
s
y
s
tem
to
tr
an
s
m
it m
o
to
r
r
esp
o
n
s
es in
r
e
al
-
tim
e
s
ce
n
ar
io
s
.
4
.
2
.
T
he
re
la
t
io
ns
hip
bet
wee
n po
wer
a
nd
t
im
e
f
un
ct
io
n
T
h
e
p
o
wer
co
n
s
u
m
e
d
b
y
th
e
t
r
ac
tio
n
m
o
t
o
r
is
h
ig
h
l
y
d
ep
e
n
d
en
t
o
n
th
e
s
p
ee
d
a
n
d
to
r
q
u
e
p
r
o
d
u
ce
d
.
Po
wer
in
t
h
e
f
u
n
ctio
n
o
f
tim
e
in
th
is
s
tu
d
y
is
u
s
ef
u
l
f
o
r
k
n
o
win
g
th
e
am
o
u
n
t
o
f
p
o
wer
co
n
s
u
m
p
tio
n
is
s
u
ed
at
ea
ch
tim
e
c
h
an
g
e
in
o
r
d
e
r
to
p
r
e
d
ict
th
e
p
er
f
o
r
m
an
ce
o
f
th
e
tr
ac
tio
n
m
o
to
r
b
ei
n
g
d
ev
elo
p
ed
.
I
n
its
im
p
lem
en
tatio
n
,
p
o
wer
o
n
th
e
HST
o
cc
u
r
s
wh
en
th
e
ch
ar
ac
ter
is
tics
o
f
ac
ce
ler
atio
n
m
o
d
e
an
d
cr
u
is
e
m
o
d
e
.
Fig
u
r
e
3
(
b
)
s
h
o
ws
th
at
in
ac
ce
ler
atio
n
m
o
d
e
t
h
er
e
is
a
p
o
wer
s
u
r
g
e
at
th
e
b
eg
i
n
n
in
g
o
f
tim
e
b
ec
au
s
e
th
e
tr
ac
tio
n
m
o
t
o
r
r
e
q
u
ir
es
lar
g
e
p
o
wer
to
o
v
e
r
co
m
e
v
eh
icle
in
er
tia,
f
r
ictio
n
al
r
esis
tan
ce
,
ae
r
o
d
y
n
a
m
ic
r
esis
tan
ce
b
ased
o
n
T
ab
le
4
.
I
t c
an
b
e
s
ee
n
in
th
e
ac
ce
ler
atio
n
m
o
d
e
p
h
ase
th
at
if
th
e
ac
ce
ler
atio
n
is
h
ig
h
,
t
h
e
p
o
wer
will
ju
m
p
s
h
ar
p
l
y
an
d
last
f
o
r
a
s
h
o
r
t
tim
e,
wh
ile
if
th
e
ac
ce
ler
at
io
n
is
lo
w,
th
e
p
o
wer
will
in
cr
ea
s
e
g
r
ad
u
ally
an
d
last
lo
n
g
er
.
I
n
th
is
m
o
d
e
,
th
e
HST
tr
ac
tio
n
m
o
to
r
r
eq
u
ir
es
h
ig
h
p
o
we
r
to
ac
ce
ler
ate
th
e
t
r
ain
q
u
ick
ly
.
Po
wer
co
n
s
u
m
p
tio
n
in
cr
ea
s
es
with
v
eh
icle
in
er
tia,
tr
ac
k
p
r
o
f
ile,
an
d
air
r
esis
tan
ce
.
W
h
en
in
c
r
u
is
e
m
o
d
e,
p
o
wer
co
n
s
u
m
p
tio
n
ten
d
s
to
b
e
s
tab
le.
T
h
is
is
b
ec
au
s
e
th
e
m
o
to
r
o
n
ly
n
ee
d
s
to
o
v
er
c
o
m
e
ae
r
o
d
y
n
am
ic
r
esis
tan
ce
an
d
f
r
ictio
n
al
r
esis
tan
ce
,
with
o
u
t
th
e
n
ee
d
t
o
in
cr
ea
s
e
s
p
ee
d
f
u
r
th
e
r
.
W
h
en
t
h
e
HST
cr
u
is
in
g
s
p
ee
d
is
lo
w
to
m
ed
iu
m
,
p
o
wer
co
n
s
u
m
p
tio
n
is
r
elativ
ely
s
m
all
a
n
d
s
tab
le.
T
h
is
is
b
ec
a
u
s
e
n
o
en
e
r
g
y
is
u
s
ed
t
o
in
cr
ea
s
e
s
p
ee
d
.
Me
an
wh
ile,
i
f
th
e
HS
T
cr
u
is
in
g
s
p
ee
d
is
h
ig
h
,
p
o
wer
co
n
s
u
m
p
tio
n
is
g
r
ea
ter
b
ec
au
s
e
ae
r
o
d
y
n
am
ic
r
esis
tan
ce
in
cr
ea
s
es.
Af
ter
th
e
p
o
wer
r
ea
ch
es its
p
ea
k
,
th
en
th
e
p
o
wer
b
eg
in
s
to
s
tab
ilize
o
r
b
eg
in
s
to
d
ec
r
ea
s
e
b
ec
au
s
e
th
e
ac
ce
ler
atio
n
d
ec
r
ea
s
es.
E
n
er
g
y
co
n
s
u
m
p
tio
n
t
en
d
s
to
in
cr
ea
s
e
with
s
p
ee
d
d
u
e
to
th
e
ef
f
ec
t
o
f
ae
r
o
d
y
n
am
ic
r
esis
tan
ce
.
(
a)
(
b
)
(
c)
Fig
u
r
e
3
.
Dy
n
am
ic
p
e
r
f
o
r
m
an
ce
ch
ar
ac
ter
is
tics
o
f
th
e
tr
ac
tio
n
m
o
to
r
:
(
a)
to
r
q
u
e
m
o
to
r
-
ti
m
e
f
u
n
ctio
n
,
(
b
)
p
o
wer
m
o
t
o
r
–
tim
e
f
u
n
cti
o
n
,
an
d
(
c)
ef
f
icien
cy
m
o
to
r
–
tim
e
f
u
n
ctio
n
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
P
erfo
r
ma
n
ce
o
f h
ig
h
-
s
p
ee
d
tr
a
in
tr
a
ctio
n
mo
to
r
s
ystem
in
a
cc
elera
tio
n
–
cru
is
e
mo
d
e:
…
(
Tr
i Wid
o
d
o
)
245
4
.
3
.
Rela
t
io
ns
hip
bet
wee
n e
f
f
iciency
a
nd
s
peed
E
f
f
icien
cy
(
η
)
in
th
e
HST
p
r
o
p
u
ls
io
n
s
y
s
tem
d
escr
ib
es
h
o
w
ef
f
ec
tiv
ely
th
e
en
e
r
g
y
u
s
ed
t
o
g
en
e
r
ate
tr
ac
tio
n
p
o
wer
is
co
m
p
ar
e
d
to
th
e
to
tal
en
er
g
y
co
n
s
u
m
ed
f
r
o
m
th
e
p
o
wer
s
o
u
r
ce
.
T
h
is
ef
f
icien
cy
v
ar
ies
as
a
f
u
n
c
t
i
o
n
o
f
t
i
m
e
d
u
e
t
o
c
h
a
n
g
es
i
n
o
p
e
r
a
t
i
o
n
a
l
m
o
d
e
,
t
r
a
ct
i
o
n
f
o
r
c
e
,
a
n
d
t
h
e
i
n
f
l
u
e
n
c
e
o
f
a
e
r
o
d
y
n
a
m
i
c
d
r
a
g
a
n
d
w
h
e
e
l
f
r
i
c
ti
o
n
o
n
t
h
e
r
a
i
l
.
F
i
g
u
r
e
3
(
c
)
i
s
a
g
r
a
p
h
o
f
t
h
e
r
e
l
a
t
i
o
n
s
h
i
p
b
e
t
w
e
e
n
m
o
t
o
r
e
f
f
i
c
ien
c
y
a
n
d
H
S
T
s
p
e
e
d
b
a
s
e
d
o
n
t
h
e
d
a
t
a
i
n
T
a
b
l
e
4
,
al
s
o
c
a
n
b
e
s
e
e
n
t
h
a
t
e
f
f
i
c
i
e
n
c
y
(
η
)
c
h
a
n
g
e
s
n
o
n
-
l
i
n
e
a
r
l
y
w
i
t
h
s
p
e
e
d
(
v
)
.
W
h
e
n
t
h
e
a
c
c
e
l
e
r
a
ti
o
n
m
o
d
e
i
s
l
o
w
,
t
h
e
e
f
f
i
c
i
e
n
c
y
o
f
t
h
e
HS
T
t
r
a
ct
i
o
n
m
o
t
o
r
i
s
l
o
w
w
h
e
n
t
h
e
t
r
a
i
n
s
ta
r
t
s
m
o
v
i
n
g
u
p
t
o
a
s
p
e
e
d
o
f
1
3
.
8
9
m
/
s
b
e
c
a
u
s
e
a
t
t
h
e
b
e
g
i
n
n
i
n
g
t
h
e
i
n
e
r
t
i
a
f
a
c
t
o
r
a
f
f
e
c
t
s
it
t
o
o
v
e
r
c
o
m
e
t
h
e
i
n
i
t
ia
l
r
e
s
is
t
a
n
ce
f
o
r
c
e
.
T
h
e
v
alu
e
o
f
elec
tr
ical
lo
s
s
es
in
th
e
m
o
to
r
is
h
ig
h
d
u
e
to
th
e
lar
g
e
cu
r
r
en
t
at
h
ig
h
in
itial
to
r
q
u
e.
T
h
is
en
er
g
y
i
s
m
o
s
tly
u
s
ed
f
o
r
ac
ce
ler
atio
n
r
ath
er
th
an
to
m
ain
tain
s
p
ee
d
.
E
f
f
icien
cy
in
c
r
ea
s
es with
in
cr
ea
s
in
g
s
p
ee
d
.
T
h
en
in
cr
u
is
in
g
m
o
d
e
at
m
ed
iu
m
s
p
ee
d
(
1
3
.
9
m
/s
–
3
3
.
3
m
/s
)
ef
f
icien
cy
co
n
tin
u
es
to
in
c
r
ea
s
e
with
in
cr
ea
s
in
g
s
p
ee
d
b
ec
au
s
e
th
e
tr
ac
tio
n
m
o
to
r
g
r
ad
u
ally
wo
r
k
s
m
o
r
e
o
p
tim
ally
wh
er
e
p
o
wer
lo
s
s
es
ar
e
m
in
im
al
an
d
th
e
en
e
r
g
y
p
r
o
d
u
ce
d
is
g
r
ea
ter
.
At
h
i
g
h
s
p
ee
d
s
(
3
3
.
4
m
/
s
–
5
5
.
5
k
m
/h
)
ae
r
o
d
y
n
am
ic
lo
s
s
es
in
cr
ea
s
e
s
o
th
at
th
e
m
o
to
r
w
o
r
k
s
to
m
ai
n
tain
s
p
ee
d
.
I
n
a
d
d
itio
n
,
elec
tr
ical
lo
s
s
es
f
r
o
m
th
e
tr
ac
tio
n
m
o
to
r
also
in
cr
ea
s
e
s
ig
n
if
ican
tly
r
esu
ltin
g
in
d
ec
r
ea
s
ed
ef
f
icien
cy
.
L
o
w
en
er
g
y
lo
s
s
es,
b
ec
au
s
e
th
e
m
o
to
r
wo
r
k
s
at
th
e
h
ig
h
est
ef
f
icien
cy
r
an
g
e
(
~8
5
%
-
9
5
%),
an
d
m
in
im
al
p
o
wer
co
n
v
er
s
io
n
lo
s
s
es
an
d
o
p
tim
al
m
o
to
r
to
r
q
u
e,
b
u
t
th
er
e
is
e
x
p
o
n
e
n
t
i
a
l
l
y
i
n
c
r
e
as
i
n
g
ae
r
o
d
y
n
a
m
i
c
r
e
s
is
ta
n
c
e
(
∝
2
)
,
r
e
q
u
i
r
i
n
g
m
o
r
e
p
o
w
e
r
.
W
h
e
n
t
h
e
HS
T
t
r
a
c
t
i
o
n
m
o
t
o
r
s
t
a
r
ts
t
o
e
x
i
t
t
h
e
o
p
t
i
m
a
l
e
f
f
i
c
i
e
n
c
y
r
a
n
g
e
,
i
t
c
a
u
s
e
s
e
l
e
c
t
r
ic
a
l
l
o
s
s
es
t
o
i
n
c
r
e
as
e
.
T
h
e
e
f
f
e
c
t
i
s
t
h
a
t
t
h
e
i
n
t
e
r
n
a
l
r
e
s
i
s
t
a
n
c
e
o
f
t
h
e
t
r
a
n
s
m
i
s
s
i
o
n
s
y
s
t
e
m
a
n
d
f
r
i
c
t
i
o
n
i
n
c
r
e
a
s
e
.
At
n
e
a
r
m
a
x
i
m
u
m
s
p
ee
d
(
v
max
)
th
e
in
p
u
t
p
o
wer
in
cr
ea
s
es
m
u
ch
f
aster
t
h
an
th
e
o
u
tp
u
t
p
o
wer
,
ca
u
s
in
g
a
d
r
asti
c
d
r
o
p
i
n
ef
f
icien
c
y
d
u
e
to
ae
r
o
d
y
n
am
ic
an
d
elec
tr
ical
lo
s
s
es.
T
h
is
tr
en
d
in
d
icate
s
th
at
th
e
m
o
s
t
ef
f
ici
en
t
o
p
er
atio
n
is
ac
h
iev
ed
in
th
e
m
id
-
s
p
ee
d
r
an
g
e.
I
t
s
h
o
u
ld
b
e
n
o
te
d
th
at
th
e
t
h
eo
r
etica
l
ef
f
icie
n
cy
o
b
tain
ed
in
a
m
o
to
r
m
a
y
d
i
f
f
er
f
r
o
m
ac
tu
al
co
n
d
itio
n
s
,
b
ec
au
s
e
th
e
in
v
er
ter
s
y
s
tem
a
d
d
s
s
witch
in
g
lo
s
s
es
an
d
h
a
r
m
o
n
ics.
I
n
v
er
ter
co
n
tr
o
l
s
tr
ateg
i
es
s
u
ch
as
PW
M
o
r
MPC
ca
n
b
e
u
s
ed
to
s
u
p
p
r
ess
th
ese
lo
s
s
es a
n
d
in
cr
ea
s
e
en
er
g
y
r
ec
o
v
e
r
y
th
r
o
u
g
h
r
e
g
en
er
ati
v
e
b
r
ak
i
n
g
.
4
.
4
.
Rela
t
io
ns
hip
bet
wee
n
s
peed
v
a
ria
t
io
ns
a
nd
pa
t
h pro
f
ile
a
f
f
ec
t
ing
t
o
rque
a
nd
po
wer
re
qu
irem
ent
s
T
h
e
p
o
wer
r
eq
u
ir
e
m
en
t
o
f
th
e
tr
ac
tio
n
m
o
to
r
is
a
f
f
ec
ted
b
y
th
e
tr
ain
s
p
ee
d
an
d
th
e
tr
a
ck
p
r
o
f
ile.
Fig
u
r
e
4
s
h
o
ws
th
e
p
o
we
r
v
er
s
u
s
s
p
ee
d
ch
ar
ac
ter
is
tics
,
wh
er
e
p
ea
k
p
o
wer
co
n
s
u
m
p
tio
n
e
x
ce
ed
s
4
5
0
k
W
a
t
m
ed
iu
m
s
p
ee
d
s
(
2
0
–
3
5
m
/s
)
b
ef
o
r
e
s
tab
ilizin
g
at
ap
p
r
o
x
im
a
tely
1
5
0
–
2
0
0
k
W
d
u
r
i
n
g
c
r
u
is
in
g
co
n
d
itio
n
s
.
At
lo
w
s
p
ee
d
s
,
th
e
p
o
wer
c
o
n
s
u
m
p
tio
n
is
g
r
ea
ter
b
ec
a
u
s
e
th
e
m
o
to
r
ef
f
icien
c
y
is
lo
wer
an
d
r
e
q
u
ir
es lar
g
e
to
r
q
u
e.
At
m
ed
iu
m
s
p
ee
d
s
(
3
0
-
5
0
m
/s
)
,
th
e
p
o
wer
co
n
s
u
m
p
tio
n
b
e
g
in
s
to
s
tab
ilize
b
ec
au
s
e
th
e
e
f
f
icien
cy
in
cr
ea
s
es.
T
h
is
p
atter
n
in
d
icate
s
th
at
tr
a
ctio
n
m
o
to
r
s
izin
g
s
h
o
u
ld
n
o
t
b
e
b
ased
s
o
lely
o
n
m
ax
im
u
m
s
p
ee
d
co
n
d
itio
n
s
,
b
u
t m
u
s
t a
ls
o
co
n
s
id
er
th
e
s
ig
n
if
ican
t p
o
wer
d
em
an
d
o
cc
u
r
r
in
g
at
m
ed
iu
m
-
s
p
ee
d
o
p
er
atio
n
.
T
h
e
ef
f
ec
t
o
f
th
e
r
o
ad
p
r
o
f
i
le,
esp
ec
ially
o
n
f
lat
tr
ac
k
s
(
θ
=
0
)
,
th
en
th
e
p
o
wer
is
u
s
ed
f
o
r
ae
r
o
d
y
n
am
ic
r
esis
tan
ce
an
d
f
r
ictio
n
.
W
h
ile
if
th
e
tr
ac
k
is
u
p
h
ill
(
θ
>
0
)
r
esu
lts
in
ad
d
itio
n
al
f
o
r
ce
F
grade
ap
p
ea
r
in
g
,
s
o
th
at
t
h
e
p
o
wer
in
cr
ea
s
es.
W
h
en
th
e
tr
ac
k
is
d
o
wn
h
ill
(
θ
<
0
)
,
th
e
m
o
t
o
r
ca
n
o
p
er
ate
in
r
eg
en
er
ativ
e
m
o
d
e,
c
o
n
v
e
r
tin
g
k
in
etic
en
er
g
y
in
to
elec
tr
ic
ity
.
Fu
r
th
er
an
aly
s
is
s
h
o
ws
th
at
wh
en
th
e
tr
ac
k
g
r
ad
ien
t
in
cr
ea
s
es
f
r
o
m
2
°
to
4
°,
th
e
to
r
q
u
e
r
eq
u
ir
em
en
t
in
cr
ea
s
es
s
ig
n
if
ican
tly
b
y
~1
5
–
2
0
%
co
m
p
ar
e
d
to
f
lat
tr
ac
k
s
.
T
h
is
co
n
d
itio
n
ca
u
s
es
th
e
m
o
to
r
to
wo
r
k
h
ar
d
er
an
d
in
cr
ea
s
es
p
o
wer
co
n
s
u
m
p
tio
n
,
esp
ec
ially
d
u
r
in
g
th
e
ac
ce
ler
atio
n
p
h
ase.
C
o
n
v
er
s
ely
,
o
n
d
o
wn
h
ill
tr
ac
k
s
,
th
e
m
o
to
r
ca
n
o
p
er
ate
in
r
eg
en
er
ativ
e
m
o
d
e,
r
esu
ltin
g
in
r
ed
u
ce
d
p
o
wer
co
n
s
u
m
p
tio
n
an
d
en
er
g
y
r
ec
o
v
e
r
y
o
p
p
o
r
tu
n
ities
.
Mo
to
r
lo
a
d
in
g
d
u
e
to
v
ar
iatio
n
s
in
tr
ain
m
ass
(
e.
g
.
,
±
1
0
%
o
f
t
o
tal
weig
h
t)
also
h
as
an
im
p
ac
t
o
n
in
c
r
ea
s
in
g
th
e
in
itial
to
r
q
u
e
r
eq
u
ir
em
en
t
an
d
s
h
if
tin
g
th
e
o
p
e
r
atin
g
ef
f
icien
cy
p
o
in
t.
T
h
is
s
h
o
ws
th
at
t
r
ac
k
g
r
a
d
ien
t
a
n
d
tr
ain
l
o
ad
ar
e
i
m
p
o
r
tan
t
p
ar
am
ete
r
s
th
at
af
f
ec
t m
o
to
r
p
er
f
o
r
m
a
n
ce
.
Fig
u
r
e
4
.
Po
wer
as a
f
u
n
ctio
n
o
f
s
p
ee
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
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8
8
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8
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9
4
I
n
t J Po
w
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&
Dr
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s
t
,
Vo
l.
1
7
,
No
.
1
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Ma
r
c
h
20
2
6
:
238
-
2
49
246
4
.
5
.
Sens
it
iv
it
y
re
s
ults
T
h
e
r
esu
lts
o
f
th
e
lo
ca
l
s
en
s
itiv
ity
an
aly
s
is
in
d
icate
th
at
tr
ac
k
g
r
ad
ien
t
(
)
is
th
e
m
o
s
t
d
o
m
in
an
t
f
ac
to
r
in
f
lu
en
ci
n
g
tr
ac
tio
n
m
o
to
r
to
r
q
u
e
r
e
q
u
ir
em
en
ts
.
E
v
er
y
1
°
(
≈
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.
0
1
7
r
a
d
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in
cr
ea
s
e
in
tr
ac
k
an
g
le
ca
u
s
es
an
in
cr
ea
s
e
in
T
m
o
f
ap
p
r
o
x
im
ately
7
1
3
.
4
Nm
p
er
m
o
t
o
r
,
o
r
ap
p
r
o
x
im
ately
6
2
.
9
% o
f
th
e
b
aselin
e
to
r
q
u
e
v
alu
e
u
n
d
e
r
c
r
u
i
s
e
c
o
n
d
i
t
i
o
n
s
.
T
h
is
in
d
i
c
a
t
e
s
t
h
at
s
m
a
l
l
c
h
a
n
g
e
s
i
n
r
o
a
d
g
r
a
d
i
e
n
t
h
a
v
e
a
s
i
g
n
i
f
ic
an
t
i
m
p
a
c
t
o
n
m
o
t
o
r
l
o
a
d
.
C
o
n
v
e
r
s
e
l
y
,
a
0
.
0
0
1
i
n
c
r
e
a
s
e
i
n
f
r
o
n
l
y
i
n
c
r
e
as
es
t
o
r
q
u
e
b
y
a
p
p
r
o
x
i
m
a
t
e
l
y
4
0
.
9
N
m
,
o
r
3
.
6
%
o
f
t
h
e
b
a
s
e
l
i
n
e
,
w
h
i
le
a
0
.
0
5
i
n
c
r
e
as
e
i
n
o
n
l
y
a
d
d
s
a
p
p
r
o
x
i
m
a
t
e
l
y
6
.
5
N
m
,
o
r
0
.
6
%
o
f
t
h
e
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as
e
l
i
n
e
.
T
h
i
s
c
o
m
p
a
r
is
o
n
clar
if
ies th
at
ae
r
o
d
y
n
am
ic
r
esis
tan
ce
an
d
f
r
ictio
n
co
n
tr
i
b
u
te
r
elativ
ely
litt
le
to
th
e
in
f
lu
en
ce
o
f
g
r
a
d
ien
t.
A
g
lo
b
al
s
en
s
itiv
ity
an
aly
s
is
was
p
er
f
o
r
m
e
d
u
s
in
g
MCS
with
5
,
0
0
0
iter
atio
n
s
to
ev
alu
ate
th
e
s
im
u
ltan
eo
u
s
in
f
lu
en
ce
o
f
all
p
ar
am
eter
s
o
n
t
o
r
q
u
e
v
ar
iatio
n
.
Simu
latio
n
r
esu
lts
in
d
icate
th
at
th
e
m
ed
ian
T
m
u
n
d
er
cr
u
is
e
co
n
d
itio
n
s
is
ap
p
r
o
x
im
ately
1
,
5
8
5
.
9
Nm
p
er
m
o
to
r
,
with
a
5
–
9
5
%
co
n
f
id
en
c
e
in
ter
v
al
o
f
3
1
9
.
1
–
2
,
8
9
7
.
0
Nm
,
o
r
ap
p
r
o
x
im
ately
±
8
2
.
7
%
o
f
th
e
m
ed
ian
v
alu
e
.
T
h
is
r
elativ
ely
wid
e
r
an
g
e
o
f
v
ar
iatio
n
in
d
icate
s
th
at
u
n
ce
r
tain
ty
in
th
e
in
p
u
t
p
ar
am
eter
s
s
ig
n
if
ican
tly
in
f
lu
e
n
ce
s
th
e
d
is
tr
ib
u
tio
n
o
f
o
u
tp
u
t
to
r
q
u
e,
p
a
r
ticu
lar
ly
d
u
e
to
ch
a
n
g
es in
g
r
ad
ien
t a
n
d
to
tal
m
ass
.
T
h
is
v
ar
iab
ilit
y
in
d
icate
s
th
at
th
e
tr
ac
tio
n
s
y
s
tem
is
h
ig
h
ly
s
en
s
itiv
e
to
ex
ter
n
al
co
n
d
itio
n
s
s
u
ch
as
tr
ac
k
g
r
a
d
ien
t a
n
d
tr
ain
lo
a
d
.
T
h
e
r
esu
lts
o
f
th
e
p
ar
tial
co
r
r
e
latio
n
an
aly
s
is
u
s
in
g
Sp
ea
r
m
a
n
r
an
k
co
r
r
elatio
n
(
as
a
PR
C
C
ap
p
r
o
ac
h
)
s
h
o
w
th
at
=
0
.
9
9
4
,
th
e
h
ig
h
est
co
r
r
elatio
n
co
e
f
f
icien
t
.
I
t
is
in
d
icate
s
h
as
a
v
e
r
y
s
tr
o
n
g
p
o
s
itiv
e
r
elatio
n
s
h
ip
with
T
m
.
T
h
is
m
ea
n
s
th
at
th
e
g
r
ea
ter
th
e
p
ath
g
r
ad
ien
t,
th
e
h
ig
h
e
r
th
e
to
r
q
u
e
r
eq
u
ir
ed
to
m
ai
n
tain
s
p
ee
d
.
T
h
e
h
as
a
m
o
d
e
r
ate
p
o
s
itiv
e
co
r
r
elatio
n
o
f
0
.
1
0
5
,
wh
ile
f
r
an
d
s
h
o
w
lo
w
c
o
r
r
elatio
n
v
al
u
es
o
f
0
.
0
4
0
an
d
−
0
.
0
1
1
,
r
esp
ec
tiv
ely
.
T
h
e
h
as a
lm
o
s
t n
o
e
f
f
ec
t
with
a
v
alu
e
o
f
−0
.
0
0
2
.
4
.
6
.
Dis
cus
s
io
n
T
h
e
im
p
licatio
n
s
o
f
t
h
e
s
im
u
l
atio
n
r
esu
lts
in
d
icate
t
h
at
tr
ac
tio
n
m
o
t
o
r
d
esig
n
n
ee
d
s
to
ac
co
u
n
t
f
o
r
h
ig
h
s
tar
tin
g
to
r
q
u
e
ca
p
ac
ity
to
h
an
d
le
tr
an
s
ien
t
lo
ad
s
d
u
r
in
g
th
e
ac
ce
ler
atio
n
p
h
ase.
T
h
is
r
eq
u
ir
es
ad
ju
s
tm
en
ts
to
th
e
m
o
to
r
d
ia
m
eter
,
g
ea
r
r
atio
,
a
n
d
in
v
er
te
r
cu
r
r
en
t
r
ati
n
g
to
en
s
u
r
e
t
h
e
s
y
s
tem
ca
n
d
eliv
er
p
ea
k
to
r
q
u
e
co
n
s
is
ten
tly
with
o
u
t
p
er
f
o
r
m
a
n
ce
d
eg
r
ad
ati
o
n
.
Fu
r
th
er
m
o
r
e,
t
h
e
in
cr
ea
s
e
in
p
ea
k
p
o
wer
co
n
s
u
m
p
tio
n
d
u
r
in
g
th
e
ac
ce
ler
atio
n
p
h
ase
in
d
icate
s
th
e
n
ee
d
f
o
r
an
ef
f
icien
t
c
o
o
lin
g
s
y
s
tem
to
p
r
ev
e
n
t
ex
ce
s
s
iv
e
win
d
in
g
tem
p
e
r
atu
r
e
r
is
e
(
o
v
e
r
h
ea
tin
g
)
.
I
m
p
le
m
en
tin
g
a
liq
u
id
-
b
ased
ac
tiv
e
co
o
lin
g
s
y
s
tem
o
r
tr
an
s
ien
t
-
b
ased
d
y
n
am
ic
th
er
m
al
m
an
ag
em
en
t
c
o
u
ld
b
e
ef
f
ec
tiv
e
s
o
lu
tio
n
s
f
o
r
m
ai
n
tain
in
g
s
tab
le
o
p
er
atin
g
tem
p
er
atu
r
es.
Fro
m
an
en
er
g
y
m
an
a
g
em
en
t
p
er
s
p
ec
tiv
e,
in
teg
r
atio
n
with
a
r
e
g
en
er
ativ
e
b
r
ak
in
g
s
tr
ateg
y
h
as
th
e
p
o
ten
tial
to
b
alan
ce
e
n
er
g
y
c
o
n
s
u
m
p
tio
n
an
d
im
p
r
o
v
e
o
v
e
r
all
ef
f
icien
cy
,
p
a
r
ticu
lar
ly
u
n
d
er
tr
ac
k
c
o
n
d
itio
n
s
with
v
ar
y
in
g
g
r
ad
ien
ts
an
d
d
y
n
am
ic
s
p
ee
d
p
atter
n
s
.
Alth
o
u
g
h
th
is
r
esear
ch
f
o
c
u
s
es
o
n
m
o
d
elin
g
tr
ac
tio
n
m
o
to
r
p
er
f
o
r
m
a
n
ce
,
th
e
o
v
e
r
all
p
er
f
o
r
m
a
n
ce
o
f
an
HST
tr
ac
tio
n
s
y
s
tem
is
h
ig
h
ly
d
ep
en
d
en
t o
n
th
e
in
teg
r
atio
n
o
f
th
e
m
o
to
r
,
in
v
e
r
ter
,
p
o
wer
co
n
v
er
ter
,
an
d
c
o
n
tr
o
l
s
tr
ateg
y
.
T
h
er
ef
o
r
e,
f
u
r
th
er
r
esear
ch
co
u
ld
b
e
d
ir
ec
ted
at
d
ev
elo
p
in
g
a
m
o
to
r
-
in
v
e
r
ter
co
-
s
im
u
latio
n
m
o
d
el
to
o
p
tim
ize
en
er
g
y
e
f
f
icien
cy
,
im
p
r
o
v
e
d
y
n
am
ic
p
er
f
o
r
m
an
ce
,
a
n
d
im
p
lem
en
t a
r
eg
en
er
ativ
e
en
er
g
y
r
ec
o
v
er
y
s
y
s
tem
.
5.
CO
NCLU
SI
O
N
T
h
is
s
tu
d
y
m
o
d
els
an
d
a
n
aly
ze
s
th
e
p
er
f
o
r
m
an
ce
o
f
t
r
ac
tio
n
m
o
t
o
r
s
o
n
h
ig
h
-
s
p
ee
d
tr
ai
n
s
(
HST)
u
n
d
er
two
m
ain
o
p
er
atin
g
c
o
n
d
itio
n
s
:
ac
ce
ler
atio
n
an
d
cr
u
is
in
g
.
Simu
latio
n
r
esu
lts
s
h
o
w
th
at
d
u
r
in
g
th
e
in
itial
ac
ce
ler
atio
n
p
h
ase,
th
e
m
o
to
r
r
e
q
u
ir
es
u
p
to
±
4
5
3
k
W
o
f
p
o
wer
an
d
a
p
ea
k
to
r
q
u
e
o
f
±
4
,
8
3
8
Nm
to
o
v
er
co
m
e
in
er
tial
f
o
r
ce
s
,
f
r
i
ctio
n
,
an
d
ae
r
o
d
y
n
a
m
ic
d
r
a
g
.
Af
ter
th
e
s
p
ee
d
s
tab
ilizes
(
>3
0
s
)
,
t
h
e
to
r
q
u
e
d
ec
r
ea
s
es
to
ap
p
r
o
x
im
ately
1
,
1
3
3
Nm
,
with
p
ea
k
ef
f
icie
n
cy
at
m
o
d
er
ate
s
p
ee
d
s
(
~4
0
–
1
6
0
k
m
/h
)
.
T
h
is
em
p
h
asizes
th
e
im
p
o
r
tan
ce
o
f
to
r
q
u
e
co
n
t
r
o
l
a
n
d
p
o
wer
m
an
ag
e
m
en
t
d
u
r
in
g
th
e
ac
ce
ler
atio
n
p
h
ase
to
m
ain
tain
en
er
g
y
ef
f
icien
cy
.
P
r
ac
tical
im
p
licatio
n
s
o
f
th
is
s
tu
d
y
in
clu
d
e
id
e
n
tify
in
g
th
e
ef
f
icien
t
o
p
er
atin
g
p
o
in
t,
p
r
o
v
i
d
in
g
a
b
asis
f
o
r
s
elec
tin
g
m
o
to
r
s
ize
an
d
co
o
lin
g
ca
p
ac
ity
,
an
d
s
u
p
p
o
r
tin
g
i
n
v
er
ter
c
o
n
tr
o
l
an
d
en
er
g
y
r
eg
en
er
atio
n
s
tr
ateg
ies.
T
h
is
m
o
d
el
also
h
as
th
e
p
o
ten
tial
to
b
e
d
ev
elo
p
ed
f
o
r
m
u
lti
-
m
o
to
r
co
n
f
ig
u
r
atio
n
s
an
d
m
o
to
r
-
in
v
e
r
ter
in
teg
r
atio
n
to
im
p
r
o
v
e
th
e
ef
f
icien
cy
o
f
elec
tr
ic
tr
ac
tio
n
s
y
s
tem
s
in
m
o
d
er
n
r
ail
tr
an
s
p
o
r
tatio
n
a
p
p
licatio
n
s
.
T
h
is
s
tu
d
y
h
as
s
ev
er
al
lim
ita
tio
n
s
th
at
r
eq
u
ir
e
atten
tio
n
.
First,
th
e
d
ev
elo
p
ed
m
o
d
el
s
til
l
ass
u
m
es
id
ea
l
co
n
d
itio
n
s
,
n
am
ely
a
c
o
n
s
tan
t
g
ea
r
r
atio
,
n
o
wh
ee
l
s
l
ip
p
ag
e,
a
n
d
c
o
n
s
tan
t
m
o
to
r
e
f
f
icien
cy
.
Seco
n
d
,
ex
p
er
im
en
tal
v
alid
atio
n
o
r
r
e
al
-
tim
e
s
im
u
latio
n
h
av
e
n
o
t
b
ee
n
co
n
d
u
cted
,
s
o
th
e
r
esu
lts
o
b
tain
ed
ar
e
s
till
co
n
ce
p
tu
al
an
d
r
eq
u
ir
e
f
u
r
th
er
v
er
if
icatio
n
.
T
h
ir
d
,
th
e
s
co
p
e
o
f
th
e
s
tu
d
y
d
o
es
n
o
t
in
clu
d
e
co
m
p
ar
is
o
n
s
with
o
th
er
m
o
to
r
tr
ac
tio
n
m
o
d
els
o
r
wid
ely
u
s
ed
in
v
er
ter
co
n
tr
o
l
s
tr
ateg
ies,
s
u
ch
as
f
ield
-
o
r
ien
ted
co
n
tr
o
l
(
FOC
)
,
MPC
,
an
d
d
ir
ec
t
to
r
q
u
e
c
o
n
tr
o
l
(
DT
C
)
.
Fu
r
th
e
r
m
o
r
e,
alt
h
o
u
g
h
s
en
s
itiv
ity
an
d
u
n
ce
r
tain
ty
an
aly
s
es
ar
e
in
clu
d
ed
,
th
is
m
o
d
el
d
o
es
n
o
t
co
n
s
id
er
n
o
n
lin
ea
r
d
y
n
am
ic
s
th
at
ca
n
ar
is
e
f
r
o
m
wh
ee
l
s
lip
p
ag
e
o
r
cr
ee
p
,
v
ar
iatio
n
s
in
in
v
er
ter
lo
s
s
es,
o
r
th
e
in
f
l
u
en
ce
o
f
s
o
p
h
is
ticated
co
n
tr
o
l
s
y
s
tem
s
.
Fo
r
f
u
t
u
r
e
r
esear
ch
,
th
is
m
o
d
el
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N:
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8
6
9
4
P
erfo
r
ma
n
ce
o
f h
ig
h
-
s
p
ee
d
tr
a
in
tr
a
ctio
n
mo
to
r
s
ystem
in
a
cc
elera
tio
n
–
cru
is
e
mo
d
e:
…
(
Tr
i Wid
o
d
o
)
247
ca
n
b
e
d
ev
elo
p
ed
th
r
o
u
g
h
in
teg
r
atio
n
with
th
e
m
o
to
r
-
in
v
e
r
ter
s
y
s
tem
an
d
test
ed
o
n
a
r
ea
l
-
tim
e
s
im
u
latio
n
p
latf
o
r
m
t
o
o
b
tain
m
o
r
e
r
ep
r
esen
tativ
e
d
y
n
am
ic
p
er
f
o
r
m
an
ce
v
alid
atio
n
.
Fu
r
th
e
r
s
tu
d
ies
ar
e
also
r
ec
o
m
m
en
d
ed
to
i
n
co
r
p
o
r
ate
m
o
r
e
co
m
p
lex
g
r
a
d
ien
t
v
a
r
iatio
n
s
,
co
ef
f
icien
t
d
e
g
r
ad
ati
o
n
d
u
e
to
wea
th
e
r
co
n
d
itio
n
s
,
an
d
ch
an
g
es
in
d
y
n
am
ic
ae
r
o
d
y
n
am
ic
p
r
o
f
iles
to
f
u
r
th
e
r
alig
n
th
e
m
o
d
el
with
ac
tu
al
o
p
er
atio
n
al
co
n
d
itio
n
s
o
n
r
ea
l
-
wo
r
ld
tr
ac
k
s
.
F
UNDING
I
NF
O
R
M
A
T
I
O
N
Au
th
o
r
s
s
tate
n
o
f
u
n
d
in
g
in
v
o
lv
ed
.
AUTHO
R
CO
NT
RI
B
UT
I
O
NS ST
A
T
E
M
E
N
T
T
h
is
jo
u
r
n
al
u
s
es
th
e
C
o
n
tr
ib
u
to
r
R
o
les
T
ax
o
n
o
m
y
(
C
R
ed
iT)
to
r
ec
o
g
n
ize
in
d
iv
id
u
al
au
th
o
r
co
n
tr
ib
u
tio
n
s
,
r
ed
u
ce
au
th
o
r
s
h
ip
d
is
p
u
tes,
an
d
f
ac
ilit
ate
co
llab
o
r
atio
n
.
Na
m
e
o
f
Aut
ho
r
C
M
So
Va
Fo
I
R
D
O
E
Vi
Su
P
Fu
T
r
i Wi
d
o
d
o
✓
✓
✓
✓
✓
✓
✓
✓
✓
✓
✓
Sy
am
s
u
l K
am
ar
✓
✓
✓
✓
✓
✓
✓
✓
✓
Hild
a
L
u
th
f
iy
ah
✓
✓
✓
✓
✓
✓
✓
✓
✓
✓
E
k
o
Sy
am
s
u
d
d
in
Hasr
ito
✓
✓
✓
✓
✓
✓
✓
✓
So
f
wan
Hid
ay
at
✓
✓
✓
✓
✓
✓
✓
✓
Me
iy
an
n
e
L
estar
i
✓
✓
✓
✓
✓
✓
✓
Her
u
B
asu
k
i
✓
✓
✓
✓
✓
✓
C
:
C
o
n
c
e
p
t
u
a
l
i
z
a
t
i
o
n
M
:
M
e
t
h
o
d
o
l
o
g
y
So
:
So
f
t
w
a
r
e
Va
:
Va
l
i
d
a
t
i
o
n
Fo
:
Fo
r
mal
a
n
a
l
y
s
i
s
I
:
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n
v
e
s
t
i
g
a
t
i
o
n
R
:
R
e
so
u
r
c
e
s
D
:
D
a
t
a
C
u
r
a
t
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O
:
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r
i
t
i
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g
-
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r
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l
D
r
a
f
t
E
:
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r
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g
-
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&
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Vi
:
Vi
su
a
l
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z
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t
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:
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p
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v
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s
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P
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P
r
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c
t
a
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mi
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r
a
t
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Fu
:
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c
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NT
Au
th
o
r
s
s
tate
n
o
co
n
f
lict o
f
in
t
er
est.
DATA AV
AI
L
AB
I
L
I
T
Y
T
h
e
d
ata
th
at
s
u
p
p
o
r
t
th
e
f
in
d
in
g
s
o
f
th
is
s
tu
d
y
ar
e
av
aila
b
le
o
n
r
eq
u
est
f
r
o
m
th
e
co
r
r
esp
o
n
d
in
g
au
th
o
r
,
[
T
W
]
.
T
h
e
d
ata,
w
h
ich
co
n
tain
in
f
o
r
m
atio
n
th
at
co
u
ld
co
m
p
r
o
m
is
e
th
e
p
r
iv
ac
y
o
f
r
esear
ch
p
ar
ticip
an
ts
,
ar
e
n
o
t p
u
b
licly
a
v
ailab
le
d
u
e
to
ce
r
tain
r
estrictio
n
s
.
RE
F
E
R
E
NC
E
S
[
1
]
P
.
C
h
e
n
r
r
i
m
a
n
d
S
.
R
e
l
v
a
s
,
“
A
d
a
t
a
e
n
v
e
l
o
p
me
n
t
a
n
a
l
y
si
s
a
p
p
r
o
a
c
h
f
o
r
e
v
a
l
u
a
t
i
n
g
h
i
g
h
-
sp
e
e
d
f
r
e
i
g
h
t
t
r
a
n
sp
o
r
t
a
t
i
o
n
e
f
f
i
c
i
e
n
c
y
,
”
T
ra
n
s
p
o
rt
a
t
i
o
n
Re
s
e
a
r
c
h
I
n
t
e
r
d
i
s
c
i
p
l
i
n
a
r
y
P
e
rs
p
e
c
t
i
v
e
s
,
v
o
l
.
2
9
,
2
0
2
5
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
t
r
i
p
.
2
0
2
5
.
1
0
1
3
3
8
.
[
2
]
S
.
X
u
,
C
.
C
h
e
n
,
Z.
L
i
n
,
X
.
Zh
a
n
g
,
J
.
D
a
i
,
a
n
d
L
.
Li
u
,
“
R
e
v
i
e
w
a
n
d
p
r
o
s
p
e
c
t
o
f
m
a
i
n
t
e
n
a
n
c
e
t
e
c
h
n
o
l
o
g
y
f
o
r
t
r
a
c
t
i
o
n
s
y
st
e
m
o
f
h
i
g
h
-
s
p
e
e
d
t
r
a
i
n
,
”
T
ra
n
s
p
o
r
t
a
t
i
o
n
S
a
f
e
t
y
a
n
d
E
n
v
i
ro
n
m
e
n
t
,
v
o
l
.
3
,
n
o
.
3
,
2
0
2
1
,
d
o
i
:
1
0
.
1
0
9
3
/
t
se
/
t
d
a
b
0
1
7
.
[
3
]
I
.
W
a
t
so
n
,
A
.
A
l
i
,
a
n
d
A
.
B
a
y
y
a
t
i
,
“
En
e
r
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