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R
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V
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y
'
s
c
a
p
a
c
it
y
.
T
h
e
w
o
r
k
[
5
]
p
r
o
v
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d
e
s
a
n
o
v
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l
m
e
c
h
a
n
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m
i
n
o
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d
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r
t
o
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d
d
r
e
s
s
t
h
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p
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o
b
l
e
m
.
B
y
2
0
3
0
,
e
l
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c
t
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v
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b
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g
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es
.
R
e
c
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n
t
l
y
,
a
numbe
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C
s
o
l
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r
-
p
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d
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ic
v
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p
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o
d
u
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t
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d
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d
[
6
]
.
S
o
l
a
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p
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n
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l
s
a
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p
l
a
c
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d
f
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x
t
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ti
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V
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o
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t
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le
c
t
r
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al
e
n
e
r
g
y
[
7
]
.
A
c
o
n
t
r
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l
a
l
g
o
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i
t
h
m
ca
n
a
p
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et
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d
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le
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t
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v
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h
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l
es
[
8
]
.
T
r
a
c
t
i
o
n
b
a
t
t
e
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y
p
a
c
k
s
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d
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-
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v
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n
t
e
r
f
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c
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f
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lt
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r
[
9
]
.
N
u
m
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o
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s
s
t
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d
ie
s
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a
v
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P
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Va
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t
[
1
0
]
,
[
1
1
]
.
T
h
e
m
o
s
t
f
e
a
s
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l
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s
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l
a
r
p
o
w
e
r
[
1
2
]
.
T
h
e
ex
p
en
s
e,
en
e
r
g
y
lim
itatio
n
s
,
an
d
lo
w
p
o
wer
d
e
n
s
ity
o
f
SP
E
Vs
m
ak
e
th
em
im
p
r
ac
tical
f
o
r
u
s
ag
e
in
r
ea
l
-
wo
r
ld
s
ce
n
ar
i
o
s
[
1
3
]
.
T
h
e
b
atter
ies
in
elec
tr
ic
v
eh
i
cles
(
E
Vs)
an
d
p
lu
g
-
in
h
y
b
r
i
d
elec
tr
ic
v
eh
i
cles
(
PHEV
s
)
ty
p
ically
co
n
s
is
t
o
f
n
u
m
er
o
u
s
ce
lls
co
n
n
ec
ted
in
p
ar
allel
o
r
s
er
ies.
Var
io
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s
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atio
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n
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itio
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s
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d
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an
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ed
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th
e
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s
ab
le
en
e
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g
y
o
f
th
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b
atter
ies
[
1
4
]
,
[
1
5
]
.
T
h
e
d
esig
n
o
f
an
SP
E
V
is
p
r
esen
ted
in
th
is
r
esear
ch
s
tu
d
y
,
an
d
MA
T
L
AB
is
u
s
ed
to
s
im
u
late
its
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p
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atio
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.
T
h
e
m
ax
im
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m
p
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p
o
i
n
t
tr
ac
k
in
g
(
MPPT
)
tech
n
iq
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e
is
u
s
ed
to
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et
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lar
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er
am
o
u
n
t
o
f
elec
tr
icity
f
r
o
m
th
e
p
an
els
in
a
v
ar
iety
o
f
s
ce
n
ar
io
s
[
1
6
]
.
T
h
e
b
u
ck
-
b
o
o
s
t
co
n
v
e
r
ter
r
ec
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v
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th
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lar
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an
el
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u
tp
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t
p
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wer
an
d
r
aises
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e
v
o
ltag
e
to
a
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ed
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m
in
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le
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s
o
th
at
th
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atter
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ca
n
b
e
ch
ar
g
ed
v
ia
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c
h
ar
g
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co
n
tr
o
ller
.
T
h
e
c
h
ar
g
in
g
p
r
o
ce
s
s
is
ter
m
in
ated
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ased
o
n
th
e
b
atter
y
’
s
s
tatu
s
to
p
r
e
v
en
t
d
ee
p
d
r
ain
an
d
o
v
er
c
h
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g
in
g
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n
au
to
m
o
tiv
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ap
p
licatio
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s
,
b
r
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s
h
less
d
ir
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t c
u
r
r
en
t
(
B
L
DC
)
m
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to
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s
ar
e
p
o
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ed
b
y
a
3
-
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v
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ltag
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ce
in
v
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ter
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2.
M
E
T
H
O
D
T
h
is
wo
r
k
f
o
c
u
s
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o
n
t
h
e
in
te
g
r
atio
n
o
f
r
en
ewa
b
le
en
er
g
y
s
o
u
r
ce
s
f
o
r
c
h
ar
g
in
g
elec
tr
ic
v
e
h
icles.
T
h
e
wo
r
k
f
lo
w
d
iag
r
am
o
f
t
h
e
m
et
h
o
d
o
lo
g
y
illu
s
tr
ates
th
e
o
p
er
at
io
n
o
f
th
e
SP
E
V
s
y
s
tem
.
T
h
e
p
r
o
ce
s
s
es
in
v
o
lv
ed
in
th
e
s
u
g
g
ested
m
et
h
o
d
o
lo
g
y
ar
e
s
h
o
wn
in
Fig
u
r
e
1
.
2
.
1
.
So
la
r
ce
ll
A
b
asic
eq
u
iv
alen
t
cir
cu
it
m
o
d
el
o
f
a
p
h
o
to
v
o
ltaic
ar
r
ay
,
co
n
s
tr
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cted
f
r
o
m
s
er
ies
an
d
p
ar
allel
co
n
n
ec
tio
n
s
o
f
PV
s
o
lar
ce
lls
.
PV
ce
ll
v
o
ltag
e
is
d
ir
ec
tly
p
r
o
p
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r
tio
n
al
to
p
h
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to
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r
r
en
t,
wh
ich
is
p
r
im
ar
ily
d
eter
m
in
ed
b
y
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lar
ir
r
ad
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n
s
tr
en
g
th
an
d
lo
ad
cu
r
r
en
t
[
1
7
]
.
C
o
n
s
id
er
in
g
a
s
in
g
le
s
o
lar
ce
ll
in
Fig
u
r
e
2
,
a
PV
m
o
d
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ca
n
b
e
m
o
d
eled
b
y
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s
in
g
a
cu
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n
d
two
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s
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it
o
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ll
co
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s
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p
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r
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(
I
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,
a
d
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s
er
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r
esis
tan
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(
R
s
)
,
an
d
p
ar
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esis
tan
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(
R
s
h
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.
T
h
e
p
h
o
to
c
u
r
r
e
n
t is an
ti
-
p
ar
allel
with
th
e
d
io
d
e
[
1
8
]
.
Fig
u
r
e
1
.
T
h
e
b
lo
c
k
d
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r
am
o
f
s
p
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d
r
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u
latio
n
in
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B
L
DC
m
o
to
r
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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6
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4
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u
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Sin
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atica
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o
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:
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sh
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1
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-
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c
rs
{
e
xp
(
A
V
D
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1
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2
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A=
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(
3
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V
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(
4
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I
c
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I
c
sc
[
T
T
rt
]
3
(
5
)
I
ph
=
[
I
sc
+
(
T
-
T
rt
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]
1
1000
(
6
)
Ap
p
ly
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g
Kir
c
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h
o
f
f
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s
cu
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u
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2
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h
r
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g
h
th
e
d
io
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e
is
:
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D
=
I
o
⌊
e
xp
C
(V+
I
R
sr
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m
k
T
⌋
-
1
(
7
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W
h
er
e
I
o
=
d
io
d
e
s
atu
r
atio
n
c
u
r
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en
t
,
m
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d
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ality
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ac
t
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,
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d
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a
b
s
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te
tem
p
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atu
r
e
o
f
ce
ll (
K)
.
I=
I
ph
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o
(
e
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⌊
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(V+
I
R
s
m
k
T
⌋
-
1
)
-
(V+
I
R
s
)
R
sh
(
8
)
T
h
e
m
a
x
i
m
u
m
o
u
t
p
u
t
o
f
t
h
e
PV
p
a
n
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l
is
a
s
g
i
v
e
n
(
9
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-
(
1
2
)
.
T
h
e
c
u
r
r
e
n
t
a
t
t
h
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a
x
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w
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p
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n
t
,
I
mpp
is
(
9
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.
I
mpp
=
I
ph
-
I
o
(
e
xp
⌊
C(
V
m
p
p
+
I
m
p
p
R
s
m
k
T
⌋
-
1
)
-
(
V
m
p
p
+
I
m
p
p
R
s
)
R
sh
(
9
)
W
h
er
e
=
m
a
x
im
u
m
p
an
el
cu
r
r
en
t
,
=
m
a
x
im
u
m
p
a
n
el
v
o
ltag
e
,
an
d
=
m
ax
im
u
m
p
o
wer
p
o
in
t
b
y
PV
p
an
el
.
P
max
=
V
mpp
{
I
ph
-
I
o
(
e
xp
⌊
C(
V
m
p
p
+
I
m
p
p
R
r
m
k
T
⌋
-
1
)
-
(
V
m
p
p
+
I
m
p
p
R
s
)
R
sh
}
(
1
0
)
T
h
e
Vo
u
t
o
f
th
e
p
an
el
is
g
iv
en
as
(
1
1
)
a
n
d
(
1
2
)
.
V=
N
sc
(
V
dc
-
R
s
I)
(
1
1
)
I=
I
ph
-
I
dc
-
I
sh
(
1
2
)
T
h
e
“Ph
o
to
v
o
ltaic
g
en
er
ato
r
(
PVG)
”
o
r
“PV
ar
r
ay
”
is
co
m
p
o
s
ed
o
f
m
an
y
PV
Pan
els
co
n
n
ec
ted
in
N
sp
-
PV m
o
d
u
les in
s
er
ies,
N
pp
-
PV m
o
d
u
les in
p
a
r
allel
p
an
el
s
to
ac
h
iev
e
d
esire
d
v
alu
es o
f
v
o
ltag
e
an
d
cu
r
r
en
t.
V
pvm
=
N
sc
×
N
sp
×
V
p
(
1
3
)
I
pvm
=
N
pc
×
N
pp
×
I
p
(
1
4
)
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
r
o
ve
men
t
o
f d
y
n
a
mic
p
erfo
r
ma
n
ce
o
f so
la
r
-
p
o
w
ered
B
LDC
mo
to
r
…
(
S
a
vitr
i Med
eg
a
r
)
171
W
h
er
e
an
d
ar
e
g
en
er
ate
d
o
u
tp
u
t
v
o
ltag
e,
cu
r
r
en
t
at
th
e
PV
ar
r
ay
m
o
d
u
le.
T
h
e
n
w
e
h
av
e
to
co
m
p
u
te
PV
ar
r
a
y
v
o
lta
g
e
an
d
cu
r
r
en
t
,
wh
ich
ar
e
,
an
d
.
W
h
er
e
:
V
pva
=
V
pvm
×
N
sc
(
1
5
)
I
pva
=
I
pvm
×
N
pc
(
1
6
)
P
pva
=
V
pva
×
I
pva
(
1
7
)
2
.
2
.
P
er
t
urb
a
nd
o
bs
er
v
e
t
he
M
P
P
T
m
et
ho
d
An
MPPT
d
ev
ice
m
ea
s
u
r
es
th
e
h
ig
h
est
p
o
wer
o
u
tp
u
t
f
r
o
m
th
e
PV
m
o
d
u
les,
tr
an
s
f
o
r
m
s
it
in
to
v
o
ltag
e,
an
d
th
en
s
u
p
p
lies
th
e
b
atter
y
with
th
e
m
ax
im
u
m
cu
r
r
en
t
r
eq
u
ir
ed
f
o
r
ch
ar
g
in
g
.
T
h
e
co
n
v
er
s
io
n
r
ate
o
f
cu
r
r
en
t
MPPTs
is
9
0
–
9
3
%
ef
f
icien
t.
Du
r
in
g
s
u
m
m
er
,
p
o
wer
g
ain
s
ar
e
ty
p
ically
b
etw
ee
n
2
0
%
an
d
4
5
%,
wh
er
ea
s
win
ter
tim
e
p
o
wer
g
ai
n
s
r
an
g
e
f
r
o
m
1
0
%
t
o
1
5
%.
T
h
e
r
ea
l
p
o
wer
b
o
o
s
t,
h
o
wev
er
,
is
d
ep
e
n
d
en
t
o
n
a
n
u
m
b
er
o
f
v
a
r
iab
les,
in
clu
d
in
g
b
atter
y
ch
a
r
g
e
an
d
tem
p
er
a
tu
r
e
[
1
9
]
.
T
h
er
ef
o
r
e
,
MPPT
u
s
es
a
p
er
tu
r
b
an
d
o
b
s
er
v
e
(
P&
O)
alg
o
r
ith
m
to
m
ax
im
ize
th
e
p
o
wer
o
u
tp
u
t
f
r
o
m
PV
p
a
n
els
in
o
r
d
er
to
r
u
n
th
e
lo
ad
.
T
h
e
MPPT
P&
O
alg
o
r
ith
m
is
d
ep
icted
in
Fig
u
r
e
3
.
T
h
e
P&
O
o
p
er
ates
o
n
th
e
b
asis
o
f
co
m
p
ar
in
g
th
e
latest
p
o
wer
with
th
e
p
r
ev
io
u
s
p
o
wer
i
n
o
r
d
er
to
alter
th
e
v
o
ltag
e
lev
els.
Fig
u
r
e
3
.
Flo
w
c
h
a
r
t o
f
t
h
e
M
PP
T
alg
o
r
ith
m
3.
B
RUSH
L
E
SS
DC
M
O
T
O
R
(
B
L
DC
M
O
T
O
R)
A
B
L
D
C
m
o
to
r
co
n
v
er
ts
elec
tr
ical
en
er
g
y
in
to
m
ec
h
an
ical
e
n
er
g
y
.
Am
o
n
g
v
ar
io
u
s
ty
p
es
o
f
m
o
to
r
s
,
B
L
DC
m
o
to
r
s
ar
e
p
ar
ticu
lar
ly
v
er
s
atile
d
u
e
to
th
eir
h
ig
h
ef
f
icien
cy
,
ea
s
e
o
f
co
n
tr
o
l,
lig
h
tweig
h
t
d
esig
n
,
an
d
s
im
p
licity
.
On
e
k
ey
ad
v
a
n
tag
e
o
f
B
L
DC
m
o
to
r
s
o
v
er
o
th
e
r
s
is
th
eir
p
o
wer
-
s
av
in
g
ca
p
a
b
ilit
y
.
T
h
e
m
o
to
r
'
s
r
o
to
r
a
n
d
s
tato
r
m
a
g
n
etic
f
i
eld
s
o
p
er
ate
at
th
e
s
am
e
f
r
eq
u
en
cy
,
an
d
th
e
ab
s
en
ce
o
f
b
r
u
s
h
es
en
h
an
ce
s
ef
f
icien
cy
an
d
ex
te
n
d
s
th
e
m
o
to
r
'
s
life
s
p
an
.
Ad
d
itio
n
ally
,
B
L
DC
m
o
to
r
s
ex
p
er
ien
ce
f
e
wer
lo
s
s
es
an
d
o
f
f
er
s
u
p
er
io
r
s
tar
tin
g
to
r
q
u
e
[
2
0
]
.
B
ec
au
s
e
o
f
th
e
ab
o
v
e
-
lis
t
ed
ad
v
an
tag
es
,
th
r
ee
-
p
h
ase
B
L
DC
m
o
to
r
s
ar
e
in
cr
ea
s
in
g
ly
b
ein
g
u
s
ed
in
elec
tr
ic
v
eh
icles.
3
.
1
.
M
o
dellin
g
o
f
B
L
DC
m
o
t
o
r
F
i
g
u
r
e
4
s
h
o
ws
t
h
e
o
v
e
r
a
ll
s
etu
p
f
o
r
t
h
e
s
p
e
e
d
r
e
g
u
l
a
t
i
o
n
o
f
t
h
e
P
V
-
f
e
d
B
L
DC
m
o
t
o
r
.
A
B
L
DC
M'
s
r
o
t
o
r
c
o
n
s
i
s
t
s
o
f
t
h
r
e
e
s
t
at
o
r
w
i
n
d
i
n
g
s
c
o
il
e
d
a
r
o
u
n
d
a
p
e
r
m
a
n
e
n
t
m
a
g
n
e
t
.
I
t
is
p
o
s
s
i
b
le
t
o
d
i
s
r
e
g
a
r
d
r
o
t
o
r
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
:
168
-
1
79
172
c
u
r
r
e
n
t
s
d
u
e
t
o
t
h
e
h
i
g
h
r
e
s
i
s
t
an
c
e
o
f
m
a
g
n
e
t
s
a
n
d
s
t
a
i
n
l
es
s
s
te
e
l
.
A
t
t
h
i
s
ti
m
e
,
d
a
m
p
e
r
w
i
n
d
i
n
g
m
o
d
e
l
i
n
g
i
s
n
o
t
p
r
o
v
i
d
e
d
.
S
o
l
v
i
n
g
t
h
e
e
q
u
a
t
i
o
n
f
o
r
a
t
h
r
e
e
-
w
i
n
d
i
n
g
c
i
r
c
u
i
t
i
s
al
l
t
h
a
t'
s
n
e
e
d
e
d
t
o
f
i
n
d
t
h
e
p
h
ase
v
a
r
i
a
b
l
e
s
[
2
1
]
:
[
]
=
[
0
0
0
0
0
0
]
[
]
+
[
]
[
]
+
[
]
(
1
8
)
w
h
e
r
e
R
s
s
t
a
n
d
s
f
o
r
s
t
at
o
r
r
e
s
is
t
a
n
c
e
a
n
d
v
as
t
,
v
b
s
t
,
a
n
d
v
c
s
t
d
e
n
o
t
e
s
t
at
o
r
p
h
a
s
e
v
o
lt
a
g
e
s
.
T
h
e
s
e
t
h
r
e
e
c
u
r
r
e
n
t
i
cst
,
i
ast
,
a
n
d
i
bst
f
l
o
w
t
h
r
o
u
g
h
t
h
e
s
t
at
o
r
i
n
t
h
r
e
e
p
h
a
s
es
.
T
h
e
p
h
a
s
e
s
L
aa
,
L
bb
,
a
n
d
L
cc
e
a
c
h
h
av
e
t
h
e
i
r
u
n
i
q
u
e
s
e
l
f
-
i
n
d
u
c
t
a
n
c
e
.
L
a
b
o
r
,
L
B
C
,
a
n
d
L
a
c
a
r
e
t
h
e
p
h
as
e
-
to
-
p
h
a
s
e
i
n
d
u
c
t
a
n
c
e
s
.
E
l
e
c
t
r
o
m
o
ti
v
e
p
r
ess
u
r
e
s
a
r
e
li
n
k
e
d
t
o
p
h
a
s
e
s
E
a
,
E
b
,
a
n
d
E
c
.
I
t
h
a
s
b
e
e
n
p
r
e
s
u
m
e
d
t
h
a
t
t
h
e
r
e
s
i
s
t
a
n
ce
o
f
e
a
c
h
w
i
n
d
i
n
g
i
s
e
q
u
i
v
a
l
e
n
t
.
A
d
d
i
t
i
o
n
a
l
l
y
,
i
t
is
b
e
l
i
e
v
e
d
t
h
a
t
t
h
e
l
a
c
k
o
f
a
v
is
i
b
l
e
r
o
t
o
r
c
a
u
s
es
t
h
e
r
o
t
o
r
r
e
l
u
ct
an
c
e
t
o
r
e
m
a
i
n
c
o
n
s
ta
n
t
r
e
g
a
r
d
l
es
s
o
f
t
h
e
a
n
g
le
.
T
h
e
(
1
9
)
an
d
(
2
0
)
ar
e
s
u
b
s
titu
ted
f
o
r
(
1
8
)
to
f
o
r
m
th
e
PMB
D
C
M
m
o
d
el.
=
=
=
(
1
9
)
=
=
=
=
=
=
(
2
0
)
[
]
=
[
0
0
0
0
0
0
]
[
]
+
[
]
[
]
+
[
]
(
2
1
)
T
h
e
s
o
u
r
ce
v
o
ltag
es,
wh
ich
m
ay
b
e
th
o
u
g
h
t o
f
as v
ast
,
v
bst
,
a
n
d
v
cst
=
−
,
=
−
=
−
(
2
2
)
T
h
e
ze
r
o
-
r
ef
e
r
en
ce
p
o
te
n
tial
a
t
th
e
m
i
d
d
le
o
f
th
e
DC
co
n
n
ec
tio
n
is
r
e
p
r
esen
ted
b
y
v
n
o
,
wh
ile
th
e
th
r
ee
-
p
h
ase
an
d
n
e
u
tr
al
v
o
ltag
es a
r
e
v
ao
, v
bo
,
an
d
v
co
,
r
esp
ec
tiv
ely
.
T
h
e
s
tato
r
p
h
ase
cu
r
r
en
ts
ar
e
lim
ited
to
b
e
b
ala
n
ce
d
.
+
+
=
0
(
2
3
)
B
ec
au
s
e
o
f
th
is
,
th
e
in
d
u
cta
n
c
e
g
r
id
is
m
ad
e
ea
s
ier
to
u
n
d
er
s
tan
d
.
+
=
−
(
2
4
)
C
o
n
s
eq
u
en
tly
,
in
t
h
e
r
ea
lm
o
f
s
tate
s
p
ac
e
.
[
]
=
[
0
0
0
0
0
0
]
[
]
+
[
−
0
0
0
−
0
0
0
−
]
[
]
+
[
]
(
2
5
)
T
r
ad
itio
n
ally
,
it
h
as
b
ee
n
b
eliev
ed
th
at
t
h
e
b
a
ck
E
MFs
(
e
a
,
e
b
,
a
n
d
e
c
)
ex
h
ib
it
a
tr
ap
ez
o
id
al
wav
e
c
o
m
in
g
f
r
o
m
(
2
6
)
.
[
]
=
[
(
)
(
)
(
)
]
(
2
6
)
Her
e,
d
en
o
tes
th
e
a
n
g
u
la
r
r
o
t
o
r
s
p
ee
d
in
r
a
d
ian
s
p
e
r
s
ec
o
n
d
,
m
,
th
e
f
lu
x
lin
k
a
g
e,
an
d
r
,
th
e
r
o
to
r
p
o
s
itio
n
in
r
ad
ian
s
.
W
ith
a
m
ax
im
u
m
m
a
g
n
itu
d
e
o
f
±
1
,
t
h
e
f
u
n
ctio
n
s
(
),
(
)
an
d
(
)
ar
e
th
e
s
am
e
as
,
an
d
,
.
Du
e
to
th
eir
tr
ap
ez
o
id
al
s
h
ap
e,
in
d
u
ce
d
e
m
f
s
lack
s
h
ar
p
co
r
n
er
s
.
T
h
e
d
er
iv
ativ
es
o
f
f
lu
x
c
o
n
n
ec
tio
n
s
g
en
e
r
ate
ele
ctr
o
m
ag
n
etic
f
ield
s
,
wh
ich
ar
e
co
n
tin
u
o
u
s
f
u
n
ctio
n
s
.
A
s
m
o
o
th
a
n
d
e
d
g
e
-
f
r
ee
f
lu
x
d
e
n
s
ity
f
u
n
ctio
n
is
th
e
r
es
u
lt o
f
f
r
i
n
g
es [
2
3
]
.
T
h
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
,
a
cc
o
r
d
in
g
to
New
to
n
,
is
(
2
7
)
.
=
+
+
(
2
7
)
T
h
e
in
er
tia
is
d
ef
in
e
d
as
(
2
8
)
.
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
r
o
ve
men
t
o
f d
y
n
a
mic
p
erfo
r
ma
n
ce
o
f so
la
r
-
p
o
w
ered
B
LDC
mo
to
r
…
(
S
a
vitr
i Med
eg
a
r
)
173
=
+
(
2
8
)
L
o
ad
to
r
q
u
e
T
l
,
in
er
tia
(
J
)
,
a
n
d
f
r
ictio
n
co
e
f
f
icien
t (
B
)
ar
e
all
v
ar
iab
les in
(
2
9
)
.
+
=
(
−
)
(
2
9
)
T
h
e
s
p
ee
d
-
p
o
s
itio
n
r
elatio
n
s
h
i
p
o
f
th
e
elec
tr
ical
r
o
to
r
.
=
2
(
3
0
)
Fig
u
r
e
4
.
Gen
e
r
al
co
n
f
ig
u
r
atio
n
o
f
th
e
s
p
ee
d
co
n
tr
o
ller
o
f
th
e
PV
-
f
ed
B
L
DC
m
o
to
r
Desp
ite
its
ty
p
ically
in
s
ig
n
if
ican
t
s
ize,
th
e
d
a
m
p
in
g
co
ef
f
i
cien
t
B
af
f
ec
ts
th
e
s
y
s
tem
.
T
h
e
eq
u
atio
n
"
"
wh
ich
r
ep
r
esen
ts
th
e
r
o
to
r
l
o
ca
tio
n
,
is
r
ep
ea
ted
ev
e
r
y
2
π
c
y
cles.
T
o
k
ee
p
th
e
d
r
iv
e
ef
f
icien
t a
n
d
p
r
e
v
en
t a
v
o
ltag
e
im
b
alan
ce
,
o
n
e
m
u
s
t
co
n
s
id
er
th
e
p
o
te
n
tial
o
f
th
e
p
o
in
t
o
f
n
e
u
tr
ality
in
r
elatio
n
to
ze
r
o
p
o
ten
tial
(
v
n
o
)
.
W
e
o
b
tain
b
y
ch
a
n
g
in
g
th
e
VI
eq
u
atio
n
f
r
o
m
(
2
5
)
to
(
2
4
)
.
0
+
0
+
0
−
3
0
=
(
+
+
)
+
(
−
)
(
+
+
)
+
(
+
+
)
(
3
1
)
Su
b
s
titu
tin
g
(
2
3
)
in
(
3
1
)
y
ield
s
th
e
f
o
llo
win
g
:
0
+
0
+
0
−
3
0
=
(
+
+
)
T
h
u
s
:
0
=
[
0
+
0
+
0
]
−
(
+
+
)
]
/
3
(
3
2
)
T
h
er
e
is
a
c
o
n
n
ec
tio
n
b
etwe
en
th
e
d
if
f
er
e
n
tial
(
2
5
)
,
(
2
9
)
,
an
d
(
3
0
)
.
d
ef
in
es
th
e
m
o
d
el
b
y
th
e
p
r
o
d
u
ctio
n
u
s
e
o
f
v
ar
ia
b
les th
at
ar
e
s
elf
-
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o
v
er
n
in
g
,
,
,
an
d
.
C
o
m
b
in
in
g
all
r
elev
an
t e
q
u
atio
n
s
y
ield
s
(
3
3
)
.
̇
=
+
+
(
3
3
)
W
h
er
e
:
=
[
]
(
3
4
)
=
[
−
−
0
0
−
(
)
0
0
−
−
0
−
(
)
0
0
0
−
−
−
(
)
0
(
)
(
)
(
)
−
0
0
0
0
2
0
]
(
3
5
)
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
:
168
-
1
79
174
=
[
−
1
−
0
0
0
0
−
1
−
0
0
0
0
−
1
−
0
0
0
0
−
1
−
]
(
3
6
)
=
[
−
1
−
0
0
0
−
1
−
0
0
0
−
1
−
0
0
0
]
(
3
7
)
=
[
]
(
3
8
)
=
[
]
(
3
9
)
4.
CO
NT
RO
L
ST
R
AT
E
G
Y
A
p
r
o
p
o
r
tio
n
al
-
in
te
g
r
a
l
(
PI)
c
o
n
tr
o
ller
is
a
ty
p
e
o
f
f
ee
d
b
ac
k
co
n
tr
o
ller
co
m
m
o
n
ly
u
s
ed
in
co
n
tr
o
l
s
y
s
tem
s
to
m
ain
tain
a
d
esire
d
o
u
tp
u
t
b
y
a
d
ju
s
tin
g
th
e
i
n
p
u
t.
I
t
co
m
b
in
es
two
co
n
tr
o
l
ac
tio
n
s
:
p
r
o
p
o
r
tio
n
al
(
P)
an
d
in
teg
r
al
(
I
)
.
-
Pro
p
o
r
tio
n
al
c
o
n
tr
o
l
(
P):
T
h
e
p
r
o
p
o
r
tio
n
al
p
ar
t
o
f
th
e
c
o
n
tr
o
ller
g
e
n
er
ates
an
o
u
tp
u
t
th
at
is
d
ir
ec
tly
p
r
o
p
o
r
tio
n
al
to
t
h
e
cu
r
r
en
t
er
r
o
r
,
wh
ich
is
th
e
d
if
f
er
e
n
ce
b
etwe
en
th
e
d
esire
d
s
et
p
o
i
n
t
an
d
th
e
ac
tu
al
p
r
o
ce
s
s
v
ar
iab
le.
T
h
is
h
elp
s
to
r
ed
u
ce
th
e
o
v
er
all
er
r
o
r
q
u
ick
ly
.
Ho
wev
er
,
a
p
r
o
p
o
r
tio
n
al
co
n
tr
o
ller
al
o
n
e
m
ay
n
o
t c
o
m
p
letely
elim
in
ate
th
e
s
tead
y
-
s
tate
er
r
o
r
[
2
0
]
.
-
I
n
teg
r
al
c
o
n
tr
o
l
(
I
)
:
T
h
e
in
t
eg
r
al
p
ar
t
o
f
th
e
co
n
tr
o
ller
s
u
m
s
th
e
er
r
o
r
o
v
er
tim
e,
co
r
r
ec
tin
g
an
y
ac
cu
m
u
lated
o
f
f
s
et
th
at
th
e
p
r
o
p
o
r
tio
n
al
ac
tio
n
alo
n
e
co
u
ld
n
o
t
elim
in
ate.
T
h
is
ac
tio
n
h
el
p
s
to
elim
in
ate
th
e
s
tead
y
-
s
tate
er
r
o
r
,
en
s
u
r
in
g
th
e
o
u
tp
u
t e
v
e
n
tu
ally
m
atch
es
th
e
d
esire
d
s
et
p
o
in
t
[
2
4
]
.
C
(
t)
=K
p
[
e(
t)
+(
1
/
τ
i)
∫
ed
t]
(
4
0
)
C
(
s
)
=K
p
(
1
+1
/ τi
s
)
(
4
1
)
Fig
u
r
e
5
r
ep
r
esen
ts
a
p
r
o
p
o
r
tio
n
al
-
in
teg
r
al
(
PI)
c
o
n
tr
o
l
s
y
s
tem
,
o
f
ten
u
s
ed
in
c
o
n
tr
o
l
s
y
s
tem
s
f
o
r
m
an
ag
in
g
er
r
o
r
s
ig
n
als
a
n
d
e
n
s
u
r
in
g
th
e
d
esire
d
o
u
tp
u
t
is
ac
h
iev
ed
.
W
e
an
d
T
e
*
r
ep
r
esen
ts
in
p
u
t
er
r
o
r
s
ig
n
al
an
d
th
e
f
in
al
o
u
tp
u
t
,
r
esp
ec
tiv
ely
.
T
h
e
g
ain
K
co
r
r
esp
o
n
d
s
to
th
e
s
tead
y
s
tate
v
alu
e
o
f
t
h
e
o
u
tp
u
t
C
s
s
[
2
5
]
.
T
h
e
v
alu
e
o
f
Kp
,
i o
f
th
e
co
n
tr
o
ller
s
ca
n
th
en
b
e
ca
lcu
lated
a
s
b
elo
w:
Kp
=1
.
2
(
T
/L)
(
4
2
)
τ
i=2
L
(
4
3
)
Fig
u
r
e
5
.
P
r
o
p
o
r
tio
n
al
an
d
in
t
eg
r
al
g
ain
5.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
Fig
u
r
e
6
s
h
o
ws
t
h
e
v
o
l
t
a
g
e
o
u
t
p
u
t
s
f
r
o
m
t
h
e
P
V
p
a
n
el
,
b
a
tt
e
r
y
,
a
n
d
D
C
l
i
n
k
wi
t
h
o
u
t
a
n
d
w
i
t
h
a
P
I
c
o
n
t
r
o
l
l
e
r
,
w
h
e
r
e
t
h
e
te
m
p
e
r
a
tu
r
e
i
s
k
e
p
t
a
t
2
5
°C
,
a
n
d
t
h
e
i
r
r
a
d
i
a
t
i
o
n
r
a
n
g
es
f
r
o
m
0
t
o
1
0
0
0
W
/
m
2
.
F
r
o
m
F
i
g
u
r
e
6
(
a
)
,
i
t
i
s
n
o
t
e
d
t
h
a
t
t
h
e
P
V
p
a
n
e
l
v
o
l
t
a
g
e
is
l
e
s
s
t
h
a
n
3
0
V
i
n
t
h
e
a
b
s
e
n
c
e
o
f
a
P
I
c
o
n
t
r
o
l
l
e
r
.
A
s
s
h
o
w
n
i
n
F
i
g
u
r
e
6
(
b
)
w
i
t
h
t
h
e
P
I
c
o
n
t
r
o
ll
e
r
,
i
t
is
n
o
t
e
d
t
h
a
t
t
h
e
b
u
c
k
-
b
o
o
s
t
c
o
n
v
e
r
t
e
r
b
o
o
s
t
s
t
h
e
P
V
p
an
e
l
'
s
o
u
t
p
u
t
v
o
l
t
a
g
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
Desig
n
a
n
d
imp
r
o
ve
men
t
o
f d
y
n
a
mic
p
erfo
r
ma
n
ce
o
f so
la
r
-
p
o
w
ered
B
LDC
mo
to
r
…
(
S
a
vitr
i Med
eg
a
r
)
175
t
o
h
i
g
h
e
r
t
h
a
n
4
0
V
,
a
n
d
f
e
e
d
s
i
t
t
o
t
h
e
b
at
t
e
r
y
s
o
t
h
a
t
it
c
a
n
b
e
c
h
a
r
g
e
d
.
T
h
e
u
s
e
o
f
t
h
e
P
I
co
n
t
r
o
l
l
e
r
a
ls
o
l
e
d
t
o
a
n
i
n
c
r
e
a
s
e
i
n
t
h
e
b
a
t
te
r
y
v
o
l
t
ag
e
.
F
i
g
u
r
e
7
s
h
o
w
s
t
h
e
o
u
t
p
u
t
c
u
r
r
e
n
t
o
f
t
h
e
p
h
o
t
o
v
o
l
t
a
i
c
m
o
d
u
l
e,
b
a
t
t
e
r
y
,
a
n
d
d
i
o
d
e
wi
t
h
o
u
t
a
n
d
w
i
t
h
a
P
I
c
o
n
t
r
o
l
l
e
r
,
w
h
e
r
e
t
h
e
t
e
m
p
e
r
a
tu
r
e
i
s
k
e
p
t
a
t
2
5
°C
,
a
n
d
t
h
e
i
r
r
a
d
i
a
t
i
o
n
r
a
n
g
e
s
f
r
o
m
0
t
o
1
0
0
0
W
/
m
2
.
W
i
t
h
o
u
t
a
PI
c
o
n
t
r
o
l
l
e
r
,
t
h
e
r
e
a
r
e
f
l
u
c
t
u
a
ti
o
n
s
i
n
t
h
e
b
a
t
t
e
r
y
c
u
r
r
e
n
t
d
u
r
i
n
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c
h
a
r
g
i
n
g
a
n
d
d
i
s
c
h
a
r
g
i
n
g
.
F
i
g
u
r
e
7
s
h
o
w
s
t
h
e
c
u
r
r
e
n
t
o
u
t
p
u
t
s
o
f
t
h
e
p
h
o
t
o
v
o
l
t
a
i
c
m
o
d
u
l
e
,
b
a
t
t
e
r
y
,
a
n
d
d
i
o
d
e
w
i
t
h
o
u
t
a
n
d
w
i
t
h
a
P
I
c
o
n
t
r
o
l
l
e
r
.
A
s
s
e
e
n
i
n
F
i
g
u
r
e
7
(
a
)
,
w
h
e
n
t
h
e
b
a
t
t
e
r
y
is
b
e
i
n
g
c
h
a
r
g
e
d
u
s
i
n
g
a
P
I
c
o
n
t
r
o
l
l
e
r
,
t
h
e
b
a
t
te
r
y
c
u
r
r
e
n
t
w
i
ll
r
e
a
c
h
1
8
A
,
w
h
i
le
t
h
e
PV
p
a
n
e
l'
s
o
u
t
p
u
t
c
u
r
r
e
n
t
i
s
o
n
l
y
-
3
5
A
.
F
i
g
u
r
e
7
(
b
)
s
h
o
w
s
t
h
e
v
a
r
ia
t
i
o
n
o
f
P
V
p
a
n
e
l
a
n
d
b
a
t
t
e
r
y
c
u
r
r
e
n
t
w
i
t
h
o
u
t
c
o
n
t
r
o
l
l
e
r
w
e
c
a
n
o
b
s
e
r
v
e
t
h
a
t
t
h
e
b
a
t
t
e
r
y
c
u
r
r
e
n
t
i
s
a
b
o
u
t
1
2
A
.
B
y
u
s
i
n
g
a
P
I
c
o
n
t
r
o
l
l
e
r
,
t
h
e
f
l
u
c
t
u
a
t
i
o
n
s
a
r
e
r
e
d
u
c
e
d
,
a
n
d
t
h
e
c
u
r
r
e
n
t
r
e
a
c
h
e
s
t
h
e
d
e
s
i
r
e
d
v
a
l
u
e
(
a)
(
b
)
Fig
u
r
e
6
.
T
h
e
v
ar
iatio
n
in
th
e
v
o
ltag
e
o
f
th
e
PV p
an
el,
b
atter
y
(
a)
with
o
u
t PI
an
d
(
b
)
w
ith
PI
co
n
tr
o
ller
(
a)
(
b
)
Fig
u
r
e
7
.
Var
iatio
n
o
f
PV a
n
d
b
atter
y
cu
r
r
en
t
(
a)
with
o
u
t PI
an
d
(
b
)
with
PI
c
o
n
tr
o
ller
T
h
e
p
o
wer
v
ar
iatio
n
with
o
u
t
an
d
with
th
e
PI
c
o
n
tr
o
lle
r
is
s
h
o
wn
in
Fig
u
r
es
8
(
a)
an
d
8
(
b
)
.
Fig
u
r
e
8
(
a
)
illu
s
tr
ates
th
at
th
e
ab
s
en
ce
o
f
a
PI
co
n
tr
o
ller
in
th
e
s
y
s
tem
r
esu
lts
in
n
o
ticea
b
l
e
r
ip
p
les
in
t
h
e
PV
p
an
el'
s
o
u
tp
u
t
p
o
wer
,
wh
ich
lead
s
to
in
cr
ea
s
ed
p
o
wer
lo
s
s
.
Fig
u
r
e
8
(
b
)
s
h
o
ws
th
at
th
e
PV
p
an
el'
s
o
u
tp
u
t
p
o
wer
r
ip
p
les
ar
e
r
ed
u
ce
d
b
y
th
e
PI
co
n
tr
o
ller
at
th
e
o
u
tp
u
t
,
an
d
th
er
e
is
also
less
p
o
wer
lo
s
s
th
an
with
o
u
t
th
e
PI
co
n
tr
o
ller
.
T
h
e
v
ar
iatio
n
o
f
s
tate
o
f
ch
a
r
g
e
(
So
C
)
with
o
u
t
an
d
with
PI
co
n
t
r
o
ller
is
s
h
o
wn
in
Fig
u
r
es
9
(
a
)
an
d
9
(
b
)
.
I
t
is
o
b
s
er
v
ed
th
at
d
u
r
in
g
c
h
ar
g
in
g
m
o
d
e,
t
h
e
So
C
o
f
th
e
b
atter
y
is
in
cr
ea
s
ed
p
r
o
p
o
r
tio
n
ally
in
b
o
th
ca
s
es,
b
u
t
af
ter
0
.
7
s
ec
,
th
er
e
is
a
v
ar
iatio
n
in
d
is
ch
ar
g
in
g
m
o
d
e.
I
t
d
is
ch
ar
g
es
f
ast
with
o
u
t
a
PI
co
n
tr
o
ller
,
wh
er
ea
s
th
e
d
is
ch
ar
g
e
is
v
e
r
y
s
lo
w
an
d
less
with
a
PI
co
n
tr
o
l
ler
.
T
h
e
o
u
tp
u
t
v
o
ltag
e
v
ar
iatio
n
o
f
th
e
co
n
v
er
ter
with
o
u
t
a
PI
co
n
tr
o
ller
an
d
w
ith
a
PI
c
o
n
tr
o
ller
is
s
h
o
wn
in
Fig
u
r
es
1
0
(
a)
an
d
10
(
b
)
.
T
h
e
PV
p
an
el
with
MPPT
ca
n
p
r
o
d
u
ce
an
o
u
tp
u
t
v
o
ltag
e
o
f
ar
o
u
n
d
4
0
V
an
d
a
p
o
wer
o
f
m
o
r
e
th
an
8
0
0
W
wh
en
ex
p
o
s
ed
to
d
if
f
e
r
en
t r
ad
iatio
n
lev
els
b
etwe
en
0
W
/m
2
an
d
1
0
0
0
W
/m
2
at
a
tem
p
er
atu
r
e
o
f
2
5
°C
.
T
h
ese
r
esu
lts
ar
e
d
i
s
p
lay
ed
in
Fi
g
u
r
e
1
0
.
T
h
e
b
u
ck
-
b
o
o
s
t
co
n
v
er
ter
will
en
h
an
ce
th
e
o
u
tp
u
t
v
o
ltag
e
f
r
o
m
40
V
to
2
2
0
V.
A
ch
ar
g
e
co
n
tr
o
ller
f
ee
d
s
th
is
v
o
ltag
e
to
th
e
b
atter
y
.
VSI
is
s
u
p
p
lied
by
a
b
atter
y
to
p
r
o
v
i
d
e
an
AC
v
o
ltag
e
th
at
p
o
wer
s
th
e
B
L
DC
m
o
to
r
.
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
:
168
-
1
79
176
(
a)
(
b
)
Fig
u
r
e
8
.
T
h
e
p
o
we
r
v
ar
iati
o
n
(
a)
with
o
u
t PI
a
n
d
(
b
)
with
PI
co
n
tr
o
ller
(
a)
(
b
)
Fig
u
r
e
9
.
T
h
e
So
C
v
ar
iatio
n
o
f
th
e
b
atter
y
(
a)
with
o
u
t PI
an
d
(
b
)
with
PI
co
n
tr
o
ller
(
a)
(
b
)
Fig
u
r
e
1
0
.
T
h
e
o
u
tp
u
t
v
o
ltag
e
v
ar
iatio
n
o
f
th
e
co
n
v
er
ter
(
a)
w
ith
o
u
t PI
an
d
(
b
)
with
PI
c
o
n
tr
o
ller
T
h
e
s
p
ee
d
r
esp
o
n
s
e
o
f
th
e
d
r
iv
in
g
s
y
s
tem
with
o
u
t
a
PI
an
d
with
a
PI
co
n
tr
o
ller
at
n
o
lo
ad
an
d
5
0
%
lo
ad
co
n
d
itio
n
.
At
n
o
lo
ad
,
th
e
s
p
ee
d
r
esp
o
n
s
e
o
f
th
e
B
L
DC
m
o
to
r
d
r
iv
in
g
s
y
s
tem
with
o
u
t
PI
an
d
with
a
PI
co
n
tr
o
ller
is
s
h
o
wn
in
Fig
u
r
e
1
1
.
I
t
is
n
o
ticea
b
le
th
at
th
e
m
o
to
r
r
ea
ch
es
a
co
n
s
tan
t
s
p
ee
d
o
f
3
0
0
0
r
p
m
in
0
.
2
5
s
ec
o
n
d
s
.
Ov
er
s
h
o
o
t
an
d
s
p
ee
d
r
ip
p
le
o
cc
u
r
i
n
th
e
ab
s
e
n
ce
o
f
a
PI
c
o
n
tr
o
ller
.
Ad
d
iti
o
n
ally
,
it
was
s
ee
n
th
at
with
o
u
t
a
PI
co
n
tr
o
ller
,
th
e
r
is
e
tim
e
in
cr
ea
s
es u
n
til it settles
d
o
wn
to
th
e
r
ated
s
p
ee
d
.
At
5
0
%
f
u
ll
lo
ad
,
th
e
s
p
ee
d
r
e
s
p
o
n
s
e
o
f
th
e
B
L
DC
m
o
to
r
d
r
iv
in
g
s
y
s
tem
with
o
u
t
a
PI
c
o
n
tr
o
ller
an
d
with
a
PI
co
n
tr
o
ller
is
s
h
o
wn
in
Fig
u
r
e
1
1
.
I
t
is
n
o
ticea
b
le
th
at
t
h
e
m
o
t
o
r
r
ea
ch
es
a
co
n
s
tan
t
s
p
ee
d
o
f
3
0
0
0
r
p
m
at
a
tim
e
eq
u
al
to
0
.
1
5
s
ec
o
n
d
s
.
B
y
ap
p
ly
in
g
th
e
lo
ad
at
0
.
0
5
s
ec
s
p
ee
d
is
d
ec
r
ea
s
ed
f
o
r
b
o
th
with
an
d
with
o
u
t
a
PI
co
n
tr
o
ller
.
T
h
er
e
ar
e
s
lig
h
t
o
v
e
r
s
h
o
o
ts
an
d
u
n
d
er
s
h
o
o
ts
i
n
b
o
t
h
with
o
u
t
an
d
with
th
e
PI
co
n
tr
o
ller
.
T
h
e
PI
co
n
tr
o
ller
h
as
led
to
an
im
p
r
o
v
ed
r
i
s
e
tim
e
an
d
r
ed
u
ce
d
p
ea
k
o
v
e
r
s
h
o
o
t
in
th
e
s
p
ee
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
imp
r
o
ve
men
t
o
f d
y
n
a
mic
p
erfo
r
ma
n
ce
o
f so
la
r
-
p
o
w
ered
B
LDC
mo
to
r
…
(
S
a
vitr
i Med
eg
a
r
)
177
r
esp
o
n
s
e.
T
h
e
v
ar
iatio
n
o
f
ef
f
icien
cy
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
tem
with
o
u
t
PI
an
d
with
PI
c
o
n
tr
o
ller
is
s
h
o
wn
in
Fig
u
r
es
1
2
(
a)
an
d
12
(
b
)
.
I
t
is
ev
id
en
t
f
r
o
m
Fig
u
r
e
1
2
th
at
th
e
s
u
g
g
ested
s
y
s
tem
ac
h
iev
es
an
ef
f
icien
cy
o
f
8
0
%.
Her
e,
th
e
d
if
f
e
r
en
ce
b
etwe
en
th
e
PV
p
an
el'
s
o
u
tp
u
t
p
o
wer
an
d
th
e
id
ea
l
o
u
tp
u
t
p
o
wer
is
u
s
ed
to
co
m
p
u
te
th
e
ef
f
icien
cy
.
T
h
e
e
f
f
icien
cy
o
f
th
e
s
y
s
tem
is
im
p
r
o
v
ed
with
a
PI
c
o
n
tr
o
ller
.
T
ab
le
1
s
h
o
ws
th
e
p
er
f
o
r
m
a
n
ce
co
m
p
ar
is
o
n
b
etwe
en
th
e
s
y
s
tem
with
o
u
t
a
PI
co
n
tr
o
ller
an
d
with
a
PI
co
n
tr
o
ller
.
W
ith
o
u
t
th
e
PI
c
o
n
tr
o
ller
,
th
e
s
y
s
tem
h
as
a
r
is
e
tim
e
o
f
5
2
0
m
s
,
wh
e
r
ea
s
with
th
e
PI
c
o
n
tr
o
ller
,
th
e
r
is
e
tim
e
r
ed
u
ce
s
to
4
5
0
m
s
,
in
d
icatin
g
a
f
aster
r
esp
o
n
s
e
to
r
ea
ch
th
e
d
esire
d
v
alu
e.
T
h
e
o
v
e
r
s
h
o
o
t
als
o
d
ec
r
ea
s
es
f
r
o
m
1
4
%
to
1
2
%,
wh
ich
im
p
r
o
v
es
s
y
s
tem
s
tab
ilit
y
an
d
r
ed
u
ce
s
s
tr
ess
o
n
th
e
m
o
to
r
.
Similar
ly
,
to
r
q
u
e
r
i
p
p
le
is
r
ed
u
ce
d
f
r
o
m
1
8
%
to
1
4
%,
r
esu
ltin
g
in
s
m
o
o
th
er
m
o
t
o
r
o
p
er
atio
n
,
less
v
i
b
r
atio
n
,
a
n
d
r
e
d
u
ce
d
m
ec
h
an
ical
wea
r
.
I
n
ad
d
itio
n
,
th
e
o
v
er
all
e
f
f
icien
cy
in
cr
e
ases
f
r
o
m
7
8
%
to
8
4
%
with
th
e
PI
c
o
n
tr
o
ller
,
s
h
o
win
g
b
etter
u
tili
za
tio
n
o
f
in
p
u
t
p
o
wer
an
d
r
ed
u
ce
d
lo
s
s
es.
Use
o
f
a
PI
co
n
tr
o
ller
en
h
an
ce
s
r
esp
o
n
s
e
s
p
ee
d
,
s
tab
ilit
y
,
s
m
o
o
th
n
ess
o
f
o
p
e
r
at
io
n
,
an
d
en
er
g
y
ef
f
icien
cy
o
f
t
h
e
s
y
s
tem
.
Fig
u
r
e
11
.
Sp
ee
d
r
esp
o
n
s
e
with
o
u
t PI
an
d
with
PI
co
n
tr
o
ller
at
n
o
lo
ad
an
d
l
o
ad
co
n
d
itio
n
s
(
a)
(
b
)
Fig
u
r
e
1
2
.
E
f
f
icien
c
y
o
f
t
h
e
p
r
o
p
o
s
ed
s
y
s
tem
(
a)
with
o
u
t PI
an
d
(
b
)
with
PI
co
n
tr
o
ller
T
ab
le
1
.
C
o
m
p
a
r
is
o
n
o
f
d
y
n
a
m
ic
p
er
f
o
r
m
an
ce
u
s
in
g
d
if
f
er
e
n
t
c
o
n
tr
o
ller
s
C
o
n
t
r
o
l
l
e
r
R
i
se
t
i
me
(
ms)
O
v
e
r
sh
o
o
t
(
%)
To
r
q
u
e
r
i
p
p
l
e
(
%)
Ef
f
i
c
i
e
n
c
y
(
%)
W
i
t
h
o
u
t
P
I
5
2
0
14
18
78
W
i
t
h
P
I
4
5
0
12
14
84
6.
CO
NCLU
SI
O
N
T
h
e
d
esig
n
an
d
im
p
r
o
v
em
e
n
t o
f
th
e
d
y
n
am
ic
p
er
f
o
r
m
an
ce
o
f
a
s
o
lar
-
p
o
we
r
ed
b
r
u
s
h
less
DC
(
B
L
DC
)
m
o
to
r
d
r
i
v
e
s
y
s
tem
f
o
r
elec
tr
ic
v
eh
icles
(
E
Vs)
u
tili
z
ed
in
ag
r
icu
ltu
r
al
ap
p
licatio
n
s
ar
e
ef
f
ec
tiv
ely
d
em
o
n
s
tr
ated
in
th
is
p
ap
er
.
An
ec
o
n
o
m
ic
an
d
ec
o
lo
g
ical
en
er
g
y
s
u
p
p
ly
is
en
s
u
r
ed
b
y
in
teg
r
atin
g
a
s
o
lar
p
h
o
to
v
o
ltaic
(
PV)
s
y
s
tem
,
wh
ich
less
en
s
en
v
ir
o
n
m
e
n
tal
im
p
ac
t
an
d
d
ep
en
d
en
cy
o
n
tr
ad
it
io
n
al
f
u
els.
Un
d
er
v
ar
io
u
s
lo
ad
an
d
ir
r
a
d
iatio
n
s
ettin
g
s
,
th
e
B
L
DC
m
o
to
r
d
em
o
n
s
tr
ated
e
n
h
an
ce
d
t
o
r
q
u
e
r
esp
o
n
s
iv
en
ess
,
d
ec
r
ea
s
ed
s
p
ee
d
v
ar
iatio
n
s
,
an
d
in
cr
ea
s
ed
ef
f
icien
c
y
th
a
n
k
s
to
th
e
s
u
g
g
ested
co
n
tr
o
l
tech
n
iq
u
e.
So
lar
-
p
o
wer
ed
elec
tr
ic
v
eh
icles
(
S
PEVs)
g
en
er
ate
elec
tr
icity
u
s
in
g
p
h
o
t
o
v
o
ltaic
(
PV)
p
an
el
s
.
A
B
L
DC
m
o
to
r
d
r
iv
e'
s
s
p
ee
d
is
co
n
tr
o
lled
b
y
a
PI
co
n
t
r
o
ller
,
an
d
th
e
c
o
n
tr
o
ller
'
s
p
er
f
o
r
m
an
ce
is
ex
am
in
ed
with
o
th
e
r
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