SENSORLESS FIELD ORIENTED CONTROL OF BRUSHLESS ...

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[139] A.R. Munoz, T.A. Lipo, “On-line dead-time compensation technique for open-loop PWM-VSI drives,” IEEE Transactions on Power Electronics, vol. 14, no. 4, pp. 683-689, Jul. 1999. {00774205} [140] Y. Murai, T. Watanabe, H. Iwasaki, “Waveform distortion and correction circuit for PWM inverters with switching lag-times,” IEEE Transactions on Industry Applications, vol. IA-23, no. 5, pp. 881-886, Sep./Oct. 1987. {04504998} Overmodulation [141] J. Holtz, W. Lotzkat, A.M. Khambadkone, “On continuous control of PWM inverters in the overmodulation range including the six-step mode,” IEEE Transactions on Power Electronics, vol. 8, no. 4, pp. 546-553, Oct. 1993. {00261026} [142] R.J. Kerkman, D. Leggate, B.J. Seibel, T.M. Rowan, An overmodulation strategy for PWM voltage inverters,” Proceedings of the International Conference on Industrial Electronics, Control, and Instrumentation, 1993, vol. 2, pp. 1215-1221. {00339240} [143] R.J. Kerkman, T.M. Rowan, D. Leggate, B.J. Seibel, “Control of PWM voltage inverters in the pulse dropping region,” IEEE Transactions on Power Electronics, vol. 10, no. 5, pp. 559-565, Sep. 1995. {00406843} [144] R.J. Kerkman, D. Leggate, B.J. Seibel, T.M. Rowan, “Operation of PWM voltage sourceinverters in the overmodulation region,” IEEE Transactions on Industrial Electronics, vol. 43, no. 1, pp. 132-141, Feb. 1996. {00481418} [145] A.M. Hava, R.J. Kerkman, T.A. Lipo, “Carrier-based PWM-VSI overmodulation strategies: analysis, comparison, and design,” IEEE Transactions on Power Electronics, vol. 13, no. 4, pp. 674-689, Jul. 1998. {00704136} [146] A.M. Hava, S-K Sul, R.J. Kerkman, T.A. Lipo, “Dynamic overmodulation characteristics of triangle intersection PWM methods,” IEEE Transactions on Industry Applications, vol. 35, no. 4, pp. 896-907, Jul./Aug. 1999. {00777199} [147] A.R. Bakhshai, et al., “Incorporating the overmodulation range in space vector pattern generators using a classification algorithm,” IEEE Transactions on Power Electronics, vol. 15, no. 1, pp. 83-91, Jan. 2000. {00817366} SVM Harmonics, Losses [148] J.F. Moynihan, M.G. Egan, J.M.D. Murphy, “Theoretical spectra of space-vectormodulated waveforms,” IEE Proceedings on Electric Power Applications, vol. 145, no. 1, pp. 17-24, Jan. 1998. {00655168} [149] R.H Ahmad, et al., “Comparison of space vector modulation techniques based on performance indexes and hardware implementation,” Proceedings of the International Conference on Industrial Electronics, Control, and Instrumentation, 1997, vol. 2, pp. 682-687. {00671816} [150] J. Vining, “Harmonic effects of space vector modulation on induction motor performance,” Department of Electrical and Computer Engineering, University of 264
Wisconsin-Madison. [Online]. Available: http://homepages.cae.wisc.edu/~vining/JVining_SpaceVectorModulation.pdf [151] J.W. Kolar, H. Ertl, F.C. Zach, “Influence of the modulation method on the conduction and switching losses of a PWM converter system,” Conference record of the IEEE Industry Applications Society Annual Meeting, 1990, pp. 502-512. {00152232} [152] F. Jenni, D. Wueest, “The optimization parameters of space vector modulation,” Fifth European Conference on Power Electronics and Applications, 1993, vol. 4, pp. 376-381. {00264822} Synchronous Regulation, Tuning, Performance, Decoupling, (FOC) [153] C.D. Schauder, R. Caddy, “Current control of voltage-source inverters for fast fourquadrant drive performance,” IEEE Transactions on Industry Applications, vol. IA-18, no. 2, pp.163-171, Mar./Apr. 1982. {04504051} [154] T.M. Rowan, R.J. Kerkman, “A new synchronous current regulator and an analysis of current-regulated PWM inverters,” IEEE Transactions on Industry Applications, vol. IA- 22, no. 4, pp. 678-690, Jul./Aug. 1986. {04504778} [155] R.D. Lorenz, “Synthesis of state variable controllers for industrial servo drives,” Proceedings of the Conference on Applied Motion Control, 1986, pp. 247-251. [156] R.D. Lorenz, D.W. Novotny, “A control systems perspective of field oriented control for AC servo drives,” Proceedings of the Seventh Annual Control Engineering Conference, 1988. [157] F. Briz, M.W. Degner, R.D. Lorenz, “Analysis and design of current regulators using complex vectors,” IEEE Transactions on Industry Applications, vol. 36, no. 3, pp. 817- 825, May/Jun. 2000. {00845057} [158] R.D. Lorenz, D.B. Lawson, “Performance of feedforward current regulators for fieldoriented induction machine controllers,” IEEE Transactions on Industry Applications, vol. IA-23, no. 4, pp. 597-602. {04504956} [159] J. Holtz, et al. “Design of fast and robust current regulators for high-power drives based on complex state variables,” IEEE Transactions on Industry Applications, vol. 40, no. 5, pp. 1388-1397, Sep./Oct. 1994. {01337067} [160] S. Bolognani, M. Zigliotto, “A space-vector approach to the analysis and design of threephase current controllers,” Proceedings of the IEEE International Symposium on Industrial Electronics, 2002, vol. 2, pp. 645-650. {01026367} [161] D. Jouve, J.P. Rognon, D. Roye, “Effective current and speed controllers for permanent magnet machines—a survey,” Proceedings of the Applied Power Electronics Conference and Exposition (APEC), 1990, pp. 384-393. {00066439} [162] D.Y. Ohm, R.J. Oleksuk, “On practical digital current regulator design for PM synchronous motor drives,” Conference Proceedings of the Applied Power Electronics Conference and Exposition (APEC), 1998, pp. 56-63. {00647669} 265
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SENSORLESS FIELD ORIENTED CONTROL O
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Table of Contents List of Figures..
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CHAPTER 5 - Field Oriented Control
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List of Figures Figure 2.1 - Radial
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Figure 3.29 - Arbitrary space vecto
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Figure 4.44 - ZS components of some
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Figure C.13 - Single-turn full-pitc
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List of Symbols Symbol Meaning Unit
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Abbreviations ACIM AC induction mot
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Superscripts * commanded value ref
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CHAPTER 1 - Introduction Historical
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vector theory to model a machine, w
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publications and magazines, and Int
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elationship between SVM and other P
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CHAPTER 2 - Fundamentals of Electri
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Preliminaries In reading the litera
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Taxonomy of Motors There is any num
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characteristics (the DC load curren
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torque component, sturdily construc
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Figure 2.7 - Cross sections of some
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draw the line between the solenoida
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These texts generally attribute the
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N B A B Y x(t) (2.6) The induc
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extended to the rotational case lat
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present analysis). When this is tru
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Figure 2.16 - Components of total f
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As aforementioned a spatial analysi
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clear the meaning, but the reader i
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Figure 2.20 - Elementary brushless
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called the per-phase torque functio
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Expressing bEMF in terms of the bEM
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Equation (2.44) is the component of
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d R( r) ke( r) kt( r) sin( r) (2.
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General Electromechanical Models Th
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Figure 2.28 - Phase-variable simula
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Trapezoidal and Sinusoidal BPMS Mot
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Figure 2.29 - Back-EMF and drive cu
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Figure 2.31 - Back-EMF and drive cu
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3 KT Ke 2 (sinusoidal) K 2 K (tra
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control scheme must keep sinusoidal
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with misconceptions. The primary is
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Part I - Sinusoidal BPMS Motors wit
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grounded-neutral wye or delta conne
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N e f A ( ) i 2 N e f B ( ) i 2
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Figure 3.7 - Developed view at zero
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Figure 3.9 - Developed view showing
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Although Equations (3.6) or (3.7) a
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direction. The contributions always
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sinusoidal electrical variable will
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Figure 3.14 - Cross section of two
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3 N e (3.6): f ( , t) I p cos(
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In the previous chapter the per-pha
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peak value is represented as an upp
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Figure 3.21 - Time relationship bet
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another and thus could be placed in
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more widely understood theory (such
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other methods, although it has clos
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The SV as a Vector The first facet
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j0 j0 j0 aˆ 1 0 1 bˆ j e e e
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j j ee 1 cos( ) (3.45) 2 3 j t x
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Notice that the amplitude of the MM
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Figure 3.27 - Equivalent MMF produc
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Ne 1 jj f , t i e i * e 2 2
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distribution that is cosinusoidal i
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3 Ne j t f Ie p 2 2 . This
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j set θ to anything. Taking the re
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epresent any physically-distributed
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lumped-parameter model in this repo
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x kCx (3.75) abc The set of varia
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phase variable axes; three axes in
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The component MMFs act away from th
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common choice is to force the power
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As an example, find the SV that cor
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the same magnitude, the projection
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Figure 3.32 - Arbitrary SV referenc
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universal and the choice of convent
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stator’s perspective and at R fr
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The potential discrepancy (p.108) w
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x cos( r) sin( r) xd x sin(
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It must be emphasized that we have
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in relative time like an oscillogra
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Part III - SV Theory Applied to Sin
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In Equation (3.135) Z has elements
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to use SV theory. It may be helpful
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Figure 3.42 - Coupling between d- a
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R R d R R v Ri Li j Li dt s
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current does not influence the valu
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d v Ri L i e dt d v Ri L i e
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Figure 3.47 - Simulation diagram fo
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e je ), and (2) it was demonstrate
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Overview of Voltage Source Inverter
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In addition to measuring voltages w
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then there would be periods during
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Figure 4.9 - Gating and POLE voltag
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Figure 4.11 - Ideal voltage wavefor
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inverter is called sine-triangle co
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and it offers the fastest dynamic r
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Figure 4.18 - Fundamental gain and
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In the literature this is called th
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voltage will be below (above) the b
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Figure 4.24 - Instantaneous phase-A
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Figure 4.26 - Base SVs showing the
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Figure 4.27 - Transformed voltage w
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also correspond to six-step squarew
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was fed to the SVM inverter as a SV
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Figure 4.31 - Temporal limit of inv
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Figure 4.34 - SVM overmodulation re
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Checking sextant s 23 again for thi
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SVM Implementation The block diagra
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has been made of using THI in the S
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different triplen signal would be i
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Similarly, when the modulation inde
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Summary and Conclusion The two-leve
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CHAPTER 5 - Field Oriented Control
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torque production; this is called d
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Figure 5.3 - Torque control of sinu
Page 233 and 234: obviously a change in perspective.
Page 235 and 236: Figure 5.9 - Comparison of referenc
Page 237 and 238: variables to the stationary referen
Page 239 and 240: Figure 5.13 - Torque control of sin
Page 241 and 242: To analyze a salient machine one mu
Page 243 and 244: Figure 5.16 - Torque functions: (a)
Page 245 and 246: Figure 5.19 - Buried permanent magn
Page 247 and 248: Figure 5.21 - Flux weakening in the
Page 249 and 250: appears that this is very much rela
Page 251 and 252: Stationary and Synchronous Regulato
Page 253 and 254: stationary regulator had. For compl
Page 255 and 256: This coupling can be mitigated by m
Page 257 and 258: educes to two independent circuits,
Page 259 and 260: D, some of the 120° methods are ap
Page 261 and 262: d d v Ri Ls i R dt dt The r
Page 263 and 264: section a state-space model for the
Page 265 and 266: Figure 6.6 - Full state feedback (o
Page 267 and 268: State-Space Model of BPMS Motor A s
Page 269 and 270: Figure 6.9 - FOC block diagram. The
Page 271 and 272: loop). A second way to implement th
Page 273 and 274: knowing the rotor position from ini
Page 275 and 276: [11] E. Clarke, Circuit analysis of
Page 277 and 278: Control Systems, Linear Analysis [4
Page 279 and 280: [77] J.M.D. Murphy, F.G. Turnbull,
Page 281 and 282: Machine Modeling, Analysis [103] J.
Page 283: THI, SVM, SPWM [127] J.A. Houldswor
Page 287 and 288: Angle Tracking [175] D. Morgan, “
Page 289 and 290: Appendix A - Elementary Electromagn
Page 291 and 292: L i (A.8) S SS S SR S SS SR (A.9
Page 293 and 294: First the self-flux-linkage of an i
Page 295 and 296: vAN R iA LM iA eA d v R i
Page 297 and 298: Figure B.3 - One-half of the flux p
Page 299 and 300: Equations (B.27) and (B.28) are for
Page 301 and 302: Fundamental Relationships Figure C.
Page 303 and 304: Figure C.3 - Sinusoidal winding den
Page 305 and 306: manufactured compared to the steppe
Page 307 and 308: phase winding of Figure C.4 will ha
Page 309 and 310: Distributed N Fp i 2 (C.5) Figu
Page 311 and 312: alanced machine only odd harmonics
Page 313 and 314: sinusoidal windings with a sinusoid
Page 315 and 316: 0, and since the direction of inte
Page 317 and 318: That the rotor-stator flux linkage
Page 319 and 320: Figure C.17 - Summary of rotor-stat
Page 321 and 322: Figure C.19 - Amplitudes of harmoni
Page 323 and 324: triangle with an amplitude whose nu
Page 325 and 326: Returning to Figure C.18 it is clea
Page 327 and 328: torque will describe the torque pro
Page 329 and 330: However, Equation (D.2) is incorrec
Page 331 and 332: the same order as the PS set (arran
Page 333 and 334: Implications of the ZS Component Th
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Figure D.6 - Neutral voltage of loa
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3v 3e 3v v v v v v v 3v AM BM CM A
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components of source voltage sum to
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Equation (D.25) and instantaneous q
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If a ZS component could possibly be
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xA X1cos( t) X3cos(3 t) X5cos(5 t)
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Figure D.11 - 3-D base vectors of 1
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the Clarke transform is used. Howev
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Appendix E - Park Transforms This a
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Appendix F - Useful Mathematical Re
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335
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