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0.8 theta
s,#1
k δVd 2
2 pLI 2 E − 1(θ s #1, 2 − θ d #1 )
0
0 100 200 300 400 500 600
S2 = I speed [rpm]
ia , DI 1 (θ d #1 )
Fig.7 Variation in θd, θs for CM#1with speed
+ (θ s #1,2 − θ d #1 )
I 1
(6.14)
theta
s,#2
C. Discussion on torque behaviour for CM#1 and CM#2
0.8 thetad,#2
thetad, thetas [for CM#2]
42 -40
40 -60
0 100
300 400200 500 600 0 100 200 300 400 500 600
speed [rpm] speed [rpm]
Fig.10 Variation in average torque for CM#1 and CM#2 with speed Fig.13 Variation in torque swing for CM#1 with speed
0.12
-45
CM#1
0.1
Torque swing [in %] -50
0.08
-55
thetad
0.06
-60
0.04
-65
0.02 CM#1
-70
CM#2
0
0 100 200 300 400 500 600 -75
0 100 200 300 400 500 600
speed [rpm]
speed [rpm]
Fig.11 Variation in θd for CM#1 and CM#2 with speed
Fig.14 Variation in torque swing for CM#2 with speed
60
1
CM#1
CM#1
50 CM#2
CM#2
0.8
40
[S2-S1]
0.6
thetas
30
0.4
20
0.2 10
0
0 0 100
300 200
400 500 600
0 100 200 300 400 500 600
speed [rpm]
speed [rpm]
Fig.15 Variation in (S2-S1) in (6.12) for CM#1 and CM#2 with speed
Fig.12 Variation in θs for CM#1 and CM#2 with speed
ia , DI 1 (θ ' DI 1#1 )
1−
θ 'SI1#1 = α loge 1 − I (6.16)
E δVd
1 − RI 2 E − 1
i (θ ' )
1 − a , DI 1 DI 1#1
θ 'SI1# 2 = α log e 1 − I (6.17)
E (2 − δ )Vd
1 − RI 2 E − 1