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fs = 10k Hz fs = 13.3k Hz
200 200

100 100

0 0
A

-100 -100

-200 -200
0 0.02 0.04 0 0.02 0.04
t t
fs = 16.7k Hz fs = 20k Hz
200 200

100 100

0 0
A

-100 -100

-200 -200
0 0.02 0.04 0 0.02 0.04
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THD vs. Frequency


0.1

0.09

0.08

0.07

0.06
THD

0.05

0.04

0.03

0.02

0.01

0
10 12 14 16 18 20
f kHz

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60

50

40

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Frequency Components of the Speed Shudder


30

25

20

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10

0
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Plot of the Imaginary Part of the Complex Roots vs. Kc


80

75

70

65
Imag

60

55

50

45

40
200 250 300 350 400 450 500 550 600
Kc

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Uncompensated Rotor Speed Torque Pulse Response


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10
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Step Response of the Torque Producing Stator Phase Current


400

350

300

250
Amps

200

150

100

50

0
0.124 0.125 0.126 0.127 0.128 0.129 0.13
t sec

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Open Loop Frequency Response


150

100
Mag dB

50

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10 10 10 10 10 10 10 10 10
log f Hz

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1 200

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Rotor Speed in rpm


2500

2000

1500
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1000

500

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1
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t sec t sec

Clamped Compensator Output Shudder Compensator Correction Torque Command p.u.


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0.04 0.04

0.02 0.02
Tcorr cl

Tcorr
0 0

-0.02 -0.02

-0.04 -0.04

-0.06 -0.06
0 2 4 6 8 0 2 4 6 8
t sec t sec

Rotor Torque Command p.u. Rotor Torque Applied N-m


1 200

0.5 100
Trot
Te*

0 0

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-1 -200
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t sec t sec

Rotor Speed in rpm


2500

2000

1500
rpm

1000

500

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