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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
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60
50
40
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20
10
0
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Frequency Components of the Speed Shudder

30
25
20
0DJ 15
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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15
10
wr rad/sec
-5
0 0.5 1 1.5 2 2.5 3
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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
-50 -5 -4 -3 -2 -1 0 1 2 3
10 10 10 10 10 10 10 10 10
log f Hz
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Amount of Damping vs. Gain for the Complex Pole Pair

1
0.9
0.8
0.7
0.6
Eta
0.5
0.4
0.3
0.2
0.1
0
0 20 40 60 80 100
Compensator Gain
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Closed Loop Frequency Response, K = 1
150
100
Mag dB
50
-50 -5 -4 -3 -2 -1 0 1 2 3
10 10 10 10 10 10 10 10 10
log f Hz
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Closed Loop Frequency Response, K = 10

150
100
Mag dB
50
-50 -5 -4 -3 -2 -1 0 1 2 3
10 10 10 10 10 10 10 10 10
log f Hz
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