1.1.1 Introduction.
A dynamic model of the machine subjected to control must be known in order to understand
and design vector controlled drives. Due to the fact that every good control has to face any
possible change of the plant, it could be said that the dynamic model of the machine could be
just a good approximation of the real plant. Nevertheless, the model should incorporate all the
important dynamic effects occurring during both steady-state and transient operations.
Furthermore, it should be valid for any changes in the inverters supply such as voltages or
currents [ROM 1].
Such a model can be obtained by means of either the space vector phasor theory or two-axis
theory of electrical machines. Despite the compactness and the simplicity of the space phasor
theory, both methods are actually close and both methods will be explained.
1.1
For simplicity, the induction motor considered will have the following assumptions:
The stator and the rotor windings are simplified as a single, multi-turn full pitch coil
situated on the two sides of the air gap.
sA'
sB
sC
ra'
rb
rc
rc'
rb'
ra
sC'
sB'
sA
d sA (t)
dt
(1.1)
u sB (t) = R s i sB (t) +
d sB (t)
dt
(1.2)
u sC (t) = R s i sC (t) +
d sC (t)
dt
(1.3)
1.2
d ra (t)
dt
(1.4)
u rb (t) = R r i rb (t) +
d rb (t)
dt
(1.5)
u rc (t) = R r i rc (t) +
d rc (t)
dt
(1.6)
The instantaneous stator flux linkage values per phase can be expressed as:
sA = Ls i sA + M s isB + M s isC + M srcosm i ra + M srcos(m + 2 3 )irb + M srcos(m + 4 3 )i rc
(1.7)
(1.8)
(1.9)
(1.10)
(1.11)
(1.12)
Taking into account all the previous equations, and using the matrix notation in order to
compact all the expressions, the following expression is obtained:
u sA R s + pL s
u
pM s
sB
u sC
pM s
=
u ra p M sr cos m
u rb p M sr cos
m2
u rc p M sr cos m1
pM s
pM s
p M sr cos m
pM sr cos m1
R s + p Ls
pM s
pM s
R s + pL s
p M sr cos m2
p M sr cos m1
p M sr cos m
p M sr cos m2
pM sr cos m1
pM sr cos m
p M sr cos m2
pM sr cos m2
p M sr cos m1
p M sr cos m
R r + pL r
pM r
pM r
pM r
R r + pL r
pM r
pM sr cos m2 i sA
p M sr cos m1 i sB
pM sr cos m i sC
pM r
i ra
i
pM r
rb
R r + p L r i rc
(1.13)
1.3
sB
ra
Wm
Wm
rb
sA
sD
rc
sC
In the symmetrical three-phase machine, the direct- and the quadrature-axis stator magnitudes
are fictitious. The equivalencies for these direct (D) and quadrature (Q) magnitudes with the
magnitudes per phase are as follows:
1
1
u s 0
1 2
u sA
2
2
2
2
u sD = c cos cos ( 3 ) cos( + 3 ) u sB
u sQ
sin sin ( 2 3 ) sin ( + 2 3 ) u sC
(1.14)
1
u sA
u = c 1
sB
1
u sC
(1.15)
2
2
2
cos
sin u s 0
cos ( 2 3 ) sin ( 2 3 ) u sD
cos ( + 2 3 ) sin ( + 2 3 ) u sQ
Where "c" is a constant that can take either the values 2/3 or 1 for the so-called non-power
invariant form or the value
1.3.3. These previous equations can be applied as well for any other magnitudes such as
currents and fluxes.
Notice how the expression 1.13 can be simplified into a much smaller expression in 1.16 by
means of applying the mentioned Park's transform.
1.4
u
pL m
L r p r
R r + pL r
r L m ( p s - P w m )
i r
Where Ls = L s M s , Lr = Lr M r and Lm =
3
2
(1.16)
M sr .
u rq - P w m L m
pLm
R s + pLs
P w m Lm
R r + pL r
pL m
- P w m Lr
i sD
pL m i sQ
P w m L r i rd
R r + pL r i rq
0
(1.17)
0
u rq
- Ls P wm
pL m
R s + pL s
L m P wm
R r + pL r
pL m
L m P w m isD
i
pLm
sQ
i rd
0
R r + pL r i rq
(1.18)
u rq L m sw s
- Ls w s
pL m
R s + pLs
Lm w s
L m sw s
R r + pL r
pL m
L r sw s
L m w s i sD
pL m i sQ
L r sw s i rd
R r + pL r i rq
(1.19)
1.5
1.2.1 Introduction.
Space phasor notation allows the transformation of the natural instantaneous values of a threephase system onto a complex plane located in the cross section of the motor. In this plane, the
space phasor rotate with an angular speed equal to the angular frequency of the three phase
supply system. A space phasor rotating with the same angular speed, for example, can
describe the rotating magnetic field. Moreover, in the special case of the steady state, where
the supply voltage is sinusoidal and symmetric, the space phasor become equal to three-phase
voltage phasors, allowing the analysis in terms of complex algebra. It is shown in figure 1.3
the equivalent schematic for this new model.
Ws
s
sB
ra
Wm
Wr
rb
sA
rc
sC
Figure 1.3. On the right the equivalent two rotating windings induction motor.
In order to transform the induction motor model, in natural co-ordinates, into its equivalent
space phasor form, the 120 operator is introduced:
a = ej
, a2 = ej
(1.20)
i s = c 1 i sA (t ) + a i sB (t ) + a 2 i sC (t )
The factor "c", takes usually one of two different values either
(1.21)
2
or
. The factor
makes the amplitude of any space phasor, which represents a three phase balanced system,
equal to the amplitudes of one phase of the three-phase system. The factor
may also be
used to define the power invariance of a three-phase system with its equivalent two-phase
system (see section 1.3.3).
1.6
sA'
sB
sC
ra'
wm
r
rb
m
rc
rc'
rb'
ra
sD
sC'
sB'
sA
2
3
[i
sA
(t ) + aisB (t ) + a 2i sC (t )] = i s e j
(1.22)
Expressed in the reference frame fixed to the stator, the real-axis of this reference frame is
denoted by sD and its imaginary-axis by sQ.
The equivalence between the stator phasor and the D-Q two-axis components is as follows:
i s = isD ( t ) + j i sQ ( t )
(1.23)
or:
[ (i
Im (i ) = Im[ (i
Re( is ) = Re
s
]
)] = i
2
3
sA
+ aisB + a 2 isC ) = i sD
2
3
sA
+ aisB + a 2 isC
(1.24)
sQ
1.7
The relationship between the space phasor current and the real stator phase currents can be
expressed as follows:
[ (i + ai + a i )] = i
Re( a i ) = Re[ (a i + i + ai )] = i
Re( ai ) = Re[ ( ai + a i + i )] = i
Re( is ) = Re
2
3
sA
2
3
sC
sA
sA
sB
sC
sB
2
3
sB
sA
sB
sC
(1.25)
sC
In a similar way, the space phasor of the rotor current can be written as follows:
ir =
2
3
[i
ra
(1.26)
Expressed in the reference frame fixed to the rotor, the real-axis of this reference frame is
denoted by r and its imaginary-axis by r.
The space phasor of the rotor current expressed in the stationary reference frame fixed to the
stator can be expressed as follows:
'
j +
i r = ir e j = ir e ( m )
(1.27)
The equivalence between the current rotor space phasor and the - two-axis is as follows:
ir = ir ( t ) + j ir ( t )
(1.28)
or:
[ (i
Im (i ) = Im[ (i
Re( ir ) = Re
r
]
)] = i
2
3
ra
+ airb + a 2 i rc ) = ir
2
3
ra
+ airb + a 2 i rc
(1.29)
The relationship between the space phasor current and the real stator currents can be
expressed as follows:
[ (i + ai + a i )] = i
Re( a i ) = Re[ ( a i + i + ai )] = i
Re( ai ) = Re[ (ai + a i + i )] = i
Re( ir ) = Re
2
3
ra
2
3
2
3
rb
rc
ra
ra
rb
rc
ra
rb
rc
rb
(1.30)
rc
The magnetising current space-phasor expressed in the stationary reference frame fixed to the
stator can be obtained as follows:
i m = i s + ( N re N se )ir '
1.8
(1.31)
1.2.3.1- Stator flux-linkage space phasor in the stationary reference frame fixed to the stator.
Similarly to the definitions of the stator current and rotor current space phasors, it is possible
to define a space phasor for the flux linkage as follows:
s =
2
3
sA
+ a sB + a 2 sC )
(1.32)
If the flux linkage equations 1.7, 1.8, 1.9 are substituted in equation 1.32, the space phasor for
the stator flux linkage can be expressed as follows:
s =
2
3
i L + a M s + a 2 M s + i M s + a L + a 2 M s + i M s + a M s + a 2 L +
sB
s
sC
s
sA s
sr
sr
( m 3)
sr
( m 3)
m
ra
2
2
2
+ irc M sr cos( m + 4 3 ) + a M sr cos( m + 2 3 ) + a M sr cos m
(
(
(
)
)
)
(1.33)
i L + a M s + a 2 M s + a i a 2 M s + L + a M s + a 2 i a M s + a 2 M s + L +
sB
s
sC
s
sA s
sr
sr
( m 3)
sr
( m 3)
ra
m
2
s = 3
2
2
2
2
+ a irc a M sr cos( m + 4 3 ) + a M sr cos ( m + 2 3 ) + M sr cos m
(1.34)
(
= (L
) (
M s i s + 1.5 cos m M sr i r = L s M s i s + 15
. M sr i r e j m = L s M s i s + 15
. M sr i
= Ls i s + L m i
'
r
'
r
(1.35)
Where Ls is the total three-phase stator inductance and Lm is the so-called three-phase
magnetising inductance. Finally, the space phasor of the flux linkage in the stator depends on
two components, being the stator currents and the rotor currents.
Once more, the flux linkage magnitude can be expressed in two-axis as follows:
s = sD + j sQ
(1.36)
1.9
(1.37)
(1.38)
The relationship between the components ird and ir and irq and ir may be introduced as
follows:
(1.39)
'
i r = ird + jirq = i r e j m
The compactness of the notation in the space phasor nomenclature compared to the two-axis
notation in 1.1. is noticeable.
1.2.3.2- Rotor flux-linkage space phasor in the rotating reference frame fixed to the rotor.
The rotor flux linkage space phasor, fixed to the rotor natural frame can be defined as follows:
r =
2
3
ra
+ a rb + a 2 rc )
(1.40)
If the flux linkage equations 1.10, 1.11, 1.12 are substituted in equation 1.40, the space phasor
for the rotor flux linkage can be expressed as follows:
i L + a M r + a 2 M r + i M r + a L + a 2 M r + i M r + a M r + a 2 L +
sB
r
sc
r
ra r
sr
sr
( m 3)
sr
( m 3)
sA
m
2
r = 3
2
4
2
+ isC M sr cos( m + 2 3 ) + a M sr cos( m + 4 3 ) + a M sr cos m
(
(
(
)
)
)
(1.41)
i L + a M r + a 2 M r + a i a 2 M r + L + a M r + a 2 i a M r + a 2 M r + L +
rb
r
rc
r
ra r
2
+ i M cos + a M cos + 2 + a M cos + 4 +
sr
sr
( m 3)
sr
( m 3)
m
sa
r = 23
2
4
2
+ a i sc a M sr cos( m + 2 3 ) + a M sr cos( m + 4 3 ) + M sr cos m
(1.42)
And finally:
(
= (L
) (
= Lr i r + Lm i
1.10
M r i r + 15
. cos( m ) M sr i s = Lr M r ir + 1.5 M sr i s e j m = Lr M r i r + 1.5 M sr i s =
'
s
'
(1.43)
Where Lr is the total three-phase rotor inductance and Lm is the so-called three-phase
'
magnetising inductance. i s is the stator current space phasor expressed in the frame fixed to
the rotor.
Once more the flux linkage magnitude can be expressed in the two-axis form as follows:
r = r + j r
(1.44)
(1.45)
(1.46)
1.2.3.3- Rotor flux-linkage space phasor in the stationary reference frame fixed to the stator.
The rotor flux linkage can also be expressed in the stationary reference frame using the
previously introduced transformation ejm, and can be written as:
'
r
= rd + j rq = r e j m = r + j r e j m
(1.47)
The space phasor of the rotor flux linkage can be expressed according to the fixed coordinates as follows:
'
'
'
'
r = Lr i r + Lm i s e j m = Lr i r + Lm i s
(1.48)
The relationship between the stator current referred to the stationary frame fixed to the stator
and the rotational frame fixed to the rotor is as follows:
'
i s = i s e j m
'
i s e j m = i s
(1.49)
Where
i s = isD + ji sQ
i s = is + jis
'
(1.50)
'
'
(1.51)
1.11
is,is'
wm
r
m
sD
Figure 1.5. Stator-current space phasor expressed in accordance with the rotational
frame fixed to the rotor and the stationary frame fixed to the stator.
1.2.3.4- Stator flux-linkage space phasor in the rotating reference frame fixed to the rotor.
Similarly than 1.2.3.3 section, it can be deduced the following expression:
'
j m
s = se
'
'
j
= L s i s + L m i r e m = Ls i s + L m i r
(1.52)
2
3
ur =
2
3
[u
[u
sA
ra
2
3
(u
sA
12 usB 12 usC ) + j
1
3
1
3
(u
(u
sB
rb
usC )
urc )
(1.53)
Where the stator voltage space phasor is referred to the stator stationary frame and the rotor
voltage space phasor is referred to the rotating frame fixed to the rotor.
Provided the zero component is zero [VAS 1], it can also be said that:
usA = Re( u s )
usB = Re( a 2 u s )
usC = Re( aus )
1.12
(1.54)
j g
= i sx + ji sy
(1.55)
sQ
r
wg
x
wm
m
r
sD
Figure 1.6. It is shown a magnitude represented by means of the vector, and its angle
referred to the three different axis. The three different axis are: sD-sQ fixed to the
stator, r-r fixed to the rotor whose speed is wm, and finally the general frame
represented by means of the axis x-y whose speed is equal to wg .
In a similar way and for other magnitudes, it can be written the following equations:
u sg = u s e
j g
sg = s e
= usx + jusy
j g
= sx + j sy
(1.56)
Where the magnitudes are the voltage space phasor and the stator flux linkage respectively.
However, if the magnitude in the figure 1.6 is for instance the rotor current, its space phasor
notation will be:
i rg = i r e
j g m
) = i + ji
rx
ry
(1.57)
1.13
j g m
rg = r e
j g m
= u rx + ju ry
(1.58)
= rx + j ry
Manipulating the previous equations yields the following stator and rotor space phasor
voltage equations in the general reference frame.
u sg e
j g
= Rs i sg e
(
u rg e
j g m
j g
d sg e
j g
s sg e
dt
) = R i rg e (
r
j g m
)=R i
)+
d r e
j g
j g m
+e
d sg
j g
dt
dt
= Rr i rg e
+ je
j g m
j g
w g sg
) + e j(
) d rg + je j (
dt
) w P w
( g
m ) rg
(1.59)
d sg
dt
d rg
dt
+ jw g sg
(1.60)
+ j w g P wm rg
rg = Lr i rg + Lm i sg
Using the two-axis notation and the matrix form, the voltage equations can be represented by:
R s + pLs
u sx
u
w g Ls
sy =
u rx
pL m
u ry w g - P w m L m
- w g Ls
pL m
R s + pLs
w g Lm
(P w
- w g Lm
pLm
(w
R r + pL r
g
isx
isy
P w m - w g L r i rx
R r + pL r
i ry
- w g Lm
- P w m Lr
pLm
(1.62)
1.2.5.2 - Space-phasor voltage equations in the stationary reference frame fixed to the stator.
If wg = 0, the matrix expression obtained is 1.63, being equal to the expression 1.17.
u sD R s + pL s
u
0
sQ =
u rd pL m
u rq - P w m L m
pLm
R s + pLs
P w m Lm
R r + pL r
pL m
- P w m Lr
i sD
pL m i sQ
P w m L r i rd
R r + pL r i rq
0
(1.63)
d s
dt
(1.64)
'
'
Rr i r e j m
'
u r = Rr i r +
'
d r
dt
'
d r e j m
dt
(1.65)
'
j P wm r
s = Ls i s + L m i r
'
'
(1.66)
r = Lr i r + L m i s
1.2.5.3 - Space-phasor voltage equations in the rotating reference frame fixed to the rotor.
If wg = wm, the matrix expression obtained is 1.67, being equal to the expression 1.18.
u sD R s + pLs
u
sQ = L s P w m
u rd pL m
0
u rq
- Ls P wm
pL m
R s + pL s
L m P wm
R r + pL r
pL m
L m P w m isD
i
pLm
sQ
i rd
0
R r + pL r i rq
(1.67)
'
'
us
'
Rs i s
ds
dt
'
+ j s P wm
dr
(1.69)
dt
(1.70)
'
s = Ls i s + L m ir
'
r = Lr ir + L m i s
1.2.5.4 - Space-phasor voltage equations in the rotating reference frame at synchronous speed.
If wg = ws, the matrix expression obtained is 1.71, being equal to expression 1.19.
u sD R s + pLs
u
sQ = L s w s
u rd pL m
u rq L m sw s
- Ls w s
pL m
R s + pLs
Lm w s
L m sw s
R r + pL r
pL m
L r sw s
L m w s i sD
pL m i sQ
L r sw s i rd
R r + pL r i rq
(1.71)
1.15
d sg
dt
+ j sg w s
(1.72)
d rg
dt
+ j rg ( w s P w m )
(1.73)
1.16
(1.74)
1.3.1 - Introduction.
The general expression for the torque is as follows:
(1.75)
'
t e = c s i r
Where the c is a constant, s and i r are the space phasors of the stator flux and rotor
'
current respectively, both referred to the stationary reference frame fixed to the stator.
The expression given above can also be expressed as follows:
t e = c s i r sin
(1.76)
Where is the angle existing between the stator flux linkage and the rotor current. It follows
that when =90o the torque obtained is the maximum and its expression is exactly equal to the
one for the DC machines. Nevertheless, in DC machines the space distribution of both
magnitudes is fixed in space, thus producing the maximum torque for all different magnitude
values. Furthermore, both magnitudes can be controlled independently or separately. In an
AC machine, however, it is much more difficult to realise this principle because both
quantities are coupled and their position in space depends on both the stator and rotor
positions. It is a further complication that in squirrel-cage machines, it is not possible to
monitor the rotor current, unless the motor is specially prepared for this purpose in a special
laboratory. It is impossible to find them in a real application. The search for a simple control
scheme similar to the one for DC machines has led to the development of the so-called vectorcontrol schemes, where the point of obtaining two different currents, one for controlling the
flux and the other one for the rotor current, is achieved [VAS 1].
(1.77)
1.17
Substituting the previous powers for its values, the equation can be expressed as follows:
d s *
2
*
t e wr = Re u s i s Rs is Re
is
dt
3
2
d 'r '*
'
'*
' 2
+ Re ur i r Rr ir Re
i r
dt
(1.78)
Since in the stationary reference frame, the stator voltage space phasor u s can only be
balanced by the stator ohmic drop, plus the rate of change of the stator flux linkage, the
previous expression can be expressed as follows:
'
'*
'
'*
'
(1.79)
'
t e wr = 32 Re jwr r i r = 32 wr Re j r i r = 32 wr r i r
Expressing the equation in a general way for any number of pair of poles gives:
t e = 32 P r i r
'
'
(1.80)
If equations 1.66 and 1.35 are substituted in equation 1.80, it is obtained the following
expression for the torque:
(1.81)
t e = 32 P s i s
t e = 32 P sD i sQ sQ i sD
(1.82)
L
'
'
3L
'
Lm
'
3
t e = 32 P m L m i r + L s i s i r = P m s i r = P
s r
2
Ls
2 Ls
2 LsLr Lm
(1.83)
3
32
Power invariant
2
23
32
23
1
s
sQ =
1
s
'rd = 1s
'rq = 1s
(usD Rs isD )
(u
(u
(u
sQ
Rs isQ
) ( R i
) = ( R i
'
rd
Rr i' rd P w m 'rq =
1
s
'
rq
Rr i' rq + P w m 'rd
1
s
'
'
rd
P w m 'rq
rq
+ P w m 'rd
)
)
(1.84)
where Lx = Ls Lr L2m
(1.85)
1
s
rq =
1
s
'sd =
1
s
'sq = 1s
(urd Rrird ) = 0
(u
(u
(u
rq
Rr irq = 0
'
sd
Rs i'sd + P wm 'sq
'
sq
Rr i'sq P wm 'sd
)
)
(1.86)
1.19
isD = ' sD
Lx
Lm
Lx
Lr
L
'rq m
Lx
Lx
isQ = ' sQ
Ls
ird = rd
'rd
Lx
' sD
Lm
Lx
Ls
L
' sQ m
Lx
Lx
irq = rq
where L x = Ls Lr
(1.87)
L2m
(
(u
(u
(u
sx = 1s usx Rs isx + ws sy
sy = 1s
rx =
1
s
ry =
1
s
)
)
sy
Rr isy ws sx
rx
Rr irx + ry ( ws P wm ) = 1s Rr irx + ry ( ws P wm )
ry
Rr iry rx
) (
(w P w )) = ( R i
s
1
s
r ry
rx ( ws P wm
)
))
(1.88)
sx
Lr
L
rx m
Lx
Lx
isy =
sy
Lr
L
ry m
Lx
Lx
irx = rx
Ls
Lx
sx
Lm
Lx
iry = ry
Ls
Lx
sy
Lm
Lx
where Lx = Ls Lr
(1.89)
L2m
dw m
+ Dw m
dt
(1.90)
Where, te is the electromagnetic torque, tL is load torque, J is the inertia of the rotor, and
finally the D is the damping constant.
1.20
Using the torque expressions 1.82, the previous motion equation can be expressed as follows:
P c ( sD i sQ sQ i sD ) = t L + w m (D + Js)
wr =
P c ( sD i sQ sQ i sD ) t L
D + Js
(1.91)
Where P is the number of pair of poles and the torque constant take the values either 1 or 2/3
according to the table I.I shown in the previous section 1.3.3.
60
60
50
50
40
40
torque (Nm)
torque (Nm)
All simulations are done in Matlab/Simulink. Motor characteristics are listed in section 4.2.
30
20
30
20
10
10
-10
0
-10
0.2
0.4
0.6
0.8
time (s)
1.2
0.2
0.4
0.6
0.8
1.2
time (s)
Figure 1.7. Torque response without load. Left: Motor_1kW. Right: Motor_1.5kW.
Te= 0Nm, J=0.08Kgm2. Notice the transient at the beginning and the steady state
torque value, being 0Nm for this ideal case.
1.21
160
160
140
140
120
120
100
100
wm (rd/s)
wm (rd/s)
80
60
80
60
40
40
20
20
0
0
0.2
0.4
0.6
0.8
time (s)
1.2
1.4
0.2
0.4
0.6
0.8
time (s)
Figure 1.8. Speed response without load. Left: Motor_1kW. Right: Motor_1.5kW.
Te=0Nm, J=0.08Kgm2. Notice the small ripple at the beginning due to the transient.
The final speed value is 157 rd/s, as expected from this ideal case, where Te=0Nm.
1.22
1.2
1.4
u r = Vr' e j
d is
= jws I s
dt
'
d ir
= jwr I r' + j P wm I r'
dt
(1.92)
'
dis 3
dir
+ 2 Lrm
dt
dt
(1.93)
'
'
dir 3
dis
u = R i + (Lr 1 + 2 L rm )
+ 2 L sm
j P wm (Lr 1 + 3 2 L rm )i r + 3 2 Lsm i s
dt
dt
'
r
'
r r
(1.94)
Once the conditions described above in equations 1.92 are applied to the stator 1.93 and rotor
1.94 equations, stator 1.95 and rotor 1.96 steady state equations are obtained:
V s = Rs I s + jws (L s1 + 3 2 L sm )I s + jws
L sm )I r' + jws
Lsm I r'
(1.95)
Lsm I s
(1.96)
1.23
wsL s1
Is
wsL r1
3/2wsLsm
Rr/s
Ir'
From the previous steady state induction motor model the following expressions for the
torque, stator current and stator flux can be obtained:
T = 3 P 2 Rr s
Is =
Rr
ws
I r'
1.24
(1.97)
(1.98)
(1.99)
In the present chapter has been deduced the motor model. The model has been formulated by
means of the two-axis theory equations and the space phasor notation. Despite the fact that
both nomenclatures are valid, it has been proved that the space phasor notation is much more
compact and easier to work with. The model has been developed in both nomenclatures for
the stator, rotor and synchronous references. In further chapters, the motor model with stator
reference, introduced in section 1.4.1.1, will be the one most used.
Different torque expressions have been deduced.
The final concrete equations used in the Matlab/Simulink motor model have been presented
by the three different references. Some simulations are shown to prove the validity of the
model, being equal for the previously mentioned three references. Two different motors have
been used in the model.
Finally the steady state motor analysis has been introduced.
1.25