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(9) $'7(.X if ilter  ?- - - -   mchop    ?-- Me -- Mb - -  Fres ichop Tm Ftot i. mchop. .  mchop1 = mchop2  , mchop3 . RM. .  Rf ield1 0 0 =  0 Rarm 0  , 0 0 Rf ield1.  0 kmach1 if ield1 0 Me = , Mb 0 kmach2 if ield2 0     uchop1 ψf ield1 uchop = uchop2  , Ψ =  ψarm  , uchop3 ψf ield2.  Lf ield1 0 0 LM =  0 Larm 0  , 0 0 Lf ield1   if ield1   = mbog1 mbog2 , MT = Mb Me , i =  iarm  , if ield2       0 Ωbog1 Tmach1   e = earm , Ωb = , Tm = , Ωbog2 Tmach1 0. K. .

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(127) Embedded filter: current i_filter 70 60. i_filter [A]. 50 40 30 20 10 0. 0. 0.01. 0.02. 0.03. 0.04. 0.05. 0.06. 0.07. 0.08. 0.09. 0.1. 0.07. 0.08. 0.09. 0.1. Embedded filter: voltage u_filter 500. u_filter [V]. 400 300 200 100 0. 0. 0.01. 0.02. 0.03. 0.04. 0.05 Time [s]. GH#%I'2*K,XI+Š-—8 ..0AƒEW..XŠ!.277.&:. 0.06. if ilter. "&)˜'$'EW>"I'. uf ilter. J. Field windings: currents i_field1 (b) and i_field2 (g) 50. i_field1/2 [A]. 40 30 20 10 0. 0. 0.01. 0.02. 0.03. 0.04. 0.05. 0.06. 0.07. 0.08. 0.09. 0.1. 0.08. 0.09. 0.1. Armature windings: current i_arm (r) 40. i_arm [A]. 30. 20. 10. 0. 0. 0.01. 0.02. 0.03. 0.04. 0.05 Time [s]. GH#%I'2 3XŠGH#%.E%"&)"7-4527]9#%&#%&I'(.X!.277.&:( O. 0.06. if ield1. 0.07.  8E%2M. if ield2.  I'7..& \"&. iarm.  7. BJ.

(128) Subway velocity v_sub. v_sub [km/ora]. 30.015. 30.01. 30.005. 30. 29.995. 0. 0.01. 0.02. 0.03. 0.04. 0.05. 0.06. 0.07. 0.08. 0.09. 0.1. 0.08. 0.09. 0.1. Traction force F_tot and Resistive force F_res 700. F_tot, F_res, [N]. 600 500 400 300 200 100 0. 0. 0.01. 0.02. GH#%I'2\,XJ?,28:9;<*)˜'.E%$,!.#Wn*. 0.03. vsub. 0.04. 0.05 Time [s]. 0.06. "!

(129) #%$'&0e$'7!.. 0.07. Ftot. "&)7.(7#%(+#W˜'0e$'7!.. Fres. J. Field and armature currents i_field1 (b), i_arm (r) and i_field2 (g). i_field1 [A]. 42.35 42.3 42.25 42.2 99.9. 99.91. 99.92. 99.93. 99.94. 99.95. 99.96. 99.97. 99.98. 99.99. 100. 99.91. 99.92. 99.93. 99.94. 99.95 Time [ms]. 99.96. 99.97. 99.98. 99.99. 100. 99.91. 99.92. 99.93. 99.94. 99.95. 99.96. 99.97. 99.98. 99.99. 100. i_arm [A]. 37.55 37.545 37.54 37.535 37.53 99.9. i_field2 [A]. 42.4 42.35 42.3 42.25 99.9. GH#%I'2 3 X•GH#%.E%)"&="7-4527!.277.&:(. if ield1. K.  8E%2M. iarm.  7. "&. if ield2.  I'7..& BJ.

(130) Chopper voltages: u_chop1 (b), u_chop3 (g) and u_chop2 (r). u_chop1 [V]. 300 200 100 0 99.9. 99.91. 99.92. 99.93. 99.94. 99.95. 99.96. 99.97. 99.98. 99.99. 100. 99.91. 99.92. 99.93. 99.94. 99.95. 99.96. 99.97. 99.98. 99.99. 100. 99.91. 99.92. 99.93. 99.94. 99.95 Time [ms]. 99.96. 99.97. 99.98. 99.99. 100. u_chop2 [V]. 300 200 100 0 99.9. u_chop3 [V]. 300 200 100 0 99.9. GH#%I'2!N3X $'CC .˜'$'EW>"I'.(.X. uchop1.  8E%2M. uchop3.  I'7..& "&. uchop2.  BJ.

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