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Wyświetlanie 1-15 z 74
Tytuł:
Loopshaping of motor torque controller
Autorzy:
Sieklucki, G.
Powiązania:
https://bibliotekanauki.pl/articles/229950.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
electric drive
II2 controller
robust control
stability region
parametric optimization
nonlinear programming
waterbed effect
weighted sensitivity
modulus criterion
Opis:
The controller synthesis problem of the motor torque is presented. The tuning of the II2 controller parameters of the electromagnetic motor torque is introduced. The results are obtained by applying the weighted sensitivity method (nominal performance) which is the optimization in H∞ space. The waterbed effect for some weighting functions is presented. The results, which are obtained by a parametric optimization (nonlinear programming), are analysed by the calculations of the stability margins.
Źródło:
Archives of Control Sciences; 2013, 23, 2; 213-228
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Selected Nature-Inspired Algorithms in Function of PM Synchronous Motor Cogging Torque Minimisation
Autorzy:
Cvetkovski, Goga Vladimir
Petkovska, Lidija
Powiązania:
https://bibliotekanauki.pl/articles/1955984.pdf
Data publikacji:
2021
Wydawca:
Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Tematy:
permanent magnet synchronous motor
optimisation method
cogging torque
genetic algorithm
finite element method
Opis:
Both permanent magnet brushless DC motors and permanent magnet synchronous motors have attracted wide attention and are increasingly used in industrial high-performance applications in recent years. Those motors are known for their good electrical, magnetic and performance characteristics, but there is one parameter known as cogging torque that has a negative influence on the performance characteristics of the motor. This pulsating torque is generated as a result of the interaction between the stator teeth and the permanent magnets. The minimisation of the ripple of this torque in those permanent magnet motors is of great importance and is generally achieved by a special motor design which in the design process involves a variety of many geometrical motor parameters. In this research work, a novel approach will be introduced where two different nature-inspired algorithms, such as genetic algorithm (GA) and cuckoo search (CS) algorithm are used as an optimisation tool, in which the defined equation for the maximum value of the cogging torque is applied as an objective function. Therefore, a proper mathematical presentation of the maximum value of the cogging torque for the analysed synchronous motor is developed and implemented in the research work. For a detailed analysis of the three different motor models, the initial motor and the two optimised motor models are modelled and analysed using a finite element method approach. The cogging torque is analytically and numerically calculated and the results for all the models are presented.
Źródło:
Power Electronics and Drives; 2021, 6, 41; 204-217
2451-0262
2543-4292
Pojawia się w:
Power Electronics and Drives
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Application of optimal current driver for the torque control of BLDC motor
Autorzy:
Bernat, J.
Stępień, S.
Powiązania:
https://bibliotekanauki.pl/articles/140879.pdf
Data publikacji:
2011
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
silnik bezszczotkowy
silnik BLDC
sterowanie
problem liniowo-kwadratowy
identyfikacja
current driver
BLDC motor
control law
linear quadratic problem
identification
Opis:
This research presents the novel control strategy of the brushless DC motor. The optimal current driver is designed using Linear Quadratic Regulator and feedback linearization. Additionally, the current reshaping strategy is applied to control the motor torque. Thus, the torque controller is built based on the optimal current driver. The motor is simulated using the FEM analysis.
Źródło:
Archives of Electrical Engineering; 2011, 60, 2; 149-158
1427-4221
2300-2506
Pojawia się w:
Archives of Electrical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Predictive torque control of induction motor drive with reduction of torque and flux ripple
Autorzy:
Kiani, Babak
Mozafari, Babak
Soleymani, Soodabeh
Mohammadnezhad Shourkaei, Hosein
Powiązania:
https://bibliotekanauki.pl/articles/2086858.pdf
Data publikacji:
2021
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
FS-MPTC
induction motor
duty ratio
voltage vector
torque
flux ripples
silnik indukcyjny
cło
wektor napięcia
moment obrotowy
fala strumienia
tętnienie momentu obrotowego
Opis:
The continuing efforts for reduction of the torque and flux ripples using Finite Set Model Predictive Direct Torque Control methods (FS-MPDTC) have been currently drowning a great attention from the academic communities and industrial applications in the field of electrical drives. The major problem of high torque and flux ripples refers to the consideration of just one active voltage vector at the whole control period. Implementation of two or more voltage vectors at each sampling time has recently been adopted as one of the practical techniques to reduce both the torque and flux ripples. Apart from the calculating challenge of the effort control, the parameter dependency and complexity of the duty ratio relationships lead to reduction of the system robustness. those are two outstanding drawbacks of these methods. In this paper, a finite set of the voltage vectors with a finite set of duty cycles are employed to implement the FS-MPDTC of induction motor. Based on so-called Discrete Duty Cycle- based FS-MPDTC (DDC-FS-MPDTC), a base duty ratio is firstly determined based on the equivalent reference voltage. This duty ratio is certainly calculated using the command values of the control system, while the motor parameters are not used in this algorithm. Then, two sets of duty ratios with limit members are constructed for two adjacent active voltage vectors supposed to apply at each control period. Finally, the prediction and the cost function evaluation are performed for all of the preselected voltage vectors and duty ratios. However, the prediction and the optimization operations are performed for only 12 states of inverter. Meanwhile, time consuming calculations related to SVM has been eliminated. So, the robustness and complexity of the control system have been respectively decreased and increased, and both the flux and torque ripples are reduced in all speed ranges. The simulation results have verified the damping performance of the proposed method to reduce the ripples of both the torque and flux, and accordingly the experimental results have strongly validated the aforementioned statement.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2021, 69, 4; e137727, 1--13
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Synchronous torque of induction motor with solid and magnetically anisotropic rotor
Moment synchroniczny silnika indukcyjnego o litym i magnetycznie anizotropowym wirniku
Autorzy:
Spałek, D.
Powiązania:
https://bibliotekanauki.pl/articles/1373490.pdf
Data publikacji:
2009
Wydawca:
Sieć Badawcza Łukasiewicz - Instytut Napędów i Maszyn Elektrycznych Komel
Tematy:
silnik indukcyjny
moment elektromagnetyczny
wirnik anizotropowy
Opis:
The paper deals with problem of synchronous state of work for induction motor with solid rotor. The have been considered different kinds of magnetic anisotropy for the solid rotor. The paper presents analytical solution for synchronous state of work for induction motor. The electromagnetic field distribution is evaluated with the help of separation variable method. The electromagnetic torque is calculated by means of Maxwell stress tensor method, material component and with the help of coenergy function for different rotor magnetic anisotropy cases at synchronous state of work. It has been pointed out that for magnetic rotor may appear electromagnetic torque for certain case of rotor anisotropy.
Źródło:
Maszyny Elektryczne: zeszyty problemowe; 2009, 84; 167-171
0239-3646
2084-5618
Pojawia się w:
Maszyny Elektryczne: zeszyty problemowe
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Unified approach to the sliding-mode control and state estimation – application to the induction motor drive
Autorzy:
Orlowska-Kowalska, T.
Tarchala, G.
Powiązania:
https://bibliotekanauki.pl/articles/201791.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
induction motor
sliding mode control
motor torque control
chattering
state estimation
model reference adaptive system (MRAS)
Opis:
In this paper a generalized design procedure of the sliding mode systems is described. A unified approach is applied to control and state variables estimation algorithms. Selected solutions are then applied in the induction motor drive system. An identical design procedure is used to design the speed control and MRAS-type speed estimator. Presented algorithms are verified using experimental tests performed on the 3 kW laboratory setup.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2013, 61, 4; 837-846
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Torque ripple reduction in BLDC motor based ona PWM technique for open-end winding
Autorzy:
Baszyński, Marcin
Powiązania:
https://bibliotekanauki.pl/articles/1841368.pdf
Data publikacji:
2021
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
BLDC motor
open-end winding
PWM technique
unipolar modulation
Opis:
The article presents a modulation method for BLDC motors with unconnected windings. This method uses two full bridges (or three 12-switch H-bridges). The useof the described modulation enables reducing the motor current variable and increasing (fourfold in relation to the switching frequency) the motor current ripple frequency. Themost important benefit of using a 12-switch inverter is the twofold reduction of the dc-linkvoltage while maintaining the rated rpm (voltage reduction in comparison to a typical supplymethod). A voltage reduction causes a reduction in losses on semi-conductor elements. Thearticle also demonstrates that the proposed modulation technique significantly shortens thetime of current commutation between windings.
Źródło:
Archives of Electrical Engineering; 2021, 70, 1; 5-23
1427-4221
2300-2506
Pojawia się w:
Archives of Electrical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Influence of the stator current reconstruction method on direct torque control of induction motor drive in current sensor postfault operation
Autorzy:
Adamczyk, Michal
Orlowska-Kowalska, Teresa
Powiązania:
https://bibliotekanauki.pl/articles/2173546.pdf
Data publikacji:
2022
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
current sensor fault
induction motor drive
direct torque control
DTC
current estimator
fault-tolerant control
usterka czujnika
napęd silnika indukcyjnego
bezpośrednia kontrola momentu obrotowego
estymator
kontrola odporna na awarie
Opis:
Modern induction motor (IM) drives with a higher degree of safety should be equipped with fault-tolerant control (FTC) solutions. Current sensor (CS) failures constitute a serious problem in systems using vector control strategies for IMs because these methods require state variable reconstruction, which is usually based on the IM mathematical model and stator current measurement. This article presents an analysis of the operation of the direct torque control (DTC) for IM drive with stator current reconstruction after CSs damage. These reconstructed currents are used for the stator flux and electromagnetic torque estimation in the DTC with space-vector-modulation (SVM) drive. In this research complete damage to both stator CSs is assumed, and the stator current vector components in the postfault mode are reconstructed based on the DC link voltage of the voltage source inverter (VSI) and angular rotor speed measurements using the so-called virtual current sensor (VCS), based on the IM mathematical model. Numerous simulation and experimental tests results illustrate the behavior of the drive system in different operating conditions. The correctness of the stator current reconstruction is also analyzed taking into account motor parameter uncertainties, especially stator and rotor resistances, which usually are the main parameters that determine the proper operation of the stator flux and torque estimation in the DTC control structure.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2022, 70, 1; e140099, 1--11
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Electromagnetic torque calculation of induction motor working under one phase failure
Obliczenia elektromagnetyczne momentu obrotowego silnika indukcyjnego pracującego przy zaniku jednej fazy
Autorzy:
Záskalický, P.
Powiązania:
https://bibliotekanauki.pl/articles/1199603.pdf
Data publikacji:
2017
Wydawca:
Sieć Badawcza Łukasiewicz - Instytut Napędów i Maszyn Elektrycznych Komel
Tematy:
induction motor
torque ripple
space phasor
one phase failure
complex plane
silnik indukcyjny
płaszczyzna zespolona
tętnienia momentu
przestrzeń wskazów
awaria jednej fazy
Opis:
W artykule przedstawiono obliczenia momentu elektromagnetycznego silnika indukcyjnego trójfazowego w przypadku awarii zasilania z jednej fazy. Obliczenia mechaniczne wykonano przy użyciu przestrzennej teorii fazorów na płaszczyźnie zespolonej.
The paper deals with the three phase induction motor (IM) electromagnetic torque waveform calculation for the case of a one phase supply failure. Computation of the motor quantities was made using the spatial phasor theory in the complex plane. On the base of the measured parameters of the IM the trajectories of the stator and rotor current space phasor were calculated. Of these the motor electromagnetic torque waveform was investigated.
Źródło:
Maszyny Elektryczne: zeszyty problemowe; 2017, 1, 113; 161-165
0239-3646
2084-5618
Pojawia się w:
Maszyny Elektryczne: zeszyty problemowe
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Design and construction of a polygon-connected autotransformer-based 36-pulse AC-DC converter for power quality improvement in retrofit applications
Autorzy:
Abdollahi, R.
Powiązania:
https://bibliotekanauki.pl/articles/202052.pdf
Data publikacji:
2015
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
AC-DC converter
polygon autotransformer
power quality
36-pulse rectifier
direct torque controlled induction motor drive (DTCIMD)
konwerter AC-DC
jakość energii
prostownik impulsowy
DTCIMD
Opis:
This paper presents the design and analysis of a polygon connected autotransformer based 36-phase AC-DC converter which supplies direct torque controlled induction motor drives (DTCIMD’s) in order to have better power quality conditions at the point of common coupling. The proposed converter output voltage is accomplished via two paralleled eighteen-pulse AC-DC converters each of them consisting of nine-phase diode bridge rectifier. An autotransformer is designed to supply the rectifier. The design procedure of magnetics is in a way such that makes it suitable for retrofit applications where a six-pulse diode bridge rectifier is being utilized. The proposed structure improves power quality criteria at ac mains and makes them consistent with the IEEE-519 standard requirements for varying loads. Furthermore, near unity power factor is obtained for a wide range of DTCIMD operation. A comparison is made between 6-pulse and proposed converters from view point of power quality indices. Results show that input current total harmonic distortion (THD) is less than 4% for the proposed topology at variable loads. A laboratory prototype of the proposed Polygon-Connected autotransformer-based 36-pulse AC-DC converter is developed and test results are presented to validate the developed design procedure and the simulation models of this AC-DC converter under varying loads.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2015, 63, 2; 353-362
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Study of delta/polygon-connected transformer-based 36-pulse ac-dc converter for power quality improvement
Autorzy:
Abdollahi, R.
Powiązania:
https://bibliotekanauki.pl/articles/140490.pdf
Data publikacji:
2012
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
jakość energii
prostownik 36-pulsowy
bezpośredni moment obrotowy silnika indukcyjnego sterowanego napędem
AC-DC converter
delta/polygon transformer
power quality
direct torque controlled induction motor drive (DTCIMD)
Opis:
Design of a delta/polygon-connected autotransformer based 36-pulse ac-dc converter is presented in this paper. The 36-pulse topology is obtained via two paralleled eighteen-pulse ac-dc converters each of them consisting of a nine-phase (nine-leg) diode bridge rectifier. For independent operation of paralleled diode-bridge rectifiers, two interphase transformers (IPT) is designed and implemented. A transformer is designed to supply the rectifier. The design procedure of magnetics is in a way such that makes it suitable for retrofit applications where a six-pulse diode bridge rectifier is being utilized. The proposed structure has been implemented and simulated using Matlab/Simulink software under different load conditions. Simulation results confirmed the significant improvement of the power quality indices (consistent with the IEEE-519 standard requirements) at the point of common coupling. Furthermore, near unity power factor is obtained for a wide range of DTCIMD operation. A comparison is made between 6-pulse and proposed converters from view point of power quality indices. Results show that input current total harmonic distortion (THD) is less than 4% for the proposed topology at variable loads.
Źródło:
Archives of Electrical Engineering; 2012, 61, 2; 277-292
1427-4221
2300-2506
Pojawia się w:
Archives of Electrical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Construction methods of reducing cogging torque of a dc brushless motor
Metody konstrukcyjne zmniejszania momentu zaczepowego w silniku bezszczotkowym prądu stałego
Autorzy:
Gawęcki, Z.
Nadolski, R.
Powiązania:
https://bibliotekanauki.pl/articles/158832.pdf
Data publikacji:
2011
Wydawca:
Sieć Badawcza Łukasiewicz - Instytut Elektrotechniki
Tematy:
silnik bezszczotkowy prądu stałego
moment zaczepowy
brushless DC motor
cogging torque
finite element method
Opis:
The article presents selected construction methods for reducing the value of cogging torque at the design stage of DC brushless motors excited by permanent magnets. Calculations using the finite element method calculation (FEM) has been performed in Flux v.10.3 packet of Cedrat company. For the two prototype motors designs experimental studies have been performed.
W pracy przedstawiono wyniki badań symulacyjnych i eksperymentalnych dotyczących silników bezszczotkowych z zewnętrznym wirnikiem (budowa odwrócona). Przeprowadzono analizę wpływu wybranych wymiarów geometrycznych na wartość momentu zaczepowego i pulsacje momentu elektromagnetycznego. Silniki bezszczotkowe wzbudzane magnesami trwałymi z pierwiastków z ziem rzadkich w ostatnich latach znajdują coraz szersze obszary zastosowania, m.in. bezprzekładniowy napęd lekkich pojazdów zasilanych z baterii akumulatorów. Jednym z problemów, którym zajmuje się wiele zespołów badawczych [1-12], jest zmniejszenie wartości momentu zaczepowego już na etapie projektowania silnika. Moment zaczepowy powstaje w wyniku współdziałania pola magnetycznego wirnika (pochodzącego od magnesów trwałych) ze stojanem o kątowej zmienności reluktancji (nierównomierna szczelina powietrzna). Moment zaczepowy jest niekorzystną składową wypadkowego momentu elektromagnetycznego, która wywołuje pulsacje, drgania, hałas i dodatkowe straty mocy. Obliczenia momentu zaczepowego na etapie projektowania można wykonać, wykorzystując np. metodę elementów skończonych w specjalizowanych środowiskach, takich jak Flux firmy Cedrat. W pracy przeanalizowano wpływ skosu żłóbków, szerokości otwarcia żłobków, wysokości szczeliny powietrznej, wysokości i rozpiętości kątowej magnesów na moment zaczepowy i elektromagnetyczny. Badania symulacyjne zrealizowano w środowisku Flux wersja 10.3 przy użyciu modeli quasi-trójwymiarowych (2 ?D) i modeli trójwymiarowych (3D). Na podstawie wyników obliczeń wybrano i fizycznie zrealizowano rozwiązanie konstrukcyjne charakteryzujące się najmniejszą wartością momentu zaczepowego i najkorzystniejszym przebiegiem momentu elektromagnetycznego. Przeprowadzone badania eksperymentalne potwierdziły zmniejszenie wartości momentu zaczepowego i zmniejszenie pulsacji wypadkowego momentu elektromagnetycznego.
Źródło:
Prace Instytutu Elektrotechniki; 2011, 253; 39-51
0032-6216
Pojawia się w:
Prace Instytutu Elektrotechniki
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Comparative analysis of the direct sliding-mode torque control strategies of the induction motor
Autorzy:
Tarchała, G.
Orłowska-Kowalska, T.
Powiązania:
https://bibliotekanauki.pl/articles/97535.pdf
Data publikacji:
2010
Wydawca:
Politechnika Poznańska. Wydawnictwo Politechniki Poznańskiej
Tematy:
induction motor
motor drive
electric drive
Opis:
The paper deals with the sliding-mode torque control of induction motor drives. Two possible control strategies are presented, with stator and with rotor flux stabilization. Mathematical model of the considered drive system and control algorithm is presented. Simulation and experimental results are demonstrated to verify the described algorithms.
Źródło:
Computer Applications in Electrical Engineering; 2010, 8; 81-92
1508-4248
Pojawia się w:
Computer Applications in Electrical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Research on the influence of driving harmonic on electromagnetic field and temperature field of permanent magnet synchronous motor
Autorzy:
Qiu, H.
Yu, W.
Li, Y.
Yang, C.
Powiązania:
https://bibliotekanauki.pl/articles/141535.pdf
Data publikacji:
2017
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
air gap flux density
eddy current loss
harmonic
magnetic field decoupling
torque ripple
Opis:
At present, the drivers with different control methods are used in most of permanent magnet synchronous motors (PMSM). A current outputted by a driver contains a large number of harmonics that will cause the PMSM torque ripple, winding heating and rotor temperature rise too large and so on. In this paper, in order to determine the influence of the current harmonics on the motor performance, different harmonic currents were injected into the motor armature. Firstly, in order to study the influence of the current harmonic on the motor magnetic field, a novel decoupling method of the motor magnetic field was proposed. On this basis, the difference of harmonic content in an air gap magnetic field was studied, and the influence of a harmonic current on the air gap flux density was obtained. Secondly, by comparing the fluctuation of the motor torque in the fundamental and different harmonic currents, the influence of harmonic on a motor torque ripple was determined. Then, the influence of different current harmonics on the eddy current loss of the motor was compared and analyzed, and the influence of the drive harmonic on the eddy current loss was obtained. Finally, by using a finite element method (FEM), the motor temperature distribution with different harmonics was obtained.
Źródło:
Archives of Electrical Engineering; 2017, 66, 2; 295-312
1427-4221
2300-2506
Pojawia się w:
Archives of Electrical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Research on torque ripple suppression of brushless DC motor based on PWM modulation
Autorzy:
Daode, Zhang
Wei, Lingkang
Hu, Xinyu
Zhang, Chupeng
Li, Xuesheng
Powiązania:
https://bibliotekanauki.pl/articles/141390.pdf
Data publikacji:
2019
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
DC brushless motor
electric propulsion
fuzzy PID control
torque ripple
PWM_ON_PWM modulation
Opis:
Brushless DC motors are often used as the power sources for modern ship electric propulsion systems. Due to the electromagnetic torque ripple of the motor, the traditional control method reduces the drive performance of the motor under load changes. Aiming at the problem of the torque ripple of the DC brushless motor during a noncommutation period, this paper analysis the reasons for the torque ripple caused by pulsewidth modulation (PWM), and proposes a PWM_ON_PWM method to suppress the torque ripple of the DC brushless motor. Based on the mathematical model of a DC brushless motor, this method adopts a double closed-loop control method based on fuzzy control to suppress the torque ripple of the DC brushless motor. The fuzzy control technology is integrated into the parameter tuning process of the proportional–integral–derivative (PID) controller to effectively improve the stability of the motor control system. Under the Matlab/Simulink platform, the response performance of different PID control methods and the torque characteristics of different PWM modulation methods are simulated and compared. The results show that the fuzzy adaptive PID control method has good dynamic response performance. It is verified that the PWM_ON_PWM modulation method can effectively suppress the torque ripple of the motor during non-commutation period, improve the stability of the double closed-loop control system and meet the driving performance of the motor under different load conditions.
Źródło:
Archives of Electrical Engineering; 2019, 68, 4; 843-858
1427-4221
2300-2506
Pojawia się w:
Archives of Electrical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
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