Mathematical Study and Control of Diesel

Rotary Uninterruptible Power Supply

Piotr Drozdowski, Adam Warzecha
Cracow University of Technology
Institute on Electromechanical Energy
Conversion
Kraków, Poland
pdrozdow@pk.edu.pl, xpiotrd@wp.pl
adam.warzecha@pk.edu.pl

Abstract—The subject of the publication is recognition of The synchronous machine S operates as a motor
the functions of the uninterruptible power supply system with developing with L a low-pass filter for improving the supply
a diesel engine called Diesel Rotary Uninterruptible Power voltage for the LOADING (in case of disturbances). If the
Supply (DRUPS). The system features a diesel engine, synchronous machine S has a starting cage it can be operated
a synchronous machine and an asynchronous machine as asynchronously as a motor (Q1 and Q2 closed) and be
a kinetic energy storage and as well as two electromechanical synchronized with the AC NETWORK without driving D.
exciters. In the paper a mathematical model of the DRUPS
system was built and a typical work cycle simulated.
Calculating the energy balance of the system resulted in the
selection of its components at the design stage.
Keywords—uninterruptible power supply, diesel engine,
synchronous generator, kinetic energy storage

I. INTRODUCTION
Diesel Rotary Uninterruptible Power Supply (DRUPS) is
a rotating device for emergency power supply of high power
electrical loads [1, 2]. This is a multi-electrical-machine
system with an additional diesel engine that was
schematically shown in Fig. 1. The system is also known as
Diesel UPS/CPS system or Dynamic Diesel UPS. Such
devices are offered commercially, but they have been
described only from the principal operation standpoint in [3, Fig. 1. Schematic of DRUPS corresponding to the device offered
comercially in [3]
4, 5]. The presented publication is intended to fill the gap in
describing the devices whose constructions are presented in
these publications. Whereas the papers [6, 7, 8, 9] cover the
other developed Diesel UPS power supply designs. Change-over to diesel mode

The main devices of the system revealed in Fig. 1 are: D
– diesel engine coupled with the shaft via electromagnetic
clutch CL, S – synchronous machine, A – asynchronous
machine with outer cage rotor, ES – synchronous machine
based exciter supplying the field winding of S, EA –
asynchronous machine based exciter supplying three phase
armature winding of A (AC supply by Q3) or supplying this
armature winding with DC (DC supply by Q3) at the
dynamic braking conditions of A.
The DRUPS has the following operation modes:
Utility mode and system start-up
In this mode the bypass switch QBP is closed. Active
power supplies LOADING. Ramp starting of the diesel
engine D with closed clutch CL. The cage rotor of the kinetic
module A accelerates up to the nominal speed 2 = 300 rad/s
since its armature rotates with about 1 = 157.07 rad/s (the
rotor speed with respect to the armature is A = 2 – 1).
The synchronous machine S is synchronized with the AC
NETWORK (Q1, Q2 closed and the exciter ES feeds the field
winding). Switching the power supply is via the choke L.
Turning off the diesel engine D (CL open) and its ramp
breaking.
In the case of power interruption or an unacceptable
deviation in the supply of the AC NETWORK, the circuit
breaker Q1 opens. The asynchronous machine A brakes
dynamically allowing a transfer of the stored kinetic energy
from the rotating rotor to the shaft leaving the generator
speed at about 1 = 157 rad/s (Q3 is switched to the DC
supply by the exciter AE). Simultaneously, the diesel engine
D starts operating and ramps up to D = 157 rad/s, and on
reaching he velocity level the clutch CL is closed
automatically at D  0.951. For the next few seconds the
diesel engine D together with the drive S of the induction
coupling A ensure a proper supply of power to the LOADING
at the proper speed of 1 = 157 rad/s. The diesel engine D is
the sole provider of power to the LOADING via the
synchronous machine S operating as a generator. The rotor of
A accelerates up again to the speed appr. 2 = 300 rad/s (Q3
is switched to the AC supply by the exciter AE).
Return to the utility mode
After the voltage of the AC NETWORK appears again the
diesel engine D does not need to be longer the sole provider
of power and the system can be switched to the normal
operation mode with QBP closed or with Q1 and Q2 opened
and closed, respectively, when the synchronous machine S

978-1-7281-1038-7/19/$31.00 ©2019 European Union

operating as a motor results in the low-pass filter together
with the choke L allowing sinusoidal voltages for supplying
the LOADING.
Briefly, the main goal of the article is to show the
DRUPS work cycle through mathematical modeling. A
quality model of such a system could be built in the
Simulink/Simscape environment and by means of the Sim
Power Blocksets toolbox [10].
However in this publication it was decided to model
using ordinary differential equations describing the system’s
mechanical and electrical components. The equations can be
formulated and solved in the Matlab environment or an
another dedicated software. This allows better understanding
the interdependence of components so as to further analyze
such systems in more detail using other computer modeling
methods. In addition, this approach enabled a simple
formulation of the energy flow model in the system,
allowing, in effect, to draw conclusions regarding the design
of DRUPS type systems.
II. MATHEMATICAL MODELING
To begin with, the DRUPS mathematical model was
subject to simplifications introduced in order to facilitate
analysis. The simplifications, however, do not change the
essence of the device operation:
- the electrical load LOADING was modeled as a system of
star-connected three resistances,
- the exciter ES was not modeled and the excitation current
of the synchronous machine S was set by an external
source,
- the exciter EA was used to supply the armature of the
induction machine A with two phase-to-phase voltages
whose amplitude depended on its excitation flux and
speed, while the frequency depended on the angle of
rotation (start-up of the machine A),
- during dynamic braking of the machine A, the armature of
the machine was fed between phases with one DC voltage,
while the other phase-to-phase voltage was set to zero
(the machine model did not contain a separate DC
winding),
- all machines have the same number of p-pole pairs,
although they may have different,
- the AC NETWORK was modeled without internal
  2 
 ψ D

impedance.
Assuming a stiff drive transmission in all mechanical
systems, the system can be split into three mechanical
systems. They are described below as follows:
 ψ Q 
- equation of motion of the shaft of the diesel engine D
W2 q
d
dt ωD = 1
kCL J1 + J D (kCLTS − kCLTA + TD − TmD − kCLTm ) (1)
- equation of motion of the shaft of the synchronous
machine S
d
dt ω1 = 1
J1 + kCL J D (TS − TA + kCLTD − kCLTmD − Tm )
- equation of motion of the external rotor of the
asynchronous machine A
d
ω2 = 1
(TA − TmA )
dt J2
- equation of motion for the angle of rotation of the
synchronous machine shaft
d
dt ϕ1 = ω1 (4)
where kCL = 1 assuming the shaft D is mechanically coupled
to the shaft S (the clutch CL closed) and kCL = 0 with the
shaft S coupled (clutch CL open), JD  moment of inertia of
the diesel engine D, J1=JS+ JA+JE  total moment of inertia
being the sum of JS – moment of rotor inertia of the shaft S
including the shaft inertia rotating at the speed ω1, JA –
moment of inertia of the armature A (stator of the
asynchronous machine A rotating at the speed ω1) and JE –
moment of inertia of both of the exciter armatures rotating at
the speed ω1, J2  moment of rotor inertia of the
asynchronous machine A rotating at the speed ω2 (inertia of
the kinetic energy storage), TD  torque drive of the diesel D,
TS  torque drive of the shaft S (In practical, terms it is equal
to the electromagnetic torque of the synchronous machine S),
TA  torque drive of the machine A (In practical terms it is
electromagnetic torque of the asynchronous machine A),
TmD = DDωD, Tm= Dmω1, TmA= DAω2  torques representing
mechanical losses of the diesel shaft D, the synchronous
machine S shaft and the rotor of the asynchronous machine
A, respectively.
Equations (1) and (2) have the same form when the diesel
D is mechanically coupled with the shaft of S, then kCL=1. In
the disengaged state of the clutch CL, these equations differ
as kCL=0 and operate independently. The voltage equations
describing the electrical machines S and A, respectively,
together with the mechanical equations and expressions
describing the electromagnetic torques TS, TA and the diesel
torque drive TD form the DRUPS mathematical model.
The synchronous machine model takes into account the
resistance load Ro in each phase.
The following state variables were used in the
synchronous machine model [11]: ψSd  stator flux in the d
axis, ψSq  stator flux in the q axis, ψD  cage flux in the d
axis, ψQ  cage flux in the q axis, ψf  stator flux induced by
the field winding. These state variables determine the
machine currents according to the following formulae:
 L f LD − L2md
iSd  L2md − Lmd LD L2md − Lmd L f  ψ Sd 
  1  2  
 if  = W  Lmd − Lmd LD Ld LD − L2md L2md − Lmd Ld  ψ f  (5)
 iD
Ld L f − L2md
1
 Lmd − Lmd L f L2md − Lm Ld
iSq  1  LQ − Lq  ψ Sq 
i  = − L Lq Lo ) 
(6)
Q
where:
W1 = Ld ( L f LD − L2md ) − L2md ( LD + Ld − 2 Lmd )
W2 = Lq LQ − L2q
Ld  stator inductance in the d axis, Lq  stator inductance in
(2) the q axis, LD  rotor cage inductance in the d axis, LQ  rotor
cage inductance in the q axis, Lmd  magnetizing inductance
in the d axis.
Next, ordinary differential equations describing the
(3) synchronous machine S are presented below.
 ψ Sd   k ACN (1 − k o )uSd   −ψ Sq  ψ sα  usα   Rs  isα   0 
ψ   k  ψ        i   
 Sq   ACN (1 − k o ) u Sq   Sd  d ψ sβ  usβ   Rs   sβ  − pω  0 
d  = −
ψD  =   − pω1  0  − dt ψ rα   0    irα   ψ rβ 
A
0 Rr
dt                
ψ Q   0   0  ψ r β
 0
Rr
ir β
 −ψ rα

ψ f   uf   0 

(12)
where: Rs – stator phase resistance, Rr – rotor resistance
 RS + ko Ro  iSd 
  i  referred to the stator, rotor speed with respect to the
 RS + ko Ro   Sq  (7) armature
− RD   iD  ω A = ω2 − ω1 (13)
  
 RQ   iQ  The electromagnetic torque of the machine A is then
 R f 
 i f 

TA = 32 p (is βψ sα − isαψ s β ) (14)

where: RS  stator phase resistance, RD  rotor cage
resistance in the d axis, RQ  rotor cage inductance in the q The exciter EA determines the voltages for the
axis. If kACN = 1, then the synchronous machine S is asynchronous machine A:
connected to the AC NETWORK, (if kACN = 0 then S is - AC supply
disconnected with the AC NETWORK). At ko = 1 we have an
autonomous generator operation of S when it is operated as usα AC = − pω1Ψ E sin( pϕ1 ) ; usβ AC = pω1Ψ E cos( pϕ1 )
a backup power supply for the LOADING. Finally, if ko = 0
the condition refers to the motor or generator operation of S where ΨE is the exciter magnetic flux. It is usually constant,
synchronized with the AC NETWORK. - DC supply
The electromagnetic torque can be described by the
expression as follows: usα DC = 2 / 3K DC (Ω0 − ω1 ) ; usβ DC = 0
TS = 3
2
p (ψ Sd iSq − ψ Sq iSd ) (8) The asynchronous machine model voltages can be described
as follows:
Relationships between the voltages and the currents:
usα = k Ausα AC + (1 − k A )uaα DC
- voltages dependent on the line-to-line voltages u12 , u23 of (15)
usβ = k Ausβ AC + (1 − k A )uaβ DC
the AC NETWORK
With kA = 1 the machine A is supplied with alternating
uSd  2  cos pϕ1 sin pϕ1  1 1
2   u12  voltages. If kA = 0, its armature winding is DC supplied.
u  = 3   
3 u 
(9)
Sq
− sin pϕ1 cos pϕ1
 0 2 

23
The phase currents of the asynchronous machine A are
- phase currents
 iAU   1 0 
 i  = − 1  isα 
 iSU   1 0  3
 AV   2 2   (16)
 i  = − 1 3
  cos pϕ1 − sin pϕ1  iSd 
 iAW 
 − 1 3
isβ

 SV   2 2    (10)
cos pϕ1 
iSq
 2 − 2

 iSW 
 − 1  sin pϕ1
 2 − 23
 To model the diesel engine D a behavioral approach was
used. This model is presented in Fig. 2 in a structural form.
The asynchronous machine equations were determined in
the rectangular coordinate system - associated with the
armature. The state variables are: ψsα  stator flux in the 
axis, ψsβ  flux in the  axis, ψrα  cage flux in the  axis, ψrβ
 cage flux in the  axis. These state variable determine the
machine currents according to the following formula: Fig. 2. Behavioral model of the diesel engine

isα   Lr − Lm  ψ sα 
i     The speed reference RAMP system has been described
 sβ  = 1  Lr − Lm  ψ sβ  by the differential equation:
(11)
irα  Ls Lr − L2m  − Lm Ls  ψ rα 
     d
ωDref = τ ramp
1 sgn(Ω ref / Ω − ω ref )
(17)
ir β
 − Lm Ls
ψ r β
 dt D 0 D

where ωDref is a relative (p.u.) variable.

where: Ls  total stator inductance, Lr  total rotor
inductance, Lm  magnetizing inductance. The speed controller RD is of the PI ( Proportional-
Integral) type producing the output signal:
The differential equations of the asynchronous machine A
t
are given below.
TDref = K RD (ω Dref − ωD / Ω0 ) +  (ωD − ω D / Ω 0 ) dτ
K RD ref
τ RD
0
 The torque controller RTD produces the diesel torque TD Constants and gains
according to the differential equations for modeling the p = 2, ΨE = U0/(pΩ0) = 1.03 Wb, τramp = 3 s, KDC = 5.0
second order system: Vs/rad, τD = 0.05 s, KRD = 3.71, τRD = 0.93 s.
TDref −TD
dX
dt
= 2τ D2
− τX ; d
dt
TD = X (18)
D
B. Calculated waveforms
While starting the diesel engine Ω ref / Ω0 = 1 and while To illustrate the DRUPS operation a typical work cycle
D
was simulated comprising three operation modes mentioned
braking Ω ref
D / Ω0 = 0 . Thus, the reference speed Ω ref
D = Ω0 in the introduction. Results of simulation are presented in
or Ω ref
D = 0 . The complete model of a diesel-generator
Fig. 3.
system based on a set of dynamic equations was presented The DRUPS starts with the ramp start of the diesel
in [12]. In this paper the proposed behavioral approach is engine D to the speed ωD = Ω0 ≅ 157.07 rad/s (t = 0, kCL =
quite sufficient. 1). Asynchronous machine A starts as a motor at the
The output voltages of the synchronous machine S after increasing frequency of the exciter EA supply voltage (kA =
synchronization with the AC NETWORK and operating as 1). The speed of its rotor ω2 reaches value close to 2 ω1.
a generator for the LOADING are described by the following Then, at the speed ω1 = Ω0, the synchronous machine S is
dependencies: synchronized with the power supply network (AC
NETWORK) at the moment t1 (kACN = 1), and at t2 the diesel
- α-β voltage drops across the resistance Ro
engine is decoupled (CL is opened, kCL = 0) and braked to
uoα  cos pϕ1 − sin pϕ1  iSd  zero speed (ΩDref = 0). The system is prepared for
u  = − Ro   
cos pϕ1 
iSq

emergency power interruptions. The failure condition is the

oβ
sin pϕ1 next stage of the simulation test. As soon as the power
- output phase voltages of synchronous machine S supply is interrupted at the moment t3 (ko = 1), the
asynchronous machine A switches to dynamic braking with
 uSU   1 0  a slight time delay (kA = 0). The speed of the synchronous
 u  = − 1 3 
 1 1
2   u12  uoα   machine working as a generator is maintained at a given
 SV   2 2   k ACN (1 − ko )     + k u  
 0
3 u
2
23

o
oβ
 level ω1 ≅ Ω0 due to transfer of kinetic energy of the

uSW
 − 12 − 23
  asynchronous machine rotor to the main shaft of S (ωA
(19) decreases to zero).

III. RESULTS OF SIMULATION

A. Parameters of the mathematical model

Synchronous machine S
- Ratings: 8.0 kVA (power), 400 V (r.m.s. line-to-line
voltage), 11.5 A (r.m.s. phase current), 50 Hz (frequency),
4 (number of poles).
- Model parameters:
RS = 1.58 Ω, Ld = 0.1016 H, Lq = 0.078 H, Lmd = 0.0985 H,
RD = 0.139 Ω, RQ = 0.139 Ω, LD = 0.1029 H, LQ =0.0813 H,
Rf = 0.358 Ω, Lf = 0.1108 H.

Asynchronous machine A
- Ratings: 3.1 kW (power), 400 V (r.m.s. line-to-line
voltage), 6.5 A (r.m.s. phase current), 50 Hz (frequency),
4 ( number of poles).
- Model parameters: Rs = 1.2 Ω, Rr = 11.8 Ω (enhanced rotor
resistance), Lm = 0.175 H, Ls = 0.187 H, Lr = 0.185 H.

Mechanical system
JD = 0.3 kgm2, J1 = 0.2 kgm2, J2 = 1.5 kgm2, DD = 0.5 Nms,
Dm = 0.01 Nms, DA = 0.01 Nms.

Base values
Voltage: U0 = 2 ⋅ 230 = 325.27 V During this time, the diesel engine starts at t4, and when
Current: I0 = 2 ⋅ 11.5 = 16.26 A itFig.
reaches speed ωtypical
the setillustrating
3. Waveforms D ≅ 0.95 Ω0, close
operation to the(allmain
of DRUPS shaft
variables
Speed: Ω0 = 50π = 157,07 rad/s speed
are in p.ofu. the synchronous
referred machine, the clutch CL is closed
to the base values)
Torque: T0 = 1.5U 0 I 0 / Ω0 = 50,7 Nm at t5 (kCL = 1). In the meantime the asynchronous machine A
performs a direct start at t6, reaching the rotor speed almost
twice as high as the speed of the main shaft ω2 ≅ 2 ω1. The
synchronous machine works as a diesel-powered generator p A1 ω1
for load (LOADING). The bypass switch QBP can then be =
p A 2 ω2
activated leading the system to the utility mode.
eq. (23) takes the following form:
IV. ENERGY AND INSTANTANEOUS POWER BALANCE ω2
= ( p S − pm )
dω2
J 2ω2 − pmA (24)
The change of the common shaft kinetic energy in time dt
ω1
from t0 to tf when the speed ω1 varies from ω10 to ω1f can be Neglecting mechanical losses the outer rotor speed would
calculated according to the formula: decrease linearly from ω20 to ω1, within time interval
ω1 f tf tb = t f − t0 and, according to the formula:
ΔE k 1 =  (
J1ω1 dω1 = 12 J1 ω12f − ω10
2
)
=  Tdyn1ω1 dt (20)
J2
d ω 2 pS
= (25)
ω10 t0
dt ω1
Dynamic torque: Tdyn1 = TS − TA + kCL (TD − TmD ) − Tm . Thus, d
ω2 = (ω20 − ω1 ) / tb . Finally we obtain an
dt
The kinetic energy increment of the outer rotor vs time appropriate moment of inertia of the outer rotor of the
(from t0 to tf) with the speed ω2 varying from ω20 to ω2f is machine A:
given by similar formula: p S tb
ω2 f tf J2 = (26)
2  ω 20 
ΔE k 2 =  (
J 2ω2 dω 2 = 12 J 2 ω 22 f − ω 20
2
)
=  Tdyn 2ω2 dt (21) ω1 
ω1
− 1
ω20 t0 !
where Tdyn 2 = TA − TmA . The above formula shows the approximate relationships
between the load power, the breaking time and the moment
In dynamic states the balance of the common shaft of inertia of the kinetic energy storage. Due to the above, the
instantaneous mechanical power is expressed by the efficiency of the energy recovery can be determined
equation resulting from the balance equation of the through:
mechanical torques: E 2
ηb = load = (27)
= pS − p A1 + kCL ( pD − pmD ) − pm
dω1
J1ω1 (22) ΔEk 2 ω 20
dt +1
ω1
Similarly, the balance of the outer rotor instantaneous
mechanical power is expressed as: In most causes ω20 / ω1 = {2,3} therefore the system
efficiency is ηb = { 23 , 1
2 }. In Fig. 4 the authors reveal
dω2
J 2ω 2 dt = p A2 − pmA (23) zoomed-in waveforms of a recovery mode simulation
illustrating the above considerations.
The components of the type J ω ddtω denote instantaneous
mechanical power. This power is transferred to the rotating
part when it is positive or taken back from the rotating part
if negative. Additionally: pS = TS ω1 denote mechanical
power of the synchronous machine (positive at motor
operation), pD = TDω1 is the diesel engine power and
pmD = TmDω1 , pm = Tmω1 , pmA = TmAω 2 denote the
mechanical losses of diesel, the common shaft and the outer
rotor respectively. The power p A1 = TAω1 transferred from
the common shaft to the asynchronous machine is positive
during motor operation, whereas the power p A2 transferred
to the outer rotor is the sum of p A1 and the mechanical
power produced by the asynchronous machine is powered
by the exciter EA during the start: p A2 = p A1 + TAω A . When
the kinetic energy of the outer rotor is recovered, during
breaking of the asynchronous machine, the power
difference: p A2 − p A1 = TA (ω 2 − ω1 ) = p Ae covers electrical
losses in the outer rotor cage winding and, to some extent
the machine magnetic core. In this mode the diesel engine is
mechanically decoupled. The control system provides
a constant value of the common shaft speed ω1 and the
mechanical power of the synchronous machine is also
constant. The power variables pS and pA1 are negative
and pS − p A1 − pm = 0 . Then, taking into account: Fig. 4. Waveforms illustrating recovery mode of DRUPS (all variables
are in p. u. referred to assumed base values)
 V. CONCLUSIONS
Based on the presented mathematical model of a DRUPS
system, a simulation of the system operation was carried
out. The obtained results, confirmed the principle of
operation of this type of uninterruptible power supplyies for
electrical loads. The model can be supplemented with
elements existing in real systems, e.g. a voltage regulator of
the synchronous machine operating as a generator. DRUPS
systems are commercially offered, but they have been
poorly described mathematically from the point of view of
physical operation. This publication attempts to fill this gap.
The energy balance indicates the maximum efficiency of
the transfer process of the kinetic energy accumulated in the
external rotor of an asynchronous machine (energy storage).
The system can be commissioned by a direct start of a
synchronous machine operated as a motor. In the event of
power outage, the diesel engine is switched on at the time
corresponding to t4 in Fig. 3. Then, further work is similar to
that shown in Fig. 3.
The intention of this work was to increase the
understanding of DRUPS systems and inspiring their users
to build better performing devices.

ACKNOWLEDGEMENTS
The presented results of the research, which was carried
out under the theme No. E-2/653/2018/DS and No.
E2/568/2018/DS were funded by subsides on science
granted by the Polish Ministry of Science and Higher
Education.

REFERENCES
[1] S.B. Bekiarov, A.Emandi, Uninterruptible Power Supplies:
Classififation, Operation, Dynamic and Control, APEC 2002,
https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=989305,
pp.597-604.
[2] J. M. Guerrero, L. G. De Vicuna, J. Uceda, Uninterruptible Power
Supply Systems Provide Protection, IEEE, Industrial Electronics
Magazine, Spring 2007, ieeexplore.ieee.org, pp. 28 – 38.
[3] DUPS - Dynamic UPS, product description: www.euro-diesel.com,
www.kinolt.com, www.estenergy.pl
[4] DRUPS – Diesel Rotary UPS, product description:
https://hitecelectric, www.inventpower.com
[5] DDUPS - Dynamic Diesel UPS, product description:
www.hitzinger.at, www.riello-deltapower.pl
[6] T. Loix, E. Haesen, K. De Brabandere, J. Driesen and R. Belmans,
“Dynamic UPS Drive Model for Low-Power Applications”,
https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=4153542,
IECON 2006, pp.1860-1865.
[7] M. R. R. Silvat, K. Patel “ Simulation and Analysis of Dynamic UPS
with Flywheel and Diesel Engine”, 3rd International Conference
ETEBMS-2017, pp 140-147.
[8] R. Sebastian, R.Pena+Alzola, J. Quesada, Symulation of a Wind
Diesel Power System with Flywhell Energy Storage, IEEE 26th
International Symposium on Industrial Electronics, (ISIE), 2017, pp.
2115-2120.
[9] D.Qiu, S.Uda, H. Kashihara, Y. Fukuda, N. Okazaki, The
Development of a Power System of the Combination of Diesel
Generator and UPS, 10th International Conference on Power
Electronics-ECCE, 2019.
[10] MATLAB-SIMULINK ® version 2014b, the MathWorks Inc.
[11] P.C.Krause, O.Wasynczuk, S.D.Sudhoff, Analysis of Electric inery
and Drives Systems, Wiley-Interscience, 2002.
[12] J. K. Kambrath, Y. Wang, Y.Yoon, A. Alexander, X. Liu, Modeling
and Control of Marine Diesel Generator System With Actige
Protection. IEEE Transactions on ransportation Electrification, Vol. 4,
No.1, 2018.