500
450
400
350
300
250
200
150
100
50
0
0
500
500
500
500
500
500
500
500
450
450
450
450
450
450
450
450
400
400
400
400
400
400
400
350
350
350
350
350
350
350
300
300
300
300
300
300
300
250
250
250
250
250
250
250
200
200
200
200
200
200
200
150
150
150
150
150
150
150
100
100
100
100
100
100
50
50
50
50
50
50
0
0
0
0
0
0
0
0
0
0
0
0
500
500
500
450
450
450
400
400
350
350
300
300
250
250
200
200
150
150
100
50
0
fig. 17
200
400
PWM 100%
PWM 100%
PWM 100%
PWM 100%
PWM 100%
PWM 100%
200
200
200
200
200
200
400
400
400
400
400
400
PWM 100%
PWM 100%
PWM 100%
PWM 100%
PWM 100%
PWM 100%
0
200
400
PWM 100%
200
600
800
1000
PWM 75%
PWM 75%
PWM 75%
PWM 75%
PWM 75%
PWM 75%
PWM 30%
PWM 30%
PWM 30%
PWM 30%
PWM 30%
PWM 30%
600
600
600
600
600
600
800
800
800
800
800
800
1000
1000
1000
1000
1000
1000
PWM 75%
PWM 75%
PWM 75%
PWM 75%
PWM 75%
PWM 75%
PWM 30%
PWM 30%
PWM 30%
PWM 30%
PWM 30%
PWM 30%
600
800
1000
PWM 75 %
PWM 30%
1200
1200
1200
1200
1200
1200
1200
1200
49