DC motor: PN = 60KW, UN = 220V, IN = 308A, nN = 1500r/min, the maximum allowable current Idbl = 1.5IN, three-phase full-controlled rectifier device: Ks = 35, the armature circuit total resistance R = 0.18Ω, EMF coefficient: Ce = 0.196V.min/r system main circuit: Tm = 0.12s, Tl = 0.012s filter time constant: Toi = 0.0025s, Ton = 0.015s, other parameters: Unm* = 8V, Uim* = 8V , Ucm = 8V σi ≤ 5 , σn ≤ 10

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