
Saunder January 22, 2014 10:43 K15053˙Book
Disturbance Rejection for Permanent Magnet Synchronous Motors 223
(d)
–0.5 0 0.5 1 1.5 2 2.5 3 3.5 4
× 10
–3
0
2
4
6
8
10
12
t/s
i
q
, i
q
*/A
i
q
i
q
*
(e)
0.099 0.0995 0.1 0.1005 0.101 0.1015 0.102 0.1025
–0.5
0
0.5
1
1.5
2
2.5
3
t/s
i
q
, i
q
*/A
i
q
i
q
*
(f)
0.099 0.0995 0.1 0.1005 0.101 0.1015 0.102 0.1025
–0.5
0
0.5
1
1.5
2
2.5
3
t/s
i
q
, i
q
*/A
i
q
i
q
*
Figure 13.4 (Continued) Curves of i
q
, i
∗
q
under speed ESOC and current ESOC
methods. (a) The whole curves under speed ESOC method. (b) The whole curves
under current ESOC method. (c) The local curves of (a) in time domain [0,0.01] s.
(d) The local curves of (b) in time domain [0,0.004] s. (e) The local curv ...