
Permanent Magnet Synchronous Motors 6-41
0 5 10 15 20
−0.1
−0.05
0
0.05
0.1
Inset motor
Characteristic of error signal (I
d
q
(c)
ε(θ
err
) (A)
Time (s)
0 5 10 15 20
−0.1
−0.05
0
0.05
0.1
Inset motor
Characteristic of error signal (I
d
= −2A, I
q
= 4A)
(d)
ε(θ
err
) (A)
Time (s)
FIGURE 6.43 continued (c) prediction at low q-axis current, and (d) prediction at high q-axis current.
−5 −4 −3 −2 −1 0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
5.5
d-Axis current (A)(a)
q-Axis current (A)
(b)
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
5.5
q-Axis current (A)
−5 −4 −3 −2 −1 0
d-Axis current (A)
10
10
20
30
40
30
40
20
30
50
50
60
50
40
40
30
20
10
10
10
20
30
10
10
FIGURE 6.44 Contour map of the sig ...