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25) This model of PMSM will be used in the Chapter 7 for a current controller design in the ???? − ???? reference frame. One might ask what is the relationship between the current and voltage variables in the ???? − ???? reference frame and the original three phase variables. 3 Illustration of stationary reference frame and synchronous reference frame. ????e is the electrical angle of the rotor. Current space vector is projected to two reference frames. 4 Illustration of Clarke transformation of current.

Therefore, with the electrical model of PMSM in d − q reference frame, the control of PMSM is analogous to the principle of controlling DC motors. However, if one were to use the electrical model in the ???? − ???? reference frame to compute the electromagnetic torque Te , the matter would be more complicated. In this case, the space vector of the flux has the relationship with the currents in the ???? − ???? reference frame: − − →=L→ j????e ???? s s is + ????mg e = Ls i???? + ????mg cos ????e + j (Ls i???? + ????mg sin ????e ).

25) This model of PMSM will be used in the Chapter 7 for a current controller design in the ???? − ???? reference frame. One might ask what is the relationship between the current and voltage variables in the ???? − ???? reference frame and the original three phase variables. 3 Illustration of stationary reference frame and synchronous reference frame. ????e is the electrical angle of the rotor. Current space vector is projected to two reference frames. 4 Illustration of Clarke transformation of current.

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