Assessment of PMSM torque linearity for advanced tuning of high performance electric drives

Practical accommodation of a gain scheduling mechanism for the current controllers in the field oriented vector control scheme for PMSM drives is discussed in this paper. Real time adaptation of the compensator parameters relies on information extracted from the torque linearity curves of motors. The motor electrical equivalent model has been considered as a nonlinear control object. The nonlinearity comes mainly from the magnetic saturation. This has an impact on the motor torque linearity. Sufficient linearity assessment technique is discussed in this paper together with results interpretation. Comparison of overall drive performance with and without gain adaptation is presented too.