A question about FOC current control for PMSM

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I am trying to use Simscape to block a FOC current controller for PMSM motor. I set the reference Iq current to be 100 A and Id current to be -20 A. Although the Iq current can follow the expected value, the Id current keeps decreasing after suddenly reaches -20 A (see the figure). All the model parameters are the same as the MATLAB tutorial about PMSM (https://www.youtube.com/watch?v=lP4jbmthiyc&t=930s). The model in this vedio can have a good current control, but my model cannot (even though all the parameters are the same).
I appreciate it very much if you could help me out.

Accepted Answer

Pat Gipper
Pat Gipper on 10 Mar 2021
The decoupling control is not quite correct for the PMSM motor you are using. You need to insert a multiplier by the number of pole-pairs on the speed. See the picture below.

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