FIGS. 11A to 11J show a current signal isig(Te*, {tilde over (θ)}r, θr, ?i) according to the first angular error ({tilde over (θ)}r) and the injection angle (?i) when the torque command has a predetermined value (1 pu) according to an embodiment of the present disclosure.
FIGS. 12A to 12J show a second compensation current signal (isig″) where a second compensation signal (icomp′) is applied to the current signal (isig) depicted in FIGS. 11A to 11J according to an embodiment of the present disclosure.
FIGS. 13A to 13J show a second compensation current signal to which an injection axis is applied and the current signal (FIGS. 11A to 11J) is compensated.
FIGS. 14A and 14B show simulation results according to the conventional technique and the present disclosure.
FIG. 15 shows an experiment result where the torque command to the motor is increased with a slope of 2 pu/s while controlling the speed of the motor constantly at 150 r/min according to an embodiment of the present disclosure.
FIGS. 16A and 16B show experiment results of rotor position estimation according to the conventional technique and the present disclosure.
BEST MODE
