We perform speed inversions from -20 to 20 rd/s (Fig. 12).
The corresponding currents are shown on Fig. 13. The dq
current components are controlled using PI digital controllers.
Iqs follows accurately its reference Iqsref and Ids is kept
constant at its nominal value to guarantee the nominal rotor
flux. The Iqs is an image of the electromagnetic torque of the
IM. We observe, on Fig. 14, the good agreement between Iqs
current and the tangential acceleration signal aτ