What is PMSM field-oriented control?
FOC transforms three-phase currents into rotor-aligned d and q components. This makes flux and torque control behave like nearly constant quantities in the rotating frame.
Learn PMSM FOC fundamentals →Topic index
One clear page for every concept
Each topic has its own URL, explanation and simulation. The sequence gives beginners a starting point while advanced users can open any tool directly.
01Foundations
PMSM learning topicField-oriented control fundamentals
Build the physical picture: dq axes, flux, torque, electrical speed, current loops, inverter action and rotor-position feedback.
dq modelflux & torqueFOC blocks
Guide + calculator12 min
Open topic →02Controller design
PMSM learning topicIMC PI current-controller tuning
Tune a first-order PMSM current axis with an IMC-inspired PI and compare the ideal target with sampled implementation and delay.
IMCPI gainsstep response
Interactive simulation15 min
Open topic →03Sampled-data design
PMSM learning topicDiscrete current-loop design and delay robustness
Design and stress-test the implemented loop with exact ZOH discretization, explicit computational delay, speed sweeps and z-plane poles.
z-planedelaystate feedback
Full design studioInteractive
Open topic →04Implementation debugging
PMSM learning topicResolver-angle and PWM step debugger
Inject electrical-angle error and step a discrete FOC current controller one PWM period at a time while inspecting currents, voltages and torque.
resolver offsetPWMdq transforms
Full debuggerInteractive
Open topic →05Verification
PMSM learning topicModel boundaries, assumptions and numerical verification
See where sampling, z⁻¹, physical delay and the average-value inverter enter the model, what is excluded and how the engine is verified.
assumptionsverificationmodel scope
Technical reference10 min
Open topic →PMSM motor-control questions
Learn the concepts engineers search for most
Each explanation is connected to an interactive example, so the equations, assumptions and implementation effects can be explored rather than memorised.
How is a PMSM PI current controller tuned?
An IMC-based baseline relates the desired current-loop time constant to proportional and integral gains, while the simulation exposes sampling and delay limitations.
Open the PI tuning simulation →Why does digital delay affect current-loop stability?
Sampling, calculation and voltage actuation introduce phase lag. Exact ZOH discretization and z-plane poles show how that delay changes robustness as speed rises.
Analyse discrete-time delay →What does resolver angle error do in FOC?
An electrical-angle offset rotates measured currents and commanded voltages into the wrong dq frame, changing current regulation and electromagnetic torque.
Simulate resolver angle error →What assumptions are inside the simulation?
The model includes dq cross-coupling, sampled control and an average-value inverter, while clearly separating excluded switching and nonlinear effects.
Review assumptions and verification →Questions or feedback
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