LoopForge
Model boundary: this tool injects a constant electrical-angle error Δθ into the Park/inverse-Park transforms and steps a discrete PI/PWM current loop. It does not simulate resolver carrier excitation, analog sine/cosine channels, demodulation electronics or tracking-loop dynamics.

PMSM resolver angle error · PWM step debugger

Continuous PMSM (RK4) with a discrete current controller that samples and zero-order-holds its voltage for one PWM period. Step, or free-run for a chosen duration; drag cursors on the plots to read values.
period 0   t = 0.000 ms

Command

A
A

Operating point

rpm
°
ωm=104.7 rad/s   ωe=p·ωm=314.2 rad/s
E=ωeψf=31.4 V

Machine

Ω
mH
mH
Wb
Imports R, Ld, Lq, pole pairs and switching frequency from this browser.

Controller & PWM

V/A
V/As
kHz
µs
Ts=100 µs · RK4 h≈2.00 µs ×50
s
Voltage±45 V
dq d′q′
─u╌back-EMF╌ctrl d′/q′
true  u_d=0.0 u_q=0.0
ctrl  u_d′=0.0 u_q′=0.0
back-EMF E=0.0 · net q drive v_Lq=0.0 · net d drive v_Ld=0.0
Current±16 A
dq d′q′
─i◯target╌ctrl d′/q′
true  i_d=0.00 i_q=0.00   T=0.00 N·m
ctrl  i_d′=0.00 i_q′=0.00

Time plots left-drag cursors · right-drag a plot to zoom · double-click or Fit to reset zoom

Right mouse drag selects a zoom window on the plot. Left drag moves the nearest active cursor.
Currents (A)
Voltages (V)
Torque (N·m)

Compute trace · one PWM period

Data log

t msΔθrpmi_di_qi_d′i_q′u_du_qu_d′u_q′T
CSV export