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The magenta stator field vector contributes to torque generation, but since it is not perpendicular to the reference rotor field vector, it is producing less torque than it actually could. To align them orthogonally, we can split the magenta vector into its components along the DQ axis (Clarke and Park Transforms to convert the three phase AC signals to DC signals).
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After this, we force the D axis component to be zero, while allowing the Q component axis to grow. Once the D axis component diminishes completely, our stator field vector is at exactly 90 degrees with the reference vector.
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The three phase currents are separated by 120 degrees.
The FOC control loop can be summarized below.
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We first measure the three phase currents and then apply Clarke and Park Transformations to convert them to quadrature and direct axis currents.
We then compare these measured currents to the desired reference values.
They are then fed into PI controllers which then output the voltages Vq and Vd. These are represented in the rotating frame.
Vq and Vd are then converted back to three phase voltages to be sent to the motor via Inverse Clarke and Park transforms.