This paper presents advanced torque and current control techniques for Permanent Magnet Synchronous Motors (PMSMs) with a real-time simulator which has a nonlinear motor model. This model is called "Behavior motor model", and it is developed based on finite element analysis results considering non-linear characteristics that include spatial harmonics and magnetic saturation. The real-time simulator is implemented within a circuit simulator that couples the behavior motor model with switching circuits in real-time, and it can be applied to torque and current control as an advanced controller. In this paper, the torque and current control of a PMSM with the proposed system is presented. Effectiveness of this technique is verified by performing simulations and experiments.
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