High Performance Driver P6b
Summarising the procedure: speed loop is held open, d-axis current command is set to rated and q-axis current command of the alternating square waveform is imposed. If the rotor time constant value in the controller is correctly set, speed response has to be triangular function. Figure 3.21a is valid for the correct (rated) value of the rotor time constant and speed response is a triangular function in this case.
