## 3 Simulation Results
### Simulation Results in a Circuit with FOC at Rated Motor Shaft Rotation Frequency
* Static drive torque \(\mathrm{T_{c}}\) = 10,324 N-m.
* Angular rotation frequency of the motor shaft in stable mode \(\mathrm{\omega_{r}}\) = 174.6 rad/s, which corresponds to the nominal frequency of the supply voltage \(\mathrm{f_{nom}}\) = 27.9 Hz. * Since in the FOC \(\mathrm{\psi_{\mu}}\) = const, \(\mathrm{\omega_{r}}\) = 1.25-\(\mathrm{\omega_{r}}\)mon, then in accordance with Equation (1), the inverter supply voltage \(\mathrm{U_{d}}\) = 1.25-\(\mathrm{\omega}\)2-\(\mathrm{U_{nom}}\) = 3036.25 V.
* Acceleration of the motor shaft rotation is chosen equal to \(\mathrm{a_{\omega}}\) = 0.333 rad/s\({}^{2}\). * Delay time of switching on the speed controller is chosen equal to 0.7 s.  
The simulation was conducted using the same program as in the previous cases. Since the quality of the torque and stator phase current diagrams of the induction motor does not differ from those obtained in Section 3.1, it is not advisable to present them. An exception was made for the case with the Bessel filter, where the system operation became unstable. All data required for the calculations are provided in Table 5. The calculation results, obtained using the methodology outlined in the previous subsection, are also included in Table 5. \begin{table}
\begin{tabular}{l c c c c c c c c c} \hline \hline
**Parameter** & & & & & & & & & & & \\ \cline{2-10}  & **const** & **var** & **const** & **var** & **const** & **var** & **const** & **var** & **const** & **var** \\ \hline Average torque value \(\mathrm{T_{av}}\), N-m & 10,320 & 10,320 & 10,320 & 10,320 & 10,320 & 10,320 & 10,320 & & 10,320 & 10,320 \\ Torque ripple value \(\mathrm{\Delta T_{av}}\), N-m & 15.32 & 15.15 & 15.38 & 15.17 & 15.35 & 15.18 & 14.27 & & 15.4 & 14.83 \\ Torque ripple factor \(\mathrm{k_{p}}\), \% & 0.148 & 0.147 & 0.149 & 0.147 & 0.149 & 0.147 & 0.138 & & 0.15 & 0.144 \\ Motor shaft rotation frequency & 1385 & 1385 & 1385 & 1385 & 1385 & 1385 & 1385 & & 1385 & 1385 \\ Useful power \(\mathrm{P_{2}}\), kW & 1496.8 & 1496.8 & 1496.8 & 1496.8 & 1496.8 & 1496.8 & 1496.8 & & 1496.8 & 1496.8 \\ Consumed current \(\mathrm{I_{d}}\), A & 553.17 & 553.11 & 553.2 & 553.05 & 553.18 & 553.18 & 552.4 & & 553.11 & 552.47 \\ Consumed power \(\mathrm{P_{1}}\), kW & 1744.3 & 1744.3 & 1743.7 & 1744.4 & 1744.1 & 1744.7 & & 1743.9 & 1741.9 \\ THD, \% & 1.56 & 1.55 & 1.54 & 1.49 & 1.52 & 1.51 & 1.42 & & 1.52 & 1.43 \\ Efficiency \(\mathrm{\eta_{s}}\), \% & 85.82 & 85.83 & 85.81 & 85.84 & 85.82 & 85.82 & 85.94 & & 85.83 & 85.93 \\ Convergence time for stable & 0.071 & 0.069 & 0.067 & 0.064 & 0.065 & 0.063 & 0.056 & & 0.063 & 0.058 \\ Convergence time for motor & & & & & & & & & & \\ acceleration \(\mathrm{t_{conv,}}\),\(\mathrm{\omega_{r}}\), \% & 3.75 & 0.545 & 3.75 & 0.528 & 3.75 & 0.534 & 3.75 & 3.75 & 0.428 \\ \hline \hline \end{tabular}
\end{table} 
Table 5: Calculation results of the parameters of the traction drive output section with FOC in the presence of a compensator (when the motor supply frequency in stable mode is higher than the nominal frequency). The analysis of the results presented in Table 5 was carried out according to four criteria (in order of the criterion importance):  
1. The highest efficiency value. 2. The lowest torque ripple factor. 3. Minimum convergence time for stable mode. 4. Minimum convergence time during motor acceleration. The analysis of the results presented in Table 5 showed that the drive circuit with FOC in the presence of a compensator with elliptic filter with the adapted cut-off frequency has the highest efficiency value, as well as the smallest values of the torque ripple factor, convergence time in stable mode and during motor acceleration. The drive circuit with FOC in the presence of a compensator with an elliptic filter with a fixed cut-off frequency has the highest efficiency value and the smallest value of torque ripple. However, when using the Bessel filter with adapted frequency in the compensator, the drive circuit becomes unstable.