Motor vehicle comprising a rotary drive system comprising: - a voltage source having a voltage and a ground, - an electric motor configured to control the torque and to control the position of the motor vehicle, the electric motor comprising: - a stator with three independent phases (a, b, c) each having two terminals and not being connected via one of their terminals to a common point, - a rotor, - an inverter intended to connect each phase (a, b, c) to the voltage source in order to generate phase currents, the inverter comprising six arms, one per terminal of the phases (a, b, c), each arm being configured to connect the terminal with which it is associated to the voltage or else to the ground of the voltage source, and - a device for controlling the inverter, the rotary drive system being characterized in that the control device comprises: - a unit configured to determine whether the fundamental frequency of the phase currents is lower than a frequency threshold equal to, at most, 100 Hz, - a unit for determining an electromagnetic torque setpoint for the electric motor and a unit configured to determine whether the torque setpoint is greater than a torque threshold equal to, at least, 100 Nm, - a unit for generating a command, configured such that, when the fundamental frequency is determined as being lower than the frequency threshold and when the torque setpoint is determined as being greater than the torque threshold, the command causes the appearance of a homopolar component in the phase currents. - a voltage source having a voltage and a ground, - an electric motor configured to control the torque and to control the position of the motor vehicle, the electric motor comprising: - a stator with three independent phases (a, b, c) each having two terminals and not being connected via one of their terminals to a common point, - a rotor, - an inverter intended to connect each phase (a, b, c) to the voltage source in order to generate phase currents, the inverter comprising six arms, one per terminal of the phases (a, b, c), each arm being configured to connect the terminal with which it is associated to the voltage or else to the ground of the voltage source, and - a stator with three independent phases (a, b, c) each having two terminals and not being connected via one of their terminals to a common point, - a rotor, - an inverter intended to connect each phase (a, b, c) to the voltage source in order to generate phase currents, the inverter comprising six arms, one per terminal of the phases (a, b, c), each arm being configured to connect the terminal with which it is associated to the voltage or else to the ground of the voltage source, and - a device for controlling the inverter, the rotary drive system being characterized in that the control device comprises: - a unit configured to determine whether the fundamental frequency of the phase currents is lower than a frequency threshold equal to, at most, 100 Hz, - a unit for determining an electromagnetic torque setpoint for the electric motor and a unit configured to determine whether the torque setpoint is greater than a torque threshold equal to, at least, 100 Nm, - a unit for generating a command, configured such that, when the fundamental frequency is determined as being lower than the frequency threshold and when the torque setpoint is determined as being greater than the torque threshold, the command causes the appearance of a homopolar component in the phase currents. - a unit configured to determine whether the fundamental frequency of the phase currents is lower than a frequency threshold equal to, at most, 100 Hz, - a unit for determining an electromagnetic torque setpoint for the electric motor and a unit configured to determine whether the torque setpoint is greater than a torque threshold equal to, at least, 100 Nm, - a unit for generating a command, configured such that, when the fundamental frequency is determined as being lower than the frequency threshold and when the torque setpoint is determined as being greater than the torque threshold, the command causes the appearance of a homopolar component in the phase currents.