Patent ID: 7525269

Claim:
A method, comprising: receiving a torque command; generating a d-axis current command and a q-axis current command based on the torque command; generating a d-axis voltage command and a q-axis voltage command based on d-axis current error comprising a combination of the d-axis current command and the synchronous reference frame currents and a q-axis current error comprising a combination of the q-axis current command and the synchronous reference frame currents; generating three-phase sinusoidal voltage commands based on the d-axis voltage command, the q-axis voltage command and the final estimated rotor position angle; generating switching vectors based on the three-phase sinusoidal voltage commands; generating modified switching vectors by multiplexing the switching vectors and the injection vectors; and generating three-phase voltage commands and resultant stator currents based on the modified switching vectors; generating a motor output responsive to the three-phase voltage commands; and generating three-phase zero-sequence voltage samples based on the three-phase voltage commands and the motor output.