| CPC H02P 21/10 (2013.01) [H02P 21/0007 (2013.01); H02P 21/18 (2016.02)] | 20 Claims |
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1. A device comprising:
a processor; and
a non-transitory memory storing instructions that, when executed, cause the processor to:
operate in an open loop mode a motor that includes a rotor and a stator;
determine an angle error of the rotor;
in response to the angle error of the rotor being less than a threshold, transition from operating the motor in the open loop mode to operating the motor in a closed loop mode by:
changing from using a first coordinate system based on a command rotor position to using a second coordinate system based on an estimated rotor position to determine current vectors used to control the motor; and
holding constant a current vector used to control the motor while performing the changing action; and
after performing the changing and holding actions, operate the motor in the closed loop mode.
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