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# 2 Harmony QSpin - PMSM FOC

PMSM FOC, or Field Oriented Control, is an advanced control technique designed to optimize the performance of Permanent Magnet Synchronous Motors (PMSMs). This method achieves precise control of the motor's torque and speed by aligning the stator current with the rotor's magnetic field.

## Benefits of PMSM FOC

- Improved Torque Control: Enables quick and accurate responses to load changes.
- Enhanced Efficiency: Optimizes energy consumption by managing the motor's operation more effectively.
- Smooth Operation: Reduces vibrations and noise during operation.

## How PMSM FOC Works

Field Oriented Control involves several key steps:

1. Measurement of Rotor Position: Essential for aligning the current vector with the rotor's magnetic field.
2. Decoupling Control: Separates torque and flux control to enhance performance.
3. Real-time Calculations: Utilizes feedback to dynamically adjust current inputs.

## Supported Devices

Harmony QSpin integrates advanced algorithms tailored for different microcontroller families, enabling efficient motor control strategies.

Table 2-1.Supported Devices
Algorithm | SAMD/E5x | SAME7x / SAMV7x | SAMC2x / PIC32CM MC | PIC32MK MCF / PIC32MK MCM / PIC32MK MCA
--- | --- | --- | --- | ---
Classical PLL-based Estimator | Yes | Yes | Yes | Yes
Sliding Mode Observer | Yes | Yes | No | Yes
Reduced Order Luenberger Observer | Yes | Yes | No | Yes
Encoder-based Position Calculation | Yes | Yes | No | Yes
ZSMT-HF Hybrid | Yes | No | No | Yes
Flux Weakening | Yes | Yes | No | Yes
MTPA | Yes | Yes | No | Yes
Null Vector Flying Start | Yes | Yes | No | Yes
Encoder-based Position Control | Yes | Yes | No | Yes

## Applications of PMSM FOC

PMSM FOC is widely used in:

- Electric and hybrid vehicles
- Robotics
- CNC machinery
- Wind turbines