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e*clipse had said the speed was a part of the max torque per amp adjustment and he was absolutely right. I had to modify the test for saliency from
commanding constant current from 0RPM to "RUN OUT OF VOLTAGE" and record the time, seeing what <Id,Iq> (where Id^2 + Iq^2 = currentCommand^2) results in the best time.
The new test is to chop up 0 voltage to "RUN OUT OF VOLTAGE" into several rpm intervals. (0, voltage1), (voltage1, voltage2), (voltage2, voltage3), ... and then, for each of those intervals, see what <Id,Iq> (where Id^2 + Iq^2 = currentCommand^2) results in the best acceleration. So, you would get an array of Id's. Then, we make a curve, and depending on the RPM (or depending on the voltage. same thing) AND depending on the current command, you choose <Id,Iq>.
By the way, field weakening bumped up the top RPM by a factor of 1.222 at 120vDC bus. I was doing a lot of experiments, and didn't want to use as high a voltage.
-Paul
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