Field oriented control with adaptive start

A system comprising:

• a power supply including an output;
• an inverter regulator including a power input, a power output, and a control input;
• a motor including a power input, wherein the motor includes a rotor and a stator;
• a field oriented control (FOC) circuit including an input, an output, a processor, and a non-transitory memory storing instructions that, when executed, cause the processor to:
• operate the motor in an open loop mode;
• 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.

A method of controlling a motor that includes a rotor and a stator, the method comprising:

• operating the motor in an open loop mode;
• determining an angle error of the rotor;
• in response to the angle error of the rotor being greater than a threshold, transitioning 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;
• and
• after performing the changing and the holding, operating the motor in the closed loop mode.