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Motor Control

How to Tune lqminusld on ZombieVerter VCU

Lq − Ld inductance difference for IPM motor saliency torque.

Quick Reference

Param ID

139

Unit

mH

Range

0 — 1000

Default

0

🔍 See a sample config →

📖 What Does It Do?

Lq − Ld inductance difference for IPM motor saliency torque.

🎯 Recommended Values

Default value: 0

Valid range: 0 to 1000

Tuning Strategy

Start with the default value and adjust in small increments. Monitor vehicle behavior after each change before making further adjustments.

💡 Tuning Tips

ONLY for IPM (Interior PM) motors. 0 for surface-mount motors.

Used in MTPA to calculate reluctance torque component. Wrong value = poor torque control.

MEASURED VALUES:

  • Nissan Leaf EM57: 0.262 mH (forum #52763)
  • Toyota Prius MG2: ~0.5 mH
  • GS450H: ~0.4 mH

    • NOTE: forum often quotes µH (262 µH = 0.262 mH). Firmware expects mH.

    Setting to 0 disables MTPA — you lose reluctance torque.

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    🔗 Related Parameters

    Other parameters in the Motor Control category that work together with lqminusld:

    fmax

    Hz

    Maximum motor frequency. RPM = fmax × 60 / polepairs.

    boost

    dig

    Voltage at 0 RPM — controls starting torque. Higher = stronger launch.

    fweak

    Hz

    Field weakening start frequency. Above this, motor enters constant-power region.

    numimp

    ppr

    Speed sensor pulses per revolution.

    polepairs

    Motor pole pairs. CRITICAL — set this correctly for your motor.

    fslipmax

    Hz

    Maximum slip frequency (induction motors). Sets full-throttle torque.

    snsm

    enum

    Motor temperature sensor type. Must match your motor's actual sensor.

    fslipmin

    Hz

    Minimum slip frequency (induction motors). Sets creep torque.

    encmode

    enum

    Encoder/position sensor type. This is your motor's 'eyes' — it tells the inverter where the rotor is.

    dirchrpm

    rpm

    RPM below which direction change is allowed.
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