The Leaf's bEMF is the "Benchmark IPM":

Nissan_Leaf_bEMF.JPG

It is a little difficult to see, but there is no obvious asymmetry - and I would be very surprised if there was any intentional asymmetry.

(Sorry if this is known/obvious)
The resolver rotor/stator must be aligned with the emag rotor ...

Ok, thats very interesting. So motoring in forward works out to regen in backward and vice versa. id always negative, understood.
Any idea why regen became more pronounced with rising speed? Some phase lag perhaps?


If the regen increased, you should see the Iq change accordingly...

On regen ...

With normal FOC control, Iq's sign is direction of torque production.

Consider the 4-quadrant operation:
Motor direction = forward; Positive Iq = motoring torque.
Motor direction = forward; Negative Iq = regeneration torque.
Motor direction = reverse; Negative Iq = motoring torque.
Motor direction ...