We are implementing torque control on PMSM motor using S32K144 MBD toolbox in Matlab. The motor has a rated speed of 3500 rpm , but during the test we observe that the torque starts to droop after 2000 rpm instead of providing a constant torque till 3500 rpm and the torque starts to oscillate at 3000 rpm and the controller voltage saturates during this. We tried decoupling dq axis and it helped increasing torque by a small margin but did not resolve the issue
