BLDC Motor Design in Simulink with simscape blocks

I am using simulink simscape block to design BLDC motor. Design is to drive motor in one direction(example 120 deg) and rotate in reverse direction(80 deg) waiting for some time then rotating to 0 deg. Using 3 pid loops(controling for position, speed and current) When I start in reverse direction the motor performance is not great. It is taking long time to rotate from (120 to 80)deg than (0 to 120) deg. I am using MAXON motor, DC-DC pwm with two commutation logic's(clock wise and anti clock wise). Using PMSM block with Invertor with torque as mechanical Input and back emf as trapezoidal. Mechanical torque input is connected to constant.

Answer 1

[Sabin]

We have an example of BLDC Position Control in Simscape Electrical.