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action of the commutator is to produce a fixed spatial
distribution of current directions in the armature conductors independent of shaft rotation. The field created by these
currents (armature reaction) is horizontally directed and is represented by the
space vector Ia. The field established by the
excitation of the stator poles is directed along the vertical axis and is
represented by the space vectorλf
electromagnetic torque may be expressed as Te = k( Ia xλf ) .