This paper proposes new, efficient current command determination methods that allow torque generation with minimum copper loss for permanent-magnet synchronous motors with double independent three-phase windings (DIW-PMSMs). The double windings are not necessarily identical, but can have different characteristics. When one of the windings is designed for high torque at low speed and the other for low torque at high speed, the resulting DIW-PMSMs can have an ability of wide-range high-efficient drives. In order to translate wide-range high-efficient drives into reality, associated current command determination is indispensable. This paper proposes three new efficient current command determination methods such as torque error feedback method, modified bootstrap method, and Newton-Raphson direct method. Each method can solve a set of five-variable nonlinear simultaneous equations that govern the torque and minimum loss constraints, which are newly formulated in this paper. The effectiveness of the methods is validated by numerical experiments.