I'm having difficulty getting FOC mode to behave. The startup performance is very poor -- the motor consistently seems to lag for a moment before spinning up. I've also noticed while riding my board that the controller seems to get "out of sync" with the motor on about 20% of rolling starts, causing a very brief but severe deceleration and nasty crunching noise. Frequently this is accompanied by the system entering into some sort of fault mode where controls are ignored for about 5-10s. Unfortunately I can't seem to catch these happening with my laptop out, so I can't figure out exactly what the fault message says.
I've tried watching the realtime data on faulty startups. What I've noticed is the motor current shoots up to 30A or higher before dropping down as the duty cycle catches up. On smooth startups, that initial peak on the motor current doesn't occur, and duty cycle rises concurrently with the motor current. I'm running VESC hardware vs. 4.10 with the GVDD 4.7uF cap mod, firmware 2.16. I've attached my FOC settings here. Any idea what the problem could be?
- Screenshot from 2016-04-15 23-11-34.png (401.71 KiB) Viewed 5318 times