RPM control oscillates

Discussions regarding the Field Oriented Control (FOC) implementation on the VESC.
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tobawo
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Joined: 03 May 2016, 17:29
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RPM control oscillates

Postby tobawo » 10 May 2016, 08:10

Hi!

We tried the new firmware 2.17 with the AMS encoder and it was really stunning how everything colludes perfectly! Thanks for the great work!
Current, Duty cycle and Position control works perfectly with FOC but the RPM control just oscillates heavily. Also the RPM value decreases slowly with time constant towards zero (see Screenshot). Sometimes the RPM reading stays at 0 all the time. We also tried lowering the speed tracker KP and KI values but this resulty in no motor spinning at all.

rpm.jpg
rpm.jpg (54.53 KiB) Viewed 1443 times


Has anybody seen similar behavior previously?

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