Hello Everyone,

I have difficulty with motor FOC control.

Motor nominal velocity is 90RPM.
Up to 40RPM I observe clear sinewave on current clamp connected to mothor phase.
When I increase velocity when it increases one spike in current waveform.
It causes motor to shake.


Is it caused by PI control ?
Or maybe it is something else wrong?

My PI regulation is like that (I gather data by uart on PC):


Best regards,
Chris

 

SOLVED.

Smaller capacitor on current sense