[Bug Report] : BLDC motor behaving erratically in Closed-Loop control mode

Legohead259 / OlympianESC-Firmware

Firmware for a novel Micro-ROS based electronic speed controller (ESC)

MIT License

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[Bug Report] : BLDC motor behaving erratically in Closed-Loop control mode #2

Open Legohead259 opened 6 months ago

Legohead259 commented 6 months ago

Describe the bug The BLDC motor on the board is jittering at several points and not maintaining a constant set point. Also, it jitters when the position and velocity targets are set to 0. It also does not go to a position.

Expected behavior The BLDC motor should maintain a constant velocity when set to a target. The motor shaft should maintain a constant position when set to a target No or minimal jittering expected

Legohead259 commented 6 months ago

Potential causes:

Untuned PID loop resulting in system instability
Noisy/erroneous position sensor readings
MCPWM mistimings, resulting from hardware control error

Legohead259 commented 6 months ago

Increased strength of SimpleFOC low-pass filter and that seemed to reduce jittering.