On a 23 pole pair 51 slot direct drive hub motor I have vibrations at around 650rpm (250Hz), but only if phase current is still above approximately 300 phase amps at that moment.
If I only accelerate with 50% or 70% throttle for example, there are no vibrations because phase current is lower.
I am using a FOC controller. In FOC control mode, the vibrations are stronger, but only present over a smaller rpm range (maybe 630-670rpm).
Tuning the proportional and integral gains of the phase-locked loop has some influence on the vibrations, but they cannot be eliminated by tuning the gains.
In hall based control mode the vibrations are softer, but present over a bigger rpm range (maybe 600-700rpm).
What do you think could be the cause of these vibrations?
If I only accelerate with 50% or 70% throttle for example, there are no vibrations because phase current is lower.
I am using a FOC controller. In FOC control mode, the vibrations are stronger, but only present over a smaller rpm range (maybe 630-670rpm).
Tuning the proportional and integral gains of the phase-locked loop has some influence on the vibrations, but they cannot be eliminated by tuning the gains.
In hall based control mode the vibrations are softer, but present over a bigger rpm range (maybe 600-700rpm).
What do you think could be the cause of these vibrations?