Current loop resonance in higher ERPM under Current Mode

Hi,

I control vesc using current mode,at a certain speed,the motor shook so badly that it couldn't accelerate.

Load has a certain inertia.

I adjust the Current KP KI to change the speed of the oscillation. It doesn't help much.

Protection due to serious out-of-control of current.

But duty cycle mode works normally.

I have no way to solve this problem.

Do you have any tips how to solve this problem?

Thanks.