Below I have attached two images. The first one our motor operating at 20A Iq. The second is the motor at 40A Iq. I'm sampling at 2 Mega Samples per second and then running the post op amp current feedback voltage (center at 1.65V) through a Low Pass Bessel filter with a -3db of 335 hz (motors max electrical freq is like 300 hz). We are running in current control only, ie no velocity loop. It seems to me that the current control still looks a little unstable at 20A but then smooths out as we approach 40A and beyond. My current feedback gain is 10 (external 80 Mhz bandwidth op amps), shunt resistor is 0.002 ohm, my USER_IQ_Current is 82.5 and my USER_ADC_Current is 165 A. What can I do to smooth out the current waveform at the lower current levels. Does this seem to be a control loop issue or more of a current feedback issue? Any thoughts would be greatly appreciated.
