motor could not speed up to it's max speed

hello,

my motor's max speed is 5000RPM, but motor became shaking durning 3700RPM. and it is sensorless lab (FOC)

this is my user.h param:

#define USER_IQ_FULL_SCALE_FREQ_Hz        (400.0) 

#define USER_IQ_FULL_SCALE_VOLTAGE    (650.0)  

#define USER_ADC_FULL_SCALE_VOLTAGE       (665.597) 

#define USER_IQ_FULL_SCALE_CURRENT_A          (100.0) 
#define USER_ADC_FULL_SCALE_CURRENT_A        (200.0)

#define USER_PWM_FREQ_kHz                (20.0)

#define USER_NUM_PWM_TICKS_PER_ISR_TICK        (2)
#define USER_NUM_ISR_TICKS_PER_CTRL_TICK       (2)    
#define USER_NUM_CTRL_TICKS_PER_CURRENT_TICK   (1)   
#define USER_NUM_CTRL_TICKS_PER_EST_TICK       (1)    
#define USER_NUM_CTRL_TICKS_PER_SPEED_TICK  (1) 
#define USER_NUM_CTRL_TICKS_PER_TRAJ_TICK   (1)

#define USER_VOLTAGE_FILTER_POLE_Hz  (550.8)  

#define USER_MOTOR_TYPE                 MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS       (2)
#define USER_MOTOR_Rr                   (NULL)
#define USER_MOTOR_Rs                   (0.34)
#define USER_MOTOR_Ls_d                 (0.0084)
#define USER_MOTOR_Ls_q                 (0.0084)
#define USER_MOTOR_RATED_FLUX           (1.016966)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)
#define USER_MOTOR_RES_EST_CURRENT      (2.0)
#define USER_MOTOR_IND_EST_CURRENT      (-1.0)
#define USER_MOTOR_MAX_CURRENT          (20.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (20.0)
#define USER_MOTOR_MAX_SPEED_KRPM       (5.0)