Hello,
Sorry to bother you with a new question.
I meet a difficult problem, which I can hardly solve. I run the “lab5e” and follow the “Lab procedure”. When I set “gMotorVars.SpeedRef_krpm” to 0 to make the ACIM hold zero, the shaft begin to violently oscillate with a high current up to 20-30A. I find that decreasing “gMotorVars.SpinTAC.VelCtlBwScale” makes this oscillation less violente, but it will lose the robustness of the system and the oscillation still exists.
And when I run the “lab6a” that problem comes again. I change “gMotorVars.SpeedRef_krpm” from “1” to “-1”, then from “-1” to “1”. The oscillation of the shaft will continue for a few seconds when the speed gets closed to “0”. But this zero-speed-oscillation does not happen every time. Sometimes it can make a smooth transition.
By the way, in my application, I want to use “SpinTAC Position Control” technology to make a steering system of a forklift. The ACIM needs to tightly hold zero after getting the reference position.
Could you give me some advice? Thank you for your time!
Best regards,
Brant Zheng