If I use low USER_MOTOR_RES(and IND)_EST_CURRENT -- like 0.2 and -0.2 the ID goes fine, but the rotation is very shaky.
Here are my motor params:
#define USER_MOTOR_TYPE MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS (7)
#define USER_MOTOR_Rr (NULL)
#define USER_MOTOR_Rs (NULL)
#define USER_MOTOR_Ls_d (NULL)
#define USER_MOTOR_Ls_q (NULL)
#define USER_MOTOR_RATED_FLUX (NULL)
#define USER_MOTOR_MAGNETIZING_CURRENT (NULL)
#define USER_MOTOR_RES_EST_CURRENT (1.8)
#define USER_MOTOR_IND_EST_CURRENT (-1.8)
#define USER_MOTOR_MAX_CURRENT (3.82)
#define USER_MOTOR_FLUX_EST_FREQ_Hz (80.0)
Should I even care if the rotation is not smooth during ID?