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DRV8301-69M-KIT: [Lab05h] Tunning PI current controller - what about sounds the motor generates?

Part Number: DRV8301-69M-KIT

Hello,

I'm trying to tune my motor parameters as in Lab 05h. It is a BLDC motor with rated speed of ~10 000 rpm and 200A.

The PI gains were set by default to: Ki = 0.14 and Kp = 0.037. Although they seem to work OK in practice, their step response is quite poor (step value of -1):

I've found that I can get much better results when increasing Kp significantly, that is: Ki = 0.2 and Kp = 0.2:

Increasing Kp, however, immediately increases the "buzzing" sound of the motor at the low speed. Not to the unreasonably high level, but it's definitely there. Should I worry about it or is it totally OK and I can stay with new parameters?

I also noticed that my motor runs louder when I enter a true pole-pairs number (that is 6, as I counted 12 rotor poles) - a high sound especially at higher speed of 1krpm. If I stay with default value of 4, it is totally quiet. I'm thinking what to do with this issue, how important it is to keep the number accurate? It's weird, but the lower number seems to give better results...