TMDSHVMTRINSPIN: Starting jerk

1. Present we are working on Instaspin FOC to control our PMSM motor (HVLS application), we are using the Source files given in C2000 ware (C:\ti\c2000\C2000Ware_MotorControl_SDK_3_00_01_00\solutions\tmdshvmtrinspin\f28004x\ccs\sensorless_foc).
2. We can run our motor (with load) successfully at rated motor rated RPM (i.e., 55). But we are facing few issues as mentioned below:                      

a. Getting starting jerk and vibration with noise (like grinding sound)

b. Initially motor runs at higher RPM (almost rated RPM), then after some time (say 5secs) it settles to set frequency (i.e., motorVars.speedRef_Hz).

         Please clarify the following:

1. What is the reason for starting jerk and vibration?
2. How can I handle that high RPM at starting condition?

Below are my motor parameters and user.h settings:

#define USER_NOMINAL_DC_BUS_VOLTAGE_V          ((float32_t)(400.0))   

#define USER_ADC_FULL_SCALE_VOLTAGE_V         ((float32_t)(400.0))         

#define USER_ADC_FULL_SCALE_CURRENT_A         ((float32_t)(40.0))        

#define USER_VOLTAGE_FILTER_POLE_Hz           ((float32_t)(372.1))

#define   IA_OFFSET_A    (19.97279739)            // ~=0.5*USER_ADC_FULL_SCALE_CURRENT_A

#define   IB_OFFSET_A    (19.95302963)            // ~=0.5*USER_ADC_FULL_SCALE_CURRENT_A

#define   IC_OFFSET_A    (19.89870834)            // ~=0.5*USER_ADC_FULL_SCALE_CURRENT_A

//! \brief ADC voltage offsets for A, B, and C phases

#define   VA_OFFSET_V    (0.990514159)             // ~=1.0

#define   VB_OFFSET_V    (0.986255884)             // ~=1.0

#define   VC_OFFSET_V    (0.983381569)             // ~=1.0

#define USER_MAX_VS_MAG_PU              (0.5)

#define USER_MAX_ACCEL_Hzps        ((float32_t)(2.0))

Below are the motor parameters:

#define USER_MOTOR_TYPE                    MOTOR_TYPE_PM

#define USER_MOTOR_NUM_POLE_PAIRS         (28)

#define USER_MOTOR_Rr_Ohm                 (0.0)

#define USER_MOTOR_Rs_Ohm                 (2.07093718)

#define USER_MOTOR_Ls_d_H                 (0.033496008015)

#define USER_MOTOR_Ls_q_H                 (0.033496008015)

#define USER_MOTOR_RATED_FLUX_VpHz        (4.8)

#define USER_MOTOR_MAGNETIZING_CURRENT_A  (NULL)

#define USER_MOTOR_RES_EST_CURRENT_A      (20.0)

#define USER_MOTOR_IND_EST_CURRENT_A      (-20.0)

#define USER_MOTOR_MAX_CURRENT_A          (15.0)

#define USER_MOTOR_FLUX_EXC_FREQ_Hz       (20.0)

#define USER_MOTOR_NUM_ENC_SLOTS          (2500.0)

#define USER_MOTOR_INERTIA_Kgm2           (3.10002e-02)

#define USER_MOTOR_FREQ_MIN_HZ             (5.0)

#define USER_MOTOR_FREQ_MAX_HZ            (48.0)

#define USER_MOTOR_FREQ_LOW_HZ            (4.0)          // Hz   //increased to 4 from 2.5

#define USER_MOTOR_FREQ_HIGH_HZ           (40.0)         // Hz   //increased to 40 ffrom 25

#define USER_MOTOR_VOLT_MIN_V             (45.0)          // Volt

#define USER_MOTOR_VOLT_MAX_V             (300.0)         // Volt