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TMS320F28035: FOC algorithm pi iq and id out value

Yavuz AYRAK
Prodigy 81 points
Part Number: TMS320F28035


Tool/software:

Hi,

I have a hardware to drive 3 phase 28V  PMSM and my driver is drv8323RS. I use FOC algorithm with 1024 encoder. At top limit about 8A main bara current and 6k RPM my pi.iq and pi.id out value close to limit value which is 0.8pu and 0.6pu respectively. I try to decrease these values by changing gain value and Kp, Ki value but there is no response. How can i decrease pi.id.out and pi.iq.out values.Or what is the dependencies of this values which parameters effect those. Can you help me?