TMS320F280025: MotorControl_SDK for C2000 with application in ACIM

Tool/software:

Hello, expert:
In the process of using MotorControl SDK, I use the example of USER_MOTOR1 == EMSYNERGY_LVACI, and find that when the MOTOR1_PI_TUNE macro definition is opened, there are many parameters that are not defined, but the current motor example does not support the PI self-adjustment function. Or are all induction motors not supported?

In addition, after some parameters of the motor are determined by self-identification, the control effect is still not good. When the given speed is 30Hz, the motor will chatter strongly after rising to a speed of about 25Hz, until it is completely stopped. What is the most likely reason for this phenomenon?

I used the LAUNCHXL-F280025C+BSXL8353RS_REVA development board.