TMS320F2800157: Motor rotates backward few degree and run forward continously

Tool/software:

Dear Team,

We are working on a customised board with the F2800157. Initially, the code was developed for DRV8353 + LaunchPad F2800157.

We are using a 48 V PMSM with an encoder 110A rated. Everything is working fine.

Issues

1. Sometimes the motor initially rotates backward a few degrees and then runs forward continuously. Which parameter needs to be adjusted to prevent this issue?

2. If the vehicle load increases, the motor stalls. How can we avoid this when the vehicle load increases? Which parameters should be considered?

Please provide input so we can proceed further.

Thanks in advance.

Regard

CP.Prabhakaran