Hello,
we are using the lab004 in combination with the DRV830169M kit in order to power a battery electric vehicle. There are two motor controllers mounted to the back of the vehicle that drive two PMSM. So far, everything works perfectly except for one problem: Since we need to drive uphill with the vehicle as well, we need a lot of torque and therefore a lot of current, so we decided to increase the gMotorVars.IqRef_A variable in the source code and update it via updateIqRef(ctrlHandle). Unfortunately, this does not work as well as expected, because the two motors suddenly start to ripple at a certain point and no more torque is generated. Decreasing the value for Iq fixes this problem again, but then we can't get enough torque and power to go uphill. (actually, we only change the factor which is multiplied with the ADC result of the accelerator and then written to the IqRef).
Since the motor is already spinning, we do not think that there is a problem with the flux observation (we are running a sensorless system). Only accelerating very gently makes the issue a bit less worse, however the power in this case is way to little for the slopes we want to drive upwards.
Any ideas what could cause this kind of problem or how to fix it?
Thanks in advance,
Lukas.
