DRV8308: Motor debugging

Hi Team,

Customer does brushless motor closed-loop debugging. The customer has debugged two kinds of motors, one motor has 2 pairs of pole pairs, and the other motor has 4 pairs. It is smooth to debug the motor with 4 pairs of poles, and the external PPG frequency is 220HZ. The register settings are:

DRV8308_Register g_tDrv8308_Reg_CloseLoop =
{
	// CTRL1 Register
	{
		6,    //	AG_SETPT
1,    //	ENPOL
		1,//	DIRPOL
 		1,    //	BRKPOL
		1,//	SYNRECT
		1,//	PWMF
		0,//	SPDMODE
		1,//	FGSEL
		0,//	BRKMOD
		1	//	RETRY
	},
	// ADVANCE Register
	{
		33     //	ADVANCE
	},
	// COMCTRL1 Register
	{
		3,   //	SPDREVS
		180		//	MINSPD
	},
	// MOD120 Register
	{
		1,    //	BASIC
		2,//	SPEEDTH
		3970//	MOD120
	},
	// DRIVE Register
	{
		0,    //	LRTIME
		0,//	HALLRST
		0,//	DELAY
		0,//	AUTOADV
		1,//	AUTOGN
		0,//	ENSINE
		1,//	TDRIVE
		0,//	DTIME
		0	//	IDRIVE
	},
	// SPDGAIN Register
	{
		3,    //	INTCLK
		1		//	SPDGAIN
	},
	// FILK1 Register  极点频率
	{
		1,    //	HALLPOL
		0,//	BYPFILT
		1200//	FILK1
	},
	// FILK2 Register  零点频率
	{
		1200     //	FILK2
	},
	// COMPK1 Register  极点频率
	{
		0,   //	BYPCOMP
		2000		//	COMPK1
	},
	// COMPK2 Register  零点频率
	{
		6,    //	AA_SETPT
		2000//	COMPK2
	},
	// LOOPGN Register
	{
		3,    //	OCPDEG
		3,//	OCPTH
		0,//	OVTH
		0,//	VREF_EN
		200//	LOOPGN
	},
	// SPEED Register
	{
		0xFFF    //	SPEED
	},
	// FAULT Register
	{
		0,    //	RLOCK
		0,//	VMOV
		0,//	CPFAIL
		0,//	UVLO
		0,//	OTS
		0,//	CPOC
		0	//	OCP
	}
};

But the same parameters are no longer applicable to motors with 2 pairs of poles. After the load is applied to the motor, the speed is not adjusted in time, and the adjustment is performed when the deviation is 50%, but the speed cannot be reduced after the adjustment is over. He tried to change multiple sets of data without improvement. For example, SPDGAIN was changed to 7, AA_SETPT was set to 6, LOOPGAIN was changed to 1000, BYPCOM was changed to 1, and different permutations and combinations such as FILK1 Register, FILK2 Register, COMPK1 Register, and COMPK2 Register were modified. There is no good effect.

Thanks,

Annie