TMS320F28027 C2000™ +TIDA-00436: Abnormal operation of motor

The software path I used:     C:\Users\Administrator\Desktop\TIDA\TIDA-00436 Board Photo\TIDA00436-1.0\TIDA00436Firmware\BLDC_436v6

Hardware:LAUNCHXL-F28027+TIDA-00436 Board

motor parameters are as follows:

Nominal voltage V                                                                24
No load current mA                                                             300         
Nominal speed rpm                                                            3000
Nominal torque (max. continuous torque) mNm          180

Terminal resistance   Ohm                                                  1.29
Terminal inductance mH                                                    2.8

1. #define   BUILDLEVEL LEVEL4 ,When EnableFlag=1,The motor starts to run, but the motor vibrates during operation. How can the motor not vibrate during operation？

2. When I modify the SpeedRef, the motor speed does not change. What is the reason?

3.How should the following parameters be adjusted?

_iq BemfA_offset = _IQ15(0.0);
_iq BemfB_offset = _IQ15(0.0);
_iq BemfC_offset = _IQ15(0.0);
_iq IDC_offset = _IQ15(0.5);

// Initialize the PID_GRANDO_CONTROLLER module for dc-bus current
pid1_idc.param.Kp = _IQ(3.176*BASE_CURRENT/BASE_VOLTAGE);
pid1_idc.param.Kr = _IQ(1.0);
pid1_idc.param.Ki = _IQ(T/0.0005);
pid1_idc.param.Kd = _IQ(0/T);
pid1_idc.param.Km = _IQ(1.0);
pid1_idc.param.Umax = _IQ(0.95);
pid1_idc.param.Umin = _IQ(0.0);

// Initialize the PID_GRANDO_CONTROLLER module for Speed
pid1_spd.param.Kp = _IQ(0.75);
pid1_spd.param.Kr = _IQ(1.0);
pid1_spd.param.Ki = _IQ(T/0.3);
pid1_spd.param.Kd = _IQ(0/T);
pid1_spd.param.Km = _IQ(1.0);
pid1_spd.param.Umax = _IQ(0.95);
pid1_spd.param.Umin = _IQ(0.0);

4. What's the difference between the following two functions?

BLDCPWM_MACRO(1,2,3,pwm1) and BLDCPWM_MACRO(pwm1)