I have a custom board, which is based on the STEVAL-SPIN3201, it is used to control a low inductance BLDC motor with hall-sensors (100µH).
The motor controller is running and is able to control the motor. Unfortunately the phase currents tell that there is something that needs more care.
There are two problems. The first is that the phase currents are not as neat and harmonic as I might wish, the second (and main problem) is that once in a while every 10 seconds or so I see this iregularity:
The three phase currents:
I am uncertain of how I shall debug this, I suspect it has something to do with the current sensing. I would like to dump the raw current measurements from the ADC, but I do not think the chip is fast enough to do so.
I have tried to filter the current sensing circuit, but without any luck and without a way of quantifying the noise it is hard to compare.
How would you go about debugging this?
Informations:
Motor: BLDC with Hall sensors
Motor Control WorkBench: Version: 6.2.1
MCU: STM32SPINF0
Inverter Board: Custom, based on STEVAL-SPIN3201
Algorithm: FOC
Control Mode: Torque/Speed Control
Other: PWM Freq. 30kHz, REGULATION_EXECUTION_RATE: 2
