Running the ST-FOC SDK 4.3 for our PMAC motor with an outer speed loop and running at constant speed, we see that there is a trade-off between having good torque and good flux regulation. E.g. increasing the P term for the torque controller will decrease the noise in torque, but increase the noise in flux. I know there is a cross-coupling term that can be influenced by feedforward control, but we have not yet implemented this feature because we expect to see only minor positive effects from it.
Please correct me if we really should be able to independently decrease the noise to a high degree, with or without the feedforward control. Otherwise, what are the pros and cons of having really small torque errors but large flux errors and visa versa ?
