Using STM32F415 for dual motor control with FOC 4.3: ST Forum users: FOC library is running the dual BLDC motors higher than the RPM setpoint. I'm using setpoint values that are divisible by 6 to get the even tenths of a mechanical hz. At RPM of 3102, the motors run at about ~3114 RPM. Has anybody run into this? I've used different electrical angle settings, along with PID gain adjustments, but can't get past this problem. Thank you in advance!
Update: Somewhere there is a latency or incorrect calculation. Slowed the PLL down by .5Mhz (.35%) and the RPM is nearly spot on. Overall, the motor control library thinks the system is running at 3102 but physically the motor is turning at 3112-3114RPM.
Will dig into source code to see if timers and speed calculations are correct.