I am using a STM32103VBT6 and STM32 PMSM FOC based BLDC program.
It works very well when it drive a 16 inch hub BLDC motor(56 poles), but it has problems when driving a 14 inch (46 poles) hub BLDC motor whose speed is less than 60RPM.
It is unsmooth at low speed. The motor will produce large torque ripple when hall sernsor.
It also works well when running at high speed.(>5km/h)
Can you tell me how to adjust the program to 14 inch hub BLDC motor?