I am currently tuning the Myxa ESC for RPM control mode driving this 50V 130KV motor
I have followed the guide to set max eangvel accel to 15,000 and decel to 9000. Voltage ramp is 1000V/s and current ramp is 1000A/s.
After tuning the PID controller for acceleration, very good performance was achieved:
Integral gain was increased after the above screenshot was taken, so steady state response is perfect now.
However, severe instability is observed when decelerating:
Decreasing Kd (which is already very small) does not resolve the issue, nor does decreasing Ki. Reducing the eangvel decel to 3000-4000 or decreasing Kp gain resolves the issue but reduces tracking performance and responsiveness. The drive is being used on a multirotor so quick response is critical.
Are there any other parameters I need to adjust to resolve deceleration instability?
Here are my parameters:
config.yml (1.9 KB)