Expected accuracy of velocity control

Hello. Looking to get into ODrive, and just wanted to ask some questions about people’s experience with velocity control. I’m looking to have very precise velocity control of a bldc motor with a slight (±10%) variable load, with ramp up and ramp down features. I’m wondering what kind of accuracy can be expected in a closed loop with the various ODrive components. Thanks!

Depends on the speed and the construction of the motor. Very low speed can be tricky with cheap motors, as they tend to be high cogging torque. We have an anticogging algorithm for v3.6, and we have a new one coming for Pro and S1 which helps.

As for higher speed, encoders tend to give better velocity control as they go faster so I would hazard 1% or better in general, but depends on the disturbances in the system and the controller tuning