Hi! I’m doing some tests to try and figure out the limits of ODrive’s high-bandwidth performance. When doing so, I’m running into some behavior that I haven’t been able to understand or tune out. First, my test setup:
I have a 5208 class brushless motor with an AS5147P encoder connected in SPI mode. I’m running a 24V ODrive off a 24V/20A lab power supply. My test motion uses the trajectory planner to move at roughly a constant velocity from position 0 to position 1. I set the trajectory config to have very high accel/decel (10000.0) so as to make the velocity waveform as square as possible. I’ve increased the current and encoder bandwidth to 500Hz (3141 rad/s) and set the vel_integrator_gain to 0. With a 20rev/s motion, I get a weird overshoot and slow return to the final position that I haven’t been able to understand.
Here’s a 1000fps video of the motion: https://youtube.com/watch?v=vCq9-ibsFhI
Are there config options I’m missing? The ODrive parameters I believe are relevant are at: In : odrv0.axis0.motor.config O - Pastebin.com