I’m trying to control a motor (27 slots, 30 poles) at 0.1 rev/s with an AS5304 encoder (6880 encoder counts per revolution). At low speeds I get the following output:
vel_estimate plotted in the graph seems to have discreet jumps that are linked to the encoder
Decreasing this bandwidth parameter from 1000 to 500 seems to improve the velocity estimate resolution, but still doesn’t improve the steady state oscillation.
I performed the anticogging calibration but I don’t think that made any difference.
Are there any encoder parameters I can change to improve this low speed performance?