I recently bought an ODrive to experiment on precision control for a BLDC. Im using a 1200 kv,14 pole motor attached to AS5047P encoder (4000 counts).
At normal speeds (>5000 cnts/sec) it works perfectly. But, I’m having a problem in getting high torque at low speeds for my motor. Also when i try to rotate my motor at really low speeds, it starts cogging and doesn’t rotate smoothly.
I have already tried increasing my PI values , but at such high values its unstable and vibrates a lot. I know the ODrive implements sinusoidal commutation, so it should be possible to achieve this (https://hackaday.com/2015/04/20/driving-a-brushless-dc-motor-sloooooooowly/)
Has anyone ever tried doing this and got results? Please let me know