Speed Control Issue


I use a gimbal motor (130kv) with the Odrive controller and observed, that at low speed (under 60rmp with anti-cogging) the motion of the motor is fine, but at intermediate speed (60rmp<speed<180rmp) the motor produces vibrations, which are again lower at high rmp (above 180rmp). What is the most probable cause of this? May this come from resonance of the motor?


This is likely to do with the spectrum of the cogging torque resonating with the controller at a certian speed. You can probably supress it by tuning the feedback gains.

By the way, the current anticogging implementation is barely a proof of concept and is not very good yet.