Velocity control while the external torque exists

1

I’m trying to test a motor velocity control with encoder. So we setup ‘encoder offset calibrattion’ and ‘closed loop’ for a velocity control

But with the configuration, the velocity control doesn’t reject an external torque and i touch a motor. I’m not sure how it can solve. Is there anything to setup for ‘torque limit’’.

Or is it not good to reject an external torque with d-q sensorless BLDC operation?

2

Increase your motor.config.current_lim, controller.config.torque_lim (if not infinite), controller.config.vel_gain, controller.config.vel_integrator_gain