Oscillation at higher load in Speed mode

[Ajosh.1]

Ian using a dyno to apply load and using B-G431B-ESC1 with a pmsm motor

SPEED: KI= 950, KP= 13767, Torque KI= 1005 reduced from 3005 earlier torque kp=82 (tuned settings)

I have attached a snapshot ,as gradually I increase load (oz-in) in steps

1) at rpm <1500 I am able to track the curve with increased load in const rpm

​2) At rpm >2000 ,at higher load region the speed oscillates heavily (see snapshot attached)

I have attached the datasheet of motor from which it is clearly visible that upto 2880 RPM it can take continueous load torque of 39 oz-in

Could you suggest what could be the problem?

[Laurent Ca...]

Dear @Ajosh.1​ 

Welcome to the STM32 Community

Sorry for late answer.

Could you give more details to the STM32 Community about your setup -the material you use- ?

(HW and also SW: CPU(s), tools and versions, board(s), motor(s) and so on)

And more especially did you use STM32 MC tools (such as MC_suite, STM32 MC Motor Profile, STM32 MC SDK, STM32 MC Workbench, the used example, the origin of the base of your application source code, and so on)?

Best regards