使用MC Workbench创建电机控制工程

hhanshichui

    请教论坛上的各位大佬，我目前需要完成的项目设计，需要我做到对电机的位置——速度——电流三重闭环控制。我使用的芯片型号是STM32F401RBT6，电机型号是57BLY75-230-018-E1000，使用ST官方推出的V5.4.4版本的电机库和上位机控制平台MC Workbench生成的工程，当前能实现的效果是对电机的速度进行简单控制，但电机运行过程中的相电流并非平滑的正弦波，而是带有很多毛刺，就像下面这张图显示的那样。我自己先后尝试了修改FOC控制中电流环的PI参数以及高级定时器设置时的死区时间，感觉效果依旧没有改进，请问我接下来可以怎样做出改进？或者说我的程序或硬件上可能存在什么问题导致了相电流不平稳的情况？欢迎各位提出自己的宝贵意见，不胜感激！
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正点原子

图片不对