Xnyle said:Why do you get a buildup? If hysteresis is >1 as it was b4 you would get a constant offset of 1 once correction kicks in?
I might have the beginning of an answer.
Xnyle you're right that the current should only get offset by 1, but in my case the phase current scale is so squished that the angle correction needed to correct such a small offset is still large, and leads to big changes of behavior of the motor.
It led me to think that my phase current sensitivity was not adequate.
I looked at the ACS712 current sensor and my controller has the 30A version, which has a 66mV/A sensitivity. In 8bit adc steps, that's 3 per amp. This combined with the fact that I'm on an electric scooter, so perhaps less current draw than an ebike, means that the phase current is not resolved enough to do fine foc.
What variants of current sensors do you guys usually find on your controllers ?