Xnuke From what you said I think I had the inner and outer loops reversed and that the Current control loop should have been the outer loop. I incorporated the current limit as a PI signal that is only applied when the speed exceeds the limit. This is my best guess at this point. This is a...
My goal is to drive a BLDC motor that provides a propulsion power assist that supplements the push force effort required from a user attempting to move a cart. The input command comes from a force sensor in the handles used to push the cart. The control loop includes torque (current) control but...
