Current Spikes in DC Current

developement
,
1

I was running a dc current mode on stepper motor and figured out the velocity was not constant. Measuring the currents I could see that one coil is getting spikes.

The blue line is the current magnitude:

What could be the reason for this behavior? The PWM waves are correct.

Current Measured
Current Measured1794×724 119 KB

2

It needs tuning the PID. I changed some PID parameters. The goal is to keep the blue line at 0.3 all the time.

New measurements
New measurements1176×482 66.9 KB