I am running SimpleFOC on the following setup
1024 ppr encoder
Maxon 4 pole pair motor
Torque Control is Voltage
Motion Control is Angle
I have been trying to tune my setup for position / angle control but can’t seem to get over this behavior.
The blue = Target, Yellow = Angle, Green = Velocity, Red = Voltage.
As you can see the motor moves to 60% of the target very quickly then takes ages (approx 5 secs ) to move the rest.
I have tried increasing the P term in the angle loop but this just give big oscillations in a steady state.
What should I be adjusting?