I am using a 2 pole (1 pole pair) BLDC motor with the MA730. Controller: Nucleo L432KC 80MHz.
control type: Angle. motor rated current is 2.0, voltage is 20V. (yes I know it’s my power supply, strange number but it is stable). I don’t use the built in current sense because my sensors are internal op amps sensing Low side - not supported yet by Simple FOC.
My problem is that with angle control the acceleration is fine and fast, but the deceleration is a slow S curve. I tried to change the PID but it didn’t change this behavior. my app requires high speed motion control (15,000 RPM) and almost a triangular motion profile. I need a sharp deceleration.
I wrote a simple script that sends the motor to an angle setpoint and then back. So you can see it on the graph: