Hello!!! I have implemented the the virtual link by two of GIM4310 and a makerbase ESP32 FOC board… and the simplefoc library… it works but it is a bit restained… I mean I have to apply a certain force to move the motor (the other follows)… I just started by the example of the simpleFOC site without any settings and using the defaults values… I used a Torque (voltage control) with the torque being proportional to the difference between the angles of the two motors… So there is no derivative component… but the behaviour is like if there is a damping effect… Do anyone have any idea on how to make the movement more fluid?
Could it be useful to introduce a derivative component in the control action?