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Hi everybody,

I have implemented PI control of a DC motor and it works properly at high speeds (50rad/s) but if I lower the reference speed to 5 rad/s, there are fluctuations in its motion. Initially, I thought it could be due to the limitation of my current sensor (LTS 6 np) but I added some load, so that current is at a higher value (around 30mA) but the fluctuations are still present. I tried to increase the frequency of the PWM but due to limitations in my board, could not test beyond 20KHz.

Will increasing the PWM frequency have any positive effect at low frequencies?

Your comments and suggestions are welcome.

Thanks,

I have implemented PI control of a DC motor and it works properly at high speeds (50rad/s) but if I lower the reference speed to 5 rad/s, there are fluctuations in its motion. Initially, I thought it could be due to the limitation of my current sensor (LTS 6 np) but I added some load, so that current is at a higher value (around 30mA) but the fluctuations are still present. I tried to increase the frequency of the PWM but due to limitations in my board, could not test beyond 20KHz.

Will increasing the PWM frequency have any positive effect at low frequencies?

Your comments and suggestions are welcome.

Thanks,