HI Luo Thank you for your answer, but there is no code involving motor parameters at level3 and before. At present, I have not tested the SMO module. I am currently testing the SPEED_FR module and PI module. The QEP module has been tested for electrical angles before and there is no problem. I found a very interesting point when testing yesterday, when my IqRef=_IQ(0.2), pi_iq.Out=_IQ(0.25).. When my IqRef=_IQ(0.3), pi_iq.Out=_IQ(0.32). Do you think my reference is too low? I try to reduce KP, but the motor jitter is the same as when the pwm frequency is 10khz as I mentioned above. Do you think it is due to the jitter caused by the dead time
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