Thank you Kevin Allen18 This is a custom board that I copied the Launchpad + DRV8323 The recording above is from a stationary motor with a very small current command. The noise also appears with higher current commands and stationary motor. Small movements of the rotor result in greatly reduced noise. The noise seems to be reduced greatly at any speed. There is a gearbox that makes noise, however, so the motor whirring noise could be covered up by the gearbox noise. Here is reported current over a serial comm port of Q-axis current at the low current command at stationary. The areas of the plot with lower current noise are the areas that produce much less audible noise. I will do more testing with a current probe, open-loop, and closed loop control. I do not have the DAC pins output on my board but I will add those for the next board.
↧