I'm having some trouble tuning my VESC 4.12 (latest firmware) for optimal performance. I use the VESC on my ebike with a 12s lithium battery and a 9C 2706 hub motor with hall sensors in FOC mode.
I find the sensorless ERPM threshold confusing. As far as I can tell there are no instructions for how to choose a good value for this. The main issue I am having is that when my bike has changed to sensorless mode under heavy acceleration, the motor cogs heavily and sometimes causes an ABS_OVER_CURRENT error. I captured an example of this with my data logger:
Also, even when there is no cogging the current has some kind of bump around the transition between sensored to sensorless modes. I have confirmed this by logging with different sensorless ERPM values.
If I set the sensorless ERPM above my normal max RPM, acceleration is smooth, but I feel like the top speed is not quite as high. The battery was more discharged in the log below, but I'm not sure that explains it all.
Does anyone have any advice for this situation? I have tried playing around with saturation compensation but I have been unable to eliminate cogging in sensorless mode.