Doubts about FOC control with F28035, Dual Motor Control Kiy and Matlab

Hello,

I'm working on creating aFOCcontrolusingMatlaband Simulink.You can seethe model inthe attachment.Thenwe will create aproject fromtheFOCalgorithmusingCCSv3.3and we'llrun aPMSMconnected totheDualMotorControlKitcontrolled by DSP28035 ControlCard.

Now, in my model PWM signals are generated correctly. But the motoris not working properly. I'm working with 24V-400 BLY172S Anaheim Automation, the motor included in the kit.

Now I can build the project, but the motor rotates"in jumps". In other words, the motor rotates and stops several times per second, the motor rotationis not continuous. Also, the motor does not rotate if the velocity is small (50 rpm, for example) and if I set up a high currents Ia and Ib and high speed (Ia = Ib = 0.5 and 1500 rpm, for example), the motor temperature increases and stops. All this does not happen with software providedfor you, which runs directly in CCS v3.3. With this program the range of work for Ia, Ib and the speed is great and the motor runs smoothly but the motor runs in open loop (Level 1).

What is the problem? Maybe I need to use HRPWM? Is this fact related to the sample time?(currently with a value of 2 ^ -15)?

I also wanted to know if there was any systemthat I can work in real time with the model variables. So, if I can modify the values of the currents Ia and Ib ormotor speed in the model and, immediately, the motoradapts to these changes in real time, as your program.