Quote:
Originally Posted by Joe Ross
The Jaguars closed loop modes (including current control) are performed at 1000hz. This is faster then possible when using PWM input (200hz), but slower then the h-bridge pulse rate (15,000hz).
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That's unfortunate, but probably fast enough for avoiding major current-induced battery-sag. Bumpers don't squish in one millisecond, I guess. Back when I was building motor controllers for a living (~150-250 kilowatts, 450V systems) we would always do current-mode control at the PWM rate and then wrap other closed loop systems around that.