torque ripple

Hello,

my Roboteq SDC2150SN motor controller shows a torque spike every 50 millisecond when I provide a constant motor command signal. I can\'t find out where this torque ripple comes from. When I use a power supply instead of the Roboteq controller the ripple does not appear. Does anyone have an idea what could cause a ripple like this?

Please find attached a pdf-file that contains plots of the torque ripple, using 2 load sensors measuring the vertical load of the electric scooter wheels.

Thank you very much in advance.

There is nothing in the controller with 50ms periodicity.

Is the controller operating in open loop?

Capture a log of motor command, motor command, battery volts, battery amps.

To get max details in the log, disable flags/fault/din/dout/anain/pulsein from monitorin in the run tab.

Send the log to support at roboteq.com