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.