strong tremor of the motor when rolling backwards.

[Romale]

I can't beat one unpleasant situation (em57 + any inverter + board O.I. v3 5.27 foc). every time the car rolls back with the forward drive turned on, the engine starts to shake wildly, switching to neutral or turning on the reverse does not eliminate it! pressing the brake pedal does not eliminate it. only turning off the ignition solves the problem.
I turned off the hill hold, at first it was with him (he holds the hill perfectly, but if I slightly touch the accelerator pedal, the function turns off and I start to roll back, immediately I get a wild relentless tremor of the motor), the same thing happens with the hill hold function turned off.
this does not happen only in eco mode (BMS high input)
What kind of setup can help defeat what is happening?

[johu]

Parameters please
I have this also in Touran but not very strong

[Romale]

"iqkp": 66,
"idkp": 66,
"curki": 20000,
"vlimflt": 10,
"vlimmargin": 4500,
"fwcurmax": 0,
"syncofs": 32660,
"lqminusld": 0.25,
"fluxlinkage": 73,
"syncadv": 10,
"polepairs": 4,
"respolepairs": 4,
"sincosofs": 2048,
"encmode": 4,
"fmax": 400,
"numimp": 60,
"dirchrpm": 1000,
"dirmode": 1,
"snsm": 14,
"pwmfrq": 1,
"pwmpol": 1,
"deadtime": 160,
"ocurlim": 1333,
"il1gain": 2.03,
"il2gain": 2.03,
"udcgain": 12.12,
"udcofs": 584,
"udclim": 420,
"snshs": 2,
"pinswap": 8,
"modmax": 37836,
"potmin": 900,
"potmax": 4095,
"pot2min": 0,
"pot2max": 4000,
"potmode": 0,
"throtramp": 1,
"throtramprpm": 20000,
"throtcur": 5,
"brakeregen": -100,
"regenramp": 1,
"regentravel": 25,
"offthrotregen": -30,
"cruiseregen": -30,
"regenrampstr": 10,
"brklightout": -50,
"bmslimhigh": 30,
"bmslimlow": -30,
"udcmin": 25,
"udcmax": 435,
"idcmax": 600,
"idcmin": -222,
"idckp": 2,
"idcflt": 9,
"tmphsmax": 100,
"tmpmmax": 300,
"throtmax": 100,
"throtmin": -100,
"chargemode": 0,
"chargecur": 2,
"chargekp": 80,
"chargeki": 10,
"chargeflt": 8,
"chargepwmin": 0,
"chargepwmax": 99,
"idlespeed": -100,
"idlethrotlim": 50,
"idlemode": 3,
"holdkp": -0.25,
"speedkp": 0.25,
"speedflt": 5,
"cruisemode": 0,
"udcsw": 30,
"udcswbuck": 300,
"tripmode": 1,
"bootprec": 0,
"pwmfunc": 0,
"pwmgain": 100,
"pwmofs": 0,
"canspeed": 2,
"canperiod": 0,
"nodeid": 1,
"manualstart": 0,
"manualiq": 0,
"manualid": 0

[Romale]

It uses an outlander inverter and a total 230 volt battery. I'm afraid that when I plug in the entire 380 volt battery, this tremor will tear the transmission.

[johu]

Only thing that surprises me is syncofs. It is usually around 0 for EM57. How did you arrive at this?

[Romale]

I spoke in one of the topics, after ordering new boards in jlcpcb, something changed and the syncofs became correct by exactly 180°, I think either they messed up some tracks or the processor has a difference.

[johu]

Can you try going back to zero-ish and instead activate resolver pinswap? Not sure if it makes a difference mathematically, just to test

[Romale]

this was less noticeable on single inverters. now I use two power modules in parallel, output and input (front outlander inverter), this gave me the opportunity to receive more than 200 kW of power from it, slip the wheels on dry asphalt even in 4th gear (I have saved the gearbox) but it also greatly increased this tremor, which scares everyone away I want to incline to the "light side of the Jedi force"))

[Romale]

I have tried syncofs 0 and pin replacement. this works exactly the same as with my current syncofs without replacing the resolver contacts. but it's more convenient for me to change the syncofs so that I don't accidentally forget to change the contacts of the resolver somewhere.

[johu]

Ok, good to know. I also run throtcur=5.5, are you running in fact double that because you only measure on one power stage?

In that case your tremor would just be an amplified version of mine. If I fix the subtle one it would fix the the strong one as well

[Romale]

No. measuring only on one igbt module was a mistake, it gave out an even stronger tremor.
now I have current sensors that take into account the total total. I connected the power outputs in parallel in front of the current sensors.