Prevent cogging and enable low rpm control

[shulnak09]

Hi,

I am currently working on an autonomous scaled car that uses VESC to control a BLDC motor which powers the wheels.
The small vehicle is four-wheel driven.

I am implementing a planning algorithm that shall make the vehicle go from rest to a desired speed that is less than 1 m/s. The problem I am facing is for the low-speed control input to the Vesc say from 0 to 0.5m/s the motor cogs. I believe the input current is not enough to overcome the deadband torque of the motor.

Is there a way, I can tune the VESC such that it can overcome the initial torque resistance and rotate at slow speeds say 500 rpm?

I will be really grateful for any help in this regard. Below, I have attached the setup for BLDC motor and wheel.

Regards
Anshul

[Rubeer]

For low RPM torque you need some type of absolute position measurement.
For example hall sensors or HFI.