电机电磁噪音如何改善？

你现在的PWM频率是多少？可能是频率太低，到了人耳比较敏感的区域，如果提高PWM的频率可能会有效

8K

英威腾的驱动器就很平静，基本上听不到吱吱声

有可能是你整个代码的控制逻辑某个地方有些乱，你可以先把无关的代码或中断先注释掉，只留控制算法和必要的输入输出，PI参数先调小，响应慢点但运行起来后平稳就好。如果是PMSM的话磁极偏置角要保证偏差不要太大。

TI的电机控制例程通常是能平稳运行电机的，你也可以跟你的代码对比测试一下。

整理后，还是有噪声，

是不是电流采样有问题导致的，

我的AD采样设置如下：然后在EPWM1中断中直接读取的 IsaSmp = AdcResult.ADCRESULT3; 不知道这样有没有问题？

    extern void DSP28x_usDelay(Uint32 Count);

    // *IMPORTANT*
    // The Device_cal function, which copies the ADC calibration values from TI reserved
    // OTP into the ADCREFSEL and ADCOFFTRIM registers, occurs automatically in the
    // Boot ROM. If the boot ROM code is bypassed during the debug process, the
    // following function MUST be called for the ADC to function according
    // to specification. The clocks to the ADC MUST be enabled before calling this
    // function.
    // See the device data manual and/or the ADC Reference
    // Manual for more information.

    EALLOW;
    SysCtrlRegs.PCLKCR0.bit.ADCENCLK = 1;
    (*Device_cal)();
    EDIS;

    // To powerup the ADC the ADCENCLK bit should be set first to enable
    // clocks, followed by powering up the bandgap, reference circuitry, and ADC core.
    // Before the first conversion is performed a 5ms delay must be observed
    // after power up to give all analog circuits time to power up and settle

    // Please note that for the delay function below to operate correctly the
    // CPU_RATE define statement in the F2806x_Examples.h file must
    // contain the correct CPU clock period in nanoseconds.
    EALLOW;
    AdcRegs.ADCCTL1.bit.ADCBGPWD  = 1;      // Power ADC BG
    AdcRegs.ADCCTL1.bit.ADCREFPWD = 1;      // Power reference
    AdcRegs.ADCCTL1.bit.ADCPWDN   = 1;      // Power ADC
    AdcRegs.ADCCTL1.bit.ADCENABLE = 1;      // Enable ADC
    AdcRegs.ADCCTL1.bit.ADCREFSEL = 0;      // Select interal BG
    EDIS;

    DELAY_US(ADC_usDELAY);         // Delay before converting ADC channels

    EALLOW;
    AdcRegs.ADCCTL2.bit.CLKDIV2EN = 1;
    EDIS;

    DELAY_US(ADC_usDELAY);         // Delay before converting ADC channels

    EALLOW;
    AdcRegs.ADCCTL1.bit.TEMPCONV    = 0;    // Disable internal temperature sensor
    AdcRegs.ADCCTL1.bit.INTPULSEPOS = 1;    // ADCINT1 trips after AdcResults latch
    AdcRegs.ADCCTL1.bit.ADCREFSEL   = 0;    // Page485 选择外部VREF
    AdcRegs.ADCCTL2.bit.ADCNONOVERLAP = 1;    //Enable non-overlap mode

    AdcRegs.INTSEL1N2.bit.INT1E     = 1;    //Enabled ADCINT1
    AdcRegs.INTSEL1N2.bit.INT1CONT  = 0;    //0-Disable ADCINT1 Continuous mode
    AdcRegs.INTSEL1N2.bit.INT1SEL    = 0;    //setup EOC0 to trigger ADCINT1 to fire

    // AdcRegs.ADCSAMPLEMODE.bit.SIMULEN0 = 1; // 同时采样
    AdcRegs.ADCSOC0CTL.bit.CHSEL  = 0;      //set SOC0 channel select to ADCINA0
    AdcRegs.ADCSOC1CTL.bit.CHSEL  = 1;      //set SOC0 channel select to ADCINA1
    AdcRegs.ADCSOC2CTL.bit.CHSEL  = 2;      //set SOC0 channel select to ADCINA2
    AdcRegs.ADCSOC3CTL.bit.CHSEL  = 3;      //set SOC0 channel select to ADCINA3
    AdcRegs.ADCSOC4CTL.bit.CHSEL  = 4;      //set SOC0 channel select to ADCINA4
    AdcRegs.ADCSOC5CTL.bit.CHSEL  = 5;      //set SOC0 channel select to ADCINA5
    AdcRegs.ADCSOC6CTL.bit.CHSEL  = 6;      //set SOC0 channel select to ADCINA6
    AdcRegs.ADCSOC7CTL.bit.CHSEL  = 7;      //set SOC0 channel select to ADCINA7
    AdcRegs.ADCSOC8CTL.bit.CHSEL  = 8;      //set SOC0 channel select to ADCINA8
 AdcRegs.ADCSOC9CTL.bit.CHSEL  = 9;      //set SOC0 channel select to ADCINA9
 AdcRegs.ADCSOC13CTL.bit.CHSEL  = 13;      //set SOC0 channel select to ADCINA13
 AdcRegs.ADCSOC15CTL.bit.CHSEL  = 15;      //set SOC0 channel select to ADCINA15

    AdcRegs.ADCSOC0CTL.bit.TRIGSEL  = 5;    //set SOC0 start trigger on software
    AdcRegs.ADCSOC1CTL.bit.TRIGSEL  = 5;    //set SOC1 start trigger on software
    AdcRegs.ADCSOC2CTL.bit.TRIGSEL  = 5;    //set SOC2 start trigger on software
    AdcRegs.ADCSOC3CTL.bit.TRIGSEL  = 5;    //set SOC3 start trigger on software
    AdcRegs.ADCSOC4CTL.bit.TRIGSEL  = 5;    //set SOC4 start trigger on software
    AdcRegs.ADCSOC5CTL.bit.TRIGSEL  = 5;    //set SOC5 start trigger on software
    AdcRegs.ADCSOC6CTL.bit.TRIGSEL  = 5;    //set SOC6 start trigger on software
    AdcRegs.ADCSOC7CTL.bit.TRIGSEL  = 5;    //set SOC7 start trigger on software
    AdcRegs.ADCSOC8CTL.bit.TRIGSEL  = 5;    //set SOC8 start trigger on software
    AdcRegs.ADCSOC9CTL.bit.TRIGSEL  = 5;    //set SOC9 start trigger on software
    AdcRegs.ADCSOC13CTL.bit.TRIGSEL  = 5;    //set SOC13 start trigger on software
    AdcRegs.ADCSOC15CTL.bit.TRIGSEL  = 5;    //set SOC15 start trigger on software

    AdcRegs.ADCSOC0CTL.bit.ACQPS  = 6;      //set SOC0 S/H Window to 7 ADC Clock Cycles, (6 ACQPS plus 1)
    AdcRegs.ADCSOC1CTL.bit.ACQPS  = 6;
    AdcRegs.ADCSOC2CTL.bit.ACQPS  = 6;
    AdcRegs.ADCSOC3CTL.bit.ACQPS  = 6;
    AdcRegs.ADCSOC4CTL.bit.ACQPS  = 6;
    AdcRegs.ADCSOC5CTL.bit.ACQPS  = 6;
    AdcRegs.ADCSOC6CTL.bit.ACQPS  = 6;
    AdcRegs.ADCSOC7CTL.bit.ACQPS  = 6;
    AdcRegs.ADCSOC8CTL.bit.ACQPS  = 6;
    AdcRegs.ADCSOC9CTL.bit.ACQPS  = 6;
    AdcRegs.ADCSOC13CTL.bit.ACQPS  = 6;
    AdcRegs.ADCSOC15CTL.bit.ACQPS  = 6;

    AdcRegs.ADCINTSOCSEL1.bit.SOC7  = 1;    // 软件触发源ADCINT1
    AdcRegs.ADCINTSOCSEL2.bit.SOC15  = 2;    // ADCINT2 will trigger SOC0. TRIGSEL field is ignored.

    // 使用ADCSOCFRC1启动
    // AdcRegs.ADCSOCFRC1.all = 0X0101;   //0000 0001 0000 0001
    AdcRegs.ADCSOCFRC1.bit.SOC7 = 1;
    AdcRegs.ADCSOCFRC1.bit.SOC15 = 1;
    EDIS;

    EALLOW;
    // Assumes ePWM1 clock is already enabled in InitSysCtrl();
    EPwm1Regs.ETSEL.bit.SOCAEN  = 1;        // Enable SOC on A group
    EPwm1Regs.ETSEL.bit.SOCASEL = 4;        // Select SOC from from CPMA on upcount
    EPwm1Regs.ETPS.bit.SOCAPRD  = 1;        // Generate pulse on 1st event
    EPwm1Regs.CMPA.half.CMPA    = 0x0200;   // 0x0080;   // Set compare A value
    EPwm1Regs.TBPRD             = 0x9c3;    // 0x7CF;    // Set period for ePWM1 - 100us
    EPwm1Regs.TBCTL.bit.CTRMODE = 0;        // count up and start
    EDIS;