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DRV8701: H桥驱动BDC,未进行调速带负载时出现PWM波形

Part Number: DRV8701
Other Parts Discussed in Thread: DRV8706-Q1,

使用DRV8701P芯片,IN1给高电平,IN2给低电平,电机空载正常运行,MOS管栅极为高电平,电流1.6A。电机带负载,电流4.2A,Ichop设置6A,栅极出现规律的PWM波,初步怀疑是芯片内部自动调节导致。

请问:按照我的理解,负载电流还未达到Ichop,芯片内部调节应该不工作才是。如果确实是芯片内部调节了,那调节的标准是怎么计算的?