What is the formula to Auto Calculate Torque/Flux Kp & Ki (FOC motor brushless in Position Control) ?

[Agran.1]

Hi,

I don't understand the calculation for Auto Calculate Torque/Flux Kp & Ki in Motor Control WorkBench (Version: 6.0.0)

Could you send me the calculation formula because I can't find the same results. (I looked in your different documents and I can't find this equation).

I want to change these Kp/Ki because I have problems with some trajectories (overvoltage comes from PI Torque/Flux).

Best regards

Informations :

Motor brushless with Encoder

Motor Control WorkBench : Version: 6.0.0

MCU :STM32G431CB

Control Board : B-G431B-ESC1

Power Board : B-G431B-ESC1

Algorithm: FOC

Control Mode : Position Control

Speed Sensor Mode : Quadrature Encoder

Auto Calculate Torque/Flux Kp & Ki

[Nikolaj_TL]

um1052, ch. 4.10 describes how to determine the PI parameters for the torque/flux control loop. 
Here is a link to the document (um1052)