The high pitched noise that changes with motor RPM may actually be the
PWM drive frequency from the controller itself. The drive frequencies
are probably not programmable and are a fundamental part of the core
control program in the micro driving the show.
I can hear the high pitched whine from my motor's 'chopper' controller
at low speeds when there isn't a lot of other noise. As the speed
increases the motor noise is drowned out by other mechanical / hydraulic
noises - like the waves slapping against the hull, and also I probably
can't hear the higher drive frequencies anyway :-)
--
Matthew Geier,
Systems Administrator, Australian Centre for Field Robotics
+61 2 9351 8149
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