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three phase bldc motor problem

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msyafiq72

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I do my project on three phase bldc.
the controller I used is pic18f4331
FB180SA10 hexfet power mosfet
hcpl 3180E optocoupler

motor run by using hall sensors
but I got some problem when running the motor.
I able to run the motor , but not smooth.
the speed of the motor also slow, not as run with actual controller.
the crystal for pic I used is 20Mhz
I also has try to advance the phase, but it not show any improvement.

I used rc snubber for mosfet, no diode is added like rcd snubber.
what could be the reason for this problem, anyone can help me
 

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