Hi @shawn1231,
Sorry it took so long to get back to you!
We recommend using this udev rule to configure non-root PWM access:
SUBSYSTEM=="pwm*", PROGRAM="/bin/sh -c '\
chown -R root:gpio /sys/class/pwm && chmod -R 770 /sys/class/pwm;\
chown -R root:gpio /sys/devices/platform/soc/*.spi/spi_master/spi1/spi1.0/pwm/pwmchip0 && chmod -R 770 /sys/devices/platform/soc/*.spi/spi_master/spi1/spi1.0/pwm/pwmchip0\
'"
It should work on RPi 3.