This kind of things happens when you switch materials. If you have had ABS in there before and you are printing with PLA, there might be ABS residue that isn’t getting up to temperature to melt (as PLA uses a lower temp) and is causing a slight blockage and adding strain onto the feed motor.
You could try increasing the nozzle temp to around 240 and letting the PLA run through for 30 seconds or so, to clear it.
If it’s still skipping while it’s coming out of the nozzle then you could try a cold pull.
Basically you insert the material into he nozzle by hand, wait for it to start coming through, leave it cool a little to about 100’c and then pull it out with pliers or what not. If there is any carbonated plastic inside the nozzle then it sticks to the filament you are pulling out and essentially cleans the chamber of residue.