Question: Transfer the values from Question 1a into Experiment 17B. Set the feed-forward gains to the maximum values without generating overshoot in response to the default

Transfer the values from Question 1a into Experiment 17B.

Ve Solver Dsa Cmd Accel FF path d/dt Velocity FF path 20

Set the feed-forward gains to the maximum values without generating overshoot in response to the default trapezoidal command in the experiment.

a. What are the values of KVF and KAF?

b. What is the position loop bandwidth with feed-forward?

Data from question 1a

a. What are the values of KVP, KVI, and KPP?

Ve Solver Dsa Cmd Accel FF path d/dt Velocity FF path 20 ** 0 KAFF Scale1: 20 (Off 20) Scale2 20 (Off 20) Time: 0.01 Sum KVFF 0130 140 KPP 0.00025 Tsample Main + 0.72 KVP Vc Scale1: 1 Time: 0.01 Pe (degrees) VC 1/ 0.002 Digital Pl Clamp Current Loop Kt J V Derivative Sample/Hold

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