Using Experiment 17A, practice tuning by first setting KVP as high as possible with the velocity loop responding to a square wave without overshooting Retune KVI and KPP as discussed in Section 17 1 2 Be sure to turn the Position Loop off when tuning or measuring the velocity loop a What are the values of KVP, KVI, and KPP b What is the velocity loop bandwidth c What is the position loop bandwidth VC0000 Dsa Sum Cmd 20 0 00025 TSample 0 72 KVP ON KM Scale1 20 (Off 20) (0 20) Scale2 20 (Off 20) Time 0 01 0 AA Vc 140 1 1 K 0 002 KPP Position Loop Digital Pl Current Loop Kt J ato d dt S H Main Solver Vf

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Question: Using Experiment 17A, practice tuning by first setting KVP as high as possible with the velocity loop responding to a square wave without overshooting. Retune

Using Experiment 17A, practice tuning by first setting KVP as high as possible with the velocity loop responding to a square wave without overshooting. Retune KVI and KPP as discussed in Section 17.1.2. Be sure to turn the “Position Loop” off when tuning or measuring the velocity loop.

VC0000 Dsa Sum < >> Cmd 20 < < >> 0.00025 TSample

0.72 KVP ON KM Scale1: 20 (Off: 20) (0-20) Scale2: 20 (Off:

-20) Time: 0.01 0 AA Vc < < >> 140 1 1/K

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

b. What is the velocity loop bandwidth?

c. What is the position loop bandwidth?

VC0000 Dsa Sum < >> Cmd 20 < < >> 0.00025 TSample 0.72 KVP ON KM Scale1: 20 (Off: 20) (0-20) Scale2: 20 (Off: -20) Time: 0.01 0 AA Vc < < >> 140 1 1/K 0.002 KPP Position Loop Digital Pl Current Loop Kt J ato d/dt S/H Main Solver Vf

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