For the system of Experiment 7A:

a. Slow the sample rate to 1 kHz (T Sample = 0.001). Retune the system for max KVP causing no overshoot and KVI causing 10% overshoot. What are the new values of KVI and KVPt . Set the velocity command to 40 RPM. Since both waveform generators are set to 10 Hz, the scope will trigger synchronously with the velocity command.

b. Restore the command waveform generator to zero and restore the disturbance to 10 Nm to evaluate the disturbance response. What velocity excursion does the new set of gains allow?

c. Repeat part a with 4-kHz sampling (T Sample = 0.00025).

d. Repeat part b with 4-kHz sampling.

e. Run a Bode plot with both gain sets. Be sure to set the velocity command to zero.

Explain the effects of the higher gains by frequency zone.

f. What is the relationship between sample time and disturbance response?

Transcribed Image Text:

< < > 0.72 KVP Solver 0 Torque Dist Disturbance Dsa 100 KVI Scale1: 1 (Off 2). < < >> Scale2: 20 65 800 Time: 0.02 Command TCalc (%) Current Loop Hz Vm Td 0.002 Digital Pl TCalc Current loop Kt J Integral Integral abo Encoder Ve Feedback Sample/Hold %+ 0.00025 Feedback d/dt Sample/Hold TSample Main