Bandwidth of Cascade AC Motor Control

[kiattisin]

I am doing an ac drive simulation by using Simulink.

I have 4 PI-controllers for d-axis components and 4 PI-controller for q-axis components.

It is said in some references that the bandwidth of the inverter current control is 500 Hz, 3 Hz for the rotor speed.

I have 2 questions

 

(1) How can I estimate Kp & Ki of these PI controllers? Can I use a unit-step response and then adjust both? It looks like a trial & error approach. Or can I use some methods such as Zigler & Nichol?

 

(2) Is there a Bode plot in Simulink? I want to make sure that I get the correct bandwidth in each cascade loop.

 

Thank you