Parameters and firmware blocks
170
28.04
DERIVATION TIME
(see above)
Defines the derivation time of the speed controller. Derivative action boosts the controller output if the
error value changes. The longer the derivation time, the more the speed controller output is boosted
during the change. If the derivation time is set to zero, the controller works as a PI controller,
otherwise as a PID controller. The derivation makes the control more responsive for disturbances.
The speed error derivative must be filtered with a low pass filter to eliminate disturbances.
The figure below shows the speed controller output after an error step when the error remains
constant.
Note:
Changing this parameter value is recommended only if a pulse encoder is used.
0…10 s
Derivation time for speed controller.
28.05
DERIV FILT TIME
(see above)
Defines the derivation filter time constant.
0…1000 ms
Derivation filter time constant.
28.06
ACC COMPENSATION
(see above)
Selects the source for the acceleration compensation torque.
The default value is P.3.7, ie, signal
, which is the output of the
firmware block.
Note:
This parameter has been locked, ie, no user setting is possible.
Value pointer: Group and index
T
I
t
%
Gain = K
p
= 1
T
I
= Integration time > 0
T
D
= Derivation time > 0
T
s
= Sample time period = 250 µs
e = Error value
Δ
e = Error value change between two samples
K
p
×
T
D
×
Δ
e
T
s
Controller output
Error value
K
p
× e
K
p
× e
e = Error value
Содержание ACSM1 Series
Страница 1: ...ABB motion control drives Firmware manual ACSM1 motion control program ...
Страница 4: ......
Страница 34: ...Drive programming using PC tools 34 ...
Страница 86: ...Drive control and features 86 ...
Страница 265: ...Parameters and firmware blocks 265 1 100 us 100 µs 2 1 ms 1 ms 3 50 ms 50 ms ...
Страница 302: ...Parameter data 302 ...
Страница 422: ...Application program template 422 ...
Страница 430: ...Appendix A Fieldbus control 430 ...
Страница 500: ...Appendix D Application examples 500 ...
Страница 508: ...Appendix E Control chain and drive logic diagrams 508 ...
Страница 510: ...3AFE68848270 REV H EN 2015 06 26 Contact us www abb com drives www abb com drivespartners ...