ABB RCNA-01 Manuel d'utilisateur Page 231

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Vue de la page 230
Parameter listing and descriptions 227
ACH550-01 User's Manual
2303 DERIVATION TIME 0…10000 ms
Sets the derivation time for the speed controller.
Derivative action makes the control more responsive to 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 figure below shows the speed controller output after an error step
when the error remains constant.
Code Description Range
T
I
K
p
·
e
Error value
Controller output
%
e = Error value
K
p
·
T
D
·
Δ
e
T
s
K
p
·
e
K
p
= Gain = 1
T
I
= Integration time > 0
T
D
= Derivation time > 0
T
s
= Sample time period = 2 ms
Δe = Error value change between two samples
t
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