28 Speed Control - ABB ACSM1 Firmware Manual

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28

28 SPEED CONTROL

Firmware block:
SPEED CONTROL
(28)
This block
• selects the source for speed error
• adjusts PID-type speed controller
variables
• defines limits for speed controller
output torque
• selects the source for acceleration
compensation torque
• configures the balancing function
which forces the output of the
speed controller to an external
value
• configures the drooping function
(adjustment of load sharing in a
Master/Follower application)
• shows the limited speed controller
output torque value.
Block outputs located in other
parameter groups
28.01 SPEED ERR NCTRL
Selects the source for the speed error (reference - actual). The default value is P.3.6 i.e. signal
SPEED ERROR
Note: This parameter has been locked, i.e. no user setting is possible.
Value pointer: Group and index
28.02 PROPORT GAIN
Defines the proportional gain (K
oscillation. The figure below shows the speed controller output after an error step when the error
remains constant.
Controller
output = K
If gain is set to 1, a 10% change in error value (reference - actual value) causes the speed controller
output to change by 10%.
0...200
Parameters and firmware blocks
SPEED ERROR FILT
(7 / 3.06)
[ 10.00 ]
[ 0.500 s ]
[ 0.000 s ]
[ 8.0 ms ]
ACC COMP TORQ
(7 / 3.07)
[ 0.00 % ]
[ 0.0 % ]
[ FALSE ]
[ -300.0 % ]
[ 300.0 % ]
[ 0 rpm ]
[ 0 rpm ]
[ 1.000 ]
[ 1.000 ]
3.08 TORQ REF SP CTRL
FW block:
FILT, which is the output of the
FW block:
) of the speed controller. Too great a gain may cause speed
p
%
Gain = K
T
T
Error value
Controller output
· e
p
Proportional gain for speed controller.
SPEED CONTROL
TLF3 250 μsec
3.08 TORQ REF SP CTRL
< 28.01 SPEED ERR NCTRL
28.02 PROPORT GAIN
28.03 INTEGRATION TIME
28.04 DERIVATION TIME
28.05 DERIV FILT TIME
< 28.06 ACC COMPENSATION
28.07 DROOPING RATE
28.08 BAL REFERENCE
< 28.09 SPEEDCTRL BAL EN
28.10 MIN TORQ SP CTRL
28.11 MAX TORQ SP CTRL
28.12 PI ADAPT MAX SPD
28.13 PI ADAPT MIN SPD
28.14 P GAIN ADPT COEF
28.15 I TIME ADPT COEF
(page 87)
SPEED CONTROL (see above)
SPEED ERROR
SPEED CONTROL (see above)
= 1
p
= Integration time = 0
I
= Derivation time = 0
D
e = Error value
7
(3)
firmware block.
t
3.06