ABB ACSM1 Firmware Manual page 136

136
28.03 INTEGRATION TIME
Defines the integration time of the speed controller. The integration time defines the rate at which the
controller output changes when the error value is constant and the proportional gain of the speed
controller is 1. The shorter the integration time, the faster the continuous error value is corrected. Too
short integration time makes the control unstable.
If parameter value is set to zero, the I-part of the controller is disabled.
Anti-windup stops the integrator if the controller output is limited. See
The figure below shows the speed controller output after an error step when the error remains
constant.
K
K
Note: This parameter is automatically set by the speed controller autotune function. See parameter
28.16 PI TUNE
0...600 s
Parameters and firmware blocks
%
Controller output
× e
p
× e
p
T I
MODE.
FW block: SPEED CONTROL
Gain = K = 1
p
T = Integration time > 0
I
T = Derivation time = 0
D
Integration time for speed controller.
(see above)
6.05 LIMIT WORD
e = Error value
t
1.