ABB ACQ810 Firmware Manual page 179

No. Name/Value
23.05 Acc comp DerTime
0.00 ... 600.00 s
23.06 Acc comp Ftime
0.0 ... 1000.0 ms
23.07 Speed err Ftime
0.0 ... 1000.0 ms
Description
Defines the derivation time for acceleration/(deceleration)
compensation. In order to compensate inertia during
acceleration, a derivative of the reference is added to the
output of the speed controller. The principle of a derivative
action is described for parameter
Note: As a general rule, set this parameter to a value
between 50 and 100% of the sum of the mechanical time
constants of the motor and the driven machine.
The figure below shows the speed responses when a high
inertia load is accelerated along a ramp.
No acceleration compensation:
%
Acceleration compensation:
%
Acceleration compensation derivation time.
Defines the derivation filter time constant for the
acceleration(/deceleration) compensation. See parameters
23.03 Derivation time and
Derivation filter time constant for acceleration compensation. 10 = 1 ms
Defines the time constant of the speed error low pass filter.
If the used speed reference changes rapidly, the possible
interferences in the speed measurement can be filtered with
the speed error filter. Reducing the ripple with filter may
cause speed controller tuning problems. A long filter time
constant and fast acceleration time contradict one another. A
very long filter time results in unstable control.
Speed error filtering time constant. 0 = filtering disabled.
23.03 Derivation
Speed reference
Actual speed
Time
Speed reference
Actual speed
Time
23.05 Acc comp DerTime.
Parameters 179
FbEq
time.
100 = 1 s
10 = 1 ms