Kruger Ecowatt K320 Series Operation Manual page 123

Ecowatt Drive K320 series Basic operation guidelines
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c. Determining derivative time Td
The derivative time Td is generally set to 0.
If you need to set Td to another value, set in the same way with P and Ti, namely set Td to 30%
of the value when there is no oscillation.
d. Empty system load, perform load-carrying joint debugging, and then fine-tune PID
parameter until fulfilling the requirement.
5.5.15.2 PID adjusting methods
After setting the parameters controlled by PID, you can adjust these parameters by the
following means.
Control overshoot: When overshoot occurred, shorten the derivative time (Td) and prolong
integral time (Ti).
Before adjustment
Response
After adjustment
Time t
Stabilize the feedback value as fast as possible: when overshoot occurred, shorten integral
time (Ti) and prolong derivative time (Td) to stabilize control as fast as possible.
After adjustment
Response
Before adjustment
Time t
Control long-term vibration: If the cycle of periodic vibration is longer than the set value of
integral time (Ti), it indicates the integral action is too strong, prolong the integral time (Ti) to
control vibration.
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