Parameters 177
25.03 Speed 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. This time constant must be set to the same
order of magnitude as the time constant (time to respond)
of the actual mechanical system being controlled,
otherwise instability will result.
Setting the integration time to zero disables the I-part of
the controller. This is useful to do when tuning the
proportional gain; adjust the proportional gain first, then
return the integration time.
Anti-windup (the integrator just integrates up to 100%)
stops the integrator if the controller output is limited. See
06.05 Limit word1.
The figure below shows the speed controller output after
an error step when the error remains constant.
2.50 s
0.00…1000.00 s Integration time for speed controller. 10 = 1 s
No. Name/Value Description Default
FbEq 16
K
p
×e
K
p
×e
%
e = Error value
Time
Gain = K
p
= 1
T
I
= Integration time > 0
T
D
= Derivation time = 0
Controller output
T
I
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