ABB SPBRC410 Analog isolation module

The following procedure may be used as a starting point to finding the optimal dynamic settings: 1. Adjust Controller Integral Gain to a minimum value. 2. Increase Controller Proportional Gain until the actuator just starts to oscillate. Record the Period of the oscillation (Pose) and Controller Proportional Gain (Kosc). 3. Set Controller Proportional Gain = 0.45 Kosc and Controller Integral Gain = 1.2/Posc. This gives stable response. Test the actuator response and further refine the tuning until the desired performance is obtained. An SPC adjusted to an under-damped condition will be more responsive with less gain margin. It is more susceptible to instability due to changes in the system.

Forward/Reverse Acting Control

 Selects the sense of the error signal in the controller. For example, when the demanded position exceeds the actual position (positive error), a forward-acting controller drives the output more positive, while a reverse- acting controller drives the output more negative. An SPC adjusted to an over-damped condition will have slower response and better stability. It is less susceptible to instability due to changes in the system. The ideal adjustment is a critically damped condition. This produces the best stability and response combination. Ref. Manual 83402 PID Control for additional information on tuning the control.

PI w/Lead-Lag

The PI w/Lead/Lag controller is a PI controller with a lead/lag block conditioning the demand signal. Note that the lead time constant is not entered directly, but is determined by the Lead Lag Ratio. Tuning this control is the same as the PI control. The lead/lag term may he used to set the actuator response to some ideal value. The lead/lag may he used for increasing or decreasing the apparent bandwidth of the actuator thereby tailoring performance for the application. Of course, the control cannot force the actuator to exceed its physical limits, e.g., slew rate and dead time.

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