You are going to hear a number of answer from every week, every 2 week to even once every 6 months.
The frequency (or how often) you change the water depend entirely on the setup. If you have more fishes, then you need to change the water more frequently to get rid of the accumulated nitrates.
If you have a good filtration, then you could reduce the frequency.
Here is what you need to do. For the next couple of moths, monitor your nitrate level every week. I say every week since you have 55 gallon tank. If you have smaller tank then you might have to do it at every other day.
When the nitrate level reaches around ~40ppm, do a water change. After a couple of months you will get a rough idea even without monitoring the nitrate level how often to change your water.
-rds