ITS Undergraduate 15806 Presentation PDF
ITS Undergraduate 15806 Presentation PDF
22 januari 2011
Pembahasan Materi
Pendahuluan
Perancangan Sistem
Perancangan Kontroler
Implementasi Kontroler
Pengujian Kontroler
Analisa
Kesimpulan
Pendahuluan
Latar Belakang
Perumusan Masalah
Batasan Masalah
Tujuan
Latar Belakang
Perumusan Masalah
Batasan Masalah
Tujuan
1.
2.
3.
4.
5.
Perancangan Sistem
Pengenalan Plant
Identifikasi Plant
Desain Program Simulasi
Desain Program Implementasi
Pengenalan Plant
Broadcast
Konfigurasi Identifikasi
Process
Controller 38-300
Pressure Process
RIG 38-714
Sensor Tekanan
Pneumatik Kontrol
Valve
4 20 mA
4 20 mA
4 20 mA
Process Interface
38-200
PC
MODBUS
OPC
OLE
LabVIEW
n Ta/T parameter
Tu/T Tu/Ta
Berdasarkan
yang didapat
1Maka 1Persamaan
0 model 0plant untuk
2 2,718 kondisi
0,282nominal
0,104
3 3,695 0,805
S
4 4,463 Ke1,425
s) =
5 G (5,119
(Ts +2,100
1)n
G (s) =
G ( s) =
0,218
0,319
0,410
0,955e 3.328 S
(34,21633s + 1)2
3.17824 s + 0.955
1170,75761s 2 + 68,43267 s + 1
Validasi Model
1 n ( x x' )
MSE =
n i =1 x
RMSE = MSE
MSE = 9,561%
RMSE = 3,09%
Kondisi Beban
Nominal
Maksimal
Minimal
RMSE
3.17824s + 0.955
1170.75761s 2 + 68.43267 s + 1
3,09%
1.44 s + 0.9
1353.6335s 2 + 73.583518s + 1
2,67784 s + 0.895
802,5693s 2 + 56.659308s + 1
0,19%
1,19%
R(s) +
Set point
Kp
G(s)
K(As + 1)
G(s) =
(s 2 + s + 1)
R(s)
KpK(As + 1)/(s 2 + s + 1)
=
U(s) 1 + KpK(As + 1)/(s 2 + s + 1)
KpK
(As + 1)
R(s)
KpK + 1
=
+ KpK
U(s)
s2 +
s +1
KpK + 1
KpK + 1
Bila:
KpK
(As + 1)
KpK + 1
K' (A's + 1)
=
2
+ KpK
( ' s + ' s + 1)
2
s +
s +1
KpK + 1
KpK + 1
Maka :
KpK
K '=
KpK + 1
A' = A
'=
KpK + 1
'=
+ KpK
KpK + 1
Nominal
Maksimal
0,2432
Minimal
1,6
0,0852 2,992
G ( s )nom =
13536,335
7643,517
1498,4888
726,8351
531,0886
0,84888(3,328s + 1)
26016,57561s 2 + 1498,48879 s + 1
0,24324(1,6 s + 1)
G ( s )maks =
13536,335s 2 + 726,83518s + 1
0,08523(2,992 s + 1)
G ( s ) min =
7643,51714 s 2 + 531,08864 s + 1
Perancangan Kontroler
E(s)
-
C ( s)
=
R( s)
Jika :
s
1
+ d 1
Kp 1 +
i s d 2s +1
U(s)
K (s + 1)
1 2 2
s +
s +1
2
KKp[ i ( d 1 + d 2 ) s 2 + ( i + d 2 ) s ]s + 1
1 2 2
i s ( d 2 + 1) 2 s + s + 1 + KKp[ i ( d 1 + d 2 ) s 2 + ( i + d 2 ) s ]s + 1
n
n
d2 =
i + d2 =
Kp =
*K
i ( d 1 + d 2i ) =
C(s)
C (s)
KKp
=
R ( s ) i s + KKp
C (s)
1
=
is
R( s)
+1
KKp
C (s)
K
=
R( s) * s + 1
Maka:
d2 =
i + d2 =
Kp =
*K
i ( d 1 + d 2i ) =
Kondisi
Kp
d1
d2
Nominal
17.61484
1495,28879
14,08042
3,32
Maksimal
25.55593
725,23518
17,06475
1,6
Minimal
30.98068
528,09664
11,48178
2,992
3 Membership Function
N
Flow
DFlow
Kp
3 Membership Function
N
Flow
DFlow
3 Membership Function
N
Flow
DFlow
d1
3 Membership Function
N
Flow
DFlow
d2
KP
Error/D
Error
Error/D
Error
d2
d1
Error/D
Error
Error/D
Error
KP
F/DF
Nz
Pz
F/DF
Nz
Pz
SM
BM
Nz
SM
Nz
BM
SM
BM
BM
SM
Pz
BM
Pz
SM
BM
SM
d1
F/DF
Nz
Pz
F/DF
Nz
Pz
SM
BM
Nz
SM
Nz
BM
SM
BM
BM
SM
Pz
BM
Pz
SM
BM
SM
5 Membership Function
Flow
DFlow
Kp
5 Membership Function
Flow
DFlow
5 Membership Function
Flow
DFlow
d1
5 Membership Function
Flow
DFlow
d2
Pengujian Kontroler
Analisa
Mp(%)
Ts(5%)(detik)
Ess(%)
Nominal
46,1
3,6
Maksimal
Minimal
0
7
20,6
30,2
0,05
2
Kondisi
MP(%) Ts(5%) Ess(%)
perubahan
(detik)
0
Nominal
Nominal
Maksimal
Maksimal
Minimal
Minimal
Nominal
Maksimal
Minimal
Nominal
Minimal
Nominal
Maksimal
0
0
6,5
0
6,7
0
0
14,2
12,1
7,3
0
15,4
0
9,4
0,01%
0,4
2,4
0,85
3,25
0,4
0,6
Kondisi
MP(%) Ts(5%)( Ess(%)
perubahan
detik)
0
Nominal
Nominal
Maksimal
Nominal
Maksimal
Minimal
Nominal
0,04
0
6,05
0
14,5
13,4
27.7
0
0,02
0,5
2,8
0,75
Maksimal Minimal
28
Minimal
Minimal
0
0
0
3,3
0,45
0,5
Nominal
Maksimal
Kesimpulan