Identifikasi Dan Perancangan Pengendali Pid Menggunakan Penduga Arx Terhadap Sistem Pemanas Udara Dengan Kriteria Ise, Iae, Itse Dan Itae
Identifikasi Dan Perancangan Pengendali Pid Menggunakan Penduga Arx Terhadap Sistem Pemanas Udara Dengan Kriteria Ise, Iae, Itse Dan Itae
Ainie Khuriati RS
Jurusan Fisika, Fakultas Sains dan Matematika, Universitas Diponegoro.
Jl. Prof Sudarto SH, Kampus Tembalang, Semarang
Email: khuriati@yahoo.com, ainie.khuriati@undip.ac.id
Abstract
In this paper ARX estimation methodology used to design a PID controller for
temperature control of the air heater. The step input applied on heating systems and logging the
data to MATLAB via a data acquisition system. The data obtained is used to identify the model of
the process in the form of ARX estimator. PID parameters obtained by minimising the standard
errors integral (IAE, ISE, ITSE and ITAE).
Keywords: PID controller, Tuning, ARX Identication, Error Integral ,and air heater
Abstrak
Pada makalah ini digunakan metodologi estimasi Auto-Regression model with
eXogeneous inputs (ARX) untuk merancang pengendali PID yang digunakan untuk
mengendalikan suhu pemanas udara. Masukan tangga dikenakan terhadap system pemanas dan
data suhu udara dikirim ke MATLAB melalui system akuisisi data. Data yang diperoleh
digunakan untuk mengidentifikasi model proses dalam bentuk ARX. Parameter PID diperoleh
dengan meminimalkan integral galat (IAE, ISE, ITSE, dan ITAE).
Kata kunci: Pengendali PID, Penalaan, Identifikasi, Integral Galat, dan sistem pemanas
112
Berkala Fisika ISSN : 1410 - 9662
Vol. 15, No. 4, Oktober 2012, hal 111 - 116
compare(data,model)
113
Ainie Khuriati RS Identifikasi dan Perancangan…
(12)
40
Data terukur
(13) 39
Suhu
38
(14)
37
114
Berkala Fisika ISSN : 1410 - 9662
Vol. 15, No. 4, Oktober 2012, hal 111 - 116
Pustaka
0.8 ITSE
Amplitudo
0.6
Z-N
[1]. D.l Czarkowski and T. O’Mahony,
ISE
0.4
Intelligent controller design based on
0.2
gain and phase margin specifications,
ISSC Belfast, June 30 — July
0
22004
-0.2
0 1 2 3 4 5 6
[2]. G. Mustafaraja, G. Lowryb, J. Chena,
Waktu
Prediction of room temperature and
Gambar 3. Perbandingan tanggapan fungsi relative humidity by autoregressive
tangga satuan terhadap plan dengan linear and nonlinear neural network
meminimalkan galat ISE, IAE, ITSE,dan models for an open office, Energy
ITAE and Buildings vol. 43, 2011, pp
1452–1460
Pengendali PID berbasis pada penalaan [3]. G.P. Liua, S. Daley, Optimal-tuning
fase dan gain margin dapat diterapkan PID control for industrial systems,
pada system orde ketiga. Dengan Control Engineering Practice vol 9,
meminimalisasi criteria galat, hasil 2001, pp 1185–1194.
analisis menunjukkan bahwa penalaan [4]. H. Chang, P. K.i Tzenog, Analysis of
plan yang berupa sistem pemanas the dynamic characteristics of
menunjukkan bahwa criteria ISE pressure sensors using ARX system
menjukkan hasil yang terbaik walaupun identification, Sensors and Actuators,
memiliki overshoot yang lebih tinggi A 141, 2008, pp 367–375
sedikit dari criteria ITSE. Di lain sisi [5]. H. Pang Huang And C.H. Lin, A
penalaan dengan metode Z-N Stable On-Line Self-Tuning Optimal
memberikan hasil terburuk dibanding Pid Controller For A Class Of
dengan lainnya. Unknown Systems, Asian Journal Of
Control, Vol. 9, No. 2, 2007, Pp. 151-
V. KESIMPULAN 162,
Pengendali PID berbasis pada
penalaan fase dan gain margin dapat
diterapkan pada system orde ketiga.
Dengan meminimalisasi criteria galat,
115
Ainie Khuriati RS Identifikasi dan Perancangan…
[6]. Ho, W. K., C. C. Hang and L. S. [15]. Q.Bi, W.J. Cai, Q.G Wang,C.C.
Cao. Tuning of PID controllers based Hang, E.L. Lee, Y. Sun, K,D Liu Y.
on gain and phase margin Zhang, B. Zou Advanced controller
specifications. Automatica vol 31(3), auto-tuning and its application in
1995, pp 497-502. HVAC, systems Control Engineering
[7]. I,D. Landau, System Identification Practice vol 8, 2000, 633-644
and Control Design Theory for User , [16]. R. Bansal, D. Rai, V. Buriah,
Prentice Hall, Englewood Cliffs, NJ, Design Of Z-N Tuned PID
1990 Controller For Higher Order System,
[8]. J. Kon, Y. Yamashita, T. Tanaka, A. Http://Www.Aisectuniversity.Ac.In/A
Tashiro, M. Daiguji, Practical nusandhan/8.%20design%20of%20z.
application of model identification Pdf, Diakses Tanggal 13-2-2013 Jam
based on ARX models with transfer 2.47
functions,Control Engineering [17]. S. E. Mansour, G. C. Kember, R.
Practice, 2012 Dubay, B. Robertson, Online
[9]. J.G. Ziegler, N. B. Nichols, optimization of fuzzy-PID control of
Optimum Settings For Automatic a thermal process ISA Transactions
Controllers, ASME, 1942 vol, 44, 2005, pp 305–314
[10]. K. Unklesbay, A.B. Chacon, and N. [18]. S Tavakoli, M. Tavakoli, Optimal
Unklesbay, Air temperature transfer Tuning Of PID Controllers for First
function of a convection oven, Food Order Plus Time Delay, The Fourth
Control, Vol.8, No. 1,, 1997, pp. 39- International Conference on Control
43 and Automation (ICCA’03),
[11]. L.Ljung, System Identification, Montreal, Canada, 10-12 June 2003,
Theory for the User , Prentice Hall, pp 942- 946.
NJ1999. [19]. S. Tavakoli, M. Tavakoli Optimal
[12]. L. Ljung, Black-box Models from Tuning Of Pid Controllers For First
Input-output Measurements, IEEE Order Plus Time Delay Models Using
Instrumentation and Measurement, Dimensional Analysis, the Fourth
Technology Conference Budapest, International Conference On Control
Hungary, May 21–23, 2001 And Automation (Icca’03), 10-12
[13]. O. D. Aidan, PI and PID controller June 2003, Montreal, Canada
tuning rules for time delay processes: [20]. Y. Cao, Learning PID Tuning II:
a summary. Part 2: PID controller Stability Margin, The MathWorks,
tuning rules. Proceedings of the Irish Inc, 2012,
Signals and Systems Conference,
National University of Ireland,
Galway, June, 1999, pp. 339-346
[14] P.O Larsson and T. H¨agglund,
Control Signal Constraints and Filter
Order Selection for PI and PID
Controllers, 2011 American Control
Conference on O'Farrell Street, San
Francisco, CA, USA, June 29 - July
01, 2011
116