Kerangka Kuliah
an kontrol digital TC
Process
variable
PROSES
Tiga “jenis”: Tiga cara menggunakan perilaku yang
bervariasi terhadap waktu dari CV
Model Lup Tertutup
• Sebelum kita mempelajari setiap kalkulasi, kita perlu men
gembangkan model dinamik umum untuk sistem lup tert
utup – yaitu proses dan pengendali yang bekerja sebagai
satu sistem yang terintegrasi
D(s) Gd(s)
CVm(s)
GS(s)
Mari kita audit • Mana model untuk transmisi, dan konversi sinyal?
pemahaman kita
• Apa beda antara CV(s) dan CVm(s)?
GS(s)
Proporsional + Integral
Derivative -
+
CV
Note: Error = E SP - CV
terhadap error”
Konstanta inisialisasi
MV ( s)
Fungsi alih : GC ( s) KC
E ( s)
KC = controller gain Bagaimana ini berbeda dengan
process gain, Kp?
Proportional
MV SP
E
Proporsional + Integral
Derivative -
+
CV
Note: Error = E SP - CV
PROCESS
Proporsional + Integral
Derivative -
+
CV
Note: Error = E SP - CV
PROCESS
v1
Physical
Device:
Proportional
MV SP
E
Proporsional + Integral
Derivative -
+
CV
Note: Error = E SP - CV
PROCESS
Final value
D Kd D K d
after CV (t ) t lim s 0
disturbance: s 0 s 1 Kc K p 1 Kc K p
Controlled Variable
Controlled Variable
0.6 0.6
0.4 0.4
0.2 0.2
0 0
0 20 40 60 80 100 120 140 160 180 200 0 20 40 60 80 100 120 140 160 180 200
Time Time
1 0
Manipulated Variable
Manipulated Variable
0.5
Kc = 0 -2
Kc =10
0
-4
-0.5
-1 -6
0 20 40 60 80 100 120 140 160 180 200 0 20 40 60 80 100 120 140 160 180 200
Time Time
0.25 0.3
Controlled Variable
0.2
Controlled Variable
0.2
0.15
0.1
0.1
0
0.05
0 -0.1
0 20 40 60 80 100 120 140 160 180 200 0 20 40 60 80 100 120 140 160 180 200
Time Time
0 20
Manipulated Variable
Manipulated Variable
-5
-10
Kc = 100 0
-20
-15
-40
-20
-25
0 20 40 60 80 100 120 140 160 180 200
-60
0 20 Kc = 220
40 60 80 100 120 140 160 180 200
Time Time
Karakteristik Kontroler P
• overshoot tinggi
• waktu penetapan besar
• periode osilasi sedang
• adanya offset/droop/steady-state error: beda antara set
point dan control point (harga controlled variable pada
kesetimbangan baru); offset terjadi karena aksi kontrol
proporsional dengan error.
• gainnya: Kc sangat mempengaruhi error, makin besa
r Kc makin kecil offsetnya, meski ada harga Kc maksimu
m. PB
100
Integral + Integral
Derivative -
+
CV
Note: Error = E SP - CV
mode”
Kc
Time domain : MV (t ) E(t' )dt' I I
TI 0
MV ( s ) K C 1
Fungsi alih : GC ( s )
E (s) TI s
Integral + Integral
Derivative -
+
CV
Note: Error = E SP - CV
PROCESS
Kc
Time domain : MV (t ) E(t' )dt' I I
TI 0
MV(t)
Slope = KC E/TI
time
Integral + Integral
Derivative -
+
CV
Note: Error = E SP - CV
PROCESS
Final value D Kd
after CV (t ) t lim s 0
s 0 s Kc K p
disturbance:
1
sTI
Derivatif + Integral
Derivative -
+
CV
Note: Error = E SP - CV
PROCESS
“The predictive
mode”
dE(t )
Time domain : MV (t ) K cTD ID
dt
MV ( s)
Fungsi alih : GC ( s) K cTd s
E ( s)
TD = controller derivative
time
Proportional
MV SP
E
Derivatif + Integral
Derivative -
+
CV
Note: Error = E SP - CV
PROCESS
D
Final value
Kd
after
CV (t ) t lim s D K d
disturbance: s 0 s 1 K cTd s
Derivatif + Integral
Derivative -
+
CV
Note: Error = E SP - CV
PROCESS
dE(t )
Time domain : MV (t ) K cTD ID
dt
Derivatif + Integral
Derivative -
+
CV
Note: Error = E SP - CV
PROCESS
dE(t )
X
Time domain : MV (t ) K cTD
dt
ID
Derivative -
+
CV
Note: Error = E SP - CV
PROCESS
FS
solvent
FA
pure A
AC
Kontroler PID
S-LOOP plots deviation variables (IAE = 12.2869)
1.5
Controlled Variable 1
0.5
• Apa ini kinerja
yang baik?
• Bagaimana kita
0
0 20 40 60 80
menentukan:
100 120
Time Kc, TI dan Td?
40
30
Manipulated Variable
20
10
1.5
Controlled Variable
100
Manipulated Variable
50
Vapor
T6 P1
product
T5
T1
T2
Feed
F1 T4
T3 L1
F2 F3
A1
Liquid
Process Steam product
L. Key
fluid
Kontroler PID
BAGAIMANA KITA MENGEVALUASI RESPON DINAMIK SISTEM LUP
TERTUTUP?
• Dalam beberapa kasus saja, kita dapat melakukannya secara analitis
(Lihat Example 8.5)
• Dalam banyak kasus, kita harus menyelesaikan persamaan secara numerik.
Pada tiap tahapan waktu, kita mengintegrasikan
- Persamaan Diffrensial untuk proses
- Persamaan Diffrensial untuk pengendali
- Persamaan aljabar
• Banyak tersedia metode numerik
• “MATLAB” bisa melakukannya
Kontroler PID – Workshop 1
• Model formulation: Develop the equations that describe the dynamic
behavior of the three-tank mixer and PID controller.
• Numerical solution: Develop the equations that are solved at each
time step.
FS
solvent
FA
pure A
AC
Kontroler PID – Workshop 2
• The PID controller is applied to the three-tank mixer. Prove that the
PID controller with provide zero steady-state offset when the set point
is changed in a step, SP.
• The three-tank process is stable. If we add a controller, could the
closed-loop system become unstable?
FS
solvent
FA
pure A
AC
Kontroler PID – Workshop 3
• Determine the engineering units for the controller tuning parameters
in the system below.
• Explain how the initialization constant is calculated
FS
solvent
FA
pure A
AC
Kontroler PID
The PID controller must be displayed on a computer console for the
plant operator. Design a console display and define values that
• The operator needs to see to monitor the plant
• The operator can change to “run” the plant
• The engineer can change
FS
solvent
FA
pure A
AC
Tujuan Pembelajaran
Saat kuselesaikan bab ini, kuingin dapat melakukan
hal-hal berikut.
• 2. Repeat the simulations for the three-tank mixer with PID control th
at are reported in these notes. You may use the MATLAB program “S_L
OOP”.