Sistem Kontrol Otomatik

Drs. Budi Setiarto, M.Pd

dan
Asri Wulandari, S.ST
 Kompetensi Dasar

www.themegallery.com
TPTU XI SMK Negeri 2 Samarinda Halaman 1
 Tujuan Pembelajaran

• Mendeskripsikan pengertian sistem kontrol

IPK 3.1

• Mendeskripsikan jenis – jenis sistem kontrol

IPK 3.2

• Menganalisis komponen kontrol

IPK 3.3

• Memeriksa komponen kontrol loop

IPK 4.1
www.themegallery.com
TPTU XI SMK Negeri 2 Samarinda
www.themegallery.com
Halaman 2
 Metode Pembelajaran

Tanya Praktik
Paparan Diskusi
jawab Terbimbing

www.themegallery.com
TPTU XI SMK Negeri 2 Samarinda Halaman 3
 Penilaian
Penilaian

• Disiplin, Tanggung Jawab, Saling

SIKAP Menghargai dan Kerjasama

PENGETAHUAN
• Tes Tertulis

• Penilaian Kinerja
KETERAMPILAN

www.themegallery.com
TPTU XI SMK Negeri 2 Samarinda Halaman 4
 See the picture !!!

TPTU XI SMK Negeri 2 Samarinda Halaman 5

 Pengertian Sistem

Sistem berasal dari bahasa latin(systema) dan bahasa

yunani (sustema), yang artinya suatu kesatuan yang
terdiri dari komponen-komponen atau elemen yang
dihubungkan bersama untuk memudahkan aliran
informasi, materi atau energi untuk mencapai suatu
tujuan.

TPTU XI SMK Negeri 2 Samarinda Halaman 6

 Pengertian Kontrol

Kontrol adalah
Pengawasan
Pemeriksaan
Pengendalian

TPTU XI SMK Negeri 2 Samarinda Halaman 7

 Konsep Dasar Sistem Kontrol

Sistem kendali atau sistem kontrol (control

system) adalah suatu alat (kumpulan alat) untuk
mengendalikan, memerintah, dan mengatur keadaan
dari suatu sistem.

TPTU XI SMK Negeri 2 Samarinda Halaman 8

 Komponen Sistem Kontrol

1. Perhatikan Gambar
disamping !
2. Tuliskan peralatan
yang kalian anggap
memiliki sistem
kontrol
3. Sebutkan dan
jelaskan komponen
pembangun dari
sistem kontrol tiap
peralatan.

TPTU XI SMK Negeri 2 Samarinda Halaman 9

 Komponen Sistem Kontrol

TPTU XI SMK Negeri 2 Samarinda Halaman 10

 Jenis – jenis sistem kontrol

TPTU XI SMK Negeri 2 Samarinda Halaman 11

 Konsep Dasar Sistem Kontrol

Sistem = Kombinasi komponen2 yang bekerja

bersama2 untuk mencapai tujuan tertentu
(fisik atau abstrak,biologi,ekomoni)
Sistem Kontrol = sistem yang dapat di-
identifikasi atau ditengarai terdiri dari minimal
2 (dua) bagian utama, yaitu:
- Plant/proses, obyek yang dikendalikan
- Kontroller/Pengendali, yang mengendalikan
 Jenis Sistem Kontrol

• Secara garis besar

– Sistem Kontrol Loop terbuka
– Sistem Kontrol Loop tertutup
 Sistem Kontrol Loop Terbuka

• Sistem yang kelurannya tidak mempunyai pengaruh

terhadap aksi kendali
• Keluaran sistem tidak dapat digunakan sebagai
perbandingan umpan balik dengan masukan.

Masukan Kontroller Proses Keluaran

 Sistem Kontrol Loop Terbuka

Karakteristik Sistem kendali lup terbuka :

• output tidak diukur maupun di umpanbalikkan
• bergantung pada kalibrasi
• hubungan antara output dan input diketahui
• tidak ada ‘internal disturbance’ maupun ‘eksternal
disturbance’
• terkait dengan waktu
 Sistem Kontrol Loop Terbuka

Kelebihan:
• konstruksinya sederhana dan perawatannya mudah
• lebih murah
• tidak ada persoalan kestabilan
• cocok untuk keluaran yang sukar diukur /tidak
ekonomis (contoh: untuk mengukur kualitas keluaran
pemanggang roti)
 Sistem Kontrol Loop Terbuka

Kelemahan:
• gangguan dan perubahan kalibrasi
• untuk menjaga kualitas yang diinginkan perlu
kalibrasi ulang dari waktu ke waktu
Contoh :
- kendali traffic (lalu lintas)
- mesin cuci
 Sistem Kontrol Loop tertutup

- Sistem yang memiliki umpan balik untuk mengurangi

kesalahan atau beda antara masukan acuan dengan
keluaran
 Sistem Kontrol Loop tertutup

reference
input control signal
signal,
command output signal
PENGENDALI isyarat kendali PROSES
(CONTROLLER) (PLANT)
isyarat feedback signal luaran, isyarat
masukan luaran, hasil,
acuan, produk
perintah, isyarat umpan-balik
set-point
 Contoh-Contoh Sistek Kontrol

• Open Loop

Pemanggang Roti Motor DC

 Contoh-Contoh Sistem Kontrol

• Sistem Kontrol Kecepatan – James Watt

Plant : engine
Controlled Variable : Engine speed
Control Signal : jumlah Fuel
 Contoh-Contoh Sistem Kontrol

• Kontrol Manipulator Robot

 Contoh-Contoh Sistem Kontrol

• Sistem Kontrol Temperatur

 Contoh-Contoh Sistem Kontrol
• Kontrol Elevator Pesawat
 Contoh-Contoh Sistem Kontrol

• Sistem Kontrol Level

 Contoh-Contoh Sistem Kontrol

• SK Radar Tracking Pesawat

Radar mendeteksi posisi & kec pesawat

 Contoh-Contoh Sistem Kontrol

• Radar mendeteksi posisi & kec pesawat

• Dipakai komp u menentukan lead & firing angle
penembak
• Sudut2 ini diumpankan ke power amp sebagai driver
motor
• Feedback signal menjamin alignment penembak
sesuai yang diset komputer
 Contoh-Contoh Sistem Kontrol

• SK Autopilot Kapal Laut

– Gyro-Compas u ngitung actual heading

– Autopilot hit demand rudder anglesteering geer
– Rudder menyebabkan hull(lambung kapal)
bergeser
 Contoh-Contoh Sistem Kontrol

• SK Autopilot Kapal Laut

 Contoh-Contoh Sistem Kontrol

• Noise
Steering Automobile
Speed
actual direction
desired direction

Response
direction of
travel
Road Steering
conditions Time

Desired speed
Response
speed
Actual speed
Time
31
 Steering Automobile :
Open loop
Desired Actual
speed or Steering output
Driver Automobile
direction mechanism

Disturbance Actual
Desired output
output
Controller Actuator Process/
Plant

Open-loop menggunakan actuating device untuk mengontrol process

secara langsung tanpa feedback
Kerugian : sensitivity to disturbances and system’s inability to correct
for these disturbances
 SK Steering Automobile :
Close loop
Desired
Actual
speed or
Steering output
direction Comparison Driver Automobile
mechanism

Measurement

Desired Disturbance Actual

output + error output
Controller Actuator Process/
-
Plant

Measurement output Sensor feedback

33
 Contoh-Contoh Sistem Kontrol

• Mesin Tenun

34
Contoh 2: Komputer Kontrol untuk Mesin Tenun

Mandrel

feed-eye and resin bath

Filament winding process

35
 Contoh 2: Komputer Kontrol untuk Mesin Tenun

Sub CPU
Motion 1
1 PWM 1 Motor 1

Master Motion 4
2 PWM 2 Motor 2
Computer
Motion 2
3 PWM 3 Motor 3 Motion 3

4 PWM 4 Motor 4

36
 Contoh 2: Komputer Kontrol untuk Mesin Tenun

Disturbance Actual
Desired position
position of + error
2nd Motion
Sub CPU PWM DC/AC/step
motion 2 control
- #2 Unit ping motor

Tachogenerator
Speed feedback
Optical
Feedback:
position signal Encoder

37
Desain Sistem Kontrol
Performance specifications:
• It is very important to define, in numerical terms, what is the
expected performance of the control system
• One possibility is to examine the behavior of the output in
response to a sudden change in input: known as the “step
response”
overshoot

Typical requirements:
Steady state error
• No overshoot
• Zero steady state error
• Rising time as small as
Rise time
possible
Time (s)
39
 Control System Design
(1) Understand the system to be controlled. Define the objectives of the
controller (establish control goals)
(2) Identify the variables to control, build a simple mathematical model of the
system and examine the system behavior. Does the model captures
essential features of the system? If not revise the model.
(3) Write the specifications for the variables
(4) System configuration: sensor, controller, actuator, etc.
(5) Developing a model of the process, the actuator, and the sensor
(6) Describe a controller, select key parameters to be adjusted.
(7) Analyze and simulate the controller. Are objectives achieved? If not, change
the control strategy and redesign
(8) Test the controller on the real system. Can the control law be “fine tuned”
to achieve desired behavior? If not iterate until a satisfactory solution is
obtained

40
Step 1: Understand the system to be controlled. Define the
objectives of the controller (establish control goals)

For example :
control goal: to control the velocity of motor accurately
or to control the direction of the motor

41
Step 2: Identify the variables to control, build a simple
mathematical model of the system and examine the system
behavior.

control variable: angular of steering wheel

mathematical model: f(v, t, P)
control variable: position of each motion
mathematical model: f(x, y, z, , v, t)

42
Step 3: Write the specifications

e.g.
 range of control variable values
 accuracy of control
 rise time of system response
 percent overshoot the response
 settling time
 peak time
 …...

43
Step 4: System configuration: choosing control system components,
which are assembled into a viable system, based upon requirements.

Sensor: tachogenerator, optical encoder, etc.

Actuator: AC/DC servo motor with reduction gear boxes
Controller: PWM unit; microcomputer for position control
of each motion; PC used as master computer, to
control the coupling movement of several motions
Control algorithm: PID controller
Computer programming language: C++ and Assembler

44
 DC motor

Optical encoder

tachometer
http://www.micromo.com/
45
Step 5: Developing a model of the process, the
actuator and the sensor.

model of the winding process

AC/DC servo motor model
Encoder and other sensor models

46
Step 6: Decide on a control strategy, select key parameters to
be adjusted.

In example 1:
possible control law: P controller
Throttle=K*(desired speed - actual speed)

In example 2:
possible control law: PID controller
T
V  K P e  K D e  K I  edt
0
47
Step 7: Analyze and simulate the controller, and select
key parameters to be adjusted
System characteristics to be analyzed include:
• transient response
• steady-state error
• stability
• sensitivity: system behavior changes with changes in component values
or system parameters, e.g. temperature, pressure, etc. (systems must be
built so that expected changes do not degrade performance beyond
specified bounds)
• evaluation of time response of the system for a given input
• Parameters to be adjusted: KP, KD, KI

48
Step 8: Test the controller on the real system.

– Interference (Electromagnetic, noise, etc.)

– Hardware and software
– Controller parameters
– …...

49
 Review: Steps of control system design
Step 1: Establish control goals

Step 2: Identify the variables to control

Step 3: Write the specifications for the variables

Step 4: System configuration: sensor, controller, actuator, etc.

Step 5: developing models for process, actuator, sensors

Step 6: Describe a controller, select key parameters

Step 7: Analyze and simulate the controller

50
 Materi Sistem Kontrol Dasar
Specification: control goals, variables, etc.

Modeling and System Behavior

Feedback systems

Time domain specifications & system stability

Controller design, PID; Root Locus analysis

Frequency domain Aspects of industrial PID State variable

Bode plot Autotuning rules of PID

Analysis & design

Compensator design 51
Review questions:
(1) Give examples of open-loop systems
(2) Name several applications for feedback control system
(3) Name reasons for using feedback control systems and reasons for not
using them
(4) Functionally, how do closed-loop systems differ from open-loop
systems?
(5) Name two possible control law for motion controls
(6) Name advantages of having a computer in the control loop
(7) Three major design criteria. (1) transient response, (2)steady-state
error and (3) stability. Briefly describe the criteria.
(8) Name components in a control system
(9) Briefly describe performance specifications of control systems
(10) Describe steps of a control system design.

52
 Referensi

• Sistem Kontrol Otomasti, K Ogata

• Automatic Control System, Benjamin C Kuo
• Advance Control Engineering, Ronald SB
• Internet
• dll