Pengenalan Sistem Kontrol

 Topik Bahasan
Konsep Dasar Sistem Kontrol
Jenis Sistem Kontrol
Contoh-contoh

Desain Sistem Kontrol

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
( CONTROLLE R (PLANT)
isyar feedback signal luaran,
at ) isyarat
masuk luaran,
an isyarat umpan- hasil,
acuan, balik produk
perinta
h, 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
 Steering Automobile
Noise Speed
actual direction
desired direction

Response
direction of
travel
Road Steering
conditions Time

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

Disturbance Actual
Desired
output
Controller Actuator Process/ output
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
direction Comparison Driver Automobile output
mechanism

Measurement

Desired Disturbance Actual

output + error
Controller Actuator Process/ output
-
Plant

M easurement output Sensor feedback

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Contoh-Contoh Sistem Kontrol
 Mesin Tenun

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Contoh 2: Komputer Kontrol
untuk Mesin Tenun
Mandrel

feed-eye and resin bath

Filament winding process

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 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

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 Contoh 2: Komputer Kontrol
untuk Mesin Tenun

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

Tachogenerator
Speed feedback
Optical
Feedback:
position signal Encoder

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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)

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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

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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

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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)

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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
 …...

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 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

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 DC motor

Optical encoder

tachometer
http://www.micromo.com/
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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

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 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  KPe  KD e KI  edt

0

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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

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Step 8: Test the controller on the real system.

Interference (Electromagnetic, noise, etc.)

Hardware and software
Controller parameters
…...

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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

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 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 41
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.

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Referensi
 Sistem Kontrol Otomasti, K Ogata
 Automatic Control System, Benjamin C
Kuo
 Advance Control Engineering, Ronald
SB
 Internet dll
