bag1pengenalansistemkontrol-130818082421-phpapp01.ppt

8/18/2019 bag1pengenalansistemkontrol-130818082421-phpapp01.ppt

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Konsep Dasar Sistem

Kontrol Sistem = Kombinasi komponen2 yangbekerja bersama2 untuk mencapai

tujuan tertentu (fisik atau

abstrakbiologiekomoni! Sistem Kontrol " sistem yang #apat #i-

i#entifikasi atau #itengarai ter#iri #ari

minimal 2 (dua! bagian utama yaitu$- %lant&proses obyek yang #iken#alikan

- Kontroller&%engen#ali yang mengen#alikan


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Jenis Sistem Kontrol

Secara garis besar Sistem Kontrol 'oop terbuka

Sistem Kontrol 'oop tertutup


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Sistem Kontrol Loop

Terbuka Sistem yang kelurannya ti#ak mempunyaipengaruh terha#ap aksi ken#ali

Keluaran sistem ti#ak #apat #igunakan

sebagai perban#ingan umpan balik #enganmasukan

%rosesKontroller )asukan Keluaran


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Sistem Kontrol Loop

TerbukaKarakteristik Sistem ken#ali lup terbuka $ output ti#ak #iukur maupun #i

umpanbalikkan

bergantung pa#a kalibrasi

hubungan antara output #an input

#iketahui

ti#ak a#a *internal #isturbance+ maupun*eksternal #isturbance+

terkait #engan ,aktu


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Sistem Kontrol Loop

TerbukaKelebihan$ konstruksinya se#erhana #an

pera,atannya mu#ah

lebih murah

ti#ak a#a persoalan kestabilan

cocok untuk keluaran yang sukar #iukur

&ti#ak ekonomis (contoh$ untuk mengukurkualitas keluaran pemanggang roti!


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Sistem Kontrol Loop

TerbukaKelemahan$ gangguan #an perubahan kalibrasi untuk menjaga kualitas yang #iinginkan

perlu kalibrasi ulang #ari ,aktu ke ,aktu

Contoh $

- ken#ali traffic (lalu lintas!

- mesin cuci


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Sistem Kontrol Loop

tertutup- Sistem yang memiliki umpan balik untukmengurangi kesalahan atau be#a antara

masukan acuan #engan keluaran


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Sistem Kontrol Loop

tertutup

reference

inputsignal,

command

isyaratmasukan

acuan,perintah,

set-point

feedback signal

isyarat umpan-balik

output signal

luaran,isyaratluaran, hasil,produk

PROSES

(PLANT )

controlsignal

isyaratkendali

PENGENDALI

(CONTROLLE

R)


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Contoh-Contoh Sistek

Kontrol pen 'oop

%emanggang .oti )otor DC


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Contoh-Contoh Sistem

Kontrol Sistem Kontrol Kecepatan / James 0att%lant $ engine

Controlle# 1ariable $ ngine spee#

Control Signal $ jumlah 3uel


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Kontrol Kontrol )anipulator .obot


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Kontrol Sistem Kontrol Temperatur


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Kontrol Kontrol le4ator %esa,at


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Kontrol Sistem Kontrol 'e4el


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Kontrol SK .a#ar Tracking %esa,at

.a#ar men#eteksi posisi 5 kec pesa,at


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Kontrol .a#ar men#eteksi posisi 5 kec pesa,at Dipakai komp u menentukan lea# 5

firing angle penembak

Su#ut2 ini #iumpankan ke po,er amp

sebagai #ri4er motor

3ee#back signal menjamin alignment

penembak sesuai yang #iset komputer


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Kontrol SK 6utopilot Kapal 'aut

7yro-Compas u ngitung actual hea#ing

6utopilot hit #eman# ru##er anglesteering

geer

.u##er menyebabkan hull(lambung kapal!

bergeser


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Kontrol SK 6utopilot Kapal 'aut


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28

Roadconditions

Speed

Steering

Noise

desired direction

actual direction

.esponse

#irection of

tra4el

Time

.esponse

spee#

Time

Desire# spee#

6ctual spee#


Kontrol Steering 6utomobile


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6ctual

output 6utomobile

Steering

mechanismDri4er

Desire#

spee# or

#irection

%rocess&

%lant

6ctuator Controller

Desire#

output

6ctual

outputDisturbance

pen-loop menggunakan actuating #e4ice untuk mengontrol process

secara langsung tanpa fee#back

Kerugian $ sensiti4ity to #isturbances an# system+s inability to correct

for these #isturbances

Steering Automobile

!pen loop


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29

6ctual

output 6utomobile

Steering

mechanismDri4er

)easurement

Comparison

Desire#

spee# or

#irection

%rocess&

%lant

6ctuator Controller

Sensor

Desire#

output

6ctual

outputerror :

-

fee#back)easurement output

Disturbance

SK Steering Automobile Close loop


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2;


Kontrol )esin Tenun


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2<

feed-eye and resin bath

Filament winding process

Mandrel

Contoh " Komputer Kontroluntuk #esin Tenun


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2=

Master

Computer

Sub CPU

1

!

"

P#M 1

P#M

P#M !

P#M "

Motor 1

Motor

Motor !

Motor "

)otion 8

)otion 2

)otion 9

)otion ;



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2>

2n# )otion

control

DC&6C&step

ping motor

%0)

?nit

ptical

nco#er

Desire#

position of

motion 2

6ctual

positionerror :

-

3ee#back$position signal

Spee# fee#back

Disturbance

Sub C%?

@2

Tachogenerator



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Desain Sistem Kontrol


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2A

%erformance specifications$

t is 4ery important to #efine in numerical terms ,hatis the epecte# performance of the control system

ne possibility is to eamine the beha4ior of the output

in response to a su##en change in input$ kno,n as the

step responseE

Steady state error

o$ershoot

Rise time

%ime &s'

( u

t p u

t

Typical reFuirements$

G Ho o4ershootG Iero stea#y state error

G .ising time as small as

possible


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9

Control System Design

(8! ?n#erstan# the system to be controlle# Define the objecti4es of the

controller (establish control goals!(2! #entify the 4ariables to control buil# a simple mathematical mo#el of

the system an# eamine the system beha4ior Does the mo#el

captures essential features of the system f not re4ise the mo#el

(9! 0rite the specifications for the 4ariables

(;! System configuration$ sensor controller actuator etc(

(=! Describe a controller select key parameters to be a#juste#

(>! 6nalyLe an# simulate the controller 6re objecti4es achie4e# f not

change the control strategy an# re#esign

(M! Test the controller on the real system Can the control la, be fine

tune#E to achie4e #esire# beha4ior f not iterate until a satisfactory

solution is obtaine#


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98

Step 8$ ?n#erstan# the system to be controlle# Definethe objecti4es of the controller (establish control goals!

3or eample $

control goal$ to control the 4elocity of motor accurately

or to control the #irection of the motor


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92

Step 2$ #entify the 4ariables to control buil# a simplemathematical mo#el of the system an# eamine the

system beha4ior

control 4ariable$ angular of steering ,heelmathematical mo#el$ f(4 t %!

control 4ariable$ position of each motion

mathematical mo#el$ f( y L ϕ 4 t!


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99

Step 9$ 0rite the specifications

eg range of control 4ariable 4alues accuracy of control rise time of system response percent o4ershoot the response settling time peak time N


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9;

Step ;$ System configuration$ choosing control systemcomponents ,hich are assemble# into a 4iable system base# upon

reFuirements

Sensor$ tachogenerator optical enco#er etc

6ctuator$ 6C&DC ser4o motor ,ith re#uction gear boes

Controller$ %0) unitO microcomputer for position control

of each motionO %C use# as master computer to

control the coupling mo4ement of se4eral motions

Control algorithm$ %D controller

Computer programming language$ C:: an# 6ssembler


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9<

DC motor

tachometer

Optical encoder

http)**www+micromo+com*


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9=

Step


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9>

Step =$ Deci#e on a control strategy select keyparameters to be a#juste#

n eample 8$

possible control la,$ % controller

Throttle"KP(#esire# spee# - actual spee#!

n eample 2$

possible control la,$ %D controller

∫ ++=T

I D P edt K e K e K V

,


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9M

Step >$ 6nalyLe an# simulate the controller an# select

key parameters to be a#juste#

System characteristics to be analyLe# inclu#e$

transient response

stea#y-state error

stability sensiti4ity$ system beha4ior changes ,ith changes in component

4alues or system parameters eg temperature pressure etc

(systems must be built so that epecte# changes #o not #egra#e

performance beyon# specifie# boun#s!

e4aluation of time response of the system for a gi4eninput

%arameters to be a#juste#$ K% KD KB


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9A

Step M$ Test the controller on the real system

nterference (lectromagnetic noise etc!

Qar#,are an# soft,are

Controller parameters

N


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;

Step 1) stablish control goals

Step ) .dentify the $ariables to control

Step !) #rite the specifications for the $ariables

Step ") System configuration) sensor/ controller/ actuator/ etc+

Step 0) de$eloping models for process/ actuator/ sensors

Step ) 2escribe a controller/ select 3ey parameters

$e%ie& Steps o' control systemdesign

Step 4) 5naly6e and simulate the controller


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;8

Specification$ control goals 4ariables etc

)o#eling an# System Beha4ior

Controller #esign %DO .oot 'ocus analysis

3ee#back systems

Time #omain specifications 5 system stability

3reFuency #omain

Bo#e plot

Compensator #esign

6spects of in#ustrial %D State 4ariable

6utotuning rules of %D 6nalysis 5 #esign

#ateri Sistem Kontrol

Dasar


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;2

.e4ie, Fuestions$(8! 7i4e eamples of open-loop systems(2! Hame se4eral applications for fee#back control system

(9! Hame reasons for using fee#back control systems an# reasonsfor not using them

(;! 3unctionally ho, #o close#-loop systems #iffer from open-loopsystems

(

(=! Hame a#4antages of ha4ing a computer in the control loop

(>! Three major #esign criteria (8! transient response (2!stea#y-

state error an# (9! stability Briefly #escribe the criteria(M! Hame components in a control system

(A! Briefly #escribe performance specifications of control systems

(8! Describe steps of a control system #esign


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$e'erensi

Sistem Kontrol tomasti K gata

6utomatic Control System Benjamin C

Kuo

6#4ance Control ngineering .onal#

SB

nternet

#ll

bag1pengenalansistemkontrol-130818082421-phpapp01.ppt

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