2. Pengenalan Sistem Kontrol
Topik Bahasan
Konsep Dasar Sistem Kontrol
Jenis Sistem Kontrol
Contoh-contoh
Desain Sistem Kontrol
3. 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
4. Jenis Sistem Kontrol
Secara garis besar
Sistem Kontrol Loop terbuka
Sistem Kontrol Loop tertutup
5. Sistem Kontrol Loop Terbuka
Sistem yang kelurannya tidak mempunyai
pengaruh terhadap aksi kendali
Keluaran sistem tidak dapat digunakan
sebagai perbandingan umpan balik dengan
masukan.
ProsesKontrollerMasukan Keluaran
6. 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
7. 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)
8. 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
9. Sistem Kontrol Loop tertutup
- Sistem yang memiliki umpan balik untuk
mengurangi kesalahan atau beda antara
masukan acuan dengan keluaran
10. Sistem Kontrol Loop tertutup
reference
input
signal,
command
isyarat
masukan
acuan,
perintah,
set-point
feedback signal
isyarat umpan-balik
output signal
luaran, isyarat
luaran, hasil,
produk
PROSES
(PLANT)
control signal
isyarat kendaliPENGENDALI
(CONTROLLE
R)
12. Contoh-Contoh Sistem Kontrol
Sistem Kontrol Kecepatan – James Watt
Plant : engine
Controlled Variable : Engine speed
Control Signal : jumlah Fuel
18. 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
19. Contoh-Contoh Sistem Kontrol
SK Autopilot Kapal Laut
Gyro-Compas u ngitung actual heading
Autopilot hit demand rudder anglesteering
geer
Rudder menyebabkan hull(lambung kapal)
bergeser
29. 29
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”
Steady state error
overshoot
Rise time
Time (s)
Output
Typical requirements:
• No overshoot
• Zero steady state error
• Rising time as small as
possible
30. 30
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
31. 31
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
32. 32
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, ϕ, v, t)
33. 33
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
…...
34. 34
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
36. 36
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
37. 37
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
IDP edtKeKeKV
0
38. 38
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
39. 39
Step 8: Test the controller on the real system.
Interference (Electromagnetic, noise, etc.)
Hardware and software
Controller parameters
…...
40. 40
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
Review: Steps of control system design
Step 7: Analyze and simulate the controller
41. 41
Specification: control goals, variables, etc.
Modeling and System Behavior
Controller design, PID; Root Locus analysis
Feedback systems
Time domain specifications & system stability
Frequency domain
Bode plot
Compensator design
Aspects of industrial PID State variable
Autotuning rules of PID
Analysis & design
Materi Sistem Kontrol Dasar
42. 42
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.
43. Referensi
Sistem Kontrol Otomasti, K Ogata
Automatic Control System, Benjamin C
Kuo
Advance Control Engineering, Ronald
SB
Internet
dll
Hinweis der Redaktion
Speed and direction control of cars: Driving an automobile is a pleasant task when the auto responds rapidly to the driver’s commands. Many cars have power steering and brakes, which utilize hydraulic amplifiers for amplification of the force to the steering wheel or brakes. The desired course or speed is compared with a measurement of the actual course or speed in order generate a measure of the error. This measurement is obtained by visual and tactile (body movement) feedback.
An open-loop control system utilizes an actuating device to control the process directly without using feedback The disadvantages of open-loop systems, namely, sensitivity to disturbances and the system’s inability to correct for these disturbances, may be overcome in closed-loop systems. A closed-loop control system uses a measurement of the output and feedback of this signal to compare it with the desired input (reference or command) Control systems operate in a closed-loop sequence. With an accurate sensor, the measured output is equal to the actual output of the system. The difference between the desired output and the the actual output is equal to the error, which is then adjusted by the controller. The output of the controller causes the actuator to modulated the process in order to reduce the error. Negative feedback control system: the output is subtracted from the input and the difference is used as the input signal to the controller. Closed-loop systems have the obvious advantage of greater accuracy then open-loop systems. They are less sensitive to noise, disturbances, and changes in the environment.
An open-loop control system utilizes an actuating device to control the process directly without using feedback The disadvantages of open-loop systems, namely, sensitivity to disturbances and the system’s inability to correct for these disturbances, may be overcome in closed-loop systems. A closed-loop control system uses a measurement of the output and feedback of this signal to compare it with the desired input (reference or command) Control systems operate in a closed-loop sequence. With an accurate sensor, the measured output is equal to the actual output of the system. The difference between the desired output and the the actual output is equal to the error, which is then adjusted by the controller. The output of the controller causes the actuator to modulated the process in order to reduce the error. Negative feedback control system: the output is subtracted from the input and the difference is used as the input signal to the controller. Closed-loop systems have the obvious advantage of greater accuracy then open-loop systems. They are less sensitive to noise, disturbances, and changes in the environment.
? How to determine the rising time? (the definition of “Rise time”)
Optical encoder: Pos. Description 1 Circlip 2 Washer 3 Spacer 4 Ball bearing 5 Housing 6 LED support 7 LED 8 Spacer ring 9 Codewheel 10 Stator disk 11 Printed circuit 12 Cover 13 Ribbon cable 14 Connector
As we proceed, we will notice that in every case the first step in developing a mathematical model is to apply the appropriate fundamental principles of science and engineering. For example, when we study mechanical networks, we will use Newton’s law as the fundamental guiding principles. Here, we will sum forces and torques. From these equations we will obtain the relationship between the system’s input and output.
As we proceed, we will notice that in every case the first step in developing a mathematical model is to apply the appropriate fundamental principles of science and engineering. For example, when we study mechanical networks, we will use Newton’s law as the fundamental quiding principles. Here, we will sum forces and torques. From these equations we will obtain the relationship between the system’s input and output.
Normally, the control system design is a one semester subject (Green line in the figure).
As we proceed, we will notice that in every case the first step in developing a mathematical model is to apply the appropriate fundamental principles of science and engineering. For example, when we study mechanical networks, we will use Newton’s law as the fundamental quiding principles. Here, we will sum forces and torques. From these equations we will obtain the relationship between the system’s input and output.