DATA PRAKTIKUM TUNING

Time Pv Pv
0 40.00 40
3 41.00 40.6
6 42.00 41.9
9 43.00 43
12 44.00 43.7
15 44.50 44.5
18 45.10 45.2
21 45.50 45.7
24 46.10 46.1
27 46.30 46.3
30 46.50 46.6
33 46.80 46.8
36 46.90 46.8
39 46.90 46.9
42 46.80 46.7
45 46.70 46.6
48 46.60 46.7
51 46.60 46.6
54 46.70 46.8
57 46.90 46.9
GRAFIK DATA

Kurva Reaksi Proses

48

47

46

45

44
Pv

43

42

41

40

39
0 3 6 9 12 15 18 21 24 27 30 33 36 39 42 45 48 51 54 57 60

Time(s)

X = 6.8
Y=9
K
x25 =5.538461
x75 = 17.571428
Tg = 10.949997
Tu = 2.384861
HASIL PERHITUNGAN NILAI PENGENDALI

ziegler-nichols
Pengendali kp Tn (Detik) Tv (Detik)
PI 5.468918971 7.94158713 off
PID 7.291891962 4.769722 1.1924305
metode cohen coon
Pengendali kp Tn (Detik) Tv (Detik)
PI 5.579206602 5.47353623 off
PID 8.43296507 5.38801114 0.834188968
kriteria minimum ITAE
Pengendali Operasi kp Tn (Detik) Tv (Detik)
PI servo 3.132944615 11.0153873 off
PI regulator 5.039962115 5.76271938 off
PID servo 4.701142418 14.3327560 0.818487976
PID regulator 7.605984356 4.22262119 0.915583172
HASIL SETTING NILAI PENGENDALI PADA PRAKTIKUM

Ziegler-nichols
Pengendali kp Tn (Detik) Tv (Detik)
PI 5.469 7.938 off
PID 7.281 4.781 1.195
metode cohen coon
Pengendali kp Tn (Detik) Tv (Detik)
PI 5.584 5.469 off
PID 8.438 5.375 dibawah 0.9 data tidak dapat diuji
kriteria minimum ITAE
Pengendali Operasi kp Tn (Detik) Tv (Detik)
PI servo 3.125 11 off
PI regulator 5.031 5.75 off
PID servo dibawah 0.9 data tidak dapat diuji
PID regulator 7.594 4.219 1
TABEL DATA PRAKTIKUM METODE OPERASI (servo dan regulator)
Ziegler- Ziegler- Choen-
Ziegler- Ziegler- Nchols Nichols Coon Choen-
Nichols PI Nichols PI PID PID PI Coon PI ITAE PI ITAE PI ITAE PID
detik (servo) (regulator) (servo) (regulator) (servo) (regulator) (servo) (regulator) (regulator)
0 25 50 25 50 25 50 25 50 50
3 30.5 53.3 29 52.1 29.3 53.2 29.6 53.4 52.1
6 36.5 52.4 37.6 51.2 36.6 52.3 37 52.6 51
9 41.2 51.2 43.3 50.6 42.5 50.6 42.9 51 50.4
12 45.2 50.8 48.2 50 48 50.1 47.8 50.3 49.9
15 48.5 50.5 52 49.9 51.7 50.2 52.3 50.3 49.9
18 51.2 50.3 54.8 50 54.7 50.1 54.5 50.2 50
21 53.4 50.3 53.8 49.9 54.4 49.9 54.9 50.1 50
24 53.6 50.1 52 50 52.2 49.9 54.6 50.1 50
27 52.7 50.1 50.6 50 50.9 50.1 53.8 50.1 50
30 51.9 50.1 50 50 50.3 50 53.3 50 50
33 51.3 50 49.9 50 50.2 50.1 52.5 50.1 50
36 50.9 50 49.7 50 50 50 52 50 50
39 50.6 50 49.8 50 50 50 51.5 50 50
42 50.4 50 50 50 50 50 51 50 50
45 50.3 50 50 50 49.9 50 50.8 50 50
48 50.1 50 50.1 50 50 50 50.5 50 50
51 50.1 50 50 50 49.9 50 50.4 50 50
54 50.1 50 49.9 50 49.9 50 50.2 50 50
57 50 50 50 50 49.9 50 50.2 50 50
60 50.1 50 50 50 50 50 50 50 50
63 50 50 49.9 50.1
66 50.1 50 50 49.9
69 50 50 49.9 50
72 50.1 49.9 50 49.9
75 50 49.9 49.9 50
78 50.1 50.1 50 49.9
81 50 50 49.9 49.9
84 50 50 50 50
87 50 50 49.9 49.9
90 50 50.1 50 49.9
GRAFIK DATA PRAKTIKUM

Metode Ziegler-Nichols (PI) Servo

53

48

43
PV

38

33

28

23
0 10 20 30 40 50 60 70 80 90 100
Time

Metode Ziegler-Nichols (PI) Regulator

53.5

53

52.5

52
PV

51.5

51

50.5

50

49.5
0 10 20 30 40 50 60 70 80 90 100
Time
 Metode Ziegler-Nichols (PID) Servo
60

55

50

45
PV

40

35

30

25

20
0 10 20 30 40 50 60 70 80 90 100
Time

Metode Ziegler-Nichols (PID) Regulator

52.5

52

51.5
PV

51

50.5

50

49.5
0 10 20 30 40 50 60 70 80 90 100
Time
 Metode Cohen-Coon (PI) Servo
60

55

50

45
PV

40

35

30

25

20
0 10 20 30 40 50 60 70 80 90 100
Time

Metode Cohen-Coon (PI) Regulator

53.5

53

52.5

52
PV

51.5

51

50.5

50

49.5
0 10 20 30 40 Time50 60 70 80 90 100
 Kriteria Minmum ITAE (PI) Servo
60

55

50

45
PV

40

35

30

25

20
0 10 20 30 40 50 60 70 80 90 100
Time

Kriteria Minimum ITAE (PI) Regulator

54

53.5

53

52.5

52
PV

51.5

51

50.5

50

49.5
0 10 20 30 40 50 60 70 80 90 100
Time
 Kriteria Minimum ITAE (PID) Regulator
52.5

52

51.5
PV

51

50.5

50

49.5
0 10 20 30 40 50 60 70 80 90 100
Time
LAPORAN TEKNIK PENGATURAN
Tuning Pengendali PI – PID
pada Suatu Sistem Pengendalian Tekanan Tangki
Menggunakan Metode Kurva Reakssi Proses

Dosen : Agoeng Harjatmo Rahardjo, ST., MT

Oleh :

JURUSAN TEKNIK KONVERSI ENERGI

POLITEKNIK NEGERI BANDUNG
 Tabel Perbandingan Parameter Performansi system pengendalian

I.1 I.2 II.1 III.1 III.4

(serv) I.1 (reg) (serv) I.2 (reg) (serv) II.1 (reg) (serv) III.2 (reg) (reg)
Offset 0 0 0 0 0 0 0 0 0
rise time 16.67 25.8 13.42 12 13.62 17 13.47 22.6 11.1
settling time (2%) 36 10.5 26 7 27 8.2 42 9 6
titik puncak 53.8 53.4 54.8 52.1 55 53.3 55 53.5 52.1
maximum overshoot (%) 7.6 6.8 9.6 4.2 10 6.6 10 7 4.2
amplitudo decay 0 0 0 0 0 0.030303 0 0.028571 0
duty cycle 0 0 0 0 0 0 0 0 0
setpoint 50 50 50 50 50 50 50 50 50
Metode Ziegler – Nichols

Metode Cohen – coon

Kriteria Minimum ITAE