Sintesis Kendali PID Digital dengan Diskritisasi Langsung dan Backward Difference

FENI ISDARYANI, MOHAMAD FADHILAH VIERI HESYA, FERIYONIKA FERIYONIKA

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ABSTRAK

Kendali PID analog, yang realisasinya menggunakan komponen elektronika, memiliki keterbatasan yaitu nilai toleransi yang terbatas. Saat ini spesifikasi kontroler dituntut untuk dapat berkomunikasi dengan sistem yang lebih besar seperti SCADA dan DCS sehingga lebih cocok menggunakan pengendali digital. Penelitian ini menganalisis metode konversi PID analog ke digital agar dihasilkan difference equation yang dapat direalisasikan ke dalam pemrograman komputer. Metode yang dipakai adalah diskritisasi langsung dan Backward Difference. Perbandingan kedua metode dilakukan dengan menganalisis respons berdasarkan initial paramater yang dihasilkan oleh metode Ziegler Nichols. Hasil pengujian menunjukkan kendali PID diskrit menggunakan Backward Difference menghasilkan respons sistem yang lebih baik dibandingkan metode diskritisasi langsung dengan nilai Kp, Ti, dan Td adalah 50, 80 dan 0,001 menghasilkan respons dengan nilai rise time, settling time dan overshoot berturut-turut sebesar 33,66s, 90,39s dan 0,9%.

Kata kunci: PID diskrit, diskritisasi langsung, Backward Difference, Ziegler Nichols

 

ABSTRACT

The analog PID control, where its parameters are realised using the electronic component, has disadvantages due to the limitation of its tolerance value. Currently, the specifications of controller are required to be able to communicate with larger systems such as SCADA and DCS, therefore digital controller is more appropriate to use. This study analyzes the analog to digital PID conversion method to generate a difference equation that can be realized in computer programming. The direct discretization and Backward Difference method are used. Comparison of both methods is by analyzing response based on initial parameters obtained of Ziegler Nichols method. The results show that discrete PID control using the Backward Difference indicates a better response than using the direct discretization method with Kp, Ti, and Td values are 50, 80, and 0,001, respectively. Those parameters generate response with rise time, settling time, and overshoot values of 33,66s, 90,39s, and 0,9%, respectively.

Keywords: discrete PID, direct discretization, Backward Difference, Ziegler
Nichols


Kata Kunci


PID diskrit; diskritisasi langsung; Backward Difference; Ziegler Nichols

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Referensi


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DOI: https://doi.org/10.26760/elkomika.v9i2.467

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ISSN (print) : 2338-8323 | ISSN (electronic) : 2459-9638

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