Sintesis Kendali PID Digital dengan Diskritisasi Langsung dan Backward Difference

FENI ISDARYANI, MOHAMAD FADHILAH VIERI HESYA, FERIYONIKA FERIYONIKA

Sari


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

Teks Lengkap:

PDF

Referensi


Almanda, S. P., Susanto, E., & Wibowo, A. S. (2016). Desain dan implementasi kontrol ketinggian air menggunakan kontrol PID Adaptif. Jurnal Teknik Elektro, 3(3), 4059-4064.

Angel, L., Viola, J., & Paez, a. M. (2019). Evaluation of The Windup Effect in a Practical PID Controller for The Speed Control of a DC-motor System. Proc. 4th IEEE Colombian Conference on Automatic Control (CCAC).

Babu, A. R., Kibreab, S., & Mehari., S. (2020). Experimental Studies on Step Response of Water Level Control System with P, PI and PID Control Mechanisms. International Research Journal of Engineering and Technology (IRJET), 7(10), 1504-1509.

Chen, Q., Tan, Y., Li, J., & Mareels, I. (2017). Decentralized PID Control Design for Magnetic Levitation Systems Using Extremum Seeking. IEEE Access, 6, 3059-3067.

Chia, K. S. (2018). Ziegler-Nichols Based Proportional-Integral-Derivative Controller for a Line Tracking Robot. Indonesian Journal of Electrical Engineering and Computer Science, 9(1), 221-226.

Chopade, A. S., Khubalkar, S. W., Junghare, A. S., Aware, M. V., & Das, S. (2016). Design and Implementation of Digital Fractional Order PID Controller using Optimal Pole-Zero Approximation Method for Magnetic Levitation System. IEEE/CAA JOURNAL OF AUTOMATICA SINICA, 3(3), 977-989.

Coughi, S., & Ntogramatzidis, L. (2013). Direct and exact methods for the synthesis of discretetime proportional-integral-derivative controllers. IET Control Theory Applied, 7(18), 2164-2171.

Das, S., Halder, K., & Gupta, A. (2020). Delay Handling Method in Dominant Pole Placement based PID Controller Design. IEEE Transactions on Industrial Informatics, 16(2), 980-991.

El-sharif, I. A., Hareb, F. O., & Zerek, A. R. (2014). Design of Discrete-time PID Controller. International Conference on Control, Engineering & Information Technology (CEIT'14)., (hal. 110-115).

Isdaryani, F., Feriyonika, & Ferdiansyah, R. (2020). Comparison of Ziegler-Nichols and Cohen Coon tuning method for magnetic levitation control system. Journal of Physics: Conference Series, 1450, 012033.

Kumar, A., & Pan, S. (2018). A PID controller design method using stability margin with transient improvement criteria. 4th International Conference on Electrical Energy Systems (ICEES)., (hal. 506-510).

Narkvitul, N., Ukakimaparn, P., & Trisuwannawat, T. (2014). Closed-form formulas for continuous/discrete-time PID controllers' parameters. 14th International Conference on Control, Automation and Systems (ICCAS 2014), (hal. 1526 – 1530).

Patel, V. V. (2020). Ziegler-Nichols Tuning Method. Resonance, 25, 1385–1397.

Podržaj, P. (2018). Contionuous VS Discrete PID Controller. IEEE 9th International Conference on Mechanical and Intelligent Manufacturing Technologies (ICMIMT), (hal. 177 – 181).

Verma, B., & Kumar, P. P. (2019). Robust Fine Tuning of Optimal PID Controller with Guaranteed Robustness. IEEE Transactions on Industrial Electronics, 67, 4911-4920.




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

Refbacks

  • Saat ini tidak ada refbacks.


_______________________________________________________________________________________________________________________

ISSN (cetak) : 2338-8323 | ISSN (elektronik) : 2459-9638

diterbitkan oleh :

Teknik Elektro Institut Teknologi Nasional Bandung

Alamat : Gedung 20 Jl. PHH. Mustofa 23 Bandung 40124

Kontak : Tel. 7272215 (ext. 206) Fax. 7202892

Surat Elektronik : jte.itenas@itenas.ac.id________________________________________________________________________________________________________________________

Statistik Pengunjung

Free counters!

Web Analytics Made Easy - StatCounter

Lihat Statistik Jurnal

Jurnal ini terlisensi oleh Creative Commons Attribution-ShareAlike 4.0 International License.

Creative Commons License