Penalaan PID Menggunakan Internal Model Controller dengan Pendekatan Model Tustin

Abdul Azis, Radite Praeko Agus Setiawan, Wawan Hermawan, Tineke Mandang

Abstract


Abstrack
PID control is a popular controlling technique in high accuracy control system. PID tuning is a very important stage and affects the reliability of the PID control system. This stage plays a role in determining KP,KI, and KD constants. Currently it has been a lot of PID tuning techniques that have been developed from the Ziegler-Nichols methods. PID Tuning using Internal Model Controller (IMC) by Tustin discrete approached models was used in this study. Open-loop method was used with two variation value of PWM (20% and 80%). The purposes of this study were to determine the PID constants and test those performances using a DC motor. The result of PID tuning process generated two pairs of KP, KI, and KD constants. The first were 0.4013; 0.0988; 0.0176, and the second were 0.2314; 0.0531; 0.044, respectively. The testing results with DC motor showed the performance of the both pairs of PID constants obtained were reliable enough to control motor speed that was characterized by the ability to follow the set-point value that was given and there was no steady state error. There was oscillation at 1500 rpm and 2000 rpm and motor power couldn’t achieve the set-point at 2000 rpm.

Abstrak
Kontrol PID merupakan salah satu teknik pengontrolan yang populer untuk pengontrolan sistem dengan ketelitian tinggi. Terdapat satu tahapan yang sangat penting dan mempengaruhi kehandalan dari sistem
kontrol PID yang dihasilkan. Tahapan tersebut adalah penalaan (tuning) PID. Tahapan ini menjadi penting karena berperan dalam penentuan konstanta PID (KP, KI, dan KD). Saat ini telah banyak teknik penalaan
PID yang telah dikembangkan dari teknik Ziegler-Nichols. Penalaan PID dengan teknik Internal Model Controller (IMC) melalui pendekatan model discrete Tustin digunakan dalam penelitian ini. Metode openloop
dengan teknik pengontrolan PWM dipakai dengan dua variasi nilai PWM yaitu 20% dan 80%. Tujuan penelitian ini adalah menemukan konstanta PID dan menguji performanya dengan motor DC. Dari proses penalaan PID yang dilakukan, diperoleh dua pasang konstanta KP, KI, dan KD. Konstanta pertama masingmasing sebesar 0.4013; 0.0988; dan 0.0176, dan pasangan kedua masing-masing sebesar 0.2314; 0.0531; dan 0.044. Hasil pengujian dengan motor DC memperlihatkan performa konstanta PID yang diperoleh cukup handal dalam mengontrol kecepatan motor yang ditandai oleh kemampuan motor dalam mengikuti nilai set-point yang diberikan dan tidak terjadi steady state error. Akan tetapi terjadi osilasi pada set-point 1500 rpm dan 2000 rpm dan kekuatan motor tidak dapat mencapai set-point 2000 rpm.


Keywords


IMC, PID constant, PID tuning, Tustin model.

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