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\pard\li3453\ri0\sl-240\slmult0 \fs14\cf0\f0\charscalex100\b {Pengaturan Level K
etinggian Air Menggunakan Kontrol PID}\b0 \par\pard\li5093\ri0\sl-213\slmult0 \f
s18\cf0\f0\charscalex100 {[}\fs16\cf0\f0\charscalex100\i {Thiang et al.}\i0 \fs1
8\cf0\f0\charscalex100 {]}\par\pard\li1866\ri0\sl-213\slmult0 \fs18\cf0\par\pard
\li1866\ri0\sl-360\slmult0 \fs30\cf0\f0\charscalex100\b {Pengaturan Level Keting
gian Air Menggunakan Kontrol PID}\b0 \par\pard\li3680\ri0\sl-213\slmult0 \fs18\c
f0\par\pard\li3680\ri0\sl-373\slmult0 \fs24\cf0\f0\charscalex100\b {Thiang, }\b0
\fs24\cf0\f0\charscalex100\b {Yohanes TDS, }\b0 \fs24\cf0\f0\charscalex100\b {A
ndre }\b0 \fs24\cf0\f0\charscalex100\b {Mulya}\b0 \par\pard\li2413\ri0\sl-266\sl
mult0 \fs20\cf0\f0\charscalex100 {Fakultas }\fs20\cf0\f0\charscalex100 {Teknolog
i }\fs20\cf0\f0\charscalex100 {Industri, }\fs20\cf0\f0\charscalex100 {Jurusan }\
fs20\cf0\f0\charscalex100 {Teknik }\fs20\cf0\f0\charscalex100 {Elektro, }\fs20\c
f0\f0\charscalex100 {Universitas Kristen Petra}\par\pard\li4533\ri0\sl-253\slmul
t0 \fs20\cf0\f0\charscalex100 {email: thiang@petra.ac.id}\par\pard\li5160\ri0\sl
-213\slmult0 \fs18\cf0\par\pard\li5160\ri0\sl-306\slmult0 \fs24\cf0\f0\charscale
x100\b {Abstrak}\b0 \par\pard\li1026\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li102
6\ri0\sl-333\slmult0 \fs20\cf0\f0\charscalex100 {Makalah ini menjelaskan tentang
aplikasi sistem kontrol pada pengaturan level ketinggian air. Metode kontrol}\p
ar\pard\li1026\ri0\sl-253\slmult0 \fs20\cf0\f0\charscalex100 {yang digunakan dal
am sistem ini adalah kontrol proporsional integral derivatif (PID). Semua proses
kontrol dan}\par\pard\li1026\ri0\sl-253\slmult0 \fs18\cf0\f0\charscalex100 {aku
isisi data dilakukan dengan menggunakan komputer (PC). Pengujian sistem telah di
lakukan untuk}\par\pard\li1026\ri0\sl-253\slmult0 \fs20\cf0\f0\charscalex100 {me
ngontrol level air dengan ketinggian antara 0 \uc1\u8211X 30 cm. Pengujian dilak
ukan dengan beberapa variasi}\par\pard\li1026\ri0\sl-253\slmult0 \fs20\cf0\f0\ch
arscalex100 {parameter kontrol PID dengan input berupa fungsi step. Dari hasil p
engujian didapatkan bahwa parameter sistem}\par\pard\li1026\ri0\sl-253\slmult0 \
fs20\cf0\f0\charscalex100 {kontrol level ketinggian air adalah Kp = 1 \uc1\u8211
X 10, Ki = 0,1 \uc1\u8211X 5 dan Kd = 0,1 \uc1\u8211X 10.}\par\pard\li1026\ri0\s
l-333\slmult0 \fs20\cf0\f0\charscalex100\b {Kata }\b0 \fs20\cf0\f0\charscalex100
\b {kunci:}\b0 { }\fs20\cf0\f0\charscalex100 {sistem kontrol, kontrol proporsion
al integral derivatif (PID), kontrol level air}\fs20\cf0\f0\charscalex100 {.}\pa
r\pard\li5133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li5133\ri0\sl-373\slmult0 \f
s24\cf0\f0\charscalex100\b \i {Abstract}\b0 \i0 \par\pard\li1026\ri0\sl-213\slmu
lt0 \fs18\cf0\par\pard\li1026\ri0\sl-266\slmult0 \fs18\cf0\f0\charscalex100\i {T
his paper describes about the application of control system on liquid level cont
rol system. The control method}\i0 \par\pard\li1026\ri0\sl-253\slmult0 \fs18\cf0
\f0\charscalex100\i {used in this system is proportional integral derivative (PI
D) controller. All control processes and data aquisition}\i0 \par\pard\li1026\ri
0\sl-253\slmult0 \fs18\cf0\f0\charscalex100\i {is run by using a personal comput
er (PC). Experiment was done by controlling liquid level in level range 0 \uc1\u
8211X 30}\i0 \par\pard\li1026\ri0\sl-253\slmult0 \fs18\cf0\f0\charscalex100\i {c
m. Experiment was also done by using various PID control parameter in which the
input signal is step function.}\i0 \par\pard\li1026\ri0\sl-253\slmult0 \fs18\cf0
\f0\charscalex100\i {Experiment results show that the parameter of liquid level
control system are Kp = 1 \uc1\u8211X 10, Ki = 0,1 \uc1\u8211X 5 and Kd}\i0 \par
\pard\li1026\ri0\sl-253\slmult0 \fs20\cf0\f0\charscalex100\i {= 0,1 \uc1\u8211X

10.}\i0 \par\pard\li1026\ri0\sl-280\slmult0 \fs20\cf0\f0\charscalex100\b \i {Key

words}\b0 \i0 \fs18\cf0\f0\charscalex100\i { : }\i0 \fs18\cf0\f0\charscalex100\i
{control system, proportional integral derivative controller (PID), liquid leve
l control}\i0 \fs18\cf0\f0\charscalex100\i {.}\i0 \par\pard\sect\sectd\sbknone\c
ols2\colno1\colw5733\colsr-0\colno2\colw5386\pard\li1026\ri0\sl-213\slmult0 \fs1
8\cf0\par\pard\li1026\ri0\sl-400\slmult0 \fs24\cf0\f0\charscalex100\b {1. }\b0 \
fs24\cf0\f0\charscalex100\b {Pendahuluan}\b0 \par\pard\li1026\ri0\sl-426\slmult0
\fs24\cf0\f0\charscalex100 {Dalam era globalisasi, sektor industri memegang}\pa
r\pard\li1026\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {peranan yang sangat
penting khususnya di}\par\pard\li1026\ri0\sl-280\slmult0 \fs24\cf0\f0\charscale
x100 {Indonesia. Banyak industri-industri yang ber-}\par\pard\li1026\ri0\sl-280\
slmult0 \fs22\cf0\f0\charscalex100 {kembang dengan pesat. Di dalam industri, san
gat}\par\pard\li1026\ri0\sl-280\slmult0 \fs22\cf0\f0\charscalex100 {dibutuhkan s
istem kontrol yang baik untuk dapat}\par\pard\li1026\ri0\sl-280\slmult0 \fs24\cf
0\f0\charscalex100 {menunjang proses berjalannya industri tersebut}\par\pard\li1
026\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {dan untuk meningkatkan efisie
nsi dalam proses}\par\pard\li1026\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100
{produksi. Karena itu dalam makalah ini}\par\pard\li1026\ri0\sl-280\slmult0 \fs2
4\cf0\f0\charscalex100 {dipaparkan suatu eksperimen sistem kontrol yang}\par\par
d\li1026\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {diharapkan dapat memberi
kan kontribusi dalam}\par\pard\li1026\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex
100 {dunia industri.}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\
li0\ri0\sl-373\slmult0 \fs24\cf0\f0\charscalex100 {dilakukan dan makalah ini aka
n ditutup dengan}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {be
berapa kesimpulan yang telah didapatkan.}\par\pard\li0\ri0\sl-213\slmult0 \fs18\
cf0\par\pard\li0\ri0\sl-320\slmult0 \fs24\cf0\f0\charscalex100\b {2. }\b0 \fs24\
cf0\f0\charscalex100\b {Kontrol PID}\b0 \par\pard\li0\ri0\sl-213\slmult0 \fs18\c
f0\par\pard\li0\ri0\sl-306\slmult0 \fs24\cf0\f0\charscalex100 {Kontroler Propors
ional Integral Derivatif (PID)}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\cha
rscalex100 {adalah kontroler yang menggabungkan kontroler}\par\pard\li0\ri0\sl-2
80\slmult0 \fs24\cf0\f0\charscalex100 {proporsional, integral dan derivatif. Kon
troler ini}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {direpres
entasikan dengan persamaan sebagai}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0
\charscalex100 {berikut [1]:}\par\pard\li40\ri0\sl-520\slmult0 \*\tx4106\fs22\cf
0\f0\charscalex100\i {m}\i0 \fs22\cf0\f0\charscalex100 {(}\fs22\cf0\f0\charscale
x100\i {t}\i0 \fs22\cf0\f0\charscalex100 {)}{ }\fs22\cf0\f1\charscalex100 {=}{ }
\fs22\cf0\f0\charscalex100\i {Kp}\i0 \fs22\cf0\f0\charscalex100 {.}\fs22\cf0\f0\
charscalex100\i {e}\i0 \fs22\cf0\f0\charscalex100 {(}\fs22\cf0\f0\charscalex100\
i {t}\i0 \fs22\cf0\f0\charscalex100 {)}{ }\fs22\cf0\f1\charscalex100 {+}{\super
\fs22\up4\cf0\f0\charscalex100\i {Kp}\i0 }\fs24\cf0\f1\charscalex100 {\uc1\u8747
X}{\super \fs12\up10\cf0\f0\charscalex100\i {t}\i0 }\fs22\cf0\f0\charscalex100\i
{e}\i0 \fs22\cf0\f0\charscalex100 {(}\fs22\cf0\f0\charscalex100\i {t}\i0 { }\fs
22\cf0\f0\charscalex100 {)}{ }\fs22\cf0\f0\charscalex100\i {dt}\i0 { }\fs22\cf0\
f1\charscalex100 {+}{ }\fs22\cf0\f0\charscalex100\i {Kp}\i0 \fs22\cf0\f0\charsca
lex100 {.}\fs22\cf0\f0\charscalex100\i {Td}\i0 {\super \fs22\up4\cf0\f0\charscal
ex100\i {de}\i0 }\fs22\cf0\f0\charscalex100 {(}\fs22\cf0\f0\charscalex100\i {t}\
i0 \fs22\cf0\f0\charscalex100 {)}\tab \fs24\cf0\f0\charscalex100 {(1)}\par\pard\
sect\sectd\sbknone\cols3\colno1\colw7626\colsr-0\colno2\colw1573\colsr-0\colno3\
colw1920\pard\li7280\ri0\sl-266\slmult0 \fs22\cf0\f0\charscalex100\i {Ti}\i0 \pa
r\column\pard\li0\ri0\sl-146\slmult0 \fs12\cf0\f0\charscalex100 {0}\par\column\p
ard\li0\ri0\sl-266\slmult0 \fs22\cf0\f0\charscalex100\i {dt}\i0 \par\pard\sect\s
ectd\sbknone\cols2\colno1\colw5733\colsr-0\colno2\colw5386\pard\li1026\ri0\sl-44
0\slmult0 \fs24\cf0\f0\charscalex100 {Dalam makalah ini akan dipaparkan tentang}
\par\pard\li1026\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {sistem kontrol k
etinggian air dengan meng-}\par\pard\li1026\ri0\sl-280\slmult0 \fs24\cf0\f0\char
scalex100 {gunakan metode kontrol proporsional integral}\par\pard\li1026\ri0\sl280\slmult0 \fs22\cf0\f0\charscalex100 {derivatif (PID). Sistem kontrol PID itu
sendiri}\par\pard\li1026\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {akan dib
ahas pada bagian kedua dari makalah}\par\pard\li1026\ri0\sl-280\slmult0 \fs22\cf
0\f0\charscalex100 {ini. Sedangkan bagian ketiga dari makalah ini}\par\pard\li10

26\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {akan memaparkan penjelasan ten

tang sistem}\par\pard\li1026\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {yang
telah dirancang baik perangkat lunak dan}\par\pard\li1026\ri0\sl-280\slmult0 \f
s24\cf0\f0\charscalex100 {perangkat keras. Bagian keempat dari makalah}\par\pard
\li1026\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {ini akan memaparkan has
il pengujian yang telah}\par\column\pard\li0\ri0\sl-346\slmult0 \*\tx786\*\tx125
3\*\tx4186\fs24\cf0\f0\charscalex100 {dimana}\tab \fs24\cf0\f0\charscalex100\i {
Kp}\i0 \tab \fs24\cf0\f0\charscalex100 {adalah konstanta proporsional,}\fs24\cf0
\f0\charscalex100 { }\tab \fs24\cf0\f0\charscalex100\i {Ti}\i0 \par\pard\li0\ri0
\sl-280\slmult0 \*\tx2960\*\tx3293\fs24\cf0\f0\charscalex100 {menyatakan waktu i
ntegral dan}\tab \fs24\cf0\f0\charscalex100\i {Td}\i0 \tab \fs24\cf0\f0\charscal
ex100 {menyatakan}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {w
aktu derivatif.}\par\pard\li0\ri0\sl-440\slmult0 \fs24\cf0\f0\charscalex100 {Per
samaan 1 adalah persamaan dalam domain}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf
0\f0\charscalex100 {waktu. Untuk memudahkan penulisan dalam}\par\pard\li0\ri0\sl
-280\slmult0 \*\tx920\fs24\cf0\f0\charscalex100 {program}\fs24\cf0\f0\charscalex
100\i {,}\i0 \tab \fs24\cf0\f0\charscalex100 {maka persamaan 1 dikonversikan ke}
\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {dalam bentuk diskri
t, dengan menggunakan}{ }\fs24\cf0\f0\charscalex100\i {finite}\i0 \par\pard\li0\
ri0\sl-280\slmult0 \fs22\cf0\f0\charscalex100\i {differential}\i0 { }\fs24\cf0\f
0\charscalex100 {orde pertama yang direpresentasikan}\par\pard\li0\ri0\sl-280\sl
mult0 \fs24\cf0\f0\charscalex100 {dalam persamaan berikut:}\par\pard\li66\ri0\sl
-413\slmult0 \*\tx760\*\tx1120\*\tx1680\fs24\cf0\f0\charscalex100\i {df}\i0 \tab
\fs32\cf0\f1\charscalex100 {(}\tab \fs24\cf0\f1\charscalex100 {\uc1\u8722X}\tab
\fs32\cf0\f1\charscalex100 {)}\par\pard\sect\sectd\sbknone\cols5\colno1\colw581
3\colsr-0\colno2\colw466\colsr-0\colno3\colw333\colsr-0\colno4\colw3226\colsr-0\
colno5\colw1280\pard\li1026\ri0\sl-213\slmult0 \*\tx1720\fs18\cf0\f0\charscalex1
00\b {Catatan:}\b0 \tab \fs18\cf0\f0\charscalex100 {Diskusi }\fs18\cf0\f0\charsc
alex100 {untuk }\fs18\cf0\f0\charscalex100 {makalah }\fs18\cf0\f0\charscalex100
{ini }\fs18\cf0\f0\charscalex100 {diterima }\fs18\cf0\f0\charscalex100 {sebelum
}\fs18\cf0\f0\charscalex100 {tanggal 1}\par\pard\li1026\ri0\sl-213\slmult0 \fs16
\cf0\f0\charscalex100 {Desember 2004. }\fs16\cf0\f0\charscalex100 {Diskusi yang
}\fs16\cf0\f0\charscalex100 {layak }\fs16\cf0\f0\charscalex100 {muat }\fs16\cf0\
f0\charscalex100 {akan }\fs16\cf0\f0\charscalex100 {diterbitkan }\fs16\cf0\f0\ch
arscalex100 {pada}\par\pard\li1026\ri0\sl-213\slmult0 \fs16\cf0\f0\charscalex100
{Jurnal }\fs16\cf0\f0\charscalex100 {Teknik }\fs16\cf0\f0\charscalex100 {Elektr
o volume 5, }\fs16\cf0\f0\charscalex100 {nomor 1, }\fs16\cf0\f0\charscalex100 {M
aret 2005.}\par\column\pard\li0\ri0\sl-360\slmult0 \fs24\cf0\f0\charscalex100\i
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r-0\colno4\colw373\colsr-0\colno5\colw1413\colsr-0\colno6\colw1066\colsr-0\colno
7\colw5946\pard\li480\ri0\sl-306\slmult0 \fs24\cf0\f0\charscalex100 {Dimana:}\pa
r\column\pard\li0\ri0\sl-293\slmult0 \fs24\cf0\f1\charscalex100 {\uc1\u63728X}\p
ar\column\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100\i {t}\i0 \par\c
olumn\pard\li0\ri0\sl-146\slmult0 \fs12\cf0\f0\charscalex100 {1}\par\column\pard
\li0\ri0\sl-440\slmult0 \fs24\cf0\f0\charscalex100\i {e}\i0 {\sub \fs24\cf0\f0\c
harscalex100\i {T}\i0 }\par\pard\li520\ri0\sl-160\slmult0 \*\tx640\fs12\cf0\f0\c
harscalex100\i {i}\i0 \tab \fs12\cf0\f0\charscalex100\i {k}\i0 { }\fs12\cf0\f1\c
harscalex100 {=}\fs12\cf0\f0\charscalex100 {0}\par\column\pard\li0\ri0\sl-293\sl
mult0 \fs24\cf0\f1\charscalex100 {\uc1\u63739X}\par\column\pard\li0\ri0\sl-280\s
lmult0 \fs24\cf0\f0\charscalex100 {Sensor yang digunakan untuk mengukur}\par\par
d\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {ketinggian air adalah poten
siometer. Untuk}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {men
gkonversi gerakan naik-turun ketinggian air}\par\pard\sect\sectd\sbknone\pgwsxn1
1920\pghsxn16840\marglsxn666\margrsxn133\cols3\colno1\colw4226\colsr-0\colno2\co
lw946\colsr-0\colno3\colw5946\pard\li520\ri0\sl-480\slmult0 \*\tx2493\*\tx3293\f
s24\cf0\f0\charscalex100\i {K}\i0 {\sub \fs14\cf0\f0\charscalex100\i {i}\i0 }\fs
24\cf0\f1\charscalex100 {=}{ }\fs24\cf0\f0\charscalex100\i {K}\i0 {\sub \fs14\cf
0\f0\charscalex100\i {p}\i0 }\fs24\cf0\f0\charscalex100\i {T}\i0 {\sub \fs14\cf0
\f0\charscalex100\i {s}\i0 }\fs24\cf0\f0\charscalex100 { dan }{ }\fs24\cf0\f0\
charscalex100\i {K}\i0 \tab \fs24\cf0\f1\charscalex100 {=}{ }\fs24\cf0\f0\charsc
alex100\i {K}\i0 {\super \fs24\up5\cf0\f0\charscalex100\i {T}\i0 }\fs14\cf0\f0\c
harscalex100\i \ul {d}\i0 \ul0 \tab \fs24\cf0\f0\charscalex100 { dengan}\par\col
umn\pard\li0\ri0\sl-333\slmult0 \fs24\cf0\f1\charscalex100 {\uc1\u8710X}\fs24\cf
0\f0\charscalex100\i {t}\i0 { }\fs24\cf0\f1\charscalex100 {=}{ }\fs24\cf0\f0\cha
rscalex100\i {T}\i0 {\sub \fs14\cf0\f0\charscalex100\i {s}\i0 }\par\column\pard\
li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {menjadi gerakan rotasi yang a
kan memutar}\par\pard\sect\sectd\sbknone\pgwsxn11920\pghsxn16840\marglsxn666\mar
grsxn133\cols6\colno1\colw1320\colsr-0\colno2\colw1000\colsr-0\colno3\colw560\co
lsr-0\colno4\colw146\colsr-0\colno5\colw2146\colsr-0\colno6\colw5946\pard\li480\
ri0\sl-413\slmult0 \fs24\cf0\f0\charscalex100 {Apabila}\par\column\pard\li0\ri0\
sl-280\slmult0 \fs24\cf0\f0\charscalex100\i {T}\i0 \par\pard\li120\ri0\sl-173\sl
mult0 \fs14\cf0\f0\charscalex100\i {i}\i0 \par\column\pard\li0\ri0\sl-173\slmult
0 \fs14\cf0\f0\charscalex100\i {d}\i0 \par\column\pard\li0\ri0\sl-173\slmult0 \f
s14\cf0\f0\charscalex100\i {p}\i0 \par\column\pard\li0\ri0\sl-280\slmult0 \fs24\
cf0\f0\charscalex100\i {T}\i0 \par\pard\li120\ri0\sl-173\slmult0 \fs14\cf0\f0\ch
arscalex100\i {s}\i0 \par\column\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charsc
alex100 {potensiometer, digunakan sebuah pelampung}\par\pard\li0\ri0\sl-280\slmu
lt0 \fs24\cf0\f0\charscalex100 {dan pemberat yang dirangkai dalam sebuah}\par\pa
rd\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {sistem katrol (lihat gamba
r 1). Besar poten-}\par\pard\sect\sectd\sbknone\pgwsxn11920\pghsxn16840\marglsxn
666\margrsxn133\cols3\colno1\colw4586\colsr-0\colno2\colw586\colsr-0\colno3\colw
5946\pard\li520\ri0\sl-346\slmult0 \fs24\cf0\f0\charscalex100\i {S}\i0 {\sub \fs
14\cf0\f0\charscalex100\i {n}\i0 }\fs24\cf0\f1\charscalex100 {=}{ }\fs24\cf0\f0\
charscalex100\i {S}\i0 {\sub \fs14\cf0\f0\charscalex100\i {n}\i0 }\fs14\cf0\f1\c
harscalex100 {\uc1\u8722X}\fs14\cf0\f0\charscalex100 {1}{\super \fs24\up1\cf0\f1
\charscalex100 {+}}\fs24\cf0\f0\charscalex100\i {e}\i0 \par\pard\li1733\ri0\sl-1
73\slmult0 \fs14\cf0\f0\charscalex100\i {n}\i0 \par\column\pard\li0\ri0\sl-280\s
lmult0 \fs24\cf0\f0\charscalex100 {(5)}\par\column\pard\li0\ri0\sl-293\slmult0 \
fs24\cf0\f0\charscalex100 {siometer yang digunakan adalah 5 k}\fs24\cf0\f1\chars
calex100 {\uc1\u8486X}\fs24\cf0\f0\charscalex100 {. Berikut}\par\pard\li0\ri0\sl
-280\slmult0 \fs24\cf0\f0\charscalex100 {gambar 2 memperlihatkan rangkaian poten

sio-}\par\pard\sect\sectd\sbknone\pgwsxn11920\pghsxn16840\marglsxn666\margrsxn13
3\cols2\colno1\colw5173\colsr-0\colno2\colw5946\pard\li480\ri0\sl-280\slmult0 \f
s24\cf0\f0\charscalex100 {Maka persamaan kontroler PID dalam bentuk}\par\pard\li
480\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {diskrit adalah sebagai beriku
t[1]:}\par\pard\li680\ri0\sl-426\slmult0 \fs24\cf0\f0\charscalex100\i {m}\i0 {\s
ub \fs14\cf0\f0\charscalex100\i {n}\i0 }\fs24\cf0\f1\charscalex100 {=}{ }\fs24\c
f0\f0\charscalex100\i {K}\i0 {\sub \fs14\cf0\f0\charscalex100\i {p}\i0 }\fs20\cf
0\f1\charscalex100 {\uc1\u8901X}{ }\fs24\cf0\f0\charscalex100\i {e}\i0 {\sub \fs
14\cf0\f0\charscalex100\i {n}\i0 }\fs24\cf0\f1\charscalex100 {+}{ }\fs24\cf0\f0\
charscalex100\i {K}\i0 {\sub \fs14\cf0\f0\charscalex100\i {i}\i0 }\fs20\cf0\f1\c
harscalex100 {\uc1\u8901X}{ }\fs24\cf0\f0\charscalex100\i {S}\i0 {\sub \fs14\cf0
\f0\charscalex100\i {n}\i0 }\fs24\cf0\f1\charscalex100 {+}{ }\fs24\cf0\f0\charsc
alex100\i {K}\i0 {\sub \fs14\cf0\f0\charscalex100\i {d}\i0 }\fs20\cf0\f1\charsca
lex100 {\uc1\u8901X}{ }\fs32\cf0\f1\charscalex100 {(}\fs24\cf0\f0\charscalex100\
i {e}\i0 {\sub \fs14\cf0\f0\charscalex100\i {n}\i0 }\fs24\cf0\f1\charscalex100 {
\uc1\u8722X}{ }\fs24\cf0\f0\charscalex100\i {e}\i0 {\sub \fs14\cf0\f0\charscalex
100\i {n}\i0 }\fs14\cf0\f1\charscalex100 {\uc1\u8722X}\fs14\cf0\f0\charscalex100
{1}{\super \fs32\up0\cf0\f1\charscalex100 {)}}\fs24\cf0\f0\charscalex100 {(6)}\
par\pard\li480\ri0\sl-440\slmult0 \*\tx1266\*\tx3120\fs24\cf0\f0\charscalex100 {
dimana}\tab \fs24\cf0\f0\charscalex100\i {S}\i0 {\sub \fs14\cf0\f0\charscalex100
\i {n}\i0 }\fs24\cf0\f0\charscalex100 {= Jumlah error,}\tab \fs24\cf0\f0\charsca
lex100\i {S}\i0 {\sub \fs14\cf0\f0\charscalex100\i {n}\i0 }\fs14\cf0\f1\charscal
ex100 {\uc1\u8722X}\fs14\cf0\f0\charscalex100 {1}{ }\fs24\cf0\f0\charscalex100 {
= jumlah error}\par\pard\li480\ri0\sl-360\slmult0 \*\tx1733\*\tx3773\fs24\cf0\f0
\charscalex100 {sebelumnya,}\tab \fs24\cf0\f0\charscalex100\i {e}\i0 {\sub \fs14
\cf0\f0\charscalex100\i {n}\i0 }\fs24\cf0\f0\charscalex100 {= error sekarang,}\f
s24\cf0\f0\charscalex100 { }\tab \fs24\cf0\f0\charscalex100\i {e}\i0 {\sub \fs14
\cf0\f0\charscalex100\i {n}\i0 }\fs14\cf0\f1\charscalex100 {\uc1\u8722X}\fs14\cf
0\f0\charscalex100 {1}{ }\fs24\cf0\f0\charscalex100 {= error}\par\pard\li480\ri0
\sl-360\slmult0 \fs24\cf0\f0\charscalex100 {sebelumnya,}{ }\fs24\cf0\f0\charscal
ex100\i {m}\i0 {\sub \fs14\cf0\f0\charscalex100\i {n}\i0 }\fs24\cf0\f0\charscale
x100 {= output sekarang.}\par\pard\li480\ri0\sl-213\slmult0 \fs18\cf0\par\pard\l
i480\ri0\sl-386\slmult0 \fs24\cf0\f0\charscalex100\b {3. }\b0 \fs24\cf0\f0\chars
calex100\b {Deskripsi Sistem}\b0 \par\pard\li480\ri0\sl-426\slmult0 \fs22\cf0\f0
\charscalex100\b {3.1 Perangkat Keras}\b0 \par\pard\li773\ri0\sl-213\slmult0 \fs
18\cf0\par\pard\li773\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li773\ri0\sl-213\slm
ult0 \fs18\cf0\par\pard\li773\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li773\ri0\sl
-213\slmult0 \fs18\cf0\par\pard\li773\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li77
3\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li773\ri0\sl-213\slmult0 \fs18\cf0\par\p
ard\li773\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li773\ri0\sl-213\slmult0 \fs18\c
f0\par\pard\li773\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li773\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li773\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li773\ri0\sl-213
\slmult0 \fs18\cf0\par\pard\li773\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li773\ri
0\sl-480\slmult0 \fs24\cf0\f0\charscalex100 {Gambar 1. Blok Diagram Perangkat Ke
ras}\par\pard\li2360\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {Sistem}\par\
pard\li480\ri0\sl-480\slmult0 \fs24\cf0\f0\charscalex100 {Gambar 1 menunjukkan b
lok diagram sistem}\par\pard\li480\ri0\sl-280\slmult0 \*\tx2280\*\tx3026\fs22\cf
0\f0\charscalex100 {yang telah dibuat.}\tab \fs22\cf0\f0\charscalex100\i {Plant}
\i0 \tab \fs22\cf0\f0\charscalex100 {terdiri dari dua buah}\par\pard\li480\ri0\s
l-280\slmult0 \fs22\cf0\f0\charscalex100 {bejana atau tangki yang terbuat dari k
aca. Tangki}\par\pard\li480\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {yang
bawah merupakan tempat penampungan air}\par\pard\li480\ri0\sl-280\slmult0 \fs24\
cf0\f0\charscalex100 {berukuran 39 x 34 x 35 cm. Tangki yang di atas}\par\pard\l
i480\ri0\sl-280\slmult0 \*\tx2360\*\tx3333\fs24\cf0\f0\charscalex100 {berfungsi
sebagai}\fs24\cf0\f0\charscalex100 { }\tab \fs24\cf0\f0\charscalex100\i {plant}\
i0 \tab \fs22\cf0\f0\charscalex100 {yang diatus level}\par\pard\li480\ri0\sl-280
\slmult0 \fs24\cf0\f0\charscalex100 {ketinggian airnya. Tangki ini berukuran 19
x 14}\par\pard\li480\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {x 40,5 cm. S
ebuah pompa digunakan untuk}\par\pard\li480\ri0\sl-280\slmult0 \fs24\cf0\f0\char
scalex100 {menaikkan air dari tangki penampungan ke}\par\pard\li480\ri0\sl-280\s

lmult0 \*\tx1853\fs24\cf0\f0\charscalex100 {dalam tangki}\fs24\cf0\f0\charscalex

100 { }\tab \fs24\cf0\f0\charscalex100\i {plant}\i0 \fs24\cf0\f0\charscalex100 {
. Spesifikasi pompa yang}\par\pard\li480\ri0\sl-280\slmult0 \fs24\cf0\f0\charsca
lex100 {digunakan adalah 12 VDC, 3,5 A. Untuk}\par\column\pard\li0\ri0\sl-280\sl
mult0 \fs24\cf0\f0\charscalex100 {meter yang mengubah ketinggian air menjadi}\pa
r\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {tegangan. Rangkaian in
i mengeluarkan tegangan}\par\pard\li0\ri0\sl-280\slmult0 \*\tx3840\fs24\cf0\f0\c
harscalex100 {output sebesar 0 \uc1\u8211X 1,194 volt untuk}\fs24\cf0\f0\charsca
lex100 { }\tab \fs24\cf0\f0\charscalex100\i {range}\i0 \par\pard\li0\ri0\sl-280\
slmult0 \fs24\cf0\f0\charscalex100 {pengukuran ketinggian air dari 0 \uc1\u8211X
30 cm.}\par\pard\li226\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li226\ri0\sl-213\s
lmult0 \fs18\cf0\par\pard\li226\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li226\ri0\
sl-213\slmult0 \fs18\cf0\par\pard\li226\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li
226\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li226\ri0\sl-213\slmult0 \fs18\cf0\par
\pard\li226\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li226\ri0\sl-213\slmult0 \fs18
\cf0\par\pard\li226\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li226\ri0\sl-346\slmul
t0 \fs22\cf0\f0\charscalex100 {Gambar 2. Rangkaian Sensor Potensiometer}\par\par
d\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-293\slmult0 \fs24\cf0\f0\
charscalex100 {Karena tegangan input ADC dirancang sebesar 0}\par\pard\li0\ri0\s
l-280\slmult0 \fs24\cf0\f0\charscalex100 {\uc1\u8211X 5 volt maka diperlukan seb
uah rangkaian}\par\pard\li0\ri0\sl-280\slmult0 \*\tx1000\fs24\cf0\f0\charscalex1
00\i {amplifier}\i0 \tab \fs24\cf0\f0\charscalex100 {sebagai penguat tegangan de
ngan}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {faktor penguat
an sebesar 4,187. Rangkaian yang}\par\pard\li0\ri0\sl-280\slmult0 \*\tx3000\fs24
\cf0\f0\charscalex100 {digunakan adalah rangkaian}\fs24\cf0\f0\charscalex100 { }
\tab \fs24\cf0\f0\charscalex100\i {non inverting}\i0 \par\pard\li0\ri0\sl-306\sl
mult0 \*\tx1640\fs24\cf0\f0\charscalex100\i {amplifier}\i0 \tab \fs24\cf0\f0\cha
rscalex100 {dengan rangkaian seperti yang}\par\pard\li0\ri0\sl-280\slmult0 \fs24
\cf0\f0\charscalex100 {ditunjukkan pada gambar 3.}\par\pard\li120\ri0\sl-213\slm
ult0 \fs18\cf0\par\pard\li120\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li120\ri0\sl
-213\slmult0 \fs18\cf0\par\pard\li120\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li12
0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li120\ri0\sl-213\slmult0 \fs18\cf0\par\p
ard\li120\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li120\ri0\sl-213\slmult0 \fs18\c
f0\par\pard\li120\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li120\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li120\ri0\sl-346\slmult0 \fs24\cf0\f0\charscalex100 {Gambar
3. Rangkaian}{ }\fs22\cf0\f0\charscalex100\i {Non Inverting Amplifier}\i0 \par\p
ard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-293\slmult0 \*\tx1040\f
s24\cf0\f0\charscalex100 {Rangkaian}\tab \fs24\cf0\f0\charscalex100\i {analog to
digital converter}\i0 { }\fs24\cf0\f0\charscalex100 {(ADC)}\par\pard\li0\ri0\sl
-280\slmult0 \fs24\cf0\f0\charscalex100 {diperlukan untuk mengubah data ketinggi
an air}\par\pard\li0\ri0\sl-280\slmult0 \*\tx1106\*\tx2600\*\tx3320\fs24\cf0\f0\
charscalex100 {yang sinyal}\tab \fs24\cf0\f0\charscalex100\i {analog}\i0 \fs24\c
f0\f0\charscalex100 { menjadi}\tab \fs24\cf0\f0\charscalex100\i {digital}\i0 \ta
b \fs24\cf0\f0\charscalex100 {untuk dapat}\par\pard\li0\ri0\sl-280\slmult0 \fs24
\cf0\f0\charscalex100 {dibaca oleh PC. Dalam aplikasi ini, ADC yang}\par\pard\li
0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {digunakan adalah ADC 0804 yang
mempunyai}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {satu inpu
t analog dan output digital 8 bit.}\par\pard\sect\sectd\sbknone\pgwsxn11920\pghs
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ar\pard\li0\ri0\sl-346\slmult0 \fs18\cf0\f0\charscalex100\i {Jurusan Teknik Elek
tro, Fakultas Teknologi Industri \uc1\u8211X Universitas Kristen Petra}\i0 \par\
pard\li1506\ri0\sl-253\slmult0 \fs18\cf0\f0\charscalex100\i {http://puslit.petra
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6840\marglsxn666\margrsxn133\pard\sect\sectd\sbkpage{\shp
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}}}}\pgwsxn11920\pghsxn16840\marglsxn666\margrsxn133\margtsxn666\margbsxn173\par
d\li3453\ri0\sl-240\slmult0 \fs14\cf0\f0\charscalex100\b {Pengaturan Level Ketin
ggian Air Menggunakan Kontrol PID}\b0 \par\pard\li5093\ri0\sl-213\slmult0 \fs18\
cf0\f0\charscalex100 {[}\fs16\cf0\f0\charscalex100\i {Thiang et al.}\i0 \fs18\cf
0\f0\charscalex100 {]}\par\pard\sect\sectd\sbknone\pgwsxn11920\pghsxn16840\margl
sxn666\margrsxn133\cols2\colno1\colw5733\colsr-0\colno2\colw5386\pard\li1026\ri0
\sl-213\slmult0 \fs18\cf0\par\pard\li1026\ri0\sl-346\slmult0 \fs24\cf0\f0\charsc
alex100 {Rangkaian ADC ini membutuhkan tegangan}\par\pard\li1026\ri0\sl-280\slmu
lt0 \fs24\cf0\f0\charscalex100 {referensi 2,5 volt. Tegangan referensi ini}\par\
pard\li1026\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {dihasilkan dari LM336
-2,5.Secara lengkap}\par\pard\li1026\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex1
00 {rangkaian ADC dapat dilihat pada gambar 4.}\par\pard\li1733\ri0\sl-213\slmul
t0 \fs18\cf0\par\pard\li1733\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1733\ri0\sl
-213\slmult0 \fs18\cf0\par\pard\li1733\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1
733\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1733\ri0\sl-213\slmult0 \fs18\cf0\pa
r\pard\li1733\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1733\ri0\sl-213\slmult0 \f
s18\cf0\par\pard\li1733\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1733\ri0\sl-213\
slmult0 \fs18\cf0\par\pard\li1733\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1733\r
i0\sl-213\slmult0 \fs18\cf0\par\pard\li1733\ri0\sl-213\slmult0 \fs18\cf0\par\par
d\li1733\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1733\ri0\sl-213\slmult0 \fs18\c
f0\par\pard\li1733\ri0\sl-360\slmult0 \fs24\cf0\f0\charscalex100 {Gambar 4. Rang
kaian ADC 0804}\par\pard\li1026\ri0\sl-493\slmult0 \fs24\cf0\f0\charscalex100 {O
utput ADC dihubungkan ke PC melalui}{ }\fs24\cf0\f0\charscalex100\i {paralel}\i0
\par\pard\li1026\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100\i {port}\i0 { }\
fs24\cf0\f0\charscalex100 {LPT1. LPT1 hanya mempunyai 5 bit input}\par\pard\li10
26\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {sedangkan ADC mempunyai output
8 bit. Karena}\par\pard\li1026\ri0\sl-280\slmult0 \fs22\cf0\f0\charscalex100 {i
tu untuk dapat melakukan pembacaan 8 bit,}\par\pard\li1026\ri0\sl-280\slmult0 \f
s24\cf0\f0\charscalex100 {maka digunakan sebuah multiplekser yaitu IC}\par\pard\
li1026\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {74LS241. Pin input yang di
gunakan adalah pin}\par\pard\li1026\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex10
0 {S4, S5, S6 dan S7. Pin-pin ini dapat diakses oleh}\par\pard\li1026\ri0\sl-280
\slmult0 \fs24\cf0\f0\charscalex100 {program melalui port dengan alamat 379h.}\p
ar\pard\li1026\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {Sinyal kontrol ADC
(WR dan RD) dan}\par\pard\li1026\ri0\sl-280\slmult0 \fs22\cf0\f0\charscalex100
{multiplekser (1G dan 2G) dihubungkan melalui}\par\pard\li1026\ri0\sl-280\slmult
0 \fs24\cf0\f0\charscalex100 {pin-pin C0, C1 dan C2. Rangkaian lengkap}\par\pard
\li1026\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {koneksi ini dapat dilihat
pada gambar 5.}\par\pard\li1093\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1093\ri
0\sl-213\slmult0 \fs18\cf0\par\pard\li1093\ri0\sl-213\slmult0 \fs18\cf0\par\pard

\li1093\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1093\ri0\sl-213\slmult0 \fs18\cf

0\par\pard\li1093\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1093\ri0\sl-213\slmult
0 \fs18\cf0\par\pard\li1093\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1093\ri0\sl213\slmult0 \fs18\cf0\par\pard\li1093\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li10
93\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1093\ri0\sl-213\slmult0 \fs18\cf0\par
\pard\li1093\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1093\ri0\sl-253\slmult0 \fs
18\cf0\f0\charscalex100\b {Paralel}\b0 \par\pard\li1200\ri0\sl-200\slmult0 \fs18
\cf0\f0\charscalex100\b {Port}\b0 \par\pard\li1146\ri0\sl-200\slmult0 \fs18\cf0\
f0\charscalex100\b {LPT1}\b0 \par\pard\li1093\ri0\sl-213\slmult0 \fs18\cf0\par\p
ard\li1093\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1093\ri0\sl-213\slmult0 \fs18
\cf0\par\pard\li1093\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1093\ri0\sl-440\slm
ult0 \fs24\cf0\f0\charscalex100 {Gambar 5. Koneksi ADC ke}{ }\fs22\cf0\f0\charsc
alex100\i {Paralel Port}\i0 { }\fs24\cf0\f0\charscalex100 {LPT1}\par\pard\li1026
\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1026\ri0\sl-293\slmult0 \fs24\cf0\f0\ch
arscalex100 {Proses kontrol PID dilakukan oleh PC dengan}\par\pard\li1026\ri0\sl
-280\slmult0 \fs24\cf0\f0\charscalex100 {menggunakan persamaan 6. Output dari ko
ntro-}\par\pard\li1026\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {ler diguna
kan untuk menggerakkan pompa air}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\c
f0\par\pard\li0\ri0\sl-346\slmult0 \*\tx560\*\tx2346\fs24\cf0\f0\charscalex100 {
atau}\tab \fs24\cf0\f0\charscalex100\i {solenoid valve}\i0 \tab \fs24\cf0\f0\cha
rscalex100 {untuk pembuangan air.}\par\pard\li0\ri0\sl-280\slmult0 \*\tx1053\*\t
x1733\*\tx3186\fs24\cf0\f0\charscalex100 {Rangkaian}\tab \fs24\cf0\f0\charscalex
100\i {driver}\i0 \tab \fs22\cf0\f0\charscalex100\i {solenoid valve}\i0 \tab \fs
24\cf0\f0\charscalex100 {dibentuk dari}\par\pard\li0\ri0\sl-280\slmult0 \*\tx746
\*\tx1306\fs24\cf0\f0\charscalex100 {sebuah}\tab \fs24\cf0\f0\charscalex100\i {r
elay}\i0 \tab \fs24\cf0\f0\charscalex100 {dan transistor BD139. Tegangan}\par\pa
rd\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {basis dari transistor BD13
9 di-}\fs24\cf0\f0\charscalex100\i {drive}\i0 { }\fs24\cf0\f0\charscalex100 {dar
i sebuah}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {inverter I
C 74LS04 yang terkoneksi dengan}\par\pard\li0\ri0\sl-306\slmult0 \*\tx3986\fs24\
cf0\f0\charscalex100 {komputer melalui paralel port LPT1 Pin}\fs24\cf0\f0\charsc
alex100 { }\tab \fs24\cf0\f0\charscalex100\i \ul {C}\i0 \ul0 \fs24\cf0\f0\charsc
alex100\ul {3}\ul0 { }\fs24\cf0\f0\charscalex100 {.}\par\pard\li0\ri0\sl-280\slm
ult0 \*\tx1826\*\tx3880\fs24\cf0\f0\charscalex100 {Rangkaian lengkap}\tab \fs22\
cf0\f0\charscalex100\i {driver solenoid valve}\i0 \tab \fs24\cf0\f0\charscalex10
0 {dapat}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {dilihat pa
da gambar 6.}\par\pard\li200\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li200\ri0\sl213\slmult0 \fs18\cf0\par\pard\li200\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li200
\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li200\ri0\sl-213\slmult0 \fs18\cf0\par\pa
rd\li200\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li200\ri0\sl-213\slmult0 \fs18\cf
0\par\pard\li200\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li200\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li200\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li200\ri0\sl-213\
slmult0 \fs18\cf0\par\pard\li200\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li200\ri0
\sl-333\slmult0 \fs24\cf0\f0\charscalex100 {Gambar 6. Rangkaian}{ }\fs22\cf0\f0\
charscalex100\i {Driver Solenoid Valve}\i0 \par\pard\li0\ri0\sl-493\slmult0 \*\t
x1053\*\tx1746\fs24\cf0\f0\charscalex100 {Rangkaian}\tab \fs24\cf0\f0\charscalex
100\i {driver}\i0 \tab \fs24\cf0\f0\charscalex100 {pompa digunakan dua buah}\par
\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {transistor NPN yaitu 2N
3005 dan TIP31A.}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {Ke
dua transistor ini dihubungkan membentuk}\par\pard\li0\ri0\sl-280\slmult0 \*\tx1
186\*\tx2453\*\tx3200\fs24\cf0\f0\charscalex100 {rangkaian}\tab \fs22\cf0\f0\cha
rscalex100\i {darlington}\i0 \tab \fs24\cf0\f0\charscalex100 {agar}\tab \fs24\cf
0\f0\charscalex100 {mendapatkan}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\ch
arscalex100 {penguatan yang besar, sehingga arus Ib transistor}\par\pard\li0\ri0
\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {yang digunakan kecil. Sebuah transis
tor BD139}\par\pard\li0\ri0\sl-280\slmult0 \*\tx506\*\tx1506\fs24\cf0\f0\charsca
lex100 {dan}\tab \fs24\cf0\f0\charscalex100\i {relay}\i0 \tab \fs24\cf0\f0\chars
calex100 {digunakan untuk mematikan dan}\par\pard\li0\ri0\sl-280\slmult0 \fs24\c
f0\f0\charscalex100 {menyalakan pompa. Gambar lengkap rangkaian}\par\pard\li0\ri
0\sl-280\slmult0 \fs22\cf0\f0\charscalex100\i {driver pompa}\i0 \fs24\cf0\f0\cha

rscalex100 { dapat dilihat pada gambar 7.}\par\pard\li600\ri0\sl-213\slmult0 \fs

18\cf0\par\pard\li600\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li600\ri0\sl-213\slm
ult0 \fs18\cf0\par\pard\li600\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li600\ri0\sl
-213\slmult0 \fs18\cf0\par\pard\li600\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li60
0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li600\ri0\sl-213\slmult0 \fs18\cf0\par\p
ard\li600\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li600\ri0\sl-213\slmult0 \fs18\c
f0\par\pard\li600\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li600\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li600\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li600\ri0\sl-213
\slmult0 \fs18\cf0\par\pard\li600\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li600\ri
0\sl-333\slmult0 \fs24\cf0\f0\charscalex100 {Gambar 7. rangkaian}{ }\fs24\cf0\f0
\charscalex100\i {Driver}\i0 { }\fs24\cf0\f0\charscalex100 {Pompa}\par\pard\li0\
ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-320\slmult0 \fs24\cf0\f0\charsc
alex100 {Dari hasil percobaan pompa, diketahui bahwa}\par\pard\li0\ri0\sl-280\sl
mult0 \fs24\cf0\f0\charscalex100 {pompa bekerja (mengeluarkan air lewat pipa}\pa
r\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {PVC) pada tegangan 4 s
ampai 12 volt. Bila}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100
{tegangan input pompa kurang dari 4 volt, pompa}\par\pard\li0\ri0\sl-280\slmult0
\fs24\cf0\f0\charscalex100 {belum dapat menaikkan air ke atas. Dengan}\par\pard
\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {demikian, tegangan input}\fs
24\cf0\f0\charscalex100 { }{ }\fs24\cf0\f0\charscalex100\i {driver motor}\i0 \fs
24\cf0\f0\charscalex100\i { }\i0 { }\fs24\cf0\f0\charscalex100 {dapat}\par\pard\
li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {diketahui (dengan menggunakan
persamaan 7)}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {yaitu
5,8 sampai 13,8 volt dengan asumsi}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f
0\charscalex100 {tegangan jatuh pada Rb sebesar 0,4 volt.}\par\pard\sect\sectd\s
bknone\pgwsxn11920\pghsxn16840\marglsxn666\margrsxn133\cols2\colno1\colw9906\col
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0\sl-346\slmult0 \fs18\cf0\f0\charscalex100\i {Jurusan Teknik Elektro, Fakultas
Teknologi Industri \uc1\u8211X Universitas Kristen Petra}\i0 \par\pard\li3653\ri
0\sl-253\slmult0 \fs18\cf0\f0\charscalex100\i {http://puslit.petra.ac.id/journal
s/electrical/}\i0 \par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0
\ri0\sl-320\slmult0 \fs20\cf0\f0\charscalex100\b {81}\b0 \par\pard\sect\sectd\sb
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51451400514514005145140051451400514514005145140051451400514514005145140051451400
51451400514514005145140051451400514514005145140051451400514514005145140051451400

51451400514514005145140051451400514514005145140051451400514514005145140051451400
51451400514514005145140051451400514514005145140051451400514514005145140051451400
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0A28A2800A28A2800A28A2800A28A2800A28A2800A28A2800A28A2800A28A2800A28A2800A28A280
0A28A2800A28A2800A28A2800A28A2800A28A2800A28A2800A28A2800A28A2800A28A2800A28A280
0A28A2800A28A2800A28A2800A28A2800A28A2800A28A2800A28A2800A28A2800A28A2800A28A280
0A28A2800A28A2800AE0FC57F083C21E2DB83777167258DE33EE92E6C196269796277020A924B64B
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8DD9FF00F0CE3E30FF00A09687FF007FE6FF00E355F4FD1401F307FC338F8C3FE825A1FF00DFF9BF
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F0CE3E30FF00A09687FF007FE6FF00E3547FC338F8C3FE825A1FFDFF009BFF008D57D3F45007CC1F
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2AA0F38FE21EBCF4AFA5E8A00F33F0BFC0CF087879D2E2EE19358BB08A0B5F0568836D218AC40630
739C3EEC6060E464FA65145001451450014514500145145001451450014514500145145001451450
01451450014514500145145001451450014514500145145001451450014514500145145001451450
01451450014514500145145001451450014514500145145001451450014514500145145001451450
01451450014514500145145001451450014514500145145001451450014514500145145001451450
01451450014514500145145001451450014514500145145001451450014514500145145001451450
01451450014514500145145001451450014514500145145001451450014514500145145001451450
01451450014514500145145001451450014514500145145001451450014514500145145001451450
01451450014514500145145001451450014514500145145001451450014514500145145001451450
01451450014514500145145001451450014514500145145001451450014514500145145001451450
01451450014514500145145001451450014514500145145001451450014514500145145001451450
01451450014514500145145001451450014514500145145001451450014514500145145001451450
01451450014514500145145001451450014514500145145001451450014514500145145001451450
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01451450014514500145145001451450014514500145145001451450014514500145145001451450
07FFD9}
}}}}\pgwsxn11920\pghsxn16840\marglsxn666\margrsxn133\margtsxn666\margbsxn173\par
d\li2906\ri0\sl-240\slmult0 \fs16\cf0\f0\charscalex100\b {Jurnal }\b0 \fs16\cf0\
f0\charscalex100\b {Teknik }\b0 \fs16\cf0\f0\charscalex100\b {Elektro Vol. 4, No
. 2, September 2004: 79 - 84}\b0 \par\pard\sect\sectd\sbknone\pgwsxn11920\pghsx
n16840\marglsxn666\margrsxn133\cols4\colno1\colw1400\colsr-0\colno2\colw3186\col
sr-0\colno3\colw586\colsr-0\colno4\colw5946\pard\li840\ri0\sl-213\slmult0 \fs18\
cf0\par\pard\li840\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li840\ri0\sl-400\slmult
0 \fs24\cf0\f1\charscalex100 {=}{ }\fs24\cf0\f0\charscalex100\i {V}\i0 \par\pard
\li640\ri0\sl-173\slmult0 \fs24\cf0\f0\charscalex100\i {V}\i0 {\sub \fs14\cf0\f0
\charscalex100\i {in}\i0 }\fs14\cf0\f0\charscalex100\i {Rb}\i0 \par\column\pard\
li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\p
ard\li0\ri0\sl-400\slmult0 \*\tx826\fs24\cf0\f1\charscalex100 {+}{ }\fs24\cf0\f0

\charscalex100 {2}{ }\fs20\cf0\f1\charscalex100 {\uc1\u8901X}\tab \fs24\cf0\f1\c

harscalex100 {+}{ }\fs24\cf0\f0\charscalex100\i {V}\i0 \par\pard\li573\ri0\sl-17
3\slmult0 \fs24\cf0\f0\charscalex100\i {V}\i0 {\sub \fs14\cf0\f0\charscalex100\i
{BE}\i0 }\fs14\cf0\f0\charscalex100\i {pompa}\i0 \par\column\pard\li0\ri0\sl-21
3\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\s
l-386\slmult0 \fs24\cf0\f0\charscalex100 {(7)}\par\column\pard\li0\ri0\sl-213\sl
mult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-30
6\slmult0 \fs24\cf0\f0\charscalex100 {telah dijabarkan terdahulu yaitu persamaan
5 dan}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {6. Karena DA
C yang digunakan adalah DAC 8}\par\pard\sect\sectd\sbknone\pgwsxn11920\pghsxn168
40\marglsxn666\margrsxn133\cols2\colno1\colw5173\colsr-0\colno2\colw5946\pard\li
480\ri0\sl-386\slmult0 \fs24\cf0\f0\charscalex100 {Rangkaian}{ }\fs24\cf0\f0\cha
rscalex100\i {driver}\i0 { }\fs24\cf0\f0\charscalex100 {pompa mendapat inputan d
ari}\par\pard\li480\ri0\sl-280\slmult0 \*\tx2186\fs24\cf0\f0\charscalex100 {outp
ut rangkaian}\fs24\cf0\f0\charscalex100 { }\tab \fs24\cf0\f0\charscalex100\i {di
gital to analog converter}\i0 \par\pard\li480\ri0\sl-280\slmult0 \fs22\cf0\f0\ch
arscalex100 {(DAC) yang dilewatkan sebuah rangkaian}\par\pard\li480\ri0\sl-280\s
lmult0 \*\tx3960\fs24\cf0\f0\charscalex100 {pengkondisi sinyal yaitu rangkaian}\
fs24\cf0\f0\charscalex100 { }\tab \fs24\cf0\f0\charscalex100\i {zero and}\i0 \pa
r\pard\li480\ri0\sl-280\slmult0 \*\tx4013\fs24\cf0\f0\charscalex100\i {span}\i0
\fs24\cf0\f0\charscalex100 {. Rangkaian DAC dan rangkaian}\tab \fs24\cf0\f0\char
scalex100\i {zero and}\i0 \par\pard\li480\ri0\sl-280\slmult0 \fs24\cf0\f0\charsc
alex100\i {span}\i0 \fs24\cf0\f0\charscalex100 { dapat dilihat pada gambar 8 dan
9.}\par\pard\li1413\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1413\ri0\sl-213\slm
ult0 \fs18\cf0\par\pard\li1413\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1413\ri0\
sl-213\slmult0 \fs18\cf0\par\pard\li1413\ri0\sl-213\slmult0 \fs18\cf0\par\pard\l
i1413\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1413\ri0\sl-213\slmult0 \fs18\cf0\
par\pard\li1413\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1413\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li1413\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1413\ri0\sl-21
3\slmult0 \fs18\cf0\par\pard\li1413\ri0\sl-320\slmult0 \fs24\cf0\f0\charscalex10
0 {Gambar 8. Rangkaian DAC}\par\pard\li1013\ri0\sl-213\slmult0 \fs18\cf0\par\par
d\li1013\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1013\ri0\sl-213\slmult0 \fs18\c
f0\par\pard\li1013\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1013\ri0\sl-213\slmul
t0 \fs18\cf0\par\pard\li1013\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1013\ri0\sl
-213\slmult0 \fs18\cf0\par\pard\li1013\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1
013\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1013\ri0\sl-213\slmult0 \fs18\cf0\pa
r\pard\li1013\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1013\ri0\sl-453\slmult0 \f
s24\cf0\f0\charscalex100 {Gambar 9. Rangkaian}{ }\fs22\cf0\f0\charscalex100\i {Z
ero and Span}\i0 \par\pard\li480\ri0\sl-493\slmult0 \fs22\cf0\f0\charscalex100 {
Dalam aplikasi ini, DAC yang digunakan adalah}\par\pard\li480\ri0\sl-280\slmult0
\fs22\cf0\f0\charscalex100 {DAC 0808 yang merupakan DAC 8 bit dengan}\par\pard\
li480\ri0\sl-280\slmult0 \*\tx4333\fs24\cf0\f0\charscalex100 {output dari 0 samp
ai 5 volt. Karena}\fs24\cf0\f0\charscalex100 { }\tab \fs24\cf0\f0\charscalex100\
i {range}\i0 \par\pard\li480\ri0\sl-280\slmult0 \fs22\cf0\f0\charscalex100 {tega
ngan input}{ }\fs22\cf0\f0\charscalex100\i {driver}\i0 { }\fs22\cf0\f0\charscale
x100 {pompa sebesar 5,8 sampai}\par\pard\li480\ri0\sl-280\slmult0 \fs24\cf0\f0\c
harscalex100 {13,8 volt maka digunakan rangkaian}\fs24\cf0\f0\charscalex100 { }{
}\fs24\cf0\f0\charscalex100\i {zero and}\i0 \par\pard\li480\ri0\sl-280\slmult0
\*\tx1013\fs24\cf0\f0\charscalex100\i {span}\i0 \tab \fs24\cf0\f0\charscalex100
{untuk menyesuaikan tegangan output DAC}\par\pard\li480\ri0\sl-280\slmult0 \*\tx
3200\fs22\cf0\f0\charscalex100 {dengan tegangan input}{ }\fs22\cf0\f0\charscalex
100\i {driver}\i0 \tab \fs22\cf0\f0\charscalex100 {pompa. Rangkaian}\par\pard\li
480\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {DAC mendapat input dari PC me
lalui paralel}\par\pard\li480\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {por
t LPT1. Jalur data DAC D0 samapai D7}\par\pard\li480\ri0\sl-280\slmult0 \fs24\cf
0\f0\charscalex100 {dihubungkan dengan jalur data paralel port LPT1}\par\pard\li
480\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {D0 samapai D7 pada pin 2 samp
ai 9. Dengan}\par\pard\li480\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {demi
kian untuk mengubah kecepatan motor}\par\pard\li480\ri0\sl-280\slmult0 \fs24\cf0
\f0\charscalex100 {pompa dapat dilakukan dengan mudah yaitu}\par\pard\li480\ri0\

sl-280\slmult0 \fs24\cf0\f0\charscalex100 {hanya dengan mengubah data input DAC.

}\par\pard\li480\ri0\sl-266\slmult0 \fs24\cf0\f0\charscalex100\b {3.2 Perangkat
Lunak}\b0 \par\pard\li480\ri0\sl-333\slmult0 \fs24\cf0\f0\charscalex100 {Pada um
umnya program yang dibuat bertugas}\par\pard\li480\ri0\sl-280\slmult0 \fs24\cf0\
f0\charscalex100 {untuk memonitor ketinggian air, melakukan}\par\pard\li480\ri0\
sl-280\slmult0 \fs24\cf0\f0\charscalex100 {proses kontrol dan menggerakkan pompa
dan}\par\pard\li480\ri0\sl-280\slmult0 \fs22\cf0\f0\charscalex100\i {solenoid v
alve}\i0 \fs24\cf0\f0\charscalex100 {. Proses ini terus dilakukan sampai}\par\pa
rd\li480\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {ketinggian air dalam tan
gki sesuai dengan yang}\par\pard\li480\ri0\sl-280\slmult0 \fs24\cf0\f0\charscale
x100 {diinginkan. Proses perhitungan kontrolerID}\par\pard\li480\ri0\sl-280\slmu
lt0 \fs24\cf0\f0\charscalex100 {dilakukan dengan menggunakan persamaan yang}\par
\column\pard\li0\ri0\sl-280\slmult0 \*\tx1186\fs24\cf0\f0\charscalex100 {bit (}\
fs24\cf0\f0\charscalex100\i {range}\i0 \tab \fs24\cf0\f0\charscalex100 {data dig
ital dari 0 \uc1\u8211X 255) maka bila}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf
0\f0\charscalex100 {hasil perhitungan (persamaan 6) dari kontroler}\par\pard\li0
\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {melebihi 255 maka data DAC di-}\
fs24\cf0\f0\charscalex100\i {set}\i0 { }\fs24\cf0\f0\charscalex100 {255 yang}\pa
r\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {berarti pompa bekerja
maksial. Tetapi, bila hasil}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charsc
alex100 {perhitungan dari kontroler kurang dari 0 maka}\par\pard\li0\ri0\sl-280\
slmult0 \*\tx1960\fs24\cf0\f0\charscalex100 {data DAC di-}\fs24\cf0\f0\charscale
x100\i {set}\i0 \tab \fs24\cf0\f0\charscalex100 {0 yang berarti pompa tidak}\par
\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {bekerja sama sekali dan
}{ }\fs22\cf0\f0\charscalex100\i {solenoid valve}\i0 { }\fs24\cf0\f0\charscalex1
00 { dibuka.}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {Progra
m telah dirancang dengan menggunakan}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\
f0\charscalex100 {bahasa pemrograman borland delphi. Berikut}\par\pard\li0\ri0\s
l-280\slmult0 \fs24\cf0\f0\charscalex100 {gambar 10 menunjukkan diagram alir dar
i}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {program yang tela
h dibuat.}\par\pard\li626\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li626\ri0\sl-213
\slmult0 \fs18\cf0\par\pard\li626\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li626\ri
0\sl-213\slmult0 \fs18\cf0\par\pard\li626\ri0\sl-213\slmult0 \fs18\cf0\par\pard\
li626\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li626\ri0\sl-213\slmult0 \fs18\cf0\p
ar\pard\li626\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li626\ri0\sl-213\slmult0 \fs
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6\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li626\ri0\sl-213\slmult0 \fs18\cf0\par\p
ard\li626\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li626\ri0\sl-213\slmult0 \fs18\c
f0\par\pard\li626\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li626\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li626\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li626\ri0\sl-213
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0\sl-426\slmult0 \fs24\cf0\f0\charscalex100 {Gambar 10. Diagram Alir Program}\pa
r\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-400\slmult0 \fs24\cf
0\f0\charscalex100\b {4. }\b0 \fs24\cf0\f0\charscalex100\b {Pengujian Sistem}\b0
\par\pard\li0\ri0\sl-466\slmult0 \fs24\cf0\f0\charscalex100 {Pengujian sistem p
engaturan level ketinggian air}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\cha
rscalex100 {dilakukan dengan memberikan input fungsi step.}\par\pard\li0\ri0\sl280\slmult0 \fs24\cf0\f0\charscalex100 {Pengujian juga dilakukan dengan berbagai
}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {konstanta Kp, Ki d
an Kd serta dua kondisi sistem}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\cha
rscalex100 {yaitu sistem tanpa gangguan dan sistem dengan}\par\pard\li0\ri0\sl-2
80\slmult0 \*\tx1080\*\tx1840\fs24\cf0\f0\charscalex100 {gangguan.}\tab \fs24\cf
0\f0\charscalex100\i {Range}\i0 \tab \fs24\cf0\f0\charscalex100 {pengukuran keti
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\uc1\u8211X 30 cm yang dikonversikan oleh ADC}\par\pard\li0\ri0\sl-280\slmult0
\fs24\cf0\f0\charscalex100 {menjadi data 0 \uc1\u8211X 255. Dalam pengujian ini
data}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {ketinggian air
yang diguanakan adalah dalam}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\char

scalex100 {skala yang ditunjukkan oleh ADC 0 \uc1\u8211X 255.}\par\pard\li0\ri0\

sl-280\slmult0 \fs22\cf0\f0\charscalex100\b {4.1 Pengujian Sistem Tanpa Gangguan
}\b0 \par\pard\li0\ri0\sl-426\slmult0 \fs24\cf0\f0\charscalex100 {Dalam pengujia
n ini, dilakukan percobaan}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charsca
lex100 {dengan nilai salah satu konstanta kontroler}\par\pard\li0\ri0\sl-280\slm
ult0 \fs24\cf0\f0\charscalex100 {diubah sedangkan nilai konstanta kontroler yang
}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {lain tetap. Penguj
ian sistem ini dilakukan dengan}\par\pard\sect\sectd\sbknone\pgwsxn11920\pghsxn1
6840\marglsxn666\margrsxn133\cols2\colno1\colw1586\colsr-0\colno2\colw9533\pard\
li480\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li480\ri0\sl-266\slmult0 \fs20\cf0\f
0\charscalex100\b {82}\b0 \par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\
pard\li0\ri0\sl-293\slmult0 \fs18\cf0\f0\charscalex100\i {Jurusan Teknik Elektro
, Fakultas Teknologi Industri \uc1\u8211X Universitas Kristen Petra}\i0 \par\par
d\li1506\ri0\sl-253\slmult0 \fs18\cf0\f0\charscalex100\i {http://puslit.petra.ac
.id/journals/electrical/}\i0 \par\pard\sect\sectd\sbknone\pgwsxn11920\pghsxn1684
0\marglsxn666\margrsxn133\pard\sect\sectd\sbkpage{\shp
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d\li3453\ri0\sl-240\slmult0 \fs14\cf0\f0\charscalex100\b {Pengaturan Level Ketin
ggian Air Menggunakan Kontrol PID}\b0 \par\pard\li5093\ri0\sl-213\slmult0 \fs18\
cf0\f0\charscalex100 {[}\fs16\cf0\f0\charscalex100\i {Thiang et al.}\i0 \fs18\cf
0\f0\charscalex100 {]}\par\pard\sect\sectd\sbknone\pgwsxn11920\pghsxn16840\margl
sxn666\margrsxn133\cols2\colno1\colw5733\colsr-0\colno2\colw5386\pard\li1026\ri0
\sl-213\slmult0 \fs18\cf0\par\pard\li1026\ri0\sl-346\slmult0 \*\tx1533\fs24\cf0\
f0\charscalex100 {nilai}\tab \fs24\cf0\f0\charscalex100\i {setting point}\i0 \fs
24\cf0\f0\charscalex100\i { }\i0 { }\fs24\cf0\f0\charscalex100 {ketinggian air s
ebesar 100}\par\pard\li1026\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {yang
menunjukkan ketinggian air 11,76 cm.}\par\pard\li1026\ri0\sl-280\slmult0 \fs24\c
f0\f0\charscalex100 {Gambar 11 sampai gambar 14 menunjukkan}\par\pard\li1026\ri0
\sl-280\slmult0 \fs22\cf0\f0\charscalex100 {respon sistem dari hasil percobaan y
ang telah}\par\pard\li1026\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {dilaku
kan.}\par\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1346\ri0\sl-213\sl
mult0 \fs18\cf0\par\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1346\ri0
\sl-213\slmult0 \fs18\cf0\par\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\par\pard\
li1346\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0
\par\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1346\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1346\ri0\sl-4
66\slmult0 \fs22\cf0\f0\charscalex100 {Gambar 11. Respon Sistem Kontroler PID}\p
ar\pard\li1706\ri0\sl-280\slmult0 \fs22\cf0\f0\charscalex100 {dengan Kp=1, Ki=0,
1 dan Kd=0,1}\par\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1346\ri0\s

l-213\slmult0 \fs18\cf0\par\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li

1346\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\p
ar\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1346\ri0\sl-213\slmult0 \
fs18\cf0\par\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1346\ri0\sl-213
\slmult0 \fs18\cf0\par\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1346\
ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\par\pa
rd\li1346\ri0\sl-426\slmult0 \fs22\cf0\f0\charscalex100 {Gambar 12. Respon Siste
m Kontroler PID}\par\pard\li1800\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {
dengan Kp=1, Ki=5 dan Kd=0,1}\par\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\par\p
ard\li1346\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1346\ri0\sl-213\slmult0 \fs18
\cf0\par\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1346\ri0\sl-213\slm
ult0 \fs18\cf0\par\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1346\ri0\
sl-213\slmult0 \fs18\cf0\par\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\par\pard\l
i1346\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\
par\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1346\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li1346\ri0\sl-373\slmult0 \fs22\cf0\f0\charscalex100 {Gambar
13. Respon Sistem Kontroler PID}\par\pard\li1733\ri0\sl-280\slmult0 \fs24\cf0\f0
\charscalex100 {dengan Kp=10, Ki=0,1 dan Kd=5}\par\pard\li1346\ri0\sl-213\slmult
0 \fs18\cf0\par\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1346\ri0\sl213\slmult0 \fs18\cf0\par\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li13
46\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\par
\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1346\ri0\sl-213\slmult0 \fs
18\cf0\par\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1346\ri0\sl-213\s
lmult0 \fs18\cf0\par\pard\li1346\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1346\ri
0\sl-213\slmult0 \fs18\cf0\par\pard\li1346\ri0\sl-346\slmult0 \fs22\cf0\f0\chars
calex100 {Gambar 14. Respon Sistem Kontroler PID}\par\pard\li1640\ri0\sl-280\slm
ult0 \fs24\cf0\f0\charscalex100 {dengan Kp=10, Ki=0,1 dan Kd=0,1}\par\column\par
d\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-346\slmult0 \fs24\cf0\f0\
charscalex100 {Dari hasil percobaan yang ditunjukkan oleh}\par\pard\li0\ri0\sl-2
80\slmult0 \fs24\cf0\f0\charscalex100 {gambar 11 dan gambar 12 terlihat dengan h
arga}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {Ki yang besar
(Kp dan Kd tetap) akan}\par\pard\li0\ri0\sl-280\slmult0 \*\tx1320\*\tx2346\*\tx2
800\fs24\cf0\f0\charscalex100 {memperbesar}\tab \fs22\cf0\f0\charscalex100\i {ov
ershoot}\i0 \tab \fs24\cf0\f0\charscalex100 {dan}\tab \fs22\cf0\f0\charscalex100
\i {undershoot}\i0 \fs24\cf0\f0\charscalex100 {. Dan}\par\pard\li0\ri0\sl-280\sl
mult0 \fs24\cf0\f0\charscalex100 {juga dengan Ki yang besar pencapaian keadaan}\
par\pard\li0\ri0\sl-306\slmult0 \*\tx1973\fs24\cf0\f0\charscalex100\i {steady st
ate}\i0 \tab \fs22\cf0\f0\charscalex100 {jauh lebih lama dan sistem}\par\pard\li
0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {berosilasi. Sedangkan pada gamb
ar 13 dan 14}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {terlih
at dengan harga Kd yang besar (Kp dan Ki}\par\pard\li0\ri0\sl-280\slmult0 \*\tx2
493\*\tx3600\fs24\cf0\f0\charscalex100 {tetap) akan memperkecil}\fs24\cf0\f0\cha
rscalex100 { }\tab \fs24\cf0\f0\charscalex100\i {overshoot}\i0 \tab \fs24\cf0\f0
\charscalex100 {dan juga}\par\pard\li0\ri0\sl-280\slmult0 \*\tx3226\fs24\cf0\f0\
charscalex100 {mempercepat pencapaian keadaan}\tab \fs24\cf0\f0\charscalex100\i
{steady state}\i0 \fs24\cf0\f0\charscalex100 {.}\par\pard\li0\ri0\sl-280\slmult0
\fs24\cf0\f0\charscalex100 {Dan dari gambar 11 dan gambar 14 untuk harga}\par\p
ard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {Kp yang besar (Ki dan Kd
tetap) akan}\par\pard\li0\ri0\sl-306\slmult0 \*\tx1426\*\tx2773\fs24\cf0\f0\char
scalex100 {memperkecil}\tab \fs24\cf0\f0\charscalex100\i {overshoot}\i0 \tab \fs
24\cf0\f0\charscalex100 {dan mempercepat}\par\pard\li0\ri0\sl-280\slmult0 \fs24\
cf0\f0\charscalex100 {pencapaian}{ }\fs22\cf0\f0\charscalex100\i {steady state}\
i0 \fs24\cf0\f0\charscalex100 {.}\par\pard\li0\ri0\sl-266\slmult0 \fs22\cf0\f0\c
harscalex100\b {4.2 Pengujian Sistem dengan Gangguan}\b0 \par\pard\li0\ri0\sl-28
0\slmult0 \fs24\cf0\f0\charscalex100 {Dalam percobaan ini, parameter pengujian y
ang}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {digunakan sama
dengan pengujian yang}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex10
0 {dilakukan sebelumnya yaitu tanpa gangguan.}\par\pard\li0\ri0\sl-280\slmult0 \
fs24\cf0\f0\charscalex100 {Perbedaannya adalah dalam pengujian ini, sistem}\par\
pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {diberi gangguan berupa p

embukaan kran air}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {m

anual sebanyak dua putaran. Berikut gambar}\par\pard\li0\ri0\sl-280\slmult0 \fs2
4\cf0\f0\charscalex100 {15 sampai 18 menunjukkan hasil percobaan yang}\par\pard\
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x100 {Putaran Kran Manual}\par\pard\li786\ri0\sl-213\slmult0 \fs18\cf0\par\pard\
li786\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li786\ri0\sl-213\slmult0 \fs18\cf0\p
ar\pard\li786\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li786\ri0\sl-213\slmult0 \fs
18\cf0\par\pard\li786\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li786\ri0\sl-213\slm
ult0 \fs18\cf0\par\pard\li786\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li786\ri0\sl
-213\slmult0 \fs18\cf0\par\pard\li786\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li78
6\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li786\ri0\sl-466\slmult0 \fs22\cf0\f0\ch
arscalex100 {Gambar 18. Respon Sistem Kontroler PID}\par\pard\li533\ri0\sl-280\s
lmult0 \fs24\cf0\f0\charscalex100 {dengan Kp=10, Ki=0,1 Kd=0,1 dan 2 Gangguan}\p
ar\pard\li1706\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {Putaran Kran Manua
l}\par\pard\li480\ri0\sl-453\slmult0 \fs24\cf0\f0\charscalex100 {Dari hasil perc
obaan yang ditunjukkan oleh}\par\pard\li480\ri0\sl-280\slmult0 \fs24\cf0\f0\char
scalex100 {gambar 15 dan gambar 16 terlihat dengan harga}\par\pard\li480\ri0\sl280\slmult0 \fs22\cf0\f0\charscalex100 {Ki yang besar (Kp dan Kd tetap) akan}\pa
r\pard\li480\ri0\sl-280\slmult0 \*\tx1800\*\tx2813\*\tx3266\fs24\cf0\f0\charscal
ex100 {memperbesar}\tab \fs22\cf0\f0\charscalex100\i {overshoot}\i0 \tab \fs24\c
f0\f0\charscalex100 {dan}\tab \fs22\cf0\f0\charscalex100\i {undershoot}\i0 \fs24
\cf0\f0\charscalex100 {. Dan}\par\pard\li480\ri0\sl-280\slmult0 \fs22\cf0\f0\cha
rscalex100 {juga dengan Ki yang besar, pencapaian keadaan}\par\pard\li480\ri0\sl
-280\slmult0 \*\tx1880\fs24\cf0\f0\charscalex100\i {steady state}\i0 \fs24\cf0\f
0\charscalex100\i { }\i0 \tab \fs24\cf0\f0\charscalex100 {jauh lebih lama dan si
stem}\par\pard\li480\ri0\sl-280\slmult0 \fs22\cf0\f0\charscalex100 {berosilasi.
Sedangkan pada gambar 17 dan}\par\pard\li480\ri0\sl-280\slmult0 \fs24\cf0\f0\cha
rscalex100 {gambar 18 terlihat dengan harga Kd yang besar}\par\pard\li480\ri0\sl
-280\slmult0 \*\tx3960\fs24\cf0\f0\charscalex100 {(Kp dan Ki tetap) akan memperk
ecil}\tab \fs24\cf0\f0\charscalex100\i {overshoot}\i0 \par\pard\li480\ri0\sl-280
\slmult0 \fs22\cf0\f0\charscalex100 {dan juga mempercepat pencapaian keadaan}\pa
r\pard\li480\ri0\sl-280\slmult0 \fs22\cf0\f0\charscalex100\i {steady state}\i0 \
fs24\cf0\f0\charscalex100 {. Dan dari gambar 15 dan gambar 18}\par\pard\li480\ri
0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {untuk harga Kp yang besar (Ki dan K
d tetap)}\par\pard\li480\ri0\sl-280\slmult0 \*\tx2226\*\tx3240\fs22\cf0\f0\chars
calex100 {akan memperkecil}\tab \fs22\cf0\f0\charscalex100\i {overshoot}\i0 \tab
\fs22\cf0\f0\charscalex100 {dan mempercepat}\par\pard\li480\ri0\sl-280\slmult0
\*\tx1653\fs24\cf0\f0\charscalex100 {pencapaian}\tab \fs24\cf0\f0\charscalex100\
i {steady state}\i0 \fs24\cf0\f0\charscalex100 {. Secara keselurhan,}\par\pard\l
i480\ri0\sl-280\slmult0 \fs22\cf0\f0\charscalex100 {untuk kontroler dengan param
eter Ki yang tidak}\par\pard\li480\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100

{terlalu besar, sistem masih dapat dikontrol}\par\pard\li480\ri0\sl-280\slmult

0 \fs24\cf0\f0\charscalex100 {walaupun ada gangguan.}\par\pard\li480\ri0\sl-280\
slmult0 \fs24\cf0\f0\charscalex100\b {5. }\b0 \fs24\cf0\f0\charscalex100\b {Kesi
mpulan}\b0 \par\pard\li480\ri0\sl-386\slmult0 \fs24\cf0\f0\charscalex100 {Dari h
asil pengujian yang telah dilakukan, dapat}\par\pard\li480\ri0\sl-280\slmult0 \f
s24\cf0\f0\charscalex100 {diambil kesimpulan bahwa sistem kontrol PID}\par\pard\
li480\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {yang dibuat mampu mengontro
l level ketinggian}\par\pard\li480\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100
{air. Secara umum untuk aplikasi yang telah}\par\pard\li480\ri0\sl-280\slmult0
\fs24\cf0\f0\charscalex100 {dibuat, semakin besar harga Kp maka sistem}\par\pard
\li480\ri0\sl-280\slmult0 \*\tx2480\*\tx3613\*\tx4493\fs24\cf0\f0\charscalex100
{lebih cepat mencapai}\tab \fs22\cf0\f0\charscalex100\i {steady state}\i0 \tab \
fs24\cf0\f0\charscalex100 {dan juga}\tab \fs24\cf0\f0\charscalex100\i {rise}\i0
\par\pard\li480\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100\i {time}\i0 { }\fs
24\cf0\f0\charscalex100 {semakin kecil. Semaikn besar harga Ki akan}\par\column\
pard\li413\ri0\sl-280\slmult0 \fs22\cf0\f0\charscalex100 {Hall International (UK
) Ltd, 1988.}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {[2].}{
}\fs24\cf0\f0\charscalex100 {Michael J. Jacob}\fs24\cf0\f0\charscalex100\i {, I
ndustril Control}\i0 \par\pard\li413\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex1
00\i {Electronics}\i0 \fs24\cf0\f0\charscalex100 {. New Jersey: Prentice Hall,}\
par\pard\li413\ri0\sl-280\slmult0 \fs22\cf0\f0\charscalex100 {1988.}\par\pard\li
0\ri0\sl-280\slmult0 \*\tx2786\fs24\cf0\f0\charscalex100 {[3].}{ }\fs24\cf0\f0\c
harscalex100 {Christopher T. Killian,}\fs24\cf0\f0\charscalex100 { }\tab \fs24\c
f0\f0\charscalex100\i {Modern Control}\i0 \par\pard\li413\ri0\sl-280\slmult0 \fs
24\cf0\f0\charscalex100\i {Technology Components and Systems}\i0 { }\fs24\cf0\f0
\charscalex100 {, St.}\par\pard\li413\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex
100 {Paul Minneapolis: West Publishing Com-}\par\pard\li413\ri0\sl-280\slmult0 \
fs24\cf0\f0\charscalex100 {pany, 1996.}\par\pard\li0\ri0\sl-280\slmult0 \fs24\cf
0\f0\charscalex100 {[4].}{ }\fs24\cf0\f0\charscalex100 {Dale R. Patrick, Stephen
W. Fardo,}\par\pard\li413\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100\i {Indu
strial Proces Control Systems}\i0 \fs24\cf0\f0\charscalex100 {, New}\par\pard\li
413\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {York : International Thomson
Publishing}\par\pard\li413\ri0\sl-280\slmult0 \fs24\cf0\f0\charscalex100 {Compan
y, 1997.}\par\pard\li0\ri0\sl-280\slmult0 \*\tx2186\fs24\cf0\f0\charscalex100 {[
5]. }\fs24\cf0\f0\charscalex100 {Katsuhiko Ogata,}\fs24\cf0\f0\charscalex100 { }
\tab \fs24\cf0\f0\charscalex100\i {Modern Control Engi-}\i0 \par\pard\li413\ri0\
sl-280\slmult0 \fs24\cf0\f0\charscalex100\i {neering}\i0 \fs22\cf0\f0\charscalex
100 {, New Jersey : Prentice Hall, 1997.}\par\pard\sect\sectd\sbknone\pgwsxn1192
0\pghsxn16840\marglsxn666\margrsxn133\cols2\colno1\colw1586\colsr-0\colno2\colw9
533\pard\li480\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li480\ri0\sl-213\slmult0 \f
s18\cf0\par\pard\li480\ri0\sl-253\slmult0 \fs20\cf0\f0\charscalex100\b {84}\b0 \
par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li0\ri0\sl-280\slmult0 \fs18\cf0\f0\charscalex100\i {Jurusan
Teknik Elektro, Fakultas Teknologi Industri \uc1\u8211X Universitas Kristen Pet
ra}\i0 \par\pard\li1506\ri0\sl-253\slmult0 \fs18\cf0\f0\charscalex100\i {http://
puslit.petra.ac.id/journals/electrical/}\i0}