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  • Controller Pid

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    junaidi abdullah
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    The document discusses tuning a PID controller for different types of systems using Ziegler-Nichols tuning rules. It examines systems with orders 1 and 2, as well as systems with different time responses (critical damped, under damped, over damped). For each case, it analyzes the open loop system response, calculates PID parameters using Ziegler-Nichols formulas based on process time constants, and simulates the closed loop response with the tuned PID controller.

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    pid kendali

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    Pid

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    The document discusses tuning a PID controller for different types of systems using Ziegler-Nichols tuning rules. It examines systems with orders 1 and 2, as well as systems with different time responses (critical damped, under damped, over damped). For each case, it analyzes the open loop system response, calculates PID parameters using Ziegler-Nichols formulas based on process time constants, and simulates the closed loop response with the tuned PID controller.

    Copyright:

    © All Rights Reserved
    Flag for inappropriate content
    16 views31 pages

    Controller Pid

    Uploaded by

    junaidi abdullah
    The document discusses tuning a PID controller for different types of systems using Ziegler-Nichols tuning rules. It examines systems with orders 1 and 2, as well as systems with different time responses (critical damped, under damped, over damped). For each case, it analyzes the open loop system response, calculates PID parameters using Ziegler-Nichols formulas based on process time constants, and simulates the closed loop response with the tuned PID controller.

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    CONTROLLER PID

    I. Sistem Tanpa Tuning Ziegler nichols


    Input = 5V, Sistem Close Loop

    1. Sistem Orde satu


    T=5
    a) Kp tetap Ti tetap Td berubah
     Kp = 8, Ti = 4, Ki = Kp/Ti = 2, Td= 0.5 ,Kd= Kp x Td= 4
    Blok Diagram

    Respon Sistem

     Kp = 8 , Ti = 4, Ki = Kp/Ti = 2, Td= 0.2 ,Kd= Kp x Td = 1.6


    Blok Diagram
    Respon Sistem

    b) Kp tetap Ti berubah Td tetap


     Kp = 8 , Ti = 6 Ki = Kp/Ti = 1.3 Td= 0.3 ,Kd= Kp x Td= 2.4
    Blok Diagram
    Respon Sistem

     Kp = 8 , Ti = 4 Ki = Kp/Ti = 2 Td= 0.3 ,Kd= Kp x Td = 2.4


    Blok Diagram

    Respon Sistem
    c) Ti tetap Td tetap Kp berubah
     Kp = 8, Ti = 2 Ki = Kp/Ti = 4 Td= 0.4 ,Kd= Kp x Td = 3.2
    Blok Diagram

    Respon Sistem
     Kp = 6 , Ti = 2, Ki = Kp/Ti = 3 Td= 0.4 ,Kd= Kp x Td=2.4
    Blok Diagram

    Respon Sistem
    2.Sistem Orde Dua
    T1 = 5, T2 = 8
    a) Kp tetap Ti tetap Td berubah
     Kp = 8, Ti = 4, Ki = Kp/Ti = 2, Td= 0.5 ,Kd= Kp x Td= 4
    Blok Diagram

    Respon Sistem

     Kp = 8 , Ti = 4, Ki = Kp/Ti = 2 , Td= 0.6,Kd= Kp x Td = 4.8


    Blok Diagram
    Respon Sistem

    b) Kp tetap Ti berubah Td tetap


     Kp = 12, Ti = 8, Ki = Kp/Ti = 1.5, Td= 0.6 ,Kd= Kp x Td= 4.8
    Blok Diagram
    Respon Sistem

     Kp = 12, Ti = 6, Ki = Kp/Ti = 2, Td= 0.6,Kd= Kp x Td=4.8


    Blok Diagram
    Respon Sistem

    c) Kp berubah Ti tetap Td tetap


     Kp = 16 , Ti = 4, Ki = Kp/Ti = 4, Td= 0.2 ,Kd= Kp x Td= 3.2
    Blok Diagram
    Respon Sistem

     Kp = 12 , Ti = 4, Ki = Kp/Ti = 3, Td= 0.5 ,Kd= Kp x Td= 6


    Blok Diagram
    Respon Sistem

    3. Sistem Time Respon


    n = 1
    Critical Damped ( = 1)
    n = 1, Error: Reference source not found

    a) Kp tetap Ti tetap Td berubah


     Kp = 8, Ti = 4, Ki = Kp/Ti = 2, Td= 0.5 ,Kd= Kp x Td= 4
    Blok Diagram
    Respon Sistem

     Kp = 8 , Ti = 4, Ki = Kp/Ti = 2, Td= 0.2 ,Kd= Kp x Td = 1.6


    Blok Diagram
    Respon Sistem

    b) Kp tetap Td tetap Ti berubah


     Kp = 12, Ti = 8, Ki = Kp/Ti = 1.5, Td= 0.6 ,Kd= Kp x Td= 4.8
    Blok Diagram
    Respon Sistem

     Kp = 12, Ti = 6, Ki = Kp/Ti = 2, Td= 0.6 ,Kd= Kp x Td= 4.8


    Blok Diagram
    Respon Sistem

    c) Ti tetap Td tetap Kp berubah


     Kp = 12 , Ti = 4, Ki = Kp/Ti = 3, Td= 0.5 ,Kd= Kp x Td= 6
    Blok Diagram
    Respon Sistem

     Kp = 10 , Ti = 4, Ki = Kp/Ti = 2.5, Td= 0.5 ,Kd= Kp x Td=5


    Blok Diagram
    Respon Sistem

    Under Damped(0 < < 1),  =0.3


     n = 1, Error: Reference source not found

    a) Kp tetap Ti tetap Td berubah


     Kp = 8, Ti = 4, Ki = Kp/Ti = 2, Td= 0.5 ,Kd= Kp x Td= 4
    Blok Diagram
    Respon Sistem

     Kp = 8 , Ti = 4, Ki = Kp/Ti = 2, Td= 0.2 ,Kd= Kp x Td = 1.6


    Blok Diagram
    Respon Sistem

    b) Kp tetap Td tetap Ti berubah


     Kp = 12, Ti = 8, Ki = Kp/Ti = 1.5, Td= 0.6 ,Kd= Kp x Td= 4.8
    Blok Diagram

    Respon Sistem
     Kp = 12, Ti = 6, Ki = Kp/Ti = 2, Td= 0.6 ,Kd= Kp x Td= 4.8
    Blok Diagram

    Respon Sistem
    c) Ti tetap Td tetap Kp berubah

     Kp = 12 , Ti = 4, Ki = Kp/Ti = 3, Td= 0.5 ,Kd= Kp x Td= 6

    Blok Diagram

    Respon Sistem
     Kp = 10 , Ti = 4, Ki = Kp/Ti = 2.5, Td= 0.5 ,Kd= Kp x Td=5
    Blok Diagram

    Respon Sistem
    Over Damped( >1),  = 3
     n = 1,

    a) Kp tetap Ti tetap Td berubah


     Kp = 8, Ti = 4, Ki = Kp/Ti = 2, Td= 0.5 ,Kd= Kp x Td= 4
    Blok Diagram

    Respon Sistem
     Kp = 8 , Ti = 4, Ki = Kp/Ti = 2, Td= 0.2 ,Kd= Kp x Td = 1.6
    Blok Diagram

    Respon Sistem
    b) Kp tetap Td tetap Ti berubah

     Kp = 12, Ti = 8, Ki = Kp/Ti = 1.5, Td= 0.6 ,Kd= Kp x Td= 4.8


    Blok Diagram

    Respon Sistem
     Kp = 12, Ti = 6, Ki = Kp/Ti = 2, Td= 0.6 ,Kd= Kp x Td= 4.8

    Blok Diagram

    Respon Sistem
    c) Ti tetap Td tetap Kp berubah
     Kp = 12 , Ti = 4, Ki = Kp/Ti = 3, Td= 0.5 ,Kd= Kp x Td= 6
    Blok Diagram

    Respon Sistem
     Kp = 10 , Ti = 4, Ki = Kp/Ti = 2.5, Td= 0.5 ,Kd= Kp x Td=5
    Blok Diagram

    Respon Sistem
    II. Sistem dengan Tuning Ziegler nichols
    Rumus kontroller PID, nilai Kp, Ti dan Td pada tuning ziegler nichols
    Kp = 1,2 T/L , Ti = 2L, Td =0,5 L
    1.Sistem Orde Dua
    T1 = T2 = ...
    A. Sistem Open Loop
    Blok diagram

    Respon Sistem

    T = .........., L = ...........
    Kp = 1,2 T/L = …. , Ti = 2L =… , Ki= Kp/Ti =…, Td =0,5 L=…., Kd = Kp . Td

    B. Sistem closed Loop dengan kontroller PID


    Blok diagram
    Respon Sistem

    2. Sistem Time Respon


    A. Critical Damped ( = 1)

    a) Sistem Open Loop


    Blok diagram
    Respon Sistem
    T = .........., L = ...........
    Kp = 1,2 T/L = …. , Ti = 2L =… , Ki= Kp/Ti =…, Td =0,5 L=…., Kd = Kp . Td

    b) Sistem closed Loop dengan kontroller PID


    Blok diagram
    Respon Sistem

    B. Under Damped (0 < < 1),  = .......


    a) Sistem Open Loop
    Blok diagram
    Respon Sistem
    T = .........., L = ...........
    Kp = 1,2 T/L = …. , Ti = 2L =… , Ki= Kp/Ti =…, Td =0,5 L=…., Kd = Kp . Td

    b) Sistem closed Loop dengan kontroller PID


    Blok diagram
    Respon Sistem

    C. Over Damped ( > 1),  = .......


    a) Sistem Open Loop
    Blok diagram
    Respon Sistem
    T = .........., L = ...........
    Kp = 1,2 T/L = …. , Ti = 2L =… , Ki= Kp/Ti =…, Td =0,5 L=…., Kd = Kp . Td

    b) Sistem closed Loop dengan kontroller Pi


    Blok diagram
    Respon Sistem

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