PID controller

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PID controller
Author Santoso P Sugondo d1129
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Introduction (Pendahuluan)

• Control engineering theory (sistem Pengaturan)
• is an interdisciplinary branch of
  engineering and applied mathematics, that deals
  with the behavior or characteristics of physical
  dynamical systems.
• The system dynamics is presented as a
  mathematical model in order to be able to
  analyze, modify or compensate the system
• The desired output of a system is called the
  reference. When one or more output variables of a
  system need to follow a certain reference over
  time, a controller manipulates the inputs to a
  system to obtain the desired effect on the output
  of the system.
• a theory that deals with influencing the behavior
  of dynamical systems
• This control theory which is an interdisciplinary
  subfield of science, originated in engineering
  and mathematics, and then evolved into use by the
  social sciences, like psychology, sociology and
  criminology.

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• PID control and associated controller types
• Module overview.
• Proportional-integral-derivative (PID)
  control constitutes the proceeding to a solution
  by trial and error (heuristic) approach to
  controller design that has found wide acceptance
  in industrial applications. This type of
  controller family is introduced and its behaviour
  discussed in detail. A comparison of the
  controller members of this family using
  performance responses is displayed to
  demonstrate the differences in their control
  behaviour using the Matlab program .
• Module objectives.
• When you have completed this module you should be
  able to
• Understand PID-type controllers.
• Tune PID-type controllers using Matlab program
• Learn more of tuning to do fine Tune PID-type
  controllers using the Ziegler and Nichols as
  industrial practical method.
• Module prerequisites.
• Transfer function, performance output
  characteristics .

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Plant is controlled system (adalah bagian yang
akan dikendalikan), whereas controller is main
part of the system used to control
characteristics system.

• Fungsi kontroler sangat penting karena
• Kontroler menyediakan sinyal pengendali ke plant
  (bag. Yg akan dikendalikan).
• Kontroler didesain untuk mengendalikan perilaku
  sistem secara keseluruhan

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PID controller It is known that The PID
controller is probably the most-used feedback
control design. "PID" means Proportional-Integral
-Derivative, referring to the three terms
operating on the error signal to produce a
control signal. If u(t) is the control signal
sent to the system, y(t) is the measured output
and r(t) is the desired output, and tracking
error e(t) r(t) - y(t), a PID controller has
the general form                               
                        The desired closed loop
dynamics is obtained by adjusting the three
parameters KP, KI and KD, often iteratively by
"tuning" and without specific knowledge of a
plant model. Stability can often be ensured using
only the proportional term. The integral term
permits the rejection of a step disturbance
(often a striking specification in process
control). The derivative term is used to provide
damping or shaping of the response. PID
controllers are the most well established class
of control systems however, they cannot be used
in several more complicated cases, especially if
MIMO systems are considered.
                                   
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Applying Laplace transformation results in the
transformed PID controller equation
                                               
                                        with
the PID controller transfer function
                                   
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Kp300 Ki0 Kd0
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Diagram blok motor kecepatan konstan
Diagram blok motor posisi
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Kp200 Ki0 Kd0
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Kp100 Ki0 Kd0
Kp70 Ki0 Kd0
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Kp50 Ki0 Kd0
Kp40 Ki0 Kd0
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Kp40 Ki0 Kd0
Kp30 Ki0 Kd0
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Kp30 Ki0.1 Kd0
Kp20 Ki0 Kd0
Kp2 Ki0 Kd0
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Kp45 Ki0.1 Kd2
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Evaluasi materi self test

1. Jika nilai penguatan proporsional Kp dinaikkan
   maka akan berpengaruh pada karakteristik
   transient berupa

pilih salah satu
a.Rise time akan .....
lambat
cepat
b.Overshoot menjadi
Mengecil
Membesar
c.Settling time akan ...
cepat
lambat
d.Steady state eror menjadi ...
kecil
besar
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Anda salah pilih
return
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Pilihan anda tepat
return
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1. Menaikkan nilai KD derivative controller berarti

pilih salah satu
1. Steady state error mengalami perubahan besar
B
S
2.overshoot akan meningkat
B
S
3.settling time meningkat
S
B
4.rise time hampir tidak berubah
S
B
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1. Menurunkan nilai KI integral controller berarti

pilih salah satu
1. Steady state error dapat dieliminasi
B
S
2.overshoot akan meningkat
B
S
3.settling time meningkat
S
B
4.rise time tidak berubah
S
B
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Kesimpulan
Langkah mencari response yg diinginkan dg
kontroler PID

1. cari response sistem lup terbuka dan tentukan
   apa/ bagian mana yang dapat dilakukan
   perbaikan(improve)

1. tambahkan proporsional control untuk memperbaiki
   kinerja rise Time

1. tambahkan derivative control untuk memperbaiki
   kinerja karakteristik output overshoot

1. tambahkan integral control untuk mengeliminasi
   steady state error

1. setel masing2 KP , KI dan KD (fine tuning)
   agar diperoleh karakteristik output yang anda
   inginkan

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Terminologi/Glossary

• Steady state error
• Rise Time
• Over shoot
• Settling time
• Peak overshoot
• Proportional controller
• Integral controller
• Derivative controller
• On / off controller

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Steady state error nilai kesalahan keadaan
tunak (saat t ? ta berhingga) Rise Time waktu
untuk mencapai 90 dari nilai steady state Over
shoot response transient sistem yang diatas/
melewati nilai steady state Settling time waktu
saat nilai penetapan yaitu nilai dengan deviasi
2,5 didaerah steady state Peak
overshoot response puncak transient sistem yang
diatas/ melewati nilai steady
state Proportional controller kontroler dengan
response memperkuat (amplify)sinyal error menjadi
outputnya Integral controller
kontroler dengan response
melakukan integrasi sinyal error menjadi
outputnya Derivative controller
kontroler dengan response melakukan
diferensiasi sinyal error untuk
dijadikan menjadi outputnya On / off controller
kontroler dengan response
menghidupkan atau mematikan plant
berdasarkan sinyal yang diterima
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References

• Ogata, Katsuhiko. (1997),3rd edition,
  Modern Control Engineering. 3. Prentice Hall Int.
  London. ISBN 0-13-227307-1
• Kuo ,Benjamin C. (1989),Fourth edition,
  Automatic Control Systems. 4. Prentice Hall
  India. New Delhi. ISBN-087692-338-4
• Distefano, Stuberud. (1995),2nd edtion,.
  Feedback control system. 2. McGraw-Hill. New
  York. , ISBN 0070170525
• Visioli Antonio,(2006). Practical PID
  Control (Advances in industrial control),
• Springer-Verlag , London, ISBN
  9781846285851
• http//en.wikipedia.org/wiki/PID_controller
• http//www.omega.com/temperature/z/pdf/z115-117.pd
  f
• http//www.engin.umich.edu/group/ctm/model/model.h
  tml
• http//www.theorem.net/theorem/lewis1.html 
• http//everything2.com/title/historyofautomatic
  control