Sistem Pemanas Tangki Berpengaduk

Diketahui :
Laju alir volumetric arus -1, f1 (L/detik) : 0,01487
Laju alir volumetric arus -2, f2 (L/detik) : 0,022634
Laju alir volumetric arus -3, f3 (L/detik) : 0,037504
Suhu arus-1, T1 (°C) : 26
Suhu arus-2, T2 (°C) : 26
Suhu arus-3, T3 (°C) : 31
Energi (panas) listrik, qe (watt) :420
Volume cairan didalam tangki (L) :5
ρ (g/l) : 997
Cp (J/g.K) : 4,2

Tentukan respon jika tiba tiba T1 berubah dari 26oC menjadi 21oC ?

Loop Terbuka
Penyelesaian:
Asumsi : ρ tetap
Neraca Massa Total
Rin + Rout - Rgen = Racc
f 1 ( t ) . ρ+ f 2 ( t ) . ρ−f 3 ( t ) . ρ=0
ρ

f 1 ( t )+ f 2 ( t ) =f 3 ( t) .......(1)

Neraca Panas
Rin + Rout - Rgen = Racc
mC p 3 T 3 (t)
f 1 ( t ) . ρ .C p 1 . T 1 ( t )+ f 2 ( t ) . ρ .C p2 . T 2 ( t )−f 3 ( t). ρ . C p3 .T 3 (t)+q e ( t)=
dt
dT 3 (t)
f 1 ( t ) . ρ .C p 1 . T 1 ( t )+ f 2 ( t ) . ρ .C p2 . T 2 ( t )−f 3 ( t ) . ρ . C p 3 . T 3 ( t ) +q e ( t )=ρ .C p 3 . V
dt
ρ
q (t ) dT 3 (t)
f 1 ( t ) . C p1 .T 1 ( t ) + f 2 ( t ) .C p2 . T 2 ( t ) −f 3 ( t ) . C p3 .T 3 ( t ) + e =C p 3 . V
ρ dt
f
qe ( t ) dT 3 (t )
(¿¿ 1(t)+ f 2 ( t ) ). C p3 .T 3 ( t ) + =C p 3 . V
ρ dt
f 1 ( t ) .C p1 . T 1 ( t ) + f 2 (t ) .C p 2 . T 2 ( t )−¿
qe ( t ) dT 3( t)
f 1 ( t ) . C p1 .T 1 ( t ) + f 2 ( t ) .C p2 . T 2 ( t ) −f 1 (t ). C p3 .T 3 ( t ) + f 2 ( t ) .C p 3 . T 3 ( t )+ =C p3 .V
ρ dt
 qe ( t ) dT 3 (t )
a1 f 1 ( t )+ a2 f 2 ( t ) −a3 f 3 ( t )+ a4 T 2 ( t ) +a5 T 3 + =C p 3 . V
ρ dt
Linearisasi
1−¿C p 3 T́ 3
∂g
a1= =C p 1 T́ ¿
∂f1
2−¿ C p 3 T́ 3
∂g
a2= =C p 2 T́ ¿
∂f2
∂g ´
a3 = = f C p1
∂T1 1
∂g ´
a 4= = f C p2
∂ T2 2
∂g
a3 = =−f´1 C p 3− f´2 C p3
∂T3

qe
( C p1 T́ 1 −C p 3 T´ 3 ) f 1 ( t )+ ( C p2 T´ 2−C p 3 T´ 3 ) f 2 ( t )+ f́ 1 C p 1 T 1 ( t ) + f´2 C p2 T 2 ( t ) −( f´1 C p3 −f´2 C p3 ) T 3 ( t ) + ρ
=VC

.............(2)
Pada t=0
T 1 ( 0 ) =T́ 1
T 2 ( 0 ) =T́ 2
T 3 ( 0 ) =T́ 3
f 1 ( 0 ) =f´1
f 2 ( 0 ) =f´2

qe dT
( C p1 T́ 1 −C p 3 T´ 3 ) f´1 ( t )+ ( C p2 T´ 2−C p 3 T´ 3 ) f´2 + f́ 1 C p1 T́ 1 + f´2 C p 2 T´ 2 ( t )−( f´1 C p3− f´2 C p 3) T´ 3 ( t ) + ρ
=VC p 3

..............(3)
Term Deviasi
Persamaan (2) – (3)
dT
( C p1 T́ 1 −C p 3 T´ 3 ) F1 ( t )+ ( C p2 T´ 2−C p3 T´ 3 ) F 2 (t)+ f́ 1 C p 1 T́ 1+ f´2 C p 2 T´ 2 ( t )−( f´1 C p3− f´2 C p 3 ) T́ 3 ( t ) =VC p 3 d
..............(4)
Persamaan (4)
( C p1 T´ 1−C p3 T´ 3) ( C p 2 T´ 2−C p3 T́ 3 ) f́ 1 C p 1 T´ 1 f´2 C p2
F 1 ( t )+ F2 (t )+ T 1 (t )+ T ( t )−T´ 3 ( t )=
f 1 C p3 + f 2 C p3 f 1 C p 3+ f 2C p 3 f 1 C p3 + f 2 C p 3 f 1 C p 3+ f 2 C p 3 2 f 1C
 d T 3 (t )
K 1 F 1 ( t ) + K 2 F 2 ( t ) + K 3 T ! ( t ) + K 4 T 2 ( t )=τ + T 3 (t )
dt
Transformasi Laplace
K 1 F 1 ( s )+ K 2 F 2 ( s ) + K 3 T ! ( s )+ K 4 T 2 ( s )=τ s T 3+T 3 ( s)
K 1 F 1 ( s )+ K 2 F 2 ( s ) + K 3 T ! ( s )+ K 4 T 2 ( s )=(τs+1)T 3 ( s)

' ∆T
Gangguan T 1 →
s

k4 ∆ T
T '3 ( s)=
τ s +1 s . 1
τ

k4
τ ∆T
T '3 ( s )=
1 s
s+
τ
−1
A → S=
τ
A B
T '3 ( s )= +
1 s
s+
τ
k4
A
s+
τ
= lim : S+
1 S=−1
τ
1 τ
τ
s+
1
τ
( )
(∆ T ) =−k 4 . ∆ T

k4
B
=lim : S +
s S =0
1 τ ∆T
τ
s+
1 s
τ
( )
=k 4 . ∆ T

−k 4 . ∆ T k 4 . ∆ T
T '3 ( s )= +
1 s
s+
τ

Invers
−t
T '3 ( s )=−k 4 . ∆ T e τ +k 4 . ∆T U (t) dimana : ∆ T =5
 −t
' τ
T ( s )=−k 4 . ∆ T e +k 4 . ∆T
3

1−e
−t
(¿ ¿ )
τ
'
T 3 ( s )=k 4 . ∆ T ¿
 “Diagram Blok Loop Terbuka ”

F1 (s)
k1 +
τ s +1

F2 (s)
ττ k2 +
τ s +1

T 1 (s) k4
+ T 3 (s)
τ s +1

T 2 (s)
k5 +
τ s +1

Qe
1 +
qe(s) ∝
 Diagram Blok Loop Tertutup
F1 (s) K₁
τs+1

F2 (s) K2
τs+1 +
T3(s)
Qe 1 +
qe(s) ∝

T2 (s) K5
τs+1

T1 (s) K4
τs+1

Gf (s)
M (s)
GC (s)

C(s)
Gm (s)
Csp (s)

K1 K2 K4 K5
Proses T3 (s) = F1 (s) τs+1 + F2 (s) τs+1 + T1 (s) τs+1 + T2 (s) τs+1

1
+ Qe qe ( s)∝

Sensor TS = Gm (s) T3 (s)

Controller MS = Gc (s) E (s)
Error ES = TSP (s) – T(s)
Final control element T1(S)= Gf (s) M (s)
 T1 (s) = Gf (s) M (s)
= Gf (s) GC(s) E (s)
= Gf (s) GC(s) [TSP (s) - T(s)]
= Gf (s) GC(s) TSP (s) - Gf (s) GC(s) T (s)
= Gf (s) GC(s) TSP (s) - Gf (s) GC(s) Gm (s) T3 (s)
K₁ K₂ K₃ K₄ 1
T3 (s) = F1 (s) + F2 (s) + T1 (s) + T2 (s) + Qe + ¿ Gf (s) GC(s) TSP (s) -
τs+1 τs+1 τs+1 τs+1 qe (s)∝
(s) GC(s) Gm (s)
K₁ K₂ K₃ K₄
(1 + Gf (s) GC(s) Gm (s) )T3 (s) = F1 (s) + F2 (s) + T1 (s) + T2 (s) + Gf (s) GC(s) TS
τs+1 τs+1 τs+1 τs+1
1
K K2 K3 Ks
F1 s ( ) F 2 (s ) T 1 ( s) Qe ( s )
τs+1 τs+1 τs+1 τs+1 G
T 3 ( s )= + + + +
( 1+G f ( s ) GC ( s ) G m ( s ) ) ( 1+G f ( s ) GC ( s ) G m ( s ) ) ( 1+G f ( s ) G C ( s ) G m ( s ) ) ( 1+ G f ( s ) G C ( s ) G m ( s ) ) ( 1+

Dimana:
k1
F 1 ( s )+ ( )
τ s+1
=0
1+G f ( s ) Gc ( s ) G M ( s )
k2
F 2 ( s )+ ( )
τ s+1
=0
1+G f ( s ) Gc ( s ) G M ( s )
k3
T 1 ( s) + ( )
τ s +1
=0
1+G f ( s ) Gc ( s ) G M ( s )
Ks
Qe(s)
τs+1
=0
(1+G f (s)GC ( s)G m(s))

G f (s )G C( s)T SP(s )
T 3 ( s )= (Regulatory Sensor)
(1+ G f (s)G C (s) G m(s))

U
Kc=
PI
1.2 τ
Kc=
K 1tD
 V
τ=
f 1+ f 2
5
τ=
0,01487+ 0,022634
133,319
τ=
s
k 1=0,4109
1,2(133,3191)
Kc=
0,410910
Kc=38,934
Pemodelan scilab open-loop (tanpa pengendalian)

Berdasarkan grafik diatas, dapat diketahui ketika sistem diberi gangguan berupa regulatory problem
dimana suhu umpan (T1) diubah dari 26o C menjadi 21o C (step decrease), nilai akhir CV tidak dapat
kembali ke set point atau terdapat off-set karena tidak ada pengendalian (PID)
Berdasarkan grafik diatas, dapat diketahui ketika sistem diberi gangguan berupa regulatory-problem
dimana suhu umpan (T1) diubah dari 26o C menjadi 21o C (step decrease), nilai akhir CV kembali ke set
point pada t= 840 s.