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and
Instrumentation
input output
system
Introduction - 2
Types of control systems
Process-control B
Servomechanisms
Introduction - 3
The basic strategy to control a system
Self-regulation Qin
Human-aided control
Qin
h
H
Qout
H
h
H
Qout
valve
Introduction - 4
Qin
sensor
s
controller SP
u
Automatic control actuator
h
H
Qout
valve
Objektif control :
Mengatur nilai variabel yang dikontrol pada nilai yang
diinginkan
Mempertahankan kuantitas pada nilai yang diinginkan
Introduction - 5
Open-loop control
Desired
controller process Output
Output
Introduction - 6
Advantages and disadvantages
Introduction - 7
Closed-loop control
Desired Actual
Output Controller Control element Process
Output
Measurement
Introduction - 8
Advantages and disadvantages
Introduction - 9
The element of process-control system
Elemen-elemen process-control
Process
Measurement
Controller
Error Detector (comparison)
Control element Control element
SP
controller process
Diagram blok
measurement
Introduction - 10
Physical diagram of a process-control loop
Flow system
setpoint
4 -20 mA 4 -20 mA
3 – 15 psi
Diff. pressure Control
transducer valve
orifice
Introduction - 11
Example: analog control
Ve=Vref - VT VQ
controller
heater
Vref + oven
T
-
VT
Measurement
system
Introduction - 12
Example: supervisory control
Ve=Vref - VT VQ
controller
heater
Vref + oven
T
-
VT Measurement
system
DAC
ADC
computer
Introduction - 13
Example: direct digital control
VQ
DAC
NQ
heater
computer oven
T
NT
VT
Measurement
ADC
system
Introduction - 14
The time response of control system
Transient response
Respon diamati mulai state awal ke state akhir
• Rise time
• Delay time
• Percent overshoot
• Settling time
Introduction - 15
Type of input
Input, x(t)
Input, x(t)
x0 slope = a
t0
Time, t Time, t Time, t
Introduction - 16
General form of linear differential equations
dn y dn 1 y
an an 1 a0 y(t) b0 x(t)
dt n dtn 1
y(t) = output
x(t) = fungsi input
n = orde dari sistem
t = waktu
Introduction - 17
Transfer function
dy dy
a1
dt
a0 y(t) b0 x(t) y Kx(t)
dt
Y(s)( s 1) KX(s) a
1 a time constant
0
b
K 0 a static gain
0
Y(s) K (sensitivi ty)
TF
X(s) 1 s
Introduction - 18
Process element characteristic
Gain
Perubahan input menyebabkan perubahan output secara
cepat
Aktuator mempunyai gain dalam unit (besaran) yang tetap
Control valve akan :
tertutup penuh pada tekanan pneumatik 3 psi
liter / menit
TF
psi
Introduction - 19
Integral
Laju perubahan output bergantung secara langsung pada
inputnya vi
A
dvo
Kvi v0 (t) K vi dt t
dt
vo
t0
KAt0
v0 (t) K A dt K 0 dt
0 t0
t
t0
Introduction - 20
First-order
Self-regulating, jika diberikan input step maka outputnya
akan muncul secara eksponensial hingga kestabilan
(level) yang baru tercapai
fi
input output
K
1 s
R
h C fo
R
C
Introduction - 21
Response of a first-order systems to Step and
Ramp input
input
fi
t
output
0.632 K x fi
t
t y(t) K e K(t )
1 2 3 4 5 steady
transient
state
Introduction - 22
Performance Specifications
Rise time
Time to pass from 10% to 90% of final value (steady)
Settling time
Time to reach the final value
Delay time
Time to reach 50% of final value
Introduction - 23
Dead time
Perubahan pada input tidak menyebabkan perubahan
output hingga waktu delay (dead) terlampaui
Biasanya merupakan delay transportasi (ada jarak yang harus
dilampaui)
Contoh: water heater
Introduction - 24
Second-order
Y(s) n2 n : natural frequency
2
X( s) s 2 n s n2 : damping ratio
Introduction - 25
Specifications of the transient response
Rise time
Time to pass from 10% to 90% of
final value
Settling time
Time to reach the final value
Delay time
Time to reach 50% of final value
Peak time
Time required for the response to
reach the first peak of the
overshoot
Maximum overshoot
y(tp ) y()
Max percent overshoot 100%
y()
Introduction - 26
Measurement intrument spesifications
Introduction - 27
Static spesifications
Introduction - 28
Static spesifications
Introduction - 29
Static spesifications
input
Introduction - 30
Static spesifications
max min
repeatability 100%
full scale
Introduction - 31
Static spesifications
Contoh:
Suatu sensor mengubah temperatur R
dalam range 20 – 120 0C ke dalam
resistansi 100 – 180 ohm.
Dapatkan persamaan linier dari
84
resistansi terhadap temperatur.
T
Introduction - 32
Dynamic spesifications
Sinus
Frequency response, high-frequency cutoff
Introduction - 33