Pembahasan Latihan Soal

Topik : Kestabilan Sistem Pengendali Lup Tertutup

• Variabel proses →
• PV : suhu larutan di dalam tangki,
T2 = T3 = T0
• MV : laju alir pemanas masuk ke
dalam tangki, Q
• Disturbance : T1
• Termasuk SISO → 1 var output, 1
var input.
Input – output systems control
MISO Control System SIMO Control System
These control systems ara characterized by more In these control systems, with only one MV, a
than one proces input (MV), but only have one number of PV may be available.
putput (PV)

The low selector sitch (LSS) ensures that the most

critical process variable is used to control the vapor
The above figure outlines a heat-exchanger where the product valve
output temperature, can be regulated through two → Override control for a boiler
manipulated variables: the hot flow and the heating power
control (which conditions the input temperature of the hot Another SIMO control system is the cascade control
flow). The cold flow acts as a disturbance since the system
production rate changes on demand
 These involve one or more inner, slave
Cascade control sytem loops, and an outer, master loop
• Neraca massa total
• dM/dt = Min – Mout
𝑑𝑉
• 𝜌 = 𝜌 ∙ 𝐹1 − 𝜌 ∙ 𝐹2 − 𝜌 ∙ 𝐹3
𝑑𝑡
• 0 = F1 – F2 – F3
• Neraca energi → harus
melibatkan akumulasi
 𝑑 𝐻+𝐸𝑝+ 𝐸𝑘
• = 𝐻 + 𝐸𝑝 + 𝐸𝑘 𝑖𝑛 −
𝑑𝑡
𝐻 + 𝐸𝑝 + 𝐸𝑘 𝑜𝑢𝑡 + 𝑄
• Tidak ada perubahan energi potensial,
maupun energi kinetik
𝑑 𝐻
• = 𝐻 𝑖𝑛 − 𝐻 𝑜𝑢𝑡 +𝑄
𝑑𝑡
𝑑 𝜌𝑉𝐶 𝑇0−𝑇𝑟𝑒𝑓
• = 𝜌𝐹1 𝐶 𝑇1 − 𝑇𝑟𝑒𝑓 −
𝑑𝑡
𝜌𝐹2 𝐶 𝑇0 − 𝑇𝑟𝑒𝑓 − 𝜌𝐹3 𝐶 𝑇0 − 𝑇𝑟𝑒𝑓 + 𝑄
𝑑 𝑇0 − 𝑇𝑟𝑒𝑓 𝐹1 𝐹1
• = 𝑇1 − 𝑇𝑟𝑒𝑓 - ൫ൣ𝑇0 −
𝑑𝑡 𝑉 𝑉
𝑄
𝑇𝑟𝑒𝑓 ൧൯ +
𝜌𝑉𝐶
Fungsi hantar proses
• Neraca unsteady state ሖ +
• 𝑠 ∙ 𝑇0(𝑠)
𝐹1
𝑇ሖ
𝑉 0(𝑠)
=
𝐹1
𝑉
ሖ +
∙ 𝑇1(𝑠)
1
𝑄ሖ
𝜌𝑉𝐶 (𝑠)
𝑑 𝑇0 − 𝑇𝑟𝑒𝑓 𝐹1 𝐹1 𝐹1 𝐹1 1
• = 𝑇1 − 𝑇𝑟𝑒𝑓 - ൫ൣ𝑇0 − • 𝑠+ ሖ =
𝑇0(𝑠) ሖ +
∙ 𝑇1(𝑠) 𝑄ሖ
𝑑𝑡
𝑄
𝑉 𝑉
𝑉 𝑉 𝜌𝑉𝐶 (𝑠)
𝑇𝑟𝑒𝑓 ൧൯ + 𝜌𝑉𝐶 𝐹1
ሖ
𝑇0(𝑠) 1 𝐹1
• Neraca steady state • ሖ
𝑇1(𝑠)
= 𝑉
𝐹1
𝑠+ 𝑉
=
𝜏𝑠+1
, dengan 𝜏 = 𝑉
𝐹1 𝐹1
• 0= 𝑇1𝑠 − 𝑇𝑟𝑒𝑓 - 𝑇0𝑠 − 𝑇𝑟𝑒𝑓 + 1
𝑉 𝑉
𝑄𝑠 ሖ
𝑇0(𝑠) 𝜌𝑉𝐶 𝐾 𝐹1
𝜌𝑉𝐶 • ሖ
= 𝐹1 = , dengan 𝜏 =
𝑑 𝑇0 −𝑇𝑟𝑒𝑓
𝑄(𝑠) 𝑠+ 𝑉 𝜏𝑠+1 𝑉
𝐹1 𝐹1
• = 𝑇1 − 𝑇1,𝑠 - 𝑇0 − 𝑇0,𝑠 + 1
1
𝑑𝑡 𝑉 𝑉 dan 𝐾 = 𝜌𝑉𝐶
𝑄 − 𝑄𝑠
𝜌𝑉𝐶
𝑑𝑇ሖ0 𝐹1 𝐹1 1
• + 𝑇ሖ = ∙ 𝑇ሖ1 + 𝜌𝑉𝐶 𝑄ሖ
𝑑𝑡 𝑉 0 𝑉
Fungsi hantar overall
T1 1 1
ሖ
𝑇0(𝑠) 𝐾𝐶 ∙𝐾𝑣 ∙𝜌𝑉𝐶∙𝜏𝑠+1
•
T0, sp
Kc = X Kv = 1
𝟏 𝟏 T0
ሖ
= 1 1
𝝆𝑽𝑪 𝝉𝒔 + 𝟏 𝑇0, 𝑠𝑝(𝑠) 𝐾𝐶 ∙𝐾𝑣 ∙𝜌𝑉𝐶∙𝜏𝑠+1∙𝐾𝑠
1
ሖ
𝑇0(𝑠)
Ks = 1 • ሖ
= 𝜏𝑠+1
1 1
𝑇1(𝑠) 𝐾𝐶 ∙𝐾𝑣 ∙𝜌𝑉𝐶∙𝜏𝑠+1∙𝐾𝑠

Persamaan karakteristik
1 1
PK = 𝐾𝐶 ∙ 𝐾𝑣 ∙ 𝜌𝑉𝐶 ∙ 𝜏𝑠+1 ∙ 𝐾𝑠