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11 April 20151. 2 3 4 Rendang 'West Sumatran caramelized beef curry‘. In 2011 an online poll by 35,000 people held by CNN International chose Rendang.

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Presentation on theme: "11 April 20151. 2 3 4 Rendang 'West Sumatran caramelized beef curry‘. In 2011 an online poll by 35,000 people held by CNN International chose Rendang."— Presentation transcript:

1 11 April 20151

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5 Rendang 'West Sumatran caramelized beef curry‘. In 2011 an online poll by 35,000 people held by CNN International chose Rendang as the number one dish of their 'World’s 50 Most Delicious Foods list. (http://en.wikipedia.org/wiki/Rendang)http://en.wikipedia.org/wiki/Rendang 11 April 20155

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7 Teaching Activity Industrial Automation Workshop PLC-based Automation Microcontroller, Mechatronics/Robotics 11 April 20157

8 Professional Course PLC-based Automation Upgrading course for Vocational High School Teacher. 11 April 20158

9 9 Professional Course Governor Automatic Control and SCADA OJT for State Electricity Company Employee 11 April 2015

10 Research Activity Decision Making Algorithm on Keeper Robot soccer. Indonesian Symposium on Robot Soccer Competision. ISRSC (2013 ) PC-based identification and PID controller Design for Temperature Process Control Trainer ( ) Implementation of Fuzzy Logic for tuning PI controller in Motor DC speed control system (2009) Design and Implementation of Robust Cascade Controller for Pressure Control Trainer (Feedback ). (2008) 11 April

11 Design and Implemetation of Robust Cascade Controller for Pressure Control Trainer (Feedback ). ABSTRACT This research aim to design and implement cascade controller in pressure control trainer, Feedback The device has been equipped with PID controller which is a single-loop controller structure applied widely in industry. The controller is easily implemented and relatively easy in tuning. However, in the other hand, it is unable to reduce load disturbance effect. In process control system, load disturbance becomes a main problem. Cascade control can be used to overcome the problem. To guarantee closed-loop system stability while plant parameters changing happen due to load disturbance, the cascade controller is designed to achieve robust H-infinity criterion. Cascade control design in this research uses classical method approach. The objective design is to guarantee closed-loop system stability and performance while load disturbance occurs. The controller gained is simulated and implemented to the real plant Pressure Control Trainer (Feedback ). The simulation result shown that design of closed-loop system has achieved robust stability criteria based on small gain theorem. So, the system stability can be guaranteed due to plant parameters changing. The implementation result shown that closed-loop system was able to reach set-point while plant parameters changing happen due to load disturbance. Key words : cascade control, H-infinity, pressure control trainer, robust, uncertainty 1111 April 2015

12 1211 April 2015

13 13 Introduction Wide application of ELECTRO-PNEUMATIK System in Industry Explosive resistant Simplicity Easy Maintenance 11 April 2015 Technology  Performance  Plant parameters changes stability  Load changes stability  Steady-state error ≈ 0  Overshoot ≈ 0

14 11 April single loop Structure of PID controller Proportional Integral Differential  Industrial automation standard, because the benefits are easy to implement and relatively easy to be tuned  The disadvantage unable to eliminate disturbances unable to maintain the desired criteria on various system parameter changes. Introduction…

15 15 Cascade control Structure Effective for disturbances reduction Effective for disturbances reduction Improve response system performance Improve response system performance 11 April 2015 Problem  Plant parameter Changes  Model Uncertainties Solutions Robust Cascade Control

16 11 April Research aims:  Design interface circuit for model identification and control  Obtain model of Pressure Control Trainer Feedback with model identification  Design cascade controller refer to robust H-infinity criteria  Controller Implementation to Pressure Control Trainer (Feedback )  Robustness Analysis of closed-loop respon system to plant parameter changes

17 11 April  Industrial standard component  signal conditioning (output:4-20mA) for each sensors  equipped with Pressure Sensor and Differential pressure sensor Pressure Control Trainer (Feedback )

18 11 April Struktur Kontrol Kaskade Tujuan kontroler kaskade (Luyben,1997): – Mengeliminasi pengaruh gangguan – Meningkatkan performansi sistem kontrol Requirement : inner loop respons >> outer loop respons Master / primary Controller auxiliary / secondary Controller

19 11 April Robust Control (1) Adanya ketidak pastian dalam pemodelan Adanya perubahan parameter plant: – Akibat usia pemakaian – Karena variasi operasional Obyektif Kontrol: – Sistem tetap kokoh dalam perubahan dinamika plant – Sistem tetap stabil dalam perubahan parameter plant – Memiliki gain tinggi pada frekuensi rendah setelah itu gain kontroler turun dengan cepat setelah mencapai frekuensi crossover.

20 11 April Robust Control (2) Uncertainty: – Additif: Parallel dengan model nominal Untuk uncertainty pada frekuensi tinggi G + ∆ – Multiplicative: Seri dengan model nominal Untuk uncertainty pada frekuensi rendah G ( I + ∆ ) = G + G∆

21 21 Robust Control (3) 11 April 2015 LFT (linear fractional transformation) – Untuk memodelkan variasi plant sebagai variabel gain linier pada suatu feedback – Untuk memetakan ketidakpastian real plant ke dalam kerangka matematik sistem linier Upper LFT Lower LFT

22 11 April Design procedures:

23 11 April Load various:  Normal Load: V4 open, V5 open V4 open, V5 open V6 closed V6 closed  Max Load: V4 open, V5 open V4 open, V5 open V6 open V6 open  Min Load: V4 open,V5 closed V4 open,V5 closed V6 closed V6 closed

24 11 April Identification dan Controling diagram

25 11 April

26 11 April Model Identification

27 11 April Laod Model TF Tekanan (pressure) G M1 (s) Laju aliran (flow rate) G M2 (s) Normal Max Min Model Plant TF Table from Identification

28 11 April Ketidakpastian Parameter Plant (nominal 1,27) (nominal 38) (nominal 62) (nominal 2.18) (nominal 75) (nominal 3.4)

29 11 April State Space Model with Uncertainty (1)  Model for pressure plant

30 11 April State Space Model with Uncertainty (2)  Model for flowrate plant

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32 11 April Weighting Function (1)  Choosen value refer to open-loop plant Characteristic in Frequency Domain

33 11 April Weighting Function (2)  Pressure plant performance WF (w pp )  Flowrate plant performance WF (w pf ) “ Note that finding appropriate weighting functions is a crucial step in robust control design and usually needs a few trials. For complex systems, significant efforts may be required ” (Gu, 2005)

34 11 April Augmented plant  Pressure plant  Flowrate plant

35 11 April Controller Parameter Primary Controller Secondary Controller

36 11 April Result and analysis

37 37 Control System overall Block Diagram 11 April 2015

38 38 WF dan closed-loop sensitivity assessment(1) Inner loop ||w pf S||∞ = < 1

39 11 April WF dan closed-loop sensitivity assessment (2) Outer loop ||wppS||∞ = < 1

40 11 April Simulation Results (1) Inner loop respons with secondary controller

41 11 April Simulation Results (2) Outer loop response with primary controller System response with Cascade controller

42 11 April Implementation flowchart

43 43 Implementation Respons System (1) 11 April 2015 Laod = N-Max-NLoad = N-Min-N

44 11 April Implementation Respons System(2) Load = N-Max-Min

45 11 April Respon inner loop hasil implementasi (1) Laod = N-Max-NLoad = N-Min-N

46 11 April Respon inner loop hasil implementasi (2) Load = N-Max-Min

47 11 April Conclusion The results of closed-loop design with cascade control in this research, are qualified robust stability and robust performance based on the small gain theorem, so that the stability and performance of the system can be maintained in the event of changes in plant parameters Classical methods approach can be used to design a robust cascade controller. Thus, resolving can use SISO (single input single output) system calculation. Implementation result shows good achievement. Thus, performance robustness and stability robustness can be maintained in the event of changes in plant parameters

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49 11 April Model Plant Tekanan dan Validasi

50 11 April Model Plant laju aliran dan Validasi

51 11 April Small Gain Theorem Asumsikan G1, G2 H ∞ keduanya stabil, bounded-gain transfer function. Jika ||G 1 G 2 || ∞ < 1, sistem closed-loop stabil. Selanjutnya, karena ||G 1 G 2 || ∞ < ||G 1 || ∞ ||G 2 || ∞ lalu jika ||G 1 || ∞ ||G 2 || ∞ < 1, sistem closed-loop stabil

52 11 April Vektor NormMatrix Norm

53 53 “Matlab-Simulink” Simulation 11 April 2015

54 54 Tabel Performansi Sistem Terhadap Perubahan Beban

55 11 April Karakteristik V/I dan I/V konverter

56 5611 April 2015

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58 5811 April 2015


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