Perancangan dan Simulasi Sistem Kendali Cascade Level Cavity dan Daya Listrik Motor Cone Crusher pada Proses Secondary Crushing di PT Agincourt Resources dengan Pengendali Proportional-Integral-Derivative (PID)

Muhammad Landie Gayuh Kirono, Dr. Eko Sulistya, M.Si.

2026 | Skripsi | FISIKA

Penelitian ini merancang dan mengevaluasi sistem kendali cascade berbasis pengendali Proportional–Integral–Derivative (PID) untuk mengendalikan level material dalam cavity dan daya listrik motor cone crusher pada proses secondary crushing di PT Agincourt Resources, serta membandingkan kinerjanya dengan sistem kendali single-loop. Model dinamika sistem diperoleh melalui pendekatan grey-box modeling yang menggabungkan pemahaman fisik proses dengan estimasi parameter menggunakan metode Least Squares berdasarkan data historis proses. Model yang diperoleh dinyatakan valid berdasarkan evaluasi kuantitatif menggunakan kriteria MSE, RMSE, dan fit percentage. Parameter pengendali PI ditentukan menggunakan metode penalaan Internal Model Control (IMC), menghasilkan parameter terpilih untuk sistem kendali single-loop dengan nilai K_p = 55,626 dan K_i = 0,551, cascade inner loop dengan nilai K_p = 0,881 dan K_i = 0,061, serta cascade outer loop dengan nilai K_p = 195,329 dan K_i = 2,083, dengan pemilihan ?_c didasarkan pada kriteria tidak adanya overshoot. Hasil penelitian melalui simulasi MATLAB Simulink menunjukkan bahwa sistem kendali cascade unggul dibandingkan sistem kendali single-loop pada aspek kinerja setpoint tracking maupun disturbance rejection. Dari segi setpoint tracking, sistem kendali cascade menghasilkan rise time 37,4 s dan settling time 172,2 s, lebih cepat dibandingkan single-loop dengan rise time 58,4 s dan settling time 313,2 s, dengan overshoot 0?n steady-state error ? 0% pada keduanya. Hal ini menunjukkan peningkatan performa respons pada sistem kendali cascade sebesar 35,96% lebih cepat untuk rise time dan 45,02% lebih cepat untuk settling time dibandingkan sistem kendali single-loop. Dari segi disturbance rejection, sistem kendali cascade menunjukkan keunggulan yang jauh lebih signifikan dengan deviasi level maksimum hanya -0,005 m dan recovery time 0 s, dibandingkan sistem kendali single-loop yang menghasilkan deviasi level maksimum -0,022 m dan recovery time 220,4 s. Peningkatan performa pada aspek disturbance rejection ini mencapai 76,83% pada pengurangan deviasi level maksimum dan 100% lebih cepat pada recovery time.

This study designs and evaluates a cascade control system based on Proportional–Integral–Derivative (PID) controllers to regulate material level in the cavity and motor power of a cone crusher in the secondary crushing process at PT Agincourt Resources, and compares its performance against a single-loop control system. The system dynamics model was obtained through a grey-box modeling approach that combines physical process understanding with parameter estimation using the Least Squares method based on historical process data. The resulting model was declared valid based on quantitative evaluation using MSE, RMSE, and fit percentage criteria. Controller parameters were determined using the Internal Model Control (IMC) tuning method, yielding selected PI parameters for the single-loop control system of K_p = 55.626 and K_i = 0.551, for the cascade inner loop of K_p = 0.881 and K_i = 0.061, and for the cascade outer loop of K_p = 195.329 and K_i = 2.083, with the selection of ?_c based on the criterion of zero overshoot. Simulation results obtained via MATLAB Simulink demonstrate that the cascade control system outperforms the single-loop control system in both setpoint tracking and disturbance rejection performance. In terms of setpoint tracking, the cascade control system achieved a rise time of 37.4 s and a settling time of 172.2 s, compared to the single-loop system's rise time of 58.4 s and settling time of 313.2 s, with both systems exhibiting 0% overshoot and approximately 0% steady-state error. This represents a performance improvement of 35.96% in rise time and 45.02% in settling time for the cascade control system relative to the single-loop system. In terms of disturbance rejection, the cascade control system demonstrated a substantially more significant advantage, with a maximum level deviation of only ?0.005 m and a recovery time of 0 s, compared to the single-loop system's maximum level deviation of ?0.022 m and recovery time of 220.4 s. The performance improvement in disturbance rejection reached 76.83% in maximum level deviation reduction and 100% in recovery time.

Kata Kunci : cascade control, PID controller, grey-box modeling, Internal Model Control (IMC), cone crusher, secondary crushing