RANCANG BANGUN DAN KOMPARASI KENDALI ON-OFF, PID DAN FUZZY UNTUK HOPPER-CONVEYOR PLANT

ZAIDIR JAMAL, Ir. Oyas Wahyunggoro, M.T., Ph.D.; Adha Imam Cahyadi, ST., M.Eng., D.Eng.

2014 | Tesis | S2 Teknik Elektro

Hopper-conveyor plant banyak digunakan di dunia industri, yang pada umumnya digerakkan motor induksi. Motor induksi biasanya dikendalikan dengan inverter variable speed drive, terdapat tipe khusus yang telah dilengkapi dengan kendali PID. Kendali PID telah digunakan luas di industri sebagai kendali motor. Tujuan penelitian ini merancang bangun kendali fuzzy berbasis mikrokontroller dengan mengaplikasikannya pada miniatur hopper-conveyor plant untuk menjaga aras agar tetap konstan dan kemudian membandingkannya dengan kendali PID dan on-off. Pada penelitian ini fungsi keanggotaan kendali fuzzy menggunakan segitiga dengan tujuh partisi, lima partisi dan tiga partisi. Fuzifikasi menggunakan singleton, defuzifikasi menggunakan center of average. Perancangan kendali PID menggunakan aksi yang terpisah berbasis mikrokontroler, sedangkan perancangan kendali on-off dilakukan secara analog menggunakan IC komparator. Aras pada hopper diukur menggunakan modul sensor ultrasonik, keluarannya dihubungkan kemasukan kendali, keluaran kendali dihubungkan ke inverter variable speed drive. Hasil eksperimen menunjukkan kendali PID, kendali fuzzy tujuh partisi, lima partisi dan tiga partisi dapat direalisasikan seluruhnya pada mikrokonroler. Pada kendali on-off memberikan rise time yang paling cepat tetapi pada implementasinya terdapat kerugian yaitu terjadinya arus starting yang besar pada motor induksi saat on-off berulang-ulang. Kendali PID memberikan IAE yang terkecil tetapi rise time lebih besar dari kendali fuzzy dan terdapat sedikit over shoot. Kendali fuzzy tujuh partisi memberikan rise time yang paling lambat. Penambahan aturan menjadi 25 (lengkap) pada kendali fuzzy lima partisi memberikan rise time yang lebih cepat dari tiga partisi tetapi lambat dalam mengatasi gangguan. Kinerja yang hampir setara adalah kendali PID dan fuzzy tiga partisi. Pada implementasinya keduanya memberikan kinerja yang baik, tetapi merealisasikan kendali fuzzy lebih sulit dari kendali PID.

Hopper-conveyor plant is widely used in industries, which is generally used to drive induction motor. Induction motors are usually controlled by an inverter variable speed drive, especially build in PID controller. PID controller has been widely used in industries as motor control. The research aims to establish a fuzzy logic controller based on microcontroller which is applied to a miniature hopper-conveyor plant to keep the level remain constant, as compared to on-off and PID controllers. The research was conducted by experiment. Triangle membership functions with seven partitions, five partitions, and three partitions were used in fuzzy logic controller to compare with singleton and center of average were used as fuzzification and defuzzification respectively. Designing PID controller was done using a separated action based on microcontroller, while designing the on-off controller was done using analog system based on comparator IC. The level in the hopper was measured using an ultrasonic sensor module. The output was connected to the input controller, and the controller output was connected to the inverter variable speed drive. The experiment results show that the PID controller, fuzzy controller with seven partitions, five partitions and three partitions can be realized in a single chip microcontroller. On-off controller provides the fastest rise time but it has large starting current of induction motor when implemented repeatedly. The PID controller gives the smallest IAE and small overshoot but the rise time is slower than fuzzy controller. Fuzzy controller of seven partitions provides the slowest rise time. Adding rules to 25 (complete) on the fuzzy controller with five partitions provide a faster rise time than three partitions but slower in overcoming disturbance. The performance of PID controller is almost the same fuzzy controller with three partitions. In implementation, both controllers provide good performance, but fuzzy controller is more difficult to realize than PID controller.

Kata Kunci : kendali fuzzy, kendali PID, kendali on-off, mikrokontroler, Hopper-conveyor plant