laporan pengendalian level klp 4 migas 2b

8/18/2019 Laporan Pengendalian Level KLP 4 MIGAS 2B

1/74

KEMENTERIAN PENDIDIKAN DAN

KEBUDAYAAN

POLITEKNIK NEGERI LHOKSEUMAWE

Jln.Banda Aceh-Medan Km !" PO.BO# $"

Lh%&'e(ma)e* Aceh

Laporan Praktikum

Pengendalian Level Cairan

Nama + R%,a R,&na /010"""23

NIM + /010"""2

Kela' + MIGAS B

Kel%m4%& + 0Pem5m5n6 + Re,a 7a(,an* ST.M.Sc

JURUSAN TEKNIK KIMIA

PRORAM STU!I PENOLA"AN MIAS

#$%&


2/74

LEM'AR TUAS

J(d(l P8a&9&(m + Pen6endalan le:el ca8an

La5%8a9%8(m + Pen6endalan P8%'e'

J(8('an ; P8%d + Te&n& Kma ; M6a'

Nama + R%,a R,&na

Kela' ; Seme'9e8 + B ; I< Em4a9 3

NIM + /010"""2

Kel%m4%& + 0

An66%9a

• 7a8adlla Ul:a

•

Je88= E&a M(&9

• M.A5=( Ich'an

U8aan T(6a'

/ l%) dan ON;O77 ?%n98%l

Se9 P%n9 + !"

1 Ela4'ed Tme + de9&

0 Wa&9( n9e8:al 2 men9

B(&e98a9a*

Ka. La5%8a9%8(m D%'en Pem5m5n6

Re,a 7a(,an* ST. M.Sc Re,a 7a(,an* ST. M.Sc

NIP + /$@!"1"! "/" / ""1 NIP + /$@!"1"! "/" / ""1


3/74

LEM'AR PENESA"AN

J(d(l P8a&9&(m + Pen6endalan le:el ca8an

Ma9a K(lah + P8a&9&(m Pen6endalan P8%'e'

Nama + R%,a R,&na

NIM + /010"""2

Kela' ; Seme'9e8 + B ; I< Em4a9 3

D%'en Pem5m5n6 + Re,a 7a(,an* ST.M.Sc NIP + /$@!"1"! "/" / ""1

Ka.La5%8a9%8(m + Re,a 7a(,an* ST.M.Sc

NIP + /$@!"1"! "/" / ""1

Tan66al Pen6e'ahan +

B(&e98a9a*

Ka. La5%8a9%8(m D%'en Pem5m5n6

Re,a 7a(,an* ST. M.Sc Re,a 7a(,an* ST. M.Sc

NIP + /$@!"1"! "/" / ""1 NIP + /$@!"1"! "/" / ""1


4/74

'A' I

PEN!A"ULUAN

/./. T((an 4e8c%5aan.

Da4a9 men6e9ah( &%n'e4-&%n'e4 da'a8 4en6endalan le:el.

Da4a9 men6e9ah( dan memaham (n9-(n9 4en6endalan le:el.

Da4a9 men6endal&an '(a9( le:el &e9n66an ca8an.

Da4a9 men6e9ah( dan memaham &%n>6(8a' '(a9( 4en6endalan .

/.. Ala9 dan Bahan

/../ Ala9 =an6 D6(na&an

• Se4e8an6&a9 ala9 4en6endalan le:el P?T 2"

• P? a9a( La49%4

/.. Bahan =an6 d6(na&an

• A8

/.1. P8%'ed(8 &e8a

/.1./ Pe8'a4an Ala9/3 Pe8ala9an d4a'9&an 9elah 9e84a'an6 'e'(a den6an man(al* '(m4 d' den6an

a8 5e8'h dan a8(' l'98& dh(5(n6&an &e '9%4&%n9a& 0


5/74

6. P%m4a d8e'e9 'am4a " F 4ada mmc da68am dan 5eana d5a8&an

(n9(& &%'%n6 melal( ?l%) men(( 5eana melam4a( >l%)

&el(a8.Le:el dama9 a6a8 9e9a4 &%n'9an &a &ece4a9an 4%m4a da9(8 a6a8

'e'(a den6an al8an &el(a8. J&a &ece4a9an 4%m4a 9e8lal( 9n66 ma&a le:el

a&an 9e8(' na& dan 5e69( 'e5al&n=a.

3 Den6an le:el =an6 &%n'9an d 5eana 48%'e' d4lh CG% c%n a6a8 da9a

l%66n6 n=a dm(la dan 4em5acaan le:el 4ad L/ dca9a9 den6an mm.

13 l%) mela( :al:e '%len%d. Saa9 le:el 9elah 5e8&(8an6 'am4a

" mm dca9a9 &ece4a9an 4%m4an=a =an6 9e8nd&a' 4ada da68am mmc lal(

&ece4a9an 4%m4a dna&&an (n9(& d&em5al&an &e le:el 'e5ena8n=a.

03 l%) da8 4%m4a 'e&a8an6

mele)a9 >l%) da8 da'a8 5eana 48%'e'. Saa9 le:el na& 'am4a " mm dca9a9

&ece4a9an 4%m4an=a =an6 9e8nd&a' 4ada da68am mmc lal( &ece4a9an

4%m4a dna&&an (n9(& d&em5al&an &e le:el 'e5ena8n=a.

3 D4lh STOP c%n (n9(& men=ele'a&an l%66n6 da9a.@3 G8a4h c%n d4lh (n9(& menam4l&an 68a>& 8e'4%n. Penn6&a9an dan

4en(8(nan le:el a8 'aa9 :al:e '%len%d d9(9(4 a9a( d5(&a dan lan6&ah =an6

dam5l men6em5al&an le:el. Kem5al &e mmc da68am* &ece4a9an 4%m4a

d&(8an6 dan 5a8&an 5eana &%'%n6.

!3 Ha'l 5a8( d5(a9 den6an memlh Ne9 c%n 4ada 9%%l 5a8 dan 4lh G% c%n

(n9(& mem(la da9a l%66n6.

$3 Kece4a9an 4%m4a dna&&a& 'eca8a 5e8an6'(8 'am4a le:el m(la na&. P%m4a

d9n66al&an 4ada &ece4a9an n 'ehn66a 5eana 48%'e' 9e8'. Saa9 le:el

menca4a /2" mm* 4%m4a dhen9&an dan 5a8&an 5eana 48%'e' &%'%n6.

/"3 Saa9 5eana &%'%n6* 4%m4a dm(la 4ada &ece4a9an @2F 'ehn66a 5eana a&an9e8'. Saa9 le:el menca4a /2" mm* 4%m4a dhen9&an.

//3 G8a>& dlha9 dan dama9 4e85edaan an9a8a 8a9a-8a9a 4en6'an 4ada &ece4a9an

4%m4a =an6 5e85eda. Dca9a9 (6a 4en6%'%n6an 5eana 4ada 8a9e =an6 'ama*

d9e9a4&an den6an &el(a8an %8>ce d5a)ah :al:e ?ce den6an dame9e8 =an6 5e85eda

mm 4ada ?


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3 Plh me9%de %9%ma9' dan 4lh &%n CG% (n9(& mem(la da9a l%66n6.

13 P%m4a hd(4 le:el a&an na& dan a8 a&an &el(a8 da8 5eana melal( :al:e

%(9le9 ?e& 4e85edaan an9a8a 8a9e In>l%) dan 8a9e O(9>l%)

T(9(4 nle9 :al:e ?l%) mele5h n>l%) ma&a le:el a&an

9e8(' 9(8(n )ala(4(n hd(4 dan le:el =an6 dn6n&an 9da& 9e8ca4a. T(9(4

:al:e '%len%d

!3 B(&a nle9 :al:e ?ce mm 4ada ?


7/74

Gam5a8 /./ Se4e8an6&a9 Ala9 P?T 2"


8/74

'A' II

TINJAUAN PUSTAKA

#(% Si)tem Pengendalian

S'9em 4en6endalan adalah '('(nan &%m4%nen &%m4%nen >'& =an6

d8a&9 'edem&an 8(4a 'ehn66a 5e8>(n6' (n9(& men6endal&an ''9em 9(

'end8 a9a( ''9em lan =an6 5e8h(5(n6an den6an 'e5(ah 48%'e'. A9a( den6an

4en6e89an lan ''9em 4en6endalan adalah '(a9( 48%'e' ; 4en6endalan 9e8hada4

'(a9( a9a( 5e5e8a4a 5e'a8an 'ehn66a 5e8ada 4ada '(a9( ha86a a9a( 8an6e 9e89en9(.

Ham48 'em(a 48%'e' dalam d(na nd('98 mem5(9(h&an 4e8ala9an-4e8ala9an

%9%ma9' (n9(& men6endal&an 4a8ame9e8 4a8ame9e8 48%'e'n=a. O9%ma9'a'

9da& 'aa d4e8l(&an dem &elanca8an %4e8a'* &eamanan* e&%n%m* ma(4(n m(9(

48%d(&* 9e9a4 le5h me8(4a&an &e5(9(han 4%&%&. K9a 9da& a&an m(n6&nmenalan&an '(a9( 48%'e' nd('98 9an4a ''9em 4en6endalan* c%n9%hn=a

4en6endalan d'(a9( 48%'e' 4en6lan6an mn=a&.

Ada 5an=a& 4a8ame9e8 =an6 ha8(' d&endal&an d dalam '(a9( 48%'e'. D

an9a8an=a* =an6 4aln6 (m(m* adalah 9e&anan pressure3 d dalam 'e5(ah vassel

a9a( 44a* al8an flow3 ddalam 44a* '(h( temperature3 d (n9 48%'e' 'e4e89

heat exchanger, a9a( 4e8m(&aan ,a9 ca8 level 3 d'e5(ah 9an6&. Dan ada 5e5e8a4a

4a8ame9e8 lan dl(a8 &eem4a9 4a8ame9e8 da9a' =an6 c(&(4 4en9n6 dan (6a 4e8l(

d&endal&an &a8ena &e5(9(han '4e'>& 48%'e'* dan9a8an=a + 4H d nd('98

4e98%&ma* water cut BS & W 3 d ladan6 mn=a& men9ah* )a8na 48%d(& d '(a9(

>a'l9a' 4enca8an 6a' NGL3 dan 'e5a6an=a. Ga5(n6an 'e89a &e8a ala9 ala9

4en6endalan %9%ma9' 9(lah =an6 dnama&an ''9em 4en6endalan 48%'e'

process control system3. Sedan6&an 'em(a 4e8ala9ann=a =an6 mem5en9(& ''9em

4en6endalan d'e5(9 n'98(men9a' 4en6endalan 48%'e' process control

instrumentation3. Ked(a hal 9e8d'e5(9 5e8h(5(n6an 'a9( 'ama lan* nam(n

&ed(an=a mem4(n=a ha&&a9 =an6 5e85eda. Ilm( process control instrumentation

le5h 9e8>%&(' 4ada 4enela'an &e8a ala9 'edan6&an process control system le5h

9e84('a9 4ada &e8a ''9em 9e8'e5(9.

Pada a&h8n=a 4en6endalan %9%ma9' meme6an6 4e8anan 4en9n6 dan

mem5e8&an &em(dahan dalam menda4a9&an 4e8>%8man' dalam '(a9( ''9emdnam&* mem4e89n66 &(al9a'* men(8(n&an 5a=a 48%d(&' dan mem4e89n66

la( 48%d(&'* 'e89a menada&an 4e&e8aan 4e&e8aan 8(9n =an6 ha8(' dla&(&an

%leh man('a. Nam(n 'em(a 4e8an %4e8a9%8 man(al d6an9&an %leh 'e5(ah ala9

=an6 d'e5(9 controller. T(6a' mem5(&a dan men(9(4 valve 9da& la6 d&e8a&an

%leh %4e8a9%8 9e9a4 a9a' 4e8n9ah controller . Un9(& &e4e8l(an 4en6endalan

%9%ma9'* valve ha8(' dlen6&a4 den6an ala9 =an6 d'e5(9 actuator * 'ehn66a (n9

valve =an6 'e&a8an6 menad (n9 =an6 d'e5(9 control valve. Sem(a 4e8ala9an

4en6endalan nlah controller dan control valve3 =an6 d'e5(9 'e5a6a

n'98(men9a' 4en6endalan 48%'e'.


9/74

#(# I)tila* dan Elemen dalam Si)tem Pengendalian Pro)e)

a. Process +Pro)e),

Dalam &am(' Me88am We5'9e8 mende>n'&an 48%'e' 'e5a6a %4e8a' a9a(

4e8&em5an6an alamah =an6 5e8lan6'(n6 'eca8a &%n9n=( =an6 d9anda %leh

'(a9( de8e9an 4e8(5ahan &ecl =an6 5e8(8(9an den6an ca8a =an6 8ela9:e 9e9a4dan

men(( &e'(a9( ha'l a9a( &eadaan a&h8 9e89en9(. A9a( 9a9anan 4e8ala9an =an6

mem4(n=a '(a9( >(n6' 9e89en9(. In4(9 48%'e' da4a9 5e8macam macam* =an6

4a'9 a me8(4a&an 5e'a8an =an6 da4a9 dman4(la' %leh final control element

a9a( control valve a6a8 measurement variable 'ama den6an set point.

b. Plant

Plan9 adalah 'e4e8an6&a9 4e8ala9an* m(n6&n han=a 9e8d8 da8 5e5e8a4a 5a6an

me'n =an6 5e&e8a 5e8'ama - 'ama* =an6 dla&(&an (n9(& mela&(&an '(a9(%4e8a' 9e89en9(. A9a( den6an &a9a lan 4lan9 adalah %5e& =an6 d&endal&an.

c. System +)i)tem,

S'9em adalah &%m5na' da8 5e5e8a4a &%m4%nen =an6 5e&e8a 5e8'ama 'ama

dan mela&(&an '(a9( 'a'a8an 9e89en9(.

d. Controlled Variable

Controlled variable adalah 5e'a8an a9a( variable =an6 d&endal&an. Be'a8an n

4ada da68am &%9a& d'e5(9 (6a den6an %(9 4(9 48%'e' a9a( process variable.

e. Manipulated Variable

Man4(la9ed :a8a5le adalah n4(9 da8 '(a9( 48%'e' =an6 da4a9 dman4(la' a9a(

d (5ah (5ah 5e'a8n=a a6a8 process variable a9a( control variable 5e'a8n=a 'ama

den6an set point

f. Disturbance +angguan,

Disturbance adalah '(a9( 'n=al =an6 cende8(n6 mem4(n=a 4en6a8(h =an6

me8(6&an 4ada ha86a &el(a8an '='9em*a9a( 5a''a d'e5(9 den6an 5e'a8an lan*

manipulated variable =an6 men=e5a5&an 5e8(5ahn=a controlled variable *

5e'a8an n (6a la,m d'e5(9 den6an load .

g. Sensing Element

Sensing lement adalah 5a6an =an6 4aln6 ((n6 '(a9( ''9em 4en6(&(8an

mea'(8n6 '='9em3* 5a6an n (6a d'e5(9 den6an 'en'%8 a9a( 48ma8= elemen9.h. Transducer dan Transmitter

!ransducer adalah (n9 4en6alh 'n=al 'edan6&an transmitter adalah ala9 =an6

5e8>(n6' mem5aca 'n=al sensing element dan men6(5ahn==a menad 'n=al

=an6 da4a9 dmen6e89 %leh controller. !ransmitter le5h &h('(' 4ema&ann=a

dalam ''9em 4en6(&(8an.

i. Measurrement Variable

"easurement variable adalah 'n=al =an6 &el(a8 da8 transmitter . Be'a8an n

me8(4a&an ce8mnan 5e'a8n=a 'n=al ''9em 4en6(&(8an.


10/74

j. Set point

Set point 5e'a8 process variable =an6 d&ehenda&. Se5(ah controller a&an 'elal(

5e8('aha men=ama&an controlled variable den6an 'e9 4%n9.

k. Error

rror adalah 'el'h an9a8a set point d&(8an6 den6an measured variable. E88%8

5'a ne6a9> dan 5'a (6a 4%'9>. Bla set point le5h 5e'a8 da8 measured variable

dem&an 'e5al&n=a 5la set point le5h &ecl da8 measured variable ma&a e88%8

a&an ne6a9>.

l. Controller

Controller adalah elemen9 =an6 men6e8a&an 96a da8 em4a9 9aha4 lan6&ah

4en6endalan =a9( mem5andn6&an set point den6an measurement variable*

men6h9(n6 5e8a4a 5an=a& &%8e&' =an6 dla&(&an* dan men6el(a8&an 'n=al&%8e&' 'e'(a den6an ha'l 4e8h9(n6an 9ad. Controller 'e4en(hn=a

men66an9&an 4e8an man('a dalam meen6endal&an 'e5(ah 48%'e'. Controller

'e8n6 d9e8emah&an 'e5a6a ala9 4en6endal.

m. eedback +Umpan 'alik,

Um4an 5al& adalah '>a9 da8 '(a9( ''9em (n9aan 9e89(9(4 =an6 mem(n6&n&an

&el(a8ann=a 5'a d5andn6&an den6an ma'(&an ''9em 9( a6a8 9nda&an

4en6endalan =an6 9e4a9 'e5a6a >(n6' da8 &el(a8an dan ma'(&ann=a 5'a 9e8ad.

n. inal Control Element

#inal control element adalah 5a6an 9e8a&h8 da8 n'98(men9a' ''9em

4en6endalan. Ba6an n 5e8>(n6' (n9(& men6(5ah measurement variable

den6an ca8a meman4(la' 5e'a8n=a manipulated variable* 5e8da'a8&an 4e8n9ah

controller.

#(- Pengendalian Level

#(-(% Li.uid Level Control

K%n98%le8 n men6endal&an &e9n66an ca8an l(d le:el3 4ada nla

'e94%n9-n=a. Gam5a8 5e8&(9 n mem4e8lha9&an c%n9%h da8 me&an'me l(d-

le:el c%n98%l.

Gam5a8 ./ Pen6endalan Le:el

S(m5e8 + BPST* ""@3


11/74

Penela'an 6am5a8+

• Le:el Indca9%8 men6(&(8 &e9n66an h d dalam 9an6&.

• Nla h a&an d5andn6&an den6an 'e9 4%n9 hSP* =a9( &e9n66an =an6

dn6n&an.

• ?%n98%le8 a&an mem(9('&an;men6%8e&' e88%8 den6an men68m&an 'n=al &e

elemen 4en6endal a&h8

• Be8da'a8&an 'n=al n c%n98%l :al:e a&an mem5(&a a9a( men(9(4 'am4a

&eadaan man9a4 9e8ca4a

• Me&an'me &%n98%l =an6 9e4a9 adalah a4a5la h na& 9(8(n3* ma&a c%n98%l

:al:e a&an mem5(&a men(9(43.

#(-(# PCT /$ Level Control

A( !e)krip)iP?T 2" 9e8d8 da8 &%m5na' an9a8a 9an6& '(m4;5eana le:el den6an

&%ne&' l'98&* d'a9(&an dalam 'a9( ala' da'a8. Se9a4 48%'e' men66a5(n6&an

h(5(n6an l'98& den6an 'en'%8* a8(' l'98& dan &%ne&' USB. A89n=a 4en66(na

han=a 5(9(h men6' 48%'e' den6an a8* men6h(5(n6&an ada49%8 dan &a5el USB

&e P? (n9(& %4e8a'%naln=a.Pen66(naan ma9e8al =an6 9em5(' 4andan6

mem5e8&an 4en6lha9an =an6 ela' 'aa9 48%'e' dan l%&a' &%n98%l da8 &%m4%nen

'e4e89 'en'%8 dan elemen9 &%n98%l lann=a.

Be85a6a >a'l9a' =an6 5e8%4e8a' mem(n6&nlan %49ma' da8 4en6a9(8an

PID (n9(& menen9(&an &a8a&9e8'9& =an6 9e4a9 dan mendem%n'98a'&an 8e'4%n

da8 %49m(n dan n%n-%49m(n &%n>6(8a' &%n98%lle8.

Gan66(an d'9(85ance3 da4a9 da4l&a'&an 4ada 48%'e' (n9(& men6( '9a5l9a'

''9em den6an 'e99n6 c%n98%lle8 =an6 d4an9a(. Be'a8n=a 6an66(an a&an

men6(5ah lan6&ah =an6 9elah d9en9(&an a9a( d(5ah 'eca8a &%n9n=( (n9(&

menca4a '4e'>& 8e'4%n 4ada ''9em. O4e8a' man(al melal( P? da4a9 men6(

%4en l%%4 da8 9a4 48%'e' (n9(& menen9(&an 8e'4%n ''9em (n9(& nla =an6 9e4a9

P*I* dan D* 4e8%de )a&9(* dll 4ada &%n>6(8a' cl%'e l%%4.


12/74

Gam5a8 . P?T 2"

S(m5e8 + A8m>eld Man(al3

'( PCT Level Control Pro)e)

Men(n(& &e4ada da68am ala9 (n9(& de9a 9en9an6 P?T2" le:el 48%ce''.

Tam4a& de4an men(n(&&an '('(nan da8 P?T2" and da68am h(5(n6an

men(n(&&an 48%'e' %4e8a' 'e'(a man(al. Pema'(&an &e 5eana 48%'e'

dc%n98%l den6an 5e8macam-macam 4%m4a3 a9a( 4en6al8an &e l(a8 da8 5eana

48%'e' d&%n98%l den6an 5(&aan dan 9(9(4an :al:e '%len%d 4ada 'elan6 )a&9(3.

P?T2" adalah ala9 (n9(& men6%n98%l le:el men66(na&an a8 'e5a6a >l(da =an6

5e&e8a (n9(& mena6a &eamanan 'aa9 4ema&aan. A8 =an6 dma'(&&an 4ada

'(m4 5a6an 5a)ah d4ndah&an &e 5a6an a9a' 5eana 48%'e' /3 melal( 5e85a6a

4%m4a 'en98>(6al =an6 9e8endam /"3. Pen6h(5(n6 =an6 ce4a9 dle4a' da4a9

mem5(a9 %(le9 9(5e 4%m4a =an6 >le&'5el 9e84(9(' &e Cad-48mn6 4%m4a'e9elah men6' '(m4 den6an a8. S('(nan nle9 =an6 :e89&al 4ada 5eana 48%'e'

da4a9 mem:'(al'a'&an a8 =an6 ma'(& &e 5eana* le:el a8 =an6 5e5a' dan

n9e68al :al:e =an6 9da& &em5al !3 mence6ah a8 da8 9e8&(8a' &em5al &e

5eana '(m4 'aa9 4%m4a d&(8an6 a9a( dhen9&an.


13/74

48%'e' dan 'a9(n=a la6 9e85(&a d a9m%'>8* 'ehn66a mem(n6&n&an 9e&anan d

5eana 48%'e' da4a9 d(&(8 8ela9> den6an a9m%'>8. Oleh &a8ena 9(* 'en'%8

men6(&(8 le:el a8 ddalam 5eana 48%'e'. Le:el n (6a mem5e8 nd&a' /3

4ada '&ala d '' 5eana 48%'e' A8 d&%'%n6&an da8 5eana 48%'e' &em5al &e

'(m4 5a6an 5a)ah 9an& den6an d(a &el(a8an dda'a8 5eana 48%'e'. La( al8

melal( &el(a8an (9ama adalah &%n9n=(. La( al8 melal( %(9le9 &ed(a da4a9 d

m(la dan dhen9&an den6an :al:e '%len%d '%l3 d5a)ah 8em%9e c%n98%l. Ked(a

%(9le9 men66a5(n6&an 5all :al:e =an6 5e8%4e8a' c: dan c:13 =an6

mem(n6&n&an al8an a8 da4a9 5e8:a8a' 'eca8a &%n9n( (n9(& dem%n'98a'

9e89en9(. Ked(a %(9le9 (6a men66a5(n6&an an9a8a %8>ce =an6 da4a9 5e8(5ah 1

dan 23 =an6 mem(n6&n&an la( al8 da4a9 d9e9a4&an 4ada nla =an6 9elah

d9e9a4&an 'e5el(mn=a* 5e8:a8a' han=a (&(8an %8>ce dan 5a6an de4an 5eana 48%'e'. U&(8an %8>ce d(5ah den6an mele4a'&an >99n6 4la'9& =an6 mem(a9

%8>ce dan men66an9n=a den6an al9e8na9> =an6 9e8'eda. 799n6 men66a5(n6&an

cncn C% 'eal dan han=a mem5(9(h&an 4en6encan6an. Al9e8na9> (&(8an %8>ce

/3 d'm4an d l(5an6 (l8an 4ada 5a6an de4an da8 da'a8 4la9e 'aa9 9da&

d6(na&an. L(a4an 3 4ada 5eana 48%'e' &em5al &e 9an6& '(m4 a8* mence6ah

5eana 48%'e' da8 4en6'an 5e8le5h. Pen6(&(8an le:el den6an 'en'%8 9e&anan*

4%m4a 'en98>(6al dan '%len%d :al:e dh(5(n6&an &e l'98& 03 =an6

men66a5(n6&an 'n=al =an6 d5(9(h&an* mem(n6&n&an 48%'e' %4e8a' lan6'(n6

da8 4c men66(na&an ('5 4%89. Seca8a al9e8na9>* 48%'e' da4a9 d%4e8a'&an

den6an men66(na&an c%n98%lle8 'e4e89 P?T20 PID c%n98%lle83 a9a( P?T22

48%68amma5le l%6c c%n98%lle83 =an6 dh(5(n6&an &e a8(' l'98&. S%>9)a8e

&%m4(9e8 den6an P?T2" da4a9 men6%n98%l 48%'e' le:el dan 4ema'(&an da9a

den6an men66(na&an 4c. Seca8a al9e8na9>* '%>9)a8e da4a9 mea'(&&an da9a han=a

'aa9 men6%4e8a'&an ala9 den6an men66(na&an PID c%n98%lle8 a9a( PL?.

D(a 48%'e' &%n98% l%%4' =an6 9e8'eda +

/3 Le:el c%n98%l den6an han=a 4e85andn6an 5e85a6a &ece4a9an 4%m4a

&%n98%l n>l%)3

3 Le:el c%n98%l den6an 4e85andn6an )a&9( da8 5(&aan :al:e '%len%d

%(9>l%) &%n98%l3

#(0 Prin)ip1Prin)ip Pengendalian Level

Gam5a8 d 5a)ah n men(n(&&an 5a6amana 'e%8an6 %4e8a9%8

men6endal&an le:el 4e8m(&aan ,a9 ca83 d 'e5(ah 9an6&. A8 =an6 ma'(& &e

dalam 9an6& d4%m4a da8 'e5(ah '(m(8* dan a8 =an6 &el(a8 da8 9an6& d4a&a

(n9(& &e4e8l(an 4a58&. Anda&a9a le:el d 9an6& d&ehenda& 'elal( 2"F da8

&e9n66an 9an6&* ma&a %4e8a9%8 ha8(' 'elal( menam5ah a9a( men6(8an6 5(&aan

:al:e a4a5la le:el 9da& 5e8ada d 2"F. Bla le:el &(8an6 da8 2"F* %4e8a9%8

ha8(' menam5ah >l%) den6an le5h mem5(&a :al:e. Se5al&n=a* 5la le:el le5h


14/74

9n66 da8 2"F* %4e8a9%8 ha8(' men6(8an6 den6an le5h men(9(4 :al:e. Pada

4en6endalan 'emacam n* %4e8a9%8 ha8(' 'elal( )a'4ada dan 'a4 (n9(&

mem5(&a dan men(9(4 :al:e a6a8 le:el 9e9a4 5e8ada 4ada 2"F.

am2ar#(- Pen6endalan le:el %leh man('a

S(m5e8 + Re4%'9%8= USU* "//3

Pen6endalan 'e4e89 da9a' d'e5(9 4en6endalan %leh man('a man(al

c%n98%l3. S'9em 4en6endalan man(al ma'h 9e9a4 d4a&a 4ada 5e5e8a4a a4l&a'9e89en9(. Ba'an=a 48%'e' n d4a&a 4ada 48%'e'-48%'e' =an6 9da& 5an=a&

men6alam 4e8(5ahan 5e5an l%ad3 a9a( 4ada 48%'e' =an6 9da& &8''. L%ad

5e5an3 d dalam c%n9%h 4en6endalan d a9a' adalah >l%) 4ema&aan a8 4ada

4a58&. Kala( 4ema&aan a8 %leh 4a58& 9da& 'e8n6 5e8(5ah-(5ah* %4e8a9%8 9da&

4e8l( 9e8('-mene8(' men6ama9 le:el dan menam5ah a9a( men6(8an6 5(&aan

:al:e. Te9a4 &ala( l%ad 'elal( 5e8(5ah-(5ah* %4e8a9%8 9e84a&'a ha8(' men6ama9

le:el dan 'e6e8a mela&(&an &%8e&' 9e8hada4 na& 9(8(nn=a le:el. Ke9eled%8an

%4e8a' a&an men=e5a5&an a8 9(m4ah* a9a( 'e5al&n=a 9an6& menad &%'%n6.

Da8 &eadaan d a9a'* da4a9 den6an m(dah dmen6e89 5ah)a da'a8 (9ama 4emlhan 4en6endalan man(al adalah &a8ena &e4e8l(an 48%'e' meman6

mem(n6&n&an (n9(& 4en6endalan man(al. Da8 'e6 e&%n%m* n'98(men9a'

4en6endalan man(al 9en9( le5h m(8ah da8 n'98(men9a' 4en6endalan %9%ma9'*

&a8ena n'98(men9a' =an6 d5(9(h&an meman6 le5h 'ede8hana* nam(n 5(&an

5e8a89 dem men6hema9 n:e'9a' ma&a '='9em 4en6endalan 5'a d5(a9 man(al.

Pen6endalan man(al han=a da4a9 d4a&a &ala( %4e8a' 48%'e' meman6

mem(n6&n&an hal 9(. Ada 5e5e8a4a &e5(9(han %4e8a' 48%''e' 5ah)a

4en6endalan man(al 9da& mem(n6&n&an. ?%n9%h 4aln6 'ede8hana da4a9

&em5al dam5l da8 6am5a8 . &ala( 4ema&aan a8 %leh 4a58& 5e8(5ah-(5ah

'eca8a 9e8('-mene8('* &e9eled%8an %4e8a9%8 &em(n6&nan 5e'a8 men=e5a5&an


15/74

9(m4ahn=a a8 dan &%'%n6n=a 9an6&. O4e8a9%8* 'e5a6a man('a 5a'a 'an6a9

m(dah d4en6a8(h %leh men(8(nn=a &%n'en98a' &e8a* 8a'a em( dan &eadaan

lann=a. Kala( 4en6endalan %4e8a' 48%'e' =an6 a(h le5h &89' da8 c%n9%h

da9a' men6andal&an man('a 'e5a6a 'a8ana 4en6endalan* a&an 5a6amana

adn=a. Un9(& 9(* ''9em ha8(' d5(a9 %9%ma9'. Pe8an %4e8a9%8 dalam ''9em

4en6endalan man(al d6an9&an %leh 'e5(ah ala9 =an6 d'e5(9 c%n98%lle8. T(6a'

mem5(&a dan men(9(4n=a :al:e 9da& la6 d&e8a&an %leh %4e8a9%8* 9e9a4 a9a'

4e8n9ah c%n98%lle8. Un9(& &e4e8l(an 4en6endalan %9%ma9'* :al:e ha8('

dlen6&a4 den6an ala9 =an6 d'e5(9 ac9(a9%8 'ehn66a (n9 :al:e 'e&a8an6

menad '(a9( (n9 =an6 d'e5(9 c%n98%l :al:e. Sem(a 4e8ala9an 4en6endalan

nlah =an6 d'e5(9 'e5a6a n'98(men9a' 4en6endalan 48%'e'.

S'9em 4en6endalan 4ada 6am5a8 .1* %4e8a9%8 ha8(' men6ama9&e9n66an le:el* &em(dan men6e:al(a' a4a&ah le:el =an6 ada '(dah 'e'(a

den6an =an6 d&ehenda&n=a. Kala( le:el 9a& 'ama den6an =an6 d&ehenda&n=a*

%4e8a9%8 ha8(' mem4e8&8a&an 'e5e8a4a 5an=a& :al:e ha8(' le5h d9(9(4 a9a(

d5(&a. Selan(9n=a %4e8a9%8 ha8(' 5ena8-5ena8 men6(5ah 5(&aan :al:e 'e'(a

den6an =an6 d4e8&8a&an 9ad.

Dalam men6endal&an 48%'e' %4e8a9%8 men6e8a&an em4a9 lan6&ah

5e8&(9* =a9(

/. men6(&(8

. mem5andn6&an

1. men6h9(n60. men6%8e&' .

Pada )a&9( %4e8a9%8 men6ama9 &e9n66an le:el* =an6 a &e8a&an

'e5ena8n=a adalah lan6&ah men6(&(8 48%'e' :a8a5el. P8%'e' :a8a5el 4e89ama

&al d4e8&enal&an d'n 'e5a6a 5e'a8an 4a8ame9e8 48%'e' =an6 d&endal&an.

Pada c%n9%h 48%'e' 4ada 6am5a8 * 48%'e' :a8a5eln=a adalah le:el. Kem(dan

%4e8a9%8 mem5andn6&an a4a&ah ha'l 4en6(&(8an 9ad 'e'(a den6an a4a =an6

d&ehenda&n=a. Be'a8 48%'e' :a8a5el =an6 d &ehenda& 9ad d'e5(9 'e9 4%n9 .

4en=m4an6an an9a8a 'e9 4%n9 den6an 4e(5ah =an6 d&endal&an d'e5(9 e88%8.

Error 3 )et point 4 pro)e) varia2leP8%'e' :a8a5el 5'a le5h 5e'a8 a9a( le5h &ecl da84ada 'e9 4%n9. Oleh

&a8ena 9(* menen9(&an &e a8ah mana dan 'e5e8a4a 5e'a8 &%8e&' 5(&aan :al:e

4e8l( dla&(&an. Bla ne6a9> 5e8a89 48%'e' :a8a5el le5h 5e'a8 da8 'e9 4%n9

a9a( le:el d4e85e'a8 2"F3 %4e8a9%8 ha8(' men6(8an6 >l%) den6an le5h men(9(4

:al:e. Se5al&n=a 5la e88%8 4%'9> 5e8a89 48%'e' :a8a5el le5h &ecl da8 'e9

4%n9 a9a( le:el d5a)ah 2"F3. O4e8a9%8 ha8(' menam5ah >l%) den6an le5h

mem5(&a :al:e.

Se%8an6 %4e8a9%8 =an6 5e84en6alaman 9a& a&an 'em5a8an6an mem5(&a

a9a( men(9(4 :al:e. Ia (6a a&an mem4e8&8a&an 'e5e8a4a 5an=a& :al:e 4e8l(

le5h d5(&a a9a( le5h d9(9(4. Pada 9aha4an n %4e8a9%8 'e5ena8n=a 5e8ada 4ada


16/74

lan6&ah men6h9(n6. Lan6&ah 5e8&(9n=a =an6 4e8l( dla&(&an (n9(& %4e8a9%8

adalah men6(5ah 5(&aan :al:e 'e'(a ha'l 4e85andn6an dan 4e8h9(n6an 9ad.

Lan6&ah 9e8a&h8 nlah =an6 d'e5(9 lan6&ah men6%8e&'.

Keem4a9 lan6&ah =an6 dla&(&an %leh %4e8a9%8 9ad* =a9( men6(&(8*

mem5andn6&an* men6h9(n6 * dan men6%8e&' 'el(8(hn=a da4a9 dla&(&an %leh

n'98(men9a'. Man('a &em(dan 'ama 'e&al 9da& menen9(&an &eem4a9 lan6&ah

9ad. O4e8a9%8 han=a menen9(&an 5e'a8n=a 'e9 4%n9* dan 'em(an=a a&an

d&e8a&an 'eca8a %9%ma9' %leh n'98(men9a'. S'9em 4en6endalan 'emacam

nlah =an6 d'e5(9 '='9em 4en6endalan %9%ma9' a(9%ma9c c%n98%l '='9em 3.

Keem4a9 9aha4an 4en6endalann=a 'e4en(hn=a dla&(&an %leh n'98(men. Ma9a

8an9a 4en6endalann=a &em(dan d'e5(9 ma9a 8an9a 9e89(9(4* dan ''9emn=a (6a

d'e5(9 '='9em 4en6endalan 9e89(9(4 a9a( cl%'ed l%%4 '='9em.#(/ !iagram kotak

Da68am &%9a& dc49a&an 4a8a lm()an 'e5a6a ala9 5an9( (n9(&

mem4e8m(dah dalam mem4elaa8 lm( ''9em 4en6endalan.

Ada d(a macam da68am &%9a& =an6 5a'a d4a&a dalam lm( ''9em

4en6endalan* =a9( da68am &%9a& 'm5%l' dan da68am &%9a& ma9ema9'. D

&ed(a da68am &%9a& 9(* ma'n6ma'n6 elemen =an6 ada d dalam ''9em d)a&l

%leh 'e5(ah &%9a&. Pada da68am &%9a& 'm5%l'* 'e5(ah &%9a& d5(5(h nama

a9a( 'm5%l-'m5%l. Pada da68am &%9a& ma9ema9'* 'e9a4 &%9a& d5(5(h >(n6'

ma9ema9' =an6 me8(4a&an h(5(n6an n4(9 dan %(94(9 elemen. Lha9lah 5en9(&

&ed(a da68am n4(9 dan %(94(9 9e8'e5(9 4ada 6am5a8 dan 6am5a8 1. Bla :al:e

dan 9an6& 48%'e'3 4ada 6am5a8 / d6am5a8&an dalam da68am &%9a& a&an

d4e8%leh 5en9(& da68am 'e5a6a 5e8&(9+

am2ar #.0 Da68am &%9a& 48%'e' (n9(& c%n9%h 4ada 6am5a8

Se9a4 &%9a&4ada 6am5a8 mem4(n=a 'e5(ah n4(9 dan %(94(9=an6

d6am5a8&an dalam 5en9(& ana& 4anah. K%9a& :al:e mem4(n=a n4(9 5(&aan

:al:e "-/""F3 dan mem4(n=a %(94(9 al8an a8 ma'(& &e 9an6& (6a "-/""F3.

K%9a& 5e8&(9n=a adalah &%9a& =an6 me)a&l 9an6& 48%'e'3. Pada

c%n9%h dalam 6am5a8 / &%9a& n me)a&l 9an6& dalam 5en9(& n4(9 5e8(4a >l%)

a8 =an6 ma'(& &e9an6&* %(94(9 5e8(4a le:el. Pe8ha9&an 4ada 6am5a8 9(*

%(94(9 &%9a& 4e89ama me8(4a&an n4(9 &%9a& &ed(a. Jad %(94(9 &%9a& 4e89ama

>l%) a8 ma'(& &e 9an6&3 (6a me8(4a&an n4(9 &%9a& &ed(a 9an6&3. K%9a&


17/74

=an6 lan adalah =an6 me)a&l 5e5an l%ad3. K%9a& n men(m(&&an 5ah)a l%ad

(6a mem4en6a8(h 5e'a8n=a 48%'e'. Pada c%n9%h n l%ad adalah 5an=a&n=a

4ema&aan a8 %leh 4a58&. Bla 4e8m(&aan a8 5e89am5ah* 4e8m(&aan 9an6& a&an

men(8(n. Dan 5la 4e8m(&aan a8 men(8(n ma&a 4e8m(&aan a8 dalam 9an6&

a&an na&.

Selan &ed(a &%9a& =an6 9elah d9e8an6&an 9ad* ada elemen lan den6an

9anda ln6&a8an &ecl* =an6 d5e8 9anda 4%'9> 3 dan ne6a9> -3. Elemen n

d'e5(9 '(mmn6 (nc9%n. Elemen n me)a&l >(n6' 4en(mlahan a9a(

4en6(8an6an 5e'an 'n=al. Dalam c%n9%h n 9anda 4%'9> men=a9a&an

4en(mlahan dan le:el a&an 5e89am5ah &a al8an a8 =an6 ma'(& &edalam 9an6&

5e89am5ah dan le:el a&an 9(8(n &a 4e8m(&aan a8 l%ad3 5e89an5ah. Tanda 4ada

'(mmn6 (nc9%n 5'a &ed(an=a 4%'9>* ne6a9>* dan 5'a (6a 4%'9> ne6a9> 'e4e89 4ada 6am5a8 . Da68am &%9a& 'e4e89 4ada 6am5a8 nlah =an6 d'e5(9

da68am &%9a& 'm5%l'. Bla da68am &%9a& n d6am5a8&an 'eca8a ma9ema9'*

ma'n6 ma'n6 &%9a& a&an 5e8' >(n6' ma9e9a9' =an6 men=a9a&an h(5(n6an

n4(9 dan %(94(9. 7(n6' ma9ema9' 9e8'e5(9 d'e5(9 >(n6' 98an'>e8. Ben9(&

ma9ema9' 'e5(ah >(n6' 98an'>e8 5'a 'ede8hana m'aln=a 5lan6an 5(la9 a9a(

4ecahan* 5'a (6a 5e85en9(& 4e8'amaan d>>e8en'al =an6 &%m4le&'.

Pe8ha9&an ''9m 9n66 ca8an dalam 5e8&(9 d5a)ah n. S'9em n

d'e5(9 Sn6le P8%''e' ?a4ac9= &a8ena han=a meml& 'a9( (n9 48%'e' =a9(

''9em 9n66 ca8an dalan 9an6&. S'9em 4en6endalan n (6a d'e5(9 lne8 %4en

l%a4 '='9em* &a8ena mem4(n=a 'a9( (n9 48%'e' =an6 d&endal&an 'eca8a

man(al.

am2ar #(/. S'9em 9n66 ca8an dalam 9an6&

Ba6amana 5en9(& >(n6' 98an'>e8 (n9(& ''9em 4en6endalan da9a' Dan

5a6amana 4(la 5l%& da6am ''9em ''9em 4en6endalan da9a' Un9(&

mena)a5 &ed(a 4e89an=aan da9a'* adalah 'an6a9 4en9n6 d5(a9 dan d9en9(&an

n4(9* %(94(9* 48%'e' 'e89a h(5(n6an ma9ema9'n=a. Un9(& 9( ha8(' d5(a9

&e'em5an6an ma''a ca8an 4ada 9an6& 48%'e'. Pada 5a5 n &ed(a 4e89an=aan

da9a' a&an da)a5 den6an men66(na&an 98an'>%8ma' la4lace 'e4e89 5e8&(9 n+


18/74

Ne8aca (n9(& 9an6& da9a' adalah+

ρ q− ρ q

0= ρ A dh

dt ...… ..1¿

A'(m'&an ha86a dmen' adalah &%n'9an. Ma&a 4e8'amaan /3 da9a' da4a9

d9(l'&an '55+

Dalam &eadaan '9ead= '9a9e* 4e8'amaan 3 da9a' da4a9 d9(l'&an '55+

Tanda ' 4ada 4e8'amaan 13 da9a' men=a9a&an &ece4a9an al8an >lda =an6 ma'(&

dam &el(a8 4ada &eadaan '9ed= '9a9e.De:a' &eadaan (n'9ed= '9a9e dan &eadaaan

'9ed= '9'9e da4a9 dde>n'&an 'e5a6a+

Dmana+

Ma&a 4e8'amaan 03 da4a9 d9(l'&an 'e5a6a+

Ka8ena al8an >l(da 5e8'>a9 lamne8* " mem4(n=a h(5(n6an lnea8 9e8hada4 H*

ma&a+

Den6an men66a5(n6&an 4e8'amaan 23 dan 3 dha'l&an 4e8'amaan @3 d5a)ah

n+


19/74

Dmana A.R 9e9a4an )a&9( 9me &%n'9an a9a( la6 9me3A l(a' 4enam4an6 9an6&

Den6an 98an'>%8ma' la4lace* 4e8'amaan @3 da4a9 d6(na&an (n9(& menen9(&an

5en9(& >(n6' 98an'>e8 dan 5l%& da68am ''9em 4en6endalan d a9a'.

Pe8'amaan @3 5e8(5ah menad +

T8an'>%8ma' la4lace 4e8'amaan 3 men6ha'l&an +

Den6an men66a5(n6&an 4e8'amaan !3 dan /"3 da4a9 4e8'amaan //3 '55 +

Tanda ' 4ada 4e8'amaan //3 d a9a' men=a9a&an 4e8'amaan ma'h dalam 5en9(&

98an'>%8ma' la4lace dan da4a9 d8%5ah &e dalam 5en9(& >(n6' den6an n:e8'

9an'>%8ma' la4lace.


20/74

Pada 4e8'amaan //3 n4(9 48%'e' dalam 5en9(& 98an'>%8ma' la4lace adalah '3

dan %(94(9 48%'e' adalah " '3. Dalam lm( ''9em men6endal&an 48%'e'* >(n6'

98an'>e8 dn=a9a&an '55 +

Ma&a >(n6' 98an'>e8 ''9em 4en6endalan d a9a' adalah +

Dan 5l%& da68am ''9em 4enn6endalan d a9a' da4a9 d9(l'&an '55 +

Pe8l( d9e6a'&an 5ah)a >(n6' 98an'>e8 4ada 4e8'amaan /13 d a9a' adalah

5en9(& >(n6' 98an'>e8 =an6 (m(m dan &ha' 5a6 'n6le ca4ac9= 48%'e'* =an6

d&%n98%l 'eca8a 'eca8a man(al dan a&an 5e8(5ah 9e86an9(n6 da8 n4(9 48%'e'

=an6 ma'(&.

#(&( Jeni) peu2a* pengendali

/. Ma'(&an

Ma'(&an 4en6endal 5e8a'al da8 4e(5ah =an6 d&endal&an dan set point

ha86a 4e(5ah =an6 d&ehenda&3. Set point d9en9(&an %leh %4e8a9%8 den6an

ca8a mema'(&&an ha86a =an6 dn6n&an &e 4en6endal. Pe(5ah =an6

d&endal&an 5e8a'al da8 48%'e'* m'aln=a 9em4e8a9(8* 9e&anan* &ece4a9anal8an* dan 'e5a6an=a. Be'a8an n dde9e&' %leh 'en'%8* &em(dan d(5ah

98an'd('e8 menad 5e'a8an a8('.

Sel'h an9a8a set point dan 4e(5ah =an6 d&endal&an dnama&an 6ala9

=an6 'elan(9n=a menad ma'(&an 4en6endal. Ma'(&an n* 5a'an=a*

d&%n:e8'&an menad a8(' 0-" mA.

. Kel(a8an

A4a5la ala9 4en6endal mene8ma ma'(&an 5e8(4a 6ala9 E3* 4en6endal

a&an mem5e8&an 8e'4%n =an6 d'e5(9 &el(a8an =an6 'elan(9n=a a&an

men6a&9>&an elemen 4en6endal a&h8. Kel(a8an 4en6endal 'elan dn=a9a&an


21/74

'e5a6 5e'a8an a8(' 0-" mA (6a da4a9 dn=a9a&an dalam 4e8'en &el(a8an.

A8(' 0 mA e&:alen den6an &el(a8an "F* 'edan6&an " mA e&:alen den6an

/""F.

1. Gala9

Gala9 adalah 4en=m4an6an 4e(5ah =an6 d&endal&an dan set point . Pada

''9em 4en6endal 6ala9 dn=a9a&an dalam 'a9(an a8(' a9a( 4e8'en. Un9(&

da4a9 le5h memaham 4en6e89an ma'n6-ma'n6 4e(5ah d a9a' 5e8&(9 n

d5e8 5e5e8a4a c%n9%h.

#(5( Jeni) atau mode pengendali

Seca8a 6a8' 5e'a8 4en6endal d5a6 menad 5a6an* =a9( +

/. Pen6endal 9da& mene8('. Pen6endal mene8('

Be8&(9 n dela'&an ma'n6-ma'n6 en' ala9 4en6endal* 'e89a l%6&a ca8a

&e8an=a.

/. Ala9 4en6endal %n-%>>3 a9a( 9da& mene8('

?a8a &e8a 4en6endal =an6 4aln6 da'a8 adalah mode on$off a9a( =an6

'e8n6 d'e5(9 m%de d(a 4%''. Jen' 4en6endal on$off n me8(4a&an c%n9%h da8

m%de 4en6endal 9da& mene8(' d'&%n9n=(3. M%de n 4aln6 'ede8hana* m(8ah

dan 'e8n6&al 5'a d4a&a (n9(& men6endal&an 48%'e'-48%'e' =an6

4en=m4an6ann=a da4a9 d9%le8an'. Se5a6a c%9%h adalah 4en6endal 9em4e8a9(8

8(an6an den6an mema&a A?. Seca8a ma9ema9' 4en6endal on$off 5'a

d9(l'&an.

P /""F (n9(& E Q "

"F (n9(& E "

Den6an* P &el(a8an dan E 6ala9

Da8 4e8n=a9aan ma9ema9' d a9a' da4a9 d'm4(l&an 5ah)a en'

4en6endal on$off han=a da4a9 men6el(a8&an &el(a8an " dan /""F. Pema&aan

en' 4en6endal on$off a8an6 d(m4a 4ada nd('98 &a8ena 4en6endalan den6an

men66(na&an en' 4en6endal n men6ha'l&an 4en=m4an6an-4en=m4an6an=an6 c(&(4 5e'a8. Pada nd('98 &ma 4e(5ah =an6 d&endal&an* 4ada (m(mn=a*

9da& 5%leh meml& 6ala9 =an6 9e8lal( 5e'a8.

Pada en' 4en6endal on$off (n9(& mem5e8&an 5a9a' 8en9an6 ma&'m(m

dan mnm(m 'aa9 4en6endal 5e&e8a d5a9a' dae8ah ne98al.


22/74

Kel(a8an

Dae8ah

Ne98al

-3 E " 3

Ke'alahan

am2ar #(&( Dae8ah ne98al on$off &endal

Pen6e89an dae8ah ne98al da4a9 dela'&an 'e5a6a 5e8&(9+

M'al&an 4en6endal off 4ada 4%'' E " Gam5a8 0.23. a4a5la 4en6edal off *

4e(5ah =an6 d&endal&an 9(8(n &e 5a)ah ha86a =an6 dn6n&an 6ala9 5e86e8a&

da8 E " men(( dae8ah E =an6 5e89anda -3. Pada 'aa9 9e4a9 menca4a 99& =an6

5e89anda -3 4en6endal a&an on men=e5a5&an =an6 d&endal&an m(la na&.

Gala9 5e8(5ah da8 99& =an6 5e89anda -3 men(( 99& =an6 5e89anda 3. Te4a9

4ada 'aa9 E menca4a 99& 3 ala9 4en6endal off * dem&an 'e9e8('n=a. Dae8ah

8en9an6 5e&e8an=a ala9 m(la 99& E-3 'am4a E3 d'e5(9 Dae8ah Ne98al a9a(

Dae8ah D>e8en'al. Ma&n 'em49 dae8ah ne98al 'ema&n ce4a9 4en6endal 5e&e8a

da8 4%'' on &e 4%'' off, dem&an (6a 'e5al&n=a.

. M%de 4en6endal mene8('Pen6endal on$off 5a8( 5e&e8a a4a5la 6ala9n=a 9elah mele)a9 8en9an6

dae8ah ne98al =an6 d9en9(&an. Pen6endal en' n han=a 5e&e8a 4ada d(a 4%''

den6an &el(a8an "F dan /""F. Pada 4en6endal mene8(' &el(a8ann=a 9e8('

mene8('. Se9a4 mene8ma ma'(&&an 6ala9* 4en6endal mem5e8&an &el(a8an

=an6 5e86e'e8 4ada 8en9an6 "F 'am4a /""F 'e5andn6 den6an 6ala9n=a.

M%de 4en6endal mene8(' ada 0 macam* =a9(

/. M%de 48%4%'%nal P3

. M%de 48%4%'%nal n9e68al PI3


23/74

1. M%de 48%4%'%nal de8:a9> PD3

0. M%de 48%4%'%nal n9e68al de8:a9> PID3.

/. M%de 48%4%'%nal

Kel(a8an 4en6endal 48%4%'%nal 'e5andn6 den6an 6ala9n=a. Bla

d9(l'&an dalam 5en9(& ma9ema9' adalah +

P KcE P%

Den6an*

P &el(a8an

P% &el(a8an 4en6endal 4ada E "

Kc 6an 4en6endalE e88%8 6ala93

Se8n6&al '9lah 6an 4en6endal dn=a9a&an dalam 5en9(& 48%4%'%nal

5and Band Wd9h3 =an6 d5e8&an n%9a' P5.

H(5(n6an P5 dan Kc adalah +

Kc

/"" P5 =

Ha86a P5 5e8&'a8 " 2""

Pen6e89an 48%4%'%nal 5and adalah 8en9an6 6ala9 ma&'m(m 'e5a6a

ma'(&an 4en6endal =an6 da4a9 men=e5a5&an 4en6endal mem5e8&an

&el(a8an 4ada 8en9an6 ma&'m(mn=a. Pen6e89an n a&an le5h m(dah

d>aham den6an c%n9%h 0. d5a)ah n.

?%n9%h

S(a9( 4en6endal 48%4%'%nal d6(na&an (n9(& men6endal&an 9em4e8a9(8

4ada 8en9an6 ma&'m(m " 'am4a /"" 7. 4en6endal d48%68am* 'ehn66a

&el(a8ann=a e&:alen den6an 1 4'6 &8an 9e85(&a 4en(h3 'am4a /2 4'6

&8an 4en(9(4 4en(h3* 4ada 'aa9 9em4e8a9(8 =an6 d&endal&an 5e8(5ah

5e8(5ah da8 @/ @2 7.Pe89an=aan

Be8a4a 5e'a8n=a 6an dan 48%4%'%nal 5andn=a

Pen=ele'aan +

P 5

/""F7H"-7/""

7@/-7@2"%

%%

×

/"F


24/74

%ain

7 4';173@/@2.

4'61- 4'6/2

SE

SP %%

=−

=

Bla proposional band d(5ah menad @2F* 5e8a4a&ah gain dan 8en9an6

9em4e8a9(8 =an6 d&endal&an 4ada 'aa9 &e8an 9e85(&a dan 9e89(9(4 4en(h.

Pen=ele'aan

T P8%4%'%nal 5and3. Ren9an6 ma&'m(m3

"*@2 0"

1" 7

Gan 71"

4'-6/%

"*0 4'6;%7

Pen6e89an gain "*04'6;7 4ada c%n9%h '%al 0. adalah a4a5la 9e8ad 6ala9

'e5e'a8

/7* &el(a8an 4en6endal adalah "*0 4'6.

P8%4%'%nal 5and da4a9 (6a dn=a9a&an dalam 'a9(an F* 'e4e89 9e8lha9

4ada 6am5a8 d 5a)ah n +

/""F P5 2"F

P5 /""F

Pe8'enKel(a8an

4

" -3 EO 3 Ke'alahan

am2ar#( 5( Dae8ah 48%4%'%nal


25/74

Bla &9a ama9 6am5a8 0.0 4ada dae8ah P 5 /""F 6a8' 4(9('-4(9('3*

5e8a89 'e9a4 /F e88%8 6ala93 a&an mem5e8&an &el(a8an 4en6endal.

Bla P 5 /""F &c /* ha86a gain a9a( &c 'end8 d9(n(&&an da8 9an6en a8ah

6a8' 48%4%'%nal.

. M%de 48%4%'%nal n9e68al PI3

M%de 4en6endal n mem4(n=a h(5(n6an ma9ema9' 'e5a6a 5e8&(9 +

P Kc.E O-

Kc

∫ t

"

E d9 P"

Kc 6an

)a&9( n9e68al In9e68al Ac9%n3

P% &el(a8an 4ada E "

Pada m%de PI d9am5ah&an 4e8'amaan +

O-

Kc

∫ t

"

E d9

Hal n 5e8a89 &el(a8an 4en6endal 48%4%'%nal den6an n9e68al 6ala9n=a.Un9(& melha9 8e'4%n 4en6endal en' PI da4a9 dlha9 4ada 6am5a8 0.2. m'aln=a

ala9 4en6endal PI d5e8 ma'(&an 5e8(4a >(n6' '9e4 (n9 '9e43 E / a&an

d4e8%leh 4e8'amaan +

P93 Kc O

Kc

9 P

A4a5la d6am5a8&an a&an mem4e8%leh 'e5a6a 5e8&(9

Kc

PO

Kc

P%


26/74

I

E

" 9

am2ar #(6 Re'4%n PI den6an ma'(&&an 'a9(an '9e4

Tda& 'e4e89 haln=a 4ada m%de 48%4%'%nal* 4ada m%de PI* 'elama 4en6endal

ma'h mende9e&' adan=a 6ala9* 4en6endal ma'h mem5e8&an &el(a8an

men6&(9 5en9(& n9e68al 'am4a 6ala9n=a "7(n6' alh PI adalah +

3'O-

/ ./Kc

E.'3

P.'3+=

1. M%de 48%4%'%nal de8:a9:e PD3

M%de PD n 5la dn=a9a&an dalam 5en9(& ma9ema9' 'e5a6a 5e8&(9 +

P Kc.E Kc d d9

dE

P%

Kc 6an

d )a&9( de8:a9:e* men9

P% &el(a8an 4en6endal* 4ada E "

Pada m%de PD &el(a8an 4en6endal 48%4%'%nal den6an de8:a9> 6ala9n=a =an6

9e8lha9 da8 4e8'amaan +

Kc .d. dE;d9.

Re'4%n 4en6endal PD a4a5la mem4e8%leh ma'(&an 6ala9 >(n6' Ram4 E93

A9 da4a9 dlha9 4ada 6am5a8 .

P AKcd

P%

E


27/74

" 9

am2ar #(7 Re'4%n P-D den6an ma'(&an >(n6' 8am4

Bla &9a ama9 6am5a8 . 8e'4%n 95a-95a 5e8(5ah 'e5e'a8 A Kc.D

'e5a6a a&5a9 da8 de8:a9> &em(dan 5e8(5ah 'eca8a lne8 den6an &ece4a9an

AKc.

7(n6' alh PD +

E.'3

P.'3

Kc / D '3

0. M%de 48%4%'%nal n9e68al-de8:a9> PID3

M%de n me8(4a&an m%de 6a5(n6an &e96a en' 4en6endal P* I dan D.

Pe8'amaan ma9ema9'n=a adalah +

P Kc.E Kc D d9

dE

-

Kc

τ

∫ 9

"

E d9 P"

Ha86a Kc* D dan da4a9 d(5ah-(5ah den6an &n%4 4ada 4en6endal.7(n6' Alh PID adalah 'e5a6a 5e8&(9 +

E.'3

P.'3

Kc / D'

3'O

/

T((an 4enam5ahan m%de n9e68al dan de8:a9>

Se9elah mem4elaa8 5e8macam-macam en' 4en6endal dan

&a8a&9e8'9&n=a* 'e&a8an6 &9a c%5a men6anal'a 9((an 4enam5ahan m%de

n9e68al a8ah de8:a9>. Gam5a8 .@ da4a9 d6(na&an melha9 4e85edaan 8e'4%n da8

&eem4a9 macam m%de 4en6endal.


28/74

/

1

0

am2ar #(%$ Re'4%n em4a9 en' m%de ala9 4en66e8a&

A4a5la d5a=an6&an 4ada 48%'e' 'e'(n66(hn=a m'al&an 4ada 48%'e'

4en6endalan 9em4e8a9(8 ca8an dalam 9an6& adalah 'e5a6a 5e8&(9. Padaa)aln=a 48%'e' dalam &eadaan man9a4 'e'aa9 a4a5la ada 6an66(an m'al&an

&ena&an 9em4e8a9(8 (m4an* 9em4e8a9(8 dalam 9an6& na&. J&a 48%'e' 9e8'e5(9

9da& d&endal&an* 9em4e8a9(8 dalam 9an6& a&an menca4a &%nd' man9a4 =an6

5a8( 'e4e89 4ada &(8:a /. den6an 4enam5ahan 4en6endal dha8a4&an 4e(5ah

48%'e' =an6 d&endal&an da4a9 &em5al &e ha86a 'em(la set point 3. Pema&aan

m%de 48%4%'%nal 9da& da4a9 men6ha'l&an 6ala9 "* &a8ena &a8e&9e8'9& (9ama

48%4%'%nal adalah ma'h adan=a offset a9a( 6ala9 ''a =an6 me8(4a&an 'el'h

ha86a man9a4 =an6 5a8( dan ha86a m(la-m(la 9e8lha9 4ada 6am5a8 .@ &(8:a .

Penam5ahan m%de n9e68al da4a9 men6hlan6&an %>>'e9* 'ehn66a 4e(5ah

=an6 d&endal&an da4a9 &em5al &e ha86a 'em(la* 'e4e89 9e8lha9 4ada &(8:a 1.

Kelemahan 4enam5ahan m%de n9e68al adalah %'la' 48%'e'n=a ma&n 5an=a&.

Un9(& men6a9a' &elemahan &ed(a m%de P dan PI da4a9 d9am5ah&an m%de

de8:a9> &a8ena da4a9 mem4e8ce4a9 8e'4%n dan mene&an 9e8adn=a %'la' &(8:a

03.

Pemlhan &e96a en' ala9 n 9e86an9(n6 48%'e' =an6 d&endal&an. J&a

&e5e8adaan 6ala9 e88%83 ma'h d4e85%leh&an le5h 5a& 9a& d6(na&an m%de

48%4%'%nal &a8ena m%de 4aln6 'ede8hana dan m(8ah. Te9a4 5la %>>'e9 9da&

d4e85%leh&an* m%de PI =an6 d4lh. Dem&an (6a* haln=a &a dn6n&an

8e'4%n =an6 mem4(n=a 'ed&9 %'la'* ma&a 4e8l( d9am5ah m%de de8:a9>.


29/74


30/74

'A' III

!ATA PENAMATAN

Ta2el -(% Ori8i9e # mm Manual Control

Sample

Number

Elapsed

Time

LevelL1

[mm]

Solenoid

ValvePosition

PumpSpeed

[%]

PID AProportion

alBand

[%]

PID AInteral

Time

[s]

PID ADerivati

veTime

[s]

PID ASet

Point

PID A!ontroll

er"utput

[%]1 00:00 6 Open 50 100 30 0 80 502 00:02 3 Open 50 100 30 0 80 503 00:04 7 Open 50 100 30 0 80 504 00:06 11 Open 50 100 30 0 80 505 00:08 14 Open 50 100 30 0 80 506 00:10 17 Open 50 100 30 0 80 507 00:12 19 Open 50 100 30 0 80 508 00:14 24 Open 50 100 30 0 80 509 00:16 26 Open 50 100 30 0 80 50

10 00:18 31 Open 50 100 30 0 80 5011 00:20 35 Open 50 100 30 0 80 5012 00:22 39 Open 50 100 30 0 80 5013 00:24 40 Open 50 100 30 0 80 50

14 00:26 45 Open 50 100 30 0 80 5015 00:28 47 Open 50 100 30 0 80 5016 00:30 50 Open 50 100 30 0 80 5017 00:32 55 Open 50 100 30 0 80 5018 00:34 58 Open 50 100 30 0 80 50


31/74

19 00:36 62 Open 50 100 30 0 80 5020 00:38 64 Open 50 100 30 0 80 5021 00:40 66 Open 50 100 30 0 80 5022 00:42 71 Open 50 100 30 0 80 5023 00:44 72 Open 50 100 30 0 80 5024 00:46 76 Open 50 100 30 0 80 5025 00:48 80 Open 50 100 30 0 80 5026 00:50 78 Open 50 100 30 0 80 50

27 00:52 87 Open 50 100 30 0 80 5028 00:54 89 Open 50 100 30 0 80 5029 00:56 93 Open 50 100 30 0 80 5030 00:58 94 Open 50 100 30 0 80 5031 01:00 99 Open 50 100 30 0 80 5032 01:02 103 Open 50 100 30 0 80 5033 01:04 103 Open 50 100 30 0 80 5034 01:06 110 Open 50 100 30 0 80 5035 01:08 110 Open 50 100 30 0 80 5036 01:10 113 Open 50 100 30 0 80 5037 01:12 118 Open 50 100 30 0 80 5038 01:14 119 Open 50 100 30 0 80 5039 01:16 124 Open 50 100 30 0 80 5040 01:18 125 Open 50 100 30 0 80 5041 01:20 128 Open 50 100 30 0 80 5042 01:22 132 Open 50 100 30 0 80 5043 01:24 137 Open 50 100 30 0 80 5044 01:26 137 Open 50 100 30 0 80 5045 01:28 137 Open 50 100 30 0 80 50


32/74




33/74




34/74




35/74


135 04:28 133 Open 20 100 30 0 80 20136 04:30 129 Open 20 100 30 0 80 20137 04:32 131 Open 20 100 30 0 80 20138 04:34 130 Open 20 100 30 0 80 20139 04:36 127 Open 20 100 30 0 80 20140 04:38 128 Open 20 100 30 0 80 20141 04:40 126 Open 20 100 30 0 80 20142 04:42 126 Open 20 100 30 0 80 20143 04:44 124 Open 20 100 30 0 80 20144 04:46 125 Open 20 100 30 0 80 20145 04:48 125 Open 20 100 30 0 80 20146 04:50 125 Open 20 100 30 0 80 20147 04:52 122 Open 20 100 30 0 80 20148 04:54 122 Open 20 100 30 0 80 20149 04:56 118 Open 20 100 30 0 80 20150 04:58 120 Open 20 100 30 0 80 20151 05:00 117 Open 20 100 30 0 80 20


36/74

Ta2el -(# Ori8i9e - mm Manual Control

Sample

Number

Elapsed

Time

LevelL1

[mm]

Solenoid

ValvePositio

n

PumpSpeed

[%]

PID AProportio

nalBand[%]

PID AInteral

Time[s]

PID ADerivati

veTime

[s]

PID ASet

Point

PID A!ontroll

er"utput

[%]1 00:00 0 Closed 50 100 30 0 80 502 00:02 3 Closed 50 100 30 0 80 50

3 00:04 6 Closed 50 100 30 0 80 504 00:06 9 Closed 50 100 30 0 80 505 08:00 12 Closed 50 100 30 0 80 506 00:10 15 Closed 50 100 30 0 80 507 00:12 18 Closed 50 100 30 0 80 508 00:14 21 Closed 50 100 30 0 80 509 00:16 26 Closed 50 100 30 0 80 50

10 00:18 29 Closed 50 100 30 0 80 5011 00:20 32 Closed 50 100 30 0 80 5012 00:22 34 Closed 50 100 30 0 80 5013 00:24 38 Closed 50 100 30 0 80 5014 00:26 41 Closed 50 100 30 0 80 5015 00:28 45 Closed 50 100 30 0 80 5016 00:30 46 Closed 50 100 30 0 80 5017 00:32 51 Closed 50 100 30 0 80 5018 00:34 54 Closed 50 100 30 0 80 5019 00:36 58 Closed 50 100 30 0 80 5020 00:38 59 Closed 50 100 30 0 80 5021 00:40 63 Closed 50 100 30 0 80 50


37/74

22 00:42 65 Closed 50 100 30 0 80 5023 00:44 67 Closed 50 100 30 0 80 5024 00:46 73 Closed 50 100 30 0 80 5025 00:48 74 Closed 50 100 30 0 80 5026 00:50 76 Closed 50 100 30 0 80 5027 00:52 81 Closed 50 100 30 0 80 5028 00:54 85 Closed 50 100 30 0 80 5029 00:56 86 Closed 50 100 30 0 80 50

30 00:58 91 Closed 50 100 30 0 80 5031 01:00 94 Closed 50 100 30 0 80 5032 01:02 97 Closed 50 100 30 0 80 5033 01:04 99 Closed 50 100 30 0 80 5034 01:06 100 Closed 50 100 30 0 80 5035 01:08 105 Closed 50 100 30 0 80 5036 01:10 106 Closed 50 100 30 0 80 5037 01:12 107 Closed 50 100 30 0 80 5038 01:14 113 Closed 50 100 30 0 80 5039 01:16 114 Closed 50 100 30 0 80 5040 01:18 117 Closed 50 100 30 0 80 5041 01:20 122 Closed 50 100 30 0 80 5042 01:22 129 Closed 50 100 30 0 80 5043 01:24 129 Closed 50 100 30 0 80 5044 01:26 131 Closed 50 100 30 0 80 5045 01:28 129 Closed 50 100 30 0 80 5046 01:30 136 Closed 50 100 30 0 80 5047 01:32 138 Closed 50 100 30 0 80 5048 01:34 138 Closed 50 100 30 0 80 50


38/74

49 01:36 138 Closed 50 100 30 0 80 5050 01:38 138 Closed 50 100 30 0 80 5051 01:40 138 Closed 50 100 30 0 80 5052 01:42 138 Closed 50 100 30 0 80 5053 01:44 138 Closed 50 100 30 0 80 5054 01:46 138 Closed 50 100 30 0 80 5055 01:48 138 Closed 50 100 30 0 80 5056 01:50 138 Closed 50 100 30 0 80 50

57 01:52 138 Closed 50 100 30 0 80 5058 01:54 138 Open 50 100 30 0 80 5059 01:56 138 Open 50 100 30 0 80 5060 01:58 138 Open 50 100 30 0 80 5061 02:00 138 Open 50 100 30 0 80 5062 02:02 138 Open 50 100 30 0 80 5063 02:04 138 Open 50 100 30 0 80 5064 02:06 138 Open 50 100 30 0 80 5065 02:08 138 Open 50 100 30 0 80 5066 02:10 138 Open 50 100 30 0 80 5067 02:12 138 Open 50 100 30 0 80 5068 02:14 138 Open 50 100 30 0 80 5069 02:16 138 Open 50 100 30 0 80 5070 02:18 138 Open 50 100 30 0 80 5071 02:20 138 Open 50 100 30 0 80 5072 02:22 138 Open 50 100 30 0 80 5073 02:24 138 Open 50 100 30 0 80 5074 02:26 138 Open 50 100 30 0 80 5075 02:28 138 Open 50 100 30 0 80 50


39/74


84 02:46 138 Open 50 100 30 0 80 5085 02:48 138 Open 50 100 30 0 80 5086 02:50 138 Open 50 100 30 0 80 5087 02:52 138 Open 50 100 30 0 80 5088 02:54 138 Open 48 100 30 0 80 4889 02:56 138 Open 45 100 30 0 80 4590 02:58 138 Open 41 100 30 0 80 4191 03:00 138 Open 39 100 30 0 80 3992 03:02 138 Open 38 100 30 0 80 3893 03:04 138 Open 36 100 30 0 80 3594 03:06 138 Open 31 100 30 0 80 3195 03:08 138 Open 31 100 30 0 80 3196 03:10 138 Open 28 100 30 0 80 2897 03:12 138 Open 28 100 30 0 80 2898 03:14 138 Open 23 100 30 0 80 2299 03:16 138 Open 21 100 30 0 80 21

100 03:18 138 Open 21 100 30 0 80 21101 03:20 138 Open 21 100 30 0 80 21102 03:22 138 Open 18 100 30 0 80 18


40/74




41/74


138 04:34 102 Open 0 100 30 0 80 0139 04:36 101 Open 0 100 30 0 80 0140 04:38 102 Open 0 100 30 0 80 0141 04:40 99 Open 0 100 30 0 80 0142 04:42 100 Open 0 100 30 0 80 0143 04:44 97 Open 0 100 30 0 80 0144 04:46 95 Open 0 100 30 0 80 0145 04:48 92 Open 0 100 30 0 80 0146 04:50 93 Open 0 100 30 0 80 0147 04:52 94 Open 0 100 30 0 80 0148 04:54 89 Open 0 100 30 0 80 0149 04:56 92 Open 0 100 30 0 80 0150 04:58 88 Open 0 100 30 0 80 0151 05:00 89 Open 0 100 30 0 80 0


42/74

Ta2el -(- Ori8i9e 0 mm Manual Control

Sample

Number

Elapsed

Time

LevelL1

[mm]

Solenoid

ValvePositio

n

PumpSpeed

[%]

PID AProportio

nalBand[%]

PID AInteral

Time[s]

PID ADerivati

veTime

[s]

PID ASet

Point

PID A!ontroll

er"utput

[%]1 00:00 5 Open 50 100 30 0 80 502 00:02 9 Open 50 100 30 0 80 50

3 00:04 11 Open 50 100 30 0 80 504 00:06 14 Open 50 100 30 0 80 505 00:08 17 Open 50 100 30 0 80 506 00:10 19 Open 50 100 30 0 80 507 00:12 21 Open 50 100 30 0 80 508 00:14 23 Open 50 100 30 0 80 509 00:16 26 Open 50 100 30 0 80 50

10 00:18 29 Open 50 100 30 0 80 5011 00:20 31 Open 50 100 30 0 80 5012 00:22 33 Open 50 100 30 0 80 5013 00:24 36 Open 50 100 30 0 80 5014 00:26 38 Open 50 100 30 0 80 5015 00:28 41 Open 50 100 30 0 80 5016 00:30 44 Open 50 100 30 0 80 5017 00:32 46 Open 50 100 30 0 80 5018 00:34 48 Open 50 100 30 0 80 5019 00:36 50 Open 50 100 30 0 80 5020 00:38 52 Open 50 100 30 0 80 5021 00:40 56 Open 50 100 30 0 80 50


43/74




44/74




45/74



100 03:18 136 Open 25 100 30 0 80 25101 03:20 136 Open 25 100 30 0 80 25102 03:22 133 Open 25 100 30 0 80 25


46/74




47/74


138 04:34 66 Open 10 100 30 0 80 10139 04:36 67 Open 10 100 30 0 80 10140 04:38 65 Open 10 100 30 0 80 10141 04:40 64 Open 10 100 30 0 80 10142 04:42 61 Open 10 100 30 0 80 10143 04:44 60 Open 10 100 30 0 80 10144 04:46 58 Open 10 100 30 0 80 10145 04:48 57 Open 10 100 30 0 80 10146 04:50 56 Open 10 100 30 0 80 10147 04:52 54 Open 10 100 30 0 80 10148 04:54 51 Open 10 100 30 0 80 10149 04:56 51 Open 10 100 30 0 80 10150 04:58 48 Open 10 100 30 0 80 10151 05:00 47 Open 10 100 30 0 80 10


48/74

Ta2el -(0 Ori8i9e # mm ON:O;; Control

Elapsed

Time

LevelL1

[mm]

Solenoid

ValvePositio

n

PumpSpeed

[%]

PID AProportio

nalBand[%]

PID AInteral

Time[s]

PID ADerivati

veTime

[s]

PID ASet

Point

PID A!ontroll

er"utput

[%]00:00 4 Open 100 100 30 0 80 10000:02 10 Open 100 100 30 0 80 100

00:04 16 Open 100 100 30 0 80 10000:06 28 Open 100 100 30 0 80 10000:08 50 Open 100 100 30 0 80 10000:10 35 Open 100 100 30 0 80 10000:12 66 Open 100 100 30 0 80 10000:14 86 Open 100 100 30 0 80 10000:16 70 Open 100 100 30 0 80 10000:18 88 Open 100 100 30 0 80 10000:20 77 Open 100 100 30 0 80 10000:22 96 Open 100 100 30 0 80 10000:24 93 Open 100 100 30 0 80 10000:26 116 Open 100 100 30 0 80 10000:28 104 Open 100 100 30 0 80 10000:30 120 Open 100 100 30 0 80 10000:32 106 Open 100 100 30 0 80 10000:34 122 Open 100 100 30 0 80 10000:36 126 Open 100 100 30 0 80 10000:38 117 Open 100 100 30 0 80 10000:40 118 Open 100 100 30 0 80 100


49/74

00:42 135 Open 100 100 30 0 80 10000:44 122 Open 100 100 30 0 80 10000:46 126 Open 100 100 30 0 80 10000:48 125 Open 100 100 30 0 80 10000:50 137 Open 100 100 30 0 80 10000:52 137 Open 100 100 30 0 80 10000:54 132 Open 100 100 30 0 80 10000:56 137 Open 100 100 30 0 80 100



50/74




51/74




52/74




53/74


04:34 137 Open 20 100 30 0 80 2004:36 137 Open 19 100 30 0 80 1904:38 137 Open 18 100 30 0 80 1804:40 137 Open 17 100 30 0 80 1604:42 137 Open 15 100 30 0 80 1504:44 137 Open 14 100 30 0 80 1404:46 137 Open 13 100 30 0 80 1304:48 137 Open 11 100 30 0 80 1104:50 137 Open 10 100 30 0 80 1004:52 137 Open 9 100 30 0 80 904:54 137 Open 8 100 30 0 80 804:56 137 Open 6 100 30 0 80 604:58 137 Open 5 100 30 0 80 505:00 137 Open 4 100 30 0 80 4


54/74

Ta2el -(/ Ori8i9e - mm ON:O;; Control

Sample

Number

Elapsed

Time

LevelL1

[mm]

Solenoid

ValvePositio

n

PumpSpeed

[%]

PID AProportio

nalBand[%]

PID AInteral

Time[s]

PID ADerivati

veTime

[s]

PID ASet

Point

PID A!ontroll

er"utput

[%]1 00:00 -2 Open 85 100 30 0 80 852 00:02 12 Open 87 100 30 0 80 85

3 00:04 14 Open 84 100 30 0 80 814 00:06 23 Open 85 100 30 0 80 825 00:08 26 Open 82 100 30 0 80 826 00:10 27 Open 79 100 30 0 80 807 00:12 38 Open 79 100 30 0 80 778 00:14 55 Open 80 100 30 0 80 779 00:16 43 Open 78 100 30 0 80 76

10 00:18 76 Open 77 100 30 0 80 7611 00:20 77 Open 70 100 30 0 80 7112 00:22 66 Open 70 100 30 0 80 7113 00:24 94 Open 68 100 30 0 80 7114 00:26 90 Open 63 100 30 0 80 7315 00:28 95 Open 62 100 30 0 80 6416 00:30 100 Open 65 100 30 0 80 6217 00:32 95 Open 65 100 30 0 80 6118 00:34 98 Open 60 100 30 0 80 5919 00:36 109 Open 58 100 30 0 80 5820 00:38 112 Open 57 100 30 0 80 5721 00:40 112 Open 55 100 30 0 80 54


55/74




56/74




57/74



100 03:18 61 Open 36 100 30 0 80 36101 03:20 59 Open 37 100 30 0 80 37102 03:22 59 Open 37 100 30 0 80 37


58/74




59/74


138 04:34 88 Open 36 100 30 0 80 34139 04:36 85 Open 35 100 30 0 80 33140 04:38 80 Open 32 100 30 0 80 35141 04:40 79 Open 34 100 30 0 80 34142 04:42 85 Open 35 100 30 0 80 34143 04:44 82 Open 34 100 30 0 80 34144 04:46 87 Open 35 100 30 0 80 32145 04:48 85 Open 35 100 30 0 80 37146 04:50 86 Open 34 100 30 0 80 33147 04:52 80 Open 32 100 30 0 80 34148 04:54 76 Open 31 100 30 0 80 33149 04:56 84 Open 32 100 30 0 80 36150 04:58 79 Open 32 100 30 0 80 33151 05:00 79 Open 35 100 30 0 80 33152 05:02 81 Open 33 100 30 0 80 34


60/74

Ta2el -(& Ori 8i9e 0 mm ON:O;; Control

Sample

Number

Elapsed

Time

LevelL1

[mm]

Solenoid

ValvePositio

n

PumpSpeed

[%]

PID AProportio

nalBand[%]

PID AInteral

Time[s]

PID ADerivati

veTime

[s]

PID ASet

Point

PID A!ontroll

er"utput

[%]1 00:00 57 Open 100 100 30 0 80 100


10 00:18 106 Open 100 100 30 0 80 10011 00:20 109 Open 100 100 30 0 80 10012 00:22 102 Open 100 100 30 0 80 10013 00:24 103 Open 100 100 30 0 80 10014 00:26 107 Open 100 100 30 0 80 10015 00:28 120 Open 100 100 30 0 80 10016 00:30 137 Open 100 100 30 0 80 10017 00:32 130 Open 100 100 30 0 80 10018 00:34 125 Open 100 100 30 0 80 10019 00:36 134 Open 100 100 30 0 80 10020 00:38 137 Open 100 100 30 0 80 100


61/74




62/74




63/74


83 02:44 137 Open 32 100 30 0 80 3284 02:46 137 Open 31 100 30 0 80 3185 02:48 137 Open 30 100 30 0 80 3086 02:50 137 Open 29 100 30 0 80 2987 02:52 137 Open 27 100 30 0 80 2788 02:54 137 Open 26 100 30 0 80 2689 02:56 137 Open 25 100 30 0 80 2590 02:58 137 Open 24 100 30 0 80 2491 03:00 137 Open 22 100 30 0 80 2292 03:02 135 Open 21 100 30 0 80 2193 03:04 136 Open 20 100 30 0 80 2094 03:06 132 Open 20 100 30 0 80 2095 03:08 130 Open 19 100 30 0 80 1996 03:10 133 Open 17 100 30 0 80 1997 03:12 128 Open 18 100 30 0 80 1898 03:14 130 Open 17 100 30 0 80 1799 03:16 125 Open 18 100 30 0 80 17

100 03:18 123 Open 17 100 30 0 80 17101 03:20 122 Open 16 100 30 0 80 16


64/74


110 03:38 104 Open 16 100 30 0 80 16111 03:40 103 Open 16 100 30 0 80 17112 03:42 101 Open 16 100 30 0 80 15113 03:44 100 Open 16 100 30 0 80 16114 03:46 97 Open 16 100 30 0 80 16115 03:48 94 Open 16 100 30 0 80 16116 03:50 92 Open 16 100 30 0 80 16117 03:52 93 Open 16 100 30 0 80 17118 03:54 90 Open 17 100 30

laporan pengendalian level klp 4 migas 2b

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