Risfendra

1. Risfendra da 220210

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)

6. Seminar Class Risfendra da 220210

7. Teaching Activity Industrial Automation Workshop PLC-based Automation Microcontroller, Mechatronics/Robotics

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

9. Professional Course Governor Automatic Control and SCADA OJT for State Electricity Company Employee

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 (2010-2011) 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 38-714). (2008)

11. Design and Implemetation of Robust Cascade Controller for Pressure Control Trainer (Feedback 38-714). ABSTRACT This research aim to design and implement cascade controller in pressure control trainer, Feedback 38-714. 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 38-714). 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

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

14. Introduction… Proportional single loop StructureofPID controller 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.

15. Solutions Problem • Plant parameter Changes • Model Uncertainties Robust Cascade Control Cascade control Structure Effective for disturbances reduction Improve response system performance

16. Research aims: • Design interface circuit for model identification and control • Obtain model of Pressure Control Trainer Feedback 38-714 with model identification • Design cascade controller refer to robust H-infinity criteria • Controller Implementation to Pressure Control Trainer (Feedback 38-714) • Robustness Analysis of closed-loop respon system to plant parameter changes

17. Pressure Control Trainer (Feedback 38-714) • Industrial standard component • equipped with Pressure Sensor and Differential pressure sensor • signal conditioning (output:4-20mA) for each sensors

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

19. 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. 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. 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 Robust Control (3)

22. Design procedures:

23. Load various: • Normal Load: V4 open, V5 open V6 closed • Max Load: V4 open, V5 open V6 open • Min Load: V4 open,V5 closed V6 closed

24. Identification danControling diagram

26. Model Identification

27. Model Plant TF Table from Identification

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

29. State Space Model with Uncertainty (1) • Model for pressure plant

30. State Space Model with Uncertainty (2) • Model for flowrate plant

32. Weighting Function (1) • Choosen value refer to open-loopplant Characteristic in Frequency Domain

33. Weighting Function (2) • Pressure plant performance WF (wpp) “ 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) • Flowrate plant performance WF (wpf)

34. Augmented plant • Pressure plant • Flowrate plant

35. Controller Parameter Primary Controller Secondary Controller

36. Result and analysis

37. Control System overall Block Diagram

38. WF dan closed-loop sensitivity assessment(1) • Inner loop ||wpfS||∞ = 0.7531 < 1

39. WF dan closed-loop sensitivity assessment (2) • Outer loop ||wppS||∞ = 0.9854 < 1

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

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

42. Implementation flowchart

43. Implementation Respons System (1) Laod = N-Max-N Load = N-Min-N

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

45. Respon inner loop hasil implementasi (1) Laod = N-Max-N Load = N-Min-N

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

47. 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

48. 謝謝

49. Model Plant Tekanan dan Validasi

50. Model Plant laju aliran dan Validasi