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TEKNOLOGI OTOMASI
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PERKEMBANGAN TEKNOLOGI
1700
1900 20 50
2000
Teknologi Materi
Teknologi Energi
Teknologi Informasi
Automasi
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TT
I/P
4-20 mA
TIC
4-20 mA
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I/P
4-20 mA
DAC
KOMPUTER
ADC
4-20 mA
Set point
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TT
I/P
4-20 mA
e(t)
Set point +
TIC
Controller
4-20 mA
m(t)
Sensor
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Plant
c(t)
CONTROL ACTION
How to compute m(t)
e(t)
Controller
m(t)
ON-OFF
PROPORTIONAL (P)
PROPORTIONAL + INTEGRAL (PI)
PROPORTIONAL + DIFFERENTIAL (PD)
PID
+
AUCTIONEERING
RATIO CONTROL
MODERN CONTROL
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e(t)
Controller
c(t)
m(t)
c(t)
Plant
Sensor
m
m(t) = M1 if e(t)>0
M1
m(t) = M2 if e(t)<0
M2
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e(t)
Controller
c(t)
m(t)
c(t)
Plant
Sensor
M1
m(t) = M1 if e(t)>e1
e2
m(t) = M2 if e(t)<e2
e1
M2
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h(t)
Level sensor
qo(t)
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example
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e(t)
c(t)
m(t)
Controller
c(t)
Plant
Sensor
m(t)
m(t)=Kpe(t)
e(t)
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e(t)
c(t)
m(t)
Controller
c(t)
Plant
Sensor
m(t)=Kie(t)dt
m(t)
e(t)
t
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e(t)
Controller
c(t)
m(t)=Kd(de(t)/dt)
m(t)
c(t)
Plant
Sensor
e(t)
m(t)
t
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STABILITY
A control loop will be stable if at the frequency of oscillation
that gives a total phase shift of 3600 around the loop, the
gain around the loop is less then 1
Set point
r(t)
e(t)
c(t)
m(t)
Controller
Sensor
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Plant
c(t)
c(t)
e(t)
c(t)
m(t)
Controller
Plant
Sensor
UNSTABLE
r(t)
n t
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c(t)
SENSITIVITY
Sensitivity is a measure of changes in system characteristic
due to changes in parameters.
Example:
Load change
Sensor characteristic change
Plant characteristic change etc.
Controller can be design to be insensitive to one parameter
but often it must be sensitive to the others.
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Disturbance rejection
The input to the plant we manipulated is m(t). Plant also receives
disturbance input that we do not control. The plant then can be
modeled as follow
plant
D(t)
Gd(s)
Gd(t)D(t)
+
R(r)
Gc M(t)
Gp(t)
C(t)
H
Methods to reduce Td(j)
1. make Gd(s) small
2. increase loop gain by increasing Gc
3. reduced D(s)
4. use feed forward compensation
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Disturbance rejection
Feedforward compensation
Feedforward compensation can be applied if the disturbance can be
measured.
D(s)
plant
Gd(s)
Gcd(s)
Gd(s)D(s)
+
R(s)
Gc
M(s)
Gp(s)
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C(s)
R(t)
Gc
M(t)
Gp(t)
c(t)
R(t)
C(t)
ess
C(t)
n t
r(t)
n t
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1.0
0.9
1 d
0.1
Tr
Tp
Ts
nt
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Problem of Noise
Random, meaningless signals can occur in many parts of
control loops. These signals, often referred to as noise,
can interfere with the intelligence of the signal.
For example, heater control the cold water and heated
water may not be completely intermixed by the time they
reach the thermometer bulb. Slugs of cold water may
alternate with hot water to give a rapidly fluctuating,
wholly meaningless temperature signal at the bulb.
If such a noise bearing signal is allowed to reach the
controller, it may result in wild and meaningless
corrections to the process, which may cause fluctuating
or completely unstable automatic control.
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Problem of Noise
Similar noise problems can occur in
connection with most signals, e.g.,
random pulsations in pressure signals,
waves in liquid-level signals,
turbulence in differential-measured flow signals,
and
induced currents in circuits (electromagnetic
wave, lightning, groundloop, etc)
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Ratio Control
In ratio control, a predetermined ratio is maintained
between two or more variables.
Each controller has its own measured variable
and output to a separate final control element.
However, all set points are from a master primary
signal that is modified by individual ratio settings
A typical application of ratio control is the control of
the fuel flow/airflow ratio in a combustion control
system
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Logic Control
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SWITCHES
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~
Single pole single throw (SPST)
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~
Single pole double throw SPDT switches
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DPDT
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Hand Switches
3PST
Rotary
Swtich
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Normally open
NO
Normally close
NC
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Push-Push Switch
This looks like a momentary action push switch
but it is a standard on-off switch:
push once to switch on,
push again to switch off.
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Microswitch
usually SPDT
Microswitches are
designed to switch fully
open or closed in response
to small movements.
They are available with
levers and rollers attached.
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Keyswitch
A key operated
switch.
The example shown
is SPST.
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Reed Switch
Usually SPST
The contacts of a reed switch are
closed by bringing a small
magnet near the switch.
They are used in security
circuits, for example to check
that doors are closed.
Standard reed switches are SPST
(simple on-off) but SPDT
(changeover) versions are also
available.
reed switches have a glass body
which is easily broken!
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DIP Switch
DIP = Dual In-line Parallel
This is a set of miniature
SPST on-off switches, the
example shown has 8
switches.
The package is the same
size as a standard DIL
(Dual In-Line) integrated
circuit.
This type of switch is used
to set up circuits, e.g.
setting the code of a
remote control.
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Multi-pole Switch
The picture shows a 6pole double throw switch,
also known as a 6-pole
changeover switch.
It can be set to have
momentary or latching
action.
Latching action means it
behaves as a push-push
switch, push once for the
first position, push again
for the second position
etc.
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Multi-way Switch
Multi-way switches have 3 or more conducting positions.
They may have several poles (contact sets). A popular type
has a rotary action and it is available with a range of
contact arrangements from 1-pole 12-way to 4-pole 3 way.
The number of ways (switch positions) may be reduced by
adjusting a stop under the fixing nut. For example if you
need a 2-pole 5-way switch you can buy the 2-pole 6-way
version and adjust the stop.
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SWITCH CAPACITY
On a switch usually there is a label informing the voltage
and current capacity, e.g.:
250 V
5A
It means that:
the maximum current allowed to pass the switch is 5 A.
The maximum voltage across its terminal allowed is 250 volt
I<5 A
~V<250 V
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RELAY
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Relay
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Relay
NC contact
NO contact
coil
RELAY
Relay
In electrical diagram relay is symbolized as shown
A relay can have many contacts both NO and NC
The coil of a relay typically passes 30mA for a 12V relay,
The contacts can drive 5A or more depending on the size of
relay
contacts
coil
NO
NO
NO
NO
NC
NC
NC
NC
Relay
30 mA
R11
R1
12 V
R12
5A
~ 220V
Ladder diagram
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Ladder Diagram
To make such as previous diagram easier to
read a ladder diagram is used
+
S
R1
R11
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Basic logic
+
AND LOGIC
s1
s2
L
s1
0
0
1
1
s2
0
1
0
1
L
0
0
0
1
Mathematically written as
L = S1 AND S2
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Basic logic
+
OR LOGIC
s1
L
s2
s1
0
0
1
1
s2
0
1
0
1
L
0
1
1
1
Mathematically written as
L = S1 OR S2
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Basic logic
NOT LOGIC
s1
R1
R11
L
R1
0
1
L
1
0
Mathematically written as
L = NOT(R1)
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Combinational logic
Suppose you want to design a safe car with the following criteria:
The gear box (GB) will not engage unless:
1. The safety belt (SB) is fastened and the doors (D1-D4) are locked or
2. The safety system is disable by switching on override switch (OS) for
maintenance purpose
Mathematically the above logic is written as
GB = (SB AND D1 AND D2 AND D3 AND D4) OR OS
SB
D1
D2
D3
D4
GB
OS
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S2
R1
start
stop
R11
R12
R13
motor
Latching action
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R14
LS
S2
S1
R1
start
stop
motor
R11
LS
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Permissive circuits
Often it is desired that a piece of equipment is
allowed to start if several conditions are met.
For example overload switch and over temperature
switch must be closed in order the motor can be
started
Each process condition is called a permissive,
and each permissive switch contact is wired in
series, so that if any one of them detects an
unsafe condition, the circuit will be opened.
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S2
S1
Permissive
circuits
R1
start
stop
OL
R11
LS
motor
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OT
Interlock circuits
Often it is desired that only one piece of equipment
is allowed to start if all other equipments are in
off condition.
For example push button circuit used in Quiz show
program where several contestant have to
answer a question.
The first one who pushes the push button will
disable the others push button switch
This circuit is called interlock since acting one
circuit will lock the others to function
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R21
R1
R11
R2
R12
LA
R22
LB
R13
R23
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R21
R31
R11
R31
R14
R24
R12
R22
R32
R1
R2
R3
LA
LB
LC
R13
R23
R33
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Reset
R21
R11
R1
R12
R2
R22
R13
R23
R14
R23
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LA
LB
Interlock
Another example of interlock is the forward circuit of motor
must prevent the reverse circuit, otherwise the motor will
damage
Note:
Motor contactor (or "starter") coils are typically designated by the letter "M"
in ladder logic diagrams.
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PLC
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A
S1
S2
A
S1
S2
X3
X4
Y1
LA=X3 AND X4
Y3
LB =X3 OR X4
X3
X4
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A
S1
S2
X3
X4
Y5
X4
X3
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LC=X3 EXOR X4
Amplifier tabung
1920
1940
1950
1960
1970
1980
1990
2000
MEM, Nanotech
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Automasi kedepan
Tecnologi baru dalam pembuatan sensor MEM
dan sensor nanotech akan mendorong automasi
yang lebih kompleks
Embeded system akan semakin banyak
digunakan untuk aplikasi otomasi
Sistem waktu nyata semakin mudah
direalisasikan dengan pemroses yang semakin
cepat dan paralel untuk implementasi
pengendalian yang kompleks
Automasi masa depan akan diperani oleh
nanotech, wireless networking, dan sistem adaptif
kompleks
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