Perancangan Sistem Kontrol Ketinggian Muka Cairan Pada Tangki Spherical Menggunakan Kontroler PID-Gain Scheduling
DOI:
https://doi.org/10.22441/jte.2025.v16i2.007Kata Kunci:
Gain Scheduling, Kontrol PID, Tangki Spherical, Adaptif, Kontrol level, Non-linearAbstrak
Tangki spherical adalah salah satu tangki pressure vessel yang memiliki bentuk yang sangat nonlinear karena bentuk geometrisnya dan tangki ini banyak digunakan pada industri untuk menyimpan cairan dengan kapasitas besar. Tangki spherical ini banyak digunakan karena keunggulannya untuk mendistribusi tegangan yang lebih merata sehingga cenderung tidak memiliki titik lemah, dan juga luas permukaan per satuan volume yang dimiliki lebih kecil membuatnya panas yang ditransferkan dari lingkungan lebih kecil dibandingkan bentuk tangki lainnya. Pengendalian ketinggian muka cairan pada tangki ini menjadi tantangan karena sifat nonlinearnya yang menyebabkan dinamika proses bervariasi secara ekstrem. Penelitian ini mengusulkan metode kontrol PID dengan pendekatan Gain Scheduling (PID-GS) untuk mengatasi tantangan tersebut. Metode ini memungkinkan parameter kontrol beradaptasi dengan melakukan penjadwalan sesuai perubahan kondisi operasi. Simulasi pada penelitian ini menggunakan MATLAB Simulink untuk mengevaluasi performa PID-GS dibandingkan PID konvensional pada berbagai setpoint. Hasil simulasi menunjukkan bahwa PID-GS memiliki rise time lebih cepat, final value lebih akurat, dan overshoot yang lebih kecil dibandingkan PID konvensional. Selain itu, PID-GS memberikan stabilitas sistem yang lebih baik dengan settling time yang lebih singkat. Analisis kesalahan kumulatif menggunakan parameter seperti IAE, ITAE, ITSE, dan ISE menunjukkan bahwa PID-GS unggul pada setpoint rendah hingga menengah. Namun, peningkatan kesalahan kumulatif pada setpoint tinggi menunjukkan perlunya optimasi lebih lanjut terhadap parameter Gain Scheduling. Secara keseluruhan, PID-GS menawarkan solusi kontrol yang efektif dan efisien untuk sistem non-linear seperti tangki spherical, dengan potensi untuk dikembangkan lebih lanjut guna meningkatkan kinerja di seluruh rentang operasiUnduhan
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