PERKEMBANGAN TEKNOLOGI OTOMASI Priyatmadi PERKEMBANGAN TEKNOLOGI 1700 1900

PERKEMBANGAN TEKNOLOGI OTOMASI Priyatmadi

PERKEMBANGAN TEKNOLOGI 1700 1900 20 50 2000 Teknologi Materi Teknologi Energi Teknologi Informasi Automasi Priyatmadi

Apakah Automasi Itu? Automasi adalah implementasi teknologi kendali dalam produksi barang dan jasa yang mengambil alih pekerjaan yang biasa dilakukan oleh manusia. Klassifisi pengendalian • Kendali Aritmetika VS Logik • Kendali Manual VS Otomatis • Kendali Feed forward VS Feedback • Kendali Analog VS Digital Automatic, Feedback&forward, Digital, Arithmetic&logic Priyatmadi

Manual Arithmetic Feedback Control Priyatmadi

Analog Automatic Arithmetic Feedback Control Cold water in steam in hot water out 3 -15 psi Set point TT I/P 4 -20 m. A TIC Priyatmadi 4 -20 m. A

Digital Automatic Arithmetic Feedback Control Cold water in steam in hot water out 3 -15 psi TT I/P 4 -20 m. A DAC KOMPUTER ADC 4 -20 m. A Set point Priyatmadi

Arithmetic Feedback Control Cold water in steam in hot water out 3 -15 psi Set point TT I/P 4 -20 m. A e(t) Set point + TIC Controller 4 -20 m. A m(t) Sensor Priyatmadi 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 Priyatmadi

ON-OFF CONTROL ACTION Set point r(t) e(t) + - Controller c(t) m(t) c(t) Plant Sensor m m(t) = M 1 if e(t)>0 m(t) = M 2 if e(t)<0 M 1 M 2 Priyatmadi e

ON-OFF CONTROL ACTION WITH GAP Set point r(t) e(t) + - Controller c(t) m(t) c(t) Plant Sensor M 1 m(t) = M 1 if e(t)>e 1 m(t) = M 2 if e(t)<e 2 m e 1 M 2 Priyatmadi e

Example of ON-OFF action qi(t) Level sensor h(t) qo(t) Priyatmadi

example Priyatmadi

Proportional Control Action Set point r(t) e(t) + - c(t) m(t) Controller c(t) Plant Sensor m(t)=Kpe(t) t Priyatmadi

Integral Control Action Set point r(t) e(t) + - c(t) m(t) Controller c(t) Plant Sensor m(t)=Ki∫e(t)dt m(t) e(t) t Priyatmadi

Derivative Control Action Set point r(t) e(t) + - Controller c(t) m(t)=Kd(de(t)/dt) m(t) c(t) Plant Sensor e(t) m(t) t Priyatmadi

Problem in Analog control Stability Sensitivity Disturbance rejection Steady state accuracy Transient response Noise Priyatmadi

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 Priyatmadi Plant c(t)

OUTPUT OF CONTROL SYSTEM WHEN SET POINT IS RISEN Set point r(t) c(t) e(t) + - c(t) m(t) Controller Plant Sensor UNSTABLE r(t) n t Priyatmadi 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. Priyatmadi

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 Priyatmadi

Disturbance rejection 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) – H Priyatmadi + C(s)

5. 5 Steady State Accuracy E(t) + R(t) Gc M(t) Gp(t) c(t) R(t) C(t) ess C(t) – n t Used integrator to eliminate steady state error but be carefull system can be unstable c(t) r(t) n t Priyatmadi

Time Response of Control System The typical of unit step response of a system is as c(t) Mpt 1+ d css 1. 0 0. 9 1 d 0. 1 Tr Tp nt Ts Priyatmadi

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 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. Priyatmadi

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) Priyatmadi

Solutions to Noise Problem Derivative action produces difficulties where noise exists and, therefore, it should generally not be used in such instances. Filtering or averaging the noise out of the signal. For example, in heater control the source of thermal noise can be eliminated by better mixing of the hot and cold water in the tank or by using an averaging-type thermometer bulb that measures temperature over a considerable length instead of at one point. Priyatmadi

Solutions to Noise Problem Reduction or elimination of the noise at its source, for example rotary instead of reciprocating pumps to avoid pulsating pressures, larger mixing tanks or surge tanks, stirrers to obtain a uniform signal, longer pipe runs and straightening vanes in flow measurement, shielding of wires against stray voltages Use STP wires. Priyatmadi

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 Priyatmadi

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Auctioneering Control (Override Control, Limiting Control) In suction and discharge pressure compressor control, the discharge control valve is normally regulated from the discharge pressure. However, if the suction pressure drops below its set point, control is transferred to the suction pressure controller. This prevents excessive suction on the supply side, from demand exceeding supply, with resultant compressor damage Priyatmadi

Auctioneering Control (Override Control, Limiting Control) Priyatmadi

Modern Control Action Fuzzy control Optimal control Sliding mode control Adaptive control (Self tuning control) Priyatmadi

Logic Control Priyatmadi

What is Logic control is a control based on a logic concept, that is the on-off state of variable and/or equipment Logic control is often used to control combinational and/or sequential events such as lift control, automatic production line, engine start-up, etc. Originally used device such as switches, relay, timer, drum, and any other mechanism to enable changes of the on-off state Priyatmadi

SWITCHES Priyatmadi

Toggle Hand Switches ~ Single pole single throw (SPST) Priyatmadi

Toggle Hand Switches ~ Single pole double throw SPDT switches Priyatmadi

Toggle Hand Switches DPST DPDT Priyatmadi

Hand Switches 3 PST Rotary Swtich Priyatmadi

Push button Hand Switches Normally open NO Normally close NC Priyatmadi

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. • This is called a latching action. Priyatmadi

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. Priyatmadi

Keyswitch • A key operated switch. • The example shown is SPST. Priyatmadi

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! Priyatmadi

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. Priyatmadi

Multi-pole Switch • The picture shows a 6 pole 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. Priyatmadi

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. Priyatmadi

Process Operated Switches These switches is constructed using one of the above switches. A process variable will initiate a displacement to switch the switch Limit switch Proximity switch Pressure switch Level switch Temperature switch Flow switch etc Priyatmadi

SWITCH CAPACITY On a switch usually there is a label informing the voltage and current capacity, e. g. : 250 V 5 A 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 Priyatmadi

RELAY Priyatmadi

Relay Picture is downloaded from www. kpsec. freeuk. com/components/relay. htm Priyatmadi

Relay NC contact NO contact coil RELAY A relay is an electrically operated switch. Current flowing through the coil of the relay creates a magnetic field which attracts a lever and changes the switch contacts. The coil current can be on or off so relays have two switch positions and they are double throw (changeover) switches. Relay consist of coil and contact Usually a relay has 1 coil and many contacts both NO and NC Priyatmadi

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 30 m. A for a 12 V relay, The contacts can drive 5 A or more depending on the size of relay contacts coil NO NO NC NC RELAY SYMBOL WITH 8 CONTACTS Priyatmadi NC NC

Relay 30 m. A R 11 R 12 5 A ~ 220 V 12 V Relays allow one circuit to switch a second circuit which can be completely separate from the first. For example a low voltage battery circuit can use a relay to switch a 220 V AC mains circuit. There is no electrical connection inside the relay between the two circuits, the link is magnetic and mechanical. N Priyatmadi

Ladder diagram Priyatmadi

Ladder Diagram To make such as previous diagram easier to read a ladder diagram is used + S R 11 Priyatmadi

Basic logic + AND LOGIC s 1 s 2 L Lamp L will light if switch s 1 and s 2 are on. In logic on usually symbolized as 1 and off as 0. s 1 0 0 1 1 s 2 0 1 L 0 0 0 1 Mathematically written as L = S 1 AND S 2 Priyatmadi -

Basic logic + OR LOGIC s 1 L s 2 Lamp L will light if switch s 1 OR s 2 are on. s 1 0 0 1 1 s 2 0 1 L 0 1 1 1 Mathematically written as L = S 1 OR S 2 Priyatmadi -

Basic logic NOT LOGIC + s 1 R 11 L Lamp L will light if not R 1 is on R 1 0 1 L 1 0 Mathematically written as L = NOT(R 1) Priyatmadi -

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 (D 1 -D 4) 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 D 1 AND D 2 AND D 3 AND D 4) OR OS SB D 1 D 2 D 3 D 4 GB OS Priyatmadi

Motor Start Stop (sequential logic) The following ladder diagram is used to switch a motor on and off S 1 S 2 R 1 start stop R 11 R 12 R 13 motor Latching action Priyatmadi R 14

Auto start of water pump Suppose that the motor is used to drive water pump and we want that the pump can run or stop automatically depending on the water level In addition we also want to override the automatic control using manual start and sop control Priyatmadi LS

Auto start of water pump Off, manual and auto motor control O M A S 2 S 1 R 1 start stop motor R 11 LS Priyatmadi

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. Priyatmadi

Auto start of water pump with protection Suppose we want to protect the motor against over load and over temperature O S 0 A S 2 S 1 M Permissive circuits R 1 start stop OL R 11 LS motor Priyatmadi 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 other’s push button switch This circuit is called interlock since acting one circuit will lock the others to function Priyatmadi

Push Button In Quiz Show program A B R 21 R 12 R 1 R 2 LA R 22 LB R 13 R 23 Priyatmadi

Push Button In Quiz Show program A R 21 R 31 B R 11 R 31 C R 14 R 24 R 12 R 22 R 32 R 1 R 2 R 3 LA LB LC R 13 R 23 R 33 Priyatmadi

Push Button In Quiz Show program Instead of pushing the PB continually it is desired that just pushing once is enough for the contestant to claim that they are the first team pushing the button The presenter must push the reset button to reset the system back to original state Reset A R 21 B R 11 R 12 R 22 R 13 R 23 R 14 R 23 Priyatmadi 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. Priyatmadi

Time delay relay • If the motor is carry a high inertia load it is dangerous to reverse the direction of the motor instantaneously. • Time delay relay can be installed to prevent such occurrence to happen Priyatmadi

Fail safe design • Consider an alarm system as shown. • It can be design in 2 ways • Both ways work exactly in the same manner • The second design however gives fail save design. • Murphy’s law is true. If something can go wrong Priyatmadi

PLC Priyatmadi

Programmable logic controllers Before the advent of solid-state logic circuits, logical control systems were designed and built exclusively around electromechanical relays. Relays are far from obsolete in modern design, but have been replaced in many of their former roles as logic-level control devices, relegated most often to those applications demanding high current and/or high voltage switching. Systems and processes requiring "on/off" control abound in modern commerce and industry, but such control systems are rarely built from either electromechanical relays or discrete logic gates. Instead, digital computers fill the need, which may be programmed to do a variety of logical functions. Priyatmadi

Programmable logic controllers In the late 1960's an American company named Bedford Associates released a computing device they called the MODICON. As an acronym, it meant Modular Digital Controller, and later became the name of a company division devoted to the design, manufacture, and sale of these special-purpose control computers. Other engineering firms developed their own versions of this device, and it eventually came to be known in nonproprietary terms as a PLC, or Programmable Logic Controller. The purpose of a PLC was to directly replace electromechanical relays as logic elements with a solidstate digital computer with able to emulate the interconnection of many relays to perform certain logical tasks. Priyatmadi

Programmable logic controllers ~220 VAC • A PLC has many "input" terminals (X), many output terminals (Y). • The input-output relation is programmable • To make PLCs easy to program, their programming language was designed to resemble ladder logic diagrams. • Thus, an industrial electrician or electrical engineer accustomed to reading ladder logic schematics would feel comfortable programming a PLC to perform the same control functions. Priyatmadi

Programmable logic controllers + A S 1 B S 2 C • Suppose that the PLC is wired as shown and we want that : – Lamp A will light if S 1 AND S 2 is pushed – Lamp B will light if S 1 OR S 2 is pushed – Lamp C will light if S 1 EXOR S 2 is pushed Priyatmadi

Programmable logic controllers + A S 1 B S 2 C X 3 X 4 Y 1 LA=X 3 AND X 4 Y 3 LB =X 3 OR X 4 X 3 X 4 Priyatmadi

Programmable logic controllers + A S 1 B S 2 C X 3 X 4 Y 5 X 4 X 3 Priyatmadi LC=X 3 EXOR X 4

Kendali Motor Putar Kanan/Kiri Kendali logik digunakan untuk proses yang bersifat logik seperti pengendalian lift. Dalam praktek kendali logic dan aritmatika digunakan dua-duanya. Priyatmadi

Milestone Teknologi Kendali 1900 Amplifier tabung 1920 Kendali otomatis menggunakan pneumatik & rele 1940 Supervisory control di jaringan listrik dengan rele 1950 Transistor, komputer, CNC, Electronic controller 1960 DAS, SCADA, PLC, Robot Industri, AI 1970 Distributed Control Systems, VLSI, µP 1980 PC, LAN, Internet 1990 Field bus, Wireless 2000 MEM, Nanotech Priyatmadi

Arsitektur Kendali Proses Gambar di download dari http: //a 1. siemens. com/innovation/en/publikationen/publications_pof/pof_spring_2005/history_of_industrial_automation. htm Priyatmadi

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 Priyatmadi

IMPIAN AUTOMATIONIST Full automation di semua bidang seperti • • • Sopir Jurumasak Polisi Yang dilakukan oleh mesin otomatis Ini berarti bahwa Mesin harus secerdas manusia Priyatmadi

Perbandingan Kecerdasan Mesin dan Manusia Bidang Mesin Perhitungan Pengenalan, pemahaman ***** * Perasaan - Keinginan, kemauan Priyatmadi Manusia * ***** *****

Apakah Automasi Mengakibatkan pengangguran? Priyatmadi