s te 0902236 table of content
DAFTAR ISI
LEMBAR PENGESAHAN
ABSTRAK ........................................................................................................i
KATA PENGANTAR .......................................................................................ii
DAFTAR ISI .....................................................................................................v
DAFTAR GAMBAR ...................................................................................... viii
DAFTAR TABEL .............................................................................................xi
BAB I PENDAHULUAN
1.1. ..................................................................................................... La
tar Belakang.....................................................................................1
1.2. ..................................................................................................... Ru
musan Masalah ................................................................................2
1.3. ..................................................................................................... Ba
tasan Masalah ..................................................................................3
1.4. ..................................................................................................... Tu
juan .................................................................................................4
1.5. ..................................................................................................... M
etodologi Penelitian .........................................................................4
1.6. ..................................................................................................... Si
stematika Penulisan .........................................................................5
BAB II TINJAUAN PUSTAKA
2.1. ..................................................................................................... M
otor DC............................................................................................7
2.1.1. .............................................................................................. Pe
ngertian Motor DC ......................................................................7
2.1.2. .............................................................................................. Ke
gunaan Motor DC........................................................................8
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2.1.3. .............................................................................................. Pri
nsip Kerja Motor DC ...................................................................9
2.1.4. .............................................................................................. K
onstruksi Motor DC.....................................................................10
2.1.5. .............................................................................................. Je
nis-jenis Motor DC......................................................................11
2.1.6. .............................................................................................. Pe
ngaturan Kecepatan Motor DC ....................................................12
2.2. ..................................................................................................... Se
nsor Optocoupler .............................................................................13
2.3. ..................................................................................................... S
CR ...................................................................................................15
2.4. ..................................................................................................... O
P-AMP ............................................................................................16
2.4.1. .............................................................................................. Pe
ngertian Op-amp .........................................................................16
2.4.2. .............................................................................................. O
p-amp Ideal .................................................................................16
2.4.3. .............................................................................................. Pe
nguat Diferensial .........................................................................17
2.4.4. .............................................................................................. Di
agram Op-amp ............................................................................18
2.4.5. .............................................................................................. In
verting .........................................................................................20
2.4.6. .............................................................................................. No
n Inverting...................................................................................21
2.4.7. .............................................................................................. Su
mmer / Penjumlah .......................................................................22
2.4.8. .............................................................................................. Di
fferentiator ..................................................................................22
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2.4.9. .............................................................................................. Int
egrator ........................................................................................24
2.5. ..................................................................................................... Si
stem Kontrol ....................................................................................25
2.6. ..................................................................................................... K
ontroler Analog ................................................................................29
2.6.1. .............................................................................................. O
n/Off Controller ..........................................................................30
2.6.2. .............................................................................................. Pr
oportional Controller ..................................................................33
2.6.3. .............................................................................................. Int
egral Controller ..........................................................................36
2.6.4. .............................................................................................. Pr
oportional-Integral Controller ....................................................42
2.6.5. .............................................................................................. De
rivative Controller .......................................................................45
2.6.6. Proportional-Integral-Derivative Controller
(PID Controller)..........................................................................50
2.7. ..................................................................................................... Pe
ngaruh PID Controller Pada Sistem Kontrol ....................................52
2.8. ..................................................................................................... Tu
ning Kontroler .................................................................................54
2.9. ..................................................................................................... A
nalisis Nilai Karakteristik Sistem .....................................................55
BAB III PERANCANGAN DAN PEMBUATAN ALAT
3.1. ..................................................................................................... Fl
ow Chart Perancangan dan Pembuatan Alat .....................................59
3.2. ..................................................................................................... Pe
rancangan Sistem .............................................................................60
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3.3. ..................................................................................................... Pe
rancangan dan Pembuatan Power Supply ±15 Volt DC ....................61
3.4. ..................................................................................................... Pe
rancangan dan Pembuatan Kontroler PID.........................................63
3.5. ..................................................................................................... Pe
rancangan dan Pembuatan Driver Motor ..........................................70
3.6. ..................................................................................................... Pe
rancangan dan Pembuatan Sensor Optocoupler ................................72
3.7. ..................................................................................................... M
otor DC 0,75 KW.............................................................................74
BAB IV HASIL DAN PEMBAHASAN
4.1. ..................................................................................................... Pe
ngujian dan Pengukuran ...................................................................77
4.1.1. .............................................................................................. Pe
ngujian Power Supply .................................................................77
4.1.2. .............................................................................................. Pe
ngujian Sensor Optocoupler ........................................................79
4.1.3. Pengujian Kontroler PID dengan KP = 10, Ki = 1 KD = 10
pada Pembebanan Kontinyu dengan Beban Resistif .....................81
4.2. ..................................................................................................... Ha
sil Pengujian dan Pengukuran ..........................................................84
4.2.1. .............................................................................................. Ha
sil Pengujian dan Pengukuran Power Supply ...............................84
4.2.2. .............................................................................................. Ha
sil Pengujian dan Pengukuran Sensor Optocoupler......................87
4.2.3. Hasil Pengujian dan Pengukuran Kontroler PID dengan
KP = 10, Ki = 1, KD = 10 pada Pembebanan Kontinyu
dengan Beban Resistif .................................................................88
4.3. ..................................................................................................... Pe
mbahasan .........................................................................................90
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4.3.1. .............................................................................................. Pe
mbahasan Power Supply .............................................................90
4.3.2. .............................................................................................. Pe
mbahasan Sensor Optocoupler ....................................................91
4.3.3. .............................................................................................. Pe
mbahasan Kontroler PID .............................................................92
BAB V KESIMPULAN DAN SARAN
5.1. ..................................................................................................... Ke
simpulan ..........................................................................................93
5.2. ..................................................................................................... Sa
ran ...................................................................................................94
DAFTAR PUSTAKA ........................................................................................95
LAMPIRAN
DAFTAR GAMBAR
Gambar 2.1. Motor DC .....................................................................................7
Gambar 2.2. Kaidah Tangan Kiri Flemming .......................................................9
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Gambar 2.3. Prinsip Kerja Motor DC .................................................................9
Gambar 2.4. Rangkaian Motor DC Penguat Terpisah .........................................11
Gambar 2.5. Penguat Diferensial ........................................................................18
Gambar 2.6. Diagram Blok Op-amp ..................................................................19
Gambar 2.7. Skematik Diagram Simbol Op-amp................................................19
Gambar 2.8. Inverting Amplifier.........................................................................21
Gambar 2.9. Non Inverting Amplifier .................................................................21
Gambar 2.10. Rangkaian Penjumlah dengan Hasil Negatif .................................22
Gambar 2.11. Rangkaian Differential Op-amp ...................................................23
Gambar 2.12. Rangkaian Integrator Op-amp Sederhana .....................................25
Gambar 2.13. Diagram Blok Sistem Lup Tertutup..............................................26
Gambar 2.14. Diagram Blok Sistem Kontrol Lup Terbuka .................................26
Gambar 2.15. Sistem Kontrol Otomatis ..............................................................27
Gambar 2.16. Kurva Transfer On / Off Controller ..............................................31
Gambar 2.17. On / Off Controller ......................................................................32
Gambar 2.18. Kurva Transfer Kontrol Proporsional ...........................................33
Gambar 2.19. Kontroler Proporsional .................................................................34
Gambar 2.20. Hubungan Input / Output dari Integral Controller ........................37
Gambar 2.21. Op-amp Integrator .......................................................................39
Gambar 2.22. Integral Controller.......................................................................40
Gambar 2.23. Parallel Proportional-Integral Controller ....................................42
Gambar 2.24. Series Proportional-Integral Controller .......................................44
Gambar 2.25. Hubungan Input / Output dari Derivative Controller ....................46
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Gambar 2.26. Basic Op-amp Differentiator ........................................................47
Gambar 2.27. Practical Differentatior................................................................49
Gambar 2.28. Proportional-Integral-Derivative Controller
(PID Controller) ..........................................................................51
Gambar 2.29. Karakteristik Respon Dinamis ......................................................57
Gambar 3.1. Flow Chart Perancangan dan Pembuatan Alat ...............................59
Gambar 3.2. Diagram Blok Pengendali Kecepatan Motor DC ............................60
Gambar 3.3. Rangkaian Power Supply ±15 Volt DC ..........................................61
Gambar 3.4. Realisasi Power Supply ±15 Volt DC ............................................63
Gambar 3.5. Rangkaian Kontroler PID Analog Menggunakan Op-amp ..............64
Gambar 3.6. Rangkaian Error Detector..............................................................64
Gambar 3.7. Rangkaian Kontroler PID ...............................................................66
Gambar 3.8. Realisasi Kontroler PID Menggunakan Op-amp .............................70
Gambar 3.9. Rangkaian Driver Motor ................................................................71
Gambar 3.10. Realisasi Driver Motor.................................................................72
Gambar 3.11. Transformator Step Down dan Dioda Bridge ................................72
Gambar 3.12. Rangkaian Sensor Optocoupler ....................................................73
Gambar 3.13. Realisasi Rangkaian Sensor Optocoupler .....................................74
Gambar 3.14. Motor DC 0,75 KW MIKI PULLEY ............................................76
Gambar 4.1. Rangkaian Pengujian Power Supply +15 Volt to CT ......................78
Gambar 4.2. Rangkaian Pengujian Power Supply -15 Volt to CT .......................78
Gambar 4.3. Rangkaian Pengujian Sensor Optocoupler......................................80
Gambar 4.4. Realisasi Pengujian Sensor Optocoupler ........................................80
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Gambar 4.5. Rangkaian Pengujian Kontroler PID pada Beban Kontinyu
dengan Beban Resistif ...................................................................82
Gambar 4.6. Realisasi Pengujian Kontroler PID .................................................83
Gambar 4.7. Kapasitor .......................................................................................83
Gambar 4.8. Beban Resistif ................................................................................84
Gambar 4.9. Realisasi Hasil Pengujian Power Supply +15 Volt to CT ................85
Gambar 4.10. Realisasi Hasil Pengujian Power Supply -15 Volt to CT ...............86
Gambar 4.11. Grafik Hasil Pengukuran Sensor Optocoupler ..............................87
Gambar 4.12. Grafik N(RPM) Terhadap VL ......................................................89
Gambar 4.13. Grafik Vf Terhadap Vsp...............................................................89
DAFTAR TABEL
Tabel 2.1. Parameter Op-amp .............................................................................20
Tabel 2.2. Respon PID Controller Terhadap Perubahan Konstanta .....................52
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Tabel 4.1. Hasil Pengukuran Power Supply +15 Volt to CT ...............................85
Tabel 4.2. Hasil Pengukuran Power Supply -15 Volt to CT ................................86
Tabel 4.3. Hasil Pengukuran Sensor Optocoupler...............................................87
Tabel 4.4. Hasil Pengukuran Kontroler PID dengan Beban Kontinyu .................88
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LEMBAR PENGESAHAN
ABSTRAK ........................................................................................................i
KATA PENGANTAR .......................................................................................ii
DAFTAR ISI .....................................................................................................v
DAFTAR GAMBAR ...................................................................................... viii
DAFTAR TABEL .............................................................................................xi
BAB I PENDAHULUAN
1.1. ..................................................................................................... La
tar Belakang.....................................................................................1
1.2. ..................................................................................................... Ru
musan Masalah ................................................................................2
1.3. ..................................................................................................... Ba
tasan Masalah ..................................................................................3
1.4. ..................................................................................................... Tu
juan .................................................................................................4
1.5. ..................................................................................................... M
etodologi Penelitian .........................................................................4
1.6. ..................................................................................................... Si
stematika Penulisan .........................................................................5
BAB II TINJAUAN PUSTAKA
2.1. ..................................................................................................... M
otor DC............................................................................................7
2.1.1. .............................................................................................. Pe
ngertian Motor DC ......................................................................7
2.1.2. .............................................................................................. Ke
gunaan Motor DC........................................................................8
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2.1.3. .............................................................................................. Pri
nsip Kerja Motor DC ...................................................................9
2.1.4. .............................................................................................. K
onstruksi Motor DC.....................................................................10
2.1.5. .............................................................................................. Je
nis-jenis Motor DC......................................................................11
2.1.6. .............................................................................................. Pe
ngaturan Kecepatan Motor DC ....................................................12
2.2. ..................................................................................................... Se
nsor Optocoupler .............................................................................13
2.3. ..................................................................................................... S
CR ...................................................................................................15
2.4. ..................................................................................................... O
P-AMP ............................................................................................16
2.4.1. .............................................................................................. Pe
ngertian Op-amp .........................................................................16
2.4.2. .............................................................................................. O
p-amp Ideal .................................................................................16
2.4.3. .............................................................................................. Pe
nguat Diferensial .........................................................................17
2.4.4. .............................................................................................. Di
agram Op-amp ............................................................................18
2.4.5. .............................................................................................. In
verting .........................................................................................20
2.4.6. .............................................................................................. No
n Inverting...................................................................................21
2.4.7. .............................................................................................. Su
mmer / Penjumlah .......................................................................22
2.4.8. .............................................................................................. Di
fferentiator ..................................................................................22
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2.4.9. .............................................................................................. Int
egrator ........................................................................................24
2.5. ..................................................................................................... Si
stem Kontrol ....................................................................................25
2.6. ..................................................................................................... K
ontroler Analog ................................................................................29
2.6.1. .............................................................................................. O
n/Off Controller ..........................................................................30
2.6.2. .............................................................................................. Pr
oportional Controller ..................................................................33
2.6.3. .............................................................................................. Int
egral Controller ..........................................................................36
2.6.4. .............................................................................................. Pr
oportional-Integral Controller ....................................................42
2.6.5. .............................................................................................. De
rivative Controller .......................................................................45
2.6.6. Proportional-Integral-Derivative Controller
(PID Controller)..........................................................................50
2.7. ..................................................................................................... Pe
ngaruh PID Controller Pada Sistem Kontrol ....................................52
2.8. ..................................................................................................... Tu
ning Kontroler .................................................................................54
2.9. ..................................................................................................... A
nalisis Nilai Karakteristik Sistem .....................................................55
BAB III PERANCANGAN DAN PEMBUATAN ALAT
3.1. ..................................................................................................... Fl
ow Chart Perancangan dan Pembuatan Alat .....................................59
3.2. ..................................................................................................... Pe
rancangan Sistem .............................................................................60
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3.3. ..................................................................................................... Pe
rancangan dan Pembuatan Power Supply ±15 Volt DC ....................61
3.4. ..................................................................................................... Pe
rancangan dan Pembuatan Kontroler PID.........................................63
3.5. ..................................................................................................... Pe
rancangan dan Pembuatan Driver Motor ..........................................70
3.6. ..................................................................................................... Pe
rancangan dan Pembuatan Sensor Optocoupler ................................72
3.7. ..................................................................................................... M
otor DC 0,75 KW.............................................................................74
BAB IV HASIL DAN PEMBAHASAN
4.1. ..................................................................................................... Pe
ngujian dan Pengukuran ...................................................................77
4.1.1. .............................................................................................. Pe
ngujian Power Supply .................................................................77
4.1.2. .............................................................................................. Pe
ngujian Sensor Optocoupler ........................................................79
4.1.3. Pengujian Kontroler PID dengan KP = 10, Ki = 1 KD = 10
pada Pembebanan Kontinyu dengan Beban Resistif .....................81
4.2. ..................................................................................................... Ha
sil Pengujian dan Pengukuran ..........................................................84
4.2.1. .............................................................................................. Ha
sil Pengujian dan Pengukuran Power Supply ...............................84
4.2.2. .............................................................................................. Ha
sil Pengujian dan Pengukuran Sensor Optocoupler......................87
4.2.3. Hasil Pengujian dan Pengukuran Kontroler PID dengan
KP = 10, Ki = 1, KD = 10 pada Pembebanan Kontinyu
dengan Beban Resistif .................................................................88
4.3. ..................................................................................................... Pe
mbahasan .........................................................................................90
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4.3.1. .............................................................................................. Pe
mbahasan Power Supply .............................................................90
4.3.2. .............................................................................................. Pe
mbahasan Sensor Optocoupler ....................................................91
4.3.3. .............................................................................................. Pe
mbahasan Kontroler PID .............................................................92
BAB V KESIMPULAN DAN SARAN
5.1. ..................................................................................................... Ke
simpulan ..........................................................................................93
5.2. ..................................................................................................... Sa
ran ...................................................................................................94
DAFTAR PUSTAKA ........................................................................................95
LAMPIRAN
DAFTAR GAMBAR
Gambar 2.1. Motor DC .....................................................................................7
Gambar 2.2. Kaidah Tangan Kiri Flemming .......................................................9
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Gambar 2.3. Prinsip Kerja Motor DC .................................................................9
Gambar 2.4. Rangkaian Motor DC Penguat Terpisah .........................................11
Gambar 2.5. Penguat Diferensial ........................................................................18
Gambar 2.6. Diagram Blok Op-amp ..................................................................19
Gambar 2.7. Skematik Diagram Simbol Op-amp................................................19
Gambar 2.8. Inverting Amplifier.........................................................................21
Gambar 2.9. Non Inverting Amplifier .................................................................21
Gambar 2.10. Rangkaian Penjumlah dengan Hasil Negatif .................................22
Gambar 2.11. Rangkaian Differential Op-amp ...................................................23
Gambar 2.12. Rangkaian Integrator Op-amp Sederhana .....................................25
Gambar 2.13. Diagram Blok Sistem Lup Tertutup..............................................26
Gambar 2.14. Diagram Blok Sistem Kontrol Lup Terbuka .................................26
Gambar 2.15. Sistem Kontrol Otomatis ..............................................................27
Gambar 2.16. Kurva Transfer On / Off Controller ..............................................31
Gambar 2.17. On / Off Controller ......................................................................32
Gambar 2.18. Kurva Transfer Kontrol Proporsional ...........................................33
Gambar 2.19. Kontroler Proporsional .................................................................34
Gambar 2.20. Hubungan Input / Output dari Integral Controller ........................37
Gambar 2.21. Op-amp Integrator .......................................................................39
Gambar 2.22. Integral Controller.......................................................................40
Gambar 2.23. Parallel Proportional-Integral Controller ....................................42
Gambar 2.24. Series Proportional-Integral Controller .......................................44
Gambar 2.25. Hubungan Input / Output dari Derivative Controller ....................46
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Gambar 2.26. Basic Op-amp Differentiator ........................................................47
Gambar 2.27. Practical Differentatior................................................................49
Gambar 2.28. Proportional-Integral-Derivative Controller
(PID Controller) ..........................................................................51
Gambar 2.29. Karakteristik Respon Dinamis ......................................................57
Gambar 3.1. Flow Chart Perancangan dan Pembuatan Alat ...............................59
Gambar 3.2. Diagram Blok Pengendali Kecepatan Motor DC ............................60
Gambar 3.3. Rangkaian Power Supply ±15 Volt DC ..........................................61
Gambar 3.4. Realisasi Power Supply ±15 Volt DC ............................................63
Gambar 3.5. Rangkaian Kontroler PID Analog Menggunakan Op-amp ..............64
Gambar 3.6. Rangkaian Error Detector..............................................................64
Gambar 3.7. Rangkaian Kontroler PID ...............................................................66
Gambar 3.8. Realisasi Kontroler PID Menggunakan Op-amp .............................70
Gambar 3.9. Rangkaian Driver Motor ................................................................71
Gambar 3.10. Realisasi Driver Motor.................................................................72
Gambar 3.11. Transformator Step Down dan Dioda Bridge ................................72
Gambar 3.12. Rangkaian Sensor Optocoupler ....................................................73
Gambar 3.13. Realisasi Rangkaian Sensor Optocoupler .....................................74
Gambar 3.14. Motor DC 0,75 KW MIKI PULLEY ............................................76
Gambar 4.1. Rangkaian Pengujian Power Supply +15 Volt to CT ......................78
Gambar 4.2. Rangkaian Pengujian Power Supply -15 Volt to CT .......................78
Gambar 4.3. Rangkaian Pengujian Sensor Optocoupler......................................80
Gambar 4.4. Realisasi Pengujian Sensor Optocoupler ........................................80
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Gambar 4.5. Rangkaian Pengujian Kontroler PID pada Beban Kontinyu
dengan Beban Resistif ...................................................................82
Gambar 4.6. Realisasi Pengujian Kontroler PID .................................................83
Gambar 4.7. Kapasitor .......................................................................................83
Gambar 4.8. Beban Resistif ................................................................................84
Gambar 4.9. Realisasi Hasil Pengujian Power Supply +15 Volt to CT ................85
Gambar 4.10. Realisasi Hasil Pengujian Power Supply -15 Volt to CT ...............86
Gambar 4.11. Grafik Hasil Pengukuran Sensor Optocoupler ..............................87
Gambar 4.12. Grafik N(RPM) Terhadap VL ......................................................89
Gambar 4.13. Grafik Vf Terhadap Vsp...............................................................89
DAFTAR TABEL
Tabel 2.1. Parameter Op-amp .............................................................................20
Tabel 2.2. Respon PID Controller Terhadap Perubahan Konstanta .....................52
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Tabel 4.1. Hasil Pengukuran Power Supply +15 Volt to CT ...............................85
Tabel 4.2. Hasil Pengukuran Power Supply -15 Volt to CT ................................86
Tabel 4.3. Hasil Pengukuran Sensor Optocoupler...............................................87
Tabel 4.4. Hasil Pengukuran Kontroler PID dengan Beban Kontinyu .................88
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