KU1101

Pengantar Rekayasa dan Desain I

Control

Luaran pertemuan pekan keempatbelas

`
`

Mahasiswa memahami prinsip pengendalian sistem

Mahasiswa dapat mengenali elemen-elemen dari sebuah sistem dengan
pengendalian

uncontrolled

controlled

What is Control ?
`

Microsoft Encarta Reference Library 2003

`
`
`
`
`

operate, work, run, use, utilize, manipulate, maneuver

restrain, limit, restrict, hold back, rein in, contain
manage, command, supervise, organize, run, direct
rule, manipulate, influence, dominate, oppress, have a hold over,
hold sway over, dictate
oversee, monitor, regulate, inspect, limit, restrict

Merriam-Webster :
`
`

to direct the actions or function of (something) :

to cause (something) to act or function in a certain way

Open loop vs Closed loop

`

Open loop

INPUT
Tap handle

SYSTEM

OUTPUT
Water flow

No feedback

Open loop vs Closed loop

`

Closed loop
SYSTEM

INPUT
Desired
water level

`
`

Feed back
sensor

OUTPUT
Water level

Open or closed loop ?

Mesin pengering gabah

Open or closed loop ?

Governor ->
control steam engine pressure

Balls fly out

as speed
increases,

Valve closes,
slowing engine

Steam
engine

Boulton-Watt steam engine

Human body

Flyball
governor

Control System Element

Control Unit strategy

`
`
`

On-off
Proportional
Others : PID (proportional-integral-dirivative), model based, etc

Air Conditioning

Elements:
`
`
`
`
`
`
`
`

Controlled variable : ambient temperature

References value : temperature setting
Comparison Element : thermostat (RTD)
Error Signal : temperature difference
Control Unit : thermostat (on-off)
Correction Unit : air conditioning unit
Process : room temperature
Measuring device : thermostat

Toilet water tank

Elements :
`
`
`
`
`
`
`
`

Controlled variable: water level

Reference value: initial setting of float & lever
Comparison element: lever
Error signal: difference setting vs lever position
Control unit: pivoted lever (proportional)
Correction unit: valve
Process: water level in tank
Measuring device: floating ball & lever

Iron

Elements:
`
`
`
`
`
`
`
`

Controlled variable : plate temperature

References value : temperature setting
Comparison Element : thermostat (RTD)
Error Signal : temperature difference
Control Unit : thermostat (on-off)
Correction Unit : electric plate heater
Process : plate temperature
Measuring device : thermostat

Exercise

Microwave oven
Water pump
Segway

Elements:

`
`

`
`
`
`
`
`
`
`

Controlled variable :
References value :
Comparison Element :
Error Signal :
Control Unit :
Correction Unit :
Process :
Measuring device :

Purpose of control
`

To regulate :
maintain certain steady state condition with respect to
disturbance
To manipulate (tracking) :
perform a specific predefined task

Copy-milling machine

Elements:
`
`
`
`
`
`
`
`

Controlled variable :
References value :
Comparison Element :
Error Signal :
Control Unit :
Correction Unit :
Process :
Measuring device :

System Qualities
`

Stability
`
`

the quality or state of something that is not easily changed or

likely to change (Merriam-Webster)
The ability of a system to return to its initial/new steady state
condition in respond to a disturbance after a certain time

Performance
`

Robustness
`

How fast a system response to a

disturbance/voluntary change
How big disturbance can be manage
by the system

Challenge in controller development

` to determine a proper corrective action from the
controller that result in system stability
` to determine a proper action from the controller that
result in a new desired condition