Perbandingan Kinerja Penyetelan Hagglund-Astorm dan Tyreus-Luyben pada Sistem Kendali Pendinginan Susu

https://doi.org/10.22146/jrekpros.38211

Rudy Agustriyanto(1*), Anastasia Febrianto(2), Putu Sri Widiawati(3)

(1) Jurusan Teknik Kimia, Fakultas Teknik, Universitas Surabaya, Jl. Raya Kali Rungkut No.56, Rungkut, Surabaya 60293
(2) Jurusan Teknik Kimia, Fakultas Teknik, Universitas Surabaya, Jl. Raya Kali Rungkut No.56, Rungkut, Surabaya 60293
(3) Jurusan Teknik Kimia, Fakultas Teknik, Universitas Surabaya, Jl. Raya Kali Rungkut No.56, Rungkut, Surabaya 60293
(*) Corresponding Author

Abstract


 

A B S T R A C T

Milk cooling process is one of the most important milk processing steps after milk extraction process. Milk cooling process is carried out to inhibit the microbial growth. The milk is cooled from room temperature to 4 °C. Generally, this process is performed in batch installation. In this research, continuous milk cooling would be simulated. First, the model of the system was derived from the mass and heat balance. The simulation results were then identified using the System Identification Toolbox (SIT) on Matlab. System Identification Toolbox was used to build the mathematical models of dynamic system based on measured input and output data. The result of system identification is useful for setting control and stability analysis. The milk cooling system was then controlled by Proportional Integral (PI) Control. There are two kinds of tuning methods that will be analyzed. These are Hagglund-Astorm method and Tyreus-Luyben. The results showed that the control performance tuned using the Tyreus-Luyben method was better than the Hagglund-Astorm method from the criteria of its SSE (sum squared of error).

Keywords: control; proportional integral; system identification; tuning


A B S T R A K

Proses pengolahan susu yang sangat penting setelah pemerahan adalah proses pendinginan. Proses pendinginan susu digunakan untuk menghambat perkembangbiakan mikrobia. Susu didinginkan dari suhu kamar sampai 4 °C. Umumnya proses ini dilakukan secara batch pada instalasi di koperasi susu. Dalam penelitian ini, disimulasikan sistem pengendalian suhu susu secara kontinu. Model sistem diperoleh dari penurunan neraca massa dan panas. Hasil simulasi kemudian diidentifikasi dengan menggunakan System Identification Toolbox pada Matlab. System Identification Toolbox digunakan untuk menyusun model matematis dari sistem dinamis berdasarkan data input dan output yang diukur.  Hasil identifikasi sistem berguna untuk penyetelan pengendali maupun analisis kestabilan. Sistem pendinginan susu kemudian dikendalikan dengan Proportional Intergral (PI) Control. Metode penyetelan yang dianalisis ada dua macam yaitu metode Hagglund-Astorm dan metode Tyreus-Luyben. Hasil yang diperoleh menunjukkan bahwa kinerja pengendali yang disetel menggunakan metode Tyreus-Luyben lebih baik dibandingkan dengan metode Hagglund-Astorm dilihat dari kriteria SSE nya.

Kata kunci: identifikasi sistem; pengendalian; proportional integral; tuning



Keywords


control; proportional integral; system identification; tuning

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References

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DOI: https://doi.org/10.22146/jrekpros.38211

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