BAB 4HASIL PENGAMATAN

4.1 Hasil Pengamatan4.1.1 Pengendalian Proportional Integral Derivatif1. PB: 20%, Ti: 100000 s, Td: 0 s

2. PB: 50%, Ti: 100000 s, Td: 0 s

3. PB: 150%, Ti: 100000 s, Td: 0 s

4. PB: 200%, Ti: 100000 s, Td: 0 s

5. PB: 50%, Ti: 0.5 s, Td: 2 s

6. PB: 50%, Ti: 0.5 s, Td: 5 s

7. PB: 50%, Ti: 0.5 s, Td: 10 s

8. PB: 50%, Ti: 0.5 s, Td: 20 s

9. PB: 50%, Ti: 0.5 s, Td: 30 s

10. PB: 50%, Ti: 0.5 s, Td: 0 s

11. PB: 50%, Ti: 2 s, Td: 0 s

12. PB: 50%, Ti: 5 s, Td: 0 s

13. PB: 50%, Ti: 10 s, Td: 0 s

14. PB: 50%, Ti: 30 s, Td: 0 s

Tabel 4.1 Data Pengamatan Spesifikasi Respons pada Pengendalian Proportional Integral DerivatifParameter PengendaliWaktu tunda (td) sekonWaktu naik (tr) sekonWaktu puncak (tp) sekonOvershoot (%)Decay RatioOffset (L/h)

PB (%)Ti (s)Td (s)

201000000--1353,511,375-

501000000--14,296,050,984

1501000000--1494,730,9526

2001000000--21,294,8713

500.509,59,8106,5211,282,5

5020--1045,8328

505024,2-2536,732,43

5010032,4-3426,923,147

50300--73,951,851,188

500,5212,212,21355,552,240

500.5513,9141005000,993,9

500.51026,9-2713,647,335

500.52010-1137,50,558

500.53011,811,8511,953,482,612,5