181215 draft presentasi seminar ta
DESCRIPTION
TA Load Frequency control using noise tolerable PID feedbackTRANSCRIPT
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LOAD FREQUENCY CONTROL (LFC) MENGGUNAKAN METODE NOISE-TOLERABLE PID FEEDBACK PADA POWER GENERATION PLANT SIMULATOR PLTU PT. PEMBANGKITAN JAWA DAN BALI (PJB) UNIT PEMBANGKITAN (UP) PAITON
RAHMADHI PRIHANDONO2212100101
TEKNIK SISTEM PENGATURANTEKNIK ELEKTRO ITS
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RUANG LINGKUP
Pendahuluan Gambaran sistem Perancangan simulator Desain kontroler Pengujian dan simulasi Kesimpulan
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LATAR BELAKANG
1. Turbin dan generator merupakan komponen utama dalam pembangkitan energi listrik.
2. Frekuensi energi listrik harus dijaga tetap konstan agar peralatan-peralatan yang disuplai dapat bekerja dengan normal.[1]
3. Perubahan beban harus segera direspon oleh pembangkit agar tidak terjadi turbin trip pada sisi pembangkit dan blackout pada sisi beban.
4. Metode kontrol dengan menggunakan PID mudah di implementasikan dan memiliki performa yang memuaskan pada pengaturan pembangkitan energi listrik [2].
5. Simulator sebagai media pembelajaran bagi operator baru untuk cepat beradaptasi dengan real system.
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PERMASALAHAN Kenaikan dan penurunan beban akan membuat frekuensi
menjadi fluktuatif, sehingga akan menimbulkan noise. [3] Kontroler PID memiliki performa yang memuaskan, namun
komponen derivative akan menghasilkan nilai yang maksimum ketika ada high frequency noise. (Gambar 1) [4]
ttette
dtted
)()())((
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1-0.1
-0.08
-0.06
-0.04
-0.02
0
0.02
0.04
0.06
time(s)
ampl
itude
(Gambar 1)
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KELUARAN KONTROLER KETIKA TERDAPAT NOISE
0 5 10 15 20 25 30 35 40-0.25
-0.2
-0.15
-0.1
-0.05
0
0.05
0.1
waktu (sekon)
cont
rol s
igna
l
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1-30
-20
-10
0
10
20
30
Waktu(sekon)
cont
rol s
igna
l
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9-0.1
-0.08
-0.06
-0.04
-0.02
0
0.02
0.04
0.06
0.08
0.1
Am
plitu
do
Waktu (sekon)
SistemBeban
Beban
SistemNoise
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TUJUAN
Mempertahankan frekuensi energi listrik berada pada nilai 49.6 Hz-50,4 Hz [5]
Metode kontrol PID tetap dapat digunakan walaupun dalam keadaan terdapat noise akibat dari fluktuasi beban.
Sebagai media pembelajaran bagi operator yang akan menghadapi real system.
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PEMBANGKIT LISTRIK TENAGA UAP
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SIMULATOR PLTU
Operator COperator BOperator AInstruktur & Virtual Plant
EthernetSwitch Hub
Coal Handling
Water Treatment
Energy Generatio
n
HMI 1 HMI II HMI II1
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PROSES POWER GENERATION
Low Pressure Heater
DeaeratorHigh
Pressure Heater
Economizer
Steam Drum
Super Heater
Steam Turbine Generator
Energi Listrik
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LOAD FREQUENCY CONTROL (LFC)
TurbineValve
Steam
Governor
Speed Ref
Generator
Rated Speed
r Y
Load (Disturbnacc
e)
Noise
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PEMODELAN LFC-SECONDARY CONTROL
)122(
1)1.01(
1)3.01(
1ssssY
sr
Open Loop Transfer Function
sTg11
sTch11
sMD 1
+
- sLD
)(sR/1+
+
)(sN
+
+
Turbine Time Constant - Tch
(0.3)
TurbineGenerat
or
Karakteristik Droop
Governor Time Constant -Tg
(0.1)
Mechanical Starting Time – M
(12)
Load Damping
Constant – D(2)
sKi
Governor
)(sr
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RESPON OPEN LOOP DENGAN MASUKAN UNIT STEP
)212)(11.0)(13.0(1)(
ssssOl
)212)(13.0(1)(
sssOl
Fungsi Alih Open Loop :
Hasil Reduksi :
Parameter Sistem:
Overdamped, terdapat error steady state
505.0K36.2
74.0n
22
2
)(2)()(
nn
n
sKsH
0 10 20 30 40 50 600
0.1
0.2
0.3
0.4
0.5System: untitled1Time (seconds): 27.9Amplitude: 0.495
System: untitled1Time (seconds): 6.37Amplitude: 0.318
Step Response
Time (seconds)
Am
plitu
de
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SPESIFIKASI RESPON
Spesifikasi Respon berdasarkan pengaturan sekunder:1. Respon terhadap beban frekuensi membutuhkan waktu 20
sekon2. Untuk berbagai nilai beban Ess = 03. Overshoot 0-2%, standar Union for the Co-ordination of
Transmission of Electricity (UCTE) mengizinkan fluktuasi frekuensi dibawah 400mHz, atau 4%. [5]
4. Sistem harus stabil untuk nilai gain Kp berapapun.
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DESAIN KONTROLER (1)
Root Locus Closed Loop System
-15 -10 -5 0 5
-10
-5
0
5
10
15
X: -3.333Y: 0
X: 0.06044Y: 6.099
X: -0.1667Y: 0
X: 0.06044Y: -6.099
Root Locus
Real Axis (seconds-1)
Imag
inar
y A
xis
(sec
onds
-1)
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DESAIN KONTROLER PD(2)
Penambahan proporsional derivatif menambah zero.
Dipilih nilai Kd = 0.3
01122
3.01
1.01
21
DA K
074.0DK
-12 -10 -8 -6 -4 -2 0 2-3
-2
-1
0
1
2
3
System: fbGain: 24.3Pole: -3.33 + 1.31e-07iDamping: 1Overshoot (%): 0Frequency (rad/s): 3.33
System: fbGain: 28Pole: -5.08Damping: 1Overshoot (%): 0Frequency (rad/s): 5.08
Root Locus
Real Axis (seconds-1)
Imag
inar
y A
xis
(sec
onds
-1)
))(1)((1()1(1)(
MDsTchsTgsKdsKpsol
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DESAIN KONTROLER (3)
Penambahan Kontroler PID
Dengan memilih Kd = 0.3 maka open loop sistem
Dengan analisa kestabilan Routh, didapat Ki minimal KI < 3.680. Maka dipilih Ki = 0.2
)212)(13.0)((11.0()(
1)(2
ssssKissKKp
sol D
-10 -8 -6 -4 -2 0 2-10
-8
-6
-4
-2
0
2
4
6
8
10
System: untitled1Gain: 9.09Pole: -3.05Damping: 1Overshoot (%): 0Frequency (rad/s): 3.05
System: untitled1Gain: InfPole: -0.214Damping: 1Overshoot (%): 0Frequency (rad/s): 0.214
System: untitled1Gain: 10.5Pole: -5.11 + 8.42iDamping: 0.519Overshoot (%): 14.9Frequency (rad/s): 9.86
System: untitled1Gain: 10.5Pole: -5.11 - 8.42iDamping: 0.519Overshoot (%): 14.9Frequency (rad/s): 9.86
Root Locus
Real Axis (seconds-1)
Imag
inar
y Axi
s (s
econ
ds-1
)
Root Locus
Real Axis (seconds-1)
Imag
inar
y Axi
s (s
econ
ds-1
)
02411
2411
122
3.01
1.01
21
D
D
D
DA K
KiKKKiK
074.0DK
)3.0()212)(13.0)((11.0()( 2 KissKpsssssol
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DESAIN KONTROLER (4) Persamaan dengan kontroler
0 1 2 3 4 5 6 7 8 9 100
0.2
0.4
0.6
0.8
1
1.2
1.4
X: 6.06Y: 1.022
waktu (sekon)
delta
frek
uens
i (p.
u.)
X: 1.88Y: 1.065 X: 4.26
Y: 1.021
Kp 1Kp 5Kp 8Kp 10Kp 20
)212)(13.0)((11.0()2.03.0(1
)212)(13.0)((11.0()2.03.0(
)()(
2
2
ssssssKp
ssssssKp
ss
R
Dengan memberi variasi pada Kp, maka didapat respon yang sesuai dengan spesifikasi untuk nilai Kp = 10
)212)(13.0)((11.0()2.03.0(101
)212)(13.0)((11.0()2.03.0(10
)()(
2
2
ssssss
ssssss
ss
R
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DESAIN LOW PASS FILTER
Persamaan low pass filter
= frekuensi cut off Pemilihan dipilih nilai
yang sangat kecil, dengan pertimbangan nilai periode dari noise yaitu 0.1.
-100
-80
-60
-40
-20
0
Mag
nitu
de (d
B)
10-4
10-3
10-2
10-1
100
101
102
103
104
-90
-45
0
Pha
se (d
eg)
Bode Diagram
Frequency (rad/s)
1/100 rad/s1/10 rad/s1 rad/s
sKds
sEsU
1)(
)(
Frekuensi Cut Off])(....)()(1[)()( 32 n
D sssssKsEsU
sKsEsU
D)()(
ssH
11)(
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DIAGRAM BLOK PID LPF
Filter LPF
sTD 11s
sTg11
sTch11
sMD 1
+
- sLD
)(sKp+
+
)(sN
+
+
Turbine Time Constant - Tch
(0.3)
TurbineGenerat
or
Karakteristik Droop
Governor Time Constant -Tg
(0.1)
Mechanical Starting Time – M
(12)
Load Damping
Constant – D(2)
sTi
Governor
)(sr+
-
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DESAIN TIME DOMAIN FILTER Fungsi averaged derivative :
T (time delay) dalam perancangan ditentukan nilai T sekecil mungkin, dikarenakan apabila dipilih nilai T sekecil mungkin membuat fungsi averaged derivative memiliki fungsi yang serupa dengan fungsi derivative. Dipilh T = 0.01
)]()([1])'([ TtFtFT
tf avg
])(!1......)(
!31)(
!21[
)()( 32 nTs
nTsTsTs
TKd
sEsU
KdssEsU
)()(
)1()()( sTe
TKd
sEsU
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DIAGRAM BLOK PID AVERAGED DERIVATIVE
sTe
TTD
sTg11
sTch11
sMD 1
+
- sLD
)(sKp+
+
)(sN
+
+
Turbine Time Constant - Tch
(0.3)
TurbineGenerat
or
Karakteristik Droop
Governor Time Constant -Tg
(0.1)
Mechanical Starting Time – M
(12)
Load Damping
Constant – D(2)
sTi
Governor
)(sr+
-
+-
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PENGUJIAN DAN SIMULASIPARAMETER SIMULASI
Parameter Simbol
Nilai
Governor Time Constant
Tg 0.1
Turbine Time Constant
Tch 0.3
Load Damping D 2Mechanical Starting Time
M 12Parameter Simbol
Nilai
Proportional Kp Variasi
Integral Ti 5Derivative Td 0.3Time Delay T 0.01Filter Time Constant 0.1
Parameter Plant
Parameter Kontroler
Parameter Frekuensi dan Gain Proportional Parameter
Nilai
Frekuensi 1
1MHz
Frekuensi 2
100KHz
Frekuensi 3
1KHz
Frekuensi 4
100Hz
Frekuensi 5
10Hz
Frekuensi 6
1Hz
Parameter
Nilai
Kp 1 10Kp 2 50Kp 3 80Kp 4 100Kp 5 200Kp 6 300
Parameter sinusoidal noiseamplitudo = 0.1phasa = 0
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RESPON SISTEM DENGAN KONTROLER PID TERHADAP MASUKAN UNIT STEP
78.0025.1n
Respon saat :a. Transien :
sekon26.1%2Overshoot
b. Steady State :
%0(%)E ss
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RESPON SISTEM DENGAN KONTROLER PID TERHADAP PERUBAHAN BEBAN
Pemberian kontroler PID, mampu menghilangkan error steady state.
0 10 20 30 40 50 60-1
0
1
2
3
4
Waktu (Sekon)
Beb
an (p
.u.)
0 10 20 30 40 50 600
0.5
1
1.5
Waktu (Sekon)
Del
ta F
reku
ensi
(p.u
)
Respon
Beban
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VARIASI PARAMETER KP
Nilai Kp dinaikkan merubah parameterBerdampak pada nilai time constant, overshoot peak, dan settling time
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VARIASI FREKUENSI SISTEM DENGAN PID AVERAGED DERIVATIVE
0 2 4 6 8 10 12 14 16 18 20-0.12
-0.1
-0.08
-0.06
-0.04
-0.02
0
0.02
0.04
0.06
0.08
waktu (sekon)
delta
frek
uens
i
1MHz1KHz100Hz
Amplitudo = 0.1
Amplitudo = 0.02
Noise Amplitudo = 0.1
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BODE DIAGRAM SISTEM DENGAN PID AVERAGED DERIVATIVE
Label (Frekuensi)
Biru (100KHz)
Oranye(1KHz)
Kuning(100Hz)
Hijau(10Hz)
Magnitudo (G) 1.13 10-16 4.68 10-10 1.12 10-7 2.6 10-4
Phasa (Degree) -98.4 -46.8 -89.3 -29.5
Magnitudo (dB) -318.7 -186.6 -139 -71
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VARIASI FREKUENSI SISTEM DENGAN PID LOW PASS FILTER
0 2 4 6 8 10 12 14 16 18 20-0.12
-0.1
-0.08
-0.06
-0.04
-0.02
0
0.02
0.04
0.06
0.08
waktu (sekon)
delta
Fre
kuen
si
1MHz1KHz100Hz
Amplitudo = 0.1
Amplitudo = 0.027
Noise Amplitudo = 0.1
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BODE DIAGRAM SISTEM DENGAN PID LOW PASS FILTER
Label (Frekuensi)
Biru (100KHz)
Oranye(1KHz)
Kuning(100Hz)
Hijau(10Hz)
Magnitudo (G) 1.11 10-13 1.11 10-7 1.09 10-4 1.7 10-2
Phasa (Degree) -89.98 -88.79 -7.8 5.3
Magnitudo (dB) -259.08 -139.08 -79.1735 -24.85
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VARIASI NILAI GAIN PROPORTIONAL 10FREKUENSI 1MHZ
0 2 4 6 8 10 12 14 16 18 20-0.08
-0.07
-0.06
-0.05
-0.04
-0.03
-0.02
-0.01
0
waktu (sekon)
delta
Fre
kuen
si (p
.u.)
PID ADPID LPF
Max peak
18 Sekon
Max Peak= -0.074
Max Peak= -0.068
Beban = 1Noise Amplitudo =
0.1
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VARIASI NILAI GAIN PROPORTIONAL100FREKUENSI 1MHZ
0 2 4 6 8 10 12 14 16 18 20-16
-14
-12
-10
-8
-6
-4
-2
0
2x 10
-3
waktu (sekon)
delta
frek
uens
i (p.
u.)
PID ADPID LPF
Max Peak= 14.1e-3
Max Peak= 13,4e-3
Beban = 1
Max peak
Amplitudo= 4.156e-4
Amplitudo= 3.95e-4
Noise Amplitudo = 0.1
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VARIASI NILAI GAIN PROPORTIONAL 200FREKUENSI 1MHZ
0 1 2 3 4 5 6 7 8 9 10-0.025
-0.02
-0.015
-0.01
-0.005
0
0.005
0.01
0.015
waktu (sekon)
delta
Fre
kuen
si (p
.u.)
PID ADPID LPF
0 0.5 1 1.5 2 2.5 3 3.5 4-0.025
-0.02
-0.015
-0.01
-0.005
0
0.005
0.01
0.015
waktu (sekon)
delta Frekuensi (p.u.)
PID ADPID LPF
Max peak
Max Peak= 9.5e-3
Max Peak= 4.7e-3
Beban = 1
Noise Amplitudo = 0.1
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VARIASI NILAI GAIN PROPORTIONAL 300FREKUENSI 1MHZ
0 1 2 3 4 5 6-1.5
-1
-0.5
0
0.5
1
1.5
waktu (Sekon)
delta
Fre
kuen
si (p
.u.)
PID ADPID LPF
Unstable
Noise Amplitudo = 0.1
Beban = 1
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PERBANDINGAN NILAI RMSE DARI RESPON SISTEM
RMSE respon terhadap Noise – Keluaran
RMSE respon perubahan frekuensi terhadap beban dan Noise 1MHz
Metode 10 Hz 100 Hz 1KHz 100KHzPID AD 1.48 10-4 3.56 10-6 3.23 10-7 8.92 10-8
PID LPF 2.13 10-5 3.38 10-6 3.38 10-7 8.14 10-8
Metode Kp = 10 Kp = 50
Kp = 80 Kp = 100 Kp = 200
Kp = 300
PID AD 0.8321 0.0128 0.003 0.0013 1.123 10-5
2.133 104
PID LPF 0.0033 0.0017 0.0016 0.0016 0.0011 2.864 109
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KESIMPULAN
LFC dengan kontroler PID dan komponen averaged derivative memiliki kemampuan untuk meredam noise untuk nilai gain proportional dan memiliki kestabilan terhadap variasi Kp yang lebih baik dari pada PID dengan low pass filter.
LFC dengan kontroler PID dan komponen low pass filter memiliki kemampuan meredam noise dalam nilai gain proportional tertentu.
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Sekian Terima Kasih
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DAFTAR PUSTAKA
[1] Kundur, Prabha. “Power System Stability and Control”. McGraw Hill, 1994. [2] Moon, Y.-H., et al., “Modified PID Load-Frequency Control with the
Consideration of valve Position Limits”, Proceedings of the IEEE PES 1999 Winter Meeting, Feb. 1999
[3] Y. H. Moon, H. S. Ryu, J. G. Lee, and S. Kim. “Power system load frequency control using noise-tolerable PID feedback. In Proc". IEEE Int. Symposium on Industrial Electronics (ISlE), volume 3, pages 1714-1718, June 2001
[4] Controlguru. “PID Control and Derivative Measurement”, <URL:http://controlguru.com/pid-control-and-derivative-on-measurement/>, Desember 2016
[5] UCTE Operation Handbook,” Load Frequency Control and Performance”, UCTE, Juni 2004.