Prototipe Sistem Kontrol Kadar Total Suspended Solid (TSS) Pada Pembuangan Air Limbah Dengan Metode PID

Pranata, Ahmad Jaelani (2026) Prototipe Sistem Kontrol Kadar Total Suspended Solid (TSS) Pada Pembuangan Air Limbah Dengan Metode PID. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Total Suspended Solid (TSS) merupakan salah satu parameter penting dalam pemantauan kualitas air limbah pada Waste Water Treatment Plant (WWTP), termasuk pada instalasi pengolahan limbah cair PT Hervitama. Proses penurunan kadar TSS umumnya dilakukan melalui metode koagulasi-flokulasi menggunakan koagulan Poly Aluminium Chloride (PAC), yang selama ini masih dilakukan secara manual sehingga rentan terhadap ketidakkonsistenan dosis. Penelitian ini bertujuan merancang dan menguji prototipe sistem kontrol otomatis kadar TSS berbasis metode Proportional Integral Derivative (PID), menggunakan Arduino Uno R3 sebagai kontroler utama, modul ADAM-6017 untuk akuisisi data sensor TSS WM-1020 melalui komunikasi Modbus TCP, serta mini pump dan motor gear sebagai aktuator dosing dan pengadukan. Proses identifikasi sistem dilakukan menggunakan fungsi tfest pada MATLAB terhadap data hasil pengukuran TSS, menghasilkan model fungsi alih dengan 4 pole dan 3 zero yang memiliki tingkat kesesuaian (fit) sebesar 89,27%. Berdasarkan model tersebut, dilakukan penentuan parameter kontroler PID melalui proses fine-tuning dan diperoleh parameter Kp = 15, Ki = 0,1, dan Kd = 0, sehingga kontroler yang diterapkan berupa kontroler Proportional-Integral (PI). Hasil simulasi menunjukkan bahwa pada kondisi tanpa gangguan, sistem mencapai rise time sebesar 1,8 detik, overshoot sebesar 13%, settling time sebesar 9 detik, dan steady-state error sebesar 0%. Pada pengujian dengan pemberian gangguan (disturbance), kontroler PI tetap mampu mengembalikan sistem menuju setpoint tanpa kesalahan keadaan tunak, meskipun overshoot meningkat menjadi 19% dan settling time menjadi sekitar 170 detik. Hasil penelitian menunjukkan bahwa kontroler PID (PI) yang dirancang memiliki performa yang baik dan ketahanan (robustness) terhadap gangguan eksternal, dengan waktu pemulihan yang masih berada dalam batas siklus operasi sistem, sehingga dinilai layak untuk diterapkan pada prototipe alat kontrol kadar TSS.
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Total Suspended Solids (TSS) is one of the key parameters in monitoring wastewater quality at Waste Water Treatment Plants (WWTP), including the wastewater treatment facility of PT Hervitama. The reduction of TSS levels is generally carried out through a coagulation-flocculation process using Poly Aluminium Chloride (PAC) as the coagulant, which has so far been performed manually and is therefore prone to inconsistent dosing. This research aims to design and test a prototype automatic TSS control system based on the Proportional Integral Derivative (PID) method, using an Arduino Uno R3 as the main controller, an ADAM-6017 module for acquiring data from the WM-1020 TSS sensor via Modbus TCP communication, and a mini pump and gear motor as the dosing and stirring actuators. System identification was carried out using the tfest function in MATLAB based on TSS measurement data, resulting in a transfer function model with 4 poles and 3 zeros achieving a fit value of 89.27%. Based on this model, PID controller parameters were determined through a fine-tuning process, obtaining Kp = 15, Ki = 0.1, and Kd = 0, so that the controller applied was effectively a Proportional-Integral (PI) controller. Simulation results show that under conditions without disturbance, the system achieved a rise time of 1.8 seconds, an overshoot of 13%, a settling time of 9 seconds, and a steady-state error of 0%. Under testing with an applied disturbance, the PI controller was still able to bring the system output back to the setpoint without leaving a steady-state error, although the overshoot increased to 19% and the settling time extended to approximately 170 seconds. The results indicate that the designed PID (PI) controller exhibits good performance and robustness against external disturbances, with a recovery time that remains well within the system's operational cycle, making it feasible for implementation in the TSS level control prototype.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Total Suspended Solid, PID, Koagulasi, Modbus TCP, Sistem Kontrol, Total Suspended Solid, PID, coagulation, Modbus TCP, control system
Subjects:	T Technology > T Technology (General) T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control
Divisions:	Faculty of Vocational > 36304-Automation Electronic Engineering
Depositing User:	Ahmad Jaelani Pranata
Date Deposited:	10 Aug 2026 03:22
Last Modified:	10 Aug 2026 03:22
URI:	http://repository.its.ac.id/id/eprint/144279

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