Prianggono, Moses Evan Laksmono (2026) Sistem Pengendalian Level Cairan H₂So₄ Pada Tangki Buffer Menggunakan Virtual Reference Feedback Tuning PID. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Pengendalian level cairan asam sulfat (H₂SO₄) pada tangki buffer di industri pulp dan kertas merupakan aspek krusial yang berpengaruh terhadap kualitas produk, kontinuitas operasi, serta keselamatan kerja. Karakteristik cairan yang bersifat korosif serta adanya dua jalur keluaran menuju proses yang berbeda menyebabkan sistem rentan mengalami fluktuasi level. Pada praktik industri, parameter pengendali Proportional–Integral–Derivative (PID) umumnya masih ditentukan menggunakan metode tuning konvensional sehingga belum tentu menghasilkan performa pengendalian yang optimal. Penelitian ini menganalisis karakteristik dinamika sistem level cairan H₂SO₄ serta menerapkan metode penalaan parameter PID berbasis data menggunakan pendekatan Virtual Reference Feedback Tuning (VRFT). Pemodelan matematis sistem dilakukan berdasarkan prinsip neraca massa sehingga diperoleh model First Order Plus Dead Time (FOPDT) dengan gain sistem sebesar 2,80, konstanta waktu (τ) sebesar 1255 detik, dan transport delay (θ) sebesar 101 detik. Data input–output diperoleh melalui satu kali simulasi menggunakan MATLAB/Simulink dan digunakan untuk mengestimasi parameter PID menggunakan metode least squares dalam kerangka VRFT. Hasil estimasi menghasilkan parameter pengendali Kp = 0,015090, Ki = 0,000195, dan Kd = 0,040951. Pengujian respon sistem pada setpoint level 2 meter menunjukkan rise time sebesar 2804,3 detik, overshoot sebesar 9,58%, settling time sebesar 8953,6 detik, sehingga sistem mampu mencapai kondisi tunak dengan steady-state error sebesar 0. Hasil tersebut menunjukkan bahwa metode VRFT menghasilkan respon transien yang lebih stabil dibandingkan metode tuning PID konvensional dan mampu memberikan parameter pengendali yang sesuai untuk sistem pengendalian level cairan H₂SO₄ pada industri pulp dan kertas.
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Controlling the sulfuric acid (H₂SO₄) liquid level control in buffer tanks is a critical aspect of the pulp and paper industry, as it directly affects product quality, operational continuity, and process safety. The corrosive properties of H₂SO₄, combined with the presence of two outlet pipelines supplying different process units, make the system susceptible to liquid level fluctuations. In industrial practice, Proportional–Integral–Derivative (PID) controller parameters are commonly determined using conventional tuning methods, which do not always provide optimal control performance. This study analyzes the dynamic characteristics of the H₂SO₄ liquid level system and applies a data-driven PID tuning method using the Virtual Reference Feedback Tuning (VRFT) approach. A mathematical model of the system was developed based on the mass balance principle, resulting in a First Order Plus Dead Time (FOPDT) model with a system gain of 2.80, a time constant (τ) of 1255 s, and a transport delay (θ) of 101 s. The input–output data were obtained from a single MATLAB/Simulink simulation and were used to estimate the PID controller parameters using the least-squares method within the VRFT framework. The estimated controller parameters were Kp = 0.015090, Ki = 0.000195, and Kd = 0.040951. The closed-loop system response was evaluated at a 2 m liquid level setpoint, resulting in a rise time of 2804.3 s, 9.58% overshoot, a settling time of 8953.6 s, and zero steady-state error, indicating that the system successfully reached the desired steady-state condition without residual error. The results demonstrate that the VRFT-based PID controller provides a more stable transient response than conventional PID tuning methods and is capable of producing suitable controller parameters for H₂SO₄ liquid level control systems in the pulp and paper industry.
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