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DAFTAR ISI
Halaman Judul ......................................................................................................... i Lembar Pengesahan Pembimbing ........................................................................... ii Lembar Pernyataan Keaslian.................................................................................. iii Lembar Pengesahan Pengujian .............................................................................. iv Halaman Persembahan ............................................................................................ v Halaman Motto....................................................................................................... vi Kata Pengantar ...................................................................................................... vii Abstraksi ................................................................................................................. x Daftar Isi................................................................................................................. xi Daftar Gambar...................................................................................................... xiv Daftar Tabel ........................................................................................................ xvii BAB I
PENDAHULUAN 1.1
Latar Belakang............................................................................ 1
1.2
Rumusan Masalah....................................................................... 2
1.3
Batasan Masalah ......................................................................... 2
1.4
Tujuan Penelitian........................................................................ 3
1.5
Sistematika Penelitian ................................................................ 3
BAB II TINJAUAN PUSTAKA 2.1
Tinjauan Pustaka......................................................................... 5
2.2
Logika Fuzzy............................................................................... 8 2.2.1 Himpunan Fuzzy .............................................................. 9
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2.2.2 Operasi Himpunan Fuzzy ............................................... 10 2.2.3 Sistem Fuzzy .................................................................. 11 2.2.3.1 Fuzzifikasi .......................................................... 11 2.2.3.2 Inferensi.............................................................. 13 2.2.3.3 Defuzzifikasi ...................................................... 16 2.3
NI USB-6009............................................................................ 17 2.3.1 Konstruksi NI USB-6009............................................... 19 2.3.2 Input Analog .................................................................. 19 2.3.3 Output Analog................................................................ 21 2.3.4 Digital I/O ...................................................................... 22
2.4
MATLAB ................................................................................. 22
2.5
Sensor Suhu LM35 ................................................................... 23
2.6
IC TCA 785 .............................................................................. 24
2.7
Kontrol Fase Tegangan AC 1Ф................................................ 26
2.8
TRIAC ...................................................................................... 28
2.9
Driver TRIAC........................................................................... 29
2.10
Penguatan Operasional ( OP-Amp ) ......................................... 30
BAB III PERANCANGAN SISTEM 3.1
Perancangan Perangkat Keras ( Hardware ) ............................ 35 3.1.1 Rangkaian Penguat Sensor Suhu LM35......................... 35 3.1.2 Rangkaian Pengontrol Sudut Fasa Tegangan AC .......... 35 3.1.3 Rangkaian Saklar Elektronik ......................................... 37
3.2
Perancangan Perangkat Lunak ( Software ).............................. 38
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3.2.1 Pengendali Logika Fuzzy ( FLC ) .................................. 38 3.2.1.1 Pembentukan Himpunan Fuzzy ( Fuzzifikasi ) .. 39 3.2.1.2 Pembuatan Aturan ( rules ) ................................ 43 3.2.2 Perancangan blok diagram sistem pengendali .............. 46 BAB IV PENGUJIAN, ANALISIS DAN PEMBAHASAN 4.1
Pengujian Perangkat Keras ( Hardware )................................. 49 4.1.1 Pengujian Rangkaian Penguat Sensor LM35 ................. 49 4.1.2 Pengujian Rangkaian Driver AC ................................... 50
4.2
Pengujian Perangkat Lunak ( Software ) .................................. 52 4.2.1 Pengujian Analog Input.................................................. 53 4.2.2 Pengujian Analog Output............................................... 54
4.3
Pengujian Sistem Pengendali Logika Fuzzy............................. 55 4.3.1 Pengujian Sistem Kalang Terbuka ( Open Loop ) ......... 55 4.3.2 Pengujian Pada Dua Variasi Fungsi Keanggotaan Input Laju Kenaikan Suhu....................................................... 56 4.3.3 Pengujian Pada Suhu Referensi Naik............................. 59 4.3.4 Pengujian Dengan Pemberian Gangguan....................... 62
BAB V PENUTUP 5.1
Kesimpulan............................................................................... 66
5.2
Saran ......................................................................................... 67
DAFTAR PUSTAKA LAMPIRAN
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DAFTAR GAMBAR
Gambar 2.1 Grafik fungsi keanggotaan himpunan crips & fuzzy ........................... 9 Gambar 2.2 Bagian-bagian sistem fuzzy ............................................................... 11 Gambar 2.3 Tipe fungsi keanggotaan fuzzy .......................................................... 12 Gambar 2.4 Ilustrasi grafis metode max-min ........................................................ 15 Gambar 2.5 Ilustrasi grafis metode max product .................................................. 16 Gambar 2.6 NI USB-6009..................................................................................... 18 Gambar 2.7 Blok diagram NI USB-6009.............................................................. 19 Gambar 2.8 Fungsi setiap pin terminal analog ..................................................... 20 Gambar 2.9 Skema mode differential.................................................................... 20 Gambar 2.10 Skema mode RSE ............................................................................ 21 Gambar 2.11 Connecting load AO........................................................................ 21 Gambar 2.12 Fungsi setiap pin terminal digital I/O.............................................. 22 Gambar 2.13 Aplikasi dasar LM35 sebagai sensor suhu ...................................... 24 Gambar 2.14 (a) Bentuk fisik IC TCA 785........................................................... 25 (b) Konfigurasi pin IC TCA 785..................................................... 25 (c) Fungsi tiap pin IC TCA 785 ...................................................... 25 Gambar 2.15 Rangkaian pengontrol gelombang penuh 1Ф.................................. 27 Gambar 2.16 Bentuk gelombang pengontrol gelombang penuh 1Ф .................... 27 Gambar 2.17 (a) Rangkaian ekivalen TRIAC....................................................... 28 (b) Simbol TRIAC .......................................................................... 28 Gambar 2.18 Karakteristik TRIAC ....................................................................... 29
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Gambar 2.19 Skema optocoupler.......................................................................... 30 Gambar 2.20 Diagram rangkaian Op-Amp........................................................... 31 Gambar 2.21 Penguat non-inverting ..................................................................... 32 Gambar 2.22 Hubungan sinyal I/O penguat non-inverting................................... 32 Gambar 3.1 Blok diagram sistem kendali suhu dan laju kenaikan suhu pada water heater ...................................................................................... 33 Gambar 3.2 Blok diagram sistem pengendali logika fuzzy ................................... 34 Gambar 3.3 Rangkaian penguat sensor LM35 ...................................................... 35 Gambar 3.4 Rangkaian pengontrol sudut fasa ...................................................... 36 Gambar 3.5 Rangkaian saklar elektronik .............................................................. 38 Gambar 3.6 Himpunan fuzzy input 1 “error”........................................................ 40 Gambar 3.7 Himpunan fuzzy input 2 “change of error” ....................................... 41 Gambar 3.8 (a) Himpunan fuzzy input 3 “laju kenaikan suhu” Tipe 1 ................. 42 (b) Himpunan fuzzy input 3 “laju kenaikan suhu” Tipe 2 ................. 42 Gambar 3.9 Himpunan fuzzy output “voltage”..................................................... 43 Gambar 3.10 Sistem step respon........................................................................... 43 Gambar 3.11 Blok diagram sistem pengendali suhu dan laju kenaikan suhu ....... 46 Gambar 4.1 Grafik hubungan tegangan keluaran LM35 dan Op-Amp ................ 50 Gambar 4.2 Grafik hubungan tegangan kontrol dengan tegangan beban ............. 52 Gambar 4.3 Grafik respon sistem dengan pengujian kalang terbuka.................... 56
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Gambar 4.4 (a) Respon sistem pada variasi range fungsi keanggotaan laju kenaikan suhu Tipe 1 ................................................................... 57 (b) Respon sistem pada variasi range fungsi keanggotaan laju kenaikan suhu Tipe 2 ................................................................. 58 Gambar 4.5 (a) Grafik respon sistem pada suhu referensi naik dengan laju kenaikan suhu 0.01˚C/detik.......................................................... 59 (b) Grafik respon sistem pada suhu referensi naik dengan laju kenaikan suhu 0.02˚C/detik.......................................................... 60 (c) Grafik respon sistem pada suhu referensi naik dengan laju kenaikan suhu 0.03˚C/detik.......................................................... 60 (d) Grafik respon sistem pada suhu referensi naik dengan laju kenaikan suhu 0.04˚C/detik.......................................................... 61 Gambar 4.6 (a) Respon plant dengan gangguan dengan laju kenaikan 0.01˚C/detik................................................................................. 63 (b) Respon plant dengan gangguan dengan laju kenaikan 0.02˚C/detik................................................................................. 63 (c) Respon plant dengan gangguan dengan laju kenaikan 0.03˚C/detik................................................................................. 64 (d) Respon plant dengan gangguan dengan laju kenaikan 0.04˚C/detik................................................................................. 64
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DAFTAR TABEL
Tabel 3.1 Rule dan penjelasannya ......................................................................... 44 Tabel 4.1 Pengujian rangkaian penguat sensor LM35 .......................................... 49 Tabel 4.2 Pengujian blok Driver AC .................................................................... 51 Tabel 4.3 Data penunjukkan termometer dan tegangan pada MATLAB ............. 53 Tabel 4.4 Data pengujian sistem dengan kalang terbuka ...................................... 55
