tag:blogger.com,1999:blog-23679266043160718222024-02-19T05:08:02.941-08:00All about engineeringmy engineering experiments|projects|literature|news|engine|jobs|analysis| business|knowledge|management|online|pictures|quality| control|reports|science|types|videos|websites|downloads| etcendar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.comBlogger36125tag:blogger.com,1999:blog-2367926604316071822.post-79918172326509156462018-09-26T23:10:00.001-07:002018-10-06T17:43:55.568-07:00the effect of management commitment, Total Productive Maintenance (TPM), and continuous improvement on maintenance performance<!--[if gte mso 9]><xml>
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<br />
<div class="MsoNormalCxSpFirst" style="text-align: justify;">
<b style="mso-bidi-font-weight: normal;"><span lang="EN" style="mso-ansi-language: EN;">Abstract:</span></b><span lang="EN" style="mso-ansi-language: EN;"> This study aims to analyze the effect of
management commitment, Total Productive Maintenance (TPM), and continuous
improvement on maintenance performance. The method of research is causality
with a quantitative approach. Empirical data for this study were taken from the
survey results at PT XYZ to get research problems. The population is employees
with around 400 people involved in the operation and maintenance of production facilities.
The sample used was 234 respondents. Data analysis techniques using Structural
Equation Modeling (SEM) method and using AMOS 22 software. The results showed
that there were direct and indirect influences. Direct influence consists of:
(1) the management commitment has an effect on the continuous improvement, (2) the
management commitment has an effect on the TPM, (3) the continuous improvement has
an effect on the TPM, (4) the TPM has an effect on the maintenance performance,
(5) the continuous improvement has an effect on the maintenance performance. The
indirect effect consists of: (1) the continuous improvement has an effect on
the maintenance performance through the total productive maintenance and (2) the
management commitment affects the total productive maintenance through the continuous
improvement.</span></div>
<div class="MsoNormalCxSpMiddle" style="text-align: justify;">
<span lang="EN" style="mso-ansi-language: EN;"><br />
<b style="mso-bidi-font-weight: normal;">Keywords</b>: management commitment,
continuous improvement, TPM, maintenance performance.</span></div>
endar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com0tag:blogger.com,1999:blog-2367926604316071822.post-41666599010695171502013-01-09T23:57:00.000-08:002013-01-26T01:10:54.250-08:00Mango, open source Machine to Machine on UbuntuI just share my experience about installing Mango on Ubuntu 9.10. This article is only copying from various sources.<br />
<br />
<span style="font-weight:bold;"><br />
BE AWARE: My experience is very limited. I am not sure these codes are perfect. I just want say that they work for me. Thanks</span><br />
<br />
<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjhHvkbADyedJdyUXddpNFVBz-G-LgkdkI0jHD3xvFw1Wbei_8al7zb7c2Zyr0Yq-n2-rEIE1mzxKNERGfYUpWF3IefldvNB7fxjzX98EJefFp0lYZsqKy_47Lntv7r5MZsMVteLiLltUVF/s1600/mangorun1.png"><img style="display:block; margin:0px auto 10px; text-align:center;cursor:pointer; cursor:hand;width: 400px; height: 250px;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjhHvkbADyedJdyUXddpNFVBz-G-LgkdkI0jHD3xvFw1Wbei_8al7zb7c2Zyr0Yq-n2-rEIE1mzxKNERGfYUpWF3IefldvNB7fxjzX98EJefFp0lYZsqKy_47Lntv7r5MZsMVteLiLltUVF/s400/mangorun1.png" border="0" alt=""id="BLOGGER_PHOTO_ID_5466301271123341506" /></a><br />
<center>Graphic Views</center><br />
<br />
<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgZfSBCSBVFwck_MW8wvp9c6NDc8ci7MBavxzrwReJVyBN3BIHZ9XfmBEKFHMnA_9lu68VeLPrl4HalzpKlyaCbVma5QUAzputj8SdosO-O3odiCSjdDN_10EbL4GFQdO0gSAti587GcRuC/s1600/mangorun.png"><img style="display:block; margin:0px auto 10px; text-align:center;cursor:pointer; cursor:hand;width: 400px; height: 250px;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgZfSBCSBVFwck_MW8wvp9c6NDc8ci7MBavxzrwReJVyBN3BIHZ9XfmBEKFHMnA_9lu68VeLPrl4HalzpKlyaCbVma5QUAzputj8SdosO-O3odiCSjdDN_10EbL4GFQdO0gSAti587GcRuC/s400/mangorun.png" border="0" alt=""id="BLOGGER_PHOTO_ID_5466301265406497378" /></a><br />
<center>Watch List</center><br />
<br />
<a href="http://www.java.com/en/download/help/linux_install.xml#selfextracting">http://www.java.com/en/download/help/linux_install.xml#selfextracting</a><br />
<br />
Download java jre-6u20-linux-i586.bin from <a href="http://javadl.sun.com/webapps/download/AutoDL?BundleId=39485">http://javadl.sun.com/webapps/download/AutoDL?BundleId=39485</a><br />
<br />
To install the Linux (self-extracting) file<br />
Follow these instructions:<br />
1. Change the permission of the file you downloaded to be executable. Type:<br />
chmod a+x jre-6u20-linux-i586.bin<br />
2. Verify that you have permission to execute the file. Type:<br />
ls -l<br />
<br />
<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi_vV15XfBL-3GwCaqhQkVa5-vU7nyYae6Jo-ELOQ8zCo74tppif49irK3gHG0NkujtdYdtSUg6153TqtuTnXPdybtN0TDzVvekokcIp1cDellD6nP-7nFaErjfm_Nolv8worblCvxNwZAy/s1600/linux_image2.gif"><img style="display:block; margin:0px auto 10px; text-align:center;cursor:pointer; cursor:hand;width: 385px; height: 73px;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi_vV15XfBL-3GwCaqhQkVa5-vU7nyYae6Jo-ELOQ8zCo74tppif49irK3gHG0NkujtdYdtSUg6153TqtuTnXPdybtN0TDzVvekokcIp1cDellD6nP-7nFaErjfm_Nolv8worblCvxNwZAy/s400/linux_image2.gif" border="0" alt=""id="BLOGGER_PHOTO_ID_5466308138493788514" /></a><br />
<br />
3. Change to the directory in which you want to install. Type:<br />
cd <directory path name><br />
For example, to install the software in the /usr/java/ directory, Type:<br />
cd /usr/java/<br />
<br />
Note about root access: To install Java in a system-wide location such as /usr/local, you must login as the root user to gain the necessary permissions. If you do not have root access, install the Java in your home directory or a subdirectory for which you have write permissions.<br />
<br />
4. Run the self-extracting binary Type:<br />
./jre-6u20-linux-i586.bin<br />
<br />
The license agreement is displayed. Review the agreement. Press the spacebar to display the next page. At the end, enter yes to proceed with the installation.<br />
<br />
5. Java is installed into its own directory. In this example, it is installed in the /usr/java/jre1.6.0_20 directory. When the installation has completed, you will see the word Done.<br />
<br />
<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh4ulgVclhgXHy1QvtE-81Dz-p05dVeDI0MtnFiL9C5TzIOIpkSCRJMfb9zH15ME5ExQgcRxXSevrMxOQ-06RE_bMejNO2-NDI32ZRhJ68zZH5J7CCPJDyuX5rtEa7CIKiD9pWeaWEsMsZC/s1600/linux_image4.gif"><img style="display:block; margin:0px auto 10px; text-align:center;cursor:pointer; cursor:hand;width: 385px; height: 183px;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh4ulgVclhgXHy1QvtE-81Dz-p05dVeDI0MtnFiL9C5TzIOIpkSCRJMfb9zH15ME5ExQgcRxXSevrMxOQ-06RE_bMejNO2-NDI32ZRhJ68zZH5J7CCPJDyuX5rtEa7CIKiD9pWeaWEsMsZC/s400/linux_image4.gif" border="0" alt=""id="BLOGGER_PHOTO_ID_5466308147563633970" /></a><br />
<br />
6. Verify that the jre1.6.0_20 sub-directory is listed under the current directory. Type:<br />
ls<br />
<br />
<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh020rSJ6AsSWtH80AxUFzIuhNic3mn_x1JayXpcMuwoRppLIzcaNMtu86Hwn1U3OIjLNaGkEspaXTg8lp70STnZEBqxOxVtCxLFpUQIStTgJaAZ1Jvw_-4H_pZrAsdyQtcSC_91Q8dTYzN/s1600/linux_image5.gif"><img style="display:block; margin:0px auto 10px; text-align:center;cursor:pointer; cursor:hand;width: 385px; height: 63px;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh020rSJ6AsSWtH80AxUFzIuhNic3mn_x1JayXpcMuwoRppLIzcaNMtu86Hwn1U3OIjLNaGkEspaXTg8lp70STnZEBqxOxVtCxLFpUQIStTgJaAZ1Jvw_-4H_pZrAsdyQtcSC_91Q8dTYzN/s400/linux_image5.gif" border="0" alt=""id="BLOGGER_PHOTO_ID_5466308156962232866" /></a><br />
<br />
Enable and Configure<br />
Firefox or Mozilla<br />
<br />
1. Create a symbolic link to the libjavaplugin.so file in the browser plugins directory<br />
* Go to the plugins sub-directory under the Firefox installation directory<br />
cd <firefox installation directory>/plugins<br />
<br />
* Create the symbolic link<br />
ln -s <java installation directory>/plugin/i386/<br />
ns7/libjavaplugin_oji.so<br />
<br />
In the ln command line above, use ns7-gcc29 if Firefox was compiled with gcc2.9.<br />
<br />
If you install Firefox 1.5 or later, you can enable the Java Console menu item in the Tools menu. Change directories to the Firefox extensions directory, then unzip ffjcext.zip there.<br />
<br />
cd /usr/lib/firefox-1.4/extensions<br />
unzip /usr/java/jre1.6.0/lib/deploy/ffjcext.zip <br />
<br />
Example<br />
* If Firefox is installed at this directory:<br />
/usr/lib/firefox-1.4/<br />
* And if the Java is installed at this directory:<br />
/usr/java/jre1.6.0_20<br />
* Then type in the terminal window to go to the browser plug-in directory:<br />
cd /usr/lib/firefox-1.4/plugins<br />
* Enter the following command to create a symbolic link to the Java Plug-in for the Mozilla browser.<br />
ln -s /usr/java/jre1.6.0_20/plugin/i386/ns7/libjavaplugin_oji.so<br />
<br />
2. Start the Firefox browser, or restart it if it is already up.<br />
<br />
In Firefox, type about:plugins in the Location bar to confirm that the Java Plugin is loaded. If the version is Firefox 1.5 or later, click the Tools menu to confirm that Java Console is there<br />
<br />
<br />
<a href="http://ubuntuforums.org/showthread.php?p=226828">http://ubuntuforums.org/showthread.php?p=226828</a><br />
<br />
Download Tomcat from <a href="http://mango.serotoninsoftware.com/downloads/apache-tomcat-6.0.20.tar.gz">http://mango.serotoninsoftware.com/downloads/apache-tomcat-6.0.20.tar.gz</a><br />
<br />
Add tomcat<br />
Place the uncompressed package in: <br />
/usr/tomcat/ <br />
<br />
Step 1 – Set JAVA_HOME and CLASSPATH<br />
<br />
You need to point out where you installed Java SDK. You will have to edit the file '.bashrc'. Backup this file first!<br />
<br />
In terminal type:<br />
<br />
Code:<br />
<br />
gedit ~/.bashrc<br />
<br />
Add the following lines to the file:<br />
<br />
Code:<br />
<br />
#Stuff we added to make tomcat go<br />
export JAVA_HOME=/usr/java/jre1.6.0_20/<br />
export CLASSPATH=/usr/tomcat/apache-tomcat-6.0.20/lib/jsp-api.jar:/usr/tomcat/apache-tomcat-6.0.20/lib.jar<br />
#endStuff we added to make tomcat go<br />
<br />
N.B. remember to change the word tomcat to the name of the package you placed in /usr/tomcat<br />
<br />
Step 2 – Start tomcat<br />
<br />
Tomcat should now be ready to run.<br />
<br />
In terminal type:<br />
<br />
Code:<br />
<br />
sh /usr/tomcat/apache-tomcat-6.0.20/bin/startup.sh<br />
<br />
If everything is working fine, you will see the following lines:<br />
<br />
Code:<br />
<br />
Using CATALINA_BASE: /usr/tomcat/apache-tomcat-6.0.20<br />
Using CATALINA_HOME: /usr/tomcat/apache-tomcat-6.0.20<br />
Using CATALINA_TMPDIR: /usr/tomcat//apache-tomcat-6.0.20/temp<br />
Using JRE_HOME: /usr/lib/j2sdk1.5-sun/<br />
<br />
In your browser head to http://localhost/ and test if it is serving. If you didn't change the port number it was serving on, head to http://localhost:8080/<br />
<br />
If Tomcat started successfully, you should see a Tomcat welcome page when you direct your browser to http://localhost:8080/ (if you did not change the port in server.xml).<br />
<br />
Shut down Tomcat before continuing with the installation. Either close the Tomcat window, or execute either <tomcat-home>/bin/shutdown.bat (Windows) or <tomcat-home>/bin/shutdown.sh (*nix), depending on your host system type. <br />
<br />
To stop tomcat type:<br />
<br />
Code:<br />
<br />
sh /usr/tomcat/apache-tomcat-6.0.20/bin/shutdown.sh<br />
<br />
<br />
<a href="http://mango.serotoninsoftware.com/download.jsp">http://mango.serotoninsoftware.com/download.jsp</a><br />
<br />
Download Mango <a href="http://mango.serotoninsoftware.com/downloads/mango-1.8.2.tar.gz">http://mango.serotoninsoftware.com/downloads/mango-1.8.2.tar.gz</a><br />
<br />
These instructions assume that you will be installing Mango as the root application within Tomcat. Mango can also be installed in an application path if desired, but such an installation is not described here.<br />
<br />
You may optionally clear out the applications that are shipped with Tomcat, as they are not required. To do so, delete all directories under <tomcat-home>/webapps. Then, recreate the ROOT subdirectory.<br />
<br />
Unzip the Mango binary archive into the <tomcat-home>/webapps/ROOT directory. When you start Tomcat next (see above), Mango will be started as well. Depending on the speed of your system it could take a few minutes to create the database tables. Tomcat (and Mango) will have completed starting up when the Tomcat console displays the message "INFO: Server startup in xxx ms" (where "xxx" is the number of milliseconds it took to start up). When you direct your browser to your Tomcat installation, you should now see the Mango login page.<br />
<br />
Upon installation, Mango creates a single login account with username "admin" and password "admin". Once you log in, you are strongly encouraged to change at least the password for this account on the "Users" page (). Also, you can set various system properties on the "System settings" page ().<br />
<br />
Congratulations! Mango is now ready to use!endar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com165tag:blogger.com,1999:blog-2367926604316071822.post-18781059776304738132013-01-06T13:59:00.000-08:002013-01-26T01:13:33.225-08:00PID Controller<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEheHCJPrQqKM4mbPERzISd5cy-GrQ5RYDvSyy8iLhNRvCocgzy-jD0Rl29mI7K67e7ISLI8w3opG9m_r9j5fMJIuT1wHnHdz62FYSLjhMV_v_wEX-HIGMU4S1ggLDt4-CmOZdHOXXshZvVn/s1600-h/ladder.JPG"><img style="display:block; margin:0px auto 10px; text-align:center;cursor:pointer; cursor:hand;width: 400px; height: 300px;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEheHCJPrQqKM4mbPERzISd5cy-GrQ5RYDvSyy8iLhNRvCocgzy-jD0Rl29mI7K67e7ISLI8w3opG9m_r9j5fMJIuT1wHnHdz62FYSLjhMV_v_wEX-HIGMU4S1ggLDt4-CmOZdHOXXshZvVn/s400/ladder.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5389325714294191506" /></a><br />
<br />
I have programmed a <span style="font-weight:bold;"><span style="font-style:italic;">heating cooling PID Controller</span></span> for <span style="font-weight:bold;"><span style="font-style:italic;">DL 06 PLC(Koyo / Direct Logic)</span></span>. It is not easy because using ladder logic to make a PID loop. And finally i have finished it.<br />
<br />
Due to efficiency we have bought a Direct Logic <a href="http://www.myengineeringsite.com/2009/05/plc-pneumatic-and-electrical-panel.html">PLC</a>. DL 06 type is a <span style="font-weight:bold;"><span style="font-style:italic;">cheap PLC</span></span>. It is my first experiences. <br />
<br />
I Selected the <span style="font-weight:bold;"><span style="font-style:italic;">PID</span></span> function in directsoft 5.3 and starting entering my addressing.<br />
Loop 1<br />
Table start address V1600<br />
Setpoint Variable V1602<br />
Process Variable V1603<br />
Output V1605<br />
I don't see anything in ladder logic. The PID loop operates outside of the PLC ladder logic. You can use ladder logic to interface with the PID loop. Most setups will use some ladder logic.<br />
<br />
I have just copied from <a href="http://en.wikipedia.org/wiki/PID_controller">http://en.wikipedia.org/wiki/PID_controller</a>. It is very useful for me to know how PID works.<br />
<br />
<p>A <b>proportional–integral–derivative controller</b> (<b>PID controller</b>) is a generic control loop feedback mechanism widely used in industrial control systems. A PID controller attempts to correct the error between a measured process variable and a desired setpoint by calculating and then outputting a corrective action that can adjust the process accordingly and rapidly, to keep the error minimal.<br />
<br />
<table id="toc" class="toc"><tbody>
<tr>
<td><br />
<div id="toctitle"><br />
<h2>Contents</h2><br />
<span class="toctoggle">[<a href="javascript:toggleToc()" class="internal" id="togglelink">hide</a>]</span></div><br />
<ul><li class="toclevel-1 tocsection-1"><a href="#General"><span class="tocnumber">1</span> <span class="toctext">General</span></a></li>
<li class="toclevel-1 tocsection-2"><a href="#Control_loop_basics"><span class="tocnumber">2</span> <span class="toctext">Control loop basics</span></a></li>
<li class="toclevel-1 tocsection-3"><a href="#PID_controller_theory"><span class="tocnumber">3</span> <span class="toctext">PID controller theory</span></a><br />
<ul><li class="toclevel-2 tocsection-4"><a href="#Proportional_term"><span class="tocnumber">3.1</span> <span class="toctext">Proportional term</span></a></li>
<li class="toclevel-2 tocsection-5"><a href="#Integral_term"><span class="tocnumber">3.2</span> <span class="toctext">Integral term</span></a></li>
<li class="toclevel-2 tocsection-6"><a href="#Derivative_term"><span class="tocnumber">3.3</span> <span class="toctext">Derivative term</span></a></li>
<li class="toclevel-2 tocsection-7"><a href="#Summary"><span class="tocnumber">3.4</span> <span class="toctext">Summary</span></a></li>
</ul><br />
</li>
<li class="toclevel-1 tocsection-8"><a href="#Loop_tuning"><span class="tocnumber">4</span> <span class="toctext">Loop tuning</span></a><br />
<ul><li class="toclevel-2 tocsection-9"><a href="#Manual_tuning"><span class="tocnumber">4.1</span> <span class="toctext">Manual tuning</span></a></li>
<li class="toclevel-2 tocsection-10"><a href="#Ziegler.E2.80.93Nichols_method"><span class="tocnumber">4.2</span> <span class="toctext">Ziegler–Nichols method</span></a></li>
<li class="toclevel-2 tocsection-11"><a href="#PID_tuning_software"><span class="tocnumber">4.3</span> <span class="toctext">PID tuning software</span></a></li>
</ul><br />
</li>
<li class="toclevel-1 tocsection-12"><a href="#Modifications_to_the_PID_algorithm"><span class="tocnumber">5</span> <span class="toctext">Modifications to the PID algorithm</span></a></li>
<li class="toclevel-1 tocsection-13"><a href="#Limitations_of_PID_control"><span class="tocnumber">6</span> <span class="toctext">Limitations of PID control</span></a></li>
<li class="toclevel-1 tocsection-14"><a href="#Cascade_control"><span class="tocnumber">7</span> <span class="toctext">Cascade control</span></a></li>
<li class="toclevel-1 tocsection-15"><a href="#Physical_implementation_of_PID_control"><span class="tocnumber">8</span> <span class="toctext">Physical implementation of PID control</span></a></li>
<li class="toclevel-1 tocsection-16"><a href="#Alternative_nomenclature_and_PID_forms"><span class="tocnumber">9</span> <span class="toctext">Alternative nomenclature and PID forms</span></a><br />
<ul><li class="toclevel-2 tocsection-17"><a href="#Ideal_versus_standard_PID_form"><span class="tocnumber">9.1</span> <span class="toctext">Ideal versus standard PID form</span></a></li>
<li class="toclevel-2 tocsection-18"><a href="#Laplace_form_of_the_PID_controller"><span class="tocnumber">9.2</span> <span class="toctext">Laplace form of the PID controller</span></a></li>
<li class="toclevel-2 tocsection-19"><a href="#Series.2Finteracting_form"><span class="tocnumber">9.3</span> <span class="toctext">Series/interacting form</span></a></li>
<li class="toclevel-2 tocsection-20"><a href="#Discrete_implementation"><span class="tocnumber">9.4</span> <span class="toctext">Discrete implementation</span></a></li>
<li class="toclevel-2 tocsection-21"><a href="#Pseudocode"><span class="tocnumber">9.5</span> <span class="toctext">Pseudocode</span></a></li>
</ul><br />
</li>
<li class="toclevel-1 tocsection-22"><a href="#See_also"><span class="tocnumber">10</span> <span class="toctext">See also</span></a></li>
<li class="toclevel-1 tocsection-23"><a href="#External_links"><span class="tocnumber">11</span> <span class="toctext">External links</span></a><br />
<ul><li class="toclevel-2 tocsection-24"><a href="#PID_tutorials"><span class="tocnumber">11.1</span> <span class="toctext">PID tutorials</span></a></li>
<li class="toclevel-2 tocsection-25"><a href="#Simulations"><span class="tocnumber">11.2</span> <span class="toctext">Simulations</span></a></li>
<li class="toclevel-2 tocsection-26"><a href="#Special_topics_and_PID_control_applications"><span class="tocnumber">11.3</span> <span class="toctext">Special topics and PID control applications</span></a></li>
</ul><br />
</li>
<li class="toclevel-1 tocsection-27"><a href="#References"><span class="tocnumber">12</span> <span class="toctext">References</span></a></li>
</ul><br />
</td>
</tr>
</tbody></table><br />
<script type="text/javascript">
//<![CDATA[
if (window.showTocToggle) { var tocShowText = "show"; var tocHideText = "hide"; showTocToggle(); }
//]]>
</script><br />
<h2><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=1" title="Edit section: General">edit</a>]</span> <span class="mw-headline" id="General">General</span></h2><br />
<br />
<div class="thumb tright"><br />
<div class="thumbinner" style="width: 302px;"><a href="/wiki/File:Pid-feedback-nct-int-correct.png" class="image"><img alt="" src="http://upload.wikimedia.org/wikipedia/commons/thumb/4/40/Pid-feedback-nct-int-correct.png/300px-Pid-feedback-nct-int-correct.png" class="thumbimage" width="300" height="138"></a><br />
<div class="thumbcaption"><br />
<div class="magnify"><a href="/wiki/File:Pid-feedback-nct-int-correct.png" class="internal" title="Enlarge"><img src="/skins-1.5/common/images/magnify-clip.png" alt="" width="15" height="11"></a></div><br />
A block diagram of a PID controller</div><br />
</div><br />
</div><br />
<p>The PID controller calculation (algorithm) involves three separate parameters; the proportional, the integral and >derivative values. The <i>proportional</i> value determines the reaction to the current error, the <i>integral</i> value determines the reaction based on the sum of recent errors, and the <i>derivative</i> value determines the reaction based on the rate at which the error has been changing. The weighted sum of these three actions is used to adjust the process via a control element such as the position of a control valve or the power supply of a heating element.</p><br />
<br />
<p>By tuning the three constants in the PID controller algorithm, the controller can provide control action designed for specific process requirements. The response of the controller can be described in terms of the responsiveness of the controller to an error, the degree to which the controller overshoots the setpoint and the degree of system oscillation. Note that the use of the PID algorithm for control does not guarantee optimal control of the system or system stability.</p><br />
<p>Some applications may require using only one or two modes to provide the appropriate system control. This is achieved by setting the gain of undesired control outputs to zero. A PID controller will be called a PI, PD, P or I controller in the absence of the respective control actions. PI controllers are particularly common, since derivative action is very sensitive to measurement noise, and the absence of an integral value may prevent the system from reaching its target value due to the control action.</p><br />
<p>Note: Due to the diversity of the field of control theory and application, many naming conventions for the relevant variables are in common use.</p><br />
<h2><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=2" title="Edit section: Control loop basics">edit</a>]</span> <span class="mw-headline" id="Control_loop_basics">Control loop basics</span></h2><br />
<br />
<p>A familiar example of a control loop is the action taken to keep one's shower water at the ideal temperature, which typically involves the mixing of two process streams, cold and hot water. The person feels the water to estimate its temperature. Based on this measurement they perform a control action: use the cold water tap to adjust the process. The person would repeat this input-output control loop, adjusting the hot water flow until the process temperature stabilized at the desired value.</p><br />
<p>Feeling the water temperature is taking a measurement of the process value or process variable (PV). The desired temperature is called the setpoint (SP). The output from the controller and input to the process (the tap position) is called the manipulated variable (MV). The difference between the measurement and the setpoint is the error (e), too hot or too cold and by how much.</p><br />
<p>As a controller, one decides roughly how much to change the tap position (MV) after one determines the temperature (PV), and therefore the error. This first estimate is the equivalent of the proportional action of a PID controller. The integral action of a PID controller can be thought of as gradually adjusting the temperature when it is almost right. Derivative action can be thought of as noticing the water temperature is getting hotter or colder, and how fast, anticipating further change and tempering adjustments for a soft landing at the desired temperature (SP).</p><br />
<p>Making a change that is too large when the error is small is equivalent to a high gain controller and will lead to overshoot. If the controller were to repeatedly make changes that were too large and repeatedly overshoot the target, the output would oscillate around the setpoint in either a constant, growing, or decaying sinusoid. If the oscillations increase with time then the system is unstable, whereas if they decay the system is stable. If the oscillations remain at a constant magnitude the system is marginally stable. A human would not do this because we are adaptive controllers, learning from the process history, but PID controllers do not have the ability to learn and must be set up correctly. Selecting the correct gains for effective control is known as tuning the controller.</p><br />
<br />
<p>If a controller starts from a stable state at zero error (PV = SP), then further changes by the controller will be in response to changes in other measured or unmeasured inputs to the process that impact on the process, and hence on the PV. Variables that impact on the process other than the MV are known as disturbances. Generally controllers are used to reject disturbances and/or implement setpoint changes. Changes in feed water temperature constitute a disturbance to the shower process.</p><br />
<p>In theory, a controller can be used to control any process which has a measurable output (PV), a known ideal value for that output (SP) and an input to the process (MV) that will affect the relevant PV. Controllers are used in industry to regulate temperature, pressure, flow rate, chemical composition, speed and practically every other variable for which a measurement exists. Automobile cruise control is an example of a process which utilizes automated control.</p><br />
<br />
<p>Due to their long history, simplicity, well grounded theory and simple setup and maintenance requirements, PID controllers are the controllers of choice for many of these applications.</p><br />
<h2>PID controller theory</h2><br />
<p>This section describes the parallel or non-interacting form of the PID controller. For other forms please see the Section "Alternative notation and PID forms".</p><br />
<p>The PID control scheme is named after its three correcting terms, whose sum constitutes the manipulated variable (MV). Hence:</p><br />
<dl><dd><img class="tex" alt="\mathrm{MV(t)}=\,P_{\mathrm{out}} + I_{\mathrm{out}} + D_{\mathrm{out}}" src="http://upload.wikimedia.org/math/6/a/e/6ae99388a627a49f06b3206da2160a89.png"></dd>
</dl><br />
<p>where</p><br />
<br />
<dl><dd><span class="texhtml"><i>P</i><sub>out</sub></span>, <span class="texhtml"><i>I</i><sub>out</sub></span>, and <span class="texhtml"><i>D</i><sub>out</sub></span> are the contributions to the output from the PID controller from each of the three terms, as defined below.</dd>
</dl><br />
<h3><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=4" title="Edit section: Proportional term">edit</a>]</span> <span class="mw-headline" id="Proportional_term">Proportional term</span></h3><br />
<br />
<div class="thumb tright"><br />
<div class="thumbinner" style="width: 322px;"><a href="/wiki/File:Change_with_Kp.png" class="image"><img alt="" src="http://upload.wikimedia.org/wikipedia/commons/thumb/2/2b/Change_with_Kp.png/320px-Change_with_Kp.png" class="thumbimage" width="320" height="251"></a><br />
<div class="thumbcaption"><br />
<div class="magnify"><a href="/wiki/File:Change_with_Kp.png" class="internal" title="Enlarge"><img src="/skins-1.5/common/images/magnify-clip.png" alt="" width="15" height="11"></a></div><br />
Plot of PV vs time, for three values of K<sub>p</sub> (K<sub>i</sub> and K<sub>d</sub> held constant)</div><br />
</div><br />
</div><br />
<br />
<p>The proportional term (sometimes called <i>gain</i>) makes a change to the output that is proportional to the current error value. The proportional response can be adjusted by multiplying the error by a constant <i>K<sub>p</sub></i>, called the proportional gain.</p><br />
<p>The proportional term is given by:</p><br />
<dl><dd><img class="tex" alt="P_{\mathrm{out}}=K_p\,{e(t)}" src="http://upload.wikimedia.org/math/3/f/8/3f80d26e2e621e0f123bb26e80e609e5.png"></dd>
</dl><br />
<p>where</p><br />
<dl><dd><span class="texhtml"><i>P</i><sub>out</sub></span>: Proportional term of output</dd>
<dd><span class="texhtml"><i>K</i><sub><i>p</i></sub></span>: Proportional gain, a tuning parameter</dd>
<dd><span class="texhtml"><i>e</i></span>: Error <span class="texhtml">= <i>S</i><i>P</i> − <i>P</i><i>V</i></span></dd>
<dd><span class="texhtml"><i>t</i></span>: Time or instantaneous time (the present)</dd>
</dl><br />
<p>A high proportional gain results in a large change in the output for a given change in the error. If the proportional gain is too high, the system can become unstable (See the section on loop tuning). In contrast, a small gain results in a small output response to a large input error, and a less responsive (or sensitive) controller. If the proportional gain is too low, the control action may be too small when responding to system disturbances.</p><br />
<p>In the absence of disturbances, pure proportional control will not settle at its target value, but will retain a steady state error that is a function of the proportional gain and the process gain. Despite the steady-state offset, both tuning theory and industrial practice indicate that it is the proportional term that should contribute the bulk of the output change.</p><br />
<h3><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=5" title="Edit section: Integral term">edit</a>]</span> <span class="mw-headline" id="Integral_term">Integral term</span></h3><br />
<div class="thumb tright"><br />
<div class="thumbinner" style="width: 322px;"><a href="/wiki/File:Change_with_Ki.png" class="image"><img alt="" src="http://upload.wikimedia.org/wikipedia/commons/thumb/c/c0/Change_with_Ki.png/320px-Change_with_Ki.png" class="thumbimage" width="320" height="253"></a><br />
<div class="thumbcaption"><br />
<div class="magnify"><a href="/wiki/File:Change_with_Ki.png" class="internal" title="Enlarge"><img src="/skins-1.5/common/images/magnify-clip.png" alt="" width="15" height="11"></a></div><br />
<br />
Plot of PV vs time, for three values of K<sub>i</sub> (K<sub>p</sub> and K<sub>d</sub> held constant)</div><br />
</div><br />
</div><br />
<p>The contribution from the integral term (sometimes called <i>reset</i>) is proportional to both the magnitude of the error and the duration of the error. Summing the instantaneous error over time (integrating the error) gives the accumulated offset that should have been corrected previously. The accumulated error is then multiplied by the integral gain and added to the controller output. The magnitude of the contribution of the integral term to the overall control action is determined by the integral gain, <span class="texhtml"><i>K</i><sub><i>i</i></sub></span>.</p><br />
<br />
<p>The integral term is given by:</p><br />
<p><img class="tex" alt="I_{\mathrm{out}}=K_{i}\int_{0}^{t}{e(\tau)}\,{d\tau}" src="http://upload.wikimedia.org/math/d/5/9/d593c27abdc1aecffb56d06d2a9ba8e3.png"></p><br />
<p>where</p><br />
<dl><dd><span class="texhtml"><i>I</i><sub>out</sub></span>: Integral term of output</dd>
<dd><span class="texhtml"><i>K</i><sub><i>i</i></sub></span>: Integral gain, a tuning parameter</dd>
<dd><span class="texhtml"><i>e</i></span>: Error <span class="texhtml">= <i>S</i><i>P</i> − <i>P</i><i>V</i></span></dd>
<dd><span class="texhtml"><i>t</i></span>: Time or instantaneous time (the present)</dd>
<dd><span class="texhtml">τ</span>: a dummy integration variable</dd>
</dl><br />
<p>The integral term (when added to the proportional term) accelerates the movement of the process towards setpoint and eliminates the residual steady-state error that occurs with a proportional only controller. However, since the integral term is responding to accumulated errors from the past, it can cause the present value to overshoot the setpoint value (cross over the setpoint and then create a deviation in the other direction). For further notes regarding integral gain tuning and controller stability, see the section on loop tuning.</p><br />
<h3><span class="mw-headline" id="Derivative_term">Derivative term</span></h3><br />
<br />
<div class="thumb tright"><br />
<div class="thumbinner" style="width: 322px;"><a href="/wiki/File:Change_with_Kd.png" class="image"><img alt="" src="http://upload.wikimedia.org/wikipedia/commons/thumb/c/c7/Change_with_Kd.png/320px-Change_with_Kd.png" class="thumbimage" width="320" height="253"></a><br />
<div class="thumbcaption"><br />
<div class="magnify"><a href="/wiki/File:Change_with_Kd.png" class="internal" title="Enlarge"><img src="/skins-1.5/common/images/magnify-clip.png" alt="" width="15" height="11"></a></div><br />
Plot of PV vs time, for three values of K<sub>d</sub> (K<sub>p</sub> and K<sub>i</sub> held constant)</div><br />
</div><br />
</div><br />
<br />
<p>The rate of change of the process error is calculated by determining the slope of the error over time (i.e., its first derivative with respect to time) and multiplying this rate of change by the derivative gain <span class="texhtml"><i>K</i><sub><i>d</i></sub></span>. The magnitude of the contribution of the derivative term (sometimes called <i>rate</i>) to the overall control action is termed the derivative gain, <span class="texhtml"><i>K</i><sub><i>d</i></sub></span>.</p><br />
<p>The derivative term is given by:</p><br />
<dl><dd><img class="tex" alt="D_{\mathrm{out}}=K_d\frac{d}{dt}e(t)" src="http://upload.wikimedia.org/math/0/6/9/0691207bf621049b3e8bb98627a50f27.png"></dd>
</dl><br />
<p>where</p><br />
<br />
<dl><dd><span class="texhtml"><i>D</i><sub>out</sub></span>: Derivative term of output</dd>
<dd><span class="texhtml"><i>K</i><sub><i>d</i></sub></span>: Derivative gain, a tuning parameter</dd>
<dd><span class="texhtml"><i>e</i></span>: Error <span class="texhtml">= <i>S</i><i>P</i> − <i>P</i><i>V</i></span></dd>
<dd><span class="texhtml"><i>t</i></span>: Time or instantaneous time (the present)</dd>
</dl><br />
<p>The derivative term slows the rate of change of the controller output and this effect is most noticeable close to the controller setpoint. Hence, derivative control is used to reduce the magnitude of the overshoot produced by the integral component and improve the combined controller-process stability. However, differentiation of a signal amplifies noise and thus this term in the controller is highly sensitive to noise in the error term, and can cause a process to become unstable if the noise and the derivative gain are sufficiently large.</p><br />
<h3><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=7" title="Edit section: Summary">edit</a>]</span> <span class="mw-headline" id="Summary">Summary</span></h3><br />
<p>The proportional, integral, and derivative terms are summed to calculate the output of the PID controller. Defining <span class="texhtml"><i>u</i>(<i>t</i>)</span> as the controller output, the final form of the PID algorithm is:</p><br />
<br />
<dl><dd><img class="tex" alt="\mathrm{u(t)}=\mathrm{MV(t)}=K_p{e(t)} + K_{i}\int_{0}^{t}{e(\tau)}\,{d\tau} + K_{d}\frac{d}{dt}e(t)" src="http://upload.wikimedia.org/math/e/3/3/e3386d1b5511c8ce5b70a4ba8bcfc3e3.png"></dd>
</dl><br />
<p>where the tuning parameters are:</p><br />
<dl><dt>Proportional gain, <span class="texhtml"><i>K</i><sub><i>p</i></sub></span></dt>
<dd>larger values typically mean faster response since the larger the error, the larger the Proportional term compensation. An excessively large proportional gain will lead to process instability and oscillation.</dd>
<dt>Integral gain, <span class="texhtml"><i>K</i><sub><i>i</i></sub></span></dt>
<dd>larger values imply steady state errors are eliminated more quickly. The trade-off is larger overshoot: any negative error integrated during transient response must be integrated away by positive error before we reach steady state.</dd>
<dt>Derivative gain, <span class="texhtml"><i>K</i><sub><i>d</i></sub></span></dt>
<dd>larger values decrease overshoot, but slows down transient response and may lead to instability due to signal noise amplification in the differentiation of the error.</dd>
</dl><br />
<h2><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=8" title="Edit section: Loop tuning">edit</a>]</span> <span class="mw-headline" id="Loop_tuning">Loop tuning</span></h2><br />
<p>If the PID controller parameters (the gains of the proportional, integral and derivative terms) are chosen incorrectly, the controlled process input can be unstable, i.e. its output diverges, with or without oscillation, and is limited only by saturation or mechanical breakage. <i>Tuning</i> a control loop is the adjustment of its control parameters (gain/proportional band, integral gain/reset, derivative gain/rate) to the optimum values for the desired control response.</p><br />
<br />
<p>The optimum behavior on a process change or setpoint change varies depending on the application. Some processes must not allow an overshoot of the process variable beyond the setpoint if, for example, this would be unsafe. Other processes must minimize the energy expended in reaching a new setpoint. Generally, stability of response (the reverse of instability) is required and the process must not oscillate for any combination of process conditions and setpoints. Some processes have a degree of non-linearity and so parameters that work well at full-load conditions don't work when the process is starting up from no-load. This section describes some traditional manual methods for loop tuning.</p><br />
<p>There are several methods for tuning a PID loop. The most effective methods generally involve the development of some form of process model, then choosing P, I, and D based on the dynamic model parameters. Manual tuning methods can be relatively inefficient.</p><br />
<p>The choice of method will depend largely on whether or not the loop can be taken "offline" for tuning, and the response time of the system. If the system can be taken offline, the best tuning method often involves subjecting the system to a step change in input, measuring the output as a function of time, and using this response to determine the control parameters.</p><br />
<table class="wikitable"><tbody>
<tr>
<td colspan="3" align="center"><b>Choosing a Tuning Method</b></td>
</tr>
<tr>
<td align="center"><b>Method</b></td>
<td align="center"><b>Advantages</b></td>
<td align="center"><b>Disadvantages</b></td>
</tr>
<tr>
<td align="center"><b>Manual Tuning</b></td>
<td align="center">No math required. Online method.</td>
<td align="center">Requires experienced personnel.</td>
</tr>
<tr>
<td align="center"><b>Ziegler–Nichols</b></td>
<td align="center">Proven Method. Online method.</td>
<td align="center">Process upset, some trial-and-error, very aggressive tuning.</td>
</tr>
<tr>
<td align="center"><b>Software Tools</b></td>
<td align="center">Consistent tuning. Online or offline method. May include valve and sensor analysis. Allow simulation before downloading.</td>
<td align="center">Some cost and training involved.</td>
</tr>
<tr>
<td align="center"><b>Cohen-Coon</b></td>
<td align="center">Good process models.</td>
<td align="center">Some math. Offline method. Only good for first-order processes.</td>
</tr>
</tbody></table><br />
<h3><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=9" title="Edit section: Manual tuning">edit</a>]</span> <span class="mw-headline" id="Manual_tuning">Manual tuning</span></h3><br />
<p>If the system must remain online, one tuning method is to first set <span class="texhtml"><i>K</i><sub><i>i</i></sub></span> and <span class="texhtml"><i>K</i><sub><i>d</i></sub></span> values to zero. Increase the <span class="texhtml"><i>K</i><sub><i>p</i></sub></span> until the output of the loop oscillates, then the <span class="texhtml"><i>K</i><sub><i>p</i></sub></span> should be left set to be approximately half of that value for a "quarter amplitude decay" type response. Then increase <span class="texhtml"><i>K</i><sub><i>i</i></sub></span> until any offset is correct in sufficient time for the process. However, too much <span class="texhtml"><i>K</i><sub><i>i</i></sub></span> will cause instability. Finally, increase <span class="texhtml"><i>K</i><sub><i>d</i></sub></span>, if required, until the loop is acceptably quick to reach its reference after a load disturbance. However, too much <span class="texhtml"><i>K</i><sub><i>d</i></sub></span> will cause excessive response and overshoot. A fast PID loop tuning usually overshoots slightly to reach the setpoint more quickly; however, some systems cannot accept overshoot, in which case an "over-damped" closed-loop system is required, which will require a <span class="texhtml"><i>K</i><sub><i>p</i></sub></span> setting significantly less than half that of the <span class="texhtml"><i>K</i><sub><i>p</i></sub></span> setting causing oscillation.</p><br />
<br />
<table class="wikitable"><tbody>
<tr>
<td colspan="5" align="center">Effects of <i>increasing</i> parameters</td>
</tr>
<tr>
<td align="center"><b>Parameter</b></td>
<td align="center"><b>Rise time</b></td>
<td align="center"><b>Overshoot</b></td>
<td align="center"><b>Settling time</b></td>
<td align="center"><b>Error at equilibrium</b></td>
</tr>
<tr>
<td align="center"><span class="texhtml"><i>K</i><sub><i>p</i></sub></span></td>
<td align="center">Decrease</td>
<td align="center">Increase</td>
<td align="center">Small change</td>
<td align="center">Decrease</td>
</tr>
<tr>
<td align="center"><span class="texhtml"><i>K</i><sub><i>i</i></sub></span></td>
<td align="center">Decrease</td>
<td align="center">Increase</td>
<td align="center">Increase</td>
<td align="center">Eliminate</td>
</tr>
<tr>
<td align="center"><span class="texhtml"><i>K</i><sub><i>d</i></sub></span></td>
<td align="center">Indefinite (small decrease or increase)<sup id="cite_ref-0" class="reference"><a href="#cite_note-0"><span>[</span>1<span>]</span></a></sup></td>
<td align="center">Decrease</td>
<td align="center">Decrease</td>
<td align="center">None</td>
</tr>
</tbody></table><br />
<h3><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=10" title="Edit section: Ziegler–Nichols method">edit</a>]</span> <span class="mw-headline" id="Ziegler.E2.80.93Nichols_method">Ziegler–Nichols method</span></h3><br />
<p>Another tuning method is formally known as the Ziegler–Nichols method, introduced by John G. Ziegler and Nathaniel B. Nichols. As in the method above, the <span class="texhtml"><i>K</i><sub><i>i</i></sub></span> and <span class="texhtml"><i>K</i><sub><i>d</i></sub></span> gains are first set to zero. The <i>P</i> gain is increased until it reaches the critical gain, <span class="texhtml"><i>K</i><sub><i>c</i></sub></span>, at which the output of the loop starts to oscillate. <span class="texhtml"><i>K</i><sub><i>c</i></sub></span> and the oscillation period <span class="texhtml"><i>P</i><sub><i>c</i></sub></span> are used to set the gains as shown:</p><br />
<br />
<table class="wikitable"><tbody>
<tr>
<td colspan="5" align="center">Ziegler–Nichols method</td>
</tr>
<tr>
<td align="center"><b>Control Type</b></td>
<td align="right"><span class="texhtml"><i>K</i><sub><i>p</i></sub></span></td>
<td align="right"><span class="texhtml"><i>K</i><sub><i>i</i></sub></span></td>
<td align="right"><span class="texhtml"><i>K</i><sub><i>d</i></sub></span></td>
</tr>
<tr>
<td align="center"><i>P</i></td>
<td align="right"><span class="texhtml">0.50<i>K</i><sub><i>c</i></sub></span></td>
<td align="right">-</td>
<td align="right">-</td>
</tr>
<tr>
<td align="center"><i>PI</i></td>
<td align="right"><span class="texhtml">0.45<i>K</i><sub><i>c</i></sub></span></td>
<td align="right"><span class="texhtml">1.2<i>K</i><sub><i>p</i></sub> / <i>P</i><sub><i>c</i></sub></span></td>
<td align="right">-</td>
</tr>
<tr>
<td align="center"><i>PID</i></td>
<td align="right"><span class="texhtml">0.60<i>K</i><sub><i>c</i></sub></span></td>
<td align="right"><span class="texhtml">2<i>K</i><sub><i>p</i></sub> / <i>P</i><sub><i>c</i></sub></span></td>
<td align="right"><span class="texhtml"><i>K</i><sub><i>p</i></sub><i>P</i><sub><i>c</i></sub> / 8</span></td>
</tr>
</tbody></table><br />
<br />
<h3><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=11" title="Edit section: PID tuning software">edit</a>]</span> <span class="mw-headline" id="PID_tuning_software">PID tuning software</span></h3><br />
<p>Most modern industrial facilities no longer tune loops using the manual calculation methods shown above. Instead, PID tuning and loop optimization software are used to ensure consistent results. These software packages will gather the data, develop process models, and suggest optimal tuning. Some software packages can even develop tuning by gathering data from reference changes.</p><br />
<p>Mathematical PID loop tuning induces an impulse in the system, and then uses the controlled system's frequency response to design the PID loop values. In loops with response times of several minutes, mathematical loop tuning is recommended, because trial and error can literally take days just to find a stable set of loop values. Optimal values are harder to find. Some digital loop controllers offer a self-tuning feature in which very small setpoint changes are sent to the process, allowing the controller itself to calculate optimal tuning values.</p><br />
<p>Other formulas are available to tune the loop according to different performance criteria.</p><br />
<h2><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=12" title="Edit section: Modifications to the PID algorithm">edit</a>]</span> <span class="mw-headline" id="Modifications_to_the_PID_algorithm">Modifications to the PID algorithm</span></h2><br />
<br />
<p>The basic PID algorithm presents some challenges in control applications that have been addressed by minor modifications to the PID form.</p><br />
<p>One common problem resulting from the ideal PID implementations is integral windup. This problem can be addressed by:</p><br />
<ul><li>Initializing the controller integral to a desired value</li>
<li>Increasing the setpoint in a suitable ramp</li>
<li>Disabling the integral function until the PV has entered the controllable region</li>
<li>Limiting the time period over which the integral error is calculated</li>
<li>Preventing the integral term from accumulating above or below pre-determined bounds</li>
</ul><br />
<dl><dt>Freezing the integral function in case of disturbances</dt>
<dd>If a PID loop is used to control the temperature of an electric resistance furnace, the system has stabilized and then the door is opened and something cold is put into the furnace the temperature drops below the setpoint. The integral function of the controller tends to compensate this error by introducing another error in the positive direction. This can be avoided by freezing of the integral function after the opening of the door for the time the control loop typically needs to reheat the furnace.</dd>
</dl><br />
<dl><dt>Replacing the integral function by a model based part</dt>
<dd>Often the time-response of the system is approximately known. Then it is an advantage to simulate this time-response with a model and to calculate some unknown parameter from the actual response of the system. If for instance the system is an electrical furnace the response of the difference between furnace temperature and ambient temperature to changes of the electrical power will be similar to that of a simple RC low-pass filter multiplied by an unknown proportional coefficient. The actual electrical power supplied to the furnace is delayed by a low-pass filter to simulate the response of the temperature of the furnace and then the actual temperature minus the ambient temperature is divided by this low-pass filtered electrical power. Then, the result is stabilized by another low-pass filter leading to an estimation of the proportional coefficient. With this estimation it is possible to calculate the required electrical power by dividing the set-point of the temperature minus the ambient temperature by this coefficient. The result can then be used instead of the integral function. This also achieves a control error of zero in the steady-state but avoids integral windup and can give a significantly improved control action compared to an optimized PID controller. This type of controller does work properly in an open loop situation which causes integral windup with an integral function. This is an advantage if for example the heating of a furnace has to be reduced for some time because of the failure of a heating element or if the controller is used as an advisory system to a human operator who may or may not switch it to closed-loop operation or if the controller is used inside of a branch of a complex control system where this branch may be temporarily inactive.</dd>
</dl><br />
<p>Many PID loops control a mechanical device (for example, a valve). Mechanical maintenance can be a major cost and wear leads to control degradation in the form of either stiction or a deadband in the mechanical response to an input signal. The rate of mechanical wear is mainly a function of how often a device is activated to make a change. Where wear is a significant concern, the PID loop may have an output deadband to reduce the frequency of activation of the output (valve). This is accomplished by modifying the controller to hold its output steady if the change would be small (within the defined deadband range). The calculated output must leave the deadband before the actual output will change.</p><br />
<br />
<p>The proportional and derivative terms can produce excessive movement in the output when a system is subjected to an instantaneous step increase in the error, such as a large setpoint change. In the case of the derivative term, this is due to taking the derivative of the error, which is very large in the case of an instantaneous step change. As a result, some PID algorithms incorporate the following modifications:</p><br />
<dl><dt>Derivative of output</dt>
<dd>In this case the PID controller measures the derivative of the output quantity, rather than the derivative of the error. The output is always continuous (i.e., never has a step change). For this to be effective, the derivative of the output must have the same sign as the derivative of the error.</dd>
<dt>Setpoint ramping</dt>
<dd>In this modification, the setpoint is gradually moved from its old value to a newly specified value using a linear or first order differential ramp function. This avoids the discontinuity present in a simple step change.</dd>
<dt>Setpoint weighting</dt>
<dd>Setpoint weighting uses different multipliers for the error depending on which element of the controller it is used in. The error in the integral term must be the true control error to avoid steady-state control errors. This affects the controller's setpoint response. These parameters do not affect the response to load disturbances and measurement noise.</dd>
</dl><br />
<h2><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=13" title="Edit section: Limitations of PID control">edit</a>]</span> <span class="mw-headline" id="Limitations_of_PID_control">Limitations of PID control</span></h2><br />
<p>While PID controllers are applicable to many control problems, they can perform poorly in some applications.</p><br />
<p>PID controllers, when used alone, can give poor performance when the PID loop gains must be reduced so that the control system does not overshoot, oscillate or <i>hunt</i> about the control setpoint value. The control system performance can be improved by combining the feedback (or closed-loop) control of a PID controller with feed-forward (or open-loop) control. Knowledge about the system (such as the desired acceleration and inertia) can be fed forward and combined with the PID output to improve the overall system performance. The feed-forward value alone can often provide the major portion of the controller output. The PID controller can then be used primarily to respond to whatever difference or <i>error</i> remains between the setpoint (SP) and the actual value of the process variable (PV). Since the feed-forward output is not affected by the process feedback, it can never cause the control system to oscillate, thus improving the system response and stability.</p><br />
<br />
<p>For example, in most motion control systems, in order to accelerate a mechanical load under control, more force or torque is required from the prime mover, motor, or actuator. If a velocity loop PID controller is being used to control the speed of the load and command the force or torque being applied by the prime mover, then it is beneficial to take the instantaneous acceleration desired for the load, scale that value appropriately and add it to the output of the PID velocity loop controller. This means that whenever the load is being accelerated or decelerated, a proportional amount of force is commanded from the prime mover regardless of the feedback value. The PID loop in this situation uses the feedback information to effect any increase or decrease of the combined output in order to reduce the remaining difference between the process setpoint and the feedback value. Working together, the combined open-loop feed-forward controller and closed-loop PID controller can provide a more responsive, stable and reliable control system.</p><br />
<p>Another problem faced with PID controllers is that they are linear. Thus, performance of PID controllers in non-linear systems (such as HVAC systems) is variable. Often PID controllers are enhanced through methods such as PID gain scheduling or fuzzy logic. Further practical application issues can arise from instrumentation connected to the controller. A high enough sampling rate, measurement precision, and measurement accuracy are required to achieve adequate control performance.</p><br />
<p>A problem with the Derivative term is that small amounts of measurement or process noise can cause large amounts of change in the output. It is often helpful to filter the measurements with a low-pass filter in order to remove higher-frequency noise components. However, low-pass filtering and derivative control can cancel each other out, so reducing noise by instrumentation means is a much better choice. Alternatively, the differential band can be turned off in many systems with little loss of control. This is equivalent to using the PID controller as a <i>PI</i> controller.</p><br />
<br />
<h2><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=14" title="Edit section: Cascade control">edit</a>]</span> <span class="mw-headline" id="Cascade_control">Cascade control</span></h2><br />
<p>One distinctive advantage of PID controllers is that two PID controllers can be used together to yield better dynamic performance. This is called cascaded PID control. In cascade control there are two PIDs arranged with one PID controlling the set point of another. A PID controller acts as outer loop controller, which controls the primary physical parameter, such as fluid level or velocity. The other controller acts as inner loop controller, which reads the output of outer loop controller as set point, usually controlling a more rapid changing parameter, flowrate or acceleration. It can be mathematically proven<sup class="noprint Template-Fact" title="This claim needs references to reliable sources from January 2009" style="white-space: nowrap;">[<i><a href="/wiki/Wikipedia:Citation_needed" title="Wikipedia:Citation needed">citation needed</a></i>]</sup> that the working frequency of the controller is increased and the time constant of the object is reduced by using cascaded PID controller.<sup class="noprint Inline-Template" title="You can help -- from February 2009" style="white-space: nowrap;">[<i><a href="/wiki/Wikipedia:Manual_of_Style#Unnecessary_vagueness" title="Wikipedia:Manual of Style">vague</a></i>]</sup>.</p><br />
<br />
<h2><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=15" title="Edit section: Physical implementation of PID control">edit</a>]</span> <span class="mw-headline" id="Physical_implementation_of_PID_control">Physical implementation of PID control</span></h2><br />
<p>In the early history of automatic process control the PID controller was implemented as a mechanical device. These mechanical controllers used a lever, spring and a mass and were often energized by compressed air. These pneumatic controllers were once the industry standard.</p><br />
<br />
<p>Electronic analog controllers can be made from a solid-state or tube amplifier, a capacitor and a resistance. Electronic analog PID control loops were often found within more complex electronic systems, for example, the head positioning of a disk drive, the power conditioning of a power supply, or even the movement-detection circuit of a modern seismometer. Nowadays, electronic controllers have largely been replaced by digital controllers implemented with microcontrollers or FPGAs.</p><br />
<br />
<p>Most modern PID controllers in industry are implemented in programmable logic controllers (PLCs) or as a panel-mounted digital controller. Software implementations have the advantages that they are relatively cheap and are flexible with respect to the implementation of the PID algorithm.</p><br />
<h2><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=16" title="Edit section: Alternative nomenclature and PID forms">edit</a>]</span> <span class="mw-headline" id="Alternative_nomenclature_and_PID_forms">Alternative nomenclature and PID forms</span></h2><br />
<h3><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=17" title="Edit section: Ideal versus standard PID form">edit</a>]</span> <span class="mw-headline" id="Ideal_versus_standard_PID_form">Ideal versus standard PID form</span></h3><br />
<br />
<p>The form of the PID controller most often encountered in industry, and the one most relevant to tuning algorithms is the <i>standard form</i>. In this form the <span class="texhtml"><i>K</i><sub><i>p</i></sub></span> gain is applied to the <span class="texhtml"><i>I</i><sub>out</sub></span>, and <span class="texhtml"><i>D</i><sub>out</sub></span> terms, yielding:</p><br />
<dl><dd><img class="tex" alt="\mathrm{MV(t)}=K_p\left(\,{e(t)} + \frac{1}{T_i}\int_{0}^{t}{e(\tau)}\,{d\tau} + T_d\frac{d}{dt}e(t)\right)" src="http://upload.wikimedia.org/math/6/8/d/68dcc9ea850cb4411290fa7bb6e47219.png"></dd>
</dl><br />
<p>where</p><br />
<dl><dd><span class="texhtml"><i>T</i><sub><i>i</i></sub></span> is the <i>integral time</i></dd>
<dd><span class="texhtml"><i>T</i><sub><i>d</i></sub></span> is the <i>derivative time</i></dd>
</dl><br />
<br />
<p>In the ideal parallel form, shown in the controller theory section</p><br />
<dl><dd><img class="tex" alt="\mathrm{MV(t)}=K_p{e(t)} + K_i\int_{0}^{t}{e(\tau)}\,{d\tau} + K_d\frac{d}{dt}e(t)" src="http://upload.wikimedia.org/math/3/e/e/3ee4a60db59c35d5e7c5b615796fe156.png"></dd>
</dl><br />
<p>the gain parameters are related to the parameters of the standard form through <img class="tex" alt="K_i = \frac{K_p}{T_i}" src="http://upload.wikimedia.org/math/1/4/7/1472201539e8f1dc20a457cd8f01f5fb.png"> and <img class="tex" alt=" K_d = K_p T_d \," src="http://upload.wikimedia.org/math/1/6/6/1665c88bcbccf4259ba592c39506c66c.png">. This parallel form, where the parameters are treated as simple gains, is the most general and flexible form. However, it is also the form where the parameters have the least physical interpretation and is generally reserved for theoretical treatment of the PID controller. The standard form, despite being slightly more complex mathematically, is more common in industry.</p><br />
<h3><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=18" title="Edit section: Laplace form of the PID controller">edit</a>]</span> <span class="mw-headline" id="Laplace_form_of_the_PID_controller">Laplace form of the PID controller</span></h3><br />
<p>Sometimes it is useful to write the PID regulator in <a href="/wiki/Laplace_transform" title="Laplace transform">Laplace transform</a> form:</p><br />
<br />
<dl><dd><img class="tex" alt="G(s)=K_p + \frac{K_i}{s} + K_d{s}=\frac{K_d{s^2} + K_p{s} + K_i}{s}" src="http://upload.wikimedia.org/math/6/d/b/6dbbb7aafc289a41c2345438e0814ab2.png"></dd>
</dl><br />
<p>Having the PID controller written in Laplace form and having the transfer function of the controlled system, makes it easy to determine the closed-loop transfer function of the system.</p><br />
<h3><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=19" title="Edit section: Series/interacting form">edit</a>]</span> <span class="mw-headline" id="Series.2Finteracting_form">Series/interacting form</span></h3><br />
<p>Another representation of the PID controller is the series, or <i>interacting</i> form</p><br />
<dl>
<dd><img class="tex" alt="G(s) = K_c \frac{(\tau_i{s}+1)}{\tau_i{s}} (\tau_d{s}+1)" src="http://upload.wikimedia.org/math/c/b/7/cb7a7ece420cde9750cf8db2a0ea42ac.png"></dd>
</dl><br />
<p>where the parameters are related to the parameters of the standard form through</p><br />
<dl><dd><img class="tex" alt="K_p = K_c \cdot \alpha" src="http://upload.wikimedia.org/math/f/a/5/fa5610da726ff3f635ff6d4c0e31f4b5.png">, <img class="tex" alt="T_i = \tau_i \cdot \alpha" src="http://upload.wikimedia.org/math/8/5/3/853b69dd0c9cabe19c0ceb642dcf0571.png">, and</dd>
<dd><img class="tex" alt="T_d = \frac{\tau_d}{\alpha}" src="http://upload.wikimedia.org/math/8/5/c/85c8f6c34da39678780658001e7ddae4.png"></dd>
</dl><br />
<p>with</p><br />
<dl><dd><img class="tex" alt="\alpha = 1 + \frac{\tau_d}{\tau_i}" src="http://upload.wikimedia.org/math/2/9/9/29939286f44565f70e4ff898c2ab7140.png">.</dd>
</dl><br />
<p>This form essentially consists of a PD and PI controller in series, and it made early (analog) controllers easier to build. When the controllers later became digital, many kept using the interacting form.</p><br />
<br />
<h3><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=20" title="Edit section: Discrete implementation">edit</a>]</span> <span class="mw-headline" id="Discrete_implementation">Discrete implementation</span></h3><br />
<p>The analysis for designing a digital implementation of a PID controller in a Microcontroller (MCU) or FPGA device requires the standard form of the PID controller to be <i>discretised</i> <sup id="cite_ref-1" class="reference"><a href="#cite_note-1"><span>[</span>2<span>]</span></a></sup>. Approximations for first-order derivatives are made by backward <a href="/wiki/Finite_differences" title="Finite differences" class="mw-redirect">finite differences</a>. The integral term is discretised, with a sampling time <span class="texhtml">Δ<i>t</i></span>,as follows,</p><br />
<br />
<dl><dd><img class="tex" alt="\int_{0}^{t_k}{e(\tau)}\,{d\tau} = \sum_{i=1}^k e(t_i)\Delta t " src="http://upload.wikimedia.org/math/2/1/3/213d3ca0edd0dc7905ebda889caaefcb.png"></dd>
</dl><br />
<p>The derivative term is approximated as,</p><br />
<dl><dd><img class="tex" alt="\dfrac{de(t_k)}{dt}=\dfrac{e(t_k)-e(t_{k-1})}{\Delta t}" src="http://upload.wikimedia.org/math/6/d/2/6d2d3de8ce2688bae28e47df223965f6.png"></dd>
</dl><br />
<p>Thus, a <i>velocity algorithm</i> for implementation of the discretised PID controller in a MCU is obtained,</p><br />
<dl><dd><img class="tex" alt="u(t_k)=u(t_{k-1})+K_p\left[\left(1+\dfrac{\Delta t}{T_i}+\dfrac{T_d}{\Delta t}\right)e(t_k)+\left(-1-\dfrac{2T_d}{\Delta t}\right)e(t_{k-1})+\dfrac{T_d}{\Delta t}e(t_{k-2})\right]" src="http://upload.wikimedia.org/math/a/9/b/a9beb5ee392aa86e76d734e9e761b148.png"></dd>
</dl><br />
<h3><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=21" title="Edit section: Pseudocode">edit</a>]</span> <span class="mw-headline" id="Pseudocode">Pseudocode</span></h3><br />
<br />
<p>Here is a simple software loop that implements the PID algorithm:</p><br />
<pre>previous_error = 0
integral = 0
start:
error = setpoint - actual_position
integral = integral + (error*dt)
derivative = (error - previous_error)/dt
output = (Kp*error) + (Ki*integral) + (Kd*derivative)
previous_error = error
wait(dt)
goto start
</pre><br />
<br />
<h2><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=23" title="Edit section: External links">edit</a>]</span> <span class="mw-headline" id="External_links">External links</span></h2><br />
<h3><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=24" title="Edit section: PID tutorials">edit</a>]</span> <span class="mw-headline" id="PID_tutorials">PID tutorials</span></h3><br />
<br />
<ul><li><a href="http://www.engin.umich.edu/group/ctm/PID/PID.html" class="external text" rel="nofollow">PID Tutorial</a></li>
<li><a href="http://www.embedded.com/2000/0010/0010feat3.htm" class="external text" rel="nofollow">P.I.D. Without a PhD</a>: a beginner's guide to PID loop theory with sample programming code</li>
<li><a href="http://www.elecdesign.com/Articles/ArticleID/6131/6131.html" class="external text" rel="nofollow">What's All This P-I-D Stuff, Anyhow?</a> Article in Electronic Design</li>
<li><a href="http://asl.epfl.ch/research/projects/VtolIndoorFlying/rapports/rapportSemStauffer.pdf" class="external text" rel="nofollow">Shows how to build a PID controller with basic electronic components</a> (pg. 22)</li>
</ul><br />
<h3><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=25" title="Edit section: Simulations">edit</a>]</span> <span class="mw-headline" id="Simulations">Simulations</span></h3><br />
<br />
<ul><li><a href="http://sourceforge.net/projects/pid-simulator/" class="external text" rel="nofollow">Free, real-time PID simulator for Windows</a></li>
<li><a href="http://www.sccs.swarthmore.edu/users/06/adem/engin/e58/lab5/" class="external text" rel="nofollow">PID controller using MatLab and Simulink</a></li>
<li><a href="http://www.pidlab.com" class="external text" rel="nofollow">PID controller laboratory, Java applets for PID tuning</a></li>
</ul><br />
<h3><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=26" title="Edit section: Special topics and PID control applications">edit</a>]</span> <span class="mw-headline" id="Special_topics_and_PID_control_applications">Special topics and PID control applications</span></h3><br />
<ul><li><a href="http://www.controlguru.com/pages/table.html" class="external text" rel="nofollow">Proven Methods and Best Practices for PID Control</a></li>
<li><a href="http://www.embedded.com/story/OEG20020726S0044" class="external text" rel="nofollow">PID Control Primer</a> Article in Embedded Systems Programming</li>
</ul><br />
<h2><span class="editsection">[<a href="/w/index.php?title=PID_controller&action=edit&section=27" title="Edit section: References">edit</a>]</span> <span class="mw-headline" id="References">References</span></h2><br />
<div class="references-small"><br />
<ol class="references"><li id="cite_note-0"><b><a href="#cite_ref-0">^</a></b> <a href="http://saba.kntu.ac.ir/eecd/pcl/download/PIDtutorial.pdf" class="external free" rel="nofollow">http://saba.kntu.ac.ir/eecd/pcl/download/PIDtutorial.pdf</a></li>
<li id="cite_note-1"><b><a href="#cite_ref-1">^</a></b> <a href="http://www.scribd.com/doc/19070283/Discrete-PI-and-PID-Controller-Design-and-Analysis-for-Digital-Implementation" class="external free" rel="nofollow">http://www.scribd.com/doc/19070283/Discrete-PI-and-PID-Controller-Design-and-Analysis-for-Digital-Implementation</a></li>
</ol><br />
</div><br />
<ul><li><span class="citation book" id="CITEREFLiptak1995">Liptak, Bela (1995). <i>Instrument Engineers' Handbook: Process Control</i>. Radnor, Pennsylvania: Chilton Book Company. pp. 20–29. ISBN 0-8019-8242-1.</span><span class="Z3988" title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=book&rft.btitle=Instrument+Engineers%27+Handbook%3A+Process+Control&rft.aulast=Liptak&rft.aufirst=Bela&rft.au=Liptak%2C+Bela&rft.date=1995&rft.pages=pp.%26nbsp%3B20%E2%80%9329&rft.place=Radnor%2C+Pennsylvania&rft.pub=Chilton+Book+Company&rft.isbn=0-8019-8242-1&rfr_id=info:sid/en.wikipedia.org:PID_controller"><span style="display: none;"> </span></span></li>
<li><span class="citation book" id="CITEREFTanWang_Qing-Guo.2C_Hang_Chang_Chieh1999">Tan, Kok Kiong; Wang Qing-Guo, Hang Chang Chieh (1999). <i>Advances in PID Control</i>. London, UK: Springer-Verlag. ISBN 1-85233-138-0.</span><span class="Z3988" title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=book&rft.btitle=Advances+in+PID+Control&rft.aulast=Tan&rft.aufirst=Kok+Kiong&rft.au=Tan%2C+Kok+Kiong&rft.au=Wang+Qing-Guo%2C+Hang+Chang+Chieh&rft.date=1999&rft.place=London%2C+UK&rft.pub=Springer-Verlag&rft.isbn=1-85233-138-0&rfr_id=info:sid/en.wikipedia.org:PID_controller"><span style="display: none;"> </span></span></li>
</ul><br />
<ul><li><span class="citation" id="CITEREFVan.2C_Doren2003">Van, Doren, Vance J. (July 1, 2003). "<a href="http://www.controleng.com/article/CA307745.html" class="external text" rel="nofollow">Loop Tuning Fundamentals</a>". <i>Control Engineering</i> (Red Business Information)<span class="printonly">. <a href="http://www.controleng.com/article/CA307745.html" class="external free" rel="nofollow">http://www.controleng.com/article/CA307745.html</a></span>.</span><span class="Z3988" title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Loop+Tuning+Fundamentals&rft.jtitle=Control+Engineering&rft.aulast=Van%2C+Doren&rft.aufirst=Vance+J.&rft.au=Van%2C+Doren%2C+Vance+J.&rft.date=July+1%2C+2003&rft.pub=Red+Business+Information&rft_id=http%3A%2F%2Fwww.controleng.com%2Farticle%2FCA307745.html&rfr_id=info:sid/en.wikipedia.org:PID_controller"><span style="display: none;"> </span></span></li>
<li><span class="citation web" id="CITEREFSellers">Sellers, David. "<a href="http://www.peci.org/library/PECI_ControlOverview1_1002.pdf" class="external text" rel="nofollow">An Overview of Proportional plus Integral plus Derivative Control and Suggestions for Its Successful Application and Implementation</a>" (PDF)<span class="printonly">. <a href="http://www.peci.org/library/PECI_ControlOverview1_1002.pdf" class="external free" rel="nofollow">http://www.peci.org/library/PECI_ControlOverview1_1002.pdf</a></span><span class="reference-accessdate">. Retrieved 2007-05-05</span>.</span><span class="Z3988" title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=bookitem&rft.btitle=An+Overview+of+Proportional+plus+Integral+plus+Derivative+Control+and+Suggestions+for+Its+Successful+Application+and+Implementation&rft.atitle=&rft.aulast=Sellers&rft.aufirst=David&rft.au=Sellers%2C+David&rft_id=http%3A%2F%2Fwww.peci.org%2Flibrary%2FPECI_ControlOverview1_1002.pdf&rfr_id=info:sid/en.wikipedia.org:PID_controller"><span style="display: none;"> </span></span></li>
</ul><br />
<ul><li><span class="citation web" id="CITEREFGraham2005">Graham, Ron (10/03/2005). "<a href="http://web.archive.org/web/20050206113949/www.tcnj.edu/%7Ergraham/PID-tuning.html" class="external text" rel="nofollow">FAQ on PID controller tuning</a>"<span class="printonly">. <a href="http://web.archive.org/web/20050206113949/www.tcnj.edu/%7Ergraham/PID-tuning.html" class="external free" rel="nofollow">http://web.archive.org/web/20050206113949/www.tcnj.edu/~rgraham/PID-tuning.html</a></span><span class="reference-accessdate">. Retrieved 2009-01-05</span>.</span><span class="Z3988" title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=bookitem&rft.btitle=FAQ+on+PID+controller+tuning&rft.atitle=&rft.aulast=Graham&rft.aufirst=Ron&rft.au=Graham%2C+Ron&rft.date=10%2F03%2F2005&rft_id=http%3A%2F%2Fweb.archive.org%2Fweb%2F20050206113949%2Fwww.tcnj.edu%2F%7Ergraham%2FPID-tuning.html&rfr_id=info:sid/en.wikipedia.org:PID_controller"><span style="display: none;"> </span></span></li>
</ul><br />
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<a href="http://www.electricneutron.com/wire-cable/current-rating/">http://www.electricneutron.com/wire-cable/current-rating/</a>endar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com41tag:blogger.com,1999:blog-2367926604316071822.post-89841734529172710762012-06-21T05:43:00.003-07:002012-06-22T12:16:20.786-07:00Induction Motor<iframe allowfullscreen="" frameborder="0" height="315" src="http://www.youtube.com/embed/dZyO5gcWP-o" width="420"></iframe><br />
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Thank you for the informationendar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com33tag:blogger.com,1999:blog-2367926604316071822.post-66277854573404328802012-01-18T21:00:00.000-08:002013-06-02T23:26:59.478-07:00Engineer in Action<iframe allowfullscreen="" frameborder="0" height="315" src="http://www.youtube.com/embed/SQtmGloXMsQ" width="420"></iframe>endar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com15tag:blogger.com,1999:blog-2367926604316071822.post-35216314998729271202011-10-31T03:26:00.000-07:002011-11-03T18:35:01.771-07:00Star delta<div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEijbh03hNvH1cr6SzxIwiTocn6410XszewpvHZQNMPbCMuQg7_gIICjFScaUrufvtRMYJ4RtXolAt_brMCPj1uIcmB0iDHQt2HhTI_tezLTwsTT1a1Xu81r5t4sZA41VpqJuay0g9Zfo2y2/s1600/stardeltamaincircuit.GIF" imageanchor="1" style="margin-left:1em; margin-right:1em"><img border="0" height="400" width="367" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEijbh03hNvH1cr6SzxIwiTocn6410XszewpvHZQNMPbCMuQg7_gIICjFScaUrufvtRMYJ4RtXolAt_brMCPj1uIcmB0iDHQt2HhTI_tezLTwsTT1a1Xu81r5t4sZA41VpqJuay0g9Zfo2y2/s400/stardeltamaincircuit.GIF" /></a></div><center>Main Circuit</center><br />
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<div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgmHK_mZOo64sCH1aqbImfSyDapHkXYHaujWryozyyUIGlYqkGcQiH9PkYTnbh3b-3r9M0oaR-JTxFjozshi_yZY3f9Kz5OpYmFVZAHLJU2yKoPLdEb5TiRUMum2RE5ezHHRmcoIJJ6s8pJ/s1600/stardeltacontrolcircuit.GIF" imageanchor="1" style="margin-left:1em; margin-right:1em"><img border="0" height="400" width="272" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgmHK_mZOo64sCH1aqbImfSyDapHkXYHaujWryozyyUIGlYqkGcQiH9PkYTnbh3b-3r9M0oaR-JTxFjozshi_yZY3f9Kz5OpYmFVZAHLJU2yKoPLdEb5TiRUMum2RE5ezHHRmcoIJJ6s8pJ/s400/stardeltacontrolcircuit.GIF" /></a></div><center>Control Circuit</center><br />
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<a href="http://www.fastonline.org/CD3WD_40/CD3WD/ELECTRIC/GTZ021E/EN/B309_7.HTM">http://www.fastonline.org/CD3WD_40/CD3WD/ELECTRIC/GTZ021E/EN/B309_7.HTM</a>endar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com68tag:blogger.com,1999:blog-2367926604316071822.post-17019411100295014032011-08-14T22:23:00.000-07:002011-08-29T03:12:33.505-07:00Analogue Input ScalingIn analogue input, scaling is the most important step. In order to get the right value in HMI, good scaling is a must to do. <br />
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<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://www.automationengineering.co.uk/wp-content/uploads/2011/08/calculation.jpg"><img style="display:block; margin:0px auto 10px; text-align:center;cursor:pointer; cursor:hand;width: 544px; height: 114px;" src="http://www.automationengineering.co.uk/wp-content/uploads/2011/08/calculation.jpg" border="0" alt="" /></a> <br />
Thanks to http://www.automationengineering.co.uk/wp-content/uploads/2011/08/calculation.jpg<br />
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For example <br />
Analogue Input resolution = 12 bits = 4096 different levels ≈ 4000 <br />
Proccess value = 0 - 2000 mBar <br />
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<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhNLTeK2RlsDvNK00St6m9i23rlCjpmkaQDMn8mv4Mx30mtJ6qndG0Qk_E2rjR035xDlz4pWxyWG9xd0zGD9FmOdgr3kWiiENc1VYLttn0hq4P24QrS2MfwtjYt75V29plq7DhpWiLs14NK/s1600/scaling.bmp"><img style="display:block; margin:0px auto 10px; text-align:center;cursor:pointer; cursor:hand;width: 400px; height: 101px;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhNLTeK2RlsDvNK00St6m9i23rlCjpmkaQDMn8mv4Mx30mtJ6qndG0Qk_E2rjR035xDlz4pWxyWG9xd0zGD9FmOdgr3kWiiENc1VYLttn0hq4P24QrS2MfwtjYt75V29plq7DhpWiLs14NK/s400/scaling.bmp" border="0" alt=""id="BLOGGER_PHOTO_ID_5640954236422196978" /></a> <br />
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endar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com41tag:blogger.com,1999:blog-2367926604316071822.post-18041195027795145172010-07-30T13:03:00.000-07:002010-07-31T06:51:46.473-07:00Maintenance ManagementThere are two types of maintenance strategy :<br /><br /><span style="font-weight:bold;">1. Corrective Maintenance</span><br /><br /> <span style="font-weight:bold;">a. Breakdown </span><br />Equipment is maintained after breakdown. This maintenance strategy is the most expensive because production breakdown can makes your boss angry hahaha.... This strategy is good for cheap equipment e.g bulp lamp.<br /><br /> <span style="font-weight:bold;">b. Detective</span><br />Inspections are conducted to check whether such equipment had failed, if it fails should be replace<br /><br /><span style="font-weight:bold;">2. Proactive Maintenance</span><br /> <br /> <span style="font-weight:bold;">a. Preventive</span><br />Equipment is maintained before break down occures<br /><br /> <span style="font-weight:bold;">b. Predictive</span><br />Condition base monitoring<br /><br />Source : http://en.wikipedia.org/wiki/Maintenance,_repair,_and_operations<br /><br />Usually maintenace was approximately 30-50 % of operational cost, depending on the type of industries and depends on how management views of a maintenance organization: cost centers, cost control or investment. If maintenance is considered as a cost center, usually made as small as possible with multiskilling mechanics. It's even better to understand the importance of maintenance positions in production, so dare to make an investment for the maintenace to keep production going.<br /><br />There are five processes:<br /><br />1. Planning <br />Planning is to ensure all the needs for maintenance work, ranging from taskcard, spares, tools, mechanical skills (electrical, mechanical, WELDER, etc.). The approximate time should be implemented.<br /><br />2. Scheduling <br />Scheduling based on data from the planning, the scheduling should inform the operation when the execution of maintenance, and for how long. Then the request to spares and tools are needed. If necessary it must be reported to third-party services (contractors).<br /><br />3. Execution <br />Execution is done by a mechanic who must be supervised. <br /><br />4. Follow-up <br />Follow-up is defined as the act continued. If there are findings should be immediately incorporated into the system so that no time has elapsed, especially the needs of his spares. It is also necessary to include other data such as the use of spares, tools, man hour, skills into the system. <br /><br />5. Analyze <br />Analyze should be done to make improvements, ranging from a simple thing like manhour whether in accordance with the planning, as well as spares and tools. Maybe there who do not need to be done or perhaps some need to be added. The most important is whether the results of such work in accordance with expectations, is there anything we can still improve, or can we just replace with another, more accurate techniques and so on. This phase is usually decided more than one period of implementation to determine whether we are on the right track.<br /><br />Source : Migas milisendar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com157tag:blogger.com,1999:blog-2367926604316071822.post-2891751651135550222010-03-13T21:44:00.000-08:002010-04-14T01:49:02.205-07:00Modbus Protocol 2Special thanks to :<br />http://www.rtaautomation.com/modbusrtu/<br />http://asaria.wordpress.com/2009/10/26/modbus-rtu/<br /><br />I think that the best learning is by doing.<br /><br />I have done many project using modbus RTU and now i will learn the basic fundamental of modbus.<br /><br />There are 2 kind of modbus :<br />1. Modbus serial <br /><br /><br />2. Modbus TCP<br /><br /><br /><object width="425" height="344"><param name="movie" value="http://www.youtube.com/v/OvRD2UvrHjE&rel=0&color1=0xb1b1b1&color2=0xcfcfcf&hl=en_US&feature=player_embedded&fs=1"></param><param name="allowFullScreen" value="true"></param><param name="allowScriptAccess" value="always"></param><embed src="http://www.youtube.com/v/OvRD2UvrHjE&rel=0&color1=0xb1b1b1&color2=0xcfcfcf&hl=en_US&feature=player_embedded&fs=1" type="application/x-shockwave-flash" allowfullscreen="true" allowScriptAccess="always" width="425" height="344"></embed></object>endar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com50tag:blogger.com,1999:blog-2367926604316071822.post-50050689375174907602010-01-30T07:22:00.000-08:002010-07-23T23:21:10.145-07:00Modbus Protocol<blockquote>http://en.wikipedia.org/wiki/Modbus<br /><br />Modbus is a serial communications protocol published by Modicon in 1979 for use with its programmable logic controllers (PLCs).<br /><br />Modbus is often used to connect a supervisory computer with a remote terminal unit (RTU) in supervisory control and data acquisition (SCADA) systems.<br /><br />Versions of the Modbus protocol exist for serial port and for Ethernet.<br /><br />For serial connections, two variants exist, with different representations of numerical data and slightly different protocol details. Modbus RTU is a compact, binary representation of the data. Modbus ASCII is human readable, and more verbose. Both of these variants use serial communication. The RTU format follows the commands/data with a cyclic redundancy check checksum, while the ASCII format uses a longitudinal redundancy check checksum. Nodes configured for the RTU variant will not communicate with nodes set for ASCII, and the reverse.<br /><br />For connections over TCP/IP, the more recent variant Modbus/TCP exists. It does not require a checksum calculation.<br /></blockquote><br /><br />I have applied tcp/ip modbus protocol for Koyo PLC to communicate with Daqfactory SCADA. It has done very well.endar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com82tag:blogger.com,1999:blog-2367926604316071822.post-65196030056290283762010-01-14T06:21:00.000-08:002010-01-14T06:36:41.432-08:00RTD vs Thermocouplehttp://en.wikipedia.org/wiki/Resistance_thermometer <br />http://en.wikipedia.org/wiki/Thermocouples<br /><br />When should control engineers use a Thermocouple or RTD? <br /><br /><span style="font-weight:bold;">RTD</span><br />RTD = resistance temperature detectors<br />below 600 °C<br />High accuracy<br />Low drift<br />Wide operating range<br />Suitability for precision application<br /><br />The most common of RTD is PT 100, R = 100 ohm at 0°C, sensitivity 0.385 ohm/°C<br /><br /><span style="font-weight:bold;">THERMOCOUPLE</span><br />A thermocouple is a junction between two different metals that produces a voltage related to a temperature difference<br />range −180 to 2,320 °Cendar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com55tag:blogger.com,1999:blog-2367926604316071822.post-10017854291503578302009-12-10T20:52:00.000-08:002013-04-29T14:26:59.358-07:00Lazarus IDE for FreePascal<ul class="UFIList" data-ft="{"tn":"]"}" id=".reactRoot[3]">
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<a class="UFICommentActorName" data-ft="{"tn":";"}" data-hovercard="/ajax/hovercard/hovercard.php?id=1754655532" href="https://www.facebook.com/meshwara" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747047}..[1]..[1]..[0].[0][0]">Dhian Prameswara</a><span id=".reactRoot[3].[1][2][1]{comment416025775130431_3747047}..[1]..[1]..[0].[0][1]"> </span><span data-ft="{"tn":"K"}" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747047}..[1]..[1]..[0].[0][2]"><span class="UFICommentBody" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747047}..[1]..[1]..[0].[0][2]."><span id=".reactRoot[3].[1][2][1]{comment416025775130431_3747047}..[1]..[1]..[0].[0][2]..[0]">Yen Lucid, tetep Ok pake lazarus n fpc</span></span></span></div>
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<a class="img -cx-PRIVATE-uiImageBlock__image -cx-PRIVATE-uiImageBlock__mediumImage UFIImageBlockImage" data-ft="{"tn":"T"}" data-hovercard="/ajax/hovercard/hovercard.php?id=100001690360617" href="https://www.facebook.com/telinks" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747075}..[0]." tabindex="-1"><img alt="" class="img UFIActorImage -cx-PRIVATE-uiSquareImage__medium" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747075}..[0].." src="https://fbcdn-profile-a.akamaihd.net/hprofile-ak-ash4/211468_100001690360617_863260_q.jpg" /></a></div>
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<< Install di komputer laa. Yen butuh ISO-nya bisa copy di rumah.
Walah kok adoh2, Prames malah luwih lengkap koleksinya. <span class="emoticon emoticon_grin"></span></span><br id=".reactRoot[3].[1][2][1]{comment416025775130431_3747075}..[1]..[1]..[0].[0][2]..[0].[2]" /><a data-hovercard="/ajax/hovercard/hovercard.php?id=1754655532" href="https://www.facebook.com/meshwara" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747075}..[1]..[1]..[0].[0][2]..[0].[3]" target="_blank">Dhian Prameswara</a><span id=".reactRoot[3].[1][2][1]{comment416025775130431_3747075}..[1]..[1]..[0].[0][2]..[0].[4]"> << Itu dia, MesBro. Di Breezy Badger instal fpc-2.2.2 gak masalah, tapi lazarus-0.9.26 trouble di</span></span><span id=".reactRoot[3].[1][2][1]{comment416025775130431_3747075}..[1]..[1]..[0].[0][2]..[1]">...</span><a class="SeeMoreLink fss" href="https://www.facebook.com/telinks/posts/416025775130431#" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747075}..[1]..[1]..[0].[0][2]..[2]">See More</a></span></span></div>
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<a class="img -cx-PRIVATE-uiImageBlock__image -cx-PRIVATE-uiImageBlock__mediumImage UFIImageBlockImage" data-ft="{"tn":"T"}" data-hovercard="/ajax/hovercard/hovercard.php?id=1754655532" href="https://www.facebook.com/meshwara" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747157}..[0]." tabindex="-1"><img alt="" class="img UFIActorImage -cx-PRIVATE-uiSquareImage__medium" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747157}..[0].." src="https://fbcdn-profile-a.akamaihd.net/hprofile-ak-prn1/48896_1754655532_40851_q.jpg" /></a></div>
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<div class="UFICommentContent" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747157}..[1]..[1]..[0]">
<a class="UFICommentActorName" data-ft="{"tn":";"}" data-hovercard="/ajax/hovercard/hovercard.php?id=1754655532" href="https://www.facebook.com/meshwara" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747157}..[1]..[1]..[0].[0][0]">Dhian Prameswara</a><span id=".reactRoot[3].[1][2][1]{comment416025775130431_3747157}..[1]..[1]..[0].[0][1]"> </span><span data-ft="{"tn":"K"}" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747157}..[1]..[1]..[0].[0][2]"><span class="UFICommentBody" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747157}..[1]..[1]..[0].[0][2]."><span id=".reactRoot[3].[1][2][1]{comment416025775130431_3747157}..[1]..[1]..[0].[0][2]..[0]">Insya Alloh Ok Bang, wis nate cobo fpc 2.6 laz 0.9.28 0.9.30 n ver 1 hasile Ok</span></span></span></div>
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<div class="lfloat" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747159}..[0]">
<a class="img -cx-PRIVATE-uiImageBlock__image -cx-PRIVATE-uiImageBlock__mediumImage UFIImageBlockImage" data-ft="{"tn":"T"}" data-hovercard="/ajax/hovercard/hovercard.php?id=100002456872990" href="https://www.facebook.com/seger.waluyo" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747159}..[0]." tabindex="-1"><img alt="" class="img UFIActorImage -cx-PRIVATE-uiSquareImage__medium" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747159}..[0].." src="https://fbcdn-profile-a.akamaihd.net/hprofile-ak-snc6/186524_100002456872990_1485499984_q.jpg" /></a></div>
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<a class="UFICommentActorName" data-ft="{"tn":";"}" data-hovercard="/ajax/hovercard/hovercard.php?id=100002456872990" href="https://www.facebook.com/seger.waluyo" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747159}..[1]..[1]..[0].[0][0]">Seger Waluyo</a><span id=".reactRoot[3].[1][2][1]{comment416025775130431_3747159}..[1]..[1]..[0].[0][1]"> </span><span data-ft="{"tn":"K"}" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747159}..[1]..[1]..[0].[0][2]"><span class="UFICommentBody" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747159}..[1]..[1]..[0].[0][2]."><span id=".reactRoot[3].[1][2][1]{comment416025775130431_3747159}..[1]..[1]..[0].[0][2]..[0]"> maksute install dmn ?</span><br id=".reactRoot[3].[1][2][1]{comment416025775130431_3747159}..[1]..[1]..[0].[0][2]..[1]" /><br id=".reactRoot[3].[1][2][1]{comment416025775130431_3747159}..[1]..[1]..[0].[0][2]..[2]" /><span id=".reactRoot[3].[1][2][1]{comment416025775130431_3747159}..[1]..[1]..[0].[0][2]..[3]">q g dwe komp</span><br id=".reactRoot[3].[1][2][1]{comment416025775130431_3747159}..[1]..[1]..[0].[0][2]..[4]" /><span id=".reactRoot[3].[1][2][1]{comment416025775130431_3747159}..[1]..[1]..[0].[0][2]..[5]">xixixi....</span></span></span></div>
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<a class="img -cx-PRIVATE-uiImageBlock__image -cx-PRIVATE-uiImageBlock__mediumImage UFIImageBlockImage" data-ft="{"tn":"T"}" data-hovercard="/ajax/hovercard/hovercard.php?id=1734222162" href="https://www.facebook.com/ravindra.w.s" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747178}..[0]." tabindex="-1"><img alt="" class="img UFIActorImage -cx-PRIVATE-uiSquareImage__medium" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747178}..[0].." src="https://fbcdn-profile-a.akamaihd.net/hprofile-ak-ash4/369533_1734222162_1575773224_q.jpg" /></a></div>
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<< Kalau saya pribadi tujuan saya menginstalasi Ubuntu adalah
untuk belajar Linux dan sebagai platform untuk pembuatan program-program
versi Linux untuk produk-produk </span><a data-hovercard="/ajax/hovercard/hovercard.php?id=100001690360617" href="https://www.facebook.com/telinks" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747186}..[1]..[1]..[0].[0][2]..[2]" target="_blank">Teknik Elektro Links</a><span id=".reactRoot[3].[1][2][1]{comment416025775130431_3747186}..[1]..[1]..[0].[0][2]..[3]">,
sehingga pengguna Linux juga bisa memanfaatkan modul-modul buatan
Teknik Elektro Links. Kenapa saya AKHIRNYA memilih Ubuntu, karena Ubuntu
adalah distro yang paling populer.</span></span></span></div>
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<a class="UFICommentActorName" data-ft="{"tn":";"}" data-hovercard="/ajax/hovercard/hovercard.php?id=1734222162" href="https://www.facebook.com/ravindra.w.s" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747220}..[1]..[1]..[0].[0][0]">Ravindra Ws</a><span id=".reactRoot[3].[1][2][1]{comment416025775130431_3747220}..[1]..[1]..[0].[0][1]"> </span><span data-ft="{"tn":"K"}" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747220}..[1]..[1]..[0].[0][2]"><span class="UFICommentBody" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747220}..[1]..[1]..[0].[0][2]."><span id=".reactRoot[3].[1][2][1]{comment416025775130431_3747220}..[1]..[1]..[0].[0][2]..[0]">tadi saya juga udah coba2 untuk searcing di om google, ternyata ubuntu itu OS komputer juga yah pak <span class="emoticon emoticon_grin"></span>, kirain apaa gitu <span class="emoticon emoticon_grin"></span></span><br id=".reactRoot[3].[1][2][1]{comment416025775130431_3747220}..[1]..[1]..[0].[0][2]..[1]" /><span id=".reactRoot[3].[1][2][1]{comment416025775130431_3747220}..[1]..[1]..[0].[0][2]..[2]">katanya
bnyak juga yah sih keunggulan linux dibanding dengan wiindows, walau
pribadi saya blum pernah coba bahkan melihat linux, kata2nya orang sih <span class="emoticon emoticon_grin"></span>,,,</span></span></span></div>
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iya pak, temen saya banyak lho yang saya rekomendasikan ke bapak,
temen2 banyak yang mau angkat TA nyangkut tentang elektronika dan
microprosesor, btw sukses yah pak <span class="emoticon emoticon_smile"></span></span></span></span></div>
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<div class="UFICommentContent" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747459}..[1]..[1]..[0]">
<a class="UFICommentActorName" data-ft="{"tn":";"}" data-hovercard="/ajax/hovercard/hovercard.php?id=100001690360617" href="https://www.facebook.com/telinks" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747459}..[1]..[1]..[0].[0][0]">Teknik Elektro Links</a><span id=".reactRoot[3].[1][2][1]{comment416025775130431_3747459}..[1]..[1]..[0].[0][1]"> </span><span data-ft="{"tn":"K"}" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747459}..[1]..[1]..[0].[0][2]"><span class="UFICommentBody" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747459}..[1]..[1]..[0].[0][2]."><span id=".reactRoot[3].[1][2][1]{comment416025775130431_3747459}..[1]..[1]..[0].[0][2]..[0]">Lazarus itu IDE untuk FreePascal. Mirip sekali dengan Delphi.</span></span></span></div>
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<a class="img -cx-PRIVATE-uiImageBlock__image -cx-PRIVATE-uiImageBlock__mediumImage UFIImageBlockImage" data-ft="{"tn":"T"}" data-hovercard="/ajax/hovercard/hovercard.php?id=100001690360617" href="https://www.facebook.com/telinks" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747463}..[0]." tabindex="-1"><img alt="" class="img UFIActorImage -cx-PRIVATE-uiSquareImage__medium" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747463}..[0].." src="https://fbcdn-profile-a.akamaihd.net/hprofile-ak-ash4/211468_100001690360617_863260_q.jpg" /></a></div>
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<a class="img -cx-PRIVATE-uiImageBlock__image -cx-PRIVATE-uiImageBlock__mediumImage UFIImageBlockImage" data-ft="{"tn":"T"}" data-hovercard="/ajax/hovercard/hovercard.php?id=1284710818" href="https://www.facebook.com/endar" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747466}..[0]." tabindex="-1"><img alt="" class="img UFIActorImage -cx-PRIVATE-uiSquareImage__medium" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747466}..[0].." src="https://fbcdn-profile-a.akamaihd.net/hprofile-ak-ash3/157163_1284710818_1236256087_q.jpg" /></a></div>
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<a class="UFICommentActorName" data-ft="{"tn":";"}" data-hovercard="/ajax/hovercard/hovercard.php?id=1284710818" href="https://www.facebook.com/endar" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747466}..[1]..[1]..[0].[0][0]">Endar Fitrianto</a><span id=".reactRoot[3].[1][2][1]{comment416025775130431_3747466}..[1]..[1]..[0].[0][1]"> </span><span data-ft="{"tn":"K"}" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747466}..[1]..[1]..[0].[0][2]"><span class="UFICommentBody" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747466}..[1]..[1]..[0].[0][2]."><span id=".reactRoot[3].[1][2][1]{comment416025775130431_3747466}..[1]..[1]..[0].[0][2]..[0]">bisa dipakai untuk semacam Human Machine Interface ya mas?</span></span></span></div>
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<a class="UFICommentActorName" data-ft="{"tn":";"}" data-hovercard="/ajax/hovercard/hovercard.php?id=1284710818" href="https://www.facebook.com/endar" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747477}..[1]..[1]..[0].[0][0]">Endar Fitrianto</a><span id=".reactRoot[3].[1][2][1]{comment416025775130431_3747477}..[1]..[1]..[0].[0][1]"> </span><span data-ft="{"tn":"K"}" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747477}..[1]..[1]..[0].[0][2]"><span class="UFICommentBody" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747477}..[1]..[1]..[0].[0][2]."><span id=".reactRoot[3].[1][2][1]{comment416025775130431_3747477}..[1]..[1]..[0].[0][2]..[0]">sippp mas saya mau coba untuk modbus PLC</span></span></span></div>
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<a class="UFICommentActorName" data-ft="{"tn":";"}" data-hovercard="/ajax/hovercard/hovercard.php?id=1284710818" href="https://www.facebook.com/endar" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747487}..[1]..[1]..[0].[0][0]">Endar Fitrianto</a><span id=".reactRoot[3].[1][2][1]{comment416025775130431_3747487}..[1]..[1]..[0].[0][1]"> </span><span data-ft="{"tn":"K"}" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747487}..[1]..[1]..[0].[0][2]"><span class="UFICommentBody" id=".reactRoot[3].[1][2][1]{comment416025775130431_3747487}..[1]..[1]..[0].[0][2]."><span id=".reactRoot[3].[1][2][1]{comment416025775130431_3747487}..[1]..[1]..[0].[0][2]..[0]">tapi harus downgrade ubuntu ya mas saya pakai ubuntu 12.04</span></span></span></div>
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endar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com8tag:blogger.com,1999:blog-2367926604316071822.post-40568588115839913972009-12-04T22:59:00.000-08:002009-12-05T19:10:53.063-08:00Best collaboration<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjZ_rQVYAf5Xos7A4sIH1cRxRz6EqaFb1Kc4Kr8qjK6KAFRDzWsZA3o1cW1ViPcJVayhIZ4J_iLE5C_y9sGm0PGH-BZ7Cb0uiS3tzzBKbVZ23Nhyphenhyphenzl58TmcSKIuntw_5wykZ4_ryGdJaXwS/s1600-h/Image091.jpg"><img style="display:block; margin:0px auto 10px; text-align:center;cursor:pointer; cursor:hand;width: 300px; height: 400px;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjZ_rQVYAf5Xos7A4sIH1cRxRz6EqaFb1Kc4Kr8qjK6KAFRDzWsZA3o1cW1ViPcJVayhIZ4J_iLE5C_y9sGm0PGH-BZ7Cb0uiS3tzzBKbVZ23Nhyphenhyphenzl58TmcSKIuntw_5wykZ4_ryGdJaXwS/s400/Image091.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5411644919058357906" /></a><br />This panel accessories are made by germany, japan, & taiwan. PLC is connected to the touch screen HMI.endar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com37tag:blogger.com,1999:blog-2367926604316071822.post-76752249396697196652009-08-05T02:27:00.000-07:002010-07-23T21:16:16.048-07:00Electrical engineering blogThis post is not Paid to Review.<br /><br />Electrical engineering blog (<a href="http://engineering.electrical-equipment.org/">http://engineering.electrical-equipment.org/</a>) is an experience launched by a group of enthusiast’s experts in the field of electrical and energy management(mainly according IEC standards). These passionate people want to share their current experience as well as their questions about the future within a blog in order to suggest reactions from others and to discover new concrete ideas. We believe that we can attract and involve the designers & the consultants whatever position they have : suppliers, customers, independent experts and institutions experts. Obviously it is an English speaking blog, so far we have many exchanges with Asia and Europe, all countries are more than welcome… The objective is the promotion of ideas, openness to all point of views; this is not a space to promote products and services. We started nearly 3 months ago and are proud to register a very important number of visits, (40,000 today) with many comments, some being of high quality. Today we have 9 categories of articles, including 5 in energy efficiency, a major topic for everybody but also 4 categories on more traditional issues such as electrical distribution, design software’s .... We also wish to bring teaching tips web (Web2.0) well known by young pro on the web and probably less known by some experienced people that will be the main contributors of this blog. We are open to trade links with other blogs, forums and sites under the condition they are of high quality and relevant. You can subscribe to the newsletter of the blog that is sent every month. To comment on an article, it is direct and easy without any priori validation. To post an article, simply contact (engineering@electrical-equipment.org) the moderator of the blog who is Francois B.endar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com147tag:blogger.com,1999:blog-2367926604316071822.post-1491481561767166452009-07-01T10:24:00.000-07:002009-07-01T10:41:32.819-07:00Flange Dimensions<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi96Dzw-KuKZ5A8e8v4DEzW2H0Cyqia8DHNz6d2oxqvvIupbAMGuRLf3TuRA8_3Q2J8eU-v1PmKrxnpwkkFKSq_HdGzmspz6hWTXPIXaZIp2lG3F6t-lXd5uEiGPfBxb0ANcPF6RULjQDsM/s1600-h/flg_din_WN.jpg"><img style="cursor:pointer; cursor:hand;width: 280px; height: 400px;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi96Dzw-KuKZ5A8e8v4DEzW2H0Cyqia8DHNz6d2oxqvvIupbAMGuRLf3TuRA8_3Q2J8eU-v1PmKrxnpwkkFKSq_HdGzmspz6hWTXPIXaZIp2lG3F6t-lXd5uEiGPfBxb0ANcPF6RULjQDsM/s400/flg_din_WN.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5353547773284206658" /></a><br /><a href="http://linggasakti.com/images/product/flg_din_WN.jpg">http://linggasakti.com/images/product/flg_din_WN.jpg</a><br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjw65_iQLj6UvLozdsY_Ng39oqdZwvJWip0yJKOho4cPdCn9_HyJmwxRS0XRrby2lQ-WEWNyVEUDXyQYLbE1ZB4jLsGtE_SjPecyVUyER2tbztaolfZAc7d-FBNCSwTZA8JSW8S_rSxN5jg/s1600-h/2d830d90.png"><img style="cursor:pointer; cursor:hand;width: 331px; height: 400px;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjw65_iQLj6UvLozdsY_Ng39oqdZwvJWip0yJKOho4cPdCn9_HyJmwxRS0XRrby2lQ-WEWNyVEUDXyQYLbE1ZB4jLsGtE_SjPecyVUyER2tbztaolfZAc7d-FBNCSwTZA8JSW8S_rSxN5jg/s400/2d830d90.png" border="0" alt=""id="BLOGGER_PHOTO_ID_5353545907661354226" /></a><br /><a href="http://www.prdtechnologies.com/id159.htm">http://www.prdtechnologies.com/id159.htm</a><br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgTCVt4Nzh83fNHVHbia4eH7WK31vST50Wfk9jeqBmevVznyU1RO2-KIDkIHzbMpRqeBD0hG2MumPLXzN_f85TyzFKlruM75JfUNudGqjgoL9zjfR5ThDWbcz1a7uClrYriOahk9l8gg_tq/s1600-h/Flange.jpg"><img style="cursor:pointer; cursor:hand;width: 400px; height: 250px;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgTCVt4Nzh83fNHVHbia4eH7WK31vST50Wfk9jeqBmevVznyU1RO2-KIDkIHzbMpRqeBD0hG2MumPLXzN_f85TyzFKlruM75JfUNudGqjgoL9zjfR5ThDWbcz1a7uClrYriOahk9l8gg_tq/s400/Flange.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5353544171200111010" /></a><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh3OdD8jYSY9ZyTNkvZs5I2XFhe2fG1BjyipiWlW1fIx3Ons4Lu5kP95WBkgNSswMVT9ethX8_abj2bRtRdCrZLNNV06hqw7IMZT2JCr3PrHm8g6fY_P6yR2T0p2AMHf3AVQH3ww7MDtBmq/s1600-h/flange+dims+1.jpg"><img style="cursor:pointer; cursor:hand;width: 320px; height: 400px;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh3OdD8jYSY9ZyTNkvZs5I2XFhe2fG1BjyipiWlW1fIx3Ons4Lu5kP95WBkgNSswMVT9ethX8_abj2bRtRdCrZLNNV06hqw7IMZT2JCr3PrHm8g6fY_P6yR2T0p2AMHf3AVQH3ww7MDtBmq/s400/flange+dims+1.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5353544175226055074" /></a><br /><a href="http://www.crp.co.uk/technical.aspx?page=142">http://www.crp.co.uk/technical.aspx?page=142</a>endar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com18tag:blogger.com,1999:blog-2367926604316071822.post-71785650457757718522009-05-23T22:16:00.000-07:002009-09-04T19:21:21.043-07:00Leadership Training for Managers<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjZC4kz0cxJvs8osMl1fdwY-yzJ-vkyMuRkEfowSWh_YvCvsJuKbBMctE0nRYiwElBXFqV-ansFgOKEljxP-QmJVOLnMBBhpcObcCQsWvRjvB2oUGXYrzmZfOd4pNWv43wHVUUQNJo8JJw-/s1600-h/Image025.jpg"><img style="cursor:pointer; cursor:hand;width: 400px; height: 300px;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjZC4kz0cxJvs8osMl1fdwY-yzJ-vkyMuRkEfowSWh_YvCvsJuKbBMctE0nRYiwElBXFqV-ansFgOKEljxP-QmJVOLnMBBhpcObcCQsWvRjvB2oUGXYrzmZfOd4pNWv43wHVUUQNJo8JJw-/s400/Image025.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5353872623386622866" /></a><br />I have attended the 4 days <span style="font-weight:bold;">Leadership Training for Managers</span> who pressented by mr Paul, a Dale Carnegie trainer. It is the best training that I have ever received.endar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com49tag:blogger.com,1999:blog-2367926604316071822.post-11288413438363818202009-05-06T16:27:00.000-07:002009-07-02T20:27:06.677-07:00PLC, Pneumatic and Electrical Panel<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEihmCpiIuI1ZuhMORYdHbJ20NhesHgtaLkjo-BNXopSzS2nEGANgXNCsr7rfX0mIcX4YzSerIn038rhppj0PwwFkKjIhgOhuBn7pC_o6jJH1Bs0fK74bmsVwlTzpDxRUmsAjzLaT0Tp6Tda/s1600-h/Image092.jpg"><img style="cursor:pointer; cursor:hand;width: 300px; height: 400px;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEihmCpiIuI1ZuhMORYdHbJ20NhesHgtaLkjo-BNXopSzS2nEGANgXNCsr7rfX0mIcX4YzSerIn038rhppj0PwwFkKjIhgOhuBn7pC_o6jJH1Bs0fK74bmsVwlTzpDxRUmsAjzLaT0Tp6Tda/s400/Image092.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5353873376631851218" /></a><br />I have been making panel for over 2 weeks ago. It is consists of <span style="font-weight:bold;"><span style="font-style:italic;">PLC</span></span>, Pneumatic Terminal, and 3 phases Electrical wiring.<br />I hope it will be working good.endar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com42tag:blogger.com,1999:blog-2367926604316071822.post-88047263844573944792009-03-21T04:46:00.000-07:002009-04-16T16:39:41.408-07:00Engineering Tips<blockquote>An engineer is a person professionally engaged in a field of engineering.</blockquote> <a href="http://en.wikipedia.org/wiki/Engineer">http://en.wikipedia.org/wiki/Engineer</a><br /><blockquote>Engineering is the discipline and profession of applying technical and scientific knowledge and utilizing natural laws and physical resources in order to design and implement materials, structures, machines, devices, systems, and processes that safely realize a desired objective and meet specified criteria</blockquote>. <a href="http://en.wikipedia.org/wiki/Engineering">http://en.wikipedia.org/wiki/Engineering</a><br /><br />5 must have tips to be a good engineer. Please read the following tips.<br /><span style="font-weight:bold;"><br />Keep up</span><br /> * Learn to manage your time and avoid procrastinating<br /> * Make tasks fit into the time that you have to do them<br /> * Do some work on every course every week; learn as you go<br /> * Do some problems every day<br /> * Plug gaps and ask questions about what you don't understand every week<br /> * If you fall behind, jump in where the teacher is and backtrack later<br /><br /><span style="font-weight:bold;">Be an active learner</span><br /> * Before class, go over notes from the previous class and preview the textbook chapter<br /> * After class, go over your notes and fill in missing info; work the problems the teacher did in class; get help if you don't understand<br /> * After solving a problem, summarize the steps in words<br /> * After solving a series of problems at the end of a chapter, organize problems by types and procedures (Get the Big Picture)<br /><span style="font-weight:bold;"><br />Study smart: Quality time is more important than quantity time</span><br /> * Spend time on value activities, i.e. spend more time doing problems than reading the textbook<br /> * Be selective; focus on priorities in a course<br /> * If you get stuck on a problem, get help, then or later; don't spend too long trying to figure it out yourself<br /> * Prepare for an exam by doing problems without your notes in a time limit; know when you know by testing yourself<br /><br /><span style="font-weight:bold;">Use as many resources as possible</span><br /> * Get to know other students in your class and work with them<br /> * Get to know your teacher and use his/her office hours<br /> * Check out other textbooks or self-help material from the library or book store if you are having difficulties<br /> * Get other students' phone numbers or emails so you can contact them easily when you have difficulty or miss class<br /> * Use Student Services, including Counselling and Development<br /><span style="font-weight:bold;"><br />Reverse Engineer Something to Learn about What it Does and How it Works</span><br />Yet another way to provide engineering content and/or context is to provide students with something that has already been built and challenge them to figure out how it works. To do this, students might take something apart physically in the classroom, or simply examine in detail how something is designed in order to understand why it was designed that way. This approach provides the opportunity for students to think about ways to make it better (improve the design)<br /><br />Reference : <br /><a href="http://learning.concordia.ca/Help/handouts/Engineering/Tips_for_Engineers.shtml">http://learning.concordia.ca/Help/handouts/Engineering/Tips_for_Engineers.shtml</a><br /><br /><br /><a href="http://72.14.235.132/search?q=cache:8IvmfRQk7e4J:www.teachengineering.org/documents/ItsAllAboutEngineering3.pdf+all+about+engineering&cd=36&hl=id&ct=clnk&gl=id">http://72.14.235.132/search?q=cache:8IvmfRQk7e4J:www.teachengineering.org/documents/ItsAllAboutEngineering3.pdf+all+about+engineering&cd=36&hl=id&ct=clnk&gl=id</a>endar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com14tag:blogger.com,1999:blog-2367926604316071822.post-73489508867708321872009-03-15T17:43:00.000-07:002011-11-04T03:56:14.905-07:00About me<center><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgRMde6Hgm8DSZvzmNJZUyruXzWxwoEia4NJxtBhiUToD5R4vAMoIjbdpqnFKsLK-s9kemwxdK_f03jczTEVxnC8XkTEfPfM85fif__V7xzMSeoOWtWHispeeCQH6RCJS4UzzAchzs3CtNq/s1600-h/bannermyphoto.gif"><img style="cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgRMde6Hgm8DSZvzmNJZUyruXzWxwoEia4NJxtBhiUToD5R4vAMoIjbdpqnFKsLK-s9kemwxdK_f03jczTEVxnC8XkTEfPfM85fif__V7xzMSeoOWtWHispeeCQH6RCJS4UzzAchzs3CtNq/s400/bannermyphoto.gif" border="0" alt=""id="BLOGGER_PHOTO_ID_5318036721714996610" /></a><br />
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I am just an ordinary engineer, working for an ordinary company and earning an ordinary salary.<br />
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I have strong motivation to improve my <span style="font-weight:bold;"><span style="font-style:italic;">engineering</span></span> skills. This website is my tool to learn "all about <span style="font-weight:bold;"><span style="font-style:italic;">engineering</span></span>"<br />
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As an engineer I specialized in<span style="font-weight:bold;"> <span style="font-style:italic;">automation</span></span>, <span style="font-weight:bold;"><span style="font-style:italic;">process control</span></span>, <span style="font-weight:bold;"><span style="font-style:italic;">design</span></span>, and <span style="font-weight:bold;"><span style="font-style:italic;">maintenance</span></span>.<br />
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I have built this website for anyone interested in engineering.<br />
<br />
Thank you for visiting my website<div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhXeCZSZjT5uAwQFkHVENTugNgfr5L-ghu7E7emoiqjMPM7o9vsg86SkDmcoyRx8imTMo3-JjcwXWO1u9Fxx6YTD_Wg-nM3UIV4Y9XjDcmN9eXgvBrBhFBsGujD4JbZDdK4RiBl0TyVDgvl/s1600/PC1702421.JPG" imageanchor="1" style="margin-left:1em; margin-right:1em"><img border="0" height="300" width="400" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhXeCZSZjT5uAwQFkHVENTugNgfr5L-ghu7E7emoiqjMPM7o9vsg86SkDmcoyRx8imTMo3-JjcwXWO1u9Fxx6YTD_Wg-nM3UIV4Y9XjDcmN9eXgvBrBhFBsGujD4JbZDdK4RiBl0TyVDgvl/s400/PC1702421.JPG" /></a></div>endar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com41tag:blogger.com,1999:blog-2367926604316071822.post-1301824709424085862009-03-14T00:00:00.000-07:002009-05-06T06:49:58.954-07:00CAVITATION AND BUBBLE DYNAMICS<a href="http://caltechbook.library.caltech.edu/1/4/content.htm">http://caltechbook.library.caltech.edu/1/4/content.htm</a>endar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com5tag:blogger.com,1999:blog-2367926604316071822.post-53643833019153277322009-03-10T00:11:00.000-07:002009-04-15T05:39:50.944-07:00Job Interview Questions<a href="http://www.jobinterviewquestions.org/questions/general-questions.asp">http://www.jobinterviewquestions.org/questions/general-questions.asp</a>endar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com3tag:blogger.com,1999:blog-2367926604316071822.post-32962356811662440442009-03-09T04:00:00.000-07:002009-03-09T04:02:35.621-07:00PLC - Programmable Logic Controller<object width="425" height="344"><param name="movie" value="http://www.youtube.com/v/cpKhjNK9tW0&hl=en&fs=1"></param><param name="allowFullScreen" value="true"></param><param name="allowscriptaccess" value="always"></param><embed src="http://www.youtube.com/v/cpKhjNK9tW0&hl=en&fs=1" type="application/x-shockwave-flash" allowscriptaccess="always" allowfullscreen="true" width="425" height="344"></embed></object>endar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com6tag:blogger.com,1999:blog-2367926604316071822.post-80398961532342553232009-03-09T03:42:00.000-07:002009-03-09T03:55:52.614-07:00Pneumatics<object width="425" height="344"><param name="movie" value="http://www.youtube.com/v/TgQ_6JRl_Ys&hl=en&fs=1"></param><param name="allowFullScreen" value="true"></param><param name="allowscriptaccess" value="always"></param><embed src="http://www.youtube.com/v/TgQ_6JRl_Ys&hl=en&fs=1" type="application/x-shockwave-flash" allowscriptaccess="always" allowfullscreen="true" width="425" height="344"></embed></object><br /><br /><object width="425" height="344"><param name="movie" value="http://www.youtube.com/v/2tkE_ozwhXA&hl=en&fs=1"></param><param name="allowFullScreen" value="true"></param><param name="allowscriptaccess" value="always"></param><embed src="http://www.youtube.com/v/2tkE_ozwhXA&hl=en&fs=1" type="application/x-shockwave-flash" allowscriptaccess="always" allowfullscreen="true" width="425" height="344"></embed></object><br /><br /><object width="425" height="344"><param name="movie" value="http://www.youtube.com/v/2SbdKwGZE5w&hl=en&fs=1"></param><param name="allowFullScreen" value="true"></param><param name="allowscriptaccess" value="always"></param><embed src="http://www.youtube.com/v/2SbdKwGZE5w&hl=en&fs=1" type="application/x-shockwave-flash" allowscriptaccess="always" allowfullscreen="true" width="425" height="344"></embed></object>endar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com1tag:blogger.com,1999:blog-2367926604316071822.post-11977378430181458652009-03-06T16:16:00.000-08:002009-03-07T04:51:12.486-08:00Piping and Instrumen Diagram<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgXVSV0Pe6CjhMvuM50F0ssvrnkvZ5I7hTq4laJdTS-x0HU4NArnwMwBgqDqUMZ5BedVi8JYIsFa70YKoxrbWv5ObjNpeECbimEWPKE77u_dghyphenhyphenoj2VgtWs43R0LAE_Np9ou2eRslo-7MN6/s1600-h/Line_types.gif"><img style="cursor:pointer; 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cursor:hand;width: 400px; height: 305px;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgijdgNDyqB7l870Pn3if06AeG6wTD0er719Dg3J0WIR1_XH3HC5eN5h6XeI_tmMWHtSNdGpGW3Y1WXj6Hyj0VoE63ajU47yKdzeXdAyzMMc6HYfcKzWhE4gXBVmS5nuLy951oeRaICiPh8/s400/SampleP&ID.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5310309944118023202" /></a><br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEimwNxKK_d4O-BCtUchVuhyFoG-nQneDy1aYsHTuYqXS-oX4p6MguEelMPk6ajTRUsziuf_aaqQg3-RCDULz_SeKsreKBEmySeIqWLWHW-n_tQopgsaL_y1hhx5V_XZEw4KJgiIwiIxNm-J/s1600-h/Teamnex1b.jpg"><img style="cursor:pointer; cursor:hand;width: 400px; height: 307px;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEimwNxKK_d4O-BCtUchVuhyFoG-nQneDy1aYsHTuYqXS-oX4p6MguEelMPk6ajTRUsziuf_aaqQg3-RCDULz_SeKsreKBEmySeIqWLWHW-n_tQopgsaL_y1hhx5V_XZEw4KJgiIwiIxNm-J/s400/Teamnex1b.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5310310391132869042" /></a><br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi6546QfokxHgOhu8q15txyyXXKwm40c0Fdve5GLZ7rRL1R9EsDWNbWK5cYj5i9GyIyZcReefgdgnid2PnlItRT3yiDXpVYRiPcA0v3kW9KvBsvIiP0EAatN4N0Jvh6KmUljOQVGYRcBLoG/s1600-h/Teamnex2c.jpg"><img style="cursor:pointer; cursor:hand;width: 400px; height: 267px;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi6546QfokxHgOhu8q15txyyXXKwm40c0Fdve5GLZ7rRL1R9EsDWNbWK5cYj5i9GyIyZcReefgdgnid2PnlItRT3yiDXpVYRiPcA0v3kW9KvBsvIiP0EAatN4N0Jvh6KmUljOQVGYRcBLoG/s400/Teamnex2c.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5310310396609490482" /></a><br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiQQqEnOO8Dy1MoPhKFj-TXBl-be7XQGOSpTQjQiaXsouMnMmqJDOQ9v5C2JSbevdffEgZpZ8xXR61VR5RRJUrWySaDoMpGKVN3niUQ92u-eQfjB3dCu4Nd_Iyt3PiGWQKvE8SMjyqbe4Ko/s1600-h/Wiki.jpg"><img style="cursor:pointer; cursor:hand;width: 400px; height: 313px;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiQQqEnOO8Dy1MoPhKFj-TXBl-be7XQGOSpTQjQiaXsouMnMmqJDOQ9v5C2JSbevdffEgZpZ8xXR61VR5RRJUrWySaDoMpGKVN3niUQ92u-eQfjB3dCu4Nd_Iyt3PiGWQKvE8SMjyqbe4Ko/s400/Wiki.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5310310400832984370" /></a><br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiiULT0HeKh8Yuis92p47gGvUCNNX1jNd-l4Zi3qb38o3FFL2DLSSpmKM8KvwG_dYzHQtZFvJDLpw8XIrVgKN19AFrMJdueWUmHOuhyphenhyphen47ZyRQkQjp2PyQ66IxDNstw3ExHcDTWSMo-dlCmF/s1600-h/Wiki_sol.jpg"><img style="cursor:pointer; cursor:hand;width: 400px; height: 285px;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiiULT0HeKh8Yuis92p47gGvUCNNX1jNd-l4Zi3qb38o3FFL2DLSSpmKM8KvwG_dYzHQtZFvJDLpw8XIrVgKN19AFrMJdueWUmHOuhyphenhyphen47ZyRQkQjp2PyQ66IxDNstw3ExHcDTWSMo-dlCmF/s400/Wiki_sol.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5310310404655135186" /></a><br /><br />Reference :<br /><a href="http://controls.engin.umich.edu/wiki/index.php/PIDStandardNotation">http://controls.engin.umich.edu/wiki/index.php/PIDStandardNotation</a>endar fitriantohttp://www.blogger.com/profile/17541500104095772035noreply@blogger.com3