PID Controller Tuning for Crude Oil Dilution in Palm Oil Mill Using Particle Swarm Optimization

Indonesia's oil palm business has become a valuable commodity as palm tree plantations have expanded. On the other hand, the technology deployed needs further transformation to improve the effectiveness of industry processes. As part of the engineering process, dilution attempts to separate oil from sludge during the clarifying process, which requires 30 percents water to be added to crude palm oil to get the best product quality. In mathematical terms, the controlled plant is a nonminimum phase model that is difficult to control. Our research seeks to create a control system to govern the percentage value of diluent water using PID control, with the best PID parameters obtained utilizing the particle swarm optimization (PSO) approach. The PSO algorithm found that <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\text{Kp}=1.435$</tex> and <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\text{Ki}=2.560$</tex> resulted in steady feedback and rapid reaction, with tp (peak time) = 0.75 seconds, ts (settling time) = 1.40 seconds, Mp (maximum overshoot <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$)=13$</tex> percents, and <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\operatorname{tr}$</tex> (rise time <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$)=0.50$</tex> seconds.