Daftar Gambar

Gambar 1(Permodelan Sistem Orde 1 sebelum dikontrol) ................................ 21

Gambar 2(Respon sistem Setelah dimasukkan orde 1) .................................... 21
Gambar 3(Pemodelan Sistem Orde 1 sesudah dikontrol) ................................. 21
Gambar 4(pemodelan orde 2 sebelum dikontrol) .......................................... 23
Gambar 5(Rangkaian op-amp sebagai gain) ................................................ 49
Gambar 6(H-bridge) ............................................................................ 49
Gambar 7(Rangkaian PID dengan op-amp) .................................................. 51
Gambar 8(Grafik Kecepatan Motor vs Tegangan Tacho) .................................. 54
Gambar 9(Grafik Tegangan Motor vs Kecepatan Eror) .................................... 54
Gambar 10(Grafik Kecepatan Motor vs Tegangan error) .................................. 55
Gambar 11(Diagram blok kontrol)............................................................ 70
Gambar 12(Grafik efek Kontroller P dg perubahan gain) ................................ 87
Gambar 13(Grafik efek Kontoller P dg perubahan set point) ............................ 87
Gambar 14(Grafik efek Kontroller P dg Gangguan) ........................................ 88
Gambar 15(Grafik efek Kontroller PI dg perubahan gain) ................................ 88
Gambar 16(Grafik efek Kontoller PI dg perubahan set point)............................ 89
Gambar 17(Grafik efek Kontoller PI dg perubahan elemen I) ............................ 89
Gambar 18(Grafik efek Kontoller PI dg I = 10) ............................................. 90
Gambar 19(Grafik efek Kontoller PI dg I = 1) ............................................... 90
Gambar 20(Grafik efek Kontoller PI dg I = 0.2) ............................................ 91
Gambar 21(Grafik efek Kontoller PI dg I = 10) ............................................. 91
Gambar 22(Grafik efek Kontroller PD dg perubahan gain) ............................... 92
Gambar 23(Grafik efek Kontroller PD dg perubahan set point) .......................... 92
Gambar 24(Grafik efek Kontroller PD dg perubahan elemen D) ......................... 92

Daftar Tabel
Tabel 1(Tabel Pengaturan Kec Loop tertutup sederhana) ................................ 38
Tabel 2(Tabel Pengaruh gain terhadap perubahan beban) ............................... 38
Tabel 3(Tabel Pengaturan Kec dengan dua arah putaran) ............................... 38
Tabel 4(Tabel efek Kontroller P dg perubahan gain) ...................................... 72
Tabel 5(Tabel efek Kontoller P dg perubahan set point) ................................. 72
Tabel 6(Tabel efek Kontroller PI dg perubahan gain) ..................................... 73
Tabel 7(Tabel efek Kontoller PI dg perubahan set point) ................................ 73
Tabel 8(Tabel efek Kontoller PI dg perubahan elemen I)................................. 74
Tabel 9(Tabel efek Kontroller PD dg perubahan gain) .................................... 74
Tabel 12(Tabel Ladder diagram pengganti relay).......................................... 114
Tabel 13(Tabel Address Ladder diagram pengganti relay) ............................... 114
Tabel 14(Tabel Ladder diagram Timer) ..................................................... 114
Tabel 15(Tabel Address Ladder diagram Timer) ........................................... 115
Tabel 16(Tabel Ladder diagram Counter) ................................................... 115
Tabel 17(Tabel Address Ladder diagram Counter)......................................... 115
Tabel 18(Tabel Address Tugas Asistensi No 3) ............................................. 116