DiagramBlock
Outline
Outline
Overview
DiagramBlok
SistemTertutupIdeal
Sistem Tertutup Ideal
SistemTertutupdengangangguan
AljabarDiagramBlok
j
g
Seri
Paralel
Feedback
Contoh
U(s)
G(s)
DiagramBloksuatusistem
Y(s)
FungsiTransfer,
G (s) =
Y (s)
U (s
( )
Hubunganantaraoutputdaninputsuatusistemdapatdigambarkan
dengansuatublok(=diagramblok)yangmengandungfungsitransfer.
DiagramBlokmerupakantechnicaldrawing(ataustandarddrawing)
suatu sistem kontrol
suatusistemkontrol
Denganrepresentasidiagramblok,keserupaan(similarity)berbagaitipe
sistemkontroldapatdipelajari.
TitikPercabangan
E(s)
G(s)
B(s)
H(s)
R(s)=Referensisinyalinput
R(s)=Referensi
sinyal input
E(s)=Sinyalerror[E(s)=R(s)B(s)]
G(s),H(s)=FungsiTransfer
B(s)=Sinyalfeedback
Y(s)=Sinyaloutput
Y(s)
()
FeedforwardTransferFunction,FFTF
Y ( s)
= G ( s)
E ( s)
FFTF =
OpenLoopTransferFunction,OLTF
OLTF =
B( s)
= G( s) H ( s)
E (s
(s)
ClosedLoopTransferFunction,CLTF
CLTF =
Y ( s)
G( s)
=
R( s) 1 + G ( s) H ( s)
HubunganInputOutput(Lihat
Hubungan
Input Output (Lihat
DiagramBlok):
Y(s)=G(s)E(s)
E(s)=R(s)B(s)
B(s)=H(s)Y(s)
Atau
Y(s)=G(s)[R(s)H(s)Y(s)]
Y(s)+G(s)H(s)Y(s)=G(s)R(s)
Y(s)+G(s)H(s)Y(s)
G(s)R(s)
(1+G(s)H(s))Y(s)=G(s)R(s)
Atau,
Y ( s) =
G ((ss )
R( s)
1 + G ( s) H ( s)
R(s)
E(s)
G1(s)
U1(s)
+
+
U2(s)
G2(s)
Y(s)
B(s)
H(s)
Jikadalamsuatusistemterdapatduainput(referenceinputdangangguan),
Jika
dalam suatu sistem terdapat dua input (reference input dan gangguan)
makatiapinputdapatdiperlakukanindependen,outputyang
berkorespondensipadatiapinputdapatdijumlahkanuntukmenentukan
outputsistemkeseluruhan.
ResponseY(s)terhadapgangguanD(s),
YD ( s )
G2 ( s )
=
D ( s ) 1 + G1 ( s )G2 ( s ) H ( s )
ResponseY(s)terhadapreferensiinputR(s),denganmeasumsikangangguan
Response
Y(s) terhadap referensi input R(s), dengan measumsikan gangguan
samadegannol
YR ( s )
G1 ( s )G2 ( s )
=
R( s ) 1 + G1 ( s )G2 ( s ) H ( s )
TotalResponseY(s),
Y ( s ) = YR ( s ) + YD ( s ) =
G2 ( s )
[G1 ( s ) R ( s ) + D( s )]
1 + G1 ( s )G2 ( s ) H ( s )
R(s)
Y( )
Y(s)
G1(s)
G2(s)
Gk(s)
G(s)
FungsiTransfer
k
G ( s ) = Gi ( s ) = G1 ( s )G2 ( s )...Gk ( s )
i =1
Paralel
G1(s)
R(s)
G2(s)
Gk(s)
+
+
Y(s)
G(s)
FungsiTransferhubunganparalel:
k
G ( s ) = Gi ( s ) = G1 ( s ) + G2 ( s ) + ... + Gk ( s )
i =1
G1(s)
()
Y(s)
+
G2(s)
Fungsi Transfer
FungsiTransfer
G ( s) =
G1 ( s )
1 G1 ( s )G2 ( s )
G(s)
Simplifikasi diagramblok
diagram blok
R
G
1/G
R
G
+
B
Y
G
R
G
Y
Y
R
R
Y
G
1/G
Y
G
G/H
+
H
R
1/H
GH
Contoh 1
Diagramblokdarisuatusistemdiberikansepertigambarberikut,Tentukan:
a).OpenLoopTransferFunction,OLTF
b).ClosedLoopTransferFunction,CLTF
R
+
B
Jawab
a).OpenLoopTransferFunction,OLTF
B( s)
OLTF =
= C ( s )G ( s ) H ( s )
E (s
(s)
b).ClosedLoopTransferFunction,CLTF
CLTF =
Y ( s)
C ( s )G ( s )
=
R( s ) 1 + C ( s )G ( s ) H ( s )
Contoh 2
Sederhanakan diagram blok berikut:
Sederhanakandiagramblokberikut:
C1
R
+
+
C2
G1
H1
H3
H2
G2
Contoh 2
Jawab
C1
R
+
+
C2
G1
H1
H3
H2
G2
Contoh 2
Jawab
R
C1+C2
G1
1+G1H1
G2
H2H3
(C1+C2)G1G2
1+G1H1
H2H3
Contoh 2
DiagramBlokyangdisederhanakanmenjadi:
i
l k
di d h k
j di
(C1+C2)G1G2
1+G1[H1+(C1+C2)G2H2H3]
Sampun
Matur Nuwun.