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Diagram Block

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.

Diagram blok sistem tertutup:ideal


Diagramblok
tertutup: ideal
TitikPenjumlahan
R(s)
()

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)

Diagramblok sistem tertutup dengan


gangguan
D(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 )

Diagram blok: seri


Diagramblok:seri

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

Umpan balik (feedback)


R(s)

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.