DASAR OTOMATISASI
2006
iv
DAFTAR ISI
Halaman
Kata Pengantar
iii
Daftar Isi
iv
28
49
Represenstasi Sistem Pada Signal Flow Graph (Grafik Aliran Sinyal) .............
60
72
Daftar Pustaka v
a.
b.
Parameter-parameter Sistem
1)
2)
3)
4)
c.
d.
TF ( s ) =
C (s )
R (s)
G 1G 2G 3
1+G 1G 2 H 2 +G 1G 2G 3 H1
G 1G 2G 3
1+G 1G 2 H1 +G 1G 2G 3 H 2
atau
TF ( s ) =
C (s )
R (s)
Actual
Generation
Computer
Desired temperature
Pressure, O2
a.
Input adalah :
1)
2)
Desired O2 generation, R2 ( s ) .
3)
b.
c.
d.
Feedback adalah :
1)
2)
Measured O2 generation, H 2 ( s ) .
3)
e.
Disturbances diabaikan.
Asumsi :
v ( t ) = 10 volt
i ( t ) dt
s = 0
0
R =1
C =1
v (t) = i (t) R +
i (t) R +
1
i ( t ) dt
C
1
i ( t ) dt = 10
C
I ( s) =
sC
10
.
s sRC + 1
I ( s) R +
0
i ( t ) dt 10
1 I ( s )
+
C s
s s
I ( s ) 10
=
sC
s
1
10
I ( s) R +
=
sC
s
I ( s) R +
I ( s) =
10C
sRC + 1
I ( s) =
10
s +1
10
R
1
s+
RC
sRC + 1
sC
Iterasi ke1
2
3
4
5
6
7
8
9
10
11
t
0
1
2
3
4
5
6
7
8
9
10
v(t)
10
1.35335283
0.18315639
0.02478752
0.00335463
0.000454
0.00006144
0.00000832
0.00000113
0.00000015
0.00000002
v(t)
i(t) vs t
1.4
1.2
1
0.8
0.6
0.4
0.2
0
1
10
11
Bentuk Grafik zero dan pole rangkaian RC seri di atas adalah sebagai berikut :
Asumsi :
i (t ) = 0 A
1
= 4
LC
( )
v 0+ = v0 = 1 volt
v ( t ) dt
s =0
i (t ) = C
C
dv ( t )
dt
dv ( t )
dt
V ( s) =
1
v ( t ) dt
L
1
+ v ( t ) dt = 0
L
k1 =
V s
v t dt
( )} + L1 (s ) + ( s) = 0
0
C { sV ( s ) v0 } +
V ( s)
sL
=0
V ( s ) sC + = Cv0
sL
2
s LC + 1
V ( s)
= Cv0
sL
sL
V ( s ) = Cv0 . 2
s LC + 1
s
s
V ( s) = 2
=
s 4 ( s 2 )( s + 2 )
( s s1 ) s
( s + 2 )( s 2 ) s =2
1
C sV ( s ) v 0+
k1
k
+ 2
s+2 s2
( s + 2 ) . ( 2 )
( s + 2 )( 2 2 )
2
4
1
=
2
=
k2 =
( s s2 ) s
( s + 2 )( s 2 ) s =2
1
( s 2) .( 2)
( 2 + 2 )( s 2 )
2
4
1
=
2
=
s2 = 2
1
1
V ( s) = 2 + 2
s+2 s2
v (t ) =
1 2 t 1 2 t
e + e
2
2
Iterasi ke1
2
3
4
5
6
7
8
9
10
t
0
1
2
3
4
5
6
7
8
9
v(t)
1
3.76219569
27.30823282
201.7156359
1490.479159
11013.2329
81377.39555
601302.1407
4443055.248
32829984.47
i(t) vs t
300000000
250000000
v(t)
200000000
150000000
100000000
50000000
0
1
10 11
Bentuk Grafik zero dan pole rangkaian LC paralel di atas adalah sebagai berikut :
10
Asumsi :
v ( t ) = 5 volt
( )=i
i 0
L =1
1
= 4
LC
=1 A
i ( t ) dt
=0
s
di ( t ) 1
+ i ( t ) dt
dt
C
di ( t ) 1
L
+ i ( t ) dt = 5
dt
C
v (t) = L
( )}
L sI ( s ) i 0+
1
C
I ( s) =
I ( s ) 0 i ( t ) dt 5
+
=
s s
k1 =
=
I ( s) =
2
4
1
=
2
k2 =
( s s2 ) s
( s + 2 )( s 2 ) s =2
1
5
s+
L
1
2
s +
LC
i (t ) =
( s 2) .( 2)
( 2 + 2 )( s 2 )
2
4
1
=
2
=
s+5
s2 4
1
1
maka I ( s ) = 2 + 2
s+2 s2
( s + 2 ) . ( 2 )
( s + 2 )( 2 2 )
s 2 LC + 1 5 + sL
I ( s)
=
sL
sLC
C
I ( s ) = 5 + sL. 2
s LC + 1
( s s1 ) s
( s + 2 )( s 2 ) s =2
1
1 5
I ( s ) sL +
= + Li0
sC s
1 5
I ( s) s +
+1
=
sLC sL
C ( sL + 5 )
I ( s) = 2
s LC + 1
k1
k
+ 2
s+2 s2
1 2 t 1 2 t
e + e ,
2
2
s2 = 2
Bank Soal Dasar Otomatisasi 2006
Copyright @ Mayor Lek Arwin D.W. Sumari, S.T.
11
Iterasi ke1
2
3
4
5
6
7
8
9
10
t
0
1
2
3
4
5
6
7
8
9
i(t)
1
3.76219569
27.30823282
201.7156359
1490.479159
11013.2329
81377.39555
601302.1407
4443055.248
32829984.47
i(t) vs t
300000000
250000000
i(t)
200000000
150000000
100000000
50000000
0
1
10 11
Bentuk Grafik zero dan pole rangkaian LC seri di atas adalah sebagai berikut :
12
Asumsi :
i (t ) = 2 A
( )
v 0+ = v0 = 1 volt
R = C =1
v ( t ) dt
s =0
i (t ) =
v (t )
+C
dv ( t )
V ( s ) + sC = Cv0
R
sRC + 1
V ( s)
= Cv0
R
RCv0
v0
V ( s) =
sRC + 1
s + 1 / RC
1
V ( s) =
s +1
R
dt
v (t )
dv ( t )
+C
=2
R
dt
V ( s)
R
V ( s)
R
( )} = 0
+ C sV ( s ) v 0+
+ sCV ( s ) Cv0 = 0
maka V ( s ) =
1
v ( t ) = e t dan pole adalah s = 1 , tanpa zero.
s +1
Iterasi ke1
2
3
4
5
6
7
8
9
10
11
t
0
1
2
3
4
5
6
7
8
9
10
i(t)
1
0.36787944
0.13533528
0.04978707
0.01831564
0.00673795
0.00247875
0.00091188
0.00033546
0.00012341
0.0000454
Bank Soal Dasar Otomatisasi 2006
Copyright @ Mayor Lek Arwin D.W. Sumari, S.T.
13
v(t) vs t
1.2
1
v(t)
0.8
0.6
0.4
0.2
0
1
10
11
Bentuk Grafik zero dan pole rangkaian RC paralel di atas adalah sebagai berikut :
14
Analisa KVL
Vtotal = V R + V L + VC
I
C
di (t ) 1
= R.i (t ) + L.
+ i (t ) dt
dt
C
= I .R + I .L +
v (t )
(1)
dv (t )
di (t )
d 2 i (t ) i (t )
= R.
+ L.
+
dt
dt
C
dt 2
2
d i (t )
di (t ) i (t )
= L.
+ R.
+
2
dt
C
dt
Tranformasikan ke bentuk Laplace.
(2)
v (t ) = 0 , maka :
( )
di 0 +
I ( s)
+
=0
L s 2 I ( s ) si 0 +
+ R sI (s ) i 0 +
dt
C
di (0 + )
I ( s)
+ RsI ( s ) Ri (0 + ) +
=0
Ls 2 I ( s ) Lsi (0 + ) L
C
dt
1
di (0 + )
=0
I ( s ) Ls 2 + Rs + i (0 + )[Ls + R] L
C
dt
( )
Bila i (0 + ) = i 0 dan
di (0 + )
dt
( )}
= 0 maka :
t =0
15
I ( s ) Ls 2 + Rs + i 0 [Ls + R] 0 = 0
C
I ( s ) Ls 2 + Rs + = i 0 [Ls + R]
C
dan
I ( s) =
i 0 [Ls + R ]
p(s ) zero
Ls + R
=
=
=
.
1 q (s ) pole
1
Ls 2 + Rs +
Ls 2 + Rs +
C
C
Bila R = 3, L = 1, C =
(3)
1
, i0 = 0 V , maka zero dan pole Rangkaian RLC di atas adalah
2
sebagai berikut :
Substitusi besar R, L dan C dengan angka di atas sehingga (3) menjadi :
I ( s) =
s+3
1
(1) s 2 + ( 3) s + 1
2
s+3
s+3
=
s + 3s + 2 ( s + 2 )( s + 1)
2
16
Aplikasikan Pecahan Parsial untuk mendapatkan nilai residu k1 dan k 2 sebagai berikut :
I (s ) =
k1 =
k1
k2
+
(s + 2) (s + 1)
..
(s s1 ) p( s)
q( s)
k2 =
s1 = 2
(s + 2)(s + 3)
(s + 2)( s + 1)
(s + 3) = ( 2 + 3) = 1 = 1
=
(s + 1) s =2 ( 2 + 1) 1
(4)
(s s 2 ) p( s )
q( s)
s 2 = 1
(s + 1)(s + 3)
(s + 2)( s + 1)
( 1 + 3) = 2 = 2
( s + 3)
=
(s + 2) s =1 ( 1 + 2) 1
i (t ) =
+
s + 2
i (t ) = e 2 t + 2e t
t
- e 2 t
-1
-0,135
-0,018
-0,0025
4
3,35.10-
e t
0,736
0,271
0,099
0,0366
0,0134
i (t )
0,6
0,253
0,097
0,0363
0,0134
5
-4,5.10
6
6,14.106
4,95.103
4,95.103
17
i(t) vs t
i(t)
1.5
1
i(t)
0.5
0
1
18
v (t )
R
+C
dv ( t )
dt
1 t
v ( t ) dt = r ( t )
L 0
1.
2.
Tahapan
1.
v (t )
dv ( t )
1 t
v ( t ) dt = 0
R
dt
L 0
0
f dt
V ( s)
1 V ( s )
+ C sV ( s ) v 0+ +
+
=0
R
L s
s
+C
( )}
( )=v ;
Asumsi : v 0
f dt
19
V ( s)
R
V ( s)
R
+ C { sV ( s ) v0 } +
+ sCV ( s ) Cv0 +
V ( s)
sL
V ( s)
sL
=0
=0
1 1
V ( s ) sC + + = Cv0 eliminasi s
R sL
s 1
V ( s ) s 2C + + = sCv0 eliminasi C
R L
s
1
V ( s ) s2 +
+
= sv0
RC LC
Asumsi :
V ( s) =
V ( s) =
p ( s ) zero
sv0
=
=
s
1
q
s
pole
2
(
)
s +
+
RC LC
1
1
= 5;
= 6; v0 = 1 V , maka akan diperoleh persamaan sebagai berikut :
RC
LC
s
s
maka zero adalah s = 0 dan pole adalah
=
s + 5 s + 6 ( s + 2 )( s + 3 )
2
s1 = 2; s2 = 3
Peta pole-zero pada bidang-s
20
2.
V ( s) =
k1 =
k1
k2
+
( s + 2) ( s + 3)
( s s1 ) p ( s )
q ( s)
s=s
k2 =
( s + 2) s
( s + 2 )( s + 3) s =2
2
2 + 3
= 2
( s s2 ) p ( s )
q ( s)
s=s
( s + 3) s
( s + 2 )( s + 3) s =3
3
3 + 2
=3
Maka :
2
3
+
( s + 2) ( s + 3)
v ( t ) = 3e 3 t 2e 2 t
v(t) vs t
1.2
1
0.8
0.6
v(t)
V ( s) =
0.4
0.2
0
-0.2
10
11
-0.4
t
21
Analisa KVL
V1 = VR1 + VR 2 + VC
= I .R1 + I .R2 +
1
i dt
C
I ( s)
Cs
1
= I ( s ) R1 + R2 +
Cs
R Cs + R2Cs + 1
= I ( s) 1
Cs
V2 = VC =
1
i dt
C
V1 ( s ) = I ( s ) R1 + I ( s ) R2 +
V2 ( s ) =
I ( s)
I ( s ) = CsV2 ( s )
Cs
R Cs + R2Cs + 1
V1 ( s ) = I ( s ) 1
Cs
V2 ( s )
1
R Cs + R2Cs + 1
= CsV2 ( s ) 1
atau
=
maka
Cs
V1 ( s ) ( R1Cs + R2Cs + 1)
= V2 ( s ) ( R1Cs + R2Cs + 1)
V2 ( s )
1
=
V1 ( s ) s ( R1C + R2C ) + 1
1
R1C + R2C
=
1
s+
R1C + R2C
Bank Soal Dasar Otomatisasi 2006
Copyright @ Mayor Lek Arwin D.W. Sumari, S.T.
22
Dari Fungsi Transfer di atas dapat disimpulkan bahwa rangkaian RC seri di atas tidak
mempunyai zero dan hanya mempunyai single dominant pole, s =
1
.
R1C + R2C
1
i dt
C
dV1
di i
= RS +
dt
dt C
V1 = IRS +
( )} + IC( s) = 0
RS sI ( s ) i 0+
( )
RS sI ( s ) RS i 0+ +
dV1
I ( s)
= 0 dengan asumsi
C
dt
( )
= 0 dan i 0+ = i0 maka
t =0
I ( s ) RS s + = RS i 0+
C
( )
I ( s) =
RS i0
1
RS s +
C
RS
1
RS s +
C
R1 + R2
1
s ( R1 + R2 ) +
C
zero
atau
pole
s+
1
1
C ( R1 + R2 )
1
.
R1C + R1C
Dari hasil di atas tampak bahwa hasil Analisa Fungsi Transfer dan Transformasi Laplace
diperoleh hasil yang sama untuk Rangkaian Seri 2 R dan C yakni single dominant pole,
s=
1
pada bidang-s.
R1C + R1C
23
i (t ) =
=e
1
1
1
s +
RC1 + RC 2
1
Bila diasumsikan a =
maka i ( t ) = e at
RC1 + RC 2
t
RC1 + RC 2
t
a
e at
i (t )
0
0
1
1
0.36788
2
0.13534
1
3
0.04979
4
0.01832
5
0.00674
0.36788
0.13534
0.04979
0.01832
0.00674
24
i(t) vs t
1.2
1
i(t)
0.8
0.6
i(t)
0.4
0.2
0
t
t
25
Analisa KVL
V1 = VC 1 + VC 2 + VR
=
1
1
i dt +
i dt +I .R
C1
C2
I ( s) I ( s)
+
+ I ( s) R
V1 ( s ) =
C1 s C 2 s
1
1
= I ( s)
+
+ R
C1 s C 2 s
C s + C 2 s + RC1 sC 2 s
= I ( s) 1
C1 sC 2 s
V2 = VR = IR
V2 ( s ) = I ( s ) R I ( s ) =
V2 ( s )
R
V1 ( s ) =
V2 ( s ) 1
1
+
+ R
R C1 s C 2 s
= V2 ( s )
1 C 2 s + C1 s
+ R
R C1 sC 2 s
= V2 ( s )
1 C 2 s + C1 s + RC1 sC 2 s
maka
R
C1 sC 2 s
C s + C1 s + RC1 sC 2 s
= V2 ( s ) 2
RC1 sC 2 s
C + C1 + RsC1C 2
= V2 ( s ) 2
RsC1C 2
V2 ( s )
RsC1C 2
=
V1 ( s ) C 2 + C1 + RsC1C 2
sRC1C 2
1
=
sRC1C 2 + C1 + C 2 RC1C 2
s
=
C1 + C 2
s+
RC1C 2
26
Bila =
C1 + C 2
V ( s)
s
maka 2
=
V1 ( s ) s +
RC1C 2
V1 =
1
1
i dt +
i dt + IR
C1
C2
dV1
i
i
di
=
+
+R
dt
C1 C 2
dt
( )} = 0
I ( s) I ( s)
+
+ R sI ( s ) i 0+
C1
C2
dV1
I ( s) I ( s)
+
+ RsI ( s ) Ri 0+ = 0 dengan asumsi
C1
C2
dt
( )
( )
= 0 dan i 0+ = i0 maka
t =0
1
+ Rs = Ri 0+
I ( s) +
C1 C 2
( )
R
R
I ( s) =
=
C + C1
1
1
1
1
+
+ Rs Rs + 2
+ Rs
+
C1 C 2
C1C 2
C1 C 2
1
zero
=
C + C1
pole
s+ 2
RC1C 2
Ri0
C1 + C 2
.
RC1C 2
Dari hasil di atas tampak bahwa hasil Analisa Fungsi Transfer dan Transformasi Laplace
diperoleh hasil yang sama untuk Rangkaian RC Seri (dua C dan satu R) yakni single
dominant pole, s =
C1 + C 2
pada bidang-s.
RC1C 2
27
i (t ) =
=e
1
1
RC1C 2
C +C 2
1
t
RC1C 2
t
a
e at
i (t )
0
0
1
1
0.36788
2
0.13534
1
3
0.04979
4
0.01832
5
0.00674
0.36788
0.13534
0.04979
0.01832
0.00674
i(t) vs t
1.2
1
i(t)
0.8
0.6
i(t)
0.4
0.2
0
t
t
28
FT
voutput
vinput
V2
VI
Analisa KCL
I = I C2 + I C 1 = I R
C1
d (V1 V2 )
d (V1 V2 ) V2
+ C2
=
dt
dt
R
V2 ( s )
R
V ( s)
C1 sV1 ( s ) C 2 sV2 ( s ) + C 2 sV1 ( s ) C 2 sV2 ( s ) = 2
R
1
V1 ( s ) ( C1 s + C 2 s ) = V2 ( s ) C1 s + C 2 s +
R
C1 s (V1 ( s ) V2 ( s ) ) + C 2 s (V1 ( s ) V2 ( s ) ) =
s (C1 + C 2 )
V2 ( s )
C1 s + C 2 s
1
=
=
1
1
V1 ( s ) C s + C s +
s (C1 + C 2 ) + C1 + C 2
1
2
R
R
s
=
1
s+
R(C1 + C 2 )
Bila =
V ( s)
s
1
maka 2
=
V1 ( s ) s +
R(C1 + C 2 )
Bank Soal Dasar Otomatisasi 2006
Copyright @ Mayor Lek Arwin D.W. Sumari, S.T.
29
FT
voutput
vinput
V2
VI
Analisa KCL
I = I R + I C1 = I C2
d (V1 V2 )
d (V2 )
(V1 V2 )
+ C1
= C2
R
dt
dt
V1 ( s ) V2 ( s )
+ C1 s (V1 ( s ) V2 ( s ) = C 2 sV2 ( s ) )
R
R
1
1
V1 ( s ) C1 s + = V2 ( s ) C 1 s + C 2 s +
R
R
1
C1 s +
1
V2 ( s )
RC1 s + 1
R
=
=
V1 ( s ) C s + C s + 1 RC1 s + RC 2 s + 1 RC1
1
2
R
1
s+
RC1
=
1
C
s+ 2 s+
C1
RC1
Bila a =
V2 ( s )
C2
s+b
1
=
dan b =
maka
RC1
C1
V1 ( s ) s + as + b
30
FT
voutput
vinput
V2
VI
Analisa KCL
V1 = VRP + VC
RP =
R1.R2
R1 + R2
R .R 1
= I 1 2 + i dt
R1 + R2 C
R .R I ( s )
R .R
1
= I ( s) 1 2 +
V1 ( s ) = I ( s ) 1 2 +
R1 + R2 Cs
R 1 + R2 Cs
I ( s)
V2 ( s ) =
Cs
R R Cs + R1 + R2
I ( s ) = CsV2 ( s ) V1 ( s ) = V2 ( s )Cs 1 2
( R1 + R2 )Cs
V2 ( s )
R1 + R2
1
=
V1 ( s) R1 R2Cs + R1 + R2 R1.R2C
R1 + R2
R1 R2C
=
R + R2
s+ 1
R1 R2C
Bila =
R1 + R2
V ( s)
maka 2
=
R1 R2C
V1 ( s ) s +
31
FT
voutput
v input
V2
VI
Analisa KCL
d (V1 V2 )
dV
(V1 V2 ) (V1 V2 )
+
+ C1
= C2 2
R1
R2
dt
dt
V1 ( s ) V2 ( s ) V1 ( s ) V2 ( s )
+
+ C1 s (V1 ( s ) V2 ( s ) ) = C 2 sV2 ( s )
R1
R2
1
1
1
+ C1 s = V2 ( s ) +
+ C1 s + C 2 s
V1 ( s ) +
R1 R2
R1 R2
1
1
+
+ C1 s
V2 ( s )
R1 R2
=
1
1
V1 ( s )
+
+ C1 s + C 2 s
R1 R2
R1 + R2
R1 R2
=
R + R2
C1 s + C 2 s + 1
R1 R2
C1 s +
R1 R2 C1 s + R1 + R2
R1 R2
=
R1 R2C1 s + R1 R2C 2 s + R1 + R2
R1 R2
=
R1 R2C1 s + R1 + R2
R1 R2C1 s + R1 R2C 2 s + R1 R2
R1 R2C1 s + R1 + R2
s ( R1 R2C1 + R1 R2C 2 ) + R1 + R2
Bank Soal Dasar Otomatisasi 2006
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32
FT
voutput
vinput
V2
VI
Analisa KCL
I = I R1 = I C + I R 2
=
V1 V2
dV V
=C 2 + 2
R1
dt
R2
V1 ( s ) V2 ( s )
V ( s)
= CsV2 ( s ) + 2
R1
R2
V1 ( s )
1
= V2 ( s ) Cs +
R1
R2
R
= V2 ( s ) R1Cs + 1
R2
R R Cs + R1
= V2 ( s ) 1 2
R2
Maka :
V2 ( s ))
R2
=
V1 ( s
R1 R2Cs + R1
R2
1
R1 R2C
R1C
=
=
R1
1
s+
s+
R2C
R1 R2C
Bila a =
1
1
V ( s)
a
,b=
maka 2
=
R1C
R2C
V1 ( s ) s + b
33
FT
voutput
vinput
V2
VI
Analisa KVL
V1 = VR + VC 1 + V C 2
= IR +
1
1
i dt +
i dt
C1
C2
I ( s) I ( s)
V1 ( s ) = I ( s ) R +
+
C 1s C 2 s
1
1
= I ( s) R +
+
C 1s C 2 s
V2 = VC 1 + V C 2
=
1
1
i dt +
i dt
C1
C2
V2 ( s ) =
I ( s) I ( s)
+
C 1s C 2 s
1
1
= I ( s)
+
C 1s C 2 s
maka :
1
1
+
V2 ( s )
C 1s C 2 s
=
V1 ( s ) R + 1 + 1
C 1s C 2 s
Bila =
C1 + C 2
V2 ( s )
=
RC1C 2
V1 ( s ) s +
34
FT
voutput
vinput
vR
vI
Analisa KVL
v I = v L + vC + v R
=L
di ( t )
dt
1
i ( t ) dt + i ( t ) R
C
VI ( s ) = sLI ( s ) +
I ( s)
sC
VR ( s )
+ I ( s) R
= I ( s ) R + sL +
sC
2
s LC + sRC + 1
= I ( s)
sC
vR = i ( t ) R
VI ( s )
I ( s) R
s LC + sRC + 1
I (s)
sC
sRC
= 2
s LC + sRC + 1
R
s
L
=
R
1
s2 + s +
L LC
2
VR ( s ) = I ( s ) R
Bila
VR ( s )
V ( s)
R
1
2s
2s
=
= 2;
= 1 maka R
dan
sehingga hanya ada
= 2
VI ( s ) s + 2 s + 1
L
LC
VI ( s ) ( s + 1)2
35
FT
voutput
vinput
vC
vI
Analisa KVL
v I = v L + vC + v R
=L
di ( t )
dt
1
i ( t ) dt + i ( t ) R
C
VI ( s ) = sLI ( s ) +
I ( s)
sC
+ I ( s) R
= I ( s ) R + sL +
sC
s 2 LC + sRC + 1
= I ( s)
sC
1
vC = i ( t ) dt
C
VC ( s ) =
Bila
I (s)
sC
I (s)
sC
=
VI ( s )
s 2 LC + sRC + 1
I ( s)
sC
VC ( s )
1
s LC + sRC + 1
1
=
1
R
s2 + s +
L LC
=
V ( s)
VR ( s )
R
1
1
1
=
dan
sehingga hanya ada
= 2;
= 1 maka R
= 2
L
LC
VI ( s ) s + 2 s + 1
VI ( s ) ( s + 1)2
36
FT
voutput
vinput
vO
vI
Analisa KVL
v I = v L + vC + v R
=L
di ( t )
dt
1
i ( t ) dt + i ( t ) R
C
vO =
1
i ( t ) dt + i ( t ) R
C
VI ( s ) = sLI ( s ) +
I ( s)
sC
+ I ( s) R
= I ( s ) R + sL +
sC
s 2 LC + sRC + 1
= I ( s)
sC
VO ( s ) =
I ( s)
sC
+ I ( s) R
= I ( s) R +
sC
sRC + 1
= I ( s)
sC
sRC + 1
I ( s)
VO ( s )
sC
=
VI ( s )
s 2 LC + sRC + 1
I ( s)
sC
sRC + 1
s LC + sRC + 1
R
1
s +
L LC
=
R
1
s2 + s +
L LC
=
37
R
R
1
4 (1)
L
L
LC
2
R
1
; c=
L
LC
38
FT
voutput
vinput
v2 V2 ( s )
=
v1 V1 ( s )
v1 = i ( t ) Z1 + i ( t ) R2
V2 ( s ) = I ( s ) R2
i ( t ) = C1
dva va
+
dt R1
V2 ( s )
V s
( )} + R( )
I ( s ) = C1 sVa ( s ) va 0+
1
= Va ( s ) sC1 +
R1
sR C + 1
= Va ( s ) 1 1
R1
R1
Va ( s ) = I ( s )
sR1C1 + 1
V1 ( s )
=
=
I ( s ) R2
R + R2 ( sR1C1 + 1)
I ( s) 1
sR1C1 + 1
R2 ( sR1C1 + 1)
R1 + R2 ( sR1C1 + 1)
sR1 R2C1 + R2
sR1 R2C1 + R1 + R2
s+
1
R1C1
R + R2
s+ 1
R1 R2C1
39
V1 ( s ) = Va ( s ) + I ( s ) R2
R1
= I (s)
+ I ( s ) R2
sR1C1 + 1
R1
= I (s)
+ R2
sR1C1 + 1
R + R2 ( sR1C1 + 1)
= I (s) 1
sR1C1 + 1
40
FT
voutput
vinput
v2 V2 ( s )
=
v1 V1 ( s )
v1 = i ( t ) Z1 + i ( t ) R2
V2 ( s ) = I ( s ) R2 +
i ( t ) = C1
I ( s)
C2 s
R C s + 1
= I ( s) 2 2
C2 s
dva va
+
dt R1
V s
( )} + R( )
I ( s ) = C1 sVa ( s ) va 0+
1
= Va ( s ) sC1 +
R1
sR C + 1
= Va ( s ) 1 1
R1
sR C + 1
I ( s) 2 2
V2 ( s )
C2 s
=
V1 ( s )
sR C + ( sR2C 2 + 1)( sR1C1 + 1)
I ( s) 1 2
C 2 s ( sR1C1 + 1)
R1
Va ( s ) = I ( s )
sR1C1 + 1
V2 ( s )
(1 + a s )(1 + b s )
V1 (1) a b s 2 + ( a + b + ab ) s + 1
=
41
V1 ( s ) = Va ( s ) + I ( s ) R2
I ( s)
R1
= I (s)
+ I ( s ) R2 +
C2 s
sR1C1 + 1
R1
1
= I (s)
+ R2 +
C2 s
sR1C1 + 1
Bila 1 + 2 = a + b + ab , 1 = a , 2 = b
V2 ( s )
(1 + a s )(1 + b s )
V1 (1) (1 + 1 s )(1 + 2 s )
=
R1
sR C + 1
= I (s)
+ 2 2
C2 s
sR1C1 + 1
sR C + ( sR2C 2 + 1)( sR1C1 + 1)
= I (s) 1 2
C 2 s ( sR1C1 + 1)
42
FT
voutput
vinput
v2 V2 ( s )
=
v1 V1 ( s )
I1 = I 2 + I 3
Loop I
V1 I1 R1 I 2 R2 = 0
V1 ( I 2 + I 3 ) R1 I 2 R2 = 0
.. (1)
V1 I 2 ( R1 + R2 ) I 3 R1 = 0
Loop II
I 2 R2 I 3 sL I 3 R3 = 0
I 2 R2 I 3 ( sL + R3 ) = 0
.. (2)
43
Loop III
V2 I 3 R3 = 0
I3 =
.. (3)
V2
R3
I 2 R2
V2
( sL + R3 ) = 0
R3
I 2 R2 =
V2
( sL + R3 )
R3
I2 =
.. (4)
V2
( sL + R3 )
R2 R3
V1
V2
V
( sL + R3 )( R1 + R2 ) 2 R1 = 0
R2 R3
R3
( sL + R3 )( R1 + R2 ) R1
V1 V2
+ =0
R2 R3
R3
( sL + R3 )( R1 + R2 ) + R1 R2
V1 V2
=0
R2 R3
( sL + R3 )( R1 + R2 ) + R1 R2
V1 = V2
R2 R3
R2 R3
V2
=
V1 ( sL + R3 )( R1 + R2 ) + R1 R2
=
R2 R3
sLR1 + sLR2 + R1 R3 + R2 R3 + R1 R2
R2 R3
sL ( R1 + R2 ) + R1 R3 + R2 R3 + R1 R2
R2 R3
R1 ( sL + R2 + R3 ) + R2 ( sL + R3 )
Bank Soal Dasar Otomatisasi 2006
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44
FT
voutput
vinput
v2 V2 ( s )
=
v1 V1 ( s )
I1 = I 2 + I 3
Loop I
V1 I1 R1
I2
=0
sC
V1 ( I 2 + I 3 ) R1
I2
=0
sC
I 3 R1 = 0
V1 I 2 R1 +
sC
sR C + 1
V1 I 2 1
I 3 R1 = 0
sC
..
(1)
..
(2)
Loop II
I2
I 3 sL I 3 R2 = 0
sC
I2
I 3 ( sL + R2 ) = 0
sC
45
Loop III
V2 I 3 R2 = 0
I3 =
V2
R2
..
(3)
..
(4)
I2
I 3 ( sL + R2 ) = 0
sC
I 2 V2
=
( sL + R2 )
sC R2
I2 =
sC ( sL + R2 )
R2
V2
sR C + 1
V1 I 2 1
I 3 R1 = 0
sCR2
sC ( sL + R2 ) sR1C + 1 V2
V1 V2
sC R R1 = 0
R2
2
( sL + R2 )( sR1C + 1) R1
+ =0
V1 V2
R2
R2
( sL + R2 )( sR1C + 1) + R1
V1 V2
=0
R2
s 2 R1 LC + sL + sR1 R2C + R2 + R1
V1 = V2
R2
V2
R2
= 2
V1 s R1 LC + sL + sR1 R2C + R2 + R1
=
R2
s R1 LC + s ( L + R1 R2C ) + R2 + R1
2
46
FT
voutput
vinput
v2 V2 ( s )
=
v1 V1 ( s )
I1 = I 2 + I 3
Loop I
V1 I1 R1
I1
I 2 sL1 I 2 R2 = 0
sC1
1
V1 I1 R1 +
I 2 ( sL1 + R2 ) = 0
sC1
sR C + 1
V1 ( I 2 + I 3 ) 1 1 I 2 ( sL1 + R2 ) = 0
sC1
..
(1)
sR C + 1
sR C + 1
+ sL1 + R2 I 3 1 1 = 0
V1 I 2 1 1
sC1
sC1
s 2 L1C1 + sR1C1 + sR2C1 + 1
sR1C1 + 1
V1 I 2
I3
=0
sC1
sC1
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47
Loop II
I 2 sL1 + I 2 R2 I 3 sL2
I3
=0
sC 2
1
I 2 ( sL1 + R2 ) I 3 sL2 +
=0
sC 2
..
(2)
..
(3)
..
(4)
s 2 L2C 2 + 1
I 2 ( sL1 + R2 ) I 3
=0
sC 2
Loop III
V2
I3
=0
sC 2
I 3 = V2 sC 2
s 2 L2C 2 + 1
I 2 ( sL1 + R2 ) V2 sC 2
=0
sC 2
I 2 ( sL1 + R2 ) = V2 s 2 L2C 2 + 1
s 2 L2C 2 + 1
I 2 = V2
sL1 + R2
Substitusi (3) (4) ke (1)
sC1
s 2 L2C 2 + 1 s 2 L1C1 + sR1C1 + sR2C1 + 1
sR1C1 + 1
V1 V2
V2 sC 2
=0
sC1
sL1 + R2
sC1
s 2 L2C 2 + 1 s 2 L1C1 + sR1C1 + sR2C1 + 1
sR1C1 + 1
V1 V2
= 0
+ sC 2
sC1
sL1 + R2
sC1
)(
)(
48
)(
sC1 ( sL1 + R2 )
sC1 ( sL1 + R2 )
V2
= 2
2
V1
s L2C 2 + 1 s L1C1 + sR1C1 + sR2C1 + 1 + sC 2 ( sR1C1 + 1)( sL1 + R2 )
)(
(s LC
2
s 2 L1C1 + sR2C1
)(
) (
) ( sL + R )
1
49
Konsep Dasar
E ( s ) = R( s ) - B ( s )
B ( s) = C ( s ) H ( s ) E ( s ) = R( s) - C ( s ) H ( s )
C ( s ) = E ( s )G ( s )
= [ R( s ) - C ( s ) H ( s )]G ( s )
= G ( s )[ R( s ) - C ( s ) H ( s )]
= G ( s ) R( s ) - G ( s )C ( s ) H ( s )
C ( s ) + G ( s )C ( s ) H ( s ) = G ( s ) R( s )
C ( s )[1 + G ( s ) H ( s )] = G ( s ) R( s )
maka :
C ( s)
G ( s)
=
R( s ) 1 + G ( s ) H ( s )
50
51
Langkah 3 Sederhanakan Blok Sistem G3G4 dengan Umpan Balik H1 berdasarkan rumus
Langkah 4 Gabungkan Blok Sistem G2 dengan Blok Sistem hasil dari Langkah 3
H2
G4
menjadi
52
Langkah 6 Gabungkan Blok Sistem G1 dengan Blok Sistem hasil dari Langkah 5
G1G2G3G4
= G6
Misalkan 1- G3G4 H1 + G2G3 H 2
maka
G6
C ( s)
=
R( s ) 1 + G6 H 3
C ( s)
R ( s)
G1G2G3G4
1- G3G4 H1 + G2G3 H 2
G1G2G3G4
1+
H3
1- G3G4 H1 + G2G3 H 2
G1G2G3G4
1- G3G4 H1 + G2G3 H 2 + G1G2G3G4 H 3
dan akhirnya
C ( s)
R ( s)
G1G2G3G4
1- G3G4 H1 + G2G3 H 2 + G1G2G3G4 H 3
Bank Soal Dasar Otomatisasi 2006
Copyright @ Mayor Lek Arwin D.W. Sumari, S.T.
53
Langkah 1
Langkah 2
Langkah 3
54
Langkah 1
Langkah 2
55
Langkah 1
Langkah 2
Langkah 3
56
Langkah 1
Langkah 2
Langkah 3
57
Langkah 1
Langkah 2
Langkah 3
58
Langkah 1
Langkah 2
Langkah 3
59
Langkah 1
Langkah 2
60
Langkah 3
Langkah 4
C (s )
R (s)
s3 + 1
2s4 + s 2 + 2s
61
2.
3.
4.
5.
Persamaan Dinamis
V1 = VR + VC
= IR +
V2 =
1
i dt
C
1
i dt
C
Bentuk Laplace
V1 ( s ) = I ( s ) R +
I ( s)
Cs
1
= I (s) R +
Cs
I ( s) =
V1 ( s ) V1 ( s ) Cs
=
1
RCs + 1
R+
Cs
I ( s)
V2 ( s ) =
Cs
V1 ( s ) Cs
= RCs + 1
Cs
V ( s)
1
= 1
= V1 ( s )
RCs + 1
RCs + 1
62
Sederhanakan !
63
64
Persamaan Dinamis
I = I R1 + I C 1
d (V1 V2 )
V V
= 1 2 + C1
R1
dt
V2 = IR2
Bentuk Laplace
I1 ( s ) =
=
V1 ( s ) V2 ( s )
V1 ( s )
R1
R1
+ C1 s (V1 ( s ) V2 ( s ) )
+ C1 sV1 ( s )
V2 ( s )
R1
+ CsV2 ( s )
= V1 ( s ) + C1 s V2 ( s ) + C1 s
R1
R1
1 + R1C1 S
1 + R1C1 S
= V1 ( s )
V2 ( s )
R1
R1
V2 ( s ) = I ( s ) R2 I ( s ) =
V2 ( s )
R2
65
Sederhanakan !
66
Cari
67
Tahapan
a.
b.
68
c.
d.
H2
untuk mendapatkan fungsi
G1
69
e.
C(s)
G 1G 2
=
R(s) 1-G 2 (H 2 -G 1H1 )
70
Contoh 2. Cari Fungsi Transfer Blok Diagram melalui Signal Flow Graph ala Mason
71
Tahap 2 Eliminasi simpul pada lintasan bernilai 1 yang tidak mempengaruhi perhitungan.
Sebagai contoh adalah eliminasi simpul V3 ( s )
1
1
1 1
1
P1 = 1.s.s.1. .1 = s ; P2 = 1.s.s.1. .1 = s ; P3 = 1. .1. .1 = 2
s
s
s s
s
Tahap 4 Cari Loop Gain ( L j ) sebagai berikut :
L1 = s.s.1. ( 1) = s 2
L2 = s.s.1. ( 1) = s 2
1
1
L3 = .1. ( 1) =
s
s
1
L5 = s.s.1. .1. ( s ) = s 2
s
1
L4 = s.s.1. .1. ( s ) = s 2
s
1 1
1
L6 = .1. ( s ) =
s s
s
atau bernilai 0.
72
= 1 L j + NTL2 j ......
= 1 ( L1 + L2 + L3 + L4 + L5 + L6 ) + 0
1
1
= 1 s2 s2 s2 s2
s
s
2
= 1 + 4s 2 +
s
3
4s + s + 2
=
s
Tahap 6 Cari i , yakni dikurangi semua L j yang menyentuh lintasan maju Pi . Dalam
kasus ini 1 = 2 = 3 = 1 0 = 1
Tahap 7 Cari Fungsi Transfer dengan memasukkan nilai-nilai diatas ke persamaan Mason.
T ( s) =
C ( s)
R ( s)
=
0
Pi i
maka
C ( s)
R ( s)
P11 + P2 2 + P3 3
1
2 s3 + 1
C (s)
s2 =
s2
=
3
3
4s + s + 2
4s + s + 2
R(s)
s
s
3
2s + 1
= 4 2
4s + s + 2s
s.1 + s.1 +
73
Contoh 3. Cari Fungsi Transfer Blok Diagram melalui Signal Flow Graph ala Mason
74
Tahap 2 Eliminasi simpul pada lintasan bernilai 1 yang tidak mempengaruhi perhitungan.
Sebagai contoh adalah eliminasi simpul V2 ( s ) dan V3 ( s ) .
1
1 1
1
P1 = 1.s 2 . .1 = s ; P2 = 1. . .1 = 2
s
s s
s
Tahap 4 Cari Loop Gain ( L j ) sebagai berikut :
L1 = s 2 . ( 1) = s 2
1
L3 = s 2 . . ( s ) = s 2
s
1
1
L2 = . ( 1) =
s
s
1 1
1
L4 = . . ( s ) =
s s
s
atau bernilai 0.
75
= 1 L j + NTL2 j ......
= 1 ( L1 + L2 + L3 + L4 + L5 + L6 ) + 0
1 1
= 1 s2 s2
s s
2
= 1 + 2s 2 +
s
3
2s + s + 2
=
s
Tahap 6 Cari i , yakni dikurangi semua L j yang menyentuh lintasan maju Pi . Dalam
kasus ini 1 = 2 = 3 = 1 0 = 1
Tahap 7 Cari Fungsi Transfer dengan memasukkan nilai-nilai diatas ke persamaan Mason.
T ( s) =
C ( s)
R ( s)
=
0
Pi i
maka
C ( s)
R ( s)
P11 + P2 2
s3 + 1
1
2
2
C ( s)
= 3 s
= 3s
R ( s ) 2s + s + 2 2s + s + 2
s
s
s+
s3 + 1
2s4 + s2 + 2s
76
Contoh 4. Cari Fungsi Transfer Blok Diagram melalui Signal Flow Graph ala Mason
C ( s)
R ( s)
G1G2G3 + G1G3
1 + G2 H 2 + G3 H 3 + G1G2 H1 + G2G3 H 2 H 3 + G1G2G3 H1 H 3
77
Tahap 2 Eliminasi simpul pada lintasan bernilai 1 yang tidak mempengaruhi perhitungan.
Sebagai contoh adalah eliminasi simpul V2 ( s ) dan V3 ( s ) .
L1 = G1.G2 . ( H1 ) = G1G2 H1
L2 = G2 .1. ( H 2 ) = G2 H 2
L3 = G3 . ( H 3 ) = G3 H 3
Tahap 5 Cari kombinasi 2-Non Touching Loop ( NTL2 j ).
78
= 1 L j + NTL2 j ......
= 1 ( L1 + L2 + L3 ) + ( NTL1 + NTL2 )
= 1 ( G1G2 H1 G2 H 2 G3 H 3 ) + ( G1G2G3 H1 H 3 + G2G3 H 2 H 3 )
= 1 + G1G2 H1 + G2 H 2 + G3 H 3 + G1G2G3 H1 H 3 + G2G3 H 2 H 3
= 1 + G2 H 2 + G3 H 3 + G1G2 H1 + G2G3 H 2 H 3 + G1G2G3 H1 H 3
Tahap 6 Cari i , yakni dikurangi semua L j yang menyentuh lintasan maju Pi . Dalam
kasus ini 1 = 2 = 1- 0 = 1
Tahap 7 Cari Fungsi Transfer dengan memasukkan nilai-nilai di atas ke persamaan
Mason.
T ( s) =
C ( s)
R ( s)
C ( s)
R ( s)
=
0
Pi i
maka
C ( s)
R ( s)
P11 + P2 2
G1G2G3 + G1G3
1 + G2 H 2 + G3 H 3 + G1G2 H1 + G2G3 H 2 H 3 + G1G2G3 H1 H 3
79
V = VR + VC
1
i dt
C
dV
dI I
I ( s)
=R +
R sI ( s ) i 0+ +
=0
dt
dt C
C
1
I ( s ) Rs + = Rio
C
Rio
RCio
I ( s) =
=
1 RCs + 1
Rs +
C
1
I ( s) =
i
dV
1 o
dimana
s+
dt
RC
= IR +
( )}
( )
= 0, i 0+ = io
t =0
80
I=
V1 V2
dV
=C 2
R
dt
d 2V
dI 1 d (V1 V2 )
dI
=
= C 22
dt R
dt
dt
dt
=0
t =0
1
R
{( sV ( s ) v (0 ) ) ( sV ( s ) v
+
(0+ )
)} = C s V ( s) sv (0 ) dv dt(0 )
dv 2 (0+ )
= 0 maka :
dt t =0
sV1 ( s ) sV2 ( s )
= Cs 2V2 ( s )
1
R
V
s
V
s
2
(
)
(
)
1
2
2
sV1 ( s ) sV2 ( s ) = RCs V2 ( s ) maka
=
atau
= RC
V1 ( s ) RCs + 1
V1 ( s ) s + 1
V1 ( s ) V2 ( s ) = RCsV2 ( s )
RC
V1 ( s ) = V2 ( s )( RCs + 1)
I=
V1 V2
R
I ( s) =
V2 =
V1 ( s ) V2 ( s )
R
1
i dt
C
V2 ( s ) =
I ( s)
Cs
81
Langkah 3 Sederhanakan !
82
Langkah 3 Sederhanakan !
DAFTAR PUSTAKA
1.
Dorf, Richard C. dan Robert H. Bishop, Modern Control System, 9th Ed.,
Kuo, Benjamin C., Automatic Control Engineering, 7th Ed., Prentice-Hall, USA,
1997.
4.
1990.
6.
Stubberud, Allen J.; Ivan J. Williams dan Joseph J. DiStefano, Schaums Outline