Green Energy Transpotation and Application (GET-A) Research Group Electronic Engineering Polytechnic Institute of Surabaya

Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya

Control System Technology
Linearized Dynamic Models
Modelling of Physical Systems
Feedback Systems
Performance of Control Systems
Feedback Design
Root-Locus Method
Frequency Domain Techniques
Frequency Response Design
modelling
analysis
design
Introduction
Introduction to control
system
History of Control System
Categories of Control system
Todays Discussion Material
TINJAUAN SEJARAH
PROSEDUR SEDERHANA UNTUK MENGHITUNG KESTABILAN
SISTEM IKAL TERTUTUP BERDASARKAN TANGGAPAN FREQ.
1922 : MINORSKY
PENGEMBANGAN KENDALI OTOMATIS KAPAL LAUT
STABILITAS DITENTUKAN DARI PERSAMAAN
DIFERENSIAL SISTEM
1932 : NYQUIST
1934 : HAZEN
MERANCANG SERVOMEKANIS YANG MAMPU
MENGIKUTI SET-POINT YANG BERUBAH-UBAH
HISTORICAL REVIEW
1940
METODE TANGGAPAN FREKWENSI
1940 - 1950
METODE ROOT LOCUS
AKHIR 1950-AN
OPTIMAL CONTROL
1960
MODERN CONTROL SYSTEM
SINGLE INPUT
SINGLE OUTPUT
MULTIPLE INPUT
MULTIPLE OUTPUT
TREND MUTAKHIR
OPTIMISASI: DETERMINISTIK DAN STOKASTIK ADAPTIVE CONTROL
INTELLIGENT CONTROL: NEURAL NETWORK, FUZZY LOGIC
COMPUTER CONTROL
TINJAUAN SEJARAH
MATAHARI
BUMI
BULAN
TINJAUAN SEJARAH
Title
TINJAUAN SEJARAH
2000 BC : BABYLONIA
SUNGAI
PINTU AIR
KELEMBABAN TANAH
PETANI
Title
TINJAUAN SEJARAH
ABAD KE 9 : MOSLEM
PELAMPUNG
SKALA WAKTU
C
L
E
P
S
Y
D
R
A
/
W
A
T
E
R

C
L
O
C
K

Title
Title
TINJAUAN SEJARAH
1675 : ISACC NEWTON
PENCARIAN AKAR
ESTIMASI AKAR
PENGHITUNGAN ERROR
PUAS
CETAK AKAR
END
TIDAK
YA
TINJAUAN SEJARAH
ABAD 18 : JAMES WATT
K
E
N
D
A
L
I

K
E
C
E
P
A
T
A
N

M
E
S
I
N

U
A
P

SPEED SET POINT
PLATE
FLY
BALL
SLIDER
VALVE
MOTION
STEAM
SUPPLY
TO
ENGINE
PENGANTAR KE KENDALI
MENINGKATNYA PERAN KENDALI OTOMATIK:
MELEPASKAN MANUSIA DARI :
AKTIVITAS MONOTON DAN BERBAHAYA
SISTEM KENDALI MODEREN :
MELAKUKAN FUNGSI DI LUAR
KEMAMPUAN FISIK MANUSIA
Control System
The word control is usually taken to mean :
- regulate,
- direct,
- command.
Control system
A control system is an arrangement of
physical components connected or related
in such a manner as to command, direct, or
regulate itself or another system.
Control Systems
Input
The input is the stimulus, excitation or
command applied to a control system.
Typically from external energy source,
usually in order to produce a specified
response from the control system.
Output
The output is the actual response obtained
from a control system.
It may or may not be equal to specified
response implied by the input.
Kategori Kendali
Control
Continuous
Control
Sequential
Control
Open-loop
Control
Feedback
Control
Kategori Kendali
Sequential
Control
Two Types of Control Systems
1.Open Loop
No feedback
Difficult to control
output with accuracy

2.Closed Loop
Must have feedback
Must have sensor on output
Almost always negative
feedback
Control Systems
Open-loop control
An open-loop control system utilizes an
actuating device to control the process directly
without using feedback.
A common example of an open-loop control
system is an electric toaster in the kitchen.
Control Systems
AKSI PENGENDALI
set point, r
sinyal terukur, c
error, e
pengendali
u=f(error)
sinyal
kendali,u
e = r - c
+
-
Kategori Kendali
Open-loop
Control
Dial
Setting
FLOW
RATE
calibrated
valve
valve
dial
setting
FLOW
RATE
Kategori Kendali
Feedback
Control
FLOW
RATE
system to be
controlled
FLOW
RATE
FLOW
controller
FLOW RATE sensor
flow
controller
flow rate
sensor
set
point
set
point
valve
Closed-loop control
A closed-loop control system uses a
measurement of the output and feedback of
this signal to compare it with the desired
output.

Control Systems
Servo
Mechanism
Kategori Kendali
KENDALI POSISI, KECEPATAN, PERCEPATAN MEKANIK
set
point
Controller
power
amplifier dc motor
antenna
gear reducer
position
sensor
V
-
V+
measured
position
Manual control system
Goal: Regulate the level of fluid by adjusting the output valve.

The input is a reference level of fluid and is memorized by operator.
The power amplifier is the operator.
The sensor is visual.
Operator compares the actual level with the desired level and opens or
closes the valve ( actuator).

The level of fluid in a tank control.
Multivariable control system
Control system of the national income.
LEVEL
CONTROLLER
Set Point
Input Flow
CONTROL VALVE
Level Output
LEVEL SYSTEM
Output Flow
LEVEL MEASURING
MEANS
controller output signal
measured
level signal
Simple Feedback Systems
output
sensor
actuator plant
disturbance
Reference
value
output
control
intput
+
+ / -
Feedback value
Simple Feedback Systems
desired
temperature
room
temperature
thermostat
house
Gas valve furnace
heat loss
First Analysis of Feedback
sensor noise
controller
?
speedometer
engine auto body
desired
speed
actual speed
road grade
cruise control
measured
speed
process
Functional block diagram
controller
0.5
10
r
w
y u
+
-
r = reference speed
u = throttle angle
y = actual speed
w = road grade
Open-loop control
0.1
0.5
10 r
w
y
u +
-
( )
w r
w
r
w u y
ol
5
5 . 0
10
10
5 . 0 10
=
|
.
|
\
|
=
=
closed-loop control
100
0.5
10
r
w
y
u
+
-
+
-
controller
CLASSIFICATION
* Process Control
REGULATOR
fixed setpoint
James Watt
Cornelis Drebbel : egg hatching control system
* Servo Control
Trajectory following
Robot Systems
Actuator
Pneumatic valve
p
i
x
q
o
Open-Loop Control
fluid in
fluid out
disturbances
parameter variations
low performance
Closed-Loop Control
controller valve system
sensor
r c
d
e
+
- input output
disturbance
error
FEEDBACK CONTROL
e error
r setpoint
d disturbance
c controlled variable
A robot is a computer-controlled
machine.

Industrial robotics is a particular
field of automation in which the
robot is designed to substitute
for human labor.
The Honda P3 humanoid robot.
Sistem Permodelan
Persamaan
Differensial
variable x(t)
Penyelesaian
x(t)
Persamaan
Aljabar
Operator s
Penyelesaian
Aljabar x(s)
Penyelesaian
Langsung (Analitik)
Perhitungan Aljabar
Transformasi Laplace
Inversi Transformasi Laplace
Definisi dan Formula Transformasi Laplace
Transformasi Laplace didefinisikan sebagai

di mana t adalah waktu dan s =
Untuk mempermudah Transformasi Laplace ditulis L[f(t)]
Bandingkan dengan transformasi Fourier

=
0
) ( ) ( dt
st
e t f s F
e o j +

= dt
t j
e t f s F
e
) ( ) (
Tabel Transformasi Laplace
Fungsi Waktu Transformasi Laplace

1. Unit impulse 1

2. Unit Step u(t)

3. Unit Ekspnen

4. Sinusoida

5. Cosinus

) (t o
s
1
at
e
a s+
1
t e sin 2 2
e
e
+ s
t e cos
2 2
2
e + s
s
| | ( )
( )
) 0 ( ) (
) ( ) 0 ( 0
) ( ) (
) ( ) (
:
) 0 ( ) ( ) (
) ( ) ( ) (
0
0
0
0
1
1 1
f s sF
dt e t f s f
dt se t f e t f
dt e t f
dt
d
t f
dt
d
L
Pembuktian
f s s R s t f
dt
d
L
atau
t f s sR t f
dt
d
L
st
st st
st
n
r
r n n
n
n
o
=
+ =
=
+ =
=

deferensial
Integral
( ) ( )
( ) t t
t t
t t
t t t t
t t t t
d f
s
s F
s
dt e t f
s
d f
s
dt e
s
t f e
s
d f
dt e d f d f L
Pembuktian
d f
s
s F
s
d f L
st
to
st st
t
to
st
t
to
to
t
to
1
) (
1
1 1
1
) (
1
) (
) ( ) (
) (
1
) (
1
) (
0
0
0
0 0
0
0
+ =
+ =
|
.
|
\
|

|
.
|
\
|
=
=
+ =

Fungsi Alih (Transfer Function)
Perbandingan antara transformasi Laplace Y(s) dan U(s) dinamakan fungsi
alih

Fungsi alih

Perhatikan persamaan sistem dalam bentuk umum :

yang dapat dinyatakan dalam bentuk

G(s) U(s) Y(s)
) (
) (
) (
s U
s Y
s G =
) ( .... ) ( ) ( .... ) ( ) (
0 0
1
1
1
t u b t u
dt
d
b t y a t y
dt
d
a t y
dt
d
a
m
m
m
n
n
n
n
n
+ + = + + +

) ( ) (
0 0
t u
dt
d
b t y
dt
d
a
k
k
m
k
k
n
k
k
k
k
= =
=
Dengan mentransformasikan kedua sisi persamaan didapat :

dimana Io(s) merupakan keadaan awal. Untuk menyederhanakan
misalkan

Hubungan masukan dan keluaran dapat dinyatakan sebagai berikut
P(s)Y(s) = Q(s)V(s) + I
o
(s)
Apabila I
o
(s) = 0 maka

) ( ) ( ) ( ) ( ) (
0
0 0
s I s U s b s Y s a
m
k
k
k
n
k
k
k
+ =

= =
) ( ) ( ) ( ) (
0 0
s Q s b dan s P s a
m
k
k
k
n
k
k
k
= =
= =
) (
) (
) (
) ( s U
s P
s Q
s Y =
Penyelesaian
Dengan mencari T.Laplace tiap suku dari persamaan tersebut.

( )
k ms
x m msx
k ms
s F
s X
s F x m msx s X k ms
menjadi atas di pers shg
s F t f L
s kX kx L
x sx s X s m x m L
+
+
+
+
=
= +
=
=

-
-
- -
2 2
2
2
) 0 ( ) (
) (
) ( ) 0 ( ) (
: .
) ( )] ( [
) ( ] [
) 0 ( ) (
Penyelesaian Khusus
Penyelesaian Komplementer
Jika masukannya adalah fungsi tangga F(s) = 1/s maka

+
+
+
+
=
-

k ms
x m msx
L
k ms
s F
L t x
2
1
2
1
) 0 ( ) (
) (
( )
+ +
|
|
.
|
\
|
=
+
+
+
+
=
-
-

t
m
k
k
m
x t
m
k
x t
m
k
k k
k ms
x m msx
L
k ms s
L t x
sin ) 0 ( cos ) 0 ( cos
1 1
) 0 ( ) 0 ( 1
) (
2
1
2
1
1.Tinjau Sistem Mekanik di bawah ini. Sistem ini dibuat ber-
gerak dengan menggunakan gaya impuls satuan. Sistem
mula - mulai diam.
Dapatkan persamaan osilasi yang dihasilkan

x
k
Gaya
Impuls
e

m
) (t o
Penyelesaian
Dengan masukan fungsi impuls maka persamaan diff seperti di bawah:

Osilasi yang dihasilkan adalah gerak harmonik sederhana. Amplitudo osilasi
tersebut adalah

| | t
m
k
mk
s X L t x
k ms
s X
x x
s kX x sx s X s m
t kx x m
sin
1
) ( ) (
1
) (
0 ) 0 ( ) 0 (
1 ) ( ) 0 ( ) 0 ( ) (
) (
1
2
2
= =
+
=
= =
= +

= +
-
-
- -
o
mk
1
2.Diketahui suatu rangkaian RC seperti di bawah ini
Pertanyaan :
a.Dapatkan persamaan differensial yang merelasikan
tegangan keluaran, y terhadap tegangan masukan, x
b.Jika kondisi awal tegangan pada kapasitor adalah v
CO
=1
volt
dan x = 2
e-t
. Dengan menggunakan transformasi Laplace dapatkan
persamaan tegangan keluaran, y

i
Tegangan
Input
x
R=1
C=1 F
Penyelesaian
a. Dari hukum Kirchoff

- -
= +
+ + =
= =
+ + = + + =

x y y
sialkan didefferen kemudian
y dt y v x
i Ri y
i dt i v Ri dt i
C
v x
t
co
t
co
t
co
0
0 0
1
b.Bentuk persamaan sebelumnya diubah ke bentuk Laplace menjadi

| |
( ) ( )
( )
( )
t t
CO
CO
t
CO
t t
t
t
t
e e t
s
L
s
L t y
s s
s s s s s
s
s Y
v x y
y v
t y dt y v t x x
y n mendapatka untuk
e x dan
s
e L s X
ana
x s sX s Y y s sY

+
+
> >
+
+
>
+ =
+
+
+
=
+
+
+
=
+
+
+
+
=
+
+
=
= = + =
+ =
+ + = =
= = +
+
= =
+ = + +
2
1
1
1
2
) (
1
1
1
2
1
1
1
2
1
2
1
1
1
2
) (
1 1 2 ) 0 ( ) 0 (
) 0 (
) ( lim ) ( lim ) 0 (
) 0 (
2 2 lim ) 0 (
1
2
2 ) (
dim
) 0 ( ) ( ) ( ) 0 ( ) (
1
2
1
2
2 2
0
0 0
0
Soal Latihan
1.Buktikan hubungan pasangan transformasi Laplace seperti di bawah
ini :

2
2 2
2 2
1
) ( ) ( .
) ( cos ) ( .
) ( sin ) ( .
1
) ( ) ( .
1 ) ( ) ( ) ( .
1
) ( ) ( 1 ) ( .
s
s F t t f f
s
s
s F t t f e
s
s F t t f d
a s
s F e t f c
s F t t f b
s
s F t t f a
at
= > =
+
= > =
+
= > =
+
= > =
= > =
= > =
e
e
e
e
e
c
Block Diagram Algebra
Introduction
A graphical tool can help us to visualize the model of a
system and evaluate the mathematical relationships
between their elements, using their transfer functions.

In many control systems, the system of equations can be
written so that their components do not interact except by
having the input of one part be the output of another
part.

In these cases, it is very easy to draw a block diagram that
represents the mathematical relationships in similar manner
to that used for the component block diagram.
Reminder: Component Block
Diagram
Block Diagram
It represents the mathematical relationships between the
elements of the system.

The transfer function of each component is placed in box,
and the input-output relationships between components
are indicated by lines and arrows.
) ( ) ( ) (
1 1 1
s Y s G s U =
Block Diagram Algebra
Using block diagram, we can solve the equations by
graphical simplification, which is often easier and more
informative than algebraic manipulation, even though the
methods are in every way equivalent.

It is convenient to think of each block as representing
an electronic amplifier with the transfer function printed
inside.

The interconnections of blocks include summing points,
where any number of signals may be added together.
1
st
& 2
nd
Elementary Block
Diagrams
Block in series:

Blocks in parallel with their
outputs added:
2 1
1
2
G G
) s ( U
) s ( Y
=
2 1
1
2
G G
) s ( U
) s ( Y
+ =
3
rd
Elementary Block Diagram
Single-loop negative
feedback

Two blocks are connected in a
feedback arrangement so that each
feeds into the other:

The overall transfer
function is given by:
2 1
1
1 G G
G
) s ( R
) s ( Y
+
=
Feedback Rule
The gain of a single-loop negative feedback
system is given by the forward gain
divided by the sum of 1 plus the loop gain
2 1
1
1 G G
G
) s ( R
) s ( Y
+
=
1
st
Elementary Principle of Block
Diagram Algebra
2
nd
Diagram Algebra
3
rd
Diagram Algebra
Example 1: Transfer function
from a Simple Block Diagram
4 2
4 2
4 2
1
4 2
2
2
2
+ +
+
=
+
+
+
=
=
s s
s
) s ( T
s
s
s
s
) s ( T
) s ( R
) s ( Y
) s ( T
Example 2: TF from the Block
Diagram
Diagram
Diagram
Diagram
Diagram
Diagram
Diagram
Diagram
4 2 1 3 1
6 1 5 2 1
1 G G G G G
G G G G G
) s ( T
+
+
=
Block Diagram and its
corresponding Signal Flow Graph
Compact alternative notation to the block diagram.
It characterizes the system by a network of directed
branches and associated transfer functions.
The two ways of depicting signal are equivalent.
Open-loop and closed-loop systems
(a) Block diagram of a dc-motor control system.
(b) Block diagram with transfer functions and amplifier characteristics.
Block diagram elements of typical sensing devices of control systems.
(a) Subtraction. (b) Addition. (c) Addition and Subtraction. (d)
Multiplication.
Basic block diagram of a feedback control system.
Block diagram representations of a multivariable system.
Block diagram of a multivariable feedback control system.
Signal flow graph of y
2
= a
12
y
1
.
Step-by-step construction of
the signal-flow graph

Modification of a signal-flow graph so that y
2
and y
3
satisfy the condition
as output nodes.
Erroneous way to make node y
2
an input node.
Four loops in the signal-flow graph of Fig. 3-7(d).
Node as a summing point and as a transmitting point.
Signal-flow graph with parallel paths replaced by one with a single branch.
Signal-flow graph with cascade unidirectional branches replaced by a single
branch.
Signal-flow graph of the feedback control syswtem shown in Fig. 3-3.
(a) Block diagram of a control system.
(b) Equivalent signal-flow graph.
Signal-flow graph representation of X
1
(s) = [X
2
(s)/s] + [x
1
(t
0
)/s].
Signal-flow graph representation of X
1
(s) = [X
2
(s)/s] + [x
1
(t
0
)/s].
(a) State diagram.
(b) State diagram in part (a) with all initial states and integrators left out.
Basic block diagrams used in the TFcal tool.

Green Energy Transpotation and Application (GET-A) Research Group Electronic Engineering Polytechnic Institute of Surabaya

Diunggah oleh

Informasi Dokumen

Judul Asli

Hak Cipta

Format Tersedia

Bagikan dokumen Ini

Bagikan atau Tanam Dokumen

Opsi Berbagi

Apakah menurut Anda dokumen ini bermanfaat?

Apakah konten ini tidak pantas?

Hak Cipta:

Format Tersedia

Green Energy Transpotation and Application (GET-A) Research Group Electronic Engineering Polytechnic Institute of Surabaya

Diunggah oleh

Hak Cipta:

Format Tersedia

Green Energy Transpotation And Application (GET-A) Research Group

Electronic Engineering Polytechnic Institute Of Surabaya

Green Energy Transpotation And Application (GET-A) Research Group

Anda mungkin juga menyukai