Model Matematis #11 PDF
Model Matematis #11 PDF
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MODEL MATEMATIS
SISTEM DINAMIS DAN
SISTEM KENDALI
• PENDAHULUAN
• KLASIFIKASI SISTEM
PENDAHULUAN
KLASIFIKASI SISTEM
- LINEAR VS NONLINEAR
- TIME-INVARIANT VS TIME-VARYING
- CONTINUOUS-TIME VS DISCRETE-TIME
- DETERMINISTIC VS STOCHASTIC
- LINEAR VS NON-LINEAR
Daerah linear
TIME-INVARIANT VS TIME-VARYING
CONTINUOUS-TIME VS DISCRETE-TIME
- Sistem kontinyu waktu : memiliki semua variabel / sinyal
yang kontinyu terhadap waktu.
DETERMINISTIC VS STOCHASTIC
1
sLI ( s) + RI ( s ) + I ( s ) = Ei ( s)
Cs
1 I ( s)
I ( s ) = Eo ( s ) → = sEo ( s )
sC C
I (s)
s 2 LI ( s ) + RsI ( s ) + = sEi ( s )
c
Fungsi alih :
I (s)
Eo ( s ) C 1
= =
E i ( s ) s 2 L + Rs + 1 I ( s) LCs 2 + RCs + 1
C
R L1
e(t) C +- L2 e0(t)
i1(t) i2(t)
di1
e(t ) = Ri1 + L1 + e0 (1)
dt
di2
e0 = L2 ( 2)
dt
ic = i1 (t ) − i2 (t )
d (t )
ic = C e 0
dt
} i1 − i2 = C
de0
dt
(3)
Transformasi Laplace :
E 0 ( s)
E 0 ( s) − sL2 I 2 ( s) (2) → I 2 ( s) = (2)
sL2
I1 ( s) − I 2 ( s) = sC E0 ( s) (3)
E ( s) = ( R + sL1 ) I1 ( s) + E0 ( s) (1)
E ( s) − E 0 ( s)
I1 ( s) = (1)
R + sL1
(1) & (2) → (3)
E ( s) − E 0 ( s) E 0 ( s)
− = sC E 0 ( s)
R + sL1 sL2
( ) ( )
sL 2 E ( s) − R + s( L1 + L2 ) E0 ( s) = ( R + sL1 ) s2 L 2 C E 0 ( s)
sL E ( s) = [ s L C( R + sL ) + s( L + L ) + R ]E ( s)
2
2
2 1 1 2 0
E 0 ( s) sL2
= 2
E ( s) s L2 C( R + sL1 ) + s( L1 + L2 ) + R
sL2
=
s3 L1 L2 C + s2 L2 CR + s( L1 + L2 ) + R
i2 R2 Op Amp ideal :
Zin = ~
R1 Sehingga i0 = 0
-
ei i1 ex i0
+ eo ex ~0virtual ground,
sehingga
i 1 = i 2
Persamaan Rangkaian:
ei − ex ex − eo e −e
= ⇒ i = o
R1 R2 R1 R2
Diperoleh:
R2
eo = − e:
R1
ei deo eo
= −C −
R1 dt R2
Ei ( s ) E (s)
= − sCEo ( s) − o
R1 R2
sehingga
E o ( s) R 1
= − 2
Ei ( s ) R1 R2 Cs + 1
d 2 y dy dn
m 2 + b − + k ( y − n)
dt dt dt
d2y dy dn
m 2 + b + ky = b + kn
dt dt dt
Laplace :
(ms 2
)
+ bs + k Y ( s ) = (bs + k )U ( s )
Y ( s) bs + k
=
U ( s ) ms 2 + bs + k
k
m gaya luar f
b
Laplace :
ms 2 X ( s) + bs X ( s) + kX ( s) = F ( s)
Ambil :
f = d(t) , sehingga F(s) = 1; m= 1; b=2; k = 1
1 1
X ( s) = =
Teknik Elektro ITB
s 2 + 2 s + 1 [EYS- + 1)( s + 1)
( s98] hal 15 dari
28
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Bab 2: Model Matematis Sistem Dinamis EL303 Sistem Kendali
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Jα = ∑ T
J
T w
d 2θ dθ
J 2 +b =T
dt dt ω = kecepatan sudut rad / s
atau : θ = simpangan sudut (rad)
dω
J + bω = T
dt
ef eg ea zL
Lf
ia
if
if = arus medan n ia = arus jangkar
ο Kecepatan konstan n
ο Arus output ia dapat dikontrol dari besarnya arus if
e g = k1 ⋅ n ⋅ φ
φ = k2 ⋅ i f
} eg = k g ⋅ i f (1)
Konstanta generator
dif
e(1) :=
f Rf i f + Lf ( 2)
dt
eg
if = (3)
kg
Substitusi (3) -à (2):
eg L f deg
ef = Rf +
kg k g dt
Dalam Laplace:
E f ( s) =
1
kg
[ ]
R f + sL f E g ( s)
FungsiAlih :
E g (s) kg
=
E f ( s) R f + sL f
Atau:
ea
ia =
zL
Substitusi :
ea Lg dea
− e a = −e g + R g +
zL z L dt
Rg Lg dea
eg = eat + ea +
zL z L dt
Rg sLg
E g ( s) = 1 + + Ea ( s)
z L ( s ) z L ( s )
z L ( s)
= E ( s)
z L ( s) a
Diperoleh:
E a ( s) z L ( s)
=
E g ( s) z L ( s) + Rg + Lg s
Sehingga :
E a ( s) E g ( s) Ea ( s)
= x
E f ( s) E f ( s) E g ( s)
Rg z L ( s)
= x
R + sLf z L ( s) + Rg + sLg
rangkaian jangkar
Rm Lm
J inersia
ia = arus jangkar Lf
B= damping
If
Ef = konstan
if = arus medan
em = tegangan terinduksi
φ = k2 ⋅ i f φ = konstan
If = konstan
sehingga
dθo
em = k e ⋅ n = k e Ke = konstanta tegangan motor
dt
Persamaan rangkaian :
d ia
ea = Rm ia + Lm + em
dt
d dθ
ea = Rm ia + Lm ia + k e o
dt dt
Ea ( s) = ( Rm + sLm ) I a ( s) + k e sθo ( s)
Persamaan Beban
T = kT . ia
KT = konstansta torsi motor
d 2θo dθ
T= J 2 +B
dt dt
atau :
(
kT I a ( s) = Js 2 + Bs Θo ( s )) -
sehingga :
Θ ( s) kT
=
Teknik Elektro ITB
o [EYS- 98] hal 21 dari
E ( s) J L s + ( R J + L B)s + ( R B + k k )s
28 2 2
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a m m m m e T
Bab 2: Model Matematis Sistem Dinamis EL303 Sistem Kendali
_____________________________________________________________________________
Dengan definisi :
Lm
Ta = → Konstanta waktu jangkar
Rm
Rm B
γ = → Faktor redaman
ke kT
Diperoleh:
Θ s ( s) 1k
=
[
Ea ( s) s Ta Tm s2 + (Tm + γ Ta )s + (γ + 1) ]
ψ = k f ⋅i f →Konstan
ψ untuk if konstan
Torsi T :
T = ki ia ⋅ φ = ki ⋅ ia ⋅ k f ⋅ i f = k ⋅ ia
k = konstanta motor - torsi
dθ
eb = kb ⋅
dt
Persamaan input :
dia
La + Ra ia +eb = ea
dt
Persamaan output :
d 2θ dθ
T = k ⋅ ia = J 2 + b
dt dt
Konfigurasi dasar :
Rf Rg Lg Rm Lm
ef Lf eg em
if ia θo
n J
generator dc If
B
Ef
servo motor
Fungsi alih :
E g ( s) kg
=
E f ( s) R f + sL f
( ) (
eg = Rg + Rm ia + Lg + Lm ) d in
dt
dθ
+ ke o
dt
E ( s) = [( R + R ) + s( L + L )]I ( s) + k sΘ ( s)
g g m g m a e o
Persamaan Beban :
d 2θ o dθ
T=J +B o
d+2 dt
kT ⋅ I a ( s ) = (Js 2 + Bs )Θo ( s )
I (s) =
(Js 2
+ Bs )
Θo ( s)
a
kT
atau :
( ) (
ea → eg ⋅ Rm → Rm + Rg ; Lm → Lm + Lg , sehingga )
Θ o ( s) kT
=
[( g m ) [(
g m g ) ( m g)] (
E g ( s) s J L + L s 2 + R + R J + L + L B s + R + R B + k k
m e T ) ]
sehingga :
Θ o ( s) Θ o ( s) E g ( s)
= x
e f ( s) E g ( s) E f ( s)
= ……………………..
ef Lf Ea
if
if = arus medan θ o(t)
J
B
di f
e f = i f Rf + Lf
dt
Diperoleh:
θ o (s) kT R f ⋅ B
→ =
E f ( s ) s (1 + T f s )(1 + Tm s )
Lf
Tf = = Konstanta waktu rangkaian
Rf
J
Tm = = Konstanta waktu motor
B