Dasoto Bank PDF
Dasoto Bank PDF
DASAR OTOMATISASI
2006
iv
DAFTAR ISI
Halaman
C (s ) G 1G 2G 3
TF ( s ) = =
R (s) 1+G 1G 2 H 2 +G 1G 2G 3 H1
atau
C (s ) G 1G 2G 3
TF ( s ) = =
R (s) 1+G 1G 2 H1 +G 1G 2G 3 H 2
Actual
Generation
Computer
Desired temperature
Pressure, O2
a. Input adalah :
2) Desired O2 generation, R2 ( s ) .
d. Feedback adalah :
2) Measured O2 generation, H 2 ( s ) .
e. Disturbances diabaikan.
Asumsi :
v ( t ) = 10 volt
R =1
0
i ( t ) dt
∫−∞ s = 0 C =1
1
v (t) = i (t) R + i ( t ) dt
C∫
1 10 sC
i (t) R + i ( t ) dt = 10
C∫
I ( s) = .
s sRC + 1
⇓ 10
10C
1 I ( s ) i ( t ) dt 10 I ( s) = R
0
→
I ( s) R + + ∫ = sRC + 1 1
C s −∞
s s s+
RC
I ( s ) 10 10
I ( s) R + = I ( s) =
sC s s +1
1 10 sRC + 1
I ( s) R + = →
sC s sC
i(t) vs t
1.4
1.2
1
0.8
v(t)
0.6
0.4
0.2
0
1 2 3 4 5 6 7 8 9 10 11
t
Bentuk Grafik zero dan pole rangkaian RC seri di atas adalah sebagai berikut :
Asumsi :
i (t ) = 0 A
1
( )
v 0+ = v0 = 1 volt
LC
= −4
0
v ( t ) dt
∫ s =0
−∞
⇓
=
( s + 2 ) . ( −2 )
( s + 2 )( −2 − 2 )
( )} + L1 (s ) + ∫ ( s) = 0
V s v t dt
0
{
C sV ( s ) − v 0+
−2
−∞
=
V ( s) −4
C { sV ( s ) − v0 } + =0 1
sL =
2
1
V ( s ) sC + = Cv0 ( s − s2 ) s
sL k2 =
s LC + 1
2 ( s + 2 )( s − 2 ) s =2
V ( s) = Cv0
1
sL =
( s − 2) .( 2)
sL ( 2 + 2 )( s − 2 )
V ( s ) = Cv0 . 2
s LC + 1 2
=
s s 4
V ( s) = 2 =
s − 4 ( s − 2 )( s + 2 ) 1
=
2
1 1
1 −2 t 1 2 t
V ( s) = 2 + 2 → v (t ) = e + e
s+2 s−2 2 2
i(t) vs t
300000000
250000000
200000000
v(t)
150000000
100000000
50000000
0
1 2 3 4 5 6 7 8 9 10 11
t
Bentuk Grafik zero dan pole rangkaian LC paralel di atas adalah sebagai berikut :
Asumsi :
v ( t ) = 5 volt L =1
( )=i
i 0 +
0 =1 A 1
= −4
0
i ( t ) dt LC
∫
−∞
s
=0
di ( t ) 1
v (t) = L + ∫ i ( t ) dt k1 k
dt C I ( s) = + 2
s+2 s−2
di ( t ) 1
L + ∫ i ( t ) dt = 5 ⇓
dt C
⇓ k1 =
( s − s1 ) s
I ( s ) 0 i ( t ) dt 5
( s + 2 )( s − 2 ) s =−2
{ ( )}
L sI ( s ) − i 0+
1
+∫
1
+ =
C s −∞
s s
=
( s + 2 ) . ( −2 )
1 5 ( s + 2 )( −2 − 2 )
I ( s ) sL + = + Li0
sC s −2
=
1 5 −4
I ( s) s + = +1 1
sLC sL =
2
s 2 LC + 1 5 + sL
I ( s) = ( s − s2 ) s
sLC sL k2 =
( s + 2 )( s − 2 ) s =2
C
I ( s ) = 5 + sL. 2
1
s LC + 1 =
( s − 2) .( 2)
s+
5 ( 2 + 2 )( s − 2 )
C ( sL + 5 )
I ( s) = 2 → L
=
2
s LC + 1 1
s +
2
4
LC 1
s+5 =
I ( s) = 2
s2 − 4
1 1
1 −2 t 1 2 t
maka I ( s ) = 2 + 2 → i (t ) = e + e ,
s+2 s−2 2 2
zero adalah s = −5 dan pole adalah s1 = −2; s2 = 2
i(t) vs t
300000000
250000000
200000000
i(t)
150000000
100000000
50000000
0
1 2 3 4 5 6 7 8 9 10 11
t
Bentuk Grafik zero dan pole rangkaian LC seri di atas adalah sebagai berikut :
Asumsi :
i (t ) = 2 A
( )
v 0+ = v0 = 1 volt R = C =1
0
v ( t ) dt
∫ s =0
−∞
v (t ) dv ( t )
i (t ) = +C 1
R dt V ( s ) + sC = Cv0
v (t ) dv ( t ) R
+C =2 sRC + 1
R dt V ( s) = Cv0
⇓ R
RCv0 v0
V ( s) V ( s) =
R
{
+ C sV ( s ) − v 0+ ( )} = 0 sRC + 1
→
s + 1 / RC
1
V ( s) V ( s) =
+ sCV ( s ) − Cv0 = 0 s +1
R
1
maka V ( s ) = → v ( t ) = e − t dan pole adalah s = −1 , tanpa zero.
s +1
v(t) vs t
1.2
1
0.8
v(t)
0.6
0.4
0.2
0
1 2 3 4 5 6 7 8 9 10 11
t
Bentuk Grafik zero dan pole rangkaian RC paralel di atas adalah sebagai berikut :
Analisa KVL
Vtotal = V R + V L + VC
I
= I .R + I .L + …………………………………… (1)
C
di (t ) 1
v (t ) = R.i (t ) + L. + ∫ i (t ) dt
dt C
dv (t ) di (t ) d 2 i (t ) i (t )
= R. + L. +
dt dt dt 2 C
2
…………………………………. (2)
d i (t ) di (t ) i (t )
= L. 2
+ R. +
dt dt C
( ) ( )
di 0 +
{ ( )} I ( s)
L s 2 I ( s ) − si 0 + − + R sI (s ) − i 0 +
+
=0
dt C
di (0 + ) I ( s)
Ls 2 I ( s ) − Lsi (0 + ) − L + RsI ( s ) − Ri (0 + ) + =0
dt C
1 di (0 + )
I ( s ) Ls 2 + Rs + − i (0 + )[Ls + R] − L =0
C dt
di (0 + )
Bila i (0 + ) = i 0 dan = 0 maka :
dt t =0
1
I ( s ) Ls 2 + Rs + − i 0 [Ls + R] − 0 = 0
C
1
I ( s ) Ls 2 + Rs + = i 0 [Ls + R]
C
dan
i 0 [Ls + R ] p(s ) zero Ls + R
I ( s) = = = = ………………. (3)
1 q (s ) pole 1
Ls 2 + Rs + Ls 2 + Rs +
C C
1
Bila R = 3, L = 1, C = , 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 :
Bentuk Grafik zero dan pole rangkaian RLC seri di atas adalah sebagai berikut :
Aplikasikan Pecahan Parsial untuk mendapatkan nilai residu k1 dan k 2 sebagai berikut :
k1 k2
I (s ) = + ………………………………………….. (4)
(s + 2) (s + 1)
k1 =
(s − s1 ) p( s) k2 =
(s − s 2 ) p( s )
q( s) s1 = −2
q( s) s 2 = −1
=
(s + 2)(s + 3) =
(s + 1)(s + 3)
(s + 2)( s + 1) (s + 2)( s + 1)
=
(s + 3) = (− 2 + 3) = 1 = 1 =
( s + 3)
=
(− 1 + 3) = 2 = 2
(s + 1) s =−2 (− 2 + 1) − 1 (s + 2) s =−1 (− 1 + 2) 1
−1 2
maka persamaan i (t ) adalah :
−1 −1
i (t ) = +
s + 2 s + 1
i (t ) = − e −2 t + 2e − t
t 0 1 2 3 4 5 6
- - -
-4,5.10
- e −2 t -1 -0,135 -0,018 -0,0025 3,35.10- 5 6,14.10-
4 6
4,95.10-
e −t 2 0,736 0,271 0,099 0,0366 0,0134 3
4,95.10-
i (t ) 1 0,6 0,253 0,097 0,0363 0,0134 3
i(t) vs t
1.5
1
i(t)
i(t)
0.5
0
1 2 3 4 5 6 7
t
v (t ) dv ( t ) 1 t
v ( t ) dt = r ( t )
L ∫0
+C +
R dt
Tahapan
v (t ) dv ( t )
1 t
v ( t ) dt = 0
L ∫0
+C +
R dt
0
V ( s)
∫
1 V ( s ) −∞
f dt
R
{
+ C sV ( s ) − v 0+ + ( )}
L s
+
s
=0
∫ f dt
Asumsi : v 0 ( )=v ;+
0
−∞
s
= 0 , maka persamaan di atas menjadi :
V ( s) V ( s)
+ C { sV ( s ) − v0 } + =0
R sL
V ( s) V ( s)
+ sCV ( s ) − Cv0 + =0
R sL
1 1
V ( s ) sC + + = Cv0 → eliminasi s
R sL
s 1
V ( s ) s 2C + + = sCv0 → eliminasi C
R L
s 1 sv0 p ( s ) zero
V ( s ) s2 + + = sv0 → V ( s) = = =
RC LC s +
2 s
+
1 q ( s ) pole
RC LC
1 1
Asumsi : = 5; = 6; v0 = 1 V , maka akan diperoleh persamaan sebagai berikut :
RC LC
s s
V ( s) = = maka zero adalah s = 0 dan pole adalah
s + 5 s + 6 ( s + 2 )( s + 3 )
2
s1 = −2; s2 = −3
k1 k2
V ( s) = +
( s + 2) ( s + 3)
k1 =
( s − s1 ) p ( s ) k2 =
( s − s2 ) p ( s )
q ( s) s=s
q ( s) s=s
1 2
=
( s + 2) s =
( s + 3) s
( s + 2 )( s + 3) s =−2 ( s + 2 )( s + 3) s =−3
−2 −3
= =
−2 + 3 −3 + 2
= −2 =3
Maka :
−2 3
V ( s) = + → v ( t ) = 3e −3 t − 2e −2 t
( s + 2) ( s + 3)
v(t) vs t
1.2
0.8
0.6
v(t)
0.4
0.2
0
1 2 3 4 5 6 7 8 9 10 11
-0.2
-0.4
t
Analisa KVL
V1 = VR1 + VR 2 + VC
1
C∫
= I .R1 + I .R2 + i dt
1
C∫
⇓ V2 = VC = i dt
I ( s)
V1 ( s ) = I ( s ) R1 + I ( s ) R2 + ⇓
Cs
I ( s)
1 V2 ( s ) = → I ( s ) = CsV2 ( s )
= I ( s ) R1 + R2 + Cs
Cs
R Cs + R2Cs + 1
= I ( s) 1
Cs
R Cs + R2Cs + 1
V1 ( s ) = I ( s ) 1
Cs
R Cs + R2Cs + 1 V2 ( s ) 1
= CsV2 ( s ) 1 maka = atau
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
Dari Fungsi Transfer di atas dapat disimpulkan bahwa rangkaian RC seri di atas tidak
1
mempunyai zero dan hanya mempunyai single dominant pole, s = − .
R1C + R2C
Misal : RS = R1 + R2
1
C∫
V1 = IRS + i dt
dV1 di i
= RS +
dt dt C
⇓
{ ( )} + IC( s) = 0
RS sI ( s ) − i 0+
I ( s) dV1
( )
RS sI ( s ) − RS i 0+ +
C
= 0 dengan asumsi
dt
( )
= 0 dan i 0+ = i0 maka
t =0
1
I ( s ) RS s + = RS i 0+
C
( )
RS i0 RS R1 + R2 zero 1
I ( s) = → = ⇒ atau
1 1 1 pole 1
RS s + RS s + s ( R1 + R2 ) + s+
C C C C ( R1 + R2 )
1
sehingga hanya ada single dominant pole, s = − .
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,
1
s=− pada bidang-s.
R1C + R1C
−1 1
i (t ) =
1 1
s + Bila diasumsikan a = maka i ( t ) = e − at
RC1 + RC 2 RC1 + RC 2
1
− t
RC1 + RC 2
=e
t 0 1
a 0 1 2 3 4 5
e − at 1 0.36788 0.13534 0.04979 0.01832 0.00674
i (t ) 1 0.36788 0.13534 0.04979 0.01832 0.00674
i(t) vs t
1.2
1
0.8
0.6 i(t)
i(t) 0.4
0.2
0
t
t
Analisa KVL
V1 = VC 1 + VC 2 + VR
1 1
=
C1 ∫ i dt +
C2 ∫
i dt +I .R
⇓
V2 = VR = IR
I ( s) I ( s)
V1 ( s ) = + + I ( s) R ⇓
C1 s C 2 s
V2 ( s )
1 1 V2 ( s ) = I ( s ) R → I ( s ) =
= I ( s) + + R R
C1 s C 2 s
C s + C 2 s + RC1 sC 2 s
= I ( s) 1
C1 sC 2 s
V2 ( s ) 1 1
V1 ( s ) = + + R
R C1 s C 2 s
1 C 2 s + C1 s V2 ( s ) RsC1C 2
= V2 ( s ) + R =
R C1 sC 2 s V1 ( s ) C 2 + C1 + RsC1C 2
1 C 2 s + C1 s + RC1 sC 2 s sRC1C 2 1
= V2 ( s ) maka = Χ
R C1 sC 2 s sRC1C 2 + C1 + C 2 RC1C 2
C s + C1 s + RC1 sC 2 s s
= V2 ( s ) 2 =
RC1 sC 2 s C1 + C 2
s+
RC1C 2
C + C1 + RsC1C 2
= V2 ( s ) 2
RsC1C 2
C1 + C 2 V ( s) s
Bila τ = maka 2 =
RC1C 2 V1 ( s ) s + τ
1 1
V1 =
C1 ∫ i dt +
C2 ∫
i dt + IR
dV1 i i di
= + +R
dt C1 C 2 dt
⇓
I ( s) I ( s)
C1
+
C2
{ ( )} = 0
+ R sI ( s ) − i 0+
I ( s) I ( s) dV1
C1
+
C2
( )
+ RsI ( s ) − Ri 0+ = 0 dengan asumsi
dt
( )
= 0 dan i 0+ = i0 maka
t =0
1 1
I ( s) + + Rs = Ri 0+( )
C1 C 2
Ri0 R R 1
I ( s) = → = Χ
1 1 1 C + C1
+
1
+ Rs + + Rs Rs + 2 R
C1 C 2 C1 C 2 C1C 2
1 zero
= ⇒
C + C1 pole
s+ 2
RC1C 2
C1 + C 2
sehingga hanya ada single dominant pole, s = − .
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
C1 + C 2
dominant pole, s = − pada bidang-s.
RC1C 2
1
i (t ) = −1
s + C1 + C 2 Bila diasumsikan a = C1 + C 2 maka i ( t ) = e − at
RC1C 2 RC1C 2
C +C 2
− 1 t
RC1C 2
=e
t 0 1
a 0 1 2 3 4 5
e − at 1 0.36788 0.13534 0.04979 0.01832 0.00674
i (t ) 1 0.36788 0.13534 0.04979 0.01832 0.00674
i(t) vs t
1.2
1
0.8
0.6
i(t)
i(t)
0.4
0.2
0
t
t
voutput V2
FT → =
vinput VI
Analisa KCL
I = I C2 + I C 1 = I R
d (V1 − V2 ) d (V1 − V2 ) V2
⇒ C1 + C2 =
dt dt R
V2 ( s )
⇒ C1 s (V1 ( s ) − V2 ( s ) ) + C 2 s (V1 ( s ) − 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
V2 ( s ) C1 s + C 2 s s (C1 + C 2 ) 1
= = Χ
1 1
V1 ( s ) C s + C s +
1 2
s (C1 + C 2 ) + C1 + C 2
R R
s
=
1
s+
R(C1 + C 2 )
1 V ( s) s
Bila τ = maka 2 =
R(C1 + C 2 ) V1 ( s ) s + τ
voutput V2
FT → =
vinput VI
Analisa KCL
I = I R + I C1 = I C2
(V1 − V2 ) d (V1 − V2 ) d (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 +
V2 ( s ) R RC1 s + 1 1
= = Χ
V1 ( s ) C s + C s + 1 RC1 s + RC 2 s + 1 RC1
1 2
R
1
s+
RC1
=
C 1
s+ 2 s+
C1 RC1
C2 1 V2 ( s ) s+b
Bila a = dan b = maka =
C1 RC1 V1 ( s ) s + as + b
voutput V2
FT → =
vinput VI
Analisa KCL
R1.R2
V1 = VRP + VC RP =
R1 + R2
R .R 1
= I 1 2 + ∫ i dt
R1 + R2 C
R .R I ( s ) R .R 1
V1 ( s ) = I ( s ) 1 2 + = 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
= Χ
V1 ( s) R1 R2Cs + R1 + R2 R1.R2C
R1 + R2
R1 R2C
=
R + R2
s+ 1
R1 R2C
R1 + R2 V ( s) τ
Bila τ = maka 2 =
R1 R2C V1 ( s ) s + τ
voutput V2
FT → =
v input VI
Analisa KCL
voutput V2
FT → =
vinput 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 1 1 V ( s) a
Bila a = ,b= maka 2 =
R1 R2C R1C R1C R2C V1 ( s ) s + b
= =
R1 1
s+ s+
R1 R2C R2C
voutput V2
FT → =
vinput VI
Analisa KVL
V1 = VR + VC 1 + V C 2 V2 = VC 1 + V C 2
1 1 1 1
= IR +
C1 ∫ i dt +
C2 ∫
i dt =
C1 ∫ i dt +
C2 ∫
i dt
⇓ ⇓
I ( s) I ( s) I ( s) I ( s)
V1 ( s ) = I ( s ) R + + V2 ( s ) = +
C 1s C 2 s C 1s C 2 s
1 1 1 1
= I ( s) R + + = I ( s) +
C 1s C 2 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
C1 + C 2 V2 ( s ) τ
Bila τ = → =
RC1C 2 V1 ( s ) s + τ
voutput vR
FT → =
vinput vI
Analisa KVL
v I = v L + vC + v R
di ( t ) 1
i ( t ) dt + i ( t ) R
C∫
=L +
dt
⇓ VR ( s ) I ( s) R
=
I ( s) VI ( s ) s LC + sRC + 1
2
VI ( s ) = sLI ( s ) + + I ( s) R I (s)
sC sC
1
= I ( s ) R + sL + = 2
sRC
sC s LC + sRC + 1
s LC + sRC + 1
2
R
= I ( s) s
sC = L
R 1
s2 + s +
L LC
vR = i ( t ) R
⇓
VR ( s ) = I ( s ) R
R 1 V ( s) 2s VR ( s ) 2s
Bila = 2; = 1 maka R = 2 dan = sehingga hanya ada
L LC VI ( s ) s + 2 s + 1 VI ( s ) ( s + 1)2
voutput vC
FT → =
vinput vI
Analisa KVL
v I = v L + vC + v R
di ( t ) 1
i ( t ) dt + i ( t ) R
C∫
=L +
dt
⇓
I ( s)
VI ( s ) = sLI ( s ) + + I ( s) R
sC
1
= I ( s ) R + sL +
sC
s 2 LC + sRC + 1
= I ( s)
sC
I (s)
1 VC ( s )
vC = ∫ i ( t ) dt = sC
C VI ( s ) s 2 LC + sRC + 1
I ( s)
⇓ sC
I (s) 1
VC ( s ) = =
sC s LC + sRC + 1
2
1
=
R 1
s2 + s +
L LC
R 1 V ( s) 1 VR ( s ) 1
Bila = 2; = 1 maka R = 2 dan = sehingga hanya ada
L LC VI ( s ) s + 2 s + 1 VI ( s ) ( s + 1)2
voutput vO
FT → =
vinput vI
Analisa KVL
v I = v L + vC + v R
di ( t ) 1 1
i ( t ) dt + i ( t ) R i ( t ) dt + i ( t ) R
C∫ C∫
=L + vO =
dt
⇓ ⇓
I ( s) I ( s)
VI ( s ) = sLI ( s ) + + I ( s) R VO ( s ) = + I ( s) R
sC sC
1 1
= I ( s ) R + sL + = I ( s) R +
sC sC
s 2 LC + sRC + 1 sRC + 1
= I ( s) = I ( s)
sC sC
sRC + 1
I ( s)
VO ( s ) sC
=
VI ( s ) s 2 LC + sRC + 1
I ( s)
sC
sRC + 1
=
s LC + sRC + 1
2
R 1
s +
= L LC
R 1
s2 + s +
L LC
2
R R 1
− ± − 4 (1)
L L LC
Maka pole sistem di atas adalah s1, 2 =
2
R 1
dimana a = 1; b = ; c=
L LC
voutput v2 V2 ( s )
FT → = =
vinput v1 V1 ( s )
v1 = i ( t ) Z1 + i ( t ) R2
⇓ V2 ( s ) = I ( s ) R2
dva va
i ( t ) = C1 + 8
dt R1 V2 ( s ) I ( s ) R2
⇓ =
V1 ( s ) R + R2 ( sR1C1 + 1)
I ( s) 1
{ ( )} + R( )
V s sR1C1 + 1
I ( s ) = C1 sVa ( s ) − va 0+ a
1 R2 ( sR1C1 + 1)
1 =
= Va ( s ) sC1 + R1 + R2 ( sR1C1 + 1)
R1
sR1 R2C1 + R2
=
sR C + 1 sR1 R2C1 + R1 + R2
= Va ( s ) 1 1
R1 1
s+
⇓ R1C1
=
R1 R + R2
Va ( s ) = I ( s ) s+ 1
sR1C1 + 1 R1 R2C1
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
voutput v2 V2 ( s )
FT → = =
vinput v1 V1 ( s )
v1 = i ( t ) Z1 + i ( t ) R2 I ( s)
V2 ( s ) = I ( s ) R2 +
⇓ C2 s
dva va R C s + 1
i ( t ) = C1 + = I ( s) 2 2
dt R1 C2 s
⇓ 8
( )} + R( )
sR C + 1
{
V s
I ( s ) = C1 sVa ( s ) − va 0+ a
I ( s) 2 2
V2 ( s ) C2 s
1
=
1 V1 ( s ) sR C + ( sR2C 2 + 1)( sR1C1 + 1)
= Va ( s ) sC1 + I ( s) 1 2
R1 C 2 s ( sR1C1 + 1)
sR C + 1 ( sR1C1 + 1)( sR2C2 + 1)
= Va ( s ) 1 1 =
R1 sR1C 2 + ( sR2C 2 + 1)( sR1C1 + 1)
⇓
=
( sR1C1 + 1)( sR2C 2 + 1)
R1 s 2 R1C1 R2C 2 + sR1C1 + sR2C 2 + sR1C 2 + 1
Va ( s ) = I ( s )
sR1C1 + 1 =
( sR1C1 + 1)( sR2C2 + 1)
s 2
R1C1 R2C 2 + ( R1C1 + R2C 2 + R1C 2 ) s + 1
V2 ( s ) (1 + τ a s )(1 + τ b s )
=
V1 (1) τ aτ b s 2 + (τ a + τ b + τ ab ) s + 1
V1 ( s ) = Va ( s ) + I ( s ) R2 Bila τ 1 + τ 2 = τ a + τ b + τ ab , τ 1 = τ a , τ 2 = τ b
R1 I ( s)
= I (s) + I ( s ) R2 +
sR1C1 + 1 C2 s V2 ( s )
(1 + τ a s )(1 + τ b s )
=
R1 1 V1 (1) (1 + τ 1 s )(1 + τ 2 s )
= I (s) + R2 +
sR1C1 + 1 C2 s
R1 sR C + 1
= I (s) + 2 2
sR1C1 + 1 C2 s
sR C + ( sR2C 2 + 1)( sR1C1 + 1)
= I (s) 1 2
C 2 s ( sR1C1 + 1)
voutput v2 V2 ( s )
FT → = =
vinput 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
……………………….. (2)
I 2 R2 − I 3 ( sL + R3 ) = 0
Loop III
V2 − I 3 R3 = 0
V2 ……………………….. (3)
I3 =
R3
V2
I 2 R2 − ( sL + R3 ) = 0
R3
V2
I 2 R2 = ( sL + R3 ) ……………………….. (4)
R3
V2
I2 = ( sL + R3 )
R2 R3
V2 V
V1 − ( 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
⇓
V2 R2 R3
=
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 )
voutput v2 V2 ( s )
FT → = =
vinput v1 V1 ( s )
I1 = I 2 + I 3
Loop I
I2
V1 − I1 R1 − =0
sC
I2
V1 − ( I 2 + I 3 ) R1 − =0
sC
……………………….. (1)
1
V1 − I 2 R1 + − I 3 R1 = 0
sC
sR C + 1
V1 − I 2 1 − I 3 R1 = 0
sC
Loop II
I2
− I 3 sL − I 3 R2 = 0
sC
……………………….. (2)
I2
− I 3 ( sL + R2 ) = 0
sC
Loop III
V2 − I 3 R2 = 0
V2 ……………………….. (3)
I3 =
R2
I2
− I 3 ( sL + R2 ) = 0
sC
I 2 V2
= ( sL + R2 ) ……………………….. (4)
sC R2
sC ( sL + R2 )
I2 = V2
R2
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
V1 − V2 + =0
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
voutput v2 V2 ( s )
FT → = =
vinput v1 V1 ( s )
I1 = I 2 + I 3
Loop I
I1
V1 − I1 R1 − − 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 ……………………….. (1)
sC1
sR C + 1 sR C + 1
V1 − I 2 1 1 + sL1 + R2 − I 3 1 1 = 0
sC1 sC1
s 2 L1C1 + sR1C1 + sR2C1 + 1 sR1C1 + 1
V1 − I 2 − I3 =0
sC1 sC1
Loop II
I3
I 2 sL1 + I 2 R2 − I 3 sL2 − =0
sC 2
1
I 2 ( sL1 + R2 ) − I 3 sL2 + =0 ……………………….. (2)
sC 2
s 2 L2C 2 + 1
I 2 ( sL1 + R2 ) − I 3 =0
sC 2
Loop III
I3
V2 − =0
sC 2 ……………………….. (3)
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 ) ……………………….. (4)
s 2 L2C 2 + 1
I 2 = V2
sL1 + R2
V1 − V2
( )( )
s 2 L2C 2 + 1 s 2 L1C1 + sR1C1 + sR2C1 + 1 sC ( sR C + 1)
+ 2 =0
1 1
V1 − V2
( )( )
s 2 L2C 2 + 1 s 2 L1C1 + sR1C1 + sR2C1 + 1 + sC 2 ( sR1C1 + 1)( sL1 + R2 )
=0
sC1 ( sL1 + R2 )
( )( )
s 2 L2C 2 + 1 s 2 L1C1 + sR1C1 + sR2C1 + 1 + sC 2 ( sR1C1 + 1)( sL1 + R2 )
V1 = V2
sC1 ( sL1 + R2 )
⇓
V2 sC1 ( sL1 + R2 )
= 2
V1 ( )( )
s L2C 2 + 1 s L1C1 + sR1C1 + sR2C1 + 1 + sC 2 ( sR1C1 + 1)( sL1 + R2 )
2
s 2 L1C1 + sR2C1
=
(s LC
2
1 1 )( ) (
+ sR1C1 + sR2C1 + 1 s 2 L2C 2 + 1 + s 2 R1C1C 2 + sC 2 ) ( sL + R )
1 2
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 )
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
Langkah 5 – Sederhanakan Blok Sistem hasil Langkah 4 dengan Umpan Balik
G4
menjadi
Langkah 6 – Gabungkan Blok Sistem G1 dengan Blok Sistem hasil dari Langkah 5
G1G2G3G4
= G6
Misalkan 1- G3G4 H1 + G2G3 H 2 maka
⇓
C ( s) G6
⇒ =
R( s ) 1 + G6 H 3
G1G2G3G4
C ( s) 1- G3G4 H1 + G2G3 H 2 G1G2G3G4
= =
R ( s) G1G2G3G4 1- G3G4 H1 + G2G3 H 2 + G1G2G3G4 H 3
1+ H3
1- G3G4 H1 + G2G3 H 2
dan akhirnya
C ( s) G1G2G3G4
=
R ( s) 1- G3G4 H1 + G2G3 H 2 + G1G2G3G4 H 3
Langkah 1
Langkah 2
Langkah 3
Langkah 1
Langkah 2
Langkah 1
Langkah 2
Langkah 3
Langkah 1
Langkah 2
Langkah 3
Langkah 1
Langkah 2
Langkah 3
Langkah 1
Langkah 2
Langkah 3
Langkah 1
Langkah 2
Langkah 3
Langkah 4
C (s ) s3 + 1
=
R (s) 2s4 + s 2 + 2s
Tahap-tahap
V1 = VR + VC I ( s)
V1 ( s ) = I ( s ) R +
1 Cs
C∫
= IR + i dt
1
= I (s) R +
Cs
1
C∫
V2 = i dt V1 ( s ) V1 ( s ) Cs
I ( s) = =
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
Sederhanakan !
I = I R1 + I C 1 V1 ( s ) − V2 ( s )
I1 ( s ) = + C1 s (V1 ( s ) − V2 ( s ) )
V −V d (V1 − V2 ) R1
= 1 2 + C1
R1 dt V1 ( s ) V2 ( s )
= + C1 sV1 ( s ) − + CsV2 ( s )
R1 R1
V2 = IR2
1 1
= V1 ( s ) + C1 s − V2 ( s ) + C1 s
R1 R1
1 + R1C1 S 1 + R1C1 S
= V1 ( s ) − V2 ( s )
R1 R1
V2 ( s )
V2 ( s ) = I ( s ) R2 → I ( s ) =
R2
Sederhanakan !
Penyederhanaan Blok Diagram dan Signal Flow Graph suatu Sistem Pengaturan. Cari
Fungsi Transfer sistem berikut ini !
Tahapan
H2
d. Dengan cara yang sama lakukan untuk umpan balik untuk mendapatkan fungsi
G1
transfer sistem tersebut.
C(s) G 1G 2
e. Maka fungsi transfernya adalah =
R(s) 1-G 2 (H 2 -G 1H1 )
Contoh 2. Cari Fungsi Transfer Blok Diagram melalui Signal Flow Graph ala Mason
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 5 – Cari kombinasi 2-Non Touching Loop ( NTL2 j ). Untuk SFG di atas tidak ada
atau bernilai 0.
j j
∆ = 1 − ∑ L j + ∑ NTL2 j − ......
0 0
∆ = 1 − ( L1 + L2 + L3 + L4 + L5 + L6 ) + 0
1 1
= 1 − −s2 − s2 − − s2 − s2 −
s s
2
= 1 + 4s 2 +
s
4s + s + 2
3
=
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.
C ( s) i
Pi ∆ i C ( s) P1∆1 + P2 ∆ 2 + P3∆ 3
T ( s) = =∑ maka =
R ( s) 0 ∆ R ( s) ∆
1 2 s3 + 1
C (s) s.1 + s.1 +
= s2 = s2
R(s) 4s + s + 2
3
4s + s + 2
3
s s
2s + 1
3
= 4 2
4s + s + 2s
Contoh 3. Cari Fungsi Transfer Blok Diagram melalui Signal Flow Graph ala Mason
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
1 1
L1 = s 2 . ( −1) = − s 2 L2 = . ( −1) = −
s s
1 1 1 1
L3 = s 2 . . ( − s ) = − s 2 L4 = . . ( − s ) = −
s s s s
Tahap 5 – Cari kombinasi 2-Non Touching Loop ( NTL2 j ). Untuk SFG di atas tidak ada
atau bernilai 0.
j j
∆ = 1 − ∑ L j + ∑ NTL2 j − ......
0 0
∆ = 1 − ( L1 + L2 + L3 + L4 + L5 + L6 ) + 0
1 1
= 1 − −s2 − s2 − −
s s
2
= 1 + 2s 2 +
s
2s + s + 2
3
=
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.
C ( s) i
Pi ∆ i C ( s) P1∆1 + P2 ∆ 2
T ( s) = =∑ maka =
R ( s) 0 ∆ R ( s) ∆
1 s3 + 1
C ( s) s+
2 2
= 3 s = 3s
R ( s ) 2s + s + 2 2s + s + 2
s s
s3 + 1
=
2s4 + s2 + 2s
Contoh 4. Cari Fungsi Transfer Blok Diagram melalui Signal Flow Graph ala Mason
C ( s) G1G2G3 + G1G3
=
R ( s) 1 + G2 H 2 + G3 H 3 + G1G2 H1 + G2G3 H 2 H 3 + G1G2G3 H1 H 3
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
j j
∆ = 1 − ∑ L j + ∑ NTL2 j − ......
0 0
∆ = 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
C ( s) i
Pi ∆ i C ( s) P1∆1 + P2 ∆ 2
T ( s) = =∑ maka =
R ( s) 0 ∆ R ( s) ∆
C ( s) G1G2G3 + G1G3
=
R ( s) 1 + G2 H 2 + G3 H 3 + G1G2 H1 + G2G3 H 2 H 3 + G1G2G3 H1 H 3
V = VR + VC
1
C∫
= IR + i dt
⇓
dV
dt
dI I
=R +
dt C
{ ( )}
→ R sI ( s ) − i 0+ +
I ( s)
C
=0
1
I ( s ) Rs + = Rio
C
Rio RCio
I ( s) = =
1 RCs + 1
Rs +
C
1
I ( s) = i dV
s+
1 o dimana
dt
( )
= 0, i 0+ = io
RC t =0
V1 − V2 dV
I= =C 2
R dt
⇓
dI 1 d (V1 − V2 ) d 2V dI
= = C 22 → =0
dt R dt dt dt t =0
⇓
+
1
R
{( sV ( s ) − v (0 ) ) − ( sV ( s ) − v
1 1
+
2 2 (0+ ) )} = C s V ( s) − sv (0 ) − dv dt(0 )
2
2 2
+ 2
dv 2 (0+ )
Dengan asumsi initial condition v 1 (0+ ) = v 2 (0+ ) = 0 dan = 0 maka :
dt t =0
sV1 ( s ) − sV2 ( s )
= Cs 2V2 ( s )
R 1
sV1 ( s ) − sV2 ( s ) = RCs V2 ( s ) maka
2 V2 ( s ) =
1
atau
V2 ( s ) = RC
V1 ( s ) RCs + 1 V1 ( s ) s + 1
V1 ( s ) − V2 ( s ) = RCsV2 ( s )
RC
V1 ( s ) = V2 ( s )( RCs + 1)
V1 − V2 1
C∫
I= V2 = i dt
R
⇓ ⇓
V1 ( s ) − V2 ( s ) I ( s)
I ( s) = V2 ( s ) =
R Cs
Langkah 3 – Sederhanakan !
Langkah 3 – Sederhanakan !
DAFTAR PUSTAKA
2. Dorf, Richard C. dan Robert H. Bishop, “Modern Control System”, 9th Ed.,
Prentice-Hall, USA, 2004.
3. Kuo, Benjamin C., “Automatic Control Engineering”, 7th Ed., Prentice-Hall, USA,
1997.
6. Stubberud, Allen J.; Ivan J. Williams dan Joseph J. DiStefano, “Schaum’s Outline
of Feedback and Control System”, 2nd Ed., McGraw-Hill, USA, 1994.