MODUL II
DIAGRAM BLOK DAN CONTROLLER
% -----------------
% SUSUNAN SERI SISTEM
%-----------------
clear all;
clc;
% Persamaan Fungsi alih
num1=[1 1];
den1=conv([1 3],[1 5]);
num2=[1 6];
den2=[1 10];
Transfer function:
s^2 + 7 s + 6
-------------------------
s^3 + 18 s^2 + 95 s + 150
% -----------------
% SUSUNAN PARALLEL SISTEM
%-----------------
clear all;
clc;
% Persamaan Fungsi alih
num1=[1];
den1=[1 2];
num2=[1 3];
den2=[1 10];
Transfer function:
s^2 + 6 s + 16
---------------
s^2 + 12 s + 20
% -----------------
% SUSUNAN PARALLEL SISTEM
%-----------------
clear all;
clc;
% Persamaan Fungsi alih
num1=[1];
den1=[1 2];
num2=[1 3];
den2=[1 10];
Gparallel=tf(n_parallel,d_parallel)
s^2 + 6 s + 16
---------------
s^2 + 12 s + 20
s^2 + 6 s + 16
-----------------
2 s^2 + 18 s + 36
% -------------------------------------------
% SUSUNAN LOOP TERTUTUP DENGAN FEED BACK SISTEM
%--------------------------------------------
clear all;
clc;
% Persamaan Fungsi alih
num1=[1 1];
den1=conv([1 3],[1 5]);
num2=[1 6];
den2=[1 10];
Transfer function:
s^3 + 14 s^2 + 63 s + 90
--------------------------
s^3 + 19 s^2 + 102 s + 156
%Masukan
setpoint=5 ;
K=finalvalue/setpoint
t1=0.283*finalvalue
t2=0.632*finalvalue
tho=(3/2)*(t2-t1)
td=t2-tho
%type kontroller
%controller Proportional
KP_1=(1/K)*(td/tho)^-1
%controller PID
KP_3=(1.2/K)*(td/tho)^-1
KI_3=2.0*td
KD_3=0.5*td
% Jenis PI
num_controller2=[KP_2 KI_2 ];
den_controller2=[1 0];
step(num_c,den_c);
finalvalue_2=polyval(num_c,0)/polyval(den_c,0)
[y,x,t]=step(num_c,den_c);
[Y,k]=max(y);
timetopeak=t(k)
percentovershoot=100*(Y-finalvalue_2)/finalvalue_2
%mengitung rise time
n=1;
while y(n)<0.1*finalvalue_2,n=n+1;end
m=1;
while y(m)<0.9*finalvalue_2,m=m+1;end
risetime=t(m)-t(n)
%menghitung setlling time l=length(t);
while(y(l)>0.98*finalvalue_2)&(y(l)<1.02*finalvalue_2)
l=l-1;
end
settlingtime=t(l)
finalvalue = 0.1667
K= 0.0333
t1 = 0.0472
t2 = 0.1053
tho = 0.0873
td = 0.0181
KP_1 = 144.7465
KP_2 = 130.2719
KI_2 = 0.0602
KP_3 = 173.6959
KI_3 = 0.0362
KD_3 = 0.0090
finalvalue_2 = 1
timetopeak = 5.9950e+003
percentovershoot = -0.3113
risetime = 0
settlingtime = 1.7775e+003