Perancangan Kontroler :
Kontroler Proporsional + Integral + Diferensial
1
E(s) K p 1 + + τ d s U(s)
τi s
Kp : penguatan proporsional
τi : waktu integral
τd
: waktu differensial
Fungsi alih
τ iτ d s + τ i s + 1
2
K
K p
τ is 1 2 s + 2 2 ξ s + 1
C (s) ωn ωn
=
R (s)
τ iτ d s + τ i s + 1
2 K
1 + K p
τ is 1 2 s 2 + 2 ξ s + 1
ωn ω n
1
C ss = lim sC ( s ) = lim s = 1
s→0 s→0
s(τ *
s +1)
sehingga,
e ss = 1 − 1
* τi τi 2ξ
τ = ⇔ Kp = =
K .K p τ * .K τ * . ω n .K
Penyelesaian :
5
G (s ) = ⇒ ω n = 5 rad / det ; ξ = 0,6 ; K = 0, 2
s 2 + 6 s + 25
Waktu differensial :
1 1 1
τd = = =
2 ξω n 2 (0 ,6 )(5 ) 6
K : gain overall
ω n : frekuensi alami tak teredam
ξ : rasio peredaman
τ : time delay
Kp : penguatan proporsional
τi: waktu integral
τ d 1 : waktu differensial 1
τ d 2 : waktu differensial 2
Fungsi alih
C (s )
=
[ ]
KK p τ i (τ d 1 + τ d 2 )s 2 + (τ i + τ d 2 )s + 1 (τs + 1)
1 2 2ξ 2
R(s)
τ i s (τ d 2 s + 1) 2 s +
ωn
[ ]
s + 1 + KK p τ i (τ d 1 + τ d 2 )s 2 + (τ i + τ d 2 )s + 1 (τs + 1)
ωn
1
C ss = lim sC ( s ) = lim s =1
s→ 0
( )
s→ 0 s τ * s + 1
sehingga,
e ss = 1 − 1 = 0
2ζ
τi =
ωn
1
τd = , dan
2 ξω n
2ξ
Kp =
ω n .K p