Kelas : 4KIC
Nim : 061940422442
Mk : Pengendalian Proses
Soal
Harga konstanta Kp=2, Ki=2,2 s-1 dan Kd=2 dan harga Po=50%
2. Mode Pi
3. Mode PD
Jawab :
1. Proporsional
Pada t = 2 detik → % Ep = 2 %
P1 = Kp × Ep + Po
= 2 × 2% + 50 %
= 54% = 0,54
2. Mode Pi
Pada t = 2 detik → % Ep = 2 %
P1 = Kp.Ep + Kp.Ki
= 2 x 2 % + 2 x 2,2 s- + 50 %
= 4% + 8,8% . 2 + 50%
= 54% + 17,6%
= 71,6 %
= 0,716
P2 = Kp.Ep + Kp.Ki
5
= 65,6% - 39,6%
= 26%
= 0,26
3. Mode PD
t = 2 detik → 2%
P1 = Kp.Ep + Kp.Kd
= 2 . 2% + 2 . 2 (1%) + 50%
= 58%
= 0,58
t =5detik → -3%
P2 = Kp.Ep + Kp.Kd
= 2 . (-3%) + 2 . 2 (-0,6) + 58%
= 49,6%
= 0,496
Grafik perbandingan antara % P dan waktu
59% 58 %
58%
57%
56%
55%
54%
53%
52%
51% 50 %
50 %
50%
49%
0 1 2 3 4 5 6
waktu (detik)