Solusi Numerik Menggunakan XCOS: (Numeric Solution Using XCOS)
Solusi Numerik Menggunakan XCOS: (Numeric Solution Using XCOS)
DS
Scilab: XCOS Download & install: www.scilab.org
Start Menu
->SCilab Desktop
Menu-
>Applications
->Xcos
2
Xcos: Pustaka dan Jendela Kerja
Palettes
->Recently Used Blocks
Blocks
Jendela kerja
->File
->Save As
Jendela Kerja
Palettes
3
Xcos: Pustaka
Palettes
->Continous time systems
Blocks
• INTEGRAL_m
• Kondisi awal
• Opsi saturasi
• Reinisialisasi
𝑡
𝑦 𝑡 = න 𝑢 𝑡 𝑑𝑡 + 𝑦0
𝑡0
• INTEGRAL_f
• Kondisi awal
4
Xcos: Pustaka
Palettes
->Mathematical Operations
Blocks
• BIGSUM_f
• GAINBLK_f
• GAIN_f
5
Xcos: Pustaka
Palettes
->Sources
Blocks
• CLOCK_c
• CONST_f
• RAMP
• STEP_FUNCTION
• PULSE_SC
6
Xcos: Pustaka
Palettes
->Sinks
Blocks
• CSCOPE
• WRITEC_f
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Sistem Tanpa Input Derivatif
d 3 y (t ) d 2 y (t ) dy (t ) 𝑑3𝑦 𝑡 𝑎2 𝑑 2 𝑦 𝑡 𝑎1 𝑑𝑦 𝑡 𝑎0 𝑏0
+ a2 + a1 + a0 y (t ) = b0u (t ) [1] [8]
• Sistem orde 3: a3 = − − − 𝑦 𝑡 + 𝑢 𝑡
dt 3
dt 2
dt 𝑑𝑡 3 𝑎3 𝑑𝑡 2 𝑎3 𝑑𝑡 𝑎3 𝑎3
𝑑𝑥1 𝑡
𝑑𝑡
=
𝑑𝑦 𝑡
𝑑𝑡
= 𝑥2 𝑡 [3] 𝑥1 𝑡 = 𝑦 𝑡 [2]
u(t) 𝑏0 x3 x2 = x3 x1 = x2 x1 y(t)
𝑑𝑥2 𝑡
=
𝑑2 𝑦 𝑡
= 𝑥3 𝑡 [4]
𝑦 𝑡 = 𝑥1 𝑡 𝑎3
𝑑𝑡 𝑑𝑡 2
a2
𝑑𝑥3 𝑡 𝑑3 𝑦 𝑡 −
= a3
𝑑𝑡 𝑑𝑡 3
a1
−
𝑑𝑥3 𝑡 𝑎0 𝑎1 𝑎2 𝑏0 a3
= − 𝑥1 𝑡 − 𝑥2 𝑡 − 𝑥3 𝑡 + 𝑢 𝑡 [5]
𝑑𝑡 𝑎3 𝑎3 𝑎3 𝑎3
a0
−
a3
Susun persamaan matriks
𝑥 𝑡 0 1 0 𝑥1 𝑡 0 𝑥1 𝑡
𝑑 1
𝑥 𝑡 = 0 0 1 𝑥2 𝑡 + 0 𝑢 𝑡 [6] 𝑦 𝑡 = 1 0 0 𝑥2 𝑡 [8]
𝑑𝑡 2 − 𝑎0 Τ𝑎3 − 𝑎1 Τ𝑎3 − 𝑎2 Τ𝑎3 𝑏0 Τ𝑎3
𝑥3 𝑡 𝑥3 𝑡 𝑥3 𝑡
8
d 3 y (t ) d 2 y (t ) dy (t )
Menyiapkan BLOK a3
dt 3
+ a 2
dt 2
+ a1
dt
+ a0 y (t ) = b0u (t )
u(t) 𝑥ሶ 3 𝑥ሶ 2 = 𝑥3 𝑥ሶ 1 = 𝑥2 𝑥1 y(t)
𝑏0
𝑎3
Simpan (Save As) sesuai nama dan
di lokasi Folder yang dipilih 𝑎2
−
𝑎3
𝑎1
−
𝑎3
𝑎0
−
𝑎3
u(t) 𝑥ሶ 3 𝑥ሶ 2 = 𝑥3 𝑥ሶ 1 = 𝑥2 𝑥1 y(t)
𝑏0
𝑎3
Simpan (Save As) sesuai nama dan
di lokasi Folder yang dipilih 𝑎2
−
𝑎3
𝑎1
−
𝑎3
𝑎0
−
𝑎3
u(t) 𝑥ሶ 3 𝑥ሶ 2 = 𝑥3 𝑥ሶ 1 = 𝑥2 𝑥1 y(t)
𝑏0
𝑎3
𝑎2
−
𝑎3
𝑎1
−
𝑎3
𝑎0
−
𝑎3
Set CLOCK
u(t) 𝑥ሶ 3 𝑥ሶ 2 = 𝑥3 𝑥ሶ 1 = 𝑥2 𝑥1 y(t)
𝑏0
𝑎3
𝑎2
−
𝑎3
𝑎1
−
𝑎3
𝑎0
−
𝑎3
Set CSCOPE
u(t) 𝑥ሶ 3 𝑥ሶ 2 = 𝑥3 𝑥ሶ 1 = 𝑥2 𝑥1 y(t)
𝑏0
𝑎3
𝑎2
−
𝑎3
𝑎1
−
𝑎3
𝑎0
−
𝑎3
Menu Simulation->Setup
u(t) 𝑥ሶ 3 𝑥ሶ 2 = 𝑥3 𝑥ሶ 1 = 𝑥2 𝑥1 y(t)
𝑏0
𝑎3
𝑎2
−
𝑎3
𝑎1
−
𝑎3
𝑎0
−
𝑎3
Set STEP
u(t) 𝑥ሶ 3 𝑥ሶ 2 = 𝑥3 𝑥ሶ 1 = 𝑥2 𝑥1 y(t)
𝑏0
𝑎3
𝑎2
−
𝑎3
𝑎1
−
𝑎3
𝑎0
−
𝑎3
Menjalankan simulasi
Menu Simulation->Start
atau Klik pada simbol "Start"
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Sistem Dengan Input Derivatif
• Model ODE
𝑑3𝑦 𝑑2𝑦 𝑑𝑦 𝑑𝑢
+ 7 + 19 + 13𝑦 = 13 + 26𝑢
𝑑𝑡 3 𝑑𝑡 2 𝑑𝑡 𝑑𝑡
• Persamaan keadaan ruang
𝑥 0 1 0 𝑥1 0
𝑑 1
𝑥2 = 0 0 1 𝑥2 + 0 𝑢 𝑡
𝑑𝑡 𝑥 𝑏1
3 −13 −19 −7 𝑥3 1
u(t) 1 x3 x 2 = x3 x1 = x2 x1 y(t)
𝑥1 a3 𝑏0
𝑦 𝑡 = 26 13 0 𝑥2 + 0 𝑢 𝑡 a2
𝑥3 −
a3
a1
−
a3 = 1 a2 = 7 a1 = 19 a0 = 13 a3
a0
−
b1 = 13 b0 = 26 a3
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Sistem Dengan Input Derivatif
𝑥 0 1 0 𝑥1 0 𝑥1
d3y d2y dy du 𝑑 1
+ 7 + 19 + 13 y = 13 + 26u 𝑥2 = 0 0 1 𝑥2 + 0 𝑢 𝑡 𝑦 𝑡 = 26 13 0 𝑥2 + 0 𝑢 𝑡
dt 3 dt 2 dt dt 𝑑𝑡 𝑥
3 −13 −19 −7 𝑥3 1 𝑥3
a3 = 1 a2 = 7 a1 = 19 a0 = 13 b1 = 13 b0 = 26
𝑏1
u(t) 1 x3 x 2 = x3 x1 = x2 x1 y(t)
a3 𝑏0
a2
−
a3
a1
−
a3
a0
−
a3
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SCILAB: Sistem Dengan Input Derivatif
𝑥 0
A
1 0 𝑥1
B C 𝑥1 D
3
d y d y2
dy du 𝑑 1 0
+ 7 + 19 + 13 y = 13 + 26u 𝑥2 = 0 0 1 𝑥2 + 0 𝑢 𝑡 𝑦 𝑡 = 26 13 0 𝑥2 + 0 𝑢 𝑡
dt 3 dt 2 dt dt 𝑑𝑡 𝑥
3 −13 −19 −7 𝑥3 1 𝑥3
a3 = 1 a2 = 7 a1 = 19 a0 = 13 b1 = 13 b0 = 26
//// Sistem orde 3 dengan derivatif
A=[0 1 0;0 0 1;-13 -19 -7];B=[0;0;1];C=[26 13 0 ];D=0;
[sl]=syslin("c",A,B,C);
t=0:0.01:10;
[ys,xs]=csim("step",t,sl);
plot2d(t,ys);
𝑏1
u(t) 1 x3 x 2 = x3 x1 = x2 x1 y(t)
a3 𝑏0
a2
−
a3
a1
−
a3
a0
−
a3
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Respon Bebas Sistem Orde Satu y(t)
𝑚
𝑑2𝑦 𝑡
+ 𝑏
𝑑𝑦 𝑡
=0 𝑚
𝑑𝑣 𝑡
+ 𝑏𝑣 𝑡 = 0
𝑑𝑣 𝑡 𝑏
=− 𝑣 𝑡
m b
𝑑𝑡 2 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑚
m b vy(t)
m = 0,1 kg
b = 0,01 Nm/s
𝑚
𝑑2𝑦 𝑡
+ 𝑏
𝑑𝑦 𝑡
=0 𝑚
𝑑𝑣 𝑡
+ 𝑏𝑣 𝑡 = 0
𝑑𝑣 𝑡 𝑏
=− 𝑣 𝑡
m b
𝑑𝑡 2 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑚
m b vy(t)
m = 0,1 kg
b = 0,01 Nm/s
Hasil simulasi
Respon sistem
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