Graph (SFG)
1
Asep Najmurrokhman
Space Shuttle
3
Diagram blok
4
Plant : ruangan
Setpoint : suhu yg diinginkan
Sensor : termostat
Aktuator : gas valve + furnace
Disturbance : heat loss (misalnya jendela atau pintu
yg dibuka)
Motor DC (Motor Arus Searah)
6
Diagram blok sistem kendali
7
Contoh : Elektromekanis
8
0 s
=?
E a s
Ea 0
G s kT N s
Em
M s
0 s kT
E a s JLm s 3 Rm J Lm B s 2 Rm B k m k T s
Asep Najmurrokhman
Simbol dalam Diagram Blok
10
Seri / cascade
C s G2 s G1 s Rs
Paralel
C s G2 s G1 s Rs
Interkoneksi
13
C s G1 s
Rs 1 G1 s G2 s
Terminologi (1)
14
R(S) + E
G1 C(s)
F
H
Solution:
C(s) = G1E (1)
F = C(s)H (2)
E = R(s)-F (3)
E = R(s)- C(s)H (4)
C(s) = G1[R(s)- C(s)H] (5)
C(s) +C(s)HG1 = G1(R(s)
C(s)[1 + HG1] = G1(R(s)
C(s)/R(s)=G1/(1+G1H)
16
Solve For The Transfer Function
G1 A
+ C(s)
R(S) + E G2 B +
_
F
H
Solution:
C(s) = A + B (1)
A = G1E (2)
B = G2E (3)
F = HB (4)
E = R(s)-F (5)
X s 2
n
2
U s s 2n s n
2
Superposisi sistem linier
19
Interkoneksi
20
21
22
23
Sistem dengan gangguan (1)
24
Respon keseluruhan
Keunggulan :
Visualisasi sistem lebih mudah
Y s G1G2G3 G1G4
Rs 1 G1G2 H 1G1G2G3 G1G4
Tentukan fungsi transfer sistem berikut
36
37
C G1G2G3
R 1 G1G2 H 1G2G3 H 2 G1G2G3
Signal Flow Graph (SFG)
40
C s P11 G1G2G3
Rs 1 G1G2 H1 G2G3 H 2 G1G2G3
50
3 lintasan maju
4 loop
Ada sepasang loop yang tidak beririsan
Ada loop yang tidak beririsan dengan lintasan maju