proses
Gd(s)
Offset
Pengaruh Pengendali Integral
pada Servo Problem
Offset
Persamaan karakteristik:
KOLOM
BA 1 2 3 4 …..
RIS 1 ao – a2 a4 a6 …..
2 a1 + a3 a5 a7 …..
3 b1
4 a1 x a2 – ao x a3
b1 =
5 a1
….. ….. ….. ….. ….. …..
n+ 1 w1 w2 ….. ….. …..
Routh Array
KOLOM
BA 1 2 3 4 …..
RIS 1 ao – a4 a6 …..
2 a1 + a5 a7 …..
3 b2
4 a1 x a4 – ao x a5
b2 =
5 a1
….. ….. ….. ….. ….. …..
n+ 1 w1 w2 ….. ….. …..
Routh Array
KOLOM
BA 1 2 3 4 …..
RIS 1 ao – a6 …..
2 a1 + a7 …..
3 b3
4 a1 x a6 – ao x a7
b3 =
5 a1
….. ….. ….. ….. ….. …..
n+ 1 w1 w2 ….. ….. …..
Routh Array
KOLOM
BA 1 2 3 4 …..
RIS 1
2 a1 – a3 a5 a7 …..
3 b1 + b2 b3 …..
4 c1
5 b1 x a3 – a1 x b2
c1 =
….. b1
n+ 1 w1 w2 ….. ….. …..
Routh Array
KOLOM
BA 1 2 3 4 …..
RIS 1
2 a1 – a5 a7 …..
3 b1 + b3 …..
4 c2
5 b1 x a5 – a1 x b2
c2 =
….. ….. ….. ….. b1 ….. …..
n+ 1 w1 w2 ….. ….. …..
Routh Array
KOLOM
BA 1 2 3 4 …..
RIS 1
2 a1 – a7 …..
3 b1 + b4 …..
4 c3
5 b1 x a7 – a1 x b4
c3 =
….. ….. ….. ….. ….. b1 …..
n+ 1 w1 w2 ….. ….. …..
Kriteria Kestabilan
KOLOM
BA 1 2 3 4 …..
RIS
1 ao a2 a4 a6 …..
2 a1 a3 a5 a7 …..
3 b1 b2 b3 ….. …..
4 c1 c2 c3 ….. …..
5 d1 d2 d3 ….. …..
….. ….. ….. ….. ….. …..
n+ 1 w1 w2 ….. ….. …..
Sistem stabil jika seluruh elemen kolom 1
(ao, a1, b1, c1, d1, ......, w1)
bernilai positif
DIAGRAM BODE
DIAGRAM BODE
menyajikan hubungan antara Amplitudo Ratio dan
keterlambatan terhadap frekwensi.
0.1
AR
0.01
-45
-90
0.01 0.1 1 10 100
Diagram Bode Sistem Orde Pertama
num= [0,5];
den= conv ([2 1], [0.5 1]);
sys= tf (num,den);
[mag,phase,w]=bode(sys,
{.01 100});
figure
subplot(2,1,1)
loglog(w,squeeze(mag))
grid
ylabel(‘AR')
subplot(2,1,2)
semilogx(w,squeeze(phase))
grid
ylabel(‘fase (derajat)')
xlabel( ‘Frekwensi
am Bode Sistem Orde Pertama Dipasang
num= [0,5];
den= conv ([2 1], [0.5 1]);
sys= tf (num,den);
[mag,phase,w]=bode(sys,
{.01 10});
figure
subplot(2,1,1)
loglog(w,squeeze(mag))
grid
ylabel(‘AR')
subplot(2,1,2)
semilogx(w,squeeze(phase))
grid
ylabel(‘fase (derajat)')
xlabel( ‘Frekwensi
(rad/menit)‘ )
ram Bode Sistem Orde Pertama Dipasang
1.00
AR/(1/5)
0.10
0.01
0.01 0.1 1 10
1.00
AR/(1/5)
0.10
0.01
0.01 0.1 1 10
Sistem Orde Kedua
= 0,1
= 0,2
= 0,3
= 0,5
=0
,6
= 0,8
=
1
=2
Sistem Orde Kedua
num= [1];
den= ([1 0.2 1);
sys= tf (num,den);
[mag,phase,w]=bode(sys,
{.01 10});
figure
subplot(2,1,1)
loglog(w,squeeze(mag))
grid
ylabel(‘AR')
subplot(2,1,2)
semilogx(w,squeeze(phase))
grid
ylabel(‘fase (derajat)')
xlabel( ‘Frekwensi
(rad/menit)‘ )
Pengendali Proporsional-Integral
num= [1 2];
den= [1 0];
sys= tf (num,den);
[mag,phase,w]=bode(sys,
{0.1 100});
figure
subplot(2,1,1)
loglog(w,squeeze(mag))
grid
ylabel('amplitude')
xlabel('frequency(rad/time)')
subplot(2,1,2)
semilogx(w,squeeze(phase))
grid
ylabel('phase(deg)')
A m p litu do /KC
100
10
-45
-90
0.01 0.1 1 10 100
Pengendali Proporsional-Derivative
num= [1 1];
den= [1 ];
sys= tf (num,den);
AR-nya kebalikan [mag,phase,w]=bode(sys);
dari sistem orde pertama figure
subplot(2,1,1)
loglog(w,squeeze(mag))
grid
ylabel('amplitude')
xlabel('frequency(rad/time
Frekwensi pojok-nya:
)')
subplot(2,1,2)
semilogx(w,squeeze(phase
))
grid
ylabel('phase(deg)')
xlabel('frequency
Pengendali Proporsional-Derivative
Latihan 01
Plot the Bode Diagram for the open-loop transfer
function of the control system of Fig. 15–23. This
system might represent PD control of three tanks in
series, with a transportation lag in the measuring
element.
Plot the Bode Diagram for the open-loop transfer
function of the control system of Fig. 15–23. This
system might represent PD control of three tanks in
series, with a transportation lag in the measuring
element.
num= [5 10];
den= conv ([1 2 1], [0.1 1]);
sys= tf
(num,den,’iodelay’,0.1);
[mag,phase,w]=bode(sys);
figure
subplot(2,1,1)
loglog(w,squeeze(mag))
grid
ylabel('amplitude')
xlabel('frequency(rad/time)')
subplot(2,1,2)
semilogx(w,squeeze(phase))
grid
ylabel('phase(deg)')
xlabel('frequency
(rad/time)')
Example 16.4. Tentukan Kc dan I dan D
menggunakan aturan Ziegler-Nichols untuk sistem
pengendalian di bawah ini.