by:
Hera Hikmarika M.Eng
Blok Diagram
• Prosedure menggambar blok diagram suatu
sistem:
1. Buat persamaan diferensial sistem
2. Transformasi laplace pers.diff dengan asumsi
semua syarat awal = 0
3. Gambarkan blok diagram setiap pers laplace
4. Gabung setiap gambar pers laplace sehingga
menjadi blok diagram keseluruhan sistem
Contoh 5
Vi = R I + Vo …….(1)
Vo = 1 I ……..( 2 )
Cs
Input : Vi(t) Vo
Output : Vo(t)
Vi
1 I 1
R Cs
Vo
Vi 1 Vo
RC s 1 Vo 1
Vi RC s 1
Contoh 6
F ( s) Fk FD M s X ( s)
2
Fk k X (s)
Input : f(t) FD D s X (s )
Output : X(t)
F(s) 1 X(s)
F(s) X(s)
M s2 1
FD
Fk
Ds M s2 D s K
K
Contoh 7
Vi R1 I 1 V
1
V ( I1 I 2 )
C1 s
V R2 I 2 Vo
Input : Vi(t) 1
Output : Vo(t) Vo I2
C2 s
Vi I1 V I2 Vo
1 1 1 1
R1 C1 s R2 C2 s
V Vo
Lanjutan:
I1 V I2 Vo
1 1 1 1
R1 C1 s R2 C2 s
V Vo
R1 C2 s
Vi Vo
1 1 1 1
R1 C1 s R2 C2 s
Vi 1 Vo
R1 1 R2
X 1 Y variabel
Loop
node Forward path = R1 R2 dan R2
Signal Flow Graph (SFG)
Basic Element
2. Transmisi
G1 Y1
G2
Y2
Y3
Yi Gi X
X G3
Untuk i = 1 sampai n
Gn
Yn
Aturan Aljabar Signal Flow Graph
3. Perkalian
G1 G2 G3 Gn
Y= G1 G2 G3………Gn
X Y
Contoh :
Z =10 X + 2 X – 4 Y ; Y = 5 Z ;
2
10 5 Z= 12 X - 4 Y
X Z Y
-4
Mason Rule
C ( s)
• Transfer function pada signal flow graph :
R(s)
C ( s) P K DKK
Δ
K
R( s) D
Δ
Dimana:
K = banyaknya forward Path
PK = Gain forward path ke K
Δ = 1 – Σ loop Gain + Σ perkalian 2 loop gain yg tdk bersentuhan - Σ perkalian 3
loop gain yg tdk bersentuhan + Σ perkalian 4 loop yg tdk bersentuhan –
……..dst
ΔK = Δ – Σ loop gain pada Δ yang bersentuhan dengan forward path ke K
Contoh 1
1
G1 1 1 G2 G3 G4 G5
C (s)
R(s) Dik: TF R( s)
V1 V2 V3 V4 C(s)
H1 H2
G6
P1 = G1 G2 G3 G4 G5 Δ1 = 1
P2 = G1 Δ2 = 1 – G2 H1 – G4 H2 + G2 G4 H1 H2
L1 = G2 H1 L3= G6
L2 = G4 H2 L4= G2 G3 G4 G5 G6
Δ = 1 - G2 H1 - G4 H2 – G6 - G2 G3 G4 G5 G6 +G2 G4 H1 H2 +G2 G6 H1
+ G4 G6 H2 + G2 G4 G6 H1 H2
C ( s) G1G 2 G3 G 4 G5 G1(1 G 2 H 1 G 4 H 2 G 2 G 4 H1 H 2)
R( s ) 1 G 2 H 1 G 4 H 2 G 6 G 2 G3 G 4 G5 G 6 G 2 G 4 H 1 H 2 G 2 G 6 H 1 G 4 G 6 H 2 G 2 G 4 G 6 H 1 H 2
Contoh 2:
• Tentukan transfer function Y(s)/X(s) pada gambar blok
diagram berikut dengan metode signal flow graph.
Jawab:
G2 P1 = G1 Δ1 = 1
P2 = G2 Δ2 = 1
1 1 G1 1
L1 = - G1 H
X Y Δ = 1 + G1 H
-H
Y G1 G 2
X 1 G1 H
Contoh 3:
Contoh 4:
C (s)
Dik: TF R( s)
P1= G1(s)G2(s)G3(s)G4(s)G5(s)G7(s) 1 1
P2= G1(s)G2(s)G3(s)G4(s)G6(s)G7(s) 2 1
• Loop 1 : L1 = G2(s)H1(s) • Loop 3: L3 = G4(s)G5(s)H3(s)
• Loop 2: L2 = G4(s)H2(s) • Loop 4: L4 = G4(s)G6(s)H3(s)
• Loops 1 and 2 : G2(s)H1(s) G4(s)H2(s)
• Loops 1 and 3: G2(s)H1(s) G4(s)G5(s)H3(s)
• Loops 1 and 4: G2(s)H1(s) G4(s)G6(s)H3(s)
1 G2 ( s) H1 ( s) G4 ( s ) H 2 ( s) G4 ( s )G5 ( s) H 3 ( s) G4 ( s )G6 ( s) H 3 ( s )
G2 ( s) H1 ( s)G4 ( s ) H 2 ( s) G2 ( s) H1 ( s)G4 ( s )G5 ( s ) H 3 ( s)
G2 ( s) H1 ( s)G4 ( s)G6 ( s) H 3 ( s)
Contoh 5:
L1 G2 ( s ) H1 ( s )
L2 G4 ( s ) H 2 ( s )
L3 G7 ( s ) H 4 ( s )
L4 G2 ( s )G3 ( s )G4 ( s )G5 ( s )G6 ( s )G7 ( s )G8 ( s )
Non-touching loops taken two at a time
Loops 1 and 2: G2(s)H1(s)G4(s)H2(s)
1 – [G2(s)H1(s)+G4(s)H2(s)+ G7(s)H4(s)
+ G2(s)G3(s)G4(s)G5(s)G6(s)G7(s)G8(s)]
+ [G2(s)H1(s)G4(s)H2(s) + G2(s)H1(s)G7(s)H4(s)
+ G4(s)H2(s) G7(s)H4(s)] –[G2(s)H1(s)G4(s)H2(s)G7(s)H4(s
1 = 1 – G7(s)H4(s)
C (s) 24
R ( s ) ( s 2)( s 3)( s 4)
x 1 4 x1 x2
x 2 3 x2 x3
x 3 2 x3 24r
4 1 0 0
x 0 3 1 x 0 r
0 0 2 24
y 1 0 0 x
State Equation: Parallel
C (s) 24 12 24 12
R( s ) ( s 2)(s 3)(s 4) ( s 2) ( s 3) ( s 4)
x 1 2 x1 12r
x 2 3x2 24r
x 3 4 x3 12r
2 0 0 12
x 0 3 0 x 24 r
0 0 4 12
y 1 1 1 x
MID
DASAR SISTEM KENDALI
Waktu : 45 Menit
1. Tentukan fungsi Alih dari diagram dibwah ini
2. Sajikan signal flowgraph berikut kedalam bentuk persamaan state space.
C (s) s 2 7s 2
R( s ) ( s 2)( s 3)( s 4)
0 1 0 0
x 0 0 1 x 0 r
24 26 9 1
y 2 7 1 x