BY
reference
control signal
input
signal,
command output signal
PENGENDALI isyarat
kendali
PROSES
isyar feedback signal luaran, isyarat
( CONTROLL luaran, hasil,
at ( PLANT )
masuk E R) produk
an isyarat umpan-
acuan, balik
perinta
h, set-
point
Contoh-Contoh Sistek Kontrol
Open Loop
Response
direction of
travel
Road Steering
conditions Time
Desired speed
Response
speed
Actual speed
Time
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Steering Automobile :
Open loop
Desired Actual
speed or Steering
Driver Automobile output
mechanism
direction
Disturbance Actual
Desired
output
Controller Actuator Process/ output
Plant
Measurement
output error
Controller Actuator Process/ output
+ -
Plant
Sensor
M easurement output feedback
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Contoh-Contoh Sistem Kontrol
Mesin Tenun
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Desain Sistem Kontrol
Performance specifications:
It is very important to define, in numerical terms, what
is the expected performance of the control system
One possibility is to examine the behavior of the output
in response to a sudden change in input: known as
“step response”
the
overshoot
Output
Typical requirements:
Steady state error
• No overshoot
• Zero steady state error
• Rising time as small as
Rise time
possible
Time (s)
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Control System Design
(1)Understand the system to be controlled. Define the objectives of the
controller (establish control goals)
(2)Identify the variables to control, build a simple mathematical model of
the system and examine the system behavior. Does the model
captures essential features of the system? If not revise the model.
(3) Write the specifications for the variables
(4) System configuration: sensor, controller, actuator, etc.
(5) Developing a model of the process, the actuator, and the sensor
(6) Describe a controller, select key parameters to be adjusted.
(7)Analyze and simulate the controller. Are objectives achieved? If not,
change the control strategy and redesign
(8)Test the controller on the real system. Can the control law be “fine
tuned” to achieve desired behavior? If not iterate until a satisfactory
solution is obtained
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