LANJUTAN BLOK

DIAGRAM dan SIGNAL

FLOW GRAPH

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
2
F ( s)  Fk  FD  M s X ( s)
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

2
R1 R2 C1C 2 s  ( R1C1  R2 C 2  R1C 2 ) s  1
 Signal Flow Graph
• Signal Flow Graph adalah: Suatu diagram yg dpt
memperlihatkan hubungan antara komponen dan
variabel yg ada pada suatu sistem dan hubungan
input – output dari sistem secara keseluruhan.
• Signal flow graph terdiri dari : node, branch, loop,
path, forward Path.
1
komponen
branch

R1 1 R2
X 1 Y variabel

Loop
node Forward path = R1 R2 dan R2
 Signal Flow Graph (SFG)

Basic Element

system signal connectivity

 Aturan Aljabar Signal Flow Graph
1. Penjumlahan
X1 G1 n
Y   Gi Xi
X2 G2 Y
X3 G3
i 1
Gn
Xn

2. Transmisi
G1 Y1
Y2
G2
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) PK
K DKK
Δ

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:

P1  G1 ( s )G2 ( s )G3 ( s)G4 ( s )G5 ( s)

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)

Loops 1 and 3: G2(s)H1(s)G7(s)H4(s)

Loops 2 and 3: G4(s)H2(s) G7(s)H4(s)

Non-touching loops taken three at a time

Loops 1,2 and 3: G2(s)H1(s)G4(s)H2(s) G7(s)H4(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)

P11 G1 ( s )G2 ( s )G3 ( s )G4 ( s )G5 ( s )1  G7 ( s ) H 4 ( s )

G (s)  
 
State Equation: Cascade

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