Latihan 1 pengendalian
3
1. Dari persamaan didapat ∑F = m*a F - b dx dt - kx = m d 2 x dt F = m d 2 x dt + b dx dt + kx F(s) =( m s^2 + bs + k )* x(s) X(s) = F(s) / ( m s^2 + bs + k ) masukkan nilai 1;2;15;20 = 1 2 s 2 +15 s+20 Dengan soft matlab Open Loop >> num =[1]; >> den = [2 15 20]; >> step(num,den) 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05 S tep R esponse Tim e (seconds) Am plitude 2. Kontrol Proportional dg kp = 300 x(s) = kp/ ((2s^2)+ 15s+(20+kp)) =300/(2s^2 + 15s +320) num = [300]; >> den = [2 15 320]; >> step(num,den)
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Transcript of Latihan 1 pengendalian
1. Dari persamaan didapat F = m*aF - b - kx = m F = m + b + kxF(s) =( m s^2 + bs + k )* x(s)X(s) = F(s) / ( m s^2 + bs + k ) masukkan nilai 1;2;15;20 =
Dengan soft matlab Open Loop>> num =[1];>> den = [2 15 20];>> step(num,den)
2. Kontrol Proportional dg kp = 300x(s) = kp/ ((2s^2)+ 15s+(20+kp))=300/(2s^2 + 15s +320)
num = [300];>> den = [2 15 320];>> step(num,den)
Proportional Diff dg Kp = 300 kD= 10x(s) = KD s + kp/ ((2s^2)+ (15+kD) s+(20+kp))=(10 s + 300)/(2s^2 + 25s +320)
>> num = [10 300];>> den = [25 25 320];>> step(num,den)
Proportional Integral dngan Kp 30 Ki 70X(s) =( Kp s + KI)/ (s^3 +KD s^2 + Kp s + KI)System menjadi orde 3X(s) = (30 s + 70)/(2s^3 +15s^2 + (20+30)s + 70)num = [30 70];>> den = [2 15 50 70];>> t=0;0.01;3;>> step(num,den)
PID dngan Kp 350 Ki 300 kd 50X(s) = (50 s^2 +350 s + 300)/(2s^3 +65s^2 + 370s + 300)
num =[50 350 300];>> den =[2 65 370 300];>> t=0;0.01;4;>> step(num,den)
