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Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
closed-loop control
100
0.5
10
r
w
y
u
+
-
+
-
controller
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
CLASSIFICATION
* Process Control
REGULATOR
fixed setpoint
James Watt
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Cornelis Drebbel : egg hatching control system
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
* Servo Control
Trajectory following
Robot Systems
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Actuator
Pneumatic valve
p
i
x
q
o
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Open-Loop Control
fluid in
fluid out
disturbances
parameter variations
low performance
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Closed-Loop Control
controller valve system
sensor
r c
d
e
+
- input output
disturbance
error
FEEDBACK CONTROL
e error
r setpoint
d disturbance
c controlled variable
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
A robot is a computer-controlled
machine.
Industrial robotics is a particular
field of automation in which the
robot is designed to substitute
for human labor.
The Honda P3 humanoid robot.
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Sistem Permodelan
Persamaan
Differensial
variable x(t)
Penyelesaian
x(t)
Persamaan
Aljabar
Operator s
Penyelesaian
Aljabar x(s)
Penyelesaian
Langsung (Analitik)
Perhitungan Aljabar
Transformasi Laplace
Inversi Transformasi Laplace
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Definisi dan Formula Transformasi Laplace
Transformasi Laplace didefinisikan sebagai
di mana t adalah waktu dan s =
Untuk mempermudah Transformasi Laplace ditulis L[f(t)]
Bandingkan dengan transformasi Fourier
=
0
) ( ) ( dt
st
e t f s F
e o j +
= dt
t j
e t f s F
e
) ( ) (
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Tabel Transformasi Laplace
Fungsi Waktu Transformasi Laplace
1. Unit impulse 1
2. Unit Step u(t)
3. Unit Ekspnen
4. Sinusoida
5. Cosinus
) (t o
s
1
at
e
a s+
1
t e sin 2 2
e
e
+ s
t e cos
2 2
2
e + s
s
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
| | ( )
( )
) 0 ( ) (
) ( ) 0 ( 0
) ( ) (
) ( ) (
:
) 0 ( ) ( ) (
) ( ) ( ) (
0
0
0
0
1
1 1
f s sF
dt e t f s f
dt se t f e t f
dt e t f
dt
d
t f
dt
d
L
Pembuktian
f s s R s t f
dt
d
L
atau
t f s sR t f
dt
d
L
st
st st
st
n
r
r n n
n
n
o
=
+ =
=
+ =
=
deferensial
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Integral
( ) ( )
( ) t t
t t
t t
t t t t
t t t t
d f
s
s F
s
dt e t f
s
d f
s
dt e
s
t f e
s
d f
dt e d f d f L
Pembuktian
d f
s
s F
s
d f L
st
to
st st
t
to
st
t
to
to
t
to
1
) (
1
1 1
1
) (
1
) (
) ( ) (
) (
1
) (
1
) (
0
0
0
0 0
0
0
+ =
+ =
|
.
|
\
|
|
.
|
\
|
=
=
+ =
) ( ) (
0 0
t u
dt
d
b t y
dt
d
a
k
k
m
k
k
n
k
k
k
k
= =
=
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Dengan mentransformasikan kedua sisi persamaan didapat :
dimana Io(s) merupakan keadaan awal. Untuk menyederhanakan
misalkan
Hubungan masukan dan keluaran dapat dinyatakan sebagai berikut
P(s)Y(s) = Q(s)V(s) + I
o
(s)
Apabila I
o
(s) = 0 maka
) ( ) ( ) ( ) ( ) (
0
0 0
s I s U s b s Y s a
m
k
k
k
n
k
k
k
+ =
= =
) ( ) ( ) ( ) (
0 0
s Q s b dan s P s a
m
k
k
k
n
k
k
k
= =
= =
) (
) (
) (
) ( s U
s P
s Q
s Y =
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Penyelesaian
Dengan mencari T.Laplace tiap suku dari persamaan tersebut.
( )
k ms
x m msx
k ms
s F
s X
s F x m msx s X k ms
menjadi atas di pers shg
s F t f L
s kX kx L
x sx s X s m x m L
+
+
+
+
=
= +
=
=
-
-
- -
2 2
2
2
) 0 ( ) (
) (
) ( ) 0 ( ) (
: .
) ( )] ( [
) ( ] [
) 0 ( ) (
Penyelesaian Khusus
Penyelesaian Komplementer
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Jika masukannya adalah fungsi tangga F(s) = 1/s maka
+
+
+
+
=
-
k ms
x m msx
L
k ms
s F
L t x
2
1
2
1
) 0 ( ) (
) (
( )
+ +
|
|
.
|
\
|
=
+
+
+
+
=
-
-
t
m
k
k
m
x t
m
k
x t
m
k
k k
k ms
x m msx
L
k ms s
L t x
sin ) 0 ( cos ) 0 ( cos
1 1
) 0 ( ) 0 ( 1
) (
2
1
2
1
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
1.Tinjau Sistem Mekanik di bawah ini. Sistem ini dibuat ber-
gerak dengan menggunakan gaya impuls satuan. Sistem
mula - mulai diam.
Dapatkan persamaan osilasi yang dihasilkan
x
k
Gaya
Impuls
e
m
) (t o
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Penyelesaian
Dengan masukan fungsi impuls maka persamaan diff seperti di bawah:
Osilasi yang dihasilkan adalah gerak harmonik sederhana. Amplitudo osilasi
tersebut adalah
| | t
m
k
mk
s X L t x
k ms
s X
x x
s kX x sx s X s m
t kx x m
sin
1
) ( ) (
1
) (
0 ) 0 ( ) 0 (
1 ) ( ) 0 ( ) 0 ( ) (
) (
1
2
2
= =
+
=
= =
= +
= +
-
-
- -
o
mk
1
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
2.Diketahui suatu rangkaian RC seperti di bawah ini
Pertanyaan :
a.Dapatkan persamaan differensial yang merelasikan
tegangan keluaran, y terhadap tegangan masukan, x
b.Jika kondisi awal tegangan pada kapasitor adalah v
CO
=1
volt
dan x = 2
e-t
. Dengan menggunakan transformasi Laplace dapatkan
persamaan tegangan keluaran, y
i
Tegangan
Input
x
R=1
C=1 F
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Penyelesaian
a. Dari hukum Kirchoff
- -
= +
+ + =
= =
+ + = + + =
x y y
sialkan didefferen kemudian
y dt y v x
i Ri y
i dt i v Ri dt i
C
v x
t
co
t
co
t
co
0
0 0
1
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
b.Bentuk persamaan sebelumnya diubah ke bentuk Laplace menjadi
| |
( ) ( )
( )
( )
t t
CO
CO
t
CO
t t
t
t
t
e e t
s
L
s
L t y
s s
s s s s s
s
s Y
v x y
y v
t y dt y v t x x
y n mendapatka untuk
e x dan
s
e L s X
ana
x s sX s Y y s sY
+
+
> >
+
+
>
+ =
+
+
+
=
+
+
+
=
+
+
+
+
=
+
+
=
= = + =
+ =
+ + = =
= = +
+
= =
+ = + +
2
1
1
1
2
) (
1
1
1
2
1
1
1
2
1
2
1
1
1
2
) (
1 1 2 ) 0 ( ) 0 (
) 0 (
) ( lim ) ( lim ) 0 (
) 0 (
2 2 lim ) 0 (
1
2
2 ) (
dim
) 0 ( ) ( ) ( ) 0 ( ) (
1
2
1
2
2 2
0
0 0
0
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Soal Latihan
1.Buktikan hubungan pasangan transformasi Laplace seperti di bawah
ini :
2
2 2
2 2
1
) ( ) ( .
) ( cos ) ( .
) ( sin ) ( .
1
) ( ) ( .
1 ) ( ) ( ) ( .
1
) ( ) ( 1 ) ( .
s
s F t t f f
s
s
s F t t f e
s
s F t t f d
a s
s F e t f c
s F t t f b
s
s F t t f a
at
= > =
+
= > =
+
= > =
+
= > =
= > =
= > =
e
e
e
e
e
c
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Block Diagram Algebra
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Introduction
A graphical tool can help us to visualize the model of a
system and evaluate the mathematical relationships
between their elements, using their transfer functions.
In many control systems, the system of equations can be
written so that their components do not interact except by
having the input of one part be the output of another
part.
In these cases, it is very easy to draw a block diagram that
represents the mathematical relationships in similar manner
to that used for the component block diagram.
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Reminder: Component Block
Diagram
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Block Diagram
It represents the mathematical relationships between the
elements of the system.
The transfer function of each component is placed in box,
and the input-output relationships between components
are indicated by lines and arrows.
) ( ) ( ) (
1 1 1
s Y s G s U =
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Block Diagram Algebra
Using block diagram, we can solve the equations by
graphical simplification, which is often easier and more
informative than algebraic manipulation, even though the
methods are in every way equivalent.
It is convenient to think of each block as representing
an electronic amplifier with the transfer function printed
inside.
The interconnections of blocks include summing points,
where any number of signals may be added together.
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
1
st
& 2
nd
Elementary Block
Diagrams
Block in series:
Blocks in parallel with their
outputs added:
2 1
1
2
G G
) s ( U
) s ( Y
=
2 1
1
2
G G
) s ( U
) s ( Y
+ =
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
3
rd
Elementary Block Diagram
Single-loop negative
feedback
Two blocks are connected in a
feedback arrangement so that each
feeds into the other:
The overall transfer
function is given by:
2 1
1
1 G G
G
) s ( R
) s ( Y
+
=
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Feedback Rule
The gain of a single-loop negative feedback
system is given by the forward gain
divided by the sum of 1 plus the loop gain
2 1
1
1 G G
G
) s ( R
) s ( Y
+
=
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
1
st
Elementary Principle of Block
Diagram Algebra
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
2
nd
Elementary Principle of Block
Diagram Algebra
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
3
rd
Elementary Principle of Block
Diagram Algebra
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Example 1: Transfer function
from a Simple Block Diagram
4 2
4 2
4 2
1
4 2
2
2
2
+ +
+
=
+
+
+
=
=
s s
s
) s ( T
s
s
s
s
) s ( T
) s ( R
) s ( Y
) s ( T
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Example 2: TF from the Block
Diagram
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Example 2: TF from the Block
Diagram
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Example 2: TF from the Block
Diagram
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Example 2: TF from the Block
Diagram
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Example 2: TF from the Block
Diagram
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Example 2: TF from the Block
Diagram
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Example 2: TF from the Block
Diagram
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Example 2: TF from the Block
Diagram
4 2 1 3 1
6 1 5 2 1
1 G G G G G
G G G G G
) s ( T
+
+
=
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Block Diagram and its
corresponding Signal Flow Graph
Compact alternative notation to the block diagram.
It characterizes the system by a network of directed
branches and associated transfer functions.
The two ways of depicting signal are equivalent.
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Open-loop and closed-loop systems
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
(a) Block diagram of a dc-motor control system.
(b) Block diagram with transfer functions and amplifier characteristics.
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Block diagram elements of typical sensing devices of control systems.
(a) Subtraction. (b) Addition. (c) Addition and Subtraction. (d)
Multiplication.
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Basic block diagram of a feedback control system.
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Block diagram representations of a multivariable system.
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Block diagram of a multivariable feedback control system.
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Signal flow graph of y
2
= a
12
y
1
.
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Step-by-step construction of
the signal-flow graph
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Modification of a signal-flow graph so that y
2
and y
3
satisfy the condition
as output nodes.
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Erroneous way to make node y
2
an input node.
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Four loops in the signal-flow graph of Fig. 3-7(d).
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Node as a summing point and as a transmitting point.
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Signal-flow graph with parallel paths replaced by one with a single branch.
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Signal-flow graph with cascade unidirectional branches replaced by a single
branch.
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Signal-flow graph of the feedback control syswtem shown in Fig. 3-3.
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
(a) Block diagram of a control system.
(b) Equivalent signal-flow graph.
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Signal-flow graph representation of X
1
(s) = [X
2
(s)/s] + [x
1
(t
0
)/s].
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Signal-flow graph representation of X
1
(s) = [X
2
(s)/s] + [x
1
(t
0
)/s].
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
(a) State diagram.
(b) State diagram in part (a) with all initial states and integrators left out.
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Basic block diagrams used in the TFcal tool.
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya
Green Energy Transpotation And Application (GET-A) Research Group
Electronic Engineering Polytechnic Institute Of Surabaya