Disusun oleh:

1. Arvin Primo
2. Bhakti Nuryadin
3. Bhre Kumara Hangga W.
4. Dwi Agus Sulistia
istem Control 5. Deni Agus Iriyanto
6. Dimas Izuladha
Pada 7. Fariza Indriyanto
8. Fiska Suhenda
DC Motor Speed 9. Fachriza Sofyan
10. Freddy Satriyo
11. Fuad Barlian
12. Giant Hermawan
13. Hilman Alfian
14. Indra Putra Temagangka
15. Indra Setiawan
16. Insan Fadilah
DC Motor DC Motor Speed

Komponen Utama •Input :Voltase

•Magnit •Output :Putaran
•Kumparan
•Arus DC
Ef = Lf

DC Motor Speed 5.
Modeling eb = k3 . ω

Persamaannya:
e a = k4 . r
Dimana: ef = k1(ea – eb)
r ef = Lf + rf . if
1. ea = k4 . r
k4 Tm = k2 . if
ea Tm = j + f . ω
2. e e b = k3 . ω
a ef k1(ea – eb) = ef
k1
eb Ea = k4 . R
Ef = k1(Ea – Eb)
3. Rf Lf

ef
ef = Lf + rf . if
L Ef = LsIf + Rf .If
Tm = k2 . If
4. Ra La Tm = JΩs + f.Ω
Tm= k2 . if Eb = k3 . ω
Tm ea = konstan ΣT = j . α
Tm = j + f . ω
Ef = Lf

DC Motor Speed Diagram Blok

Modeling R
K4
Ea
K1
Ef
1/Ls+Rf
If
K2/Js+f
Ω

Eb
K3

Asumsi:
Ea = k4 . R
Eb = k3 . Ω
R Ω
20

0,1

R Ω
Respon Transien Analisis Ω
1.2
R Ω 1

0.8

0.6

0.4

0.2

0
0 1 2 3 4 5 6
t
t Ω
0.1 0.980499255
0.2 0.554064926
0.3 0.68766965
0.4 0.67377994
… …
… …
4.8 0.666
4.9 0.666
5 0.666
S1,2 =

Root Locus Analisis

R Ω

1. Pole (k=0)
1 + GH =0
S2 + 14,5 S + 150 = 0
S1,2 =

S1 = -7,25 + 9,87 i
S2 = -7,25 – 9,87 I

Np=2
2. Zero (k=~)
Zero tidak ada
Nz = 0

3. Asimtot.
σ = = -7,25

 = = ±90
Reference
1. http://www.engin.umi
ch.edu/group/ctm/exa
mples/motor/PID2.ht
ml . Di akses 3/5/10
2. Ogata, katsuhiko. erima Kasih
Modern Control
Engineering. 4 edition
3. Kreyszig. Advanced
Engineering
Mathematics. 9 edition
 INK:
•DC Motor Speed Modeling
•Diagram Blok
ertanyaan? •Respon Transien Analisis
•Root Locus Analisis