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Konsep Dasar Sistem Kontrol
Jenis Sistem Kontrol Contoh-contoh
Masukan
Kontroller
Proses
Keluaran
control signal
(CONTROLLER)
PENGENDALI
isyarat kendali
feedback signal
isyarat umpan-balik
PROSES (PLANT)
output signal
luaran, isyarat luaran, hasil, produk
set-point
Open Loop
Pemanggang Roti
Motor DC
Steering Automobile
Speed actual direction desired direction
Noise
Response speed
Time
Desired output
Actual output
Open-loop menggunakan actuating device untuk mengontrol process secara langsung tanpa feedback Kerugian : sensitivity to disturbances and systems inability to correct for these disturbances
Comparison
Driver
mechanism
Measurement
Desired output +
-
Actual output
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Mesin Tenun
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Motion 1
1
Master Computer 2 PWM 2 PWM 3 PWM 4 Motor 2 PWM 1 Motor 1
Motion 4 Motion 2
3 4 Motor 3 Motor 4
Motion 3
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Optical
Encoder
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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 the step response
overshoot
Typical requirements:
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control variable: angular of steering wheel mathematical model: f(v, t, P) control variable: position of each motion mathematical model: f(x, y, z, , v, t)
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Sensor: tachogenerator, optical encoder, etc. Actuator: AC/DC servo motor with reduction gear boxes Controller: PWM unit; microcomputer for position control of each motion; PC used as master computer, to control the coupling movement of several motions Control algorithm: PID controller Computer programming language: C++ and Assembler
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DC motor
Optical encoder
tachometer
http://www.micromo.com/
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V K P e K D e K I edt
0
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evaluation of time response of the system for a given input Parameters to be adjusted: KP, KD, KI
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Step 6: Describe a controller, select key parameters Step 7: Analyze and simulate the controller
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Feedback systems
Time domain specifications & system stability Controller design, PID; Root Locus analysis
Frequency domain
Bode plot Compensator design
Review questions:
(1) Give examples of open-loop systems (2) Name several applications for feedback control system (3) Name reasons for using feedback control systems and reasons for not using them (4) Functionally, how do closed-loop systems differ from open-loop systems? (5) Name two possible control law for motion controls (6) Name advantages of having a computer in the control loop (7) Three major design criteria. (1) transient response, (2)steadystate error and (3) stability. Briefly describe the criteria. (8) Name components in a control system (9) Briefly describe performance specifications of control systems (10) Describe steps of a control system design.
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Referensi
Sistem Kontrol Otomasti, K Ogata Automatic Control System, Benjamin C Kuo Advance Control Engineering, Ronald SB Internet dll