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SISTEM PENGENDALIAN MODERN
TUGAS 2-3
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Disusun oleh:
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FRISKA AYU NUGRAHENI
014
2407 100
VIDIA AYU
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SETA 2407 100 036
RENITA NAULITA HUTABARAT
040
2407 100
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TUGAS 1 PENENTUAN KETERAMATAN DAN KETERKONTROLAN SISTEM
Bentuk diagram blok sistem pengendalian single element pada steam drum V-0201 adalah
sebagai berikut:
STEAM
LICA LV
DRUM
0201 0201-2
V-0201
LT
0201
Setelah model matematik dari setiap komponen diatas ditemukan, maka dibuat dalam
bentuk diagram blok yang telah dilengkapi dengan fungsi alih dari masing-masing komponen.
Berikut adalah diagram bloknya :
1 2 , 37 1
Kp (1 ) 0 , 94 s 1
TiS 1221 . 32 s
20
0 ,2 s 1
Transfer Function:
x1 = y
x2 = x˙1
x3 = x˙2
x4 = x˙3
Representasi persamaan state-space sistem menjadi:
x= Ax+
˙ Bu
y=Cx
dimana:
−6.064 −5.3193 −2.0645 −0.0295 1
[
A= 1.0000
0
0
0
1.0000
0
0
0
1.0000
C=[ 0 0.0082 0.0413 0.0015 ]
0
0
0
;
; D=0
B=
] []
0
0
0
[
A= 1.0000
0
0
0
1.0000
0
0
0
1.0000
0
0
0
;
] []
B= 0
0
0
Continuous-time model
>> [A,B,C,D]=ssdata(tugas_ss)
A=
-6.0640 -5.3193 -2.0645 -0.0295
1.0000 0 0 0
0 1.0000 0 0
0 0 1.0000 0
B=
1
0
0
0
C=
0 0.0082 0.0413 0.0015
D=
0
>> u=4;
>> step(u*tugas_ss)
Step Response
0.25
0.2
0.15
Amplitude
0.1
0.05
0
0 50 100 150 200 250 300 350
Time (sec)
TUGAS 2 POLE-PLACEMENT
C( s) 131,8 s 2+ 663,74 s +23,7
=
R( s) 16072 s4 + 97461,33 s 3+ 85492,4 s 2+ 33180 s+ 474
[
A= 1.0000
0
0
0
1.0000
0
0
0
1.0000
0
0
0
;
] B= 0
0
0
[]
C=[ 0 0.0082 0.0413 0.0015 ] ; D=0
misalkan pole yang diinginkan adalah s1= -3 ; s2= -2.5 ; s3= -5 ; s4= -1
u=−( k 2 x 2+ k 3 x 3 +k 4 x 4 ) +k 1 ( r− x1 ) =−Kx+k 1 r
dimana:
K= [ k 1 k 2 k 3 k 4 ]
METODE 1:
[ |sI− A|= −1
0
0
s
−1
0
0
s
−1
0
s
]
0 =s4 + 6,1 s3 −0,03
s4 + a1 s 3+ a2 s 2+ a3 s+ a4 ≈ s 4 +6,1 s3−0,03
METODE 2 :
K= [ 00 0 1 ] [ B ⋮ AB ⋮ A 2 B2 ⋮ A3 B 3 ] ∅ ( A )
dengan,
[
∅ ( A )= 1.0000
0
0
0
1.0000
0
0
0
1.0000
0
0
0
+ 11,5 1.0000
0
0
0
1.0000
0
] [
0
0
1.0000
2
0
0
0
]
−6.064 −5.3193 −2.0645 −0.0295 −6.064 −5.3193 −2.0645 −0.0295 1 0
[
+ 45,5 1.0000
0
0
0
1.0000
0
0
0
1.0000
0
0
0
+ 45 1.0000
0
0
0
1.0000
0
0
0
] [
1.0000
0
0
0
+ 65
][ 0
0
0
1
0
0
[
∅ ( A )= −29.74 15.36
7.22
5.43
14.01
40.1
0
0
1.0000
0
0
0
]
1 −6,1 31,45 −160 195.72 143.15 −2.0645 −0.0295
K= [ 00 0 1 ] 0
0
0
[ 1
0
0
1
0
−6,1
1
7.22
5.43
][
−6,1 31,45 −29.74 15.36
14.01
40.1
0
0
1.0000
0
0
0
]
Maka:
K= [ 5,43 40,11 0 ]
K=
L=
[ ][
x2
x3
x4
= 0
0
0
0
0
0
0
0
0
Dan persamaan outputnya adalah:
0
0
0
x2
x3
x4
+ 0
0
0
r
][ ] [ ]
x1
[]
x
y= [ 0 0.0082 0.0413 0.0015 ] 2
x3
x4
Karena
x1 ( ∞)
u ( ∞ )=− [ 5.4
[ ]
x ( ∞)
40.2 70.4 37.5 ] 2
x3 ( ∞)
x 4 (∞)
+5.4 r
r
u ( ∞ )=− [ 5.4
0
0
[]
40.2 70.4 37.5 ] 0 +5.4 r =0
Metode 1
[
|sI− A|= −1
0
0
s
−1
0
0
s
−1
0
s
]
0 =s4 + 6,1 s3 −0,03
α 4−α 4 1 0 0 0 65−0,03
Maka matriks gain observer Ke=(WN*)-1
α 3 −α
α 2−α 2
α 1−α 1
3
[ ] [ ][ ]
=0 1
0 0
0 0
0
1
0
0 45−0
0 45,5−0
1 11,5−6,1
1 0 0 0 64,97 64,97
[ ][ ] [ ]
¿ 0
0
0
1
0
0
0
1
0
0 45 = 45
0 45,5
1 5,4
45,5
5,4
Metode 2
Ke 1
K
[]
K e= e 2
K e3
K e4
|[ ] [ |[
s S+6.1
0
0
0
s 0 0
0 s 0
0 0 s
−
1.0000
0
0
0
1.0000
0
0
0
1.0000
0
0
0
K
Ke 3
Ke 4
][ ]
+ e 2 [ 0 0.0082 0.0413 0.0015 ] = −1.000
0
0
¿ s4 + 6,1 s3−0,03−0,02 K e 4
atau
Ke 1 5,4
[ ][ ]
Ke 2
Ke 3
Ke 4
= 45,4
45
3251,5
K e =¿
−1
195.72 143.15 −2.0645 −0.0295 0 0.0082 0.0413 0.0015 0
K e=
[
−29.74
7.22
5.43
15.36
14.01
40.1
0
0
1.0000
0
0
0
0.0082
][
0.0413 0.0015 0
−0.0084 −0.042 −0.017 −0.0002
0.009 0.0279 0.0172 0.0002
][] 0
0
1
195.72 143.15 −2.0645 −0.0295 0 0.0082 −0.0084 0.009 0
K e=
[−29.74
7.22
5.43
15.36
14.01
40.1
0
0
1.0000
0
0
0
0.0082
][
0.0413 −0.042 0.0279 0
0.0413 0.0015 −0.017 0.0172 0
0.0015 0 −0.0002 0.0002 1
][ ]
5,7198
[ ]
K e = 0,1609
0,4559
1,1849