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  • 1.4 Dengan PID Tanpa PID PID Coba: 10 S (s+2) (s+6) Zero-Pole y To Workspace Step PID(s)

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    Benof Arya Sahadewo
    8 views4 pages
    The document appears to be analyzing and designing a PID controller. It includes: 1) Calculations to determine the PID controller parameters (kp, ki, kd) based on the open-loop transfer function and specifications for damping ratio and natural frequency. 2) Plots of system response with and without the PID controller. 3) The PID controller is being designed and tested for a plant with open-loop transfer function: 10/(s(s+2)(s+6)).

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    tugas_pid

    Original Title

    tugas_pid

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    The document appears to be analyzing and designing a PID controller. It includes: 1) Calculations to determine the PID controller parameters (kp, ki, kd) based on the open-loop transfer function and specifications for damping ratio and natural frequency. 2) Plots of system response with and without the PID controller. 3) The PID controller is being designed and tested for a plant with open-loop transfer function: 10/(s(s+2)(s+6)).

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    © All Rights Reserved
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    8 views4 pages

    1.4 Dengan PID Tanpa PID PID Coba: 10 S (s+2) (s+6) Zero-Pole y To Workspace Step PID(s)

    Uploaded by

    Benof Arya Sahadewo
    The document appears to be analyzing and designing a PID controller. It includes: 1) Calculations to determine the PID controller parameters (kp, ki, kd) based on the open-loop transfer function and specifications for damping ratio and natural frequency. 2) Plots of system response with and without the PID controller. 3) The PID controller is being designed and tested for a plant with open-loop transfer function: 10/(s(s+2)(s+6)).

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 4

    10

    PID(s)

    s(s+2)(s+6)
    Step

    PID Controller

    To Workspace

    Zero-Pole

    t
    Clock

    To Workspace1

    1.4
    dengan PID
    tanpa PID
    PID Coba

    1.2
    1
    0.8
    0.6
    0.4
    0.2
    0
    -0.2

    10

    Sofyan Assauri
    201010130311053
    >> mp=0.18;
    >> zeta=sqrt((log(mp))^2/(pi^2+(log(mp))^2))

    zeta =

    0.4791

    >> wn=(pi-atan(sqrt(1-zeta^2)/zeta))/(2*sqrt(1-zeta^2))

    wn =

    1.1794

    >> s1=-zeta*wn+wn*sqrt(1-zeta^2)*i

    s1 =

    -0.5651 + 1.0352i

    >> mag_s1=abs(s1)

    mag_s1 =

    1.1794

    >> beta=angle(s1)

    beta =

    2.0704

    >> gh=10/(s1*(s1+2)*(s1+6))

    gh =

    -0.8375 - 0.2210i

    >> mag_gh=abs(gh)

    mag_gh =

    0.8661

    >> shie=angle(gh)

    shie =

    -2.8836

    >> ki=0.1;
    >> kp=(-sin(beta+shie)/(mag_gh*sin(beta)))-2*ki*cos(beta)/mag_s1

    kp =

    1.0368

    >> kd=sin(shie)/(mag_s1*mag_gh*sin(beta))+ki/mag_s1^2

    kd =

    -0.2126
    >> plot(t,y,t1,y1,t2,y2)

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