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05 Analisis Kestabilan fbc2 PDF
05 Analisis Kestabilan fbc2 PDF
Tujuan:
Tujuan Mhs mampu menganalisis kestabilan sistem
pengendalian umpan balik
Materi:
Materi
1. Konsep Kestabilan Sistem Loop Tertutup (Stability Concept
of The Closed Loop System)
2. Persamaan Karakteristik (Characteristic Equation)
3. Kestabilan Berdasarkan Ultimate Response
4. Kriteria Kestabilan Routh-Hurwitz
5. Analisis Kestabilan dengan Root Locus
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 1
5.1 Konsep Kestabilan Sistem
Loop Tertutup
• Designing a FBC (i.e. selecting its
components and tuning its controller)
seriously affects its stability characteristics.
• The notion of stability and the stability
characteristics of closed loop systems is
therefore considered to be useful.
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 2
5.1 Konsep Kestabilan Sistem Loop Tertutup
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 3
5.1 Konsep Kestabilan Sistem Loop Tertutup
Input
Upper Limit
m(t)
step
sinusoidal
Lower Limit
time
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 4
5.1 Konsep Kestabilan Sistem Loop Tertutup
Unstable
Stable
Desired value
Unstable
time
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 5
5.1 Konsep Kestabilan Sistem Loop Tertutup
Transfer
Function
y ( s ) = G ( s ) m( s )
• m = input, and y = output
• If G(s) has a pole with positive real part, it gives
rise to a term C1ept which grows continuously
with time Æ unstable
Imaginary
Stable Unstable
Real
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 7
5.1 Konsep Kestabilan Sistem Loop Tertutup
y(t) = C1 et
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 8
5.1 Konsep Kestabilan Sistem Loop Tertutup
30 unstable
20
y
10
0
0 0.5 1 1.5 2
Time
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 9
5.1 Konsep Kestabilan Sistem Loop Tertutup
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 11
5.1 Konsep Kestabilan Sistem Loop Tertutup
0.8
0.6 Stable
y
0.4
offset
0.2
0
0 0.5 1 1.5 2
Time
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 12
5.1 Konsep Kestabilan Sistem Loop Tertutup
0.6
• System has two complex poles:
0.5
0.4
p1 = -1 + j y 0.3
p2 = -1 − j 0.2
0.1
0
• Therefore, System is stable 0 2 4 6 8 10
Time (second)
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 13
5.1 Konsep Kestabilan Sistem Loop Tertutup
1 τ I s +1 K c (τ I s + 1)
Kc
s + 2s + 2
2
τIs τI
Gsp ( s ) = =
τ I s +1
s + 2 s + (2 + K c )s +
1 Kc
1+ 2 Kc 3 2
s + 2s + 2 τIs τI
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 14
5.1 Konsep Kestabilan Sistem Loop Tertutup
0
y
-5
-10
0 0.2 0.4 0.6 0.8 1
Time (second)
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 15
5.1 Konsep Kestabilan Sistem Loop Tertutup
1.6
Kc = 10 and τI = 0.5
1.4
1.2
1
y
0.8
0.6
0.4
0.2
0
0 5 10 15 20 25 30 35 40
Time (second)
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 16
5.2 The Characteristic Equation
The closed loop response of FBC :
G p G f Gc Gd
y ( s) = y sp ( s ) + d ( s)
1 + G p G f Gc Gm 1 + G p G f Gc Gm
1 + GpGfGcGm = 0
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 17
5.2 Persamaan Karakteristik
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 18
5.2 Persamaan Karakteristik
⎛ 10 ⎞
1 + G p G f Gc Gm = 1 + ⎜ ⎟(1)(K c )(1) = 0
⎝ s −1 ⎠
Which has the root: p = 1 – 10Kc
1
∴ The system is stable IF p < 0 Kc >
10
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 19
5.2 Persamaan Karakteristik
s + 2 s + (K c + 2)s +
Kc
3 2
=0
τI
Which has three roots,
Æ Kc and τI affect the value of roots
(i.e. positive or negative)
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 20
5.3 Kestabilan Berdasarkan Ultimate
Response
Pada bagian ini kita akan membahas batasan kestabilan berdasarkan respon
kritis (ultimate response).
Ingat kembali! Respon stabil jika akar-akar denominator pada FT adalah
negatif (di sebelah kiri sumbu imaginer pada bidang kompleks).
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 21
5.3 Kestabilan Berdasarkan Ultimate Response
t
C (t ) = sin (ωu t + θ )
2π
Tu = Ultimate period
ωu
ωu = ultimate frequency
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 22
5.3 Kestabilan Berdasarkan Ultimate Response
Substitusi langsung: s = i ωu
Bagian real =0 Penyelesaian secara simultan
Bagian imaginer = 0 menghasilkan ultimate gain, Kcu
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 23
5.3 Kestabilan Berdasarkan Ultimate Response
+
To set (t), oC R(s) + E(s) M(s) Ws (s) To(t), oC
Ksp Gc(s) Gv(s) GS(s)
+
%TO %TO %CO kg/s
−
C(s), %TO
Gm(s)
dimana:
o
Gv (s ) =
0.016 kg / s
( )
GS s =
50 C
30 s + 1 kg / s 3s + 1 %CO
Gc (s ) = K c
%CO
Gm (s ) =
1 %TO P Control
10s + 1 o C %TO
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 24
5.3 Kestabilan Berdasarkan Ultimate Response
⎛ 1 ⎞⎛ 50 ⎞⎛ 0.016 ⎞
1+ ⎜ ⎟⎜ ⎟⎜ ⎟Kc = 0
⎝ 10 s + 1 ⎠⎝ 30 s + 1 ⎠⎝ 3s + 1 ⎠
Penyusunan kembali persamaan di atas diperoleh:
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 25
5.3 Kestabilan Berdasarkan Ultimate Response
− 420ωu2 + 1 + 0.80 K c = 0
− 900ωu3 + 43ωu = 0
Kedua pers. di atas diselesaikan secara simultan, menghasilkan:
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 26
5.3 Kestabilan Berdasarkan Ultimate Response
0.5
-0.5
0 50 100 150 200
Time [sec]
0
Steam [kg/sec]
-0.1
-0.2
0 50 100 150 200
Time [sec]
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 27
5.3 Kestabilan Berdasarkan Ultimate Response
-1
0 50 100 150 200
Time [sec]
0
Steam [kg/sec]
-0.1
-0.2
0 50 100 150 200
Time [sec]
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 28
5.3 Kestabilan Berdasarkan Ultimate Response
-5
0 50 100 150 200
Time [sec]
0.5
Steam [kg/sec]
-0.5
-1
0 50 100 150 200
Time [sec]
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 29
5.4 Routh-Hurwitz Stability Criterion
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 30
5.4 Kriteria Kestabilan Routh-Harwitz
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 31
5.4 Kriteria Kestabilan Routh-Harwitz
Routh Array
Row 1 a0 a2 a4 a6 …
2 a1 a3 a5 a7 …
3 A1 A2 A3 . …
4 B1 B2 B3 . …
5 C1 C2 A3 . …
. . . .
n+1 W1 W2 . . …
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 32
5.4 Kriteria Kestabilan Routh-Harwitz
Where
a1a2 − a0 a3 a1a4 − a0 a5 a1a6 − a0 a7
A1 = A2 = A3 = . . .
a1 a1 a1
A1a3 − a1 A2 A1a5 − a1 A3
B1 = B2 =
. . .
A1 A1
B1 A2 − A1 B2 B1 A3 − A1 B3
C1 = C2 = . . .
B1 B1
etc.
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 33
5.4 Kriteria Kestabilan Routh-Harwitz
s + 2 s + (K c + 2 )s +
Kc
3 2
=0
τI
Routh array is: 1st Column
Row 1 1 2 + Kc
2 2 Kc
τI
2(2 + K c ) −
Kc
τI
3 0
2
Kc
4 τI
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 35
5.4 Kriteria Kestabilan Routh-Harwitz
2(2 + K c ) >
Kc
the condition:
τI
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 36
5.4 Kriteria Kestabilan Routh-Harwitz
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 37
5.3 Kestabilan Berdasarkan Ultimate Response
1.5
CV
0.5
0
0 5 10 15
Time [sec]
6
4
MV
-2
0 5 10 15
Time [sec]
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 38
5.3 Kestabilan Berdasarkan Ultimate Response
1
CV
0.5
0
0 5 10 15
Time [sec]
3
2
MV
0
0 5 10 15
Time [sec]
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 39
5.3 Kestabilan Berdasarkan Ultimate Response
10
CV
-10
-20
0 5 10 15
Time [sec]
100
0
MV
-100
-200
0 5 10 15
Time [sec]
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 40
5.5 Analisis Kestabilan dengan Root-Locus
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 41
5.5 Analisis Kestabilan dengan Root-Locus
Concentration in C = y
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 42
5.5 Analisis Kestabilan dengan Root-Locus
y( s) 2.98(s + 2.25)
TF of the process: G p ( s ) = =
m( s ) (s + 1.45)(s + 2.85)2 (s + 4.35)
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 43
5.5 Analisis Kestabilan dengan Root-Locus
Kc p1 p2 p3 p4
0 − 1.45 −2.85 −2.85 −2.85
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 44
5.5 Analisis Kestabilan dengan Root-Locus
15
10
5
Imaginary Axis
-5
-10
-15
-20
-20 -15 -10 -5 0 5 10 15
Real Axis
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 45
5.5 Analisis Kestabilan dengan Root-Locus
1.5
New set-point
Kc = 50
y
Kc = 20
0.5
Offset
Kc = 5
Kc = 1
0
0 2 4 6 8 10 12 14 16 18 20
Time (Sec)
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 46
5.5 Analisis Kestabilan dengan Root-Locus
2
Critical condition Kc = 75
1.5
1
y
0.5
0
0 2 4 6 8 10 12 14 16 18 20
Time (Sec)
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 47
5.5 Analisis Kestabilan dengan Root-Locus
300
200 Kc = 100
100
0
y
-100
-200
-300
0 2 4 6 8 10 12 14 16 18 20
Time (Sec)
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK – DR. ENG. Y. D. HERMAWAN INDALPRO / 48