PRAKTIKUM SISTEM KENDALI

Nama Praktikan : 1. Muhammad Reza Putra (161734019)

2. Sukma Asyifa (161734029)
3. Syifaprilia Nurhasanah (161734030)
4. Taufiq Chandra Adimanta H. (161734031)
Tanggal Praktikum : 14 Desember 2018

Metode Ziegler-Nichols

Servo Regulator
t (s) x y t (s) x y
0 25 h0 0 50 40
3 28.8 h0 1 50 40
6 34.6 h0 2 51.8 14
9 39.3 h0 3 51.6 11
12 43.2 h0 4 50.9 16
15 46.4 99 5 50.7 16
18 49 87 6 50.5 16
21 51.1 62 7 50.4 17
24 51.9 37 8 50.8 18
27 50.8 38 9 50.2 17
30 50.4 38 10 50.2 17
33 50.1 39 11 50 19
36 50.1 39 12 50.1 17
39 50 40 13 50 19
42 50 40 14 50.1 17
15 50 18
16 50 18
17 50 18

Servo Regulator
Max overshoot = 3.8 % Max overshoot = 3.6 %
Rise time = 19.42 s Rise time = 15 s
time to first peak = 24 s time to first peak = 2 s
settling time (2%) settling time (2%)
49 = 18 s 49 = - s
51 = 20.85 s 51 = 3.83 s
 Grafik X(%) terhadap t (S) Servo
55

50

45

40
X (%)

PV-X (%)
35

30

25

20
0 10 20 30 40
t (s)

Grafik X (%) terhadap t (s) Regulator

55
50
45
40
35 PV-X (%)
X (%)

30 Out-Y (%)
25
20
15
10
0 5 10 15 20
t (s)
Metode Cohen-Coon
Servo Regulator
t (s) x y t (s) x y
0 25 h0 0 50 41
3 28 h0 1 50.9 29
6 35.8 h0 2 51.9 12
9 38.8 h0 3 51.4 11
12 43.8 h0 4 50.7 15
15 46.4 99 5 50.5 16
18 49.3 90 6 50.4 16
21 50.9 68 7 50.1 18
24 52 35 8 50.2 17
27 50.8 37 9 50.1 18
30 50.2 39 10 50.1 17
33 50.1 40 11 50 19
36 50 40 12 49.9 20
39 50 39 13 50 18
15 50 18
16 50 18

Servo Regulator
Max overshoot =
Max overshoot = 4 % 3.8 %
Rise time = 19.31 s Rise time = 13 s
time to first peak = 24 s time to first peak = 2 s
settling time (2%) settling time (2%)
49 = 17.68 s 49 = s
51 = 21.27 s 51 = 3.571 s
 Grafik X(%) terhadap t (S) Servo
60

50

40
X (%)

30 PV-X (%)

20

10

0
0 10 20 30 40 50
t (s)

Grafik X (%) terhadap t (s) Regulator

60

50

40
X (%)

30 PV-X(%)
20 OUT-Y(%)

10

0
0 5 10 15 20
t (s)
 Kriteria Minimum ITAE
Servo Regulator
t (s) x y t (s) x y
0 25 h0 0 50 38
3 29.4 h0 1 51.8 20
6 35.2 h0 2 51.8 5
9 40.3 92 3 51.5 4
12 43.9 81 4 50.4 11
15 47 69 5 49.7 18
18 49.4 56 6 49.8 19
21 50.9 46 7 50 17
24 51.2 43 8 50.2 16
27 51.2 40 9 50.1 16
30 51 40 10 50 18
33 50.9 39 11 50 17
36 50.8 39 12 50 17
39 50.6 39 13 50 18
42 50.5 39
45 50.4 39
48 50.3 38
51 50.3 38
54 50.2 38
57 50.1 38
60 50.1 39
63 50.1 39
66 50.1 39
69 50 38

Servo Regulator
Max overshoot = 2.4 % Max overshoot = 3.6 %
Rise time = 19.2 s Rise time = 10 s
time to first peak = 24 s settling time (2%)
settling time (2%) 49 = s
49 = 17.5 s 51 = 3.45 s
51 = 30 s
 Grafik X(%) terhadap t (S) Servo
60

50

40
X (%)

30

20 PV-X(%)

10

0
0 20 40 60 80
t (s)

Grafik X (%) terhadap t (s) Regulator

60

50

40
X (%)

30 PV-X(%)
OUT-Y(%)
20

10

0
0 5 10 15
t (s)