PEMROGRAMAN KOMPUTER

“TUGAS TRANSLATE”

DOSEN PENGAMPU; IZWAR LUBIS,S.T.,M.T.

NAMA : JOSUA MANIK

NIM : 5193520015

PROGRAM STUDI TEKNIK MESIN D3

FAKULTAS TEKNIK

UNIVERSITAS NEGERI MEDAN

2020
 Q ¿ diag {n (1),…,n(n1)} {4.13}

R ¿ diag {α(0),…,α(n2−¿1)} {4.14}

S ¿ diag {a(0),…,a(n2−¿1)} {4.15}

T ¿ diag {τ (0),…,τ (n2−¿1)} {4.16}

Q́=¿ diag {Q,S,T} {4.17}

By the procedure proposedin references [64-66],the best prediction model for the 2D system of Eq 4.8
can be formulated as follows;

y∆ π
( {tt÷÷n12}f )=Gr ({x ÷ n t2°−1) ÷ y ({tx÷÷ρα1 ) ÷ F
x x−1 ∆ (t) {4.18}

The detailed formulation of matrices G and F ∆ (t) can be found in references {64=66},To minimize the
cost function F q . 4.9, the following relationships between variabels

t ¿ , and updating variable r 2 { t

∆ x ¿), ∆ x (U ∆ { (
2 ÷ n2−t ) (
1÷ n2−1 )
¿ are required.

t t
( (
∆ t u∑
)) (
t ÷ n2−1
=f ∆
t ÷ n2−1 )
÷ ∆t ¿ (4.19)

r2
(t ÷nt )=H ∆ (U ({2 ÷ tn )¿−∆ (u (t−1))
2−1
t ∆
2−t
t ∆ (4.20)

Where

1 0 0⋯0
H¿ −1 1 0 ⋯ 0
0 −1 1 ⋯ 0
⋮ ⋮ ⋮⋱ ⋮
0 0 0… 1
 ∆ £ (u2 ¿ (t)) (4.21)
0
∆ t ( u∆ ( t −1 ) )|n 2= 0
⋮

0 n2 x1

Let V¿ H 1 ,then
∆t ¿ (4.27)

together with eqs. 4,18, 4,19 and 4,22.the following generalized 2D prediction model is obtained.

X £ ∆ (t) ¿ Ǵ r ∆ { ( f ÷ tn )+ Á X 2−1
∆−£ (t)÷ W x(t) (4.23)

Where

−G 1 0 0
{ [ ]
Ǵ= I 0 1 0
V 0 0 0
(4.24)

{
X ∆−1(t)¿ ∆ε (U
∆£(U
£ −1 t −¿1 n2¿
( ¿

° ε −1 ‖t ¿1÷

∆−1‖1 ¿t −n2‖
)
n2−1‖
W ∆ (t)¿
(
−F ε
V ∆t ( U
0

t
(t)
(t−1) ) (4.25)

t ÷ 1 −Y t÷1
e
∆−1 t ÷1 =Y 1
( )
f ÷n1
(1−F ) (1−n 1
) £−1
2
(4.26)

Based on the above prediction model,it results from the optimization algorithm that the quadratic
cost function of Eq. 4.11 is minimized by the following optimal control law:

r1
(1−nt )=−( R ÷ Ǵ QG´ )−1❑ Ǵ Q́ ( A X
2
τ τ
ε−1
´ ÷W (t ))
(t) ∆
(4.27)
It follows from the defenitions 4.9 4.12. and 4.24 that

τ
t =( R ÷G τ QG ÷ S ÷ V τ TV ) −1 Q e ε−1 t ÷ 1 −F ∆ (t ) ¿
r∆
( )
f ÷ n2−1 ¿G ( ( )
t ÷n 2 )
t
−( R ÷ Gτ QG ÷ S ÷ V τ TV ) −1S∆ t ( U ∆ −1
¿ 1−n2 )( ) (4.28)

τ
−( R ÷ G τ QG ÷ S ÷ V τ TV ) −1 TV ¿ ∆ t ( U ∆ ( t−1 ) )
¿V

Now,let K,and K 2 be the first rows of matrices ( R ÷ G QG ÷ S ÷ V TV ) −1respectively,and K 3be the

τ τ
¿
τ τ −1
upper-left element of matrix ( R ÷ G QG ÷ S ÷ V TV ) then the 2D =MPILC (Model Predictive
¿
Iterative Learning Control) scheme is given as follows;

∆ t ( U ∆ ( t) )=∆ε ( U ε−1 (t) ) ÷ K 1 e x−1 t ÷ 1 −F t (t )

∑2 DGPILC:
( ( ) t ÷ n2 )
t
( (
÷ K 2 ∆1 U ε −1
t ÷ n2−1))
÷ K 3 ∆ t ( U £ (t=1) ) (4.29)
4.2.2 Injection Vetocity Control With 2D-GPILC

The above 2D-GPILC is applied to the injection molding process experimentally to control the injection
velocity.The experiments are conducted on two injection molding machines,one with 55 tons of
clamping force and the other 80 tons,both hydraulic mechines with proportional control valves.two
molds are used in the experiments,with the geometry shown in fig.4.4. the material used is HDPE.

Before the controller design,an open loop test was conducted on the 55 ton machine with the flat
mold to get the injection velocity dinamics and guide the design of the controller.The result is plotted
in fig.4.5.The dashed line in Fig.4.5 shows the proportional control valve opening with two step
changes, a step-up change form