Proportional Control For Disturbance Change / Load Change (Regulator Problem)

Ti(s)

+
TR (s) + B C + D 𝟏 T(s)
KC A
𝝉𝒔 + 𝟏
-

𝑦(𝑠)
1 Susun persamaan fungsi transfernya atau cari 𝑥(𝑠) 𝑇 𝑠 𝜏𝑠 + 1 + 𝐴𝐾𝐶 = 𝑇𝑖 (𝑠)

1 C = A𝐾𝐶 −T s
𝑇 𝑠 = 𝐷 𝑇(𝑠) 1
𝜏𝑠 + 1 =
𝐷 = 𝑇𝑖 (𝑠) − 𝐴𝐾𝐶 𝑇(𝑠) 𝑇𝑖 (𝑠) 𝜏𝑠 + 1 + 𝐴𝐾𝐶
𝐷 = 𝐶 + 𝑇𝑖 (𝑠)
𝑇𝑖 (𝑠) − 𝐴𝐾𝐶 𝑇(𝑠) 𝑇(𝑠) 1
𝑇 𝑠 = =
C = A𝐾𝐶 𝐵 𝜏𝑠 + 1 𝑇𝑖 (𝑠) 𝜏𝑠 + (1 + 𝐴𝐾𝐶 )

1
𝐵 = 𝑇𝑅 𝑠 − 𝑇(𝑠) 𝑇 𝑠 𝜏𝑠 + 1 = 𝑇𝑖 (𝑠) − 𝐴𝐾𝐶 𝑇(𝑠) 𝑇(𝑠) 1 + 𝐴𝐾𝐶
=
𝑇𝑖 (𝑠) 𝜏 1 + 𝐴𝐾𝐶
𝐵 = −𝑇(𝑠) 𝑇 𝑠 𝜏𝑠 + 1 + 𝐴𝐾𝐶 𝑇(𝑠) = 𝑇𝑖 (𝑠) 𝑠 +
1 + 𝐴𝐾𝐶 1 + 𝐴𝐾𝐶
 1
𝑇(𝑠) 1 𝜏
1 + 𝐴𝐾𝐶 Misalnya: = 𝐴2 = 𝜏2
= 𝜏 1 + 𝐴𝐾𝐶 1 + 𝐴𝐾𝐶
𝑇𝑖 (𝑠)
1 + 𝐴𝐾𝐶 𝑠 + 1

𝑇(𝑠) 𝐴2 𝐴2
= 𝑇(𝑠) = 𝑇 (𝑠)
𝑇𝑖 (𝑠) 𝜏2 𝑠 + 1 𝜏2 𝑠 + 1 𝑖

2 Masukkan perubahan Disturbance

1
Apabila disturbance diubah sebesar 1 satuan suhu, maka : 𝑇𝑖 𝑡 = 1 → 𝑇𝑖 𝑠 = 𝑠

𝐴2 1 𝐴2
𝑇(𝑠) = × 𝑇(𝑠) =
𝜏2 𝑠 + 1 𝑠 𝑠(𝜏2 𝑠 + 1)

3 Cari invers dari persamaan output

𝐴2
𝐿−1 𝑇 𝑠 =
𝑠(𝜏2 𝑠 + 1)
 1
𝐴2 = 𝐴2
𝐿−1 𝑇 𝑠 = 1 + 𝐴𝐾𝐶
𝑠(𝜏2 𝑠 + 1)
Dimana:
𝜏
= 𝜏2
1 + 𝐴𝐾𝐶
𝑇 𝑡 = 𝐴2 1 − 𝑒 −𝑡/𝜏2

1 𝜏
−𝑡/
𝑇 𝑡 = 1 − 𝑒 (1+𝐾𝑐 𝐴)
(1 + 𝐾𝑐 𝐴)

4 Penentuan Offset Unit-step response for disturbance/load change (P control)

𝑂𝑓𝑓𝑠𝑒𝑡 = 𝑆𝑃 𝑡 = ∞ − 𝑃𝑉 𝑡 = ∞
𝑂𝑓𝑓𝑠𝑒𝑡 = 𝑇𝑅 𝑡 = ∞ − 𝑇 𝑡 = ∞
𝑂𝑓𝑓𝑠𝑒𝑡 = 1 − 𝐴2 1 − 𝑒 −∞/𝜏1
𝑂𝑓𝑓𝑠𝑒𝑡 = 1 − 𝐴2 1 − 0
𝑂𝑓𝑓𝑠𝑒𝑡 = 1 − 𝐴2
1
𝑂𝑓𝑓𝑠𝑒𝑡 = 1 −
(1 + 𝐾𝑐 𝐴)