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TEKNIK PENGATURAN
Dosen: Dr. Ir. Rusmono
Oleh Kelompok 7 :
Tri Puji Lestia M
Fajar Banaeni Zaman
Dharmodi S
Semester 093
Penyelesaian:
SOAL 1
θ(s) 1.6
=
T d ( s) S 2+0.5 S+1.6❑
1. Natural Frequency
2. Damping Ratio
£
2×1,26 n = 0.5
0.5
£n = 2.52 = 0.19
3. Peak Time
π 3,14
tp = ωn √ 1−¿ £ n ¿ = 1,24 = 2,53 detik
2
4. Settling Time s t
3
Untuk 5 % = = 1,19 detik
2,52
4
Untuk 2 % = = 1,58 detik
2,52
5. Rise Time
π−cos−1 £ n 3,14−1,38 1,76
t
r = ωn √ 1−¿ £ n2 ¿ = 1,24 = 1,24 = 1,42 detik
6. Percent Overshoot
2
POT = e−0,19 π /ωn √ 1−¿ £ n × 100% ¿
= e−0,59 /0,98 ×100 %
= e−0,6 ×100 %
= 0,549 ×100 %
= 54,9 %
3
s 2
2s 5
a) Find the value for GP ( s ) so that the steady-state error for a step input is equal to
zero!
b) Using the GP ( s ) selected, plot y (t ) for K equal to 1; 1.5 ; 2.85. Record the rise
time, settling time (2% criterion), and percent overshoot for three gains!
c) Select the best system for 1≤K ≤2. 85 that limits the overshoot to less than 6%
while achieving the shortest rise time possible!
3
s 2 s 5
2
5K s 1
R s GP s
+
Y s
-
s s 4
Position Actual Position
3
s 2s 5
2
8 K ( s +1 )
G ( s ) s ( s +4 )
=
s 8 K ( s +1 ) 3
1+ × 2
s ( s +4 ) s +2 s+5
8 K ( s+1 )
s ( s+4 )
¿
24 K ( s+1 )
1+
s ( s+4 ) ( s2 +2 s+5 )
8 K ( s+1 )
×s ( s +4 ) ( s 2 +2 s +5 )
s ( s+4 )
¿ 4
s +6 s 3 +13 s2 + ( 20+24 K ) s +24 K
8 Ks3 +5 s 2 +16 Ks 2 +16 Ks+10 s+25
¿ 4 3 2
s +6 s +13 s + ( 20+24 K ) s +24 K
8 Ks4 + ( 5+16 K ) s 3 + (10+16 K ) s2 + 25 s
G s= 4
( )
s +6 s3 +13 s 2 + ( 20+24 K ) s+24 K
untuk K=1
8 s 4 +21 s 3 +26 s2 + 25 s
G ( s )=
s 4 + 6 s 3 +13 s2 + 44 s+24
>> num=[8 21 26 25 0]
num =
8 21 26 25 0
>> den=[1 6 13 44 24]
den =
1 6 13 44 24
>> sys=tf(num,den)
Transfer function:
8 s^4 + 21 s^3 + 26 s^2 + 25 s
--------------------------------
s^4 + 6 s^3 + 13 s^2 + 44 s + 24
>> num=[12 29 34 25 0]
num =
12 29 34 25 0
den =
1 6 13 56 36
>> sys=tf(num,den)
Transfer function:
12 s^4 + 29 s^3 +34 s^2 + 25 s
--------------------------------
s^4 + 6 s^3 + 13 s^2 + 56 s + 36
>>rlocus(num,den)
Maka diperoleh gambar root locus untuk K=1.5:
8 Ks 4 + ( 5+16 K ) s 3 + ( 10+16 K ) s 2 +25 s
G ( s )=
s 4 +6 s 3 +13 s2 + ( 20+24 K ) s +24 K
Untuk K=2.85
22 , 8 s 4 +50 , 6 s3 + 55 ,6 s2 +25 s
G ( s )=
s 4 +6 s 3 +13 s2 +88 , 4 s+68 , 4
num =
den =
1 6 13 88,4 68,4
>> sys=tf(num,den)
Transfer function:
22.8 s^4 + 50.6 s^3 + 55.6 s^2 + 25 s
--------------------------------
s^4 + 6 s^3 + 13 s^2 + 88.4 s + 68.4
>>rlocus(num,den)