Sistem Kendali

Teknik Mesin
Materi Pembahasan:
• Pengenalan terhadap proses sistem kendali
• Contoh sistem kendali
– open loop vs. closed loop

• Pengenalan terhadap pemodelan

• Penyelesaian persamaan differensial
– Free response
– Forced response

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 Proses desain sistem kendali

customer
input / gov’t
eng specs physical diagrams control
regulations behavior
system math system
Plant
Controller
Translate Design (and Model Analyze
Design
Construction)

types of models purpose of models types of analysis types of control

• physical vs. • analysis • time domain • supervisory
empirical • design • frequency domain logic control
• mathematical • verification • simulation • on/off control
• graphical • hardware in the • P, PI, PD, PID
loop (HIL) • advanced
techniques
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 Contoh sistem kendali
• Cruise Control Example

Control
Engine Car
desired Algorithm throttle actual
speed angle force speed
(voltage)

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 Kendali siklus terbuka (open-
loop) [feedforward]
disadvantages advantages
• sensitive to errors • simple to design
in model • inexpensive
• sensitive to • doesn’t affect
disturbances stability
• needs periodic • fast response wind force,
recalibration gravity force

Control -
Engine Car
desired Algorithm throttle + actual
speed angle force speed
(voltage)

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 Kendali siklus tertutup (closed-
loop) [feedback]
disadvantages advantages
• extra complexity • robust to errors
• extra cost in model
• can affect stability • robust to
• can be slow to disturbances
respond D wind force,
gravity force
CONTROLLER ACTUATOR PLANT
R + E Control -U Y
Engine Car
desired - Algorithm throttle + actual
speed angle force speed
(voltage)
SENSOR

Speedometer
measured
speed
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Pengenalan terhadap pemodelan

• A model is an abstraction of the physical

world
• Used for analysis and design, possibly before
physical system exists
• Can be obtained from first principles or
experimentally
• Purpose determines level of abstraction, form

• Complex enough, but no more

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Menghasilkan model (Model Derivation)

• From first principles

– Use physical laws to derive models
– Provides understanding
– Can use empirical data to determine
parameters, validate model

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Model Derivation
• From empirical data
– Feed a known input and observe output, fit model to
data

SYSTEM

– Good for complicated systems (IC engine, battery)

– Good for black-box systems (driver model)
– Does not provide intuition, can’t be widely applied
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Complexity Depends on Purpose
• Design/analysis model: simpler
– Simple enough to generate closed-form solution
– Less accurate, but provides intuition

di
Ra ia  La  Kb  ea
dt
T  b  J

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Complexity Depends on
Purpose
• Simulation model: more accurate
 Static vs. Dynamic Systems
Static Systems
• Output is determined only
by the current input, reacts
instantaneously
• Relationship does not
change (it is static!)
• Relationship is represented
by an algebraic equation
input
SYSTEM
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Dynamic Systems
• Output takes time to react
• Relationship changes with
time, depends on past
inputs and initial conditions
(it is dynamic!)
• Relationship is represented
by a differential equation
output
12
 Static vs. Dynamic Systems
Motor from a Static Motor from a Dynamic
Viewpoint Viewpoint
500

450

T 400

350

300

Motor Speed
250

200

Tstall 150

100
torque

50

0
0 0.5 1 1.5 2 2.5 3
ea1 6
Time

5
ea2
4
Motor Torque

w
3

wno-load 2

speed 1

0
0 0.5 1 1.5 2 2.5 3
13
Time
Model Matematika
Model Matematika

• Persamaan Differensial Biasa (PDB)

– Respon Bebas (Free Response)
– Respon Paksa (Forced Response)
• Transformasi Laplace & Propertinya
• Penyelesaian persamaan differensial
Solving Differential Equations

• Homogenous differential equations

 
m x  c x  kx  0

– Righthand side of equation equals 0

– Represents free response of system
– Solution consists of exponentials
1t 2t
x(t )  a1e  a2e
where exponents are roots of the characteristic eq.
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Solving Differential Equations
• Homogenous differential equations
 
m x  c x  kx  0
– For the above, the characteristic equation is

m  b  k  0
2

– Roots can be found from the quadratic formula

b b  4km 2
1,2  
2m 2m
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Solving Differential Equations
• Recalling that x(t )  a e 1t  a e 2t
1 2
• If the roots are completely real, then the solution
is exponential
– If all negative, stable
– If any positive, unstable

displacement, x

time
18
Solving Differential Equations
• If the roots are complex, then can rewrite in
sines and cosines using Euler’s identity:

jwt
e  cos wt  j sin wt
• Therefore,
(  wd j ) t (  wd j ) t
a1e  a2e
 t wd jt  t wd jt
 a1e e  a2e e
 t
e ( A cos wd t  B sin wd t )
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Solving Differential Equations

 t
x(t )  e ( A cos wd t  B sin wd t )

• Above follows when have complex roots of

char. eq.
    wd j
real part = rate of decay (growth)
imag part = freq of oscillation 20
 Solving Differential Equations

• Forced differential equations

 
m x  c x kx  F (t )
– Solution consists of two
parts
x(t )  xh (t )  x p (t )
xh is the homogenous solution
- same form as before, natural response of system
xp is the particular solution
- generally same form as F(t), due to the input
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 xh determined from characteristic equation
Example where  2 +8 +25=0 has roots 1,2  4  3 j
and x p has same form as F (t )
 
x  8 x  25 x  2t
has a solution of the form
4t
x(t )  e ( A cos3t  B sin 3t )  at  b
xh(t) xp(t)

where
the homogenous portion dies out (transient)
the particular portion remains (steady state)
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Example

• Consider other types of forcing functions:

 
x  8 x  25 x  5
4t
 x(t )  e ( A cos3t  B sin 3t )  a
 
 2t
x  8 x  25 x  3e
 x(t )  e4t ( A cos3t  B sin 3t )  ae2t
 
x  8 x  25 x  5 sin 2t
 x(t )  e4t ( A cos3t  B sin 3t )  a sin(2t   )
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C cos 2t  D sin 2t
The Laplace Transform

• Laplace transform definition

• Laplace transform properties

• Relation between time and Laplace

domains
– Initial and Final Value Theorem

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The Laplace Transform

• The Laplace transform is a mathematical

operation that takes an equation from being a
function of time, t, to being a function of the
Laplace variable, s

L[ f (t )]   f (t )e dt  F (s)
 st
0

• Some mathematical operations become much

simpler in the Laplace domain
• We will never solve this integral, will use tables
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Table of Laplace pairs
on pages 18-19 Item No. f(t) F(s)

unit impulse 1. δ(t) t 1

1 1
unit step 2. 1(t)
t s
1
unit ramp 3. t t s2
n!
4. tn
s n+1
1
5. e-at
s+a
ω
6. sin (ωt)
s 2 + ω2
s
7. cos (ωt)
s 2 + ω2
26
Properties of the Laplace
Transform
1. Linearity
L[af (t )  bg (t )] 
aL[ f (t )]  bL[ g (t )] 
aF ( s )  bG ( s )

- constants factor out and Laplace operation

distributes over addition and subtraction
- note: L[ f (t )  g (t )]  F ( s )  G ( s )

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Properties of the Laplace
Transform
often zero
2. Integration
 f (t )dt 
  F ( s)    t 0
L  f (t )dt  
  s s
 f (t )dt dt   f (t )dt 
  F (
L   f (t )dt dt  2 
s )     t 0  

 t 0
  s s2 s
3. Differentiation
These properties
 df  turn differential
L    sF ( s )  f (0)
 dt  equations into
d f  2
2 algebraic equations
L  2   s F ( s )  sf (0)  f (0)
 dt 
28
Properties of the Laplace Transform
4. Multiplication by e-at
L[e  at
f (t )]  F (s  a)
- important for damped response
Note: roots of
denominator (poles)
Example: in Laplace domain =
L[e  at
cos wt ] roots of characteristic
equation in the time
f(t) domain
s
from Laplace pairs table, F ( s) = L[cos wt ]  2
s  w2
sa
then from prop above, F (s  a) 
( s  a) 2  w 2 29
Properties of the Laplace Transform
5. Time shift

L[ f (t  a)1(t  a)]  e F (s), a  0

 as

- important for analyzing time delays

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Properties of Laplace Transform
6. Multiplication by t

dF ( s )
L[tf (t )]  
ds
2
d F ( s)
L[t f (t )] 
2
2
ds
n
n d F ( s)
L[t f (t )]  (1)
n

ds n
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Example
0 for t<0

• Find L[2te 3t

 5]

= 2L[te ]  5L[1(t )] (by property 1)

3t

1
1
 L[t ]  2 s
s
1
 L[te ] 
3t
(by property 4)
( s  3) 2

2 5
= 
( s  3) 2
s 32
Laplace/Time Domain Relationship
• Previously, saw how poles of X(s) relate to x(t)
• Two further relationships between X(s) and x(t):

Initial Value Theorem


f (0 )  lim sF (s), if the lim exists
s 

Final Value Theorem

f ()  lim f (t )  lim sF ( s ),
t  s 0

if [poles of sF ( s )]  0 33
Example
s3
• Find the initial value of f(t), where F ( s) 
s( s 2  6s  13)
1

s( s  3) ( s  3) s2
f (0)  lim sF ( s )  lim 2  lim 2
s  s  s ( s  6 s  13) s  ( s  6 s  13) 1
 2
s
1 3
 2
 lim s s
s  6 13
1  2
s s
0
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Example
s3
• Find the final value of f(t), where F ( s) 
s( s 2  6s  13)

s( s  3)
f ()  lim f (t )  lim sF ( s )  lim 2
t  s 0 s 0 s ( s  6 s  13)

( s  3) 3
 lim 2 
s 0 ( s  6 s  13) 13

poles of sF ( s)  3  2 j,
since <0, limit exists
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Daftar Pustaka:
Rick Hill, PhD, “Control System”, University of
Detroit Mercy.

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