disusun oleh: 1.arvin primo 2.bhakti nuryadin 3.bhre kumara hangga w. 4.dwi agus sulistia 5.deni...
TRANSCRIPT
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Disusun oleh:
1. Arvin Primo2. Bhakti Nuryadin3. Bhre Kumara
Hangga W.4. Dwi Agus Sulistia5. Deni Agus Iriyanto6. Dimas Izuladha7. Fariza Indriyanto8. Fiska Suhenda9. Fachriza Sofyan10.Freddy Satriyo11.Fuad Barlian12.Giant Hermawan13.Hilman Alfian14.Indra Putra
Temagangka15.Indra Setiawan16.Insan Fadilah
istem ControlPada
DC Motor Speed
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DC Motor DC Motor Speed
Komponen Utama•Magnit• Kumparan• Arus DC
• Input :Voltase• Output :Putaran
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Dimana:
DC Motor Speed Modeling
ea = k4 . r1.
2.k1(ea – eb) = ef
eak4
k1eb
ea ef
Rf Lf
ef
3.
Ef = Lf
ef = Lf + rf . if
Ra La
ea = konstanTm
4. Tm= k2 . if ΣT = j . α Tm = j + f . ω
5.
eb = k3 . ω
Persamaannya:ea = k4 . ref = k1(ea – eb)ef = Lf + rf . if
Tm = k2 . if Tm = j + f . ωeb = k3 . ω
Ea = k4 . REf = k1(Ea – Eb)Ef = LsIf + Rf .If
Tm = k2 . If Tm = JΩs + f.ΩEb = k3 . ω
L
r
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Asumsi:
DC Motor Speed Modeling
Ef = Lf
K4
K3
K2/Js+f1/Ls+RfK1R Ea Ef Ω
Eb
If
Diagram Blok
Ea = k4 . R
Eb = k3 . Ω
20
0,1
ΩR
R Ω
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R Ω
Respon Transien Analisis
t Ω0.1 0.9804992550.2 0.5540649260.3 0.687669650.4 0.67377994… …… …4.8 0.6664.9 0.6665 0.666
0 1 2 3 4 5 60
0.2
0.4
0.6
0.8
1
1.2
Ω
t
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Root Locus AnalisisR Ω
1. Pole (k=0)1 + GH = 0S2 + 14,5 S + 150 = 0 S1,2 =
S1 = -7,25 + 9,87 iS2 = -7,25 – 9,87 I
Np=2
S1,2 =
2. Zero (k=~)Zero tidak adaNz = 0
3. Asimtot. σ = = -7,25
= = ±90
-7,25 + 9,87i
-7,25 - 9,87i
-7,25
90°
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Reference
1.http://www.engin.umich.edu/group/ctm/examples/motor/PID2.html . Di akses 3/5/10
2.Ogata, katsuhiko. Modern Control Engineering. 4 edition
3.Kreyszig. Advanced Engineering Mathematics. 9 edition
erima Kasih
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• DC Motor Speed Modeling
INK:
• Diagram Blok
• Root Locus Analisisertanyaan? • Respon Transien Analisis