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    Meuthia Indra Sukma - 181734013 - Tahap 1

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    Muhammad Luthfi Hernandi
    The document describes a transfer function model and provides parameters for the model. It then uses interpolation to calculate values of t when x(t) equals specific values based on the model. Plots of x(t) versus t are provided. The minimum ITAE (integral of time multiplied by absolute error) values are reported for PI, PID, and PI controllers applied to the model for regulatory and servo control configurations.

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    Meuthia Indra Sukma - 181734013 - Tahap 1

    Uploaded by

    Muhammad Luthfi Hernandi
    36 views4 pages
    The document describes a transfer function model and provides parameters for the model. It then uses interpolation to calculate values of t when x(t) equals specific values based on the model. Plots of x(t) versus t are provided. The minimum ITAE (integral of time multiplied by absolute error) values are reported for PI, PID, and PI controllers applied to the model for regulatory and servo control configurations.

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    Meuthia Indra Sukma_181734013_Tahap 1

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    The document describes a transfer function model and provides parameters for the model. It then uses interpolation to calculate values of t when x(t) equals specific values based on the model. Plots of x(t) versus t are provided. The minimum ITAE (integral of time multiplied by absolute error) values are reported for PI, PID, and PI controllers applied to the model for regulatory and servo control configurations.

    Copyright:

    © All Rights Reserved
    Download as XLSX, PDF, TXT or read online from Scribd
    Download as xlsx, pdf, or txt
    36 views4 pages

    Meuthia Indra Sukma - 181734013 - Tahap 1

    Uploaded by

    Muhammad Luthfi Hernandi
    The document describes a transfer function model and provides parameters for the model. It then uses interpolation to calculate values of t when x(t) equals specific values based on the model. Plots of x(t) versus t are provided. The minimum ITAE (integral of time multiplied by absolute error) values are reported for PI, PID, and PI controllers applied to the model for regulatory and servo control configurations.

    Copyright:

    © All Rights Reserved
    Download as XLSX, PDF, TXT or read online from Scribd
    Download as xlsx, pdf, or txt
    of 4

    K/(T1s + 1)(T2s + 1)(T3s +1) = K1/(S+1/T1) + K2/(S+1/T2) + K3/(S+1/T3)

    K1 =KT1/{T1(T1-T2-T3)+T2T3} yo = 40 xo = 45.6 K= 0.9


    K2 =KT2/{T2(T2-T1-T3)+T1T3} y' = 50 xss = 54.6 T= 16.8
    K3 =KT3/{T3(T3-T1-T2)+T1T2} Y = 10 X=9 t= 1.8

    x25 = 47.85 t25 = 6.7


    T1 = 1.3 K1 = -0.094968 x75 = 52.35 t75 = 25.1
    T2 = 0.5 K2 = 0.034722
    T3 = 16.7 K3 = 0.060245 Gunakan interpolasi untuk menghitung t25 dan t75:
    Contoh:
    t x(t)
    t x(t) x model 6 47.6
    0 45.6 44.6 9 48.7
    3 46.3 46.2
    6 47.6 47.6 Berapa t saat x(t) = 47.85
    9 48.7 48.7 t = 18+(51.4-51.2)*(21-18)/(51.7-51.2)
    12 49.7 49.7 t = 6.681818
    15 50.5 50.5
    18 51.2 51.2
    21 51.7 51.7
    24 52.2 52.2 55.0
    27 52.6 52.6
    54.0
    30 52.9 52.9
    33 53.2 53.2 53.0
    36 53.4 53.4 52.0
    39 53.6 53.6
    51.0
    42 53.8 53.8
    45 53.9 53.9 50.0
    48 54.0 54.0
    49.0
    51 54.1 54.1
    54 54.2 54.2 48.0
    57 54.3 54.3 47.0
    60 54.3 54.3
    63 54.4 54.4 46.0

    66 54.4 54.4 45.0


    69 54.4 54.4
    44.0
    72 54.5 54.5 0 10 20 30 40 50 60 70 80 90 100
    75 54.5 54.5
    78 54.5 54.5
    81 54.5 54.5
    84 54.5 54.5
    87 54.5 54.5
    90 54.6 54.6
    93 54.6 54.6
    96 54.6 54.6
    99 54.6 54.6
    102 54.6 54.6
    105 54.6 54.6
    108 54.6 54.6
    111 54.6 54.6
    114 54.6 54.6
    117 54.6 54.6
    120 54.6 54.6
    ZN CC Kriteria Minimum ITAE (Servo)
    PI PID PI PID PI
    Kp = 9.333 12.444 Kp = 9.426 14.105 Kp = 5.037
    Ti = 5.994 3.600 Ti = 4.898 4.240 Ti = 16.596
    Ki = 1.557 3.457 Ki = 1.924 3.326 Ki = 0.304
    Td = - 0.900 Td = - 0.642 Td = -
    Kd = - 11.200 Kd = - 9.056 Kd = -
    Kp(1 + 1/Ti.s + Td.s) = Kp + (Kp/Ti)/s + (Kp.Td)s = Kp + Ki/s + Kd.s
    Ki = Kp/Ti
    Kd = Kp.Td 22.4 9.055909

    t x(t)
    24 52.2
    27 52.6

    Berapa t saat x(t) = 52.35


    t = 27+(45.75-45.5)*(30-27)/(45.9-45.5)
    t = 25.1

    Column B
    Column C

    0 70 80 90 100 110 120 130


    Minimum ITAE (Servo) Kriteria Minimum ITAE (Regulator)
    PID PI PID
    7.239 Kp = 8.462 12.502
    21.532 Ti = 5.458 3.838
    0.336 Ki = 1.550 3.257
    0.650 Td = - 0.561
    4.703 Kd = - 7.009

    4.70286 7.008669

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