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Nama : Erlan Saputra

Selasa, 15 November 2016

NPM : 140310130051

Tugas DPSP
Dr. Eng. I Made Joni, M.Sc.

A common actuator in control systems is the DC motor. It directly provides rotary motion
and, coupled with wheels or drums and cables, can provide translational motion. The electric
equivalent circuit of the armature and the free-body diagram of the rotor are shown in the
following figure.

For this example, we will assume that the input of the system is the voltage source (V)
applied to the motor's armature, while the output is the rotational speed of the shaft
d(theta)/dt. The rotor and shaft are assumed to be rigid. We further assume a viscous friction
model, that is, the friction torque is proportional to shaft angular velocity.
The physical parameters for our example are:
(J)
(b)
(Ke)
(Kt)
(R)
(L)

moment of inertia of the rotor


motor viscous friction constant
electromotive force constant
motor torque constant
electric resistance
electric inductance

0.01 kg.m^2
0.1 N.m.s
0.01 V/rad/sec
0.01 N.m/Amp
1 Ohm
0.5 H

in general, the torque generated by a DC motor is proportional to the armature current and the
strength of the magnetic field. In this example we will assume that the magnetic field is
constant and, therefore, that the motor torque is proportional to only the armature current i by
a constant factor Kt as shown in the equation below. This is referred to as an armaturecontrolled motor.

(1)

The back emf, e, is proportional to the angular velocity of the shaft by a constant factor Ke.

(2)

In SI units, the motor torque and back emf constants are equal, that is, Kt = Ke; therefore, we
will use K to represent both the motor torque constant and the back emf constant.
From the figure above, we can derive the following governing equations based on Newton's
2nd law and Kirchhoff's voltage law.

(3)
(4)

In state-space form, the governing equations above can be expressed by choosing the
rotational speed and electric current as the state variables. Again the armature voltage is
treated as the input and the rotational speed is chosen as the output.

(5)

(6)

Listing Program :
close all
clear all
%Physics Parameters
J = 0.01;
b = 0.1;
K = 0.01;
R = 1;
L = 0.5;
%Disturbance
to = 35;
spread = 10;
N=exp(-.5*((1-to)/spread)^2);
%State Space
A = [-b/J
K/J
-K/L
-R/L];
B = [0
1/L];
C = [1
0];
D = 0;
%Transfer Function 1 (without disturbance)
[num,den]=ss2tf(A,B,C,D)
T1=tf(num,den)
step(T1,'r')
grid
hold on
%Transfer Function 2 (added with disturbance)
T2=T1+N;
T=tf(T2)
step(T2,'b')
grid

Tampilan :
Transfer Function (Without
disturbance)

Transfer Function (Without disturbance)

Respon Step

Step Response

0.12

System: T2
Settling time (seconds): 2.07
System: T2
Rise time (seconds): 1.14

0.1

System: T2
Final value: 0.103

System: T1
Rise time (seconds): 1.14

0.08

Amplitude

System: T1
Settling time (seconds): 2.07

System: T1
Final value: 0.0999

0.06

0.04

0.02

0.5

1.5

2.5

3.5

Time (seconds)

Analisa
Program ini dibuat untuk menentukan transfer function dan respon step dari motor
DC dari data berupa parameter fisis serta matriks persmaan keadaan (state space) yang
diketahui. Sistem juga diberi gangguan berupa gaussian pulse dan kemudian dilihat
kembali respon step dan respon stepnya. Untuk mengetahui transfer function dari state
space, digunakan sintaks ss2tf( ) pada matlab. Dari tampilan hasil transfer function terlihat
perbedaan pada sesudah dan sebelum diberi gangguan, hal ini diakibatkan penambahan
sinyal gaussian impulse pada sistem kedua. Dari hasil tampilan respon step juga terlihat
perbedaan pada keadaan sebelum (merah) dan setelah diberi gangguan (biru).

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