Tugas 04

Kode/Mata Kuliah : IMG204 / Teknik Pengaturan Program Studi : Teknik Mesin

Hari/Tanggal : Selasa / 22-09-2020 Fanny Media/061001700028
No Soal

1 CPMK.1:
100%

Diketahui:

𝑹(𝒔) 𝑪(𝒔)
𝑮(𝒔)
25 1
𝐺 (𝑠) = ; Input step= 1  𝑅 (𝑠) =
𝑠2 + 4𝑠 + 25 𝑠

Carilah:
Rise Time, Periodic Time, Time to Peak, Peak Overshoot,
Prosentase maksimum nilai puncak, 5% Settling Time dan
Number of oscillations before settling time.

Jawab :
25 1
𝐺(𝑠) = 𝑠2 +4𝑠_25 ; input step = 1  𝑅(𝑠) = 𝑠
Rumus umum:
𝑊𝑛2
𝐺(𝑠) = 𝛾 2
𝑠 + 25𝑊𝑛 𝑠 + 𝑊𝑛2
25 2
𝐺(𝑠) = 𝛾 2  𝛾 = 1; Wn =√25 = 5; ξ =
𝑠 +45+25 5
2 2
𝑊𝑑 = 𝑊𝑛 √1 − ξ2 = 5√1 − (5) = √21

1
Untuk step = 1  𝑅(𝑠) = 𝑠

1 1 25
𝐹(𝑠) = × × 2
𝑠 1 𝑠 + 45 + 25
1 25
= (𝑠 + 𝑠2 +45+25)

Invers TL dari
𝑊𝑛
𝐹(𝑠) 𝑎𝑑𝑎𝑙𝑎ℎ 𝑓(𝑡) = [1 − 𝑒 −ξ𝑊𝑛𝑡 (ξ sin 𝑤𝑑𝑡 × cos 𝑤𝑑𝑡)]
𝑊𝑑
 2
𝑓(𝑡) = [1 − 𝑒 −2𝑡 ( sin √21𝑡 × cos √21𝑡)]
√21

2
√1−𝜏 2 √1−( )2
1 1 5
a. rise time : 𝑡𝑟 = 𝑤𝑑 (𝜋 − 𝑡𝑎𝑛−1 5 )= (𝜋 − 𝑡𝑎𝑛 −1
2 )
√21
5
1 √21
= (𝜋 − 𝑡𝑎𝑛−1 ) = -13.8 s
√21 2

2𝜋 2𝜋
b. periodic time : 𝑊𝑑 = = 0.299𝑠
√21
𝜋 𝜋
c. time to pick : 𝑊𝑑 = = 0.685𝑠
√21
d. peak over shoot
2
𝑓(𝑡) = [1 − 𝑒 −2(0.685) ( sin √21(0.685) × cos √21(0.685)] = 0.738𝑠
√21
3
e. setting time (ts) 5% = 2 = 1.55
1.5
f. Number of oscillations before setting time = 1.37 = 1.09
1 25
g. 𝑓(∞) = lim 𝑠 𝐹(𝑠) = lim 𝑠 𝑠 𝑠2 +4𝑠+25
=1
𝑠→0 𝑠→0
𝑓(𝑡𝑝)−𝑓𝑠𝑠
h. | | − 100%
𝑓𝑐,𝑠
0.74−0.95
| 0.95 | − 100%
=22.10%