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S (s+20) (s+20) (S +20) S s+20) (s+20) : Rumus Perkalian

This document contains calculations for determining PID controller parameters. The calculations involve solving equations to find values for Kp, Ki, Kd, and Td. Kp is calculated to be 4492.63, Ki to be 26741.85, Kd to be 524.14, and Td to be 0.07. These PID parameters can then be used to control a system.

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Mufidah Nuroaini
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37 views

S (s+20) (s+20) (S +20) S s+20) (s+20) : Rumus Perkalian

This document contains calculations for determining PID controller parameters. The calculations involve solving equations to find values for Kp, Ki, Kd, and Td. Kp is calculated to be 4492.63, Ki to be 26741.85, Kd to be 524.14, and Td to be 0.07. These PID parameters can then be used to control a system.

Uploaded by

Mufidah Nuroaini
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Perhitungan :

19 19
= 2
s ( s+20 )( s+20 ) ( s +20 ) ( s +20 s ) ( s+ 20 ) ( s+ 20 )

19
3 2
( s + 40 s + 400 s ) ( s +20 )

19

( s +20 s +40 s +800 s2 +400 s2 +8000 s )
4 3 3

19

( s +60 s +1200 s 2+ 8000 s )
4 3

4 3 2
d = s +60 s +1200 s +8000 s +19 K

4
s 1 1200 19K
3
s 60 8000 0
2
s b1 b2 0
1
s c1 c2 0
0
s d1 d2 0

800072000 Rumus Perkalian


b 1=( )=1067
jadi 60 (1 x 8000 )( 60 x 1200 )
b 1=
01140 K 60
jadi b 2= 60 (
=19 K )
( 1 x 0 )( 60 x 19 K )
1140 k 8536000 b 2=
jadi c 1= ( 1067 ) 60

jadi d=19 K
0
s =19 K >0

1 1140 K8536000
s= 1067 >0

1140 K8536000> 1067


8536000
K>
1140
K >7487.719 kc
2 2
s 1067 s + 19 k
2
-19 k = 1067 s
142266,66 2
=s
1067

133,334=s2
s = 11,547

s= j x w
11,547 j= j x 2 x f
11,547
f= =1,837
2
1
Periode= =0,56
1,8

I
PID=K P+ ( TI
+Td )
P=0,5 x 7487, 719 ( kc )=3743,85

PI =0,45 x 7487,719 ( kc )=3369,47

0,56
TI = =0,46
1,2
7487,719
K= =16277,65
0,46

PID
KP=0,6 x 7487, 719=4492,63

TI =0,5 x 0,56=0,28

7487,719
KI= =26741,85
0,28
0,56
TD= =0,07
8

kD=7487,719 x 0,07=524,14

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