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Script Matlab

The document describes the parameters and transfer function of a DC motor, including its inertia, damping, motor constant, resistance, and inductance. It also outlines the design of a PID controller with specified gains and simulates the step response of the closed-loop system. Additionally, it tests the step response with varying integral gains, providing visual results for analysis.

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ihsan25amirul
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6 views2 pages

Script Matlab

The document describes the parameters and transfer function of a DC motor, including its inertia, damping, motor constant, resistance, and inductance. It also outlines the design of a PID controller with specified gains and simulates the step response of the closed-loop system. Additionally, it tests the step response with varying integral gains, providing visual results for analysis.

Uploaded by

ihsan25amirul
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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% Parameter Motor DC

J = 0.01; % Momen inersia (Kg.m^2)

b = 0.1; % Damping motor (N.m.s)

K = 0.01; % Konstanta motor (Nm/A)

R = 1; % Resistansi (Ohm)

L = 0.5; % Induktansi (H)

% Transfer Function Motor DC: Theta(s)/Va(s)

num = K;

den = [(J*L) (J*R + b*L) (b*R + K^2)];

motor_tf = tf(num, den);

% Parameter PID

Kp = 100; % Proporsional Gain

Ki = 200; % Integral Gain

Kd = 10; % Derivative Gain

% PID Controller

PID = pid(Kp, Ki, Kd);

% Closed-Loop System

cl_sys = feedback(PID * motor_tf, 1);

% Simulasi Step Response

t = 0:0.01:5; % Waktu simulasi

figure;

step(cl_sys, t);

xlabel('Time (s)');

ylabel('Amplitude');
title('Step Response Of DC Motor with PID Controller');

% Misal uji Kp=100, 150

figure;

Ki_values = [150, 250];

legends = {};

for i = 1:length(Ki_values)

PID_test = pid(Ki_values(i), Kp, Kd);

cl_sys_test = feedback(PID_test * motor_tf, 1);

step(cl_sys_test, t);

hold on;

legends{end+1} = ['Ki = ', num2str(Ki_values(i))];

end

title('Step Response with varying Kp');

xlabel('Time (s)');

ylabel('Amplitude');

legend(legends);

grid on;

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