Rancang Bangun Sistem Fault Tolerant Control Pada Pengendalian Speed Sensorless Motor DC Berbeban Berbasis Observer

Annazily, Muhammad Hamzah (2023) Rancang Bangun Sistem Fault Tolerant Control Pada Pengendalian Speed Sensorless Motor DC Berbeban Berbasis Observer. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Motor DC banyak digunakan di kehidupan sehari - hari, terutama untuk dunia perindustrian.Dalam pengaplikasiannya, kecepatan motor DC dapat terjadi penurunan diakibatkan dari beban, sehingga kecepatan motor DC tidak konstan. Cara untuk mengetahui kecepatan motor DC menggunakan sensor kecepatan. Namun, sensor tersebut memiliki tambahan biaya untuk pemasangannya dan dapat mengurangi keandalan motor DC. Cara hemat untuk mengurangi ketergantungan sensor kecepatan dalam sistem motor adalah dengan mengestimasikan kecepatan menggunakan observer. Untuk mengatasi adanya gangguan, motor DC diintegrasikan dengan Fault Tolerant Control (FTC) agar stabilitas sistem tetep terjaga. Pada penelitian ini dilakukan pengujian motor DC berbeban yang diintegrasikan dengan sistem FTC. Langkah pertama adalah merancang mini plant motor DC, memodelkan sistem motor DC dan mengukur parameter motor DC. Selanjutnya merancang controller yang menggunakan algoritma state feedback dengan integrator. Performansi controller yang digunakan adalah settling time 0,65 detik, overshoot 3,48% dan error steady state sebesar 0,43%. Untuk mengestimasikan variabel keadaan dan nilai kesalahan yang diberikan pada motor DC digunakan observer yang berjenis extended state observer (ESO). Error steady state estimasi kecepatan motor sebesar 1,2% dan error estimasi arus motor sebesar 2,6%. Nilai estimasi torsi beban yang terdeteksi sebesar 0,00023588 N.m dan ±0,375 A untuk nilai estimasi kesalahan sensor arus. Dirancang skema deteksi jenis kesalahan untuk mendeteksi dan membedakan jenis kesalahan yang diberikan pada motor DC yang dirancang berdasarkan metode on-line steady state identification R-statistic. Keseluruhan desain yang telah dirancang diintegrasikan dengan FTC dan diuji performasinya. Didapatkan bahwa FTC dapat menjaga kecepatan motor DC sesuai set point ketika diberikan torsi beban dengan error steady state sebesar 2,3%.
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DC motors are widely used in everyday life, especially for the industrial world. In its application, the speed of a DC motor can decrease as a result of the load, so the speed of the DC motor is not constant. How to find out the speed of a DC motor using a speed sensor. However, such sensors have an additional cost to install and can reduce the demands on DC motors. An economical way to reduce the speed sensor dependence in a motor system is to estimate the speed using an observer. To overcome disturbances, DC motors are integrated with Fault Tolerant Control (FTC) so that system stability is maintained. In this study, a DC load motor was tested which was integrated with the FTC system. The first step is to design a DC motor mini plant, model the DC motor system and measure the parameters of the DC motor. Next, design a controller that uses a state feedback algorithm with an integrator. The performance of the controller used is a settling time of 0.65 seconds, an overshoot of 3.48% and a steady state error of 0.43%. To estimate the state variable and the error value given to the DC motor, an observer with the extended state observer (ESO) type is used. The steady state error for estimating motor speed is 1.2% and the error for estimating motor current is 2.6%. The estimated value of the detected torque load is 0.00023588 N.m and ±0.375 A for the estimated value of the current sensor error. Supported fault type detection scheme for detecting and distinguishing a given fault type in a DC motor designed based on the online R-statistical steady state identification method. The entire design that has been designed is integrated with the FTC and tested for performance. It was found that the FTC was able to maintain the speed of the DC motor according to the set point when it was given a torque load with a steady state error of 2.3%.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Motor DC, observer, Fault Tolerant Control, DC motor, Observer, Fault Tolerant Control
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK4055 Electric motor
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Muhammad Hamzah Annazily
Date Deposited:	02 Aug 2023 02:33
Last Modified:	02 Aug 2023 02:33
URI:	http://repository.its.ac.id/id/eprint/100636

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