Analisis Pengaruh Inertia Flywheel terhadap Respon Dinamis Reaction Wheel Pendulum

Maulana, Muhammad Rizki (2024) Analisis Pengaruh Inertia Flywheel terhadap Respon Dinamis Reaction Wheel Pendulum. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Inertia wheel pendulum secara umum berfokus untuk menyeimbangkan pendulum pada posisi vertikal. Prinsip kekekalan angular momentum menjadi dasar penyeimbang pada inertia wheel pendulum, sehingga inertia dari flywheel sangat berpengaruh pada karakteristiknya. Tujuan dari penelitian ini adalah menganalisis pengaruh inertia flywheel pada sistem inertia wheel pendulum. Penelitian ini menggunakan tiga jenis inertia flywheel. Perancangan sistem kendali Inertia Wheel Pendulum menggunakan metode kontrol LQR. Karakteristik dinamis yang dianalisa meliputi dinamika state variable dan kontrol input berupa voltase motor. Hasil penelitian menyimpulkan bahwa nilai momen inersia dari inertia flywheel memiliki dampak yang signifikan pada performa sistem IWP. Nilai momen inersia dengan flywheel ke-2 mampu membawa pendulum ke posisi vertikal ke atas lebih cepat dengan waktu 1.36 detik dan tidak menyebabkan osilasi yang besar. Pada kasus flywheel lainnya dimana terjadi osilasi yang besar, osilasi dapat dikurangi dengan pemilihan pembobotan yang digunakan untuk mendesain kontroler.
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Inertia wheel pendulum generally focuses on balancing the pendulum in a vertical position. The principle of conservation of angular momentum becomes the basis for balancing the inertia wheel pendulum, so the inertia of the flywheel is very influential on its characteristics. The purpose of this research is to analyze the effect of flywheel inertia on the inertia wheel pendulum system. This research uses three types of flywheel inertia. The design of Inertia Wheel Pendulum control system uses LQR control method. The dynamic characteristics analyzed include state variable dynamics and input control in the form of motor voltage. The results concluded that the moment of inertia value of the inertia flywheel has a significant impact on the performance of the IWP system. The moment of inertia value with the 2nd flywheel is able to bring the pendulum to the vertical upward position faster with a time of 1.36 seconds and does not cause large oscillations. In the case of other flywheels where large oscillations occur, the oscillations can be reduced by selecting the weights used to design the controller.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Inertia Wheel Pendulum, Sistem Kendali, Angular Momentum, LQR; Inertia Wheel Pendulum, Control System, Angular Momentum, LQR.
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ541 Flywheels.
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Mechanical Engineering > 21201-(S1) Undergraduate Thesis
Depositing User:	Muhammad Rizki Maulana
Date Deposited:	16 Feb 2024 03:02
Last Modified:	16 Feb 2024 03:02
URI:	http://repository.its.ac.id/id/eprint/107151

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