Rancang Bangun Sistem Kontrol Acceleration pada Earthquake Shaking Table Berpenggerak Ballscrew Linear Guide Actuator Berbasis Algoritma Bresenham dan Pengendali Fuzzy

Anugraheni, Nadya Ayu (2022) Rancang Bangun Sistem Kontrol Acceleration pada Earthquake Shaking Table Berpenggerak Ballscrew Linear Guide Actuator Berbasis Algoritma Bresenham dan Pengendali Fuzzy. Masters thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Earthquake Shaking Table (EST) merupakan alat yang dapat bergerak berdasarkan gerakan gempa bumi untuk mengetahui performasi dari bangunan maupun non bangunan yang diuji. Pada tesis ini, sistem kontrol EST dengan pergerakan biaxial dan menggunakan aktuator Ballscrew Linear dibuat. Input yang digunakan pada EST ini adalah data perpindahan dan data kecepatan dari gempa bumi yang telah terjadi agar EST memiliki pergerakan yang mirip dengan gempa bumi nyata. Model matematis dari EST ini akan dirancang berdasarkan model matematis dari motor stepper dan Ballscrew Linear. Sebelum diuji dengan input data gempa bumi, model EST dan perangkat keras EST diuji dengan beberapa input pola seperti garis, elips, lingkaran, gelombang sinus dan gelombang segitiga. Penentuan titik-titik koordinat pada pola agar kedua meja EST dapat bergerak bersamaan dilakukan dengan menggunakan algoritma bresenham yang dimodifikasi dengan kecepatan yang berbeda-beda. Sistem kendali EST pada penelitian ini menggunakan Fuzzy-PI, Fuzzy digunakan untuk
mentuning nilai Kp dan Ki berdasarkan error dan perubahan error. Pada hasil pengujian model EST pengendali Fuzzy-PI mampu menurunkan error ITAE perpindahan paling optimal pada pengujian dengan input gempa Haiti pada sumbu X masing-masing sebesar 301.9 dan sumbu Y sebesar 238.0. Sedangkan pada data kecepatan didapatkan pengurangan error ITAE kecepatan pada sumbu X sebesar 645.7 dan sumbu Y sebesar 580.1. Pada hasil pengujian perangkat keras EST didapatkan hasil yang paling optimal pada pengujian dengan menggunakan data gempa bumi di Haiti pada rentang kecepatan sedang dan didapatkan nilai RMSE pada data perpindahan sumbu X sebesar 0.0043, sumbu Y sebesar 0.0063 dan nilai RMSE pada data kecepatan sumbu X sebesar 0.0224, sumbu Y sebesar 0.0139.
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Earthquake Shaking Table (EST) is a tool that can move based on earthquake movements to determine the performance of the tested buildings and non-buildings. In this thesis, an EST control system with biaxial movement and using a Linear Ballscrew actuator is developed. The input used in this EST is the displacement data and velocity data from earthquakes that have occurred so that the EST has a movement similar to a real earthquake. The mathematical model of the EST will be designed based on the mathematical model of the stepper motor and Linear Ballscrew. Before being tested with earthquake data input, the EST model and EST hardware were tested with several input patterns such as line, ellipse, circle, sine wave, and triangle wave. Determination of the coordinate points on the pattern so that the two EST tables can move simultaneously is done using the modified Bresenham algorithm with different speeds. The EST control system in this study used Fuzzy-PI, Fuzzy is used to adjust the values of Kp and Ki based on errors and changes in error. In the test results, the EST model with the Fuzzy-PI controller was able to reduce the most optimal error in the test with the
Haiti earthquake input with the value ITAE on displacement data on the X-axis was 301.9 and the Y-axis was 238.0. Meanwhile, for velocity data, the error reduction on the X-axis was 645.7 and on the Y-axis was 580.1. On the EST
hardware test results, the most optimal results were the test using earthquake data in Haiti at medium velocity with the RMSE value on displacement data for the Xaxis was 0.0043 while the Y-axis was 0.0063 and for the velocity data, the RMSE value for the X-axis was 0.0224 while the Y-axis was 0.0139.

Item Type:	Thesis (Masters)
Additional Information:	RTF 629.89 Anu r-1 2022
Uncontrolled Keywords:	Earthquake Shaking Table, Pengendali Fuzzy-PI, Algoritma Bresenham
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control.
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	- Davi Wah
Date Deposited:	22 Apr 2024 07:23
Last Modified:	22 Apr 2024 07:23
URI:	http://repository.its.ac.id/id/eprint/107893

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