Rancang Bangun Speed Sensorless Fault Tolerant Discrete Control (FTDC) pada Motor DC dengan Pembebanan Menggunakan Metode R-Statistic

Saifulloh, Muhammad Husein Az Zahro (2024) Rancang Bangun Speed Sensorless Fault Tolerant Discrete Control (FTDC) pada Motor DC dengan Pembebanan Menggunakan Metode R-Statistic. Other thesis, Institut Teknlogi Sepuluh Npember.

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Abstract

Motor DC mengubah energi listrik arus searah dan memiliki berbagai aplikasi penting, namun sering mengalami penurunan kecepatan akibat beban tambahan, sehingga memerlukan sistem kontrol yang efektif. Metode speed sensorless mengestimasi kecepatan berdasarkan arus untuk mengurangi ketergantungan pada sensor. Untuk mengatasi gangguan seperti penambahan torsi beban dan kesalahan sensor arus, digunakan Fault Tolerant Control (FTC). Penelitian ini mengembangkan Fault Tolerant Discrete Control (FTDC) pada motor DC, menggunakan State Feedback Control yang menunjukkan rise time 3.984 s, settling time 10.820 s, overshoot 4.151%, dan error steady state 2.146%. Metode Discrete Observer mengestimasi kecepatan dan arus dengan Mean Absolute Percentage Error (MAPE) masing-masing sebesar 22.82% dan 1.55%. Sistem Fault Detection and Identification (FDI) dengan metode R-Statistic mendeteksi dan mengestimasi gangguan pada real plant dengan penambahan torsi beban terestimasi sebesar 0.001334 Nm dengan delay 1.7 s serta kesalahan sensor arus terestimasi sebesar 0.7582 A dengan error estimasi 1.09% dan delay 1.3 s. Pada simulasi, akurasi deteksi mencapai 100% dengan delay penambahan torsi beban pertama dan kedua serta kesalahan sensor arus masing-masing sebesar 0.14 s, 0.17 s, dan 0.9 s. FTDC berhasil mengembalikan kestabilan sistem dengan error steady state 1.94%, serta dari hasil simulasi FTDC dapat menstabilkan kembali sistem sehingga error steady state menjadi 0.0452%.
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A DC motor converts direct current electrical energy and has various important applications. However, it often experiences speed reduction due to additional load, requiring an effective control system. The speed sensorless method estimates speed based on current to reduce dependence on sensors. To address disturbances such as load torque additions and current sensor errors, Fault Tolerant Control (FTC) is used. This research develops Fault Tolerant Discrete Control (FTDC) on a DC motor, using State Feedback Control that shows a rise time of 3.984 s, a settling time of 10.820 s, an overshoot of 4.151%, and a steady-state error of 2.146%. The Discrete Observer method estimates speed and current with a Mean Absolute Percentage Error (MAPE) of 22.82% and 1.55%, respectively. The Fault Detection and Identification (FDI) system with the R-Statistic method detects and estimates disturbances in the real plant with an estimated load torque addition of 0.001334 Nm with a delay of 1.7 s and an estimated current sensor error of 0.7582 A with an estimation error of 1.09% and a delay of 1.3 s. In simulation, detection accuracy reaches 100% with delays in the first and second load torque additions and current sensor errors of 0.14 s, 0.17 s, and 0.9 s, respectively. FTDC successfully restores system stability with a steady-state error of 1.94%, and in simulation, FTDC can stabilize the system, reducing the steady-state error to 0.0452%.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Fault Tolerant Discrete Control, DC motor, R-Statistic, speed sensorless, Fault Tolerant Discrete Control, motor DC, R-Statistic, speed sensorless
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK2681.B47 Electric motors, Direct current. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Industrial Engineering > 26201-(S1) Undergraduate Thesis
Depositing User:	Muhammad Husein Az Zahro Saifulloh
Date Deposited:	02 Aug 2024 08:59
Last Modified:	02 Aug 2024 08:59
URI:	http://repository.its.ac.id/id/eprint/109419

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