Sistem Kendali Kecepatan Motor BLDC Menggunakan Metode PID dan Transformasi Clarke-Park

Alyanurfathia, Rahma (2025) Sistem Kendali Kecepatan Motor BLDC Menggunakan Metode PID dan Transformasi Clarke-Park. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Perkembangan kendaraan listrik (EV) mendorong kebutuhan akan sistem penggerak yang efisien dan andal. Tim dari Coventry University tengah mengembangkan EV berbasis motor Brushless Direct Current (BLDC) untuk kompetisi Shell Eco-Marathon akan tetapi belum memiliki sistem kontrol yang terintegrasi. Studi literatur menunjukkan bahwa metode six-step commutation menghasilkan torsi ripple dan tidak cocok untuk aplikasi presisi. Sementara itu, metode sensorless Field-Oriented Control (FOC) yang memiliki transformasi Clarke-Park terbukti efektif dalam simulasi. Namun, penelitian terdahulu mengidentifikasi akurasi deteksi posisi rotor yang rendah menyebabkan fase delay dan pulsasi torsi yang tidak diinginkan. Selain itu, pengujian hardware belum banyak dilakukan. Oleh karena itu, dilakukan penelitian implementasi sistem kendali menggunakan metode PID dan transformasi Clarke-Park menggunakan sensor encoder sebagai feedback. Algoritma sistem dikembangkan menggunakan SimpleFOC Shield dan mikrokontroler Arduino Uno serta sensor magnetic encoder AS5600. Pengujian dilakukan melalui simulasi MATLAB/Simulink dan implementasi hardware menggunakan Arduino. Hasil simulasi menunjukkan respons sistem yang cepat dan stabil dengan menghasilkan rise time rata-rata sebesar 0,6s, overshoot 0%, settling time sebesar 1.07s dan tidak memiliki steady-state error. Pada pengujian hardware, sistem menunjukkan performa responsif dengan overshoot <5% dan steady-state error dalam batas toleransi ±5%. Temuan ini menunjukkan bahwa sistem PID dan transformasi Clarke-Park berbasis sensor mampu memberikan respons kecepatan yang efektif terhadap perubahan setpoint, serta layak digunakan sebagai dasar pengembangan sistem kontrol motor untuk kendaraan listrik.
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The development of electric vehicles (EVs) has increased the demand for efficient and reliable drive systems. A team from Coventry University is currently designing an EV powered by a Brushless Direct Current (BLDC) motor for the Shell Eco-Marathon competition; however, the vehicle lacks an integrated control system. Literature reviews indicate that the six-step commutation method produces torque ripple and is unsuitable for precision applications. In contrast, sensorless Field-Oriented Control (FOC), which utilizes Clarke-Park transformations, has proven effective in simulation environments. Nevertheless, previous studies have identified low rotor position detection accuracy as a source of phase delay and undesirable torque pulsations. Furthermore, hardware-based testing remains limited. This study proposes the implementation of a control system using a Proportional-Integral-Derivative (PID) method combined with Clarke-Park transformations, employing an encoder sensor for feedback. The control algorithm was developed using the SimpleFOC Shield, Arduino Uno microcontroller, and AS5600 magnetic encoder. System performance was evaluated through MATLAB/Simulink simulations and hardware implementation using Arduino. Simulation results demonstrated a fast and stable system response, with an average rise time of 0.6 seconds, zero overshoot, a settling time of 1.07 seconds, and no steady-state error. Hardware testing showed responsive performance with overshoot below 5% and steady-state error within a ±5% tolerance range. These findings indicate that the PID-based control system with Clarke-Park transformations and encoder feedback provides effective speed response to setpoint changes and is a viable foundation for developing motor control systems in electric vehicles.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Kendaraan Listrik, PID, Transformasi Clarke-Park, BLDC, Sistem Kontrol, Electric Vehicle, PID, Clarke-Park Transformation, BLDC, Control System.
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK2681.O85 Electric motors, Brushless.
Divisions:	Faculty of Vocational > 36304-Automation Electronic Engineering
Depositing User:	Rahma Alyanurfathia
Date Deposited:	07 Aug 2025 05:47
Last Modified:	07 Aug 2025 05:47
URI:	http://repository.its.ac.id/id/eprint/127938

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