Fuad, Muhamad Rizky (2026) Implementasi Indirect Rotor Field-Oriented Control Berbasis Encoder Pada Sistem Penggerak Motor Induksi Tiga Fasa. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Kebutuhan industri akan sistem penggerak berkinerja tinggi menuntut kendali motor induksi tiga fasa yang responsif dan presisi. Penelitian ini bertujuan mengimplementasikan dan memvalidasi algoritma Indirect Rotor Field-Oriented Control (IRFOC) berbasis Encoder sebagai strategi kendali vektor untuk mengoptimalkan pengendalian torsi dan arus. Metodologi meliputi pemodelan motor, perancangan arsitektur IRFOC, simulasi PSIM, dan implementasi real-time pada mikrokontroler STM32F446RE dengan beban flywheel. Pengendali PI arus sumbu d-q dirancang melalui metode Pole-Zero Cancellation (K_p=85,9; K_i=14541 pada simulasi), kemudian disesuaikan melalui empirical fine-tuning untuk hardware (Kp_d=1,0; Ki_d=300,0; Kp_q=2,0; Ki_q=500,0). Hasil pengujian menunjukkan decoupling arus berhasil dilakukan secara independen. Sumbu-d menjaga stabilitas arus pemagnetan dengan error minim baik pada magnetisasi kuat (0,43-4,13%) namun melebar hingga 20% pada magnetisasi sangat lemah, sementara sumbu-q melacak referensi torsi dengan presisi tinggi pada kondisi normal (0-11,11%) namun meningkat tajam saat pelemahan medan dalam (22,99-42,67%) akibat saturasi tegangan. Estimasi fluks rotor akurat (error 0,05% simulasi, 0,95-4,72% hardware pada magnetisasi kuat dan hingga 15,01% pada magnetisasi sangat lemah), dan degradasi torsi pada kecepatan tinggi (error 40,00-93,74%) disebabkan saturasi tegangan DC-link akibat tingginya back-EMF. Implementasi IRFOC berbasis Encoder berhasil divalidasi pada simulasi maupun hardware, dengan kestabilan kontroler PI dan keandalan estimasi yang menjadikannya fondasi solid untuk pengembangan sistem propulsi skala industri.
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The industrial demand for high-performance drive systems requires responsive and precise control of three-phase induction motors. This research aims to implement and validate the Encoder-based Indirect Rotor Field-Oriented Control (IRFOC) algorithm as a vector control strategy to optimize torque and current regulation. The methodology encompasses motor modeling, IRFOC architecture design, PSIM simulation, and real-time implementation on an STM32F446RE microcontroller with a flywheel load. The d-q axis current PI controllers were designed using the Pole-Zero Cancellation method (K_p=85.9; K_i=14541 in simulation), which were subsequently adjusted through empirical fine-tuning for the hardware implementation (Kp_d=1.0; Ki_d=300.0; Kp_q=2.0; Ki_q=500.0). The experimental results indicate that current decoupling was successfully executed independently. The d-axis maintained magnetizing current stability with minimal error under strong magnetization (0.43 - 4.13%), though the error widened up to 20% under very weak magnetization. Meanwhile, the q-axis tracked the torque reference with high precision under normal conditions (0 - 11.11%) but experienced a sharp increase in error during deep field weakening (22.99 - 42.67%) due to voltage saturation. Rotor flux estimation proved accurate (0.05% error in simulation; 0.95 - 4.72% in hardware under strong magnetization, and up to 15.01% under very weak magnetization), and torque degradation at high speeds (40.00 - 93.74% error) was confirmed to be caused by DC-link voltage saturation resulting from high back-EMF. The Encoder-based IRFOC implementation was successfully validated in both simulation and hardware, where the stability of the PI controllers and the reliability of the estimation establish a solid foundation for the development of industrial-scale propulsion systems.
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