Perancangan Sistem Active Fault Tolerant Control (AFTC) pada Pengendalian Posisi Sistem Servo Modular MS150 DC dengan Kesalahan pada Aktuator dan Sensor

Pradhana, Ivan Taufik Akbar (2017) Perancangan Sistem Active Fault Tolerant Control (AFTC) pada Pengendalian Posisi Sistem Servo Modular MS150 DC dengan Kesalahan pada Aktuator dan Sensor. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Pengendalian posisi motor DC dengan sistem servo modular MS150 DC merupakan sistem yang non-linier, tidak stabil, dan sulit mendapatkan performansi respon sistem yang tinggi dalam penerapan tracking karena terjadi kesalahan pada sensor dan atau aktuator. Oleh karena itu dilakukan perancangan sistem Active Fault Tolerant Control (AFTC) pada pengendalian posisi sistem servo modular MS150 DC dengan kesalahan pada aktuator dan sensor sehingga dapat mengestimasi dan mengakomodasi kesalahan. Pengendali proportional (P) dirancang pada sistem dengan nilai gain Kp sebesar -20 dan didapatkan respon sistem posisi sesuai dengan standar ISA, yaitu nilai maximum overshoot < 25% dan error steady state < 5% untuk set point posisi 0,05 Volt. Kemudian dirancang observer dan reconfigurable control. Berdasarkan hasil pengujian AFTC pada pengendalian posisi sistem servo modular MS150 DC dengan memberi kesalahan bias pada aktuator dan sensor sebesar 40%, 60%, dan 80% maka dapat disimpulkan bahwa algoritma AFTC mampu mengestimasi dan mengakomodasi kesalahan sehingga respon sistem dapat kembali ke set point. Nilai maximum overshoot/undershoot dan error steady state dari sistem dengan AFTC lebih kecil daripada tanpa AFTC. Settling time sistem dengan AFTC lebih cepat daripada sistem tanpa AFTC. AFTC memiliki batas toleransi kesalahan maksimum 80% karena error > 5%. ============================================================================================= Position control of DC motor using modular servo MS150 DC is non-linear, unstable system, and difficult to get high performance of system response in tracking application because fault occurred in sensor and or actuator. Therefore it is designed Active Fault Tolerant Control (AFTC) system for position control of modular servo MS150 DC with fault in actuator and sensor, so it can estimate and accomodate that fault. The proportional controller is applied for position control system with gain value Kp is -20 and the system response of position control is according to ISA standard, ie maximum overshoot <25% and error steady state <5% for set point of position is 0,05 Volt. After that it is designed the observer and reconfigurable control. Based on AFTC test result on position control of modular servo MS150 DC by giving 40%, 60%, and 80% of bias fault in actuator and sensor, so it can be concluded that AFTC algorithm is able to estimate and accommodate faults so that system response can return to set point. The value of maximum overshoot/undershoot and error steady state from system with AFTC are smaller than system without AFTC. The settling time of system with AFTC is faster than system without AFTC. AFTC has maximum fault tolerance limit of 80% due to that error > 5%.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: pengendalian posisi servo modular MS150 DC, kesalahan aktuator, kesalahan sensor, actuator fault, sensor fault, Active Fault Tolerant Control (AFTC)
Subjects: T Technology > T Technology (General) > T55 Industrial Safety
T Technology > TJ Mechanical engineering and machinery > TJ217.6 Predictive Control
T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions: Faculty of Industrial Technology > Physics Engineering > (S1) Undergraduate Theses
Depositing User: Ivan Taufik Akbar Pradhana
Date Deposited: 17 Oct 2017 06:29
Last Modified: 09 Jan 2018 06:10
URI: http://repository.its.ac.id/id/eprint/47095

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