Hermawan, Tulus Indra (2018) Perancangan Sistem Active Fault Tolerant Control (AFTC) untuk Pengendalian Posisi dengan Kontrol Cascade pada Sistem Servo Modular MS150 DC. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Kesalahan pada komponen seperti aktuator dan sensor dapat mengakibatkan kegagalan sistem salah satunya pada pengendalian posisi motor DC. Pada tugas akhir ini dilakukan perancangan sistem Active Fault Tolerant Control (AFTC) yang mampu bekerja ketika terdapat kesalahan pada komponen seperti aktuator dan sensor pada pengendalian posisi sistem servo modular MS150 DC sehingga performansi sistem tetap terjaga. Langkah pertama yang dilakukan adalah membuat pemodelan servo modular MS150 DC. Langkah kedua adalah merancang sistem kontrol cascade PI-P. Langkah ketiga adalah merancang sistem AFTC secara simulasi dan langkah terakhir adalah merancang sistem AFTC untuk aplikasi real time. Sistem tanpa AFTC pada kesalahan sensor secara real time mengalami error steady state sebesar 11% dan 91% sedangkan sistem dengan AFTC tidak mengalami error steady state. Sistem tanpa AFTC pada kesalahan aktuator secara real time mengalami overshoot sebesar 12,7% dan 28,6%, sedangkan sistem dengan AFTC mengalami overshoot lebih kecil sebesar 1,59% dan 11,15%. Hal tersebut terjadi karena sistem AFTC bisa menolerir kesalahan dari sensor dan aktuator sehingga respon sistem menjadi lebih baik.
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Errors in components in actuators and sensors can affect to system failure such as at position control of DC motor. In this final project, Active Fault Tolerant Control (AFTC) system design is able to work when there are errors in components such as actuators and sensors on position control of MS150 DC modular servo system so it can maintain the system performance. The first step is to make model of modular servo MS150 DC. The second step is to design a PI-P cascade control system. The third step is to design AFTC system simulation and final step is to design AFTC system for real time application. The system without AFTC on sensor error in real time generated error steady state 11% and 91% and the system with AFTC did not generate steady state error. System without AFTC on actuator error in real time generated overshoot 12,7% and 28,6%, and the system with AFTC has smaller overshoot equal to 1,59% and 11,15%. It happens because the AFTC system can tolerate errors from sensors and actuators so the system response can becomes better.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Uncontrolled Keywords: | Sensor, Aktuator, Cascade PI-P, Sistem AFTC, Sistem MS150 DC |
| 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 > 30201-(S1) Undergraduate Thesis |
| Depositing User: | Tulus Indra Hermawan |
| Date Deposited: | 19 Apr 2018 07:59 |
| Last Modified: | 19 Apr 2018 07:59 |
| URI: | http://repository.its.ac.id/id/eprint/50969 |
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