Saputro, Mujianto Purnomo (2015) Kompensasi Kesalahan Aktuator Menggunakan Proportional Multiple Integral Observer Pada Stabilisasi Sistem Pendulum Kereta. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Sistem pendulum kereta merupakan plant nonlinear yang terdiri dari batang pendulum yang menggantung dan bersumbu pada kedua sisi kereta yang dapat bergerak secara horizontal. Pada penelitian ini, persoalan kontrol yang dibahas adalah stabilisasi sistem pendulum kereta apabila terjadi kesalahan aktuator. Fault Tolerant Control (FTC)
adalah suatu metode kontrol yang dapat menoleransi kesalahan atau malafungsi komponen saat menjaga stabilitas sistem, sehingga performa sistem dapat terjaga. Model nonlinear sistem pendulum kereta
direpresentasikan dengan model fuzzy Takagi-Sugeno (T-S) untuk dua
titik kerja, kemudian kontroler state feedback disusun dengan konsep
Parallel Distributed Compensation (PDC) menggunakan Linear Quadratic Regulator (LQR). Untuk menjaga stabilisasi saat terjadi kesalahan pada aktuator, maka digunakan Proportional Multiple Integral Observer untuk mengestimasi kesalahan, kemudian hasil estimasi tersebut digunakan untuk mengompensasi kesalahan pada
aktuator. Hasil simulasi menunjukkan bahwa sistem kontrol pada sistem pendulum kereta mampu melakukan stabilisasi meskipun terjadi
kesalahan aktuator dengan menggunakan FTC. Sedangkan hasil implementasi menunjukkan adanya FTC dapat mengurangi penurunan
performa respon posisi kereta sebesar 81,25% untuk kesalahan step dan
87,5% untuk kesalahan ramp.
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Pendulum-cart system is a nonlinear plant consisting of a hanging pendulum rod and the wheelbase on both sides of the train that can move horizontally. In this research, the control problem is stabilization of pendulum-cart system when an actuator fault is occured. Fault
Tolerant Control (FTC) is a control method that can tolerate faults or
components malfunction while maintaining the stability of the system
until the performance of the system can be maintained. Pendulum-Cart system is represented by Takagi-sugeno (T-S) fuzzy model for two
operating points, and state feedback controller is designed by Parallel Distributed Compensation (PDC) concept using Linear Quadratic Regulator (LQR). Proportional Multiple Integral Observer is used to
estimate the fault. The result of that estimation is used to compensate actuator fault. The simulation results show that the control system of pendulum-cart system capable to stabilize despite the actuator fault
using FTC. The implementation results show that FTC can decrease
until 81.25% for step signal fault and 87.5% for ramp signal fault of the performance degradation of cart position response
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSE 629.836 Sap k |
| Uncontrolled Keywords: | Fault Tolerant Control, fuzzy Takagi-Sugeno, Linear Quadratic Regulator, Proportional Multiple Integral Observer Sistem Pendulum Kereta, Stabilisasi. |
| Subjects: | T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control |
| Divisions: | Faculty of Industrial Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | Mr. Tondo Indra Nyata |
| Date Deposited: | 04 Apr 2018 03:26 |
| Last Modified: | 24 Aug 2018 06:47 |
| URI: | http://repository.its.ac.id/id/eprint/51683 |
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