Putri, Nani Nur’aini Awab (2015) Kontrol Tracking Pada Sistem Pendulum Kereta Berbasis Model Fuzzy Takagi-Sugeno Menggunakan Pendekatan PDC Modifikasi. Undergraduate thesis, Institut Technology Sepuluh Nopember.
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Abstract
Sistem Pendulum Kereta merupakan salah satu contoh sistem
nonlinear yang sering digunakan untuk menguji berbagai metode
kontrol. Sistem kontrol dibutuhkan untuk menstabilkan dan membuat
batang pendulum di sistem pendulum kereta pada posisi equilibriumnya
yaitu pada sudut nol radian. Pada penelitian ini, permasalahan kontrol
yang dibahas adalah tracking, yaitu memaksa kereta bergerak mengikuti
sinyal referensi yang diberikan dengan tetap mempertahankan pendulum
pada posisi terbalik. Sinyal referensi yang digunakan pada Tugas Akhir
ini adalah sinyal sinusoidal. Model nonlinear Sistem Pendulum Kereta
akan direpresentasikan dalam model fuzzy Takagi-Sugeno (T-S) untuk
dua titik kerja. Berdasarkan model tersebut, aturan kontroler yang
digunakan berdasarkan konsep Parallel Distributed Compensation
(PDC) Modifikasi. Sistem kontrol tracking yang digunakan adalah
model kompensator. State feedback gain dan gain kompensator
diperoleh dengan menggunalan teknik pole placement. Kontroler hasil
desain diuji melalui simulasi dan implementasi pada plant nyata Sistem
Pendulum Kereta. Berdasarkan pengujian diperoleh hasil posisi kereta
dengan PDC Modifikasi memiliki waktu yang lebih cepat dalam
mengikuti sinyal referensi dibandingkan PDC Konvensional.
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Pendulum Cart System is an example of nonlinear system which is
commonly used to examine the performance and the efficiency of
various control methods. The control system is needed to stabilize and
make the pendulum rod of Pendulum Cart System on equilibrium
position. In this research, the control problem is tracking control, which
forced the cart to track a given reference signal while the pendulum is in
upright position. Reference signal used in this final project is a
sinusoidal signal. Pendulum Cart System is represented by Takagi-
Sugeno (T-S) fuzzy model for two operating systems. Based on T-S fuzzy
model, controller rule with the concept of Parallel Distributed
Compensation (PDC), which has been modified. Fuzzy tracking control
scheme is designed by model compensator. State feedback gain and the
gain compensator obtained using the pole placement technique.
Controller design results is tested through simulation and
implementation in a real plant Pendulum Cart System. Based on the test
result obtained from the response of the cart position using PDC
Modification is faster than that of The PDC Conventional to follow the
reference signal.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSE 629.89 Put k |
| Uncontrolled Keywords: | Sistem Pendulum Kereta, Tracking, Model Kompensator, Fuzzy Takagi-Sugeno, Metode Pole placement, PDC Modifikasi |
| Subjects: | Q Science > QA Mathematics > QA9.64 Fuzzy logic T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control. |
| Divisions: | Faculty of Electrical Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | Mr. Tondo Indra Nyata |
| Date Deposited: | 16 Aug 2018 02:16 |
| Last Modified: | 16 Aug 2018 02:16 |
| URI: | http://repository.its.ac.id/id/eprint/59385 |
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