Kontrol Tracking Pada Sistem Pendulum Kereta Berbasis Model Fuzzy Takagi-Sugeno Menggunakan Pendekatan PDC Modifikasi

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. ================================================================================================ 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 > (S1) Undergraduate Theses
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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