Mauliza, Yuli (2020) Perancangan Passive Fault Tolerant Control (PFTC) Pada Pengendalian Posisi Servo Modular MS150 DC. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Pengendalian posisi motor DC dengan sistem servo modular MS150 DC sulit mendapatkan performansi yang tinggi ketika terjadi kesalahan pada sensor dan atau aktuator. Oleh karena itu dilakukan perancangan sistem Passive Fault Tolerant Control (PFTC) pada pengendalian posisi sistem servo modular MS150 DC dengan kesalahan pada aktuator dan sensor sehingga dapat mengestimasi dan mengakomodasi kesalahan. Langkah pertama yang dilakukan adalah memodelkan servo modular MS150 DC. Langkah kedua adalah merancang sistem pengendali cascade. Langkah ketiga adalah merancang observer untuk mengestimasi nilai state yaitu posisi dan kecepatan. Langkah keempat adalah pengintegrasian antara observer dan sistem kontrol (PFTC) dan langkah terakhir pengujian performansi sistem PFTC. Hasil pengujian menunjukkan bahwa sistem PFTC mampu menjaga performansi sistem. Kesalahan bias maksimum pada sensor yang mampu diatasi sebesar 100%. Respon sistem dengan PFTC tidak menghasilkan maximum overshoot maupun error steady state sedangkan sistem tanpa PFTC menghasilkan error steady state sebesar 100%. Kesalahan bias maksimum pada aktuator yang mampu diatasi sebesar 80%. Sistem dengan PFTC menghasilkan maximum overshoot sebesar 25,2%. Sistem tanpa PFTC mengalami overshoot dan error steady state masing-masing sebesar 25,81% dan 100%.
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Control of the position of the DC motor with the MS150 DC modular servo system is difficult to get high performance when an error occurs in the sensor and or actuator. Therefore a Passive Fault Tolerant Control system was designed in the MS150 DC modular servo system position control with errors on the actuator and sensor so that it can estimate and accommodate errors. The first step is to model the MS150 DC modular servo. The second step is to design a cascade control system. The third step is to design an observer to estimate the state value, namely position, and speed. The fourth step is the integration between the observer and the control system (PFTC) and the final step is the PFTC system performance testing. Maximum bias error on sensors that can be overcome by 100%. System response with PFTC does not produce maximum overshoot or steady-state error while systems without PFTC produce a steady-state error of 100%. The maximum bias error on the actuator can be overcome by 80%. Systems with PFTC produce a maximum overshoot of 25.2%. Systems without PFTC experience overshoot and steady-state errors respectively at 25.81% and 100%.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSF 629.831 2 Mal a-1 • Mauliza, Yuli |
| Uncontrolled Keywords: | Actuator, Cascade Controller, Sensor, PFTC System, MS150 DC Modular Servo System Aktuator, Pengendali cascade, Sensor, Sistem PFTC, Sistem Servo Modular MS150 DC |
| Subjects: | T Technology > T Technology (General) > T57.62 Simulation |
| Divisions: | Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis |
| Depositing User: | Yuli mauliza |
| Date Deposited: | 03 Aug 2020 08:04 |
| Last Modified: | 11 May 2023 02:21 |
| URI: | http://repository.its.ac.id/id/eprint/76836 |
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