Analisa Dinamis Inertia Wheel Pendulum Menggunakan Sliding Mode Control

Saputro, Bayu Adhi (2022) Analisa Dinamis Inertia Wheel Pendulum Menggunakan Sliding Mode Control. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Honda Riding Assist dan Segway HT memiliki sebuah kesamaan yaitu keduanya menggunakan prinsip kerja dari inverted pendulum. Prinsip kerja inverted pendulum berdasar pada hukum kekekalan momentum, jika tidak ada resultan gaya luar yang diberikan pada suatu objek atau sistem, momentum sudut objek tersebut akan kekal. Inverted pendulum merupakan sistem yang nonlinear maka diperlukan system kendali yang mendukung nonlinearitas dari inverted pendulum salah satunya
sliding mode control (SMC). SMC sendiri adalah suatu metode control untuk mengatasi ketidakpastian pada sistem control. SMC memiliki kelebihan pada tingkat robustness saat menghadapi variasi parameter dan disturbance baik disturbance dari dalam maupun dari luar. Desain kendali SMC memiliki beberapa tahapan yaitu memodelkan persamaan nonlinear, mendesain sliding surface dan implementasi control law pada sistem. Hasil penelitian menunjukkan bahwa SMC mampu menstabilkan inertia wheel pendulum. Hasil respon menunjukkan bahwa SMC mampu menstabilkan sistemdengan sudut awal maksimal 140 . Namun terjadi fenomena chattering pada sistem. Chattering yang terjadi dapat diatasi dengan penerapan fungsi saturasi sebagai pengganti signum.
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Honda Riding Assist and Segway HT have one thing in common, namely that they both use the working principle of an inverted pendulum. The working principle of the inverted pendulum is based on the law of conservation of momentum, if there is no resultant external force exerted on an object or system, the angular momentum of the object will be conserved. Inverted pendulum is a nonlinear system, so we need a control system that supports the nonlinearity of the inverted pendulum, one of which is sliding mode control (SMC). SMC itself is a control method to overcome uncertainty in the control system. SMC has advantages in the level of robustness when facing parameter variations and disturbances, both internal and external disturbances. SMC control design has several stages, namely modeling nonlinear equations, designing sliding surfaces and implementing control laws on the system.The results showed that SMC was able to stabilize the inertia of the pendulum wheel. The response results show that SMC is able to stabilize the system with a maximum initial angle of 140. However, a chattering phenomenon occurs in the system. Chattering that occurs can be overcome by applying the saturation function as a substitute for signum

Item Type:	Thesis (Other)
Additional Information:	RTM 629.8 Sap a-1 2022
Uncontrolled Keywords:	Inertia Wheel Pendulum, Balancing, SMC
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Mechanical Engineering > 21101-(S2) Master Thesis
Depositing User:	Mr. Marsudiyana -
Date Deposited:	13 Feb 2025 01:00
Last Modified:	13 Feb 2025 01:00
URI:	http://repository.its.ac.id/id/eprint/118700

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