Perancangan Sistem Fault Tolerant Control Pada Pengendalian Speed Sensorless Motor Dc Berbeban.

Yudistiranda, Redho (2022) Perancangan Sistem Fault Tolerant Control Pada Pengendalian Speed Sensorless Motor Dc Berbeban. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Motor DC merupakan komponen yang penting pada banyak bidang industri, dimana pengendalian PID pada motor DC yang banyak digunakan memiliki kinerja yang buruk ketika terjadi disturbansi beban dan noise. Selain itu komponen sensor kecepatan pada motor DC akan menambah biaya dan mengurangi reliabilitas dari motor. Pada laporan ini diajukan penelitian mengenai perancangan fault tolerant control pada motor DC berbeban tanpa menggunakan sensor kecepatan untuk feedback kontrolernya. Langkah pertama adalah melakukan perancangan kontroler berupa state feedback dengan integrator. Kemudian mendesain observer dengan skema extended state observer yang dapat mengestimasi seluruh variabel keadaan dan kesalahan berdasarkan model plant motor DC. Untuk membedakan dan mengestimasi jenis kesalahan (sensor arus dan pembebanan) dengan benar maka diperlukan skema deteksi kesalahan (FDI) yang bekerja berdasarkan on-line steady state identification R-statistic. Setelah dilakukan pengujian keseluruhan didapatkan bahwa sistem berhasil mentracking setpoin kecepatan dengan error steady state terbesar 0.2756% dan undershoot ketika diberikan beban 0.05 Nm sebesar 33.28%.
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DC motor is an important component for many industries. Whereas PID controller that normally used for DC motor has a major drawback when it is faced with load and noise. Moreover, the speed sensor or measurement component for DC motor will increase the building cost and decrease the reliability. In this report is proposed research about design of fault tolerant control for DC motor with load wihout using speed sensor for controler feedback. The first step is to design a controller using state feedback with integrator. Then, to design observer using Extended State Observer Scheme that can estimate all the state variable and fault based on mathematical model of DC motor. To differentiate and estimate what fault is occuring (fault in current sensor and fault cause of load) correctly, it necessary to design a fault detection and identification scheme (FDI) that worked based on on-line steady state identification R-Statistic. After overall test has performed it showed that the control can track speed setpoin with biggest error steady state is 0.2756% and undershoot of 33.28% when load 0.05 Nm load is applied.

Item Type:	Thesis (Other)
Additional Information:	RSF 629.89 Yus p-1 2022
Uncontrolled Keywords:	Fault Tolerant Control, Motor DC, Speed Sensorless. Fault Tolerant Control, Motor DC, Speed Sensorless.
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Mr. Marsudiyana -
Date Deposited:	11 May 2026 03:35
Last Modified:	11 May 2026 03:35
URI:	http://repository.its.ac.id/id/eprint/133110

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