Perancangan Dan Implementasi Sliding Mode Observer Untuk Position Sensorless Control Berbasis Field Oriented Control Pada Motor BLDC

Rawang, Andre Alfa Jones (2026) Perancangan Dan Implementasi Sliding Mode Observer Untuk Position Sensorless Control Berbasis Field Oriented Control Pada Motor BLDC. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Sistem aktuasi gerak pada industri modern saat ini menuntut efisiensi, presisi tinggi, dan respon yang cepat. Motor Brushless Direct Current (BLDC) menjadi pilihan yang sering ditemukan, namun metode konvensional Six-Step Commutation menghasilkan ripple torsi dan getaran mekanis akibat deteksi rotor yang tidak akurat. Metode Field Oriented Control (FOC) dapat mengatasi kelemahan tersebut, tetapi implementasinya membutuhkan sensor mekanis yang menabah biaya kompleksitas mekanis, dan kegagalan sistem. Penelitian ini bertujuan merancang, mengintegrasikan, dan mengimplementasikan algoritma Sliding Mode Observer (SMO) yang terintegrasi Phase Locked-Loop (PLL) sebagai metode sensorless untuk mengestimasi posisi dan kecepatan rotor BLDC pada pengendalian posisi. Penelitian dilakukan melalui simulasi menggunakan Simulink dan implementasi hardware menggunakan mikrokontroler STM32 pada kondisi tanpa beban dan tunak. Hasil pengujian menunjukan bahwa perancangan SMO-PLL berhasil mengambil sudut posisi rotor secara presisi, dibuktikan oleh nilai RMSE yang kecil di sekitar 0.0007 rad hingga 0.0014 rad serta rata-rata error estimasi posisi yang berada di rentang 1.511% hingga 2.183% dibawah batas tolerasi < 5%. Integrasi SMO-PLL kedalam loop kendali FOC menunjukan performa yang membaik seiring peningkatan kecepatan, dimana error steady-state kecepatan hingga 0.705% pada kecepatan 40 rad/s. Validasi eksperimental antara hardware dan simulasi menunjukan tingkat kesesuaian yang cukup baik dengan posisi sebesar 1.52% dan NRMSE arus tiga fasa sebesar 6.336% di bawah error < 10%, yang membuktikan model matematika simulasi valid. Meskipun fase transisi dari I-F startup menuju close-loop mengalami gangguan transien speed drop dari 18.226 rad/s hingga 24.294 rad/s akibat efek hard-switching dan delay komputasi, kontroler PI menujukan pemulihan yang cepat dengan error kecepatan akhir pada kondisi steady-state 1.9375% pada 20 rad/s; 2.8402 pada 30 rad/s; dan 1.7225% pada 40 rad/s yang konsisten di bawah 5%. Dengan demikian sistem FOC-SMO terverifikasi berkinerja baik dan layak diimplementasikan. Inovasi kontrol sensorless ini berkontribusi langsung pada pencapaian SDG’s melalui peningkatan efisiensi desian produk berkelanjutan.
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Drive systems in today’s modern industry demand efficiency, high precision, and fast response. Brushless DC (BLDC) motors are a commonly used choice, but the conventional six-step commutation method results in torque ripple and mechanical vibration due to inaccurate rotor detection. The Field-Oriented Control (FOC) method can address these shortcomings, but its implementation requires physical sensors that increase cost, mechanical complexity, and the risk of system failure. This research aims to design, integrate, and implement a Sliding Mode Observer (SMO) algorithm integrated with a Phase Locked-Loop (PLL) as a sensorless method for estimating the position and speed of a BLDC rotor in position control. The research was conducted through simulation using Simulink and hardware implementation using an STM32 microcontroller under no-load and stationary conditions. Test results show that the SMO-PLL design successfully estimates the rotor position angle with high precision, as evidenced by low RMSE values ranging from approximately 0.0007 rad to 0.0014 rad and an average position estimation error ranging from 1.511% to 2.183%, both of which fall below the <5% tolerance limit. The integration of the SMO-PLL into the FOC control loop demonstrated improved performance as speed increased, with a steady-state speed error of up to 0.705% at a speed of 40 rad/s. Experimental validation between hardware and simulation showed a fairly good level of agreement, with a positional error of 1.52% and a three-phase current NRMSE of 6.336%, both below the <10% error threshold, proving the validity of the simulation’s mathematical model. Although the transition phase from I-F startup to closed-loop operation experienced transient speed drops ranging from 18.226 rad/s to 24.294 rad/s due to hard-switching effects and computational delays, the PI controller demonstrated rapid recovery with a final steady-state speed error of 1.9375% at 20 rad/s; 2.8402% at 30 rad/s; and 1.7225% at 40 rad/s all consistently below 5%. Thus, the FOC-SMO system has been verified to perform well and is suitable for implementation. This sensorless control innovation directly contributes to the achievement of the SDGs through improved efficiency in sustainable product design.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Brushless Direct Current (BLDC), Field Oriented Control (FOC), Pengendali Posisi, Sliding Mode Observer (SMO), SDG 9 (Industri, Inovasi, dan Infrastrktur) ================================================================================================= Brushless Direct Current (BLDC), Field-Oriented Control (FOC), Position Controller, Sliding Mode Observer (SMO), SDG 9 (Industry, Innovation, and Infrastructure)
Subjects:	T Technology > T Technology (General) > T57.62 Simulation T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK2692 Inverters T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK2785 Electric motors, Induction. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK4055 Electric motor T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL574.C3 Cascade
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Andre Alfa Jones Rawang
Date Deposited:	30 Jul 2026 03:23
Last Modified:	30 Jul 2026 03:23
URI:	http://repository.its.ac.id/id/eprint/139612

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