Karlina, Diyajeng Luluk (2018) Perancangan Passive Fault Tolerant Control (PFTC) Pada Pengendalian Kecepatan Sistem Motor DC Dengan Kesalahan Pada Aktuator. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Hingga saat ini gangguan yang terjadi pada motor DC masih dapat ditangani dengan menggunakan sistem pengendali umpan balik (konvensional). Jika gangguan berupa kesalahan pada komponen aktuator maka sistem pengendali konvensional tidak dapat mengatasi gangguan tersebut. Pada tugas akhir ini dilakukan perancangan sistem Passive Fault Tolerant Control (PFTC) yang mampu bekerja ketika terdapat kesalahan pada aktuator pada pengendalian kecepatan sistem motor DC sehingga performansi sistem tetap terjaga. Langkah pertama yang dilakukan adalah merancang sistem kontrol state feedback dengan integrator menghasilkan nilai Kp sebesar 224,99 dan 19 sedangkan Ki sebesar 2,5. Langkah berikutnya adalah merancang observer yang berfungsi mengestimasi kesalahan. Sistem PFTC bekerja dengan melakukan kompensasi terhadap sinyal kontrol dengan menggunakan hasil estimasi observer. Penerapan sistem PFTC menghasilkan nilai maximum undershoot dan nilai settling time lebih kecil dibandingkan dengan sistem tanpa PFTC yaitu 10,16% dan 4,4 detik. Untuk sistem dengan PFTC dan sistem tanpa PFTC tidak terdapat error steady state. Sistem PFTC mampu menangani kesalahan bias sebesar 100% dan kesalahan loss of effetiveness sebesar 95% pada aktuator. Selain itu PFTC mampu menangani ketidakpastian sebesar 10%. ============================================================================================================
Currently, the disturbance that occurs in DC motors can still be handled using conventional feedback controller systems. If the disturbance is in a form of fault occuring in the actuator component, the conventional control system will not be able to overcome the disturbance. In this research, the Passive Fault Tolerant Control (PFTC) system that is able to work when there is an fault on the actuator on DC motor system speed control is designed so that the system performance is maintained. The first step is designing a state feedback control system with integrators yielding the Kp values of 224,99 and 19 while the Ki value is 2,5. The next step is to design an observer that works to estimate the fault. The PFTC system works by compensating the control signal by using the observer estimation results. The implementation of PFTC system results in smaller value of maximum undershoot and settling time compared to system without PFTC that is 10,16% and 4,4 seconds. For systems with PFTC and systems without PFTC there is no steady state error. The PFTC system is able to handle 100% bias fault and 95% loss of effetiveness in actuator. In addition, PFTC is able to handle uncertainty by 10%.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSFi 629.831 2 Kar p-1 3100018075011 |
| Uncontrolled Keywords: | Actuator; State Feedback with Integrator; Motor DC System; PFTC system |
| Subjects: | T Technology > T Technology (General) T Technology > TJ Mechanical engineering and machinery > TJ799 Diesel motor--Electronic control. T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control |
| Divisions: | Faculty of Industrial Technology > Physics Engineering > 30201-(S1) Undergraduate Thesis |
| Depositing User: | Diyajeng Luluk Karlina |
| Date Deposited: | 25 Jan 2018 04:15 |
| Last Modified: | 17 Sep 2020 06:00 |
| URI: | http://repository.its.ac.id/id/eprint/50613 |
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