Fasya, Amalia Zabda (2018) Perancangan Passive Fault Tolerant Control (PFTC) Pada Pengendalian Kecepatan Sistem Motor DC Dengan Kesalahan Pada Sensor. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Sistem motor DC pada mobil listrik sering mengalami kegagalan yang disebabkan oleh kesalahan pada komponen sensor. Pada Tugas akhir ini dilakukan perancangan sistem Passive Fault Tolerant Control (PFTC) yang dapat mempertahankan kinerja sistem ketika terjadi kesalahan pada komponen sensor. Langkah pertama yang dilakukan adalah merancang sistem pengendali state feedback dengan integrator. Langkah kedua adalah merancang observer untuk mengestimasi nilai variabel keadaan yaitu kecepatan dan arus. Dalam hal ini gain observer dicari menggunakan metode optimasi berbasis LMI (Linier Matrix Ineequalities). Sistem PFTC bekerja dengan menggunakan hasil estimasi keadaan dari observer, menggantikan hasil pengukuran. Dari hasil pengujian didapatkan nilai ketetapan kesalahan yang terbaik adalah 0,3. Kesalahan bias maksimum yang mampu diatasi adalah 60%. Respon sistem dengan PFTC tidak menghasilkan maximum undershoot sedangkan sistem tanpa PFTC menghasilkan maximum undershoot sebesar 63%. Sistem dengan PFTC tidak menghasilkan error steady state sedangkan sistem tanpa PFTC menghasilkan error sebesar 58%. Kesalahan sensitifitas maksimum yang mampu diatasi adalah 90%. Respon sistem dengan PFTC tidak menghasilkan error steady state sedangkan sistem tanpa PFTC menghasilkan error 50.7%. Selain itu PFTC mampu mengatasi ketidakpastian sebesar 10% pada tahanan (R).
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DC motor systems in electric cars often experience failure caused by errors in the sensor components. This final project designed a system Passive Fault Tolerant Control (PFTC) which can maintain the performance of the system when an error occurs on the sensor component. The first step was designing a state feedback control system with an integrator. The second step was designing an observer to estimate the value of state variables which is speed and current. In this case the gain observer searched by using the optimization method based on LMI (Linear Matrix Inequalities). The PFTC system works by using the state estimation results from the observer, replacing the measurement results. From the test results obtained the best failure constant value of 0.3. The maximum bias error that can be overcome is 60%. Response system with PFTC did not generate maximum undershoot while system without PFTC produced maximum undershoot equal to 63%. System with PFTC did not generate steady state error while system without PFTC generated error equal to 58%. The maximum sensitivity error that can be overcome is 90%. Response system with PFTC did not generate steady state error while system without PFTC generated error of 50.7%. In addition PFTC is able to overcome the uncertainty of 10% in coil resistance (R).
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSF 629.831.2 Fas p-1 3100018074463 |
| Uncontrolled Keywords: | Sensor; State Feedback Control With Integrator; PFTC System; DC Motor 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: | Amalia Zabda Fasya |
| Date Deposited: | 25 Jan 2018 04:20 |
| Last Modified: | 17 Sep 2020 06:04 |
| URI: | http://repository.its.ac.id/id/eprint/50626 |
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