Identifikasi Sistem pada Gyroscopic Inverted Pendulum

Srivani, Alifa Marcelia Laksmi (2019) Identifikasi Sistem pada Gyroscopic Inverted Pendulum. Other thesis, Institut Teknologi Sepuluh Nopember.

Text 02111540000049-Undergraduate_Theses.pdf Restricted to Repository staff only Download (4MB) | Request a copy

Abstract

Kendaraan roda dua memiliki masalah kestabilan karena tidak dapat menyeimbangkan dengan sendirinya untuk menghindari jatuh. Salah satu solusi untuk dapat menstabilkan kendaraan roda dua adalah dengan mengembangkan teknologi penyeimbang control moment gyroscope. Control moment gyroscope menghasilkan torsi presisi akibat putaran flywheel yang dapat melawan gaya lateral yang diakibatkan oleh gaya sentrifugal untuk menjaga kendaraan dalam keadaan tegak terutama pada saat kendaraan diam. Dalam perkembangan sistem kendali control moment gyroscope, persamaan dinamis sistem yang didapat dari penurunan rumus (linear) kurang merepresentasikan sistem dalam keadaan nyata (nonlinear). Sehingga perlu didapatkannya suatu persamaan matematis yang dapat merepresentasikan kondisi nyata yang dari sistem yang nonlinier. Pada penelitian kali ini akan membahas identifikasi sistem untuk mendapat model matematis yang merepresentasikan pemodelan nonlinier dari gyroscopic inverted pendulum. Pada penelitian ini dirancang sistem gyroscopic inverted pendulum sebagai pemodelan kendaraan roda dua, dimana akan dievaluasi dinamikanya agar gyroscopic inverted pendulum dapat kembali ke posisi ekuilibrium dikarenakan adanya torsi gangguan berupa impuls dan sinus. Penelitian kali ini akan mengevaluasi sistem gyroscopic inverted pendulum dengan sistem kendali Linear Quadratic Regulator. Sistem kendali dimaksudkan untuk menyeimbangkan inverted pendulum pada posisi ekuilibriumnya. Setelah sistem kembali ke posisi ekuilibrium, diambil data-data pengukuran sudut input dan output dari gyroscopic inverted pendulum. Kemudian mengolah data-data hasil pengukuran di MATLAB untuk proses System Identification dengan dua metode yaitu Black-box dan Greybox sehingga didapatkan model matematis yang merepresentasikan sistem berdasarkan karekteristik data-data input output tersebut. Pada pengestimasian model matematis pada proses System Identification, didapatkan bahwa model matematis dalam bentuk state space yang didapat dengan metode Black-box lebih merepresentasikan sistem jika dibandingkan dengan metode Grey-box. Untuk sistem tanpa kendali dapat dilakukan pengestimasian model matematis dengan bentuk transfer function yang didapat dengan metode Black-box. Kemudian dibuat sistem kendali dengan model matematis yang didapat dari proses System Identification.
===================================================================================================================================
Two-wheeled vehicles have stability issues because it cannot balance itself to avoid falling. One of the solutions to stabilize two-wheeled vehicles is by developing control moment gyroscope balancing technology. Control moment gyroscope produce a precession torque due to moving flywheel that can counteract the lateral force caused by centrifugal force to keep the vehicle stand especially when the vehicle is in stationary condition. In the control system development of control moment gyroscope, the system dynamic equation obtained from mathematical derivation (linear) doesn’t represent the system in real condition (nonliniar). So it is necessary to obtain a mathematical equation that can represent the real conditions of the nonlinear system. In this research, system identification will be discussed to obtain a mathematical model that represents nonlinear modeling of gyroscopic inverted pendulum. In this research, the gyroscopic inverted pendulum system is designed to represent a model of two-wheeled vehicle, the gyroscopic inverted pendulum system will be evaluated dynamically so that it can return to the equilibrium position due to dusturbance torsion in the form of impulse and sinus. This research will evaluate gyroscopic inverted pendulum systems with LQR control system. Control system is intended to balance the inverted pendulum into the equilibrium position. After the system return to the equilibrium position, the measurement data (inputs and outputs) of gyroscopic inverted pendulum are taken then processing the measurement datas in MATLAB for System Identification process with two methods which are Black-box and Grey-box so that a mathematical model that represents the system is obtained based on the characteristics of the input output data. In mathematical model estimation in System Identification process, the mathematical model in the form of state space obtained by the Black-box method is more representing the system when compared to the Grey-box method. For uncontrol system the mathematical model estimation can be done in the form of transfer function which is obtained by Black-box method. Then control system is created with mathematical model obtained from System Identification process.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Gyroscopic Inverted Pendulum, Control Moment Gyroscope, System Identification
Subjects:	Q Science Q Science > Q Science (General) Q Science > Q Science (General) > Q180.55.M38 Mathematical models T Technology > T Technology (General) > T57.62 Simulation T Technology > TJ Mechanical engineering and machinery T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control. T Technology > TJ Mechanical engineering and machinery > TJ223.P76 Programmable controllers
Divisions:	Faculty of Industrial Technology > Mechanical Engineering > 21201-(S1) Undergraduate Thesis
Depositing User:	Srivani Alifa Marcelia Laksmi
Date Deposited:	22 Jul 2026 00:46
Last Modified:	22 Jul 2026 00:46
URI:	http://repository.its.ac.id/id/eprint/66174

Actions (login required)

View Item