Rancang Bangun Sistem Karakterisasi dan Perencanaan Pengendali PID sebagai Kontrol Kecepatan Motor Listrik Brushless DC untuk Kursi Roda Tricycle

Hilmi, Dzikrur Rohmani Zuhkrufur Rifqi Muwafiqul (2022) Rancang Bangun Sistem Karakterisasi dan Perencanaan Pengendali PID sebagai Kontrol Kecepatan Motor Listrik Brushless DC untuk Kursi Roda Tricycle. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Kursi roda merupakan salah satu alat bantu yang paling sering digunakan penyandang disabilitas untuk meningkatkan mobilitas pribadi mereka. Seiring berkembangnya teknologi, inovasi kursi roda mulai bermunculan. Seperti kursi roda yang dikombinasikan dengan tricycle. Karena ditujukan untuk penggunaan jarak menengah hingga jarak jauh, inovasi ini memerlukan kecepatan yang lebih tinggi. Oleh karena itu, motor brushless DC (BLDC) hadir sebagai pengganti motor DC konvensional karena memiliki karakteristik torsi yang lebih baik, respons dinamis tinggi, efisiensi tinggi, umur operasi yang panjang, rentang kecepatan tinggi, serta biaya perawatan rendah. Kendati demikian, motor brushless DC memiliki kekurangan pada mekanisme pengendaliannya yang cukup sulit dan rumit karena tidak memiliki brush (sikat) yang menunjang proses komutasi. Oleh karena itu, pada penelitian ini dirancang sebuah instrumen yang dapat digunakan untuk karakterisasi sekaligus perancangan dan implementasi pengendali PID sebagai kontrol kecepatan motor brushless DC tanpa beban yang nantinya akan digunakan pada kursi roda tricycle sehingga kebutuhan tingkat keamanan yang tinggi pada teknologi asistif tersebut dapat terpenuhi. Dari penelitian yang dilaksanakan pada rangkaian elektronik dan motor brushless DC tanpa beban, instrumen yang dirancang berhasil digunakan untuk melakukan pengambilan data. Selain itu, instrumen melakukan karakterisasi terhadap motor brushless DC dari kursi roda tricycle yang diteliti dengan baik. Lebih lanjut, pengendali PID yang dirancang berdasarkan data yang diperoleh saat karakterisasi tanpa beban dapat dijalankan oleh instrumen. Dari percobaan didapatkan parameter Kp, Ki, dan Kd yang terbaik adalah 0,2, 0,00012, dan 0,0035 dibandingkan parameter yang lain dengan RMSE dari hasil step response sebesar 294,09. Meskipun memiliki performa yang kurang baik dengan RMSE yang masih cukup besar tersebut, nilai aktual yang dibaca oleh sensor ditunjukkan perlahan-lahan mendekati nilai referensi yang diberikan. ================================================================================================== Wheelchairs are one of the most frequently used assistive devices for persons with disabilities to improve their personal mobility. As technology develops, wheelchair innovations begin to emerge. Like a wheelchair combined with a tricycle. Because it is intended for medium to long range use, this innovation requires higher speeds. Therefore, brushless DC motors (BLDC) are present as a substitute for conventional DC motors because it has better torque characteristics, high dynamic response, high efficiency, long operating life, high speed range, and low maintenance costs. However, the DC brushless motor has a drawback in its control mechanism which is quite difficult and complicated because it does not have a brush that supports the commutation process. Therefore, in this study an instrument was designed that can be used for characterization as well as the design and implementation of a PID controller as a no-load brushless DC motor speed control which will later be installed on a tricycle wheelchair so that the need for a high level of safety in this assistive technology can be met. From the research carried out on electronic circuits and brushless DC motors without a load, the designed instrument was successfully used to collect data. In addition, the instrument characterization of the brushless DC motor of a tricycle wheelchair was well studied. Furthermore, the designed PID controller based on the data obtained during the no-load characterization can be performed by the instrument. From the experiment, the best parameters of Kp, Ki, and Kd were 0.2, 0.00012, and 0.0035 compared to other parameters with RMSE from the step response results of 294.09. Even though it hasn’t good performance with the RMSE which is still quite large, the actual value read by the sensor is shown to be slowly approaching the given reference value.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: kursi roda, motor brushless DC, pengendali PID, tricycle, wheelchair, tricycle, brushless DC motors, PID controller.
Subjects: H Social Sciences > HD Industries. Land use. Labor > HD45 Technological innovations
Q Science > QA Mathematics > QA76.6 Computer programming.
R Medicine > RM Therapeutics. Pharmacology > RM950 Rehabilitation technology.
T Technology > TJ Mechanical engineering and machinery
T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers
T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK2681.O85 Electric motors, Brushless.
T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK4055 Electric motor
T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5105.546 Computer algorithms
T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7871.674 Detectors. Sensors
T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7878 Electronic instruments
T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.5 Motor vehicles Driving
T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL220 Electric vehicles and their batteries, etc.
Divisions: Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Biomedical Engineering > 11410-(S1) Undergraduate Thesis
Depositing User: Dzikrur Rohmani Zuhkrufur Rifqi Muwafiqul Hilmi
Date Deposited: 10 Feb 2022 04:23
Last Modified: 11 Feb 2022 08:58
URI: https://repository.its.ac.id/id/eprint/93364

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