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ITS » Master Theses » Teknik Elektro S2
Posted by dee@its.ac.id at 11/01/2012 10:46:02 • 126 Views
RANCANG BANGUN SISTEM KENDALI KECEPATAN KURSI RODA LISTRIK BERBASIS DISTURBANCE OBSERVER
SPEED CONTROL SYSTEM DESIGN OF ELELCTRIC WHEELCHAIR BASED DISTURBANCE OBSERVER
Created by :
FIRDAUS ( 2208204009 )
| Subject: | Motor listrik | | Alt. Subject : | Electric motors | | Keyword: | Disturbance Observer
Uncertainty
Kursi roda |
[ Description ]
Kursi roda listrik memberikan fungsi berarti bagi pengguna yang memiliki keterbatasan fisik. Salah satu jenis kursi roda yang dipakai adalah differential steering dengan dua roda penggerak utama. Dua roda tersebut terhubung ke motor dc yang pada umumnya dikendalikan menggunakan pengendali PID. Performa PID tidak konsisten dalam menghadapi perubahan (uncertainty) karakteristik motor dc sehingga selalu harus di-tuning ulang untuk
menyesuaikan karakteristik motor dc yang baru. Pengendali berbasis disturbance observer (DOB) memiliki kelebihan dalam mengatasi kekurangan pada pengendali lain seperti PID. Proses desain DOB membutuhkan model matematik motor dc yang
diidentifikasi guna menentukan kompensator, filter dan model matematik invers motor dc tersebut. Kompensator mengatur roda kiri dan kanan untuk
merepresentasikan kecepatan dan arah kursi roda, sedangkan DOB mengkompensasi gangguan atau perubahan karakteristik motor dc.Uji keseluruhan sistem dengan gangguan, membuat terjadinya overshoot dengan amplitudo yang hanya naik sekitar 0,01 rad/s untuk setiap kenaikan gangguan pada input motor sebesar 1 volt dan sistem akan segera stabil selama 3 s setelah diberikan gangguan.
Alt. Description
Electric wheelchair provides meaningful functionality for users who have physical limitations. One type of wheelchair used is a differential steering with
two main drive wheels. Two wheels are connected to a dc motor and generally controlled using PID controllers. PID performance is inconsistent in the face ofchange (uncertainty) the characteristics of a dc motor so that it always should bere-tuning to adjust the characteristics of a new dc motor. Disturbance observer controller-based (DOB) has advantages in overcoming the shortcomings of the other controllers such as PID.DOB design process requires a mathematical model of dc motors that are
identified in order to determine the compensators, filters and mathematical models of dc motor inverse form. Compensator set the left and right wheels to represent the speed and direction of the wheelchair, while the DOB compensate disturbances or changes in the characteristics of dc motors. Test the entire system with the disturbance, makes the occurrence of
overshoot with amplitude increased by only about 0.01 rad / s for each increase in disturbances at the motor input of 1 volt and the system will be stable for 3 s after a given disturbance.
| Contributor | : |
- Ir. Djoko Purwanto, M.Eng. Ph.D.
| | Date Create | : | 18/08/2011 | | Type | : | Text | | Format | : | pdf | | Language | : | Indonesian | | Identifier | : | ITS-Master-3100011045210 | | Collection ID | : | 3100011045210 | | Call Number | : | RTE 621.46 Fir r |
Source :
Master Thesis of Electrical Engineering, RTE 621.46 Fir r, 2011
Coverage :
ITS Community
Rights :
Copyright @2011 by ITS Library. This publication is protected by copyright and per obtained from the ITS Library prior to any prohibited reproduction, storage in a re transmission in any form or by any means, electronic, mechanical, photocopying, reco For information regarding permission(s), write to ITS Library
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