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ITS » Undergraduate Theses » Telekomunikasi Multimedia
Posted by at 15/02/2016 09:30:48  •  1008 Views


Author :
MELINDAWATI, ROSITA ( 2211 106 002 )


Gantry Crane merupakan alat yang digunakan untuk memindahkan muatan berat. Proses pemindahan muatan menggunakan Gantry Crane bekerja di kecepatan yang tinggi sehingga dapat menyebabkan ayunan yang besar. Permasalahan utama dari Sistem Gantry Crane adalah bagaimana sistem bergerak dari satu titik ke titik lain dengan tepat serta bergerak tanpa ayunan. Pada Tugas Akhir ini kontroler fuzzy didesain untuk sistem Gantry Crane tersebut. Kontroler fuzzy Sugeno digunakan untuk tracking yaitu sistem Gantry Crane mampu bergerak mengikuti sinyal referensi. Sistem ini juga didesain untuk stabilisasi yaitu mengurangi ayunan serta mampu mengatasi gangguan. Stabilisasi didesain dengan menggunakan teknik pole placement. Hasil desain disimulasikan kemudian diimplementasikan pada plant nyata pendulum Feedback Digital Pendulum System yang merepresentasikan Sistem Gantry Crane. Hasil simulasi dan implemetasi menunjukkan bahwa posisi kereta dapat mengikuti sinyal referensi serta posisi crane stabil di sekitar 0 radian.


Gantry Crane is a machine that used to moves a heavy load. Load moves process using Gantry Crane working at high speed so it can cause big swings. The main problem of Gantry Crane System is how the system moves from one point to another and moving without swings. In this Final Project fuzzy controller is designed for Gantry Crane System. Sugeno fuzzy controller is used for tracking thats capable to move the Gantry Crane to follow the reference signal. This system is also designed for stabilization which reduces the swing and be able to overcome disturbance. Design of stabilization by using pole placement method. The result of the design is simulated and then implemented on the real plant of pendulum Feedback Digital Pendulum System which represent of Gantry Crane System. Simulation and implementation results shows that cart position can follow the reference signal and crane position can stable on around zero radian.

KeywordsGantry Crane; fuzzy Sugeno; pole placement
Subject:  Gantry crane; Kontrol otomatis; fuzzy logic
  1. Dr. Trihastuti Agustinah, ST., MT.
Date Create: 15/02/2016
Type: Text
Format: pdf
Language: Indonesian
Identifier: ITS-Undergraduate-22001150008234
Collection ID: 22001150008234
Call Number: RSE 629.801 511 313 Mel d

Undergraduate Theses of Electrical Engineering, RSE 629.801 511 313 Mel d, 2016

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  1.  ITS-Undergraduate-40054-2211106002-abstract_id.pdf - 578 KB
  2.  ITS-Undergraduate-40054-2211106002-abstract_en.pdf - 567 KB
  3.  ITS-Undergraduate-40054-2211106002-conclusion.pdf - 708 KB

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