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ITS » Undergraduate Theses » Teknik Mesin
Posted by dee@its.ac.id at 07/10/2011 14:57:48  •  2713 Views


PENGEMBANGAN ALGORITMA SISTEM KENDALI CERDAS DENGAN METODE ADAPTIVE PID UNTUK INVERTED PENDULUM

ALGORITHM DEVELOPMENT OF INTELLIGENT CONTROL SYSTEM USING ADAPTIVE PID METHOD FOR INVERTED PENDULUM

Author :
RAKHMAN, BAGUS ARIF  ( 2105100166 )




ABSTRAK

Sistem pendulum terbalik inverted pendulum adalah sistem yang mensimulasikan sebuah mekanisme kontrol untuk mengatur permasalahan kestabilan. Sistem inverted pendulum terdiri atas batang pendulum yang terpasang pada kereta yang bergerak bebas secara horizontal sedangkan batang pendulum bergerak bebas pada area vertikal. Permasalahan utama dalam desain kontroler untuk sistem inverted pendulum adalah menstabilkan batang pendulum di daerah ekuilibrium dengan menggerakkan kereta pada lintasan yang terbatas. Pada penelitian ini kontroler adaptive PID berdasarkan teori adaptive interaction didesain untuk menstabilkan inverted pendulum. Hasil yang didapatkan dalam penelitian ini adalah improvement dari kontroler adaptive PID sebesar 18 dari classical PID dan kemampuan pendulum pada posisi tegak dengan rata-rata error -0029 rad


ABSTRACT

Inverted pendulum system is a system that simulates a control mechanism to regulate the stability problems. Inverted pendulum system consists of a pendulum rod mounted on a cart which free moves horizontally while the pendulum rod to move freely in the vertical area. The main problem in controller design for inverted pendulum system is to stabilize the pendulum rod in equilibrium with the moving cart on the track is limited. In this research adaptive PID controller based on the theory of adaptive interaction is designed to stabilize the inverted pendulum. Results obtained in this study are the improvement of the adaptive PID controller for 18 of the classical PID and the ability of the pendulum in an upright position with an average error -0.029 rad.



KeywordsInverted pendulum; Adaptive; PID; Kontroler; Stabilitas; Optimasi.
 
Subject:  Adaptive control systems; Pendulum
Contributor
  1. Hendro Nurhadi, Dilp. Ing. Ph.D.
Date Create: 16/02/2011
Type: Text
Format: pdf
Language: Indonesian
Identifier: ITS-Undergraduate-3100011043279
Collection ID: 3100011043279
Call Number: RSM 629.836 Rak p


Source
Undergraduate Thesis of Mechanical Engineering, RSM 629.836 Rak p, 2011

Coverage
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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




[ Download - Open Access ]

  1.  ITS-Undergraduate-15430-Abstract_id.pdf - 344 KB
  2.  ITS-Undergraduate-15430-Conclusion-370664.pdf - 362 KB
  3.  ITS-Undergraduate-15430-2105100166-Paper.pdf - 496 KB




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