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ITS » Paper and Presentation » Teknik Mesin
Posted by aprill@is.its.ac.id at 06/08/2012 07:22:00  •  1175 Views


PENGEMBANGAN ALGORITMA SISTEM CONTROL INTELLIGENT MENGGUNAKAN METODE PID - GENETIC ALGORITHM UNTUK SISTEM PENDULUM TERBALIK

THE DEVELOPMENT OF INTELLIGENT SYSTEM CONTROL ALGORITHM BY USING PID - GENETIC ALGORITHM METHOD FOR INVERTED PENDULUM SYSTEM

Author :
BUDIDARMA, ADITYA ( 2105100086 )




ABSTRAK

Pendulum terbalik merupakan salah satu permasalahan klasik pada system control engineering. Sistem pendulum terbaliknya sendiri merupakan system mekanik yang terdiri dari sebuah pendulum yang bergerak berputar yang terhubung pada sebuah kereta yang bergerak pada bidang datar. Secara keseluruhan system pendulum terbalik merupakan sebuah sistem yang tidak stabil dimana system tersebut telah dilinearisasi dan distabilisasi oleh sebuah controller terlebih dahulu. Tugas akhir ini merupakan sebuah program simulasi daripada system pendulum terbaliknya sendiri bukan system pendulum terbalik yang sebenarnya. Sistem yang non linear ini harus dilinearisasi terlebih dahulu dengan membuat sebuah mdel matematis daripada system pendulum terbalik tersebut. Untuk menstabilkan sistem pendulum terbalik digunakan PID Controller yang dioptimasi dengan Genetic Algorithm. Hasil akhir dari tugas akhir ini adalah grafik grafik yang menunjukkan berbagai macam respon dari system pendulum terbalik. Beberapa batasan batasan masalah juga digunakan dalam tugas akhir ini seperti Linear Invariant System dan beberapa batasan batasan masalah yang lain juga.


ABSTRACT

Inverted pendulum is one of the classic problems in control system engineering. The inverted pendulum system itself is a mechanical system that has pendulum which moves rotationally attached to a cart that moves in a horizontal linear motion. Overall the whole inverted pendulum system is an unstable system which is the pendulum system has been linearised first and stabilized by using a controller. The final project itself was a simulation program of the inverted pendulum system not the actual inverted pendulum itself. The non linear pendulum system has to be linearised by creating a mathematical model of the inverted pendulum. To stabilize the whole inverted pendulum system a PID controller optimized with Genetic Algorithm has been used. The results of this final project were stabilized linear graphs of the different responses of the inverted pendulum system. To make the project easier some constraints were used in this final project such as the inverted pendulum is assumed to be a Linear Time Invariant System amongst other assumptions as well.



Keywordsinverted pendulum; PID Controller; Genetic Algorithm
 
Subject:  Pengatur PID; Pendulum
Contributor
  1. Hendro Nurhadi Dipl-Ing. PhD
Date Create: 06/08/2012
Type: Text
Format: pdf
Language: Indonesian
Identifier: ITS-paper-21001120000601
Collection ID: 21001120000601
Call Number: RSM 629.89 Bud d


Source
Paper and Presentation, Mechanical Engineering, RSM 629.89 Bud d, 2012

Coverage
ITS Community

Rights
Copyright @2012 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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ITS-paper-21001120000601-20432.pdf




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