Identifikasi Sistem Motor DC dan Kendali Linear Quadratic Regulator Berbasis Arduino-Simulink Matlab

Fahmizal Fahmizal; Fahmy Fathuddin; Rudi Susanto

doi:10.24843/MITE.2018.v17i02.P20

Fahmizal Fahmizal Universitas Gadjah Mada
Fahmy Fathuddin Departemen Teknik Elektro dan Informatika, Sekolah Vokasi, Universitas Gadjah Mada
Rudi Susanto Departemen Teknik Elektro dan Informatika, Sekolah Vokasi, Universitas Gadjah Mada

##plugins.pubIds.doi.readerDisplayName## https://doi.org/10.24843/MITE.2018.v17i02.P20

Abstrak

Makalah ini memaparkan proses identifikasi sistem Motor DC dengan teknik eksperimen menggunakan sistem indetifikasi tool pada Matlab. Setelah sistem model Motor DC diperoleh, teknik kendali optimal dalam hal ini menggunakan linear quadratic regulator (LQR) digunakan untuk melihat step respon sistem. Pada penelitian ini, modul identifikasi sistem Motor DC dengan Arduino dikembangkan untuk memudahkan dalam hal mendapatkan model Motor DC dengan cara pendekatan model orde satu dan dua. Modul ini terintegrasi antara Arduino dengan Simulink Matlab yang digunakan sebagai akusisi data input - output. Hasil dari proses identfikasi sistem berupa model Motor DC dengan pemodelan ARX (Auto Regressive Exogenous) orde dua. Selanjutnya penereapan teknik kendali LQR dengan parameter Matriks elemen Q dicari dengan cara perkalian antara transpose Matriks C sistem dengan Matriks C sistem tersebut. Sedangkan Matriks elemen R di tuning secara eksperimen dengan nilai 0.000001. Dari hasil pengujian diperoleh bahwa kendali LQR menghasilkan konstanta waktu respon sistem lebih baik bila dibandingkan dengan kendali PID.

##plugins.generic.usageStats.downloads##

##plugins.generic.usageStats.noStats##

Referensi

[1] "Sensorless speed control of high speed brushed Motor DC by model identification and validation." In Engineering (NUiCONE), 2015 5th Nirma University International Conference on, pp. 1-6. IEEE, 2015.
[2] Wang, Jun-Sheng, and Guang-Hong Yang. "Data-Driven Output-Feedback Fault-Tolerant Compensation Control for Digital PID Control Systems With Unknown Dynamics." IEEE Transactions on Industrial Electronics 63, no. 11 (2016): 7029-7039.
[3] Viola, J., L. Angel, and J. M. Sebastian. "Design and robust performance evaluation of a fractional order PID controller applied to a Motor DC ." IEEE/CAA Journal of Automatica Sinica 4, no. 2 (2017): 304-314.
[4] Shanmugasundram, R., K. Muhammad Zakariah, and N. Yadaiah. "Implementation and performance analysis of digital controllers for brushless Motor DC drives." IEEE/ASME transactions on mechatronics 19, no. 1 (2014): 213-224.
[5] G. Ellis, Control system design guide : a practical guide. 3rd ed 2004, Amsterdam ; Boston: Elsevier Academic Press.
[6] Raka Ardana, I Wayan. Simulasi Sistem Kontroler Pid Untuk Motor Induksi Menggunakan Perangkat Lunak Matlab / Simulink. Majalah Ilmiah Teknologi Elektro, vol. 7, no. 2, May, 2013.
[7] Haron, Hartini Sharninayati. "Linear quadratic regulator (LQR) controller design for DC servo motor." PhD diss., Universiti Tun Hussein Onn Malaysia, 2013.
[8] Srivastava, Saurabh, and V. S. Pandit. "A scheme to control the speed of a Motor DC with time delay using LQR-PID controller." In Industrial Instrumentation and Control (ICIC), 2015 International Conference on, pp. 294-299. IEEE, 2015.
[9] L. Ljung, System Identification Theory for the User, 2nd ed., Prentice Hall, CA: Linkoping University Sweden, 1999.
[10] L. A. Zadeh, “On the Identification Problem,” IEEE Transactions On Circuit Theory, vol. 3, no 4, pp.277-281.1956.
[11] Yu, Gwo-Ruey, and Rey-Chue Hwang. "Optimal PID speed control of brush less Motor DC s using LQR approach." Systems, Man and Cybernetics, 2004 IEEE International Conference on. Vol. 1. IEEE, 2004.
[12] Peng, Jinzhu, and Rickey Dubay. "Identification and adaptive neural network control of a Motor DC system with dead-zone characteristics." ISA transactions 50.4 (2011): 588-598.
[13] Ogata, Katsuhiko. Modern Control Engineering Third Edition. New Jersey, Prentice Hall, Upper Saddle River. 1997.
[14] Wang X, Yin T, Chen J, et al. Rapid design of Motor DC speed control system based on Matlab[J]. Applied
Mechanics & Materials, 2015, 743:168-171.
[15] L. Ljung, “Prediction error estimation methods”, Circ. Syst. Signal Process. 21 (2002) 11–21.
[16] G. H. Shakouri and H. R. Radmanesh, “Identification of a continuous time nonlinear state space model for the extenal power system dynamic equivalent by neural network,” Electrical Power and Energy Systems, vol. 31, pp. 334-344, 2009.
[17] Tang, Wei-Jie, Zhen-Tao Liu, and Qian Wang. "Motor DC speed control based on system identification and PID auto tuning." Control Conference (CCC), 2017 36th Chinese. IEEE, 2017.
[18] Ismeal, Godem A., Karol Kyslan, and Viliam Fedák. "Motor DC identification based on Recurrent Neural Networks." Mechatronics-Mechatronika (ME), 2014 16th International Conference on. IEEE, 2014.
[19] Kamdar, Sauyma, Harsidh Brahmbhatt, Tigmanshu Patel, and Manish Thakker.