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Fauzi, Adrian Alkahfi (2020) Pengontrolan Kecepatan Motor DC seri Dengan Pendekatan Backstepping. Sarjana thesis, Universitas Brawijaya.

Indonesian Abstract

Motor Direct Current (DC) Merupakan aktuator yang banyak digunakan pada aplikasi teknik kontrol. Motor DC banyak diaplikasikan pada sistem yang memerlukan penggerak poros putar dan dapat diatur kecepatannya. Namun tidak semua motor DC memiliki karakteristik yang linear. Salah satunya adalah motor DC seri yang memiliki karakteristik nonlinear. Backstepping merupakan metode pendekatan nonlinear yang digunakan untuk menanggapi karakteristik plant nonlinear. Pada penelitian ini, metode pendekatan Backstepping menggunakan teorema kestabilan Lyapunov akan diaplikasikan pada motor DC seri Leybold D-731 92 bertujuan agar respon sistem mehasilkan error steady state kurang dari 5%, tidak terdapat overshoot, dan settling time kurang dari 1 detik. Pengujian sistem pada plant motor DC seri ini dilakukan dengan menerapkan tiga setpoint, yaitu 800, 1.000, 1.200 rpm serta beban sebesar 1.299 Nm. Pada hasil pengujian didapatkan nilai gain kontrol pada Backstepping adalah K1= 550 dan K2 = 100 untuk simulasi sedangkan untuk implementasi adalah K1 = 1.000 dan K2 = 10. Settling time respon sistem rata-rata dibawah 1 detik (0,4 - 0,6 detik), tidak terdapat overshoot dan error steady state.

English Abstract

Direct Current (DC) Motor Is an actuator that is widely used in control engineering applications. DC motors are widely applied to systems that require rotary shaft drive and speed can be regulated. But not all DC motors have linear characteristics. One of them is a series DC motor that has nonlinear characteristics. Backstepping is a nonlinear approach method that is used to respond to the characteristics of nonlinear plants. In this research, Backstepping approach method with Lyapunov stability theorm will be applied to the series DC motor Leybold D-731 92 aiming that the steady state error system response is less than 5%, there is no overshoot, and the settling time is less than 1 second. System testing at this DC motor plant series was carried out by applying three setpoints, namely 800, 1,000, 1,200 rpm and a load of 1,299 Nm. In the test results obtained control gain values on backstepping are K1 = 550 and K2 = 100 for simulations while for implementation are K1 = 1,000 and K2 = 10. Settling time the average system response under 1 second (0.4 - 0.6 seconds), there is no overshoot and steady state error.

Other Language Abstract

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Item Type: Thesis (Sarjana)
Identification Number: 0520070023
Uncontrolled Keywords: Plant motor DC seri D 731 92, Pendekatan Backstepping, Teorema Kestabilan Lyapunov , Series DC motor D 791 92, Backstepping Approach, Lyapunov stability theorm
Subjects: 600 Technology (Applied sciences) > 621 Applied physics > 621.4 Prime movers and heat engineering > 621.42 Stirling Engines and Air Motors
Divisions: Fakultas Teknik > Teknik Elektro
Depositing User: Bambang Septiawan
URI: http://repository.ub.ac.id/id/eprint/182128
Text
Adrian Alkahfi Fauzi.pdf

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