Perancangan Kendali Optimal pada Motor Arus Searah Tanpa Sikat melalui Metode LQRI

KHOIRUDIN FATHONI, ARYO BASKORO UTOMO

Sari


ABSTRAK

Artikel ini akan menjelaskan perancangan kendali kecepatan MASTS  dengan tujuan diperoleh respon kecepatan MASTS yang tanggap serta memiliki sinyal kendali dan arus minimal. Untuk mencapai hal ini MASTS akan dikendalikan melalui metode Linear Quadratic Regulator (LQR) dengan state yang dipilih adalah arus, kecepatan, dan state integral galat kecepatan. Diperlukan penalaan nilai parameter Q matriks bobot state dan R matriks bobot input untuk mendapatkan performa kecepatan dan arus yang terbaik. Berdasarkan pengujian diperoleh bahwa dengan kendali LQR-I, kecepatan MASTS dapat mengikuti set point dengan respon rise time Tr = 0,03 detik, settling time Ts=0,044 detik, overshoot (OS) 1,6 %, arus Imax=0,16 A dan dutycycle sinyal kontrol umax 56% pada kondisi tanpa beban dan Tr = 0,03 detik, Ts=0,044 detik, OS 1,6 %, Imax=0,16 A dan umax 56% pada kondisi berbeban. Dibandingkan dengan kendali PID ketika tanpa beban mempunyai Tr=0,0176 Ts=0,075 %OS=3,9% umax=96% Imax=0,35 A, LQRI mempunyai respon settling time, sinyal kendali dan arus yang lebih baik.

Kata kunci: Motor Arus Searah Tanpa Sikat, Kendali Optimal, Linear  Quadratic Regulator dan Integral

 

ABSTRACT

This paper aimed to discuss further research about BLDC motor speed control so that BLDC not only has fast speed response but also has minimum control signal and current using LQR (Linear Quadratic Regulator) control with chosen states are current, speed of BLDC, and speed error integral state. Tuning of Q and R matrix is required to reach the best speed and current performance. Where Q and R matrix is state cost matrix and input cost matrix, respectively. Result show that LQR-I control can track set point with rise time Tr = 0.03 s, settling time Ts=0,044 s, overshoot (OS) 1,6 %, current Imax=0,16 A and dutycycle control signal umax 56% in no load condition, and Tr = 0,03 s, Ts=0,044 s, OS 1,6 %, Imax=0,16 A dan umax 56% in the load condition. Compared to PID controller which has Tr=0,0176 Ts=0,075 %OS=3,9% umax=96% Imax=0,35 A in no load condition, proposed controller has a better settling time, control signal and current.

Keywords: BLDC Motor, Optimal Control, LQR and Integral


Kata Kunci


Motor Arus Searah Tanpa Sikat; Kendali Optimal; Linear Quadratic Regulator dan Integral

Teks Lengkap:

PDF

Referensi


Ardiansyah, R. A. (2017). Perancangan dan Pengujian Sistem Pengendali Sudut untuk Motor DC Brushless Menggunakan Kendali Algoritma P-D. Jurnal Rekayasa Elektrika, 13(2), 82-86. https://doi.org/10.17529/jre.v13i2.7149

Bertoluzzo, M., Buja, G., Fellow, L., Keshri, R. K., & Menis, R. (2015). Sinusoidal vs . Square-Wave Current Supply of PM Brushless DC Drives: a Convenience Analysis. IEEE Transactions on Industrial Electronics, 0046(c), 7339-7349. https://doi.org/10.1109/TIE.2015.2455518

Bryson, A. E. (1994). Control of Spacecraft and Aircraft. Princeton, NJ, USA: Princeton University.

Chen, S., Liu, G., & Zhu, L. (2017). Sensorless Control Strategy of a 315 kW High-Speed BLDC Motor Based on a Speed-Independent Flux Linkage Function. IEEE Transactions on Industrial Electronics, 64(11), 8607–8617. https://doi.org/10.1109/TIE.2017.2698373

Francis, R. M. (2015). Speed Control of BLDC Motor using a Tuned LQR Controller, (Icettas), 1–6.

Gamazo-Real, J. C., Vázquez-Sánchez, E., & Gómez-Gil, J. (2010). Position and speed control of brushless dc motors using sensorless techniques and application trends. Sensors, 10(7), 6901–6947. https://doi.org/10.3390/s100706901

Istiananda, Fachrudin, A., Effendie, R., & Ashfahani, A. (2016). Perancangan dan Implementasi Sistem Pengaturan Kecepatan Motor Arus Searah Tanpa Sikat Menggunakan Metode PID- Robust. Teknik ITS, 5(2), 1–7.

Ling Xu, Jian-Guo Song, & Qiang-Qiang Lin. (2016). Brushless DC motor speed control system Simulink simulation. 2016 IEEE International Conference on Power and Renewable Energy (ICPRE), 62–66. https://doi.org/10.1109/ICPRE.2016.7871173

Marimuthu, M., & Rajaiah, J. (2016). An Optimal Control Theory Based Analysis of Brushless DC Motor Drive. Circuits and Systems, 7. 3384-3391.

Mekha, M. L., & Aswin, R. B. (2016). LQR based Speed Control of BLDC Motors. SSRG International Journal of Electrical and Electronics Engineering, 3(6), 7–11.

Morales, R., Somolinos, J. A., & Sira-ramírez, H. (2014). Control of a DC motor using algebraic derivative estimation with real time experiments. MEASUREMENT, 47, 401– 417. https://doi.org/10.1016/j.measurement.2013.09.024

Poovizhi, M., Senthil Kumaran, M., Ragul, P., & Irene Priyadarshini, L. (2017). Investigation of mathematical modelling of brushless dc motor(BLDC) drives by using matlabsimulink. In 2017 International Conference on Power and Embedded Drive Control (ICPEDC).

Riba, J., López-torres, C., Romeral, L., & Garcia, A. (2016). Rare-earth-free propulsion motors for electric vehicles : A technology review. Renewable and Sustainable Energy Reviews, 57, 367–379. https://doi.org/10.1016/j.rser.2015.12.121

Saputra, R. P., Adriansyah, R. A., Mirdanies, M., Santoso, A., Nugraha, A. S., Muqorrobin, A., … Rijanto, E. (2012). Perancangan dan Pengujian Awal Kendali Motor DC Brushless Untuk Independent 4-Wheel Drive Platform Robot Rev-11. Mechatronics, Electrical

Power, and Vehicular Technology, 2(2), 85–94. https://doi.org/10.14203/j.mev.2011.v2.85-94

Shanmugasundram, R., Zakariah, K. M., & Yadaiah, N. (2014). Implementation and Performance Analysis of Digital Controllers for Brushless DC Motor Drives. Ieee Transactions on Mechatronics, 19(1), 213–224.

Syifa, F. T., & Firmansyah, E. (2015). Pengendalian Motor DC Tanpa Sikat Sederhana dengan DSC 16-bit pada Aplikasi EDF. Jnteti, 4(4), 4–8.

Tibor, B., Fedak, V., & Ďurovský, F. (2011). Modeling and simulation of the BLDC motor in MATLAB GUI. Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics, 1403–1407. https://doi.org/10.1109/ISIE.2011.5984365

Varatharaju, V. M., Mathur, B. L., & Udhyakumar, K. (2010). Speed control of PMBLDC motor using MATLAB/simulink and effects of load and inertia changes. ICMET 2010 - 2010 International Conference on Mechanical and Electrical Technology, Proceedings, (Icmet), 543–548. https://doi.org/10.1109/ICMET.2010.5598420

Wahono, T., & Sutikno, T. (2016). Skema Pengendali Motor BLDC Tanpa Sensor Posisi Rotor dengan Metode Deteksi Back EMF Berbasis Mikrokontroler Arduino. Ilmu Teknik Elektro Komputer Dan Informatika, 2(2), 22–29.

Waluyo, Fitriansyah, A., & Syahrial. (2013). Analisis Penalaan Kontrol PID pada Simulasi Kendali Kecepatan Putaran Motor DC Berbeban menggunakan Metode Heuristik. Jurnal Elkomika, 1(2), 79–92.

Yulianta, A. D., Hadi, S. P., & Suharyanto. (2015). Pengendalian Kecepatan Motor Brushless dc Menggunakan Metode Logika Fuzzy. Jurnal Sains, Teknologi Dan Industri, 8(1), 1–9.




DOI: https://doi.org/10.26760/elkomika.v7i2.377

Refbacks

  • Saat ini tidak ada refbacks.


_______________________________________________________________________________________________________________________

ISSN (cetak) : 2338-8323   |  ISSN (elektronik) : 2459-9638    

diterbitkan oleh :

Teknik Elektro Institut Teknologi Nasional Bandung

Alamat : Gedung 20 Jl. PHH. Mustofa 23 Bandung 40124

Kontak : Tel. 7272215 (ext. 206)  Fax. 7202892

Surat Elektronik jte.itenas@itenas.ac.id

_________________________________________________________________________________________________________________________

Terindeks 

index copernicus_____________________________________________________________________________________________________________________

Statistik Pengunjung 

Free counters!

 Web
Analytics Made Easy - StatCounter

Lihat Statistik Jurnal

Jurnal ini terlisensi oleh Creative Commons Attribution-ShareAlike 4.0 International License.

Creative Commons License