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

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Referensi


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

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