Sistem Kendali Eddy Current Brakes Dinamometer menggunakan Linear Quadratic Regulator (LQR)

MUHAMMAD ARROFIQ, LUKMAN SIDIQ NUGROHO, FAHMIZAL FAHMIZAL, ESA APRIASKAR

Sari


ABSTRAK

Makalah ini memberikan analisis perbandingan antara teknik kendali klasik yaitu kendali PID dengan teknik kendali modern pada sistem Eddy current brakes dinamometer. Eddy current brakes merupakan sistem pengereman modern yang membutuhkan sebuah sistem kendali untuk menunjang kinerja pengereman. Selama ini kendali PID lebih sering digunakan, namun di beberapa kondisi dinilai kurang optimal. Dengan demikian, diperlukan pengembangan kendali yang modern dan optimal yaitu full state feedback Linear Quadratic Regulator (LQR). Perbandingan respon waktu pengereman disimulasikan menggunakan Matlab/Simulink. Hasil simulasi menunjukkan respon waktu pengereman pada kendali LQR lebih baik dibandingkan dengan kendali PID, dengan Ts = 2.12 detik, Tr = 1.18 detik, dan tanpa overshoot. Adapun kendali PID, meskipun menghasilkan Ts = 0.27 detik dan Tr = 0.18 detik, namun demikian masih terdapat overshoot sebesar 0.7%.

Kata kunci: Eddy brakes, PID, LQR, Matlab

 

ABSTRACT

This paper provides a comparative analysis between PID control as a classical control technique and modern control technique in the dinamometer Eddy current brakes system. Eddy current brakes is a modern braking system that requires a control system to support the braking performance. PID control is often used to be implemented but in some conditions it is less optimal. Therefore, it is necessary to develop a modern and optimal control, such as a full state feedback Linear Quadratic Regulator (LQR). The comparison of the braking time responses were simulated using Matlab/Simulink. The simulation results show that the response of LQR control is better than the PID, with Ts = 2.12 seconds, Tr = 1.18 seconds, and without overshoot. On the other side, PID control, although having Ts = 0.27 seconds and Tr = 0.18 seconds, there is still an overshoot about 0.7%.

Keywords: Eddy brakes, PID, LQR, Matlab


Kata Kunci


Eddy brakes; PID; LQR: Matlab

Teks Lengkap:

PDF

Referensi


Alkhafaji, F. S. M., Hasan, W. Z. W., Isa, M. M., & Sulaiman, N. (2018). A novel method for tuning PID controller. Journal of Telecommunication, Electronic and Computer Engineering, 10(1–12), 33–38.

Apriaskar, E., Fahmizal, F., Salim, N. A., & Prastiyanto, D. (2019). Performance Evaluation of Balancing Bicopter using P, PI, and PID Controller. Jurnal Teknik Elektro, 11(2), 44–49.

Brin, W. (2013). Design and Fabrication of an Eddy Current Brake dinamometer for Efficiency Determination of Electric Wheelchair Motors [Wright State University].

Chen, C., Xu, J., & Wu, X. (2019). Analytical Calculation of Braking Force of Super-High Speed Maglev Eddy Current Braking System. 2019 22nd International Conference on Electrical Machines and Systems (ICEMS), 1–5.

Cho, S., Liu, H.-C., Ahn, H., Lee, J., & Lee, H.-W. (2017). Eddy Current Brake With a Two-Layer Structure: Calculation and Characterization of Braking Performance. IEEE Transactions on Magnetics, 53(11), 1–5.

Fahmizal, F., Arrofiq, M., Adrian, R., & Mayub, A. (2019). Robot Inverted Pendulum Beroda Dua (IPBD) dengan Kendali Linear Quadratic Regulator (LQR). ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika, 7(2), 224.

Gulbahce, M. O., Kocabas, D. A., & Atalay, A. K. (2013). A study to determine the act of excitation current on braking torque for a low power Eddy current brakes. 2013 International Electric Machines & Drives Conference, 1321–1325.

Handaya, D., & Fauziah, R. (2021). Proportional-Integral-Derivative and Linear Quadratic Regulator Control of Direct Current Motor Position using Multi-Turn Based on LabView. Journal of Robotics and Control (JRC), 2(4).

Houari, A., Bachir, I., Mohame, D. K., & Mohamed, M. K. (2020). PID vs LQR controller for tilt rotor airplane. International Journal of Electrical and Computer Engineering (IJECE), 10(6), 6309.

Isdaryani, F., Hesya, M. F. V., & Feriyonika, F. (2021). Sintesis Kendali PID Digital dengan Diskritisasi Langsung dan Backward Difference. ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika, 9(2), 467.

Ma’arif, A., & Setiawan, N. R. (2021). Control of DC Motor Using Integral State Feedback and Comparison with PID: Simulation and Arduino Implementation. Journal of Robotics and Control (JRC), 2(5).

Munadi, M., Pandu, R. A., Wiradinata, R., Julianti, H. P., & Setiawan, R. (2020). Model and prototype of mobile incubator using PID controller based on Arduino Uno. Jurnal Teknologi Dan Sistem Komputer, 8(1), 69–77.

Nahari, T., Joelianto, E., & Suyatman. (2012). An Eddy current brakes dinamometer control system design using state space based PID controller. 2012 IEEE Conference on Control, Systems & Industrial Informatics, 163–168.

Nunes, A. J. R., & Brojo, F. M. R. P. (2020, June 2). Designing an Eddy Current Brake for Engine Testing. International Congress on Engineering - Engineering for Evolution.

Purnawan, H., Mardlijah, & Purwanto, E. B. (2017). Design of linear quadratic regulator (LQR) control system for flight stability of LSU-05. Journal of Physics: Conference Series, 890, 012056. https://doi.org/10.1088/1742-6596/890/1/012056

Rao, C. S., Santosh, S., & V, D. R. (2020). Tuning optimal PID controllers for open loop unstable first order plus time delay systems by minimizing ITAE criterion. IFAC-PapersOnLine, 53(1), 123–128. https://doi.org/10.1016/j.ifacol.2020.06.021




DOI: https://doi.org/10.26760/elkomika.v9i4.923

Refbacks

  • Saat ini tidak ada refbacks.


_______________________________________________________________________________________________________________________

ISSN (print) : 2338-8323 | ISSN (electronic) : 2459-9638

Publisher:

Department of Electrical Engineering Institut Teknologi Nasional Bandung

Address: 20th Building  Institut Teknologi Nasional Bandung PHH. Mustofa Street No. 23 Bandung 40124

Contact: +627272215 (ext. 206)

Email: jte.itenas@itenas.ac.id________________________________________________________________________________________________________________________


Free counters!

Web Analytics Made Easy - StatCounter

Statistic Journal

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

Creative Commons License