Pengontrol Kecepatan Respon Motor dengan Pid dan Lqr

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Deny Dermawan
Fortunaviaza Habib Ainudin
Muhammad Bilhaq Ashlah
Anggara Trisna Nugraha

Abstract

Sistem kontrol dapat dikatakan baik jika menghasilkan respon dengan nilai settling time dan rise time yang rendah. Namun akan lebih baik lagi jika sistem tersebut juga memiliki respon kecepatan putar yang responsif, sehingga dikatakan sebagai sistem yang optimal. Pada paper ini, penulis akan merancang dan merealisasikan suatu kendali kecepatan motor dc dengan kendali optimal dengan tujuan untuk memperbaiki nilai stling timem rise time dan merancang gain feedback K yang dapat meminimalkan fungsi biaya. Jenis metode kontrol optimal yang akan digunakan adalah metode proportionalintegral-derivative (PID) dan algoritma Linear Quadratic Regulator (LQR). Dimana untuk mengendalikan kecepatan motor dc, optimasi dilakukan dengan mengatur nilai matriks Q dan R yang nantinya dapat merubah nilai K. Motor dc yang akan dikendalikan harus dimodelkan terlebih dahulu dalam PID Controller agar dapat dimasukkan dalam perhitungan metode LQR. Proses pengendalian (simulasi respon dan implementasi hasil perhitungan LQR) dilakukan dengan menggunakan Simulink Matlab.

Article Details

Section
MASTER 2023

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