Penerapan Metode Kendali Nonlinier Berbasis Sistem Servo pada Sistem Magnetic Levitation (Maglev)

Wira Fadlun

Abstract


Dalam mendesain sistem kendali maglev umumnya terkendala oleh dinamika sistem yang kompleks dan nonlinier sehingga dibutuhkan pemilihan metode yang tepat. Oleh karena itu, pada penelitian ini diajukan sebuah pemodelan sistem kendali  maglev dengan menerapkan salah satu metode nonlinier yaitu feedback linearization yang dikembangkan dengan mengadaptasi sistem servo yang dinamakan kendali servo-feedback linearization. Hasil pemodelan sistem diuji dengan simulasi menggunakan matlab simulink. Performa sistem kendali hasil pemodelan yang diajukan pada penelitian ini dibandingkan dengan performa kendali feedback linearization sederhana. Hasil simulasi sistem kendali dengan skenario tanpa pemberian gangguan (disturbance) menunjukkan kendali feedback linearization dan kendali servo-feedback linearization menunjukkan performa yang bagus. Sinyal output kedua sistem kendali dapat mengikuti sinyal input referensi (set point). Hasil simulasi sistem kendali dengan skenario dengan penambahan gangguan (disturbance) dalam bentuk sinyal step menunjukkan kendali feedback linearization memiliki performa yang kurang baik, kendali tersebut tidak dapat meredam gangguan, sebaliknya kendali servo-feedback linearization dapat meredam gangguan yang diberikan.

Keywords


magnetic levitation; sistem kendali; nonlinier

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DOI: https://doi.org/10.33387/protk.v4i2.380

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