PENERAPAN KENDALI FULL STATE FEEDBACK PADA SISTEM HIL (HARDWARE IN-THE-LOOP) BALL AND BEAM

FAKIH IRSYADI, MUHAMMAD ZAKIYULLAH ROMDLONY, DIEN RAHMAWATI, AGNI FIRDAUS

Abstract


 

Tulisan ini membahas mengenai penerapan kendali full state feedback untuk stabilisasi posisi bola pada sistem ball and beam.Pengujian dilakukan dengan tiga skema yaitu simulasi pada software, hardware-in-the-Loop (HIL) dimana pengendali, mikrokontroler, digunakan untuk mengendalikan virtual plant yang berupa model matematis kendalian yang dijalankan pada software simulasi, serta implementasi pada real plant yang berupa set-up sistem ball and beam.Hasil pengujian menunjukkan bahwa ketiga skema pengujian menghasilkan dinamika yang serupa dalam menstabilkan sistem ball and beam dengan steady state error terbesar 0,19 cm pada skema real plant. Kesesuaian hasil pada skema HIL menunjukkan potensinya untuk digunakan dalam pengujian dan pengembangan suatu algoritma kendali.


Kata Kunci: Ball and Beam, Full State Feedback, Hardware in The Loop (HIL).


Full Text:

PDF

References


Can, Kaan, Basci, Abdullah. 2017. Position Control of a Ball Beam Experimental Setup Based on Sliding Mode Controller. International Journal of Applied Mathematics, Electronics and Computers. Special Issue. 29-35.

Franklin, Gene F. Powell, J.David, Naeni Abbas Emami. 2010. Feedback Control of Dinamis Systems, Canada.

Kuusisto, Aki. 2018. Hardware in The Loop Test Setup for Battery Management Systems, Finlandia: Tampere University.

Magaji, N, A. Dan-Isa, A U Lawan. 2013. Desain of Full State Feedback Controller for Inverted pendulum, Nigercon. Nigeria: Bayero University.

M. Mehedi, U. M. Al-Saggaf, R. Mansouri, M. Bettayeb. 2019. Two degrees of freedom fractional controller design: Application to the ball and beam system, Meas. J. Int. Meas. Confed.

Mulka, Viplav. 2016. Hardware in The Loop Architecture for a DC Motor, Inggris: University of Huddersfield.

G. A. Munoz-Hernandez, S. P. Mansoor, D. I, 2013. Jones Hardware-in-the-Loop Simulation in Modelling and Controlling Hydropower Plants, London: Springer.

Mustafa Saad , Mohammed Khalfallah. 2017. "Design and Implementation of an Embedded Ball-beam Controller Using PID Algorithm." Universal Journal of Control and Automation 5.4 (2017) 63 - 70. Doi: 10.13189/ujca.2017.050402.

Shamshiri, Ramin, Wan Ishak Wan Ismail, Mona Moradi. 2012. Full State Feedback Controller for A Tractor Active Suspension, International Conference on Agricultural and Food Engineering. Malaysia.

Williams, Robert L, Douglas, A. Lawrence. 2007. Linear state-space control systems, Canada.




DOI: https://doi.org/10.24252/instek.v4i2.10400

DOI (PDF): https://doi.org/10.24252/instek.v4i2.10400.g7076

Refbacks

  • There are currently no refbacks.


Copyright (c) 2019 FAKIH IRSYADI, MUHAMMAD ZAKIYULLAH ROMDLONY, DIEN RAHMAWATI, AGNI FIRDAUS

Jurnal INSTEK (Informatika Sains dan Teknologi) is indexed by

  pkp_index_k2  

Creative Commons License

Jurnal INSTEK (Informatika Sains dan Teknologi)

ISSN Print: 2541-1179 ISSN Online: 2581-1711

Jl. H. M. Yasin Limpo No. 36 Samata, Gowa, Sulawesi Selatan
Email: instek@uin-alauddin.ac.id