Simulasi Kendali Motor DC Penguat Terpisah Menggunakan Kendali Fuzzy-FOPID

Muhamad Asbi, Subiyanto Subiyanto, Yohanes Primadiyono

Abstract

In this study, Fuzzy-Fractional Order Proportional Integral Derivative (Fuzzy-FOPID) control technique is applied to regulate the speed of a separately excited DC motor. This control technique uses a combination of two intelligent algorithm tuning methods, Fuzzy logic and Genetic Algorithm (GA). This is done to get an effective and powerful control effect. The identification of parameters in the form of Kp, Ki and Kd uses fuzzy logic and for fractional parameters in the form of μ and λ using GA. To find out the performance of this control technique several tests have been carried out using the MATLAB 2013a simulation which then the results are compared with Fractional-Order PID (FOPID) control technique where all parameters are obtained using GA tuning. In testing the speed and constant load the performance of the Fuzzy-FOPID control has a smaller overshoot value and the settling time is faster than the FOPID control. The FOPID driver has a better undershoot response of 0,25% when there is a change in the added load. But when testing the speed change, Fuzzy-FOPID control has a fast and stable response with an undershoot value of 0.875% and a 0.143% overshoot, smaller than the FOPID control. From the results of all tests, it can be concluded that Fuzzy-FOPID control is better and more efficient than FOPID control.

Dalam penelitian ini, teknik kendali Fuzzy-Fractional Order Proportional-Integral-Derivative (Fuzzy-FOPID) diterapkan untuk mengatur kecepatan motor DC penguat terpisah. Teknik kendali ini menggunakan gabungan dua metode penalaan algoritma cerdas yaitu logika fuzzy dan Algoritma Genetika (GA). Hal ini dilakukan untuk mendapatkan efek kendali yang efektif dan kuat. Penalaan  parameter Kp, Ki, dan Kd menggunakan logika fuzzy dan untuk parameter fractional μ dan λ menggunakan GA. Untuk mengetahui kinerja dari teknik kendali ini telah dilakukan beberapa tes menggunakan simulasi MATLAB 2013a yang kemudian hasilnya dibandingkan dengan teknik kendali lain yaitu teknik kendali FOPID dimana semua parameternya didapat dengan menggunakan penalaan GA. Pada pengujian kecepatan dan beban konstan performa kendali Fuzzy-FOPID memiliki nilai overshoot yang lebih kecil dan settling time lebih cepat dibanding kendali FOPID. Pengendali FOPID memiliki respon undershoot yang lebih baik sebesar 0,25 % ketika tejadi  penambahan  beban. Namun ketika dilakukan pengujian perubahan kecepatan, kendali Fuzzy-FOPID memiliki respon yang cepat stabil dengan nilai undershoot 0,875 % dan overshoot 0,143%, lebih kecil dibandingkan dengan kendali FOPID. Dari hasil seluruh pengujian dapat disimpulkan bahwa kendali Fuzzy-FOPID lebih baik dan effisien dibandingkan dengan kendali FOPID.

Keywords

Fuzzy Fractional Order Proportional-Integral-Derivative, separately excited DC motor, fuzzy logic, Genetic Algorithm, simulation

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