JTERA (Jurnal Teknologi Rekayasa)
Implementasi Pengendali Logika Fuzzy dengan Tapis Kalman pada Kendali Kecepatan Motor Pneumatik
Budi Setiadi, Sudrajat Sudrajat, Endang Habinuddin, Siswoyo SiswoyoAbstract
Motor pneumatik bekerja dengan cara mengubah energi tekanan udara menjadi putaran mekanik. Sistem kendali kecepatan motor pneumatik diperlukan agar motor dapat berputar sesuai dengan nilai yang diinginkan. Namun, pada penerapannya seringkali hasil pengukuran pada umpan balik oleh sensor mengandung derau yang menyebabkan menurunnya kinerja pengendalian. Penelitian ini mengimplementasikan kendali kecepatan motor pneumatik menggunakan logika fuzzy dengan menambahkan tapis Kalman. Logika fuzzy dirancang dengan masukan galat dan perubahannya, sedangkan keluaran berupa nilai bukaan katup. Tapis Kalman dirancang untuk meminimalkan derau pengukuran sensor dengan mengatur konstanta kovarian derau proses (Q). Hasil pengujian menunjukkan bahwa pengendali mampu menghasilkan respon kecepatan dengan rise time dan settling time kurang dari 5 detik, tanpa overshoot, error steady-state kurang dari 2 detik, dan waktu pemulihan kurang dari 6 detik ketika diberi gangguan.
http://dx.doi.org/10.31544/jtera.v8.i1.2022.41-48
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DOI: http://dx.doi.org/10.31544/jtera.v8.i1.2022.41-48
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