Pemodelan Dan Pengaturan Adaptif Untuk Sistem Hidrolik Tak-Linier
Corresponding Author(s) : M Mulyadi Jayanegara
Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control,
Vol 1, No 3, November-2016
Abstract
Elektro-hidrolik merupakan jenis aktuator yang kompleks dengan ketaklinieran yang tinggi dan mengandung unsur ketidakpastian di dalamnya. Oleh karena itu untuk mendapatkan performa terbaik dari sistem elektro-hidrolik diperlukan pemodelan yang lebih akurat dan sistem pengaturan yang tepat. Tujuan dari tugas akhir ini adalah melakukan pemodelan sistem secara tak-linier dan dilanjutkan dengan perancangan sistem pengaturan tak-linier yang robust untuk sistem elektro-hidrolik. Dalam tulisan ini pemodelan dilakukan dengan menggunakan System Identification Toolbox pada Matlab dari sepasang data input-output yang diambil dari sistem sebenarnya. Model dari sistem ditampilkan dalam bentuk tak-linier, karena mengakomodasi ketaklinieran, ketidakpastian dan gangguan dari sistem elektro-hidrolik. Sistem pengaturan menggunakan Sliding Mode Control (SMC) yang dikombinasikan dengan pengaturan Fuzzy dalam format Adaptif Sliding Mode Control (ASMC) untuk mengkompensasi perubahan parameter, ketaklinieran, ketidakpastian dan gangguan pada pengaturan SMC. Stabilitas sistem pengaturan dijamin dengan fungsi Lyapunov. Hasil pemodelan tak-linier menunjukkan nilai best-fit sebesar 94.65 %. Sementara pengaturan ASMC menghasilkan performa lebih baik dibandingkan dengan pengaturan SMC, hal ini dibuktikan menggunakan metode Sum of Squared Tracking Errors (SSTE) menghasilkan nilai sebesar 0,0121.
Keywords
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- Zulfatman, Rahmat. “Application of Self-Tuning Fuzzy PID Controller On Industrial Hydraulic Actuator Using Sistem Identification Approach”, Int. Journal on Smart Sensing and Intelligent Systems, Vol. 2(2):246-261, 2009.
- L. Ljung. “System Identification Toolbox: User Guide”, Prentice-Hall Int., London, 2014.
- Andersson L, et al. “A Manual for System Identification” Lund University Andersson L, et al. “A Manual for System Identification” Lund University, 2004.
- Zulfatman, et al. “Robust Position Tracking Control of an Electro-Hydraulic Actuator in the Presence of Friction and Internal Leakage”, Arabian Journal for Science and Engineering 39 (4), 2965-2978, 2014.
- R Ghazali, et al. “Adaptive Discrete Sliding Mode Control for a Non-minimum Phase Electro-Hydraulic Actuator System”, The 8th International Conference on Robotic, Vision, Signal Processing & Power Applications, 2014.
- Indrawanto, T.X. “Sliding Mode Control of a Single Rigid Hydraulically Actuated Manipulator”. International Journal of Mechanical & Mechatronics Engineering IJMME-IJENS, 2011.
- Rahmat, et al. “Modeling and Controller Design of an Industrial Hydraulic Actuator System in The Presence of Friction and Internal Leakage” International Journal of the Physical Sciences Vol. 6(14), pp. 3502-3517, 2011.
- Zulfatman, et al. “Robust Precision Control for a Class of Electro-Hydraulic Actuator System Based on Distrubance Observer” International Journal of Precision Engineering and Manufacturing, 2015.
- Zulfatman, et al. “Sliding Mode Control with Switching-Gain Adaption Based-Distrubance Observer Applied to an Elecro-Hydraulic Actuator System” Industrial Electronics and Applications (ICIEA), 2013.
- Cerman O, Husek P. “Adaptive Fuzzy Sliding Mode Control for Electro-Hydraulic Servo Mechanism” Expert Systems with Applications 39. 10269–10277, 2012.
References
Zulfatman, Rahmat. “Application of Self-Tuning Fuzzy PID Controller On Industrial Hydraulic Actuator Using Sistem Identification Approach”, Int. Journal on Smart Sensing and Intelligent Systems, Vol. 2(2):246-261, 2009.
L. Ljung. “System Identification Toolbox: User Guide”, Prentice-Hall Int., London, 2014.
Andersson L, et al. “A Manual for System Identification” Lund University Andersson L, et al. “A Manual for System Identification” Lund University, 2004.
Zulfatman, et al. “Robust Position Tracking Control of an Electro-Hydraulic Actuator in the Presence of Friction and Internal Leakage”, Arabian Journal for Science and Engineering 39 (4), 2965-2978, 2014.
R Ghazali, et al. “Adaptive Discrete Sliding Mode Control for a Non-minimum Phase Electro-Hydraulic Actuator System”, The 8th International Conference on Robotic, Vision, Signal Processing & Power Applications, 2014.
Indrawanto, T.X. “Sliding Mode Control of a Single Rigid Hydraulically Actuated Manipulator”. International Journal of Mechanical & Mechatronics Engineering IJMME-IJENS, 2011.
Rahmat, et al. “Modeling and Controller Design of an Industrial Hydraulic Actuator System in The Presence of Friction and Internal Leakage” International Journal of the Physical Sciences Vol. 6(14), pp. 3502-3517, 2011.
Zulfatman, et al. “Robust Precision Control for a Class of Electro-Hydraulic Actuator System Based on Distrubance Observer” International Journal of Precision Engineering and Manufacturing, 2015.
Zulfatman, et al. “Sliding Mode Control with Switching-Gain Adaption Based-Distrubance Observer Applied to an Elecro-Hydraulic Actuator System” Industrial Electronics and Applications (ICIEA), 2013.
Cerman O, Husek P. “Adaptive Fuzzy Sliding Mode Control for Electro-Hydraulic Servo Mechanism” Expert Systems with Applications 39. 10269–10277, 2012.