DESAIN DAN IMPLEMENTASI KENDALI MAGNETIC LEVITATION MENGGUNAKAN METODE SLIDING MODE CONTROL

Rudi Uswarman, Dr. Eng. Adha Imam Cahyadi, S.T., M.Eng.

2014 | Tesis | S2 Teknik Elektro

Sistem magnetic levitation atau maglev telah banyak diaplikasikan diberbagai bidang yang sangat bermanfaat bagi manusia. Banyak aplikasi yang menggunakan sistem maglev karena tidak ada gesekan yang dihasilkan sistem maglev, pergerakan yang cepat dan efisiensi yang tinggi. Dalam penelitian ini, metode konvensional sliding mode control dan global sliding mode control digunakan untuk mengendalikan sistem maglev. Pertama, penelitian berupa simulasi menggunakan Matlab Simulink. Kedua, penelitian berupa implementasi pada actual plant. Namun, pada kendali sliding mode control terdapat efek chattering. Pada implementasi, bila efek chattering terlalu besar dapat membuat sistem tidak stabil karena keterbatasan kemampuan elektronik. Kendali sliding mode control akan robust pada kondisi sliding mode, namun tidak robust pada tahap fase pencapaian sliding mode. Pada kendali GSMC, fase pencapaian sliding mode dihilangkan sehingga tanggapan keseluruhan proses akan robust. Namun, nilai ketidakpastian parameter perlu dibatasi. Metode GSMC memiliki kinerja yang lebih baik dari metode KSMC karena metode GSMC memiliki seetling time yang lebih cepat yakni sebesar 0,1 detik sedangkan metode KSMC memiliki settling time 0,2 detik. Selain itu ketika sistem diberikan gangguan dan ketidakpastian, metode GSMC memilki steady state error 0,005 cm sedangkan metode KSMC memiliki steady state error 0,06 cm.

Magnetic levitation or maglev systems have been widely applied in various fields that are beneficial to humans. Many applications use the maglev system because of its contactless, faster and higher efficiency. In this study, the conventional sliding mode control and global sliding mode control were used to control a maglev system. First, a study on a simulation using Matlab Simulink was conducted. Second, implementation research of the actual plant. Sliding mode control was a method that is robust to disturbance and parameter uncertainties. However, the sliding mode control has the chattering phenomenon. In the implementation, if the chattering phenomenon was too-large, the system become unstable due to the limited ability of the electronics component. Sliding mode control will be robust when in sliding mode condition, however not necessarily robust at attaining motion phase. In the global sliding mode control, the attaining motion phase was eliminated so that the whole process of the system response was robust. However, the value of the parameter uncertainty needs to be limited. GSMC methods have better performance than the CSMC methods because GSMC methods have a faster settling time which was 0.1 seconds while the CSMC methods have settling time about 0.2 seconds. Additionally, when the system added disturbance and parameter uncertainties, GSMC has lower the steady-state error which was 0.005 cm while CSMC has a steady state error about 0.06 cm.

Kata Kunci : maglev, konvensional sliding mode control (KSMC), global sliding mode control (GSMC), chattering.