Pemodelan Sistem Motor DC-Shunt Menggunakan Pendekatan Model Hammerstein Dengan Estimasi Parameter Metoda Least Square
DOI:
https://doi.org/10.26418/elkha.v3i2.248Abstract
Abstract– Keberadaan sistem yang ada merupakan keterpaduan unsur-unsur linier dan nonlinier. Sistem Mechatronics (Mechanic dan elektronik), dalam hal ini digunakan motor dc-shunt, terdapat berbagai macam ketidaklinieran, misalnya friction (gesekan) pada system mekanik dan tourque saturation (kejenuhan) pada sistem elektronik. Pemodelan dengan penurunan matematis sangat sulit dilakukan, kesemua ini dilakukan dengan banyak sekali pengabaian, perhitungan dilakukan selalu berkisar pada daerah yang linier, oleh sebab itu hasil dari model yang diturunkan berdasarkan penurunan matematis, masih kurang begitu efektif guna implemetasi langsung di lapangan. Pada penelitian ini akan dilakukan pemodelan sistem dengan menggunakan metoda identifikasi, metoda ini dilakukan atas dasar sinyal masukan (input) dan keluaran (output) dari sistem yang akan dimodelkan, dengan demikian model yang didapat akan sangat mendakati pada keadaan yang sebenarnya. Struktur model yan digunakan adalah Model Hammerstein, yang mana pada model ini akan terpisah blok linier dan blok non-linier.Model yang didapat dari hasil identifikasi, akan merepresentasikan sistem yang sebenarnya, yaitu termasuk unsur-unsur linier dan nonlinier, sehingga dengan model tersebut bisa digunakan untuk keperluan analisis maupun perancangan sistem konrol secara off-line atau simulasi, dengan demikian jika ingin melakukan proses analisis, maka sistem tidak harus dimatikan (trip).
Kata kunci– Blok Linier, blok nonlinier, saturation, Hammesteinen, metoda identifikasi.
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