Perancangan dan Implementasi Controller NCTF untuk Operasi PTP pada Sistem Posisi Linier Menggunakan Ball-Screw : Analisis Kinerja Compensator PI dan Compensator Fuzzy

Abstract

Point-to-point operation using nominal characteristic trajectory following (NCTF) controller has been done. NCTF is practical method to controlling DC motor control object. NCTF controller consist of a nominal characteristic trajectory (NCT) and a compensator, which is NCT constructed based on open-loop experiment. In this research, NCTF’s compensator researched to analyze its performance. Types of compensator studied were proportional-integral (PI) and fuzzy compensator, which both of them have been designed and analyzed. Arduino UNO as controller-card, Scilab as block diagram designer, escon driver as DC motor driver, linear ball screw connected to DC motor as control object, and linear encoder as sensor. PI compensator designed by way of mathematical analysis, which is its analysis procedure has been done by another researcher. Fuzzy compensator designed with three fuzzy variabels, namely two inputs and an output. Each variabel has three membership functions, namely negative, zero, and positive. Defuzzification method used was center of area (COA). This research was yielding performance analysis of PI and fuzzy compensator. PI compensator can followed NCT at real object simulation. Fuzzy compensator has settling time smaller than PI compensatorat computer simulation.