Proposal Tugas Akhir Crane2(2)
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7/24/2019 Proposal Tugas Akhir Crane2(2)
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PROPOSAL TUGAS AKHIR
JUDUL
SISTEM CRANEDENGAN PENGONTROLADAPTIVE NEURO-
FUZZY INFERENCE SYSTEMUNTUK MEREDAM AYUNAN
PENGUSUL:
FEBBY ANGGA PERMANA
NIM : 2011420076
TEKNIK ELEKTRO
UNIVERSITAS MUHAMMADIYAH JAKARTA
OKTOBER 2015
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7/24/2019 Proposal Tugas Akhir Crane2(2)
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HALAMAN PENGUSUL
Juu! P"#"!$%$ :
JUDUL
SISTEM CRANE DENGAN PENGONTROL ADAPTIVE NEURO-FUZZY
INFERENCE SYSTEMUNTUK MEREDAM AYUNAN
P"#'u(u! :
&) N&*& L"#'+&, : F"--. A#''& P"/*&
-) NIM : 2011420076
) F&+u!%&( : T"+#$+
) Ju/u( : T"+#$+ E!"+%/
") P"*$#&% : E!"+%/#$+& I#u(%/$ T"+#$+ K"#&!$
) T"!",# 3 E*&$! : 05721027077 3 "--.''&),'*&$!)*
L&*& P"#"!$%$ K"("!u/u : 16 M$#''u
J&+&/%&8 9 O+%-"/ 2015
M"#'"%&u$8
Ju/u( T"+#$+ E!"+%/ FTUMJ
K/$#&%/ Tu'&( A+$/ P"#'u(u!8
Hu(#$-"( Mu%&/
NID) 20)99
F"--. A#''& P"/*&
NIM) 2011420076
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1. PENDAHULUAN
Crane*"/u,&+ &!&% -%u *"+$( u#%u+ *"*$#&+ -"#& &/$ (u&%u
%$%$+ +" %$%$+ !&$##.&) P"#'"#&!$ crane *&($ -.&+ $!&+u+ !" *u($&8
("$#''& +"&!$ ,"/&%/ ('&% -"/,"/ &!&* ,"#'"#&!$ ("-u& crane)
K"%"/-&%&( %"/("-u% $&/&,+ &,&% $&%&($ "#' *"#'u#&+ (u&%u
,"#'"#&!$)
Crane("&/& !u&( $,&+&$ $ $#u(%/$8 ,"!&-u '&!' +&,&!8 *&u,u#
+#%/u+($ -'u#& %$#''$ u#%u+ *"*$#&+ -&/' .' -"/u+u/ -"(&/8 ('&%
-"/&% -"/-&&.&) Crane $!"#'+&,$ "#' trolley .' *"*-&& -&/'
&!&* -$' /$;#%&!) B"- $u-u#'+ +" trolley *"!&!u$ %&!$3+&&% "#'
,
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Gambar 1.1 Gantry Crane
2. RUMUSAN MASALAH
P"/(&! .' %"/
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Jurnal 1 Jurnal 2
Penelitian Anda
D"#' /u*u( $&%&(8 *&+& &/u( $-u&% (u&%u +#%/!"/ .' *&*,u
*"#'"#&!$+ ,($($ crane "#' %,& *"#'&+$-&%+ &.& &.u# .'
%"/ P"/' ,"*-u&% ,/%%.,")
> P"#'u
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Pembuatan Sistem
Pemilihan Sistem kendali yang tepat
Pengujian
Analisa dan kesimpulan
U#%u+ *"*-%u &!&* ,"#"!$%$ %u'&( &+$/ $#$ *&+& ,"#u!$( *"*-u&%
+"/'+& ,"*$+$/ ("-&'&$ -"/$+u% :
Gambar 8.1. Flowcart kerangka pemikiran penulis
7. TINJAUAN PUSTAKA
7.1. Model S!"e#
U#%u+ *"#&,&%+ *"! *&%"*&%$+& &/$ ($(%"* '%/. crane8 !'+&
,"/%&*& .' &/u( $+"%&u$ &&!& +/$#&% ,&& '%/. crane"#' ,&/&*"%"/
? ,&/&*"%"/ '"*"%/$+#.&) M"! '%/. crane %"/!$&% ,&& '&*-&/ 7)1) D&/$
'&*-&/ &,&% $!$&% -&& -"- %"/'%u#' $ u
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%&/& crane (u*-u "/%$+&! &&!& ) D"#' *"#''u#&+ u+u* #"%#
+"u& *&+&:
FC * ) & ))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))=1>
Gambar !.1 Gantry Crane "odel
P"/(&*& $#&*$+& '%/. crane &,&% $%u/u#+ %&/& !&$# '"/&+
trolley&/& /$#(#%&! (","/%$ ,&& ,"/(&*&:
mCd2x 1
dt2 =u+Fsin ))))))))))))))))))))))))))))))))))))))))))))))))))))))))=2>
S"'+ u#%u+ '"/&+ trolley&/& "/%$+&! (","/%$ ,"/(&*&:
F( *' C 0)))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))=9>
U#%u+ '"/&+ crane&/& /$(#%&!8 ,"/(&*& $#&*$+& '%/. crane&,&%
$%u/u#+ (","/%$ ,&& ,"/(&*&:
mLd
l(x1+ lsin )
dt2
=F sin )))))))))))))))))))))))))))))))))))))))))))))=4>
S"'+ u#%u+ '"/&+ crane&/& "/%$+&! (","/%$ ,&& ,"/(&*&
mLd
l(l cos)
dt2 =F cos+mL g ))))))))))))))))))))))))))))))))))))))))=5>
5
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D&/$ ,"/(&*& ? ,"/(&*& =2>8 =9>8 =4>8 =5>8 *&+& $&,&% ,"/(&*&
-&/u .' &,&% $%u!$( &!&* -"#%u+ ,"/(&*& (%&%" (,&" (","/%$ ,&& ,"/(&*&
=6>:
[x1]=[ u+mL sin(l
2
+gcos)mC+mL sin
ucos+mL sin (g+l 2cos )+g mCsin
l(mC+mL sin ) ] )))))))))))=6>U#%u+ *"*u&+ ,"#u!$( *"! *&%"*&%$+& ($(%"* '%/. crane
$#.&%&+ &!&* "*,&% "+%/ (%&%" .&$%u x=[x1x2x3x 4 ] 8 $*&:
x=
x1x
2
x3
x4
=[x1x1
]=[ PosisitrolleyKecepatantrolley
posisi sudut trolley
kecepatan sudut trolley ] )))))))))))))))))))))))))=7>K"",&% trolley@9*"/u,&+ %u/u# ,"/%&*& &/$ ,($($ trolley@1
+"",&% (uu% @4*"/u,&+ %u/u# ,"/%&*& &/$ (uu% -&%' crane @2) D&/$
,"/(&*& .' (u& $%u/u#+ *&+& *"! *&%"*&%$+& &!&* -"#%u+
,"/(&*& (%&%" &,&% $%u!$(+ &!&* ,"/(&*& -"/$+u%:
x=[x
1
x2x
3
x4]=[
x1
x1
]=[
0 1
0 0
0
mLmC
g
0
0
0 0 0 1
0 0mL+mC
lmCg 0][
x1
x2x
3
x4]+[
0
1
mC0
1lmC
]u )))))))))))))))))))=>7.2.Adaptive Neuro fuzz I!fere!"e S#te$$ AN%IS &
M"! fuzzy &,&% $'u#&+ ("-&'&$ ,"#''%$ &/$ perceptron "#'
-.&+ !&,$() D&!&* &! $#$8 ($(%"* &,&% $-&'$ 2 '/u,8 .&$%u (&%u '/u, -"/u,&
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ANFIS = Adaptive $euro Fuzzy %nference &ystem atau Adaptive #etwork '
based Fuzzy %nference &ystem > &&!& &/($%"+%u/ .' ("&/& u#'($#&! (&*&
"#'fuzzyrulebase*"! (u'"#) A/($%"+%u/ ANFIS u#%u+ *"#'&($!+ ("*u&
u%,u%#.&)
-) Ju*!& u#'($ &+%$&($ &/u( (&*& "#' )
) J$+& && -"-"/&,& $#,u% ,&& -&($( &%u/#.&8 *&+& %$&, ? %$&, u#'($
&+%$&($ &/u( (&*& "#' u#'($ +"''%& %$&, ? %$&, $#,u%#.&)
) Fu#'($ &+%$&($ &%u/ ? &%u/ fuzzy&/u( *"*$!$+$ u#'($ .'
(&*& u#%u+ neuron ? neuron &%u/ ? &%u/ .' && $ ($($
u%,u%#.&)
A'!"e(")' AN%IS
M$(&!+ && 2 $#,u% @18 @2 (&%u u%,u% .) && 2 &%u/ ,&& -&($(
&%/u/ *"! Su'"# = J'817 >
I @1A1 @2$( B1T"# .1C 111 122 10
I @1A2 @2$( B2T"# .2C 211 222 20
J$+& ,/"$+&% u#%u+ &%u/ +" u& &%u/ &&!& 1 28 *&+& &,&% $$%u#'
/&%& ? /&%& %"/--%:
y=w
1y
1+w
2y
2
w1+w2= w
1y
1+ w
2y
2
7
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Gambar!.( Arsitektur )aringan A#F%& *)ang+1,,!
J&/$#' ANFIS %"/$/$ &/$ !&,$( ? !&,$( ("-&'&$ -"/$+u% = 8 B1=@2>8 A2=@1>8 B2=@2>)
-) T$&, ? %$&, neuron ,&& !&,$( +"u& -"/u,& neuron %"%&, .' u%,u%#.&
&&!& &($! &/$ *&(u+) B$&(.& $'u#&+ ,"/&%/ AND) T$&, ? %$&, node
*"/",/"("#%&($+ ,/"$+&% &/$ &%u/ +"$)
) T$&, %$&, neuron,&& !&,$( +"%$'& -"/u,& node%"%&, .' *"/u,&+ &($!
,"/$%u#' /&($ &/$ ,/"$+&% =>8 &/$ &%u/ +"$ %"/&&,
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P&& *"%!'$ ,"#"!$%$ $#$ -"/%u
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Pemeriksaan
1#
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Gambar 8.1. Flowcart metode penelitian gantry crane
+. JAD,AL PELAKSANAAN
P"#"!$%$ $/"#&+ &+ $!&+(&+ ("!&*& 16 *$#''u) R$#$ /"#&
N 28 ,, 12210)
R+$*8 I(*&$!) R&*"!$8 M F&%#$8 A!$)engaturan Anti swing pada gantry
crane menggunakan sliding control dengan kompensatorl proposional-integral. /A0A
/ournal of lectrical and lectronics ngineering+ 0ol. 12+ #o.1+ Apr . (21(+ %& 131(-
8425.
M"!$#&&%$8 R($%&)8 A'u(%$#& T/$&(%u%$) 6esain 7ontroler Fuzzy untuk &istem
Gantry Crane. Ju/#&! T"+#$+ POMITS V!)98 N18=2014> ISSN: 2997959 =2901271
P/$#%>)
11
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O*&/8 H)M)8 Control of Gantry and 9ower Cranes:+ .6. 6issertation+ V$/'$#$&
P!.%"#$ I#(%$%u%" S%&%" U#$"/($%.) B!&+(-u/'8 V$/'$#$&8 2009)
&&$8 M)A)8 ++8 Feedback Control &ceme for Gantry Crane &ystem
incorporating ayload:8 % &ymposium on %ndustrial and Applications =ISIEA2011>8
2011)
&.u$ J&!$ J)8 &ensorless Anti-swing Control for Automatic Gantry Crane
&ystem; "odel-based Approac:8 I#%"/#&%$#&! Ju/#&! A,,!$" E#'$#""/$#' R"("&/8
ISSN 07945628 !)28 #)18 ,,) 1471618 2007)
R&8 K%& S$*