DESIGN AND IMPLEMENTATION OF AC MOTOR POSITION CONTROL SYSTEM USING 4 ̉̉ 3 ̉̉ 4 JOINT TRAJECTORY METHOD
The growth of technology has caused a revolution in video games especially in the variation of interaction such as the use of devices and in many kinds of simulation of real life things. One of those thing is the platform simulator which simulates motion and condition of a platform. To move this pla...
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| Format: | Final Project |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/17431 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | The growth of technology has caused a revolution in video games especially in the variation of interaction such as the use of devices and in many kinds of simulation of real life things. One of those thing is the platform simulator which simulates motion and condition of a platform. To move this platform, a motor position control that is integrated with the platform is needed. <br />
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The aim of this final project is to design and implement an AC motor position control system using 4 – 3 – 4 joint trajectory method. the methods of this project are determining the system specification, designing the system, implementing the system, testing the system and analyzing the performance of the system before finally making conclusion. The scope of this final project are the study of operation and characteristic of inverter, study of the 4-3-4 joint trajectory method, study of the calculation of the trajectory algorithm, the control algorithm and lastly the implementing them to the motor control system. <br />
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Inverter is used to control the speed of the motion of the motor. The DAC and op amp circuit is used to adjust signals to be fed to the inverter, encoder is used as means of giving feedback to the system and an AVR based controller is used to calculate the trajectory as well as controlling the signal that is given to the inverter. <br />
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On the tested system, informations regarding the system criterias are obtained. The system could fulfill the otomation criterion that is wanted, it could also reach the position that is requested, fulfilled the ±180o angle limit, has the steady state error of less than 5% of the maximum motor movement, has the presicion rate where the range of the angle obtained is less than 1o and the system could also rotate back to the initial position after rotating to a desired angle. |
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