POSITION CONTROL OF PERMANENT MAGNET SYNCHRONOUS MOTOR IN RAILWAY SIMULATOR WITH SLIDING MODE CONTROL BASED ON RASPBERRY PI 3

• Main Author: IMBAROTHUR MOWAVIQ - NIM : 23216081, MUHAMMAD
• Format: Theses
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/29247
• Institution: Institut Teknologi Bandung

This research presents the design of Sliding Mode Control (SMC) as the position controller of Permanent Magnet Synchronous Motor (PMSM). PMSM is used as an electric drive of railway simulator. The PMSM used is Delta production with ASDA-A2 driver type. This driver has registers that can be accessed from external devices. The external device is a Raspberry Pi 3 connected via MODBUS. Succesfully simulated SMC designs are implemented in Raspberry Pi 3 in the Python programming language. The design of SMC as position controller is developed in several forms. The forms are SMC with linear feedback, integral SMC with linear feedback, SMC with on-off control, and integral SMC with on-off control. As an electric drive of train simulator, PMSM drives the simulators on pitch, roll, lateral, and longitudinal motion. In the pitch motion of motor, any change in angular position affects the torque changes which gives rise to non-linearity factor in the motor. The result of non-loaded motor testing, integral SMC with linear feedback has the best performance compared to other SMC forms. The integral SMC with linear feedback also has the best performance on the simulation of motor testing with loading. In addition, the integral SMC with linear feedback is also better than the internal proportional integral gain of motor driver.