PERANCANGAN PENGENDALIAN DAYA DAN OBSERVER PADA PEMBANGKIT LISTRIK TENAGA BAYU (PLTB) BERBASIS SCIG (SQUIRREL CAGE INDUCTION GENERATOR) SKRIPSI

Transkripsi

1 UNIVESIS INDONESI PENCNGN PENGENDIN DY DN OBSEVE PD PEMBNGKI ISIK ENG BYU (PB) BEBSIS SCIG (SQUIE CGE INDUCION GENEO) SKIPSI NO SING 867 FKUS EKNIK POGM SUDI EKNIK EEKO DEPOK JUNI Pancanan pnnalan..., nol Snaa, F UI,

2 UNIVESIS INDONESI PENCNGN PENGENDIN DY DN OBSEVE PD PEMBNGKI ISIK ENG BYU (PB) BEBSIS SCIG (SQUIE CGE INDUCION GENEO) SKIPSI Dajuan baa alah atu yaat untu polh la Sajana n NO SING 867 FKUS EKNIK POGM SUDI EKNIK EEKO DEPOK JUNI Pancanan pnnalan..., nol Snaa, F UI,

3 Pancanan pnnalan..., nol Snaa, F UI,

4 v Pancanan pnnalan..., nol Snaa, F UI,

5 Pancanan pnnalan..., nol Snaa, F UI, v

6 Pancanan pnnalan..., nol Snaa, F UI, v

7 BSK Naa : nol Snaa NPM : 867 Poa Stu : n Elto Juul : Pancanan Pnnalan Daya an Obv Paa Pbant t naa Bayu (PB) Bba SCIG (Squl Ca Inucton Gnato) Pnunaan Pbant t naa Bayu an nnat baa ub n lt tbauan. Salah atu paalahan ala panfaatan PB aalah pnnalan nato nu. Paa pnltan n tlah ancan pnnal FOC, Full Obv an pnnal aya baa atu atuan nal nato nu. p nato nu yan paa aalah SCIG. Pnnal oto Flux Ont Contol (FOC) aalah pnnal vto yan natu au tato. FOC t a ua baan yatu coupl an pnnal PI untu nnalan au. Pnnal FOC aalah pnnal yan luan auan au tato fn, au tato nato an cpatan puta oto nato. Untu napatan cpatan puta oto nato, ala pnltan n an full o obv baa auan pnnal FOC hna ta nunaan no cpatan. Sanan pnnal aya aan aa aya luaan nato ua nan aya fn yan ban. nala lauan baaan hal ula paa MB/Suln an C-Mx S-Functon. Baaan hal ula, FOC yan ancan tlah bhal nnalan nato nan pubahaann au tato ubu q, full obv apat nta tat nan o 5% paa ol an cpatan puta nan o.4% an watu tabl.4 an pnnal aya bja nan ba. Kata unc Pbant t naa Bayu, Ga Box, SCIG, Vcto Contol, FOC, PI, PWM, Full O Obv. v Pancanan pnnalan..., nol Snaa, F UI,

8 BSC Na : nol Snaa NPM : 867 Stuy Poa : Elctcal Ennn tl : Dn of Pow Contol an Obv on SCIG (Squl Ca Inucton Gnato) Wn Pow h u of wn pow plant a a ouc of nwabl lctc ny ncan. On of th pobl n th utlzaton wn tubn th contol of an nucton nato. In th tuy, FOC, Full Obv an Pow Contoll hav bn n a contol of nucton nato. Inucton nato typ u SCIG. Contolln oto Flux Ont Contol (FOC) a vcto contoll that ulat th tato cunt. FOC cont of two pat, coupl an cunt PI contoll. FOC contoll qu nput fnc tato cunt, tato cunt nato an th nato oto otatonal p. In th tuy, nta of p no, full o obv ha bn u to tat nato oto p. Pow contoll u to ulat th nato output pow n accoanc wth th fnc vn. In th tuy, vfcaton of contoll pfoanc ha bn on by un ulaton MB/Suln. Sulaton ult how that FOC, full obv an pow contoll hav achv t pfoanc. FOC ha contol th nato wth chan of q-ax tato cunt. Full obv ha tat wth 5% o, an otatonal p wth.4% wth.4. Pow contol hav alo wo wll. Kywo : wn pow, wn tubn, a box, qul ca nucton nato, pow convt, th-pha loa, Matlab / Suln. v Pancanan pnnalan..., nol Snaa, F UI,

9 DF ISI HMN PENYN OISINIS.. Eo! Booa not fn. K PENGN... Eo! Booa not fn. HMN PENYN PESEUJUN PUBIKSI... v UGS KHI UNUK KEPENINGN KDEMIS Eo! Booa not fn. BSK... v BSC... v DF ISI... x DF GMB DN BE... x BB PENDHUUN.... ata Blaan.... Puuan Maalah.... Bataan Pnltan....4 ujuan Pnltan....5 Mtoolo Pnltan Stata Pnulan... 4 BB INJUN PUSK Potn nn Inona Mol nn Mol ubn nn Mol Dv an Mol Squl Ca Inucton Gnato (SCIG) Mol Gnato Inu cuan oto Mol Dna paa Kana fn Stato....6 anfoa a Faa K Dua Faa anfoa Cla anfoa Pa anfoa abc q... 8 BB PENCNGN PENGENDI SCIG DN FU ODE OBSEVE Pnnal Vto u DQ an Paaan Dcoupln ancanan Full O Obv Eta u an Flu Eta Kcpatan... 4 x Pancanan pnnalan..., nol Snaa, F UI,

10 . Pnnal Daya... 8 BB 4 SIMUSI HSI NCNGN DN NISNY Sula Mol Pbant t naa Bayu Sula Mol nn Sula ubn nn Sula Ga Box Sula Gnato Inu p Squl Ca Sula PWM Sula an nala Pnauh Pubahaan u Stato nan Sno Kcpatan Sula an nala Pnauh Kcpatan nn an Obv Sula an nala Pnauh Pubahan u Stato Subu q Sula an nala Pnnalan Daya Daya fn tap Daya fn Bubah-ubah... 6 BB 5 KESIMPUN DF CUN apan... 7 apan... 7 apan apa Pancanan pnnalan..., nol Snaa, F UI, x

11 DF GMB DN BE Gaba. Hubunan Cp an... 7 Gaba. Ga box... 8 Gaba.a Gnato paa ubu... Gaba.b Gnato paa ubu... Gaba.4 anfoa Cla... 6 Gaba.5 anfoa Pa... 7 Gaba.. ancanan tutu pnnal an obv... 7 abl. Paé ppoxaton... Gaba. Daa Vto Kontol an Dcoupln... 4 Gaba.4 Daa Blo Obv... 5 Gaba 4. Pubahan cpatan ann thaap watu... Gaba 4. o an tubn... 4 Gaba 4.. Hubunan Cp thaap laa luaan ula... 4 Gaba 4.4 Kluaan a box... 4 Gaba 4.5 Pbannan cpatan puta an an lt... 4 Gaba 4.6 Slp nato... 4 Gaba 4.7 Hal Kluaan PWM... 4 Gaba 4.8 Stutu PB tanpa obv abl 4. Pnauh an q thaap t PB Gaba 4.9 Stutu t PB nan obv Gaba 4. Hal ula pnauh cpatan ann an obv... 5 Gaba 4. Hal ula pnauh pubahaan au tato ubu q Gaba 4. Stutu PB nan pnnal aya Gaba 4. Hal ula pnnalan aya... 6 Gaba 4.4 Hal ula pnnalan aya nan fn bubah Pancanan pnnalan..., nol Snaa, F UI, x

12 BB PENDHUUN. ata Blaan Kbutuhan n lt ala hupan ha-ha an nnat n nan nnatnya tnolo, btabahnya banunan puahaan an nut-nut. Dapn tu taan n fol yatu nya bu an batubaa baa ub utaa n una an np hna butuhan olu-olu untu nala pnunaaan ub n fol. Dala pbanan pntahuan apat olu ala nata aalah tbut nan nuan n tbauan pt n ataha, n ann an boaa. D lan n tbauan aalah anat aah lnunan apabla bannan nan n fol ana n tbauan ta nhalan zat-zat a yan ba ua lnunan. Untu aalan pnunaan n tbauan tutaa yan bub a ann, aa p n baha pbant lt tnaa ann/bayu. nn aalah alah atu ub n lpah yan ta ala. Panfaatan tnaa ann baa ub n Inona anat plu banan untu nuh butuhan n lt Inona tlbh aah-aah p panta yan ta apat janau tan lt PN. Baaan hal ptaan baa Pnbanan an ntaa Naonal (apan) paa loa nunjuan bahwa bbapa wlayah Inona l cpatan ann ata 5 / yatu Nua naa u, Nua naa Baat, Sulaw Slatan an Panta Slatan Jawa. Dala pbanunan pbant lt tnaa ann tapat bbapa aalah yatu fn onv nnya ah anat nah, cpatan ann yan cl an bubah-ubah. Untu tu butuhan bbapa to ala ancan pbant lt tnaa bayu upaya onv nnya apat ncapa aal. Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

13 Pbant lt tnaa bayu yan an aalah nunaan nato nu tp qul ca (SCIG). Gnato nu n unaan ana lbh uah, baya pawatannya nah, obut, an lbh uah aplaan nan cpatan ann yan latf cl (-6 /). ap l uanan yatu fn onv yan nah an nyap aya atf a t. [] Sp n fou paa opta nato nu baa nato yan unaan paa pbant lt tnaa bayu. Opta nato lauan nan lauan pnnalan oto Flux Ont Contol (FOC) paa fa alfa/bta ol nato. Dnan aanya pnnal n aa haapan apat nnalan nato upaya apat bja aal.[] Dala an FOC butuhan auan au an cpatan puta oto nato yan abatan olh putaan tubn ann, au fn tato. Untu tu, p n baha baaana pnauh au fn tato tbut thaap apuan ja nato an aya yan luaannya. Dapn tu, Sp n baha baaana anfaatan full obv baa alat untu nta cpatan puta oto. Hal n lauan untu nhna pnunaan no cpatan yan haanya ahal []. Shna nan ntahu au an tanan luaan nato aa nan nunaan obv apat a cpatan puta oto. Kcpatan putaan oto n anat pntn ahu ana pluan ala pnnal FOC. Untu tu, p n aan baha baaana aatt ja obv bannan nan nunaan no an pnauh pnunaan obv thaap apuan ja nato.[4] Sp n jua baha baaana ta apat nnalan aya atf an aya atf ua nan ba aya yan ta nnan nunaan pnnal PI. Dana ala hal n lauan nan phtunan o aya fn an aya output untu nnalan au q fn ( * q ) paa FOC. Da pnltan n apat lhat bahwa q bann nan aya atf an au I bann nan aya atf. Dan ba au an q l bata ttntu untu njaa t ttap tabl an obv bja nan ba.[4] Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

14 . Puuan Maalah uuan aalah paa p n aalah baaana nan pnnal FOC untu apat nnalan nato nu ta phaa upaya apat bja nan aal. Dala pnltan n apat lhat baaana pnauh ba * an * q paa t pbant lt tnaa bayu. Dapn tu, jua baha baaana nan obv baa pnant no untu ta tat an ba cpatan putaan oto nato yan pluann ala pnnal FOC an baaana apuan nja obv paa t. Sp n jua baha baaana nnalan aya luaan nato.. Bataan Pnltan Sp n bata paa an t pnnalan nato nu tp qul ca, an obv, an pnnalan aya paa t pbant lt tnaa bayu ala tnat ula nunaan oftwa MB. Paa ula pbant lt tnaa bayu n bata hanya apa n an ta hubunan bban atau. nala nna t pbant lauan baaan hal ula..4 ujuan Pnltan ujuan pnltan n aalah :. Maha ol atat oponn-oponn t PB (tubn, abox an nato).. Maha an ancan ula t PB.. Maha t an FOC 4. Maha t an full obv. 5. Maha pancanan pnnalan aya. 6. Mntahu bataan apuan t pnnal FOC an obv. 7. Mnvfa nja pnnal an obv yan ancan. 8. Mntahu pnauh pnnal an obv thaap t pbant. Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

15 4.5 Mtoolo Pnltan Mtoolo yan lauan ala pnltan n aalah:. Stu ltatu nan baca buu, junal tntan top yan baha ta nuan nan on pbbn, on pnuun an tan.. Mnuunan ol atat oponn-oponn PB.. Mancan t PB nan nunaan ula MB/Suln an nunaan poa C-x. 4. Mancan pnnal oto Flux Ont Contol (FOC) baa pnnal nato nu tp qul ca. 5. Mancan obv 6. Mancan pnnal aya..6 Stata Pnulan Stata pnulan p n ba nja la bab. Bab atu baha nna lata blaan, tujuan pnulan, bataan pnltan, toolo pnltan an tata pnulan yan lauan. Bab ua, baha nna aa to yan pluan untu lauan pnltan n an polan oponn-oponn pbant. Bab ta, baha baaana nan pnnal FOC, an obv an an pnnal aya. Bab pat, naplan hal ula an anala hal ula. Sp n ah Bab la yatu pulan a pnltan n. Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

16 BB INJUN PUSK St pbant lt tnaa bayu aan nonvan n ann nja n an, uan nubah n an tbut nja n lt.. Potn nn Inona nn aalah alah atu n lpah yan ta ala. Panfaatan tnaa ann baa ub n Inona anat plu banan untu nuh butuhan n lt Inona tlbh aah-aah p panta yan ta apat janau tan lt PN. Potn n ann Inona uuya bcpatan lbh a 5 /. Baaan hal ptaan baa Pnbanan an ntaa Naonal (apan) paa loa nunjuan bahwa bbapa wlayah Inona l cpatan ann ata 5 / yatu Nua naa u, Nua naa Baat, Sulaw Slatan an Panta Slatan Jawa. Daya total yan apat halan ann aalah aa nan n nt yan halan ann tbut, nan aalah aa ann an aalah cpatan ann [5] ρ..v P t. Dana: ρ..v P t : Daya total yan pan ann : aa jn ann (,5 / ) : lua pnapan tubn ann. Mol nn (..) (..) Mol a cpatan ann caa uu aalah upaan uppo a oponn yatu []: Dana: V(t) V (t) V (t) t V(t) oponn fquncy nah; (..) 5 Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

17 6 Vt(t) oponn tubulnc (vaa fquncy tn) Koponn fquncy nah upaan cpatan ann yan anat nah, apat olan nan Wbull buton atau aylh buton. V (t) a.v. - -.a.v (..) Ktanan: v : ata-ata cpatan ann/ja a : paat tantun paa ata-ata cpatan ann ala watu yan laa Vaa cpatan ann yan cpat Vt(t) olan nan oponn tubulnc. Popt tubulnc ynac nunaan pctu yatu Kaal pctu. Kaal pctu lbh ba unaan untu bhubunan nan ata pn ta tubulnc aa.. Mol ubn nn ubn ann aalah baan a pbant lt tnaa bayu yan bfun untu nubah n ann nja n an yan aan uta poo a tubn tbut. ubn ann l bla yan l bntu pnapan huu yan unnan tjanya alan ann paa atu lbh cpat a paa lan aat ann lwatnya. Pbaan cpatan n aan nbulan aya yan nybaban tubn bputa. Eny yan aa ala ann nan cpatan V aalah : P ρ V. (..) Mau fn aya paa ann aalah hna aya au paa ann: 6 P C p ρv ( ) (..) 7 pabla ann lwat tubn aa tubn aan bputa hna apat aya ann yan au tlah lwat tubn: 8 P C p ρv ( ) (..) 7 Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

18 7 Ja fn au ala lauan onv n ann nja n an aalah ba 8/7. Kofn aya (Cp) aalah fn a onv aya paa tubn ann, bantun paa nla p ato (λ) an banya uut paa uu (). Sp ato aalah pbannan antaa cpatan oto yan halan paa low p haft(ω wt ) nan cpatan ann (V) [5]: λ wt V (..4) Nla ofn aya ba apatan nan nunaan paaan : λ C p.5 λ.8 6 ( λ, ).(.4 5). λ.5 λ Da paaan ata apat hubunan antaa lutaan pt paa Gaba. but. (..5) Cp an yan apat Gaba. Hubunan Cp an o yan halan olh tubn ann bann nan aya yan halan, an cpatan puta tubn ann paa aat tu hna to apat pt: Pwt P wt wt. ρ. π..v.cp ( λ) (..6) (..7) Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

19 8 Dnan nubttu paaan (..6), (..7) an (..4) aa apat hubunan ba to yan halan tubn nan laa an Cp aalah ρπ V Cp λ (..) C t Ktanan: : to ann Cp λ Ct: aatt tubn (..) Sula tubn n buat nan nunaan poa C-Mx MB ua paaan ata..4 Mol Dv an Paa t pbant lt tnaa bayu n, v tan yan unaan aalah on a v tan. Paa on a v tan n t a SS (ow haft), a box an HSS (Hh haft). Paa abox tapat ultpl ana yan nntuan ba pnnatan cpatan an pnuunan to. Ba pubahan cpatan puta a low p haft hh p haft aan pnauh olh on na yan aa paa oto tubn an oto nato an to oto tubn an nato. Iluta v tan aplan paa Gaba. bawah n. Mol abox aalah: [5] Gaba. Ga box ( o_ ) _ '' _ wt Jch (.4.) o _ K * o_ wt (.4.) Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

20 9 Ktanan: Dana: _ wt ''_ wt (.4.) K Jwt Jch Jn (.4.4) K _ to lt (N.) _wt to an (N.) o_wt cpatan puta oto low p haft (a/) o_ cpatan puta oto hh p haft (a/) Jn on na low (. ) Jwt on n hh (. ) K pbannan a Sula tubn n buat nan nunaan poa C-Mx MB ua paaan ata..5 Mol Squl Ca Inucton Gnato (SCIG) Gnato aalah buah alat yan apat ubah n an nja n lt. Paa uunya, nato tba nja ua tp yatu nato nu an nato ant pann. Gnato nu bja nan pnp ltoant. Kupaan tato ban au bola-bal ta faa, hna aan nbulan an ant yan aah ultannya lalu bputa. Kana pnauh an ant tbut, aan tja nu paa upaan oto. Kana an antnya bubah-ubah, aan tbul GG nu paa oto abat pubahan flu. GG tbut aan nybaban tbulnya an ant paa oto. Inta antaa ua aya tbut, aan nbulan aya ontz yan aan ban aya paa oto untu bputa. tap paa nato nu, oto tbut aan puta lbh cpat a cpatan an puta lawan aya ontz tbut, hna aan tbul au tato yan lbh ba bannan blunya.[6] Bba nan nato nu, nato ant pann nunaan ant pann baa otonya. Pnp janya hap aa, hanya aja nato non ta plu nunu oto nala nu a Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

21 tato untu nhalan an ant, ana oto buat nan ant pannt. SCIG l aya ta yan tn untu unaan ala pbant lt tnaa ann ana baanya nunaan v C, obut, uah an haa pawatan yan uah. Naun l uanan yatu ffn onv yan nah an nyap n atf a t. [] Dala lauan pancanan pnnal an ala lauan ula uatu t, hau ntahu bntu ol a t tbut. Dala hal n t yan unaan aalah nato nu. Paa pancanan t n nunaan oftwa oput aa butuhan ol atat nato yan apat unaan baa pnant nato an jua baa aa ala lauan pancanan obv an pnnal yan aan ancan ala p n. Paa polan nato nu apat lauan nan bbapa bntu yatu ol nan ana acuan tato (ubu -) atau oto (ubu q), ol nan luaan au tato an au oto, an ol nan luaan au tato an flu oto.[6] Paa p n lauan ua polan yatu ala ana acuan oto (ubu q) an ana acuan tato (ubu -) ana luaan yan nnan aalah au tato an flu oto..5. Mol Gnato Inu cuan oto. anaan uvalnt a nato nu ba ala ubu yatu ala ubu an ala ubu q, an ua baan yatu baan oto an baan tato. Hal n unjuan paa aba bawah. [7] Gaba.a Gnato paa ubu Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

22 Gaba.b Gnato paa ubu Ktanan: V : tnanan tato paa fa Ψ : flu tato paa fa V : tnanan oto paa fa Ψ : flu oto paa fa Vq : tnanan tato paa fa q Ψ q : flu tato paa fa q Vq : tnanan oto paa fa q Ψ q : flu oto paa fa q I : au tato paa fa : au oto paa fa Iq : au tato paa fa q q : au oto paa fa q : habatan tato : : habatan oto W : cpatan puta tato W : cpatan puta oto l : - l: - : nutan tato : nutan oto : nutan baa : lp P : pol nato Da phtunan a ol anaan lt ata (aba.a an.b) nan nunaan to h aa apat paaan quvalnt yatu: an v v v v q q q q q q q ( ) (.5.) (.5.) (.5.) ( ) (.5.4) q Mol nato n aalah ol nato qul ca ana jn oto ana yan thubun nat aa tanan oto V hna paaan (.5.) an paaan (.5.4) nja: Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

23 q q ( ) (.5.5) ( ) (.5.6) q Da anaan uvalnt nato apat paaan baa but: q q q (.5.7) (.5.8) q q q P..5.9 an.5. ubah nja: q ( ) (.5.9) (.5.) (.5.) ( ) (.5.) q q an nan nubttu paaan (.5.) an (.5.) paaan (.5.5) an (.5.6), apatan q ( ) ( ) (.5.) ( ) ( ) (.5.4) q q q nubttuan paaan (.5.7) an (.5.8) paaan (.5.) apatan: v q q (.5.5) nubttuan paaan (.5.) an (.5.) paaan (.5.5) polh: v q q q Subttu paaan (.5.) paaan (.5.5) apatan: (.5.6) q q v (.5.7) Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

24 nalo nan pnuunan ata, untu nca q, aa nan nubttu paaan (.5.7) an (.5.8) (.5.), polh v q q q q (.5.8) Subttu paaan (.5.) an (.4.) paaan (.5.5), apatan: v q q q q q Subttu paaan (.5.4) paaan (.5.8) apat: (.5.9) q q q vq (.5.) Da paan.5.;.5.4;.5.7 an.5.8 apat paaan aaan a nato nu qul ca aalah: q q q ( ) q q q q ( ) v q q vq (.5.) (.5.) (.5.) (.5.4).5. Mol Dna paa Kana fn Stato Paa ol nato nu ubu (ubu -) upaan oto aupun tato apat anap baa buah anaan tf an nutf, ana ol anaan uvalntnya hap aa nan ol anaan uvalnt ubu q pt aba.9 an.. Paa ol nato ubu - l nla (cpatan an ant puta tato) aalah ontan hna nla apat anap aa nan nol. Shna paaan quvalnt nato nu (paaan (.5.;.5.;.5. an.5.4)) ala ubu q apat poyan ala ubu - nja: [8] Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

25 4 Unvta Inona (.5.5) (.5.4) v v ( ) (.5.7). (.5.6) v v Olh ana nato nu yan unaan aalah jn qul-ca yan tnal-tnalnya thubun nat, aa tanan oto v bnla nol, hna paaan (.5.6) an paaan (.5.7) nja: (.5.9) (.5.8) Dnan nubah paaan (.5.7) an (.5.8) ubu q nja ubu - apat baa but (.5.) (.5.) Dnan nubah paaan (.5.9) an (.5.) ubu q nja ubu - apat baa but: ( ) (.5.) an ( ) (.5.) Dnan nubttu paaan (.5.) paaan (.5.8) apatan: (.5.4) Dnan nubttu paaan (.5.) (.5.9) apatan: (.5.5) Pancanan pnnalan..., nol Snaa, F UI,

26 5 Unvta Inona Dnan nubttu paaan (.5.) paaan (.5.4), aa: (.5.6) v Subttu paaan (.5.) paaan (.5.6) polh (.5.7) v Subtu paaan (.5.8) paaan (.5.7) polh ( ) (.5.8) - v nan laa facto Subttu paaan (.5.) paaan (.5.8) apatan ( ) (.5.9) v nan / oto t contant Untu nuunan paaan ala ubu, aa, nan ptaa al nubttu paaan (.5.) (.5.5) polh (.5.4) v Subttu paaan (.5.) paaan (.5.4), apatan (.5.4) v Subttu paaan (.5.9) paaan (.5.4), apatan ( ) (.5.4) v Subttu paaan (.5.) paaan (.5.4), apatan (.5.4) v Ja, Mol na nato nu ala ana fn tato (ubu - ) yatu Pancanan pnnalan..., nol Snaa, F UI,

27 6 Unvta Inona (.5.47) (.5.46) (.5.45) (.5.44) v v.6 anfoa a Faa K Dua Faa Gnato nu upaan nato ta faa anan ol nato yan unaan paa uunya aalah ol nato ua faa ana lbh uah anala an aplaan ala poa C-Mx. Olh ana tu butuhan uatu to untu nubah ol nato ta faa nja ol nato ua faa. Mto tbut aalah to tanfoa yan t a ua to yatu: tanfoa Cla an tanfoa Pa..6. anfoa Cla anfoa Cla upaan tanfoa t ta faa (a,b,c) nja t ua faa (,) yan taon atau (ct tatonay) an q (quaatu tatonay) ala aaan a. Malnya, uatu nyal nuoal ta faa (abc) nan pbaan faa ba, aa nyal ta faa tbut apat ubah ala ua faa yan a, yatu ubu -, ana ubu baa nla al-nya, an ubu baa nla ajnnya. St tanfoa cla apat lhat paa aba.4 but: Gaba.4 anfoa Cla Pancanan pnnalan..., nol Snaa, F UI,

28 7 u paa aba.4 ata bla nyataan baa fun a oponn ta faa aalah baa but: o o o j j j4 a b c (.6.) an nan nunaan ntta Eul jt co(t) jn(t), aa oponn an a vto (nan upcpt nplaan ana fn taon/tato) apat nyataan baa: o o o o o co( ) j n( ) co( ) j n( ) co(4 ) j n(4 a o [ ] [ ] [ )] a j b c j b b c c hna paaan ala bntu at untu nubah oponn ta faa nja ua faa, aalah baa but: a b c (.6.).6. anfoa Pa anfoa Pa unaan untu ntanfoaan t ua faa yan a ( an ) nja t ua faa bputa yatu ct () an quaatu (q) Gaba.5 anfoa Pa Da aba.5 ata, ahu bahwa nan pputaan ubu q aa aan apat uut puta ba θ thaap aaan a. Nla a θ aan bubah-ubah thaap watu ua nan pputaan q. Ja hubunan Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

29 8 antaa vto paa ana fn taon an vto fn yan ba aalah : jθ paaan ata apat jabaan nja: j q ( j )[ co( θ ) j n( θ )] [ co( θ ) n( θ )] j[ n( θ ) co( θ )] atau bla paaan ata nyataan ala at, aa: q co θ n θ n θ co θ paa ana (.6.) (.6.4) an balnya: co θ n θ n θ co θ q (.6.5).6. anfoa abc q Untu nubah nyal ta faa (abc) nja ua faa bputa (q) unaan abunan antaa tanfoa Cla an tanfoa Pa hna apat paaan: q co θ - n θ / π co( θ - ) π n( θ - ) / π co( θ ) π n( θ ) / a b c (.6.6) Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

30 BB PENCNGN PENGENDI SCIG DN FU ODE OBSEVE Paa pancanan pnnal an full obv yan aan an paa t n apat abaan pt aba but: Gaba.. ancanan tutu pnnal an obv. Pnnal Vto u DQ an Paaan Dcoupln Da paan uan aan ol SCIG nan luaan au tato an au oto nan nunaan bbapa au aa apat ancan paaan coupln nan tujuan untu nhlanan paaan nonln yan tapat paa ol SCIG hna au apat nalan nan pnnal PI. Pnnal au q yan unaan aalah pnnal PI. Pnal PI n unaan untu bannan antaa nla fn * an q* nan nla a an q yan bnanya, ana nla an q apat a upan bal a nato nu, untu lhat apaah tapat o antaa fn an actual. pabla tapat o, aa o tbut hau nuan 9 Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

31 nan caa nalan o tbut nan ontanta popotonal an ontanta ntato. Pnnalan PI l tbataan yatu hanya ba nnalan paaan yan ln. Paaan ol SCIG yan apat upaan paaan yan nonln hna butuhan paaan opln untu nhlanan t nonln paa paaan tanan V an Vq a ol nato. Dnan an aa aan apat paaan ln hna pnnal PI apat unaan untu nnalan au an q. Untu tu lauan pnuunan-pnuunan a ol nato untu napatan paaan opln an nla PI.[][] Paa vto ontol yan bonta paa flu oto, vto apat bonta nan ba ja flu a oto bupul paa fa ubu. Maa flu oto paa ubu q anap nja nol ( Ψq ) [4]. Dnan nubttuan Ψq ala paaan(.5.) an paaan (.5.4) aa apat paaan(..) an paaan(..) ( Ψ ).(. Ψ) (..). p. w. Ψ. q w. Ψ (..) Dnan auan Ψq an paaan (..) ala paaan (.5.) aa apat paaan paa ubu baa but: ( ) V ( )..... wq. ( Ψ) ( (..) Paa paaan nyal nal paaan (..) tapat paaan ln an paaan nonln ana paaan nonln aalah: ( Ψ) Vc.. wq. ( (..4) Dnan auan Ψq an paaan (..) ala paaan (.5.) aa apat paaan paa ubu q baa but: ( q) ( ).. w Vq q... ) w.... Ψ (..5) Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

32 Paa paaan nyal nal tapat paaan ln an paaan nonln ana paaan nonln aalah: ( ).. w Vcq w.... Ψ (..6) Pnnal PI unaan untu nnalan au yan ln. Maa paaan nyal nal hau uanan nan paaan nonln hna apat hanya paaan ln paa nyal nal pt but: ( ) U V Vc... ) (..7) ( q) Uq VqVcq q... ) (..8) Untu pntaan t yan bnanya, aa lay (a) butuhan untu nulaan t tbut aa nat t yan bnanya. Dala oan watu, tp-pon a a-t upaan nyal tp yan nala lay:[8] h( t) ( t ) (..9) an fun alhnya aalah: H ( ) G( ) (..) Untu po lay yan aa ala anala, aa aan lbh uah ja lay tbut nyataan ala bntu fun aonal. Untu nubah t lay yan bbntu ponnal nja bntu aonal, aa Paé ppoxaton apat unaan. Paé ppoxaton upaan uatu to yan paln n unaan untu paan a-t nan buah fun aonal. But aalah tabl yan nunjuan fun alh a Paé ppoxaton n-,n () an n,n () (nan n n-,n atau n,n nunjuan panat ttn untu nuato an nuato), apa o -pat:[8] abl. Paé ppoxaton Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

33 Pnunaan n,n () nunjuan aanya lopatan paa aat t yan anat ta nnan untu tja, hna untu ncah aanya lopatan paa tp pon, n-,n () lbh onaan untu unaan. Untu t lay yan cl, Paé ppoxaton o (,) apat unaan, hna: (..) Ja pnnal an nan pon lay o atu aa ua nan paaan (..). *. (..) * q q. (..) Untu napatan fun tanf a pnnal au unaan pon o atu paaan(..) apat paaan but: U (.. ). K G PI Kp (..4) * (. ).. Shna apat paat pnnal Kp an K paa pnnal au ubu pt but:. K Kp Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

34 Uq (.. ) q. K Gq PI Kp * q q (. ). q q. (..5) Shna apat paat pnnal Kp an K paa pnnal au ubu pt but: Kq. Kqp Untu napatan paaan coupln paa ubu anap Ψq hna apat : ( Ψ ) nan nubttuannya. w Vc. q.. * paaan(..4) aa (..6) Dnan nubttuan paaan(..) an paaan(..) ala paaan(..6) aa apat paaan coupln paa ubu q baa but: w. Vcq.. ( ).. w..( / ). * * (..7) Stutu a FOC yan t a pnnal au an obv apat lhat paa aba 4.7 bawah. Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

35 4 Gaba. Daa Vto Kontol an Dcoupln. ancanan Full O Obv.. Eta u an Flu Dala hal n lauan ta au an flu paa nato nu yan aplaan paa t pbant lt tnaa ann. Dnan nunaan ta tbut aa ta pluan la no untu ntahu au an flu paa nato. Mto ta yan unaan aalah full obv. Obv aalah uatu panat t na yan nta aaan t baaan auan an luaannya an obv apat unaan baa pnnal yan an nunaan tat vcto. Full o obv aalah obv yan unaan untu nta ua tat vaabl a plant yatu nato ana o a plant aalah aa nan o a obv. Dnan aalah tbataan haa, taan an aua a panat a yan unaan untu na vaabl aaan aa pluan ta vaabl aaan yatu obv. Kaaan yan a tbut yan uan aan upanan ontol. Mol obv ptaa al pnalan olh unb nan aa blo pt but:[4] Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

36 5 Gaba.4 Daa Blo Obv St pbant lt tnaa bayu yan an haapan apat nta cpatan putaan oto a nato nu yan unaan hna ta pluan la no. Untu apat nta cpatan puta oto nato aa pluan obv yan apat ntaan flu, au an cpatan puta oto yan abatan tubn. Pancanan obv o paa pnltan n nunaan ubu q. Dana paaan obv apat a pnuunan paaan uan aaan nato nu hna ol nato yan unaan aalah ol uan aaan paa ubu q an nan luaan au tato an flu oto. Pnuunan paaan obv nacu paa [4]. Mol paaan uan aaan t caa uu aalah x& x Bu y Cx (..) (..) Dana u aalah auan, x aalah tat an y aalah luaannya. Ja t nan paaan uan aaan ata a aa bntu paaan uan aaan apat ubah nja nan nubah tat nja tat ta an luaan nja luaan ta ana paa obv yan a aalah nla luaan an tatnya, hna apat bntu uan aaan: x& x Bu y Cx (..) (..4) Pancanan pnnalan..., nol Snaa, F UI,

37 6 ana top ^ nunjuan paat yan a, anan yan ta nunaan tana tbut upaan nla atual t. Dnan tjanya anuan paa t nabatan tltan a t nja nah aa pluan obv untu no alahan yan tja abat a anuan tbut, hna ol uan aaan obv nja: x & x Bu G( y y) (..5) y Cx (..6) Dana G aalah an obv yan nja facto pnal o atau alahan antaa y atual nan y ta. Dnan nubttu paaan (..) an (..4) (..5), aa: x & x Bu G( Cx Cx) x & (..7) ( GC) x Bu GCx (..8) Mol uan aaan nato nu ala ana fn nan luaan au tato an flu oto aalah: Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

38 7 Unvta Inona ( ) ( ) (..9).. q q q q q V V Bu x x (..). q q q x C y Paaan uan aaan ata paaan (..9) ubah nan tat an luaan yan t a ua vaabl yatu au tato an flu oto. Shna apat paaan pt: u B x (..) x v B & [ ] x C y (..) Pnntuan an obv lauan nan nunaan ol nato nu nan ana acuan q ana yan phtunan ala pnntuan an n aalah luaan au tato hna paaan (..5) apat ubah nja:.) (. ) ( G Bu x x Pancanan pnnalan..., nol Snaa, F UI,

39 8 Mat G aalah at an obv.mnacu paa nla an obv apat nyataan baa: G atau I G I ` 4` J J 4 4 (..4) (..5) nan: I an J Untu nca nla nvalu a ol nato nu aalah nan nunaan paaan ( I ) µ ana µ upaan nla nvalunya. Nla nvalu ol obv apat a paaan ( I ( GC) ) ana uapaan nla nvalunya. Malan nla n obv () aalah ba palan facto nan nla n nato (µ) hna µ, ana nla lbh ba a atu. Maa apat paaan baa but: ( µ I ) ( I ( GC )) ( µ I ) µ I ( GC ) ( ) (..6) Paa phtunan nla nvalu a ol nato nu aa apat paaan aatt : ( µ I ) µ µ µ ( µ )( µ ) µ µ µ µ Paa phtunan nla nvalu a ol obv aa apat paaan aatt: Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

40 9 Unvta Inona ( ) ( ) 4 4` ` 4` ` 4` ` I J I J J I J I J I J I J I I J I J I GC I µ µ µ µ µ µ µ µ µ µ µ µ Da ua oponn yan nanun µ paa ol nato an ol obv aa apat: ( ) ( ) ( ) ) ( ) ( ) ( a a a a a a a a J I J I J I hna: ( ) ( ) (.. ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( a a untu nca : Pancanan pnnalan..., nol Snaa, F UI,

41 ( ) ( ) ( ) ( a a ) 4 ( ( )) ( ) (..8) Dnan nabaan nla cpatan lp ( l ) yan cl, aa nla auan bnla aa nan ( ),hna paaan untu nja apat ( ) (..9) Da ua oponn yan ta nanun µ a a 4 a a 4 44 I a a a a 4 4 a a a a a a a a J a a I 4 a a 4 44 J 4 J a a I a4 a a a44 a4 a a4 a a a a44 a4 a a a a a a a a a a 4 4 a a 4 a a a a J I a a a a 4 4 a4 a4 4 a a 4 a4 4 a 4 a4 a 4 4 a4 a a a a 44 4 Shna: a a a a 4 a a a 4 a a 44 a 4 a 44 a a a a a a 4 4 a a a a a a a 4 a (..) (..) (..) (..) pabla lhat a paaan ata (..) (..) an (..) (..), an nan au nla aa apat: Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

42 Unvta Inona (..4) ) ( a a a a ( ) ( ) (..5) ) ( ) ( a a a a nan nalan paaan (..4) an (..5) ata nan, aa ( ) ( ) ) ( ) ( 4 4 ( ) ) ( ) ( ) ( ) ( 4 4 Shna: ( ) (..6) ) ( Da paaan (..4) an (..5) yan al nan : ( ) ( ) ) ( ) ( 4 4 Pancanan pnnalan..., nol Snaa, F UI,

43 Unvta Inona ( ) ) ( ) ( ) ( ) ( Shna: ( ) ( ) (..7) ) ( 4 Shna, paa ahnya, at G yan apat yatu: 4 4 G ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) (..8) ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( G Shna paaan nato nu full o obv aalah: Pancanan pnnalan..., nol Snaa, F UI,

44 Unvta Inona ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) (..) (..) (..) (..9) 4 4 q q q q q q q q q q q q q q q q q q V V tau ( ) ( ) (..) 4 4 q q q q q q q V V ( ) ( ) (..) 4 4 q q q q q o o o o q q V V Pancanan pnnalan..., nol Snaa, F UI,

45 4.. Eta Kcpatan Pntaan cpatan putaan oto nato paa obv apat a phtunan o au tato an au tato q. Da ptunan nla tat tbut aa apat ntuan po oto an po non. Untu nta cpatan putaan oto unaan toa yapunov. [4] Suatu t ol nyataan nan paaan but : x & f (x) x aalah tt banan a paaan x & f (x) ata an D aalah uatu aah yan alanya tapat x. pabla tapat uatu fun V : D yan ontnu an apat fnaan, an nuh paaan V ( ) an V ( x) > an V & ( x) paa aah D aa x tabl. Dan ja V & ( x) < paa aah D aa x tabl aptot. Maa fun V (x) ata but fun yapunov. Untu atan uatu fun aalah fun yapunov ba t tbut aa paa : n V V& ( x) x& x n V f( x) x V x V x f( x) V f( x) x n M f n( x) Paaan tat pac untu ol nato nu aalah: x x Bu Sanan tat pac untu ol obv aalah x x Bu G( Cx Cx) (..4) (..5) Eta o aaan apat ul baa: Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

46 5 Unvta Inona ( ) ( ) ( ) ( ) ( ) (..6) ) ( x GC x x GC x GC x x GCx x x GC GCx GCx Bu x Bu x Cx G Cx Bu x Bu x Dnan : x x Nla a yatu: ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) (..7) J J Dnan c an J Pancanan pnnalan..., nol Snaa, F UI,

47 6 Unvta Inona Dunaan fun yapunov functon canat baa but: ( ) (4..8) / δ V Dana δ aalah ontanta potf. uunan watu a V aalah: ( ) ( ) [ ] ( ) ( ) ( ) ( ) ( ) ( ) [ ] ( ) [ ] ( ) [ ] ( ) ( ) ( ) [ ] ( ) ( ) ( ) [ ] ( ) (..9) / x x GC GC V x GC x GC V x GC x GC V x GC x GC V V V V δ δ δ δ δ δ δ & & & & & & Baan tnah a paaan ata apat ul baa but: x x apat ulan bal nja: ( ) ( ) x x x x x x x x x x x x x x x x [ ] [ ] J J J J J J J J J J J J J J J J x x x x x x x x Pancanan pnnalan..., nol Snaa, F UI,

48 7 Unvta Inona J J J J J J J J (..4) J J J J Dan nan nauan bahwa, aa: ( ) (..4) / / q q q q o J J J x x Maa apat ffnal a paaan yapunov V(x) aalah: ( ) ( ) [ ] ( ) (..4) q GC GC V q δ & Kalahan na a obv aan tabl ja tuunan V fnt natv. Nla an at G bnla fnt natf, ja tuunan V aan fnt natv ja ba uu ua an ta a paaan ata bnla nol, baa but : ( ) ( ) ( ) (..4) q q q q q q δ δ δ Dnan K / δ aalah an ntal. Paaan ta cpatan: ( ) (..44) K q q Dan nan abah ontol popoonal, aa: ( ) ( ) (..45) K K q q q q p Pancanan pnnalan..., nol Snaa, F UI,

49 8 Dnan: ta cpatan anula oto o au tato ubu () K Kontanta an ntal q o au tato ubu q () K Kontanta an popoonal p Eta flu oto ubu (Wb) Eta flu oto ubu q (Wb) q. Pnnal Daya Paa pnnal aya yan an paa t pbant lt tnaa bayu n aalah nunaan pnnal PI, ana nla ontanta P an I ntuan nan nunaan uj coba. Kluaan pnnal PI n unaan nja auan paa pnnal FOC baa pnant au tato q fn. Paa pnnal n aa aya fn an aya luaan aan bannan caa tu nu hna onya aan alan nan PI. Dana halnya aan unaan untu nnalan au tato q fn hna o yan apat nat nol hna aya fn nat aya luaan t. Stutu pnnal PI apat lhat paa aba. bawah n. Gaba. Stutu pnnal aya Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

50 BB 4 SIMUSI HSI NCNGN DN NISNY Sula lauan nan nunaan ol t a paaan bab, an t obv an pnnal yan apat paa bab nan nunaan Suln Matlab. Mol tubn, abox, nato nu tp qul ca, PWM, FOC, obv an pnnal aya buat nan nunaan C-MEX S-Functon yan ul ala bahaa C. 4. Sula Mol Pbant t naa Bayu Sula ol aalah untu nuj bnaan ula ol atat yan lauan bab blunya. Hal n anat pntn lauan blu nan pnnal. 4.. Sula Mol nn Dala ula n abl ata-ata cpatan ann ba -5 / ua nan cpatan ann Inona. Da ula (aba 4.) nunjuan bahwa hal cpatan ann yan bubah-ubah ua nan pubahan watu ana a hal ula apat cpatan nu / an au 6.5 /. Gaba 4. Pubahan cpatan ann thaap watu 9 Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

51 4 4.. Sula ubn nn Paat tubn ann yan unaan aalah Pat tubn ann Ja-Ja Suu () 5 Maa Jn Uaa ( ).5 Da aba 4. nunjuan af luaan to an a tubn ann ana ba to an n bann nan ba cpatan ann. Gaba 4. o an tubn bawah: Hubunan Cp an laa hal ula unjuan pt aba 4. Gaba 4.. Hubunan Cp thaap laa luaan ula 69 Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

52 4 Gaf hubunan laa ata (aba.4.) nunjuan hal yan hap aa ba ba aupun bntu nan hubunan Cp an laa yan unjuan paa aba., hna apat ataan ol tubn yan unaan bna a ula aalah bna. 4.. Sula Ga Box Paat abox yan unaan aalah Paat a box Gabox ato hh p haft nta (. ) low p haft nta (. ) Dapat luaan ula pt paa aba 4.4 (a) Hal (-)/(J) (b) Intal (-)/(J) (c ) cpatan puta nah () cpatan puta oto Gaba 4.4 Kluaan a box Gaba 4.4 nunjuan hal ula luaan abox nan auan Iq ttap (-). Da hal nunjuan bahwa hal (-)/(J) aalah bnla natf pt paa aba 4.(a) ana to lt () paa nato Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

53 4 bnla natf an to an bnla potf hna aan nhalan nla natf. Intal a uatu nla natf yan latf ontan aalah uatu af nuun nan nla natf pt paa aba 4. (b). Dnan an, aa cpatan puta nah paa aba 4.(c) an cpata puta oto paa aba 4.() nuun n nan btabahnya watu Sula Gnato Inu p Squl Ca Paat nato nu (oh).76 (oh).9 (H).49 (H).49 (H).79 Mn nu bja aat tja pbaan antaa catan puta an an cpatan puta lt. pabla cpatan puta lt lbh ba a cpatan puta an aa n tbut bja baa oto. pabla cpatan puta an lbh ba a cpatan puta lt aa n tbut aalah nato. Da hal ula nunjuan (aba 4.5) bahwa cpatan puta an lbh ba a cpatan puta lt. Maa n bfat nato nu. Paa nato cpatan puta lt lbh ba a cpatan puta an aa lp paa n aalah natf ua nan paaan (4..). Da halula (aba 4.6) nunjuan bahwa lp paa n aalah natv aa n tbut bfat nato. ( w p. w) (4..) w Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

54 4 Gaba 4.5 Pbannan cpatan puta an an lt Gaba 4.6 Slp nato 4..5 Sula PWM Paat nato nu Fun Ca (Hz) 4 anan DC (Volt) PWM unaan paa ctf untu nubah nyal C nja nyal DC [9]. PWM l luaan ON-OFF ana on nyal ON OFFnya bannan nan nyal ta yan tlah bntu []. Hal n apat lhat a hal ula paa aba 4.6. Gaba 4.7 Hal Kluaan PWM Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

55 44 4. Sula an nala Pnauh Pubahaan u Stato nan Sno Kcpatan Sula yan lauan t a ula pnnalan nato nu nan no cpatan paa cpatan ann ttap (4 /). Da hal * ula yan lauan anala pnauh pubahaan au tato fn ( an * q ) thaap pon pnnalan nato nu nan nunaan no cpatan. Hal n btujuan untu nntuan nla au tato fnc yan tba. Paa pancanan pnnal vcto au an coupln yan baha bab 4. apat abaan pt aba.. Dana tapat * * an q baa auan paa pnnal FOC an luaan a pnnal n aalah tanan ta phaa yan unaan untu nnalan PWM yan unaan untu nnalan nato. Dnan nunaan pnnal n aa au an q apat nalan ua nan fn yan ban * an * q. Dala hal n cpatan puta oto yan nja auan FOC aalah lanun abl a cpatan puta oto nato baa pnant no cpatan. Da pcobaan yan lauan aa an q aan anat bpnauh paa t nato yatu lp, to, aya, an lan-lan. Stutu ula nan nunaan uln atlab apat lhat paa lapan. Stutu a t n aalah pt paa aba 4.8 bawah. Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

56 45 Gaba 4.8 Stutu PB tanpa obv Da pcobaan-pcobaan yan lauan nan njalanan ula pt paa aa apat pnauh pubahaan an q baa but: Pnauh an q abl 4. Pnauh an q thaap t PB Paa St Pbant naa Bayu I Iq Daya atf Daya atf Slp o lt OFC Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

57 Da ata hal ula yan apat nunjuan bahwa an ba au tato * q. aa aya atf aan an ba nan * ttap. Hal n * nunjuan bahwa au tato q bann nan aya atf. Dapn nnatnya aya atf, pnnatan au tato ubu q nabatan nnatnya aya atf tap ta ba pnnatan aya atf. Da pcobaan yan lauan apat bahwa * an * q l nla ttntu upaya t apat bja nan ba paa aya yan aal. pabla lhat a ata nunjuan bahwa aat * an *, aya atf an aya atf anat cl ana aya atf au 45 untu * an aya atf au 5 untu * hna hal n ta ua nan yan haapan. atn a nato ta faa yan an n l ba * au aalah. Saat * aa aya luaan nato aal,hna apat pulan bahwa au tato ubu ( * ) tba aalah aa ala t au ubu jaa ttap ba. u tato ubu ( * ) pnauh au anta (I) hna au anta paa oto n aan nhalan flu, flu n aan pnauh tanan an aya paa PB. Ja a tabl 4. apat ataan bahwa ala pnnalan nato nu paa t pbant lt tnaa ann aalah cuup hanya nnalan au tato paa ubu q ( * * q ). Dnan q yan tnal aa aan apat nnalan to lt, aya, lp, an cpatan puta oto ua nan yan nnan. 4. Sula an nala Pnauh Kcpatan nn an Obv Paa pancanan full obv an untu apat nta ua tat yan aa paa ol nato nu. Dala hal n, tat yan a aalah au tato an flu oto paa nato nu. Pntaan cpatan putaan oto paa nato aalah btujuan upaya no ta plu unaan untu baca ba cpatan puta oto nato. Kcpatan puta oto anat plu ahu untu auan paa t pnnal FOC hna cpatan puta nato n anat bpnauh paa t pbant lt tnaa bayu. Mauan paa obv Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

58 47 aalah au tato (), au tato q (q), tnanan tato (v), tanan tato q (vq) an cpatan ta cpatan puta lt ( w ) a FOC. Mauan * an * q aan bannan nan an q hal ta hna nhalan nyal alahan au tato. Snyal, q, v, v q an w yan baal a vcto contol unaan untu nta au tato an flu oto ubu q. Hal ta au tato an flu oto ubu q an nyal alahan au tato unaan ala phtunan ta cpatan puta oto nato nunaan paaan lyapunov. Paat obv yan unaan aalah K obv.95,ontanta pnnal popoonal K p. an ontanta pnnal ntal K nan watu cuplan ba x -5. Paa ula n apat ahu baaana pnauh obv paa t pbant lt tnaa ann ba thaap watu ncapa nla bnanya an alahan yan tja ana cpatan puta oto nato hal ta obv unaan ala nnalan nato. Stutu ula nan nunaan uln atlab apat lhat paa lapan. Stutu t n unjuan paa aba 4.9 bawah n: Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

59 48 Gaba 4.9 Stutu t PB nan obv Hal ula pnauh cpatan ann an obv unjuan paa aba 4. bawah n. (a) Kcpatan ann (b) o an tubn Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

60 49 (c) Kcpatan puta oto nah () anan tato () u tato ubu q (f) u tato ubu q pba () u tato ubu (h) u tato ubu pba () o lt (j) o lt pba Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

61 5 () u anta (l) u anta pba () Kcpatan puta oto an lt (n) lp (o) u tato ubu (p) u tato ubu pba (q) u tato ubu q () u tato ubu q pba Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

62 5 () Flu oto ubu (t) Flu oto ubu pba (u) Flu oto ubu q (v) Flu oto ubu q pba (w) Kcpatan puta oto (x) Kcpatan puta oto pba (y) Daya (z) Daya Gaba 4. Hal ula pnauh cpatan ann an obv Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

63 5 Da hal ula pnauh cpatan ann an obv aa aan tja alahan antaa fn nan luaan paa FOC an alahan antaa nla bnanya luaan nato an nla hal ta obv. Paa FOC aa alahan antaa * nan aalah % an alahan anta q * an q aalah %. Paa obv aa alahan antaa an ta aalah 5% ; alahan antaa q nan q ta aalah %; flu ubu nan flu ubu ta aalah.4 %; flu ubu q nan flu ubu q ta aalah.6 Wb; an cpatan puta oto nato ( w ) nan ta aalah.4%. Dala hal n obv butuhan watu ba. untu ncapa nla actual hna hal n anat pnauh t lan paa pbant lt tnaa bayu ana cpatan puta oto luaan obv n unaan baa vaabl auan paa pnnal hna luaan t nato an pnnal butuhan untu watu ncapa tabl ba.. w 4.4 Sula an nala Pnauh Pubahan u Stato Subu q Paa ula n au tato ubu q ( * q ) ubah-ubah a -5, -4 an -6 ana au tato ubu ( * ) jaa ttap paa ana uapaan nla * tba ua nan hal tabl 4.. Da hubunan n apat lhat bahwa luaan a t pbant lt aan bubah ua nan pubahan a au tato ubu q tbut. Hal n apat ahu a hubunan atat baa but: q. w J P. w w p. w w p. w w * q (4.4.) (4.4.) (4.4.) (4.4.4) (4.4.5) Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

64 5 Da paaan (4.4.) unjuan bahwa an ba au tato ubu q aa to ltnya aan an ba anan to lt bann nan au tato ubu q ( q * ), Hubunan n unjuan a hal ula aba 4.() an 4. (j). Kana au tato ubu q paa nato aalah natf ( q * bnla natv) aa to lt yan halan aan bnla natf ua nan paaan (4.4.). Dnan pubahan to lt tbut aa aan pnauh cpatan puta oto nato pbant t pbant tnaa bayu ua nan paaan o lt an natf an to an luaan tubn lalu potf aa aan an natf. Shna ntal a uatu nla yan natf aalah bntu af nuun hna cpatan puta oto nato lalu nuun pt unjuan paa aba 4.(w) an 4.(x). Kana tja pubahaan paa to lt an cpatan puta oto aa aya yan halan aan bann nan palan to lt an cpatan puta oto ua paaan (4.4.), hal n unjuan paa hal ula aba 4. (y) an 4.(z). Paaan (4.4.4) nunjuan pnauh pubahan au tato ubu q thaap cpatan puta an, hal n nunjuan bahwa cpatan puta an bann nan q * an ba cpatan puta an ( w ) aan lalu lbh cl a palan pol nato nan cpatan puta oto ( p. ) ana * q aalah bnla natf. Hal n ua nan hal w ula paa aba 4.(). Paa nato ( w ) lbh cl a ( p. ) aa lp yan tja aan bnla natf ua nan paaan (4.4.5) an unjuan paa hal ula aba 4. (n). Maa hal ula apat ataan bna ua nan fat aatt nato yatu nuh paaan-paaan nato. Stutu ula nan nunaan uln atlab apat lhat paa lapan. Stutu t t PB n unjuan paa aba 4.9. Hal ula pnauh pubahan au tato ubu q ( q * unjuan paa aba 4., bawah n. w ) Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

65 54 (a) Kcpatan ann (b) o an tubn (c ) Kcpatan puta oto nah () anan tato () u tato ubu q (f) u tato ubu q pba () u tato ubu (h) u tato ubu pba Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

66 55 () o lt (j) o lt pba () u anta (l) u anta pba () Kcpatan puta oto an lt (n) lp Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

67 56 (o) u tato ubu (p) u tato ubu pba (q) u tato ubu q () u tato ubu q pba () Flu oto ubu (t) Flu oto ubu pba (u) Flu oto ubu q (v) Flu oto ubu q pba (w) Kcpatan puta oto (x) Kcpatan puta oto pba Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

68 57 (y) Daya (z) Daya Gaba 4. Hal ula pnauh pubahaan au tato ubu q Da hal ula pnauh pubahaan au tato ubu q, paa FOC tja alahan antaa * nan aalah ata-ata % an alahan anta q * an q aalah ata-ata 6%. Paa obv tja alahan antaa an ta aalah ata-ata 5% ; alahan antaa q nan q ta aalah 4%; flu ubu nan flu ubu ta aalah ataata.9%; flu ubu q nan flu ubu q ta aalah.6 Wb; an cpatan puta oto nato ( w ) nan w ta aalah.4%. Dala hal n obv butuhan watu ba. untu ncapa nla actual hna hal n anat pnauh pnnal hna luaan t nato an pnnal butuhan watu untu ncapa tabl ba Sula an nala Pnnalan Daya 4.5. Daya fn tap Paa ula n, lauan pnnalan thaap aya atf hna aya atf luaan nato tabl paa aya atf fn yan ban. Hal n btujuan untu njaa aya luaan nato ttap paa uatu nla hna apat anan. Kluaan pnnal aya unaan untu nnalan au tato ubu q ( * * q ) hna q unaan untu nnalan t pbant aa njaa aya luaan tabl paa uatu nla walaupun cpatan ann bubah-ubah anan au tato ubu ( * ) jaa ontan paa ba. Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

69 58 Da pbaan aya atf luaan nato nan aya atf fn aan nhalan alahan. Dnan nunaan pnnal PI aa alahan tbut ba anfaatan untu nnalan ba * q yan hau auan pnnal FOC upaya ba alahan tbut an cl * hna nol. Maa nla q aan bubah-ubah ua nan ba yan butuhan t pbant aa aya atf ttap tabl, hal n unjuan paa aba 4.() an 4.(f). Dnan bubah-ubahnya au tato ubu q aa to lt luaan nato aan bubah-ubah ua nan * pubahaan q tbut, ua nan paaan (4.4.) an unjuan paa hal ula aba 4.() an 4.(j). Pubahaan to lt n aan pnauh cpatan puta oto nato ua nan paaan (4.4.) hna t aan nyuaan ba to lt an ba cpatan puta oto nato hna aan nhalan ba aya yan tabl paa uatu nla ua nan paaan (4.4.). Paaan (4.4.4) nunjuan pnauh pubahan au tato ubu q thaap cpatan puta an an a paaan n unjuan bahwa cpatan oto lbh ba a cpatan puta an ana au tato ubu q lalu natf hna lpnya aalah natf, hal n ua nan hal ula paa aba 4.() an 4.(n). Maa ua vaabl paa t aan aln pnauh nan pubahaan au tato. Stutu ula nan nunaan uln atlab apat lhat paa lapan 4. Stutu t PB nan pnnal aya unjuan paa aba 4. bawah: Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

70 59 bawah n. Gaba 4. Stutu PB nan pnnal aya Hal ula pnnalan aya unjuan paa aba 4., (a) Kcpatan ann (b) o an tubn (c) Kcpatan puta oto nah () anan tato Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

71 6 () u tato ubu q (f) u tato ubu q pba () u tato ubu (h) u tato ubu pba () o lt (j) o lt pba () u anta (l) u anta pba Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

72 6 () Kcpatan puta oto an lt (n) lp (o) u tato ubu (p) u tato ubu pba (q) u tato ubu q () u tato ubu q pba () Flu oto ubu (t) Flu oto ubu pba Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

73 6 (u) Flu oto ubu q (v) Flu oto ubu q pba (w) Kcpatan puta oto (x) Kcpatan puta oto pba (y) Daya (y) Daya (z) Daya (z) Daya Gaba 4. Hal ula pnnalan aya Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

74 6 Da hal ula aba 4.(z) an 4.(z) nunjuan bahwa luaan nato uah nut fn aya yan ban yatu 7 watt hna apat ataan hal ula ua nan yan haapan. Da hal ula pnauh pubahaan au tato ubu q, paa FOC tja alahan antaa * nan aalah ata-ata % an alahan anta q * an q aalah ata-ata 6%. Paa obv tja alahan antaa an ta aalah ata-ata 5% ; alahan antaa q nan q ta aalah 4%; flu ubu nan flu ubu ta aalah ataata.9%; flu ubu q nan flu ubu q ta aalah.6 Wb; an cpatan puta oto nato ( w ) nan w ta aalah.4%. Dala hal n obv butuhan watu ba.4 untu ncapa nla actual hna hal n anat pnauh pnnal hna luaan t nato an pnnal butuhan watu untu ncapa tabl ba Daya fn Bubah-ubah Pcobaan n lauan nan buat aya fn bubah-ubah yatu 6 watt, 7 watt, an 65 watt. Pubahaan aya fn n aan nubah luaan pnnal yan nja au tato ubu q fn ( q * ). Pubahaan n anat pnauh t PB, ana q * nnalan to lt luaan nato pt unjuan paa aba 4.() an 4.(j), ana bntu pubahaan q * ua nan bntu pubahan to lt ua paaan (4.4.). Pubahan to lt n anat bpnauh paa cpatan puta oto ua nan paaan (4.4.), hna pnnal n bja nan nnalan to lt an cpatan puta upaya hal alnya (aya) ua nan fn yan ban, paaan (4.4.). Pubahan au tato ubu q pnauh cpatan puta oto hna hal n jua bpnauh paa cpatan puta an ua nan paaan (4.4.4) pt paa aba 4.(). Paa nato cpatan oto lbh ba a cpatan puta an ana au tato ubu q lalu natf hna lpnya aalah natf, hal n ua nan hal ula aba 4.(n). Pubahan au tato ubu q n jua pnauh apuan ja obv ba o ta aupun watu ta untu ncapa tat. Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

75 64 Stutu ula nan nunaan uln atlab apat lhat paa lapan 4. Hal ula pnnalan aya nan aya fn bubah-ubah unjuan paa aba 4.4 pt bawah n. (a) Kcpatan ann (b) o an tubn (c) Kcpatan puta oto nah () anan tato () u tato ubu q (f) u tato ubu q pba Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

76 65 () u tato ubu (h) u tato ubu pba () o lt (j) o lt pba () u anta (l) u anta pba () Kcpatan puta oto an lt (n) lp Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

77 66 (o) u tato ubu (p) u tato ubu pba (q) u tato ubu q () u tato ubu q pba () Flu oto ubu (t) Flu oto ubu pba (u) Flu oto ubu q (v) Flu oto ubu q pba Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

78 67 (w) Kcpatan puta oto (x) Kcpatan puta oto pba (y) Daya (z) Daya Gaba 4.4 Hal ula pnnalan aya nan fn bubah Da luaan hal ula aba 4.(y) an 4.(z) nunjuan bahwa luaan aya nato nut fn aya yan ban a 6 watt, 7 watt an 65 watt. Dana a hal n nunjuan bahwa aya luaan ncapa tabl paa 6 watt aat watu. an aat fn bubah nja 7 watt aa luaan nato apat lanun nut pubahaan yan tja. ap aat fn bubah nja 65 watt luaan aya nato ta lanun nut pubahan yan tja tap bola a watu.75 hna.95, tlah tu nut fn yan ban. Hal n tja ana pnauh olh obv, ana obv butuhan watu ala lauan po ta ua nan pubahan yan tja paa t. Da luaaan hal ula tja ola o ataata 8.57%. Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

79 68 Obv butuhan watu ala nta cpatan puta oto hna anat bpnauh paa t PB ana paa t pbant n ua oponn-oponnnya bpnauh atu aa lan. Paa watu hna. an.75 hna.95 aalah watu yan butuhan obv ala lauan ta cpatan puta oto hna vaabl luaan ba cpatan an puta, aya, au tato, au anta, flu an tanan nala tatablan paa watu tbut. St ula tabl tlah cpatan puta oto ta obv ncapa nla bnanya. Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

80 BB 5 KESIMPUN Da pnltan ata apat abl pulan baa but :. Mol atata oponn-oponn pbant lt tnaa bayu ata apat ataan bna ana ua nan fn yan abl. Sua vaabl atat oponn-oponn pbant lt tnaa bayu batan atu aa lan.. Hal ula ol nunjuan bahwa hal ula ol oponn pbant lt tnaa bayu yan atu bhubunan nan hal ula ol yan lan.. Pnnal FOC an Obv yan tlah an apat bja nan ba paa nla au tato ubu fn aalah an nla au tato ubu q fn antaa - apa Sua vaabl-vaabl paa t PB aln batan atu aa lan, hna atu vaabl bubah aa vaabl lannya aan bubah ua nan pubahan vaabl tbut. 5. Hal ula nunjuan bahwa pnnal FOC an Obv apat bja nan ba. Dana fn yan ban apat ut olh luaan t pnnal FOC an Obv apat nta tat ol nato an cpatan puta oto nato. 6. San natf nla au tato ubu q aa to lt nato aan an natf ua nan bntu au tato tbut. Hal n anat pnauh cpatan puta oto nato hna bpnauh paa aya luaan t. 7. Pubahan ba au tato ubu pnauh au anta hna aan pnauh flu, flu n aan bpnauh paa tanan an aya paa pbant lt tnaa bayu. Nla au tato ubu an ta l hal yan aal tap aat l nla y aal. 8. Obv anat bpnauh paa t ba thaap o an watu ncapa tabl. Kana t tabl tlah obv ncapa nla 69 Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

81 7 cpatan puta bnaya. Dana a pcobaan apat o ata-ata 4% an butuhan watu tabl St PB nala tatablan aat blu nla ta obv ncapa nla luaan bnanya, an tabl aat obv uah ncapa nla bnanya.. San natf au tato ubu q aa o ta aan an ba an watu ncapa nla bnanya an laa.. Paa pnnalan aya aa pnnal aan nubah-ubah au tato ubu q hna aan nubah to lt an cpatan puta oto hna aan nhalan aya yan tabl ana au tato ubu ttap. Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

82 DF CUN [] Watthana Subnon, an Bunlun Naan, n Iplntaton of Fl Ont Contoll SCIG fo Vaabl Sp Wn ubn, 6 th IEEE Confnc on Inutal Elctonc an pplcaton, halan,. [].Pna,. Cana, G. h an J. Cla, Vcto Contoll Inucton Machn fo Stan lon Wn Eny pplcaton, Inuty pplcaton Conf., vol.,pp , Otob []. Cana an. Pna, Snol Vcto Contol of Inucton Machn fo Vaabl-Sp Wn Eny pplcaton, IEEE an. on ny convon, vol. 9, pp.96-5, 4. [4] wan Gunawan, Pnnalan Moto Inu anpa Sno Kcpatan Dnan Onta Flu oto paa Pfoan Kcpatan ua Kcpatan Nonal, Dta, Unvta Inona, 6. [5] Muntanu Iulan, Batcu Iulana ntonta, Cutulul-ntono Ncolao, Can El. Optal Contol of Wn Eny Syt: owa a Global ppoach. Spn-Vla onon t. 8. [6] Olpo naya-aa, Nc Jnn, Janaa Eanaya, Phll Catwht, M Huh. Wn Eny Gnaton Molln an Contol, Wly, Bth, 9. [7] Bua Ozpnc, on M. olbt, Suln Iplntaton of Inucton Machn Mol- Moula ppoach, IEEE, pp , [8] M.Vajta, So a on Pa-ppoxaton, EMPUS-INCOM Sypou, [9] John G.Kaan, Matn F, chlcht, an G.Vaan, Pncpl of Pow Elctonc, on-wly, Boton, 99. [] Jn-Woo Jun, Spac Vto PWM Invt, Pojct Mchatonc Syt aboatoy, 5. []. Cana,. Pna, G. h, an J. Cla., Contol Stat fo Eny covy fo a Flywhl Un a Vcto Contoll Inucton Machn, Pow Elctonc Spcalt Conf., vol., pp , Jun 7 Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

83 7 MPIN Daa Suln Sula an nala Pnauh Pubahaan u Stato nan Sno Kcpatan Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

84 7 MPIN Sula an nala Pnauh Pubahan u Stato Subu q Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,

85 74 MPIN Sula an nala Pnauh Pubahan u Stato Subu q Unvta Inona Pancanan pnnalan..., nol Snaa, F UI,