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Abstrak :
ABSTRAK
The cranes are widely used to facilitate the transport of goods. This project aims to create a miniature crane to study and analyze its behavior, especially the swing of the load while moving, and then develop and implement a system controlling the position and velocity of the load of the crane using a specific control technique. The purpose of controlling this apparatus is automatically move the crane to a particular position at a certain speed, while trying to keep the swing of the mass to a minimum/no sway. The method used is the state feedback control implemented in VB.net and it produces a very good response. The overall structure of the miniature crane system consists of a computer/program, the LabJack, amplifiers, a motor, sensors, and the miniature crane apparatus.The use of linearization technique could overcome the problem of the dead zone on the motor.

Abstrak :
The cranes are widely used to facilitate the transport of goods. This project aims to create a miniature crane to study and analyze its behavior, especially the swing of the load while moving, and then develop and implement a system controlling the position and velocity of the load of the crane using a specific control technique. The purpose of controlling this apparatus is automatically move the crane to a particular position at a certain speed, while trying to keep the swing of the mass to a minimum/no sway. The method used is the state feedback control implemented in VB.net and it produces a very good response. The overall structure of the miniature crane system consists of a computer/program, the LabJack, amplifiers, a motor, sensors, and the miniature crane apparatus. The use of linearization technique could overcome the problem of the dead zone on the motor.

Abstrak :
Motor DC shunt sudah banyak digunakan di industri. Berbeda dengan motor DC umumnya, motor DC shunt memiliki karakteristik tidak linear. Ketidaklinearan motor dc shunt menjadi tantangan dalam perancangan sistem kendali kecepatan putar khususnya ketika terjadi perubahan beban. Skripsi ini membahas tentang perancangan sistem kendali kecepatan putar motor dc shunt menggunakan pengendali PI (Proportional Integral) dan I/O (Input/Output) Linearization. Kendali kecepatan putar dimaksudkan untuk mempertahankan kecepatan putar motor pada nilai referensinya meskipun terjadi perubahan beban. Perancangan kedua pengendali dilakukan menggunakan model motor DC shunt linear dan tak linear. Model DC shunt dan hasil rancangan pengendalinya disimulasikan menggunakan MATLAB SIMULINK. Dari hasil simulasi, pengendali PI dapat mempertahankan kecepatan putar motor sesuai nilai referensinya meskipun ada perubahan beban. Sedangkan pengendali I/O Linearization, selain dapat mempertahankan kecepatan putar sesuai nilai referensinya dalam kondisi perubahan beban, dapat juga mengikuti nilai referensi kecepatan putar yang baru. ...... DC shunt motors are already widely used in industry. Unlike common DC motor, DC shunt motors have highly nonlinear characteristics. Nonlinearity of shunt dc motor is a challenge in the design of speed control system, especially when the load changes. This research discusses design of speed control system for shunt dc motor using PI ( Proportional Integral ) and I / O ( Input / Output ) linearization. Speed control is intended to maintain actual motor speed to its reference value despite changes in load. The design of both controllers performed using a linear and non linear model of shunt DC motor. DC shunt model and its controllers is simulated using MATLAB SIMULINK. From the simulation results, the PI controller can maintain the rotational speed of the motor according to the reference value even though there is load change. Besides of maintaining rotational speed to its reference value in the load condition changes, I / O linearization can be used to follow rotational speed to new rotational speed reference.