TABLE OF CONTENT

TITLE SHEET ...............................................................................

FINAL STATEMENT OF AUTHENTICITY ...............................
APPROVAL SHEET .....................................................................
ABSTRAK ..................................................................................
ABSTRACT ..................................................................................
PREFACE ..................................................................................
TABLE OF CONTENTS ...............................................................
ILLUSTRATIONS .........................................................................
LIST OF TABLES .........................................................................

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CHAPTER I INTRODUCTION ....................................................

1.1 Background .........................................................................
1.2 Problems ..............................................................................
1.3 Boundary Problems .............................................................
1.4 Research Objective .............................................................
1.5 Metodology .........................................................................
1.6 Systematic of Writing .........................................................
1.7 Relevance .............................................................................

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CHAPTER II THEORETICAL BASIS ..........................................

2.1 Three Phase Induction Motor...............................................
2.1.1 Components of Induction Motor ..............................
2.1.2 The Principle of Induction Motor .............................
2.2 Electromagnetic Brake .........................................................
2.3 Sensors Rotary Encoder.......................................................
2.3.1 Absolute Rotary Encoder ..........................................
2.3.2 Increment Rotary Encoder........................................
2.4 Inverter ...............................................................................
2.5 DAQ Advantech USB-4716 ...............................................
2.6 Current Sensor ....................................................................
2.7 Temperature Sensor .............................................................
2.8 Integral Square Error (ISE).................................................
2.9 Linear Quadratic Regulator (LQR) Controller ...................
2.10 Gain Scheduling Method ....................................................
2.11 LQR Gain Scheduling .........................................................
2.12 Labview ..............................................................................

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2.12.1 Front Panel............................................................... 18

2.12.2 Block Diagram.......................................................... 18
2.12.3 Controls and Functions Palette ................................ 19
2.12.3.1 Controls Palette .......................................... 19
2.12.3.2 Functions Palette ........................................ 20
CHAPTER III SYSTEM DESIGN ................................................
3.1 Arsitecture of System...........................................................
3.2 Hardware Design ................................................................
3.2.1 Mechanical Design of Plant .....................................
3.2.2 Inverter Siemens Micromaster 420 ..........................
3.2.3 Design of Panel Box .................................................
3.2.4 DAQ Advantech USB-4716 .....................................
3.2.5 Sensors Rotary Encoder ...........................................
3.2.6 Current Sensor ..........................................................
3.2.7 Temperature Sensor ..................................................
3.3 Software Design ...................................................................
3.4 Identification of Plant ..........................................................
3.4.1 The Load Method of Plant .......................................
3.4.2 Identification Method ...............................................
3.4.3 Identification of Minimal Load ................................
3.4.4 Identification of Nominal Load ................................
3.4.5 Identification of Maximal Load ................................
3.5 Design of Controller Linear Quadratic Regulator (LQR)
Gain Scheduling ..................................................................
3.5 1 Design of Controller LQR ........................................
3.5.1.1 Plant Parameter of Minimal Load ..............
3.5.1.2 Plant Parameter of Nominal Load ..............
3.5.1.3 Plant Parameter of Maximal Load .............
3.5.1.4 Matrix Q and R ...........................................
3.5 2 Mechanism Design of Gain Scheduling ...................
3.6 Design of Controller Simulation .........................................

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CHAPTER IV TESTING AND ANALYSIS .................................

4.1 Testing of Component System .............................................
4.1.1 Testing of DAQ Advantech USB-4716 ...................
4.1.2 Testing of Inverter Siemens Micromaster 420 ........
4.1.3 Testing of Three Phase Induction Motor Speed ......

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4.1.4 Testing of Electromagnetic Brake and Current

Sensor ACS 712 ......................................................
4.2 Testing of Simulation Controller in Labview .....................
4.2.1 Testing of LQR Controller ......................................
4.2.2 Testing of LQR Gain Scheduling Controller ...........
4.3 Testing of Implementation Controller in Labview ..............

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CHAPTER V CLOSING ............................................................... 61

5.1 Conclution ........................................................................... 61
5.2 Advice ................................................................................. 61
BIBLIOGRAPHY .......................................................................... 63
ENCLOUSRE ................................................................................ 65
AUTHORS BIOGRAPHY ............................................................ 67

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