Fault Tolerant Control for Speed Sensorless of DC Motor

In electric vehicles, DC motors work like a servo system with a constant sustained motor speed as needed. In this case, speed information is needed so that the speed sensor is installed. However, the installation of the speed sensor has limited resolution and treatment. Thus, it began to develop a method regarding the control system without a sensorless speed sensor using the Observer method. The observer only uses information from the current. Expected in the application of servo motors DC system has never experienced interference. However, interference can occur suddenly, which may affect the course of a system. Interference that can occur on the DC motor is the influence of load torque. The influence of load torque can result in errors. Therefore, the control system is necessary to tolerate errors. The control system is known as fault-tolerant control (FTC). Modeling of DC motor plant is carried out using parametric system identification that is retrieving measurement data using the MS150 DC servo circuit block diagram. The selected controller is the state feedback with the integrator. Adding integrators is useful for reducing steady-state errors. The FTC design requires the use of an extended state observer. While to estimate speed only requires observer without any result estimation errors. Based on the results of the research using the Observer method, it results in actual DC motor speed following the results of speed estimation. For FTC application in the event of load torque in real can maintain the performance of the system is evidenced by the maximum undershoot is 3.04%, the error steady-state and settling time is 2.4% and 6477 ms respectively.