Real-Time Implementation of Passive Fault-Tolerant Speed Control for Unloading MS150 DC Motor System

The failure of a DC motor in an electric car caused by an error in the actuator and sensor can endanger the driver and the surrounding environment. This research focuses on the design of a Passive Fault Tolerant Control (PFTC) system that can work when an actuator and sensor error occurs in the MS150 DC modular servo system speed control. The first step is to identify the MS150 DC modular servo system. The second step is to design a state feedback control system with an integrator. The third step is to design a simulation PFTC system and design a PFTC system to be implemented in realtime. To find out the performance of the designed PFTC system, a test is carried out with a bias error of about 0.1 V to 0.8 V. On the results of implementing the PFTC system in real-time on the simulation error, the maximum overshoot value is smaller than the system without PFTC, besides the application of AFTC causes the resulting settling time is smaller than the system without PFTC