Kontrol Kecepatan Motor 3 Fasa Sebagai Penggerak Vertical Lifter Robotic Palletizer System Menggunakan Metode PID

Prayoga, Muhammad Putra (2025) Kontrol Kecepatan Motor 3 Fasa Sebagai Penggerak Vertical Lifter Robotic Palletizer System Menggunakan Metode PID. Other thesis, Institut Teknologi Sepuluh Nopember.

Text 2040211047-Undergraduate_Thesis.pdf - Accepted Version Restricted to Repository staff only Download (6MB) | Request a copy

Abstract

Vertical lifter merupakan perangkat mekanik yang dirancang untuk memindahkan material secara vertikal dari satu tingkat ke tingkat lainnya. Pada penelitian ini, vertical lifter digunakan sebagai penghubung antara line output mesin case packer dengan line input mesin palletizer yang memiliki perbedaan ketinggian. Sistem ini harus mampu bekerja dengan cepat dan stabil agar aliran produk dari case packer menuju palletizer tidak mengalami hambatan. Namun, pada implementasinya, performa vertical lifter belum optimal, ditandai dengan lambatnya respons motor yang menyebabkan durasi distribusi menjadi lebih panjang. Durasi distribusi vertical lifter yang mencapai 5,7 detik berdampak negatif terhadap nilai boxes per minute (BPM) yang dihasilkan oleh mesin palletizer. Untuk mengatasi permasalahan tersebut, penelitian ini merancang dan mengimplementasikan sistem kendali berbasis Proportional-Integral-Derivative (PID) pada motor induksi 3 fasa yang menggerakkan roller secara vertikal pada vertical lifter. Metode tuning Ziegler-Nichols 2 digunakan untuk memperoleh konstanta PID awal, namun hasil tuning tersebut masih menghasilkan respons yang kurang optimal. Oleh karena itu, dilakukan fine tuning untuk mendapatkan parameter kontrol yang lebih sesuai. Dengan menggunakan konstanta PID Kp = 2,4, Ki = 1,2, dan Kd = 2,4, sistem mampu menghasilkan pergerakan yang lebih responsif dan stabil, ditunjukkan oleh penurunan rise time dari 3,6 detik menjadi 1,4 detik serta berkurangnya vibrasi. Selain itu, waktu distribusi berhasil dipangkas dari 5,7 detik menjadi 4,1 detik, sehingga efisiensi waktu distribusi meningkat sebesar 26,79%.
=================================================================================================================================
A vertical lifter is a mechanical device designed to move materials vertically from one level to another. In this study, a vertical lifter was used as a connector between the output line of a case packer machine and the input line of a palletizer machine, which had a difference in height. This system must be able to operate quickly and stably so that the flow of products from the case packer to the palletizer is not obstructed. However, in its implementation, the performance of the vertical lifter is not yet optimal, as indicated by the slow response of the motor, which causes the distribution duration to be longer. The distribution duration of the vertical lifter, which reaches 5.7 seconds, has a negative impact on the boxes per minute (BPM) value produced by the palletizer machine. To address this issue, this study designed and implemented a Proportional-Integral-Derivative (PID) control system on the three-phase induction motor that drives the vertical rollers on the vertical lifter. The Ziegler-Nichols 2 tuning method was used to obtain the initial PID constants, but the tuning results still produced suboptimal responses. Therefore, fine tuning was performed to obtain more suitable control parameters. Using PID constants Kp = 2.4, Ki = 1.2, and Kd = 2.4, the system was able to produce more responsive and stable movement, as indicated by a reduction in rise time from 3.6 seconds to 1.4 seconds and a decrease in vibration. Additionally, the distribution time was reduced from 5.7 seconds to 4.1 seconds, resulting in a 26.79% improvement in distribution time efficiency.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Kontrol PID, Motor induksi 3 Fasa, Vertical lifter, Ziegler-Nichols 2, 3-phase induction motor, PID Controll
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK1007 Electric power systems control T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK1010 Electric power system stability. Electric filters, Passive. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK2785 Electric motors, Induction. T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions:	Faculty of Vocational > 36304-Automation Electronic Engineering
Depositing User:	Muhammad Putra Prayoga
Date Deposited:	07 Aug 2025 09:28
Last Modified:	07 Aug 2025 09:28
URI:	http://repository.its.ac.id/id/eprint/127972

Actions (login required)

View Item