Rancang Bangun Sistem Elektronik Dan Kontrol Robot Pemanjat Bidang Besi Berbasis Crawler

Zami, Faizzul Haq Alma'anizam (2026) Rancang Bangun Sistem Elektronik Dan Kontrol Robot Pemanjat Bidang Besi Berbasis Crawler. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Industri maritim, khususnya sektor perawatan kapal di area galangan kapal (shipyard), memiliki risiko fatalitas kecelakaan kerja yang sangat tinggi akibat pekerja terjatuh dari ketinggian saat melakukan tugas pemeliharaan lambung kapal. Untuk memitigasi risiko operasional tersebut serta mengatasi celah kelemahan stabilitas gerak pada penelitian terdahulu, penelitian ini mengembangkan sistem elektronik terintegrasi dan kendali pada robot pemanjat dinding besi berbasis roda crawler bermagnet. Tujuan utama penelitian ini adalah mengimplementasikan algoritma kontrol Proporsional-Integral-Derivatif (PID) close-loop untuk mengatasi karakteristik non-linear sehingga mampu mengatur kecepatan serta arah gerak robot secara presisi melalui kendali jarak jauh (tele-operasi). Sistem perangkat keras dibangun menggunakan mikrokontroler STM32F4VGT6, aktuator motor DC brushed tipe PG45 366K yang dilengkapi encoder magnetik 7 PPR, motor driver BTN7970B, sistem komunikasi Transmitter FlySky FS-i6 dan Receiver FS-iA6B berfrekuensi 2,4 GHz, serta modul buck converter XL4015. Hasil power test membuktikan bahwa seluruh komponen beroperasi stabil di bawah batas suhu aman operasional (120 °C) tanpa mengalami panas berlebih (overheating) selama pengujian penuh. Melalui proses system identification dan penalaan menggunakan System Identification Toolbox serta PID Tuner pada MATLAB, sistem kendali Proporsional-Integral (PI) terpilih sebagai algoritma paling optimal dengan parameter K_p=34,8712 dan K_i=526,1776. Pada evaluasi performa kontroler, respons sistem PI menunjukkan rise time 0,716 detik, settling time 1,010 detik, overshoot 0,61%, dan steady-state error sebesar 0,00 RPM. Lebih lanjut, hasil pengujian variasi beban membuktikan bahwa algoritma kontrol memiliki tingkat kekokohan (robustness) yang tinggi, mampu mempertahankan stabilitas respons pada bidang vertikal 90° dengan beban tambahan mulai dari 10 kg hingga 60 kg. Terakhir, pengujian manuver memvalidasi bahwa robot berhasil mengeksekusi gerak translasi lurus (maju dan mundur), gerak belok melengkung (kanan dan kiri), serta gerak rotasi murni di tempat (pivot) secara akurat berdasarkan pembacaan trajektori odometri. Kesimpulannya, integrasi komponen elektronik dan kontrol PI berhasil menciptakan platform robot pemanjat yang stabil, andal, dan siap diadaptasi untuk mendukung tugas pemeliharaan struktur baja di ketinggian, khususnya pada sektor galangan kapal.
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The maritime industry, particularly the ship maintenance sector in shipyards, faces a significantly high risk of fatal occupational accidents caused by workers falling from heights during ship hull maintenance activities. To mitigate these operational risks and address motion stability limitations identified in previous studies, this research develops an integrated electronic and control system for a steel wall-climbing robot based on magnetic crawler wheels. The primary objective of this study is to implement a closed-loop Proportional-Integral-Derivative (PID) control algorithm to overcome nonlinear system characteristics, enabling precise regulation of the robot’s speed and movement direction through remote control (teleoperation). The hardware system is built using an STM32F4VGT6 microcontroller, PG45 366K brushed DC motor actuators equipped with 7 PPR magnetic encoders, a BTN7970B motor driver, a 2.4 GHz FlySky FS-i6 transmitter and FS-iA6B receiver communication system, and an XL4015 buck converter module. Power consumption tests demonstrate that all components operate stably below the safe operational temperature limit of 120 °C without experiencing overheating during full-duration testing. Through system identification and controller tuning using the System Identification Toolbox and PID Tuner in MATLAB, the Proportional-Integral (PI) controller was selected as the optimal control strategy with parameters of K
p
​

=34.8712 and K
i
​

=526.1776. Performance evaluation of the PI controller shows a rise time of 0.716 seconds, a settling time of 1.010 seconds, an overshoot of 0.61%, and a steady-state error of 0.00 RPM. Furthermore, load variation tests indicate that the control algorithm exhibits high robustness, maintaining stable responses on a 90° vertical surface under additional payloads ranging from 10 kg to 60 kg. Maneuverability tests also confirm that the robot can accurately perform straight translational movements (forward and backward), curved turning maneuvers (left and right), and in-place rotational movements (pivot) based on odometry trajectory measurements. Overall, the integration of electronic components and PI control successfully produces a stable and reliable climbing robot platform that is ready to support maintenance activities on elevated steel structures, particularly in shipyard environments.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Robot Pemanjat Dinding, Crawler Bermagnet, Kendali PID, Pemeliharaan Kapal, Tele-operasi. Wall-Climbing Robot, Magnetic Crawler, PID Control, Ship Maintenance, Teleoperation.
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK2681.B47 Electric motors, Direct current. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK6564 Radio transmitter-receivers
Divisions:	Faculty of Vocational > Mechanical Industrial Engineering (D4)
Depositing User:	Faizzul Haq Alma'anizam Zami
Date Deposited:	22 Jul 2026 01:13
Last Modified:	22 Jul 2026 01:13
URI:	http://repository.its.ac.id/id/eprint/135663

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