Setyabudi, Muhammad Wahyu Eka (2026) Rancang Bangun Remote Robot Solar Panel Cleaner Berbasis Komunikasi ESP NOW dan Intelligent Self Charging Battery pada Sistem PLTS. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Debu dan kotoran pada permukaan panel surya dapat menurunkan efisiensi hingga 80 %. Robot preventive maintenance yang ada saat ini, seperti pada penelitian Apriansyah et al. (2023), masih mengandalkan kabel daya dari listrik PLN yang dikonversi menjadi DC, sehingga gerak robot terbatas, kabel rentan kusut, dan memerlukan intervensi manusia. Penelitian ini mengembangkan Robot Preventive Maintenance PLTS yang benar-benar otonom tanpa kabel daya dengan menggunakan rangka utama carbon fiber tube, enclosure PETG, mikrokontroler ESP32-S3, komunikasi nirkabel ESP-NOW, monitoring daya melalui sensor INA219, serta sistem charging mandiri berbasis enam panel surya mini 12 V 1,5 W (konfigurasi 2S3P) dengan MPPT 5 A dan baterai Li-Ion 4S 16,8 V 2,5 Ah. Pengujian discharging selama 24 jam menunjukkan baterai turun dari 16,37 V menjadi 14,24 V dengan net defisit energi –2 Wh/hari (+6 Wh dari PV, –8,06 Wh konsumsi). Charging simultan efektif pada irradiasi tinggi (tambahan 0,4–0,6 V), namun konsumsi standby dan kondisi mendung menyebabkan defisit besar. Pengujian reliability 48 jam kalender menghasilkan MTBF 12 jam, MTTR 10 menit, dan availability operasional 98,63 %, dengan tiga kegagalan mekanikal identik (roda lepas dari coupling). Robot terbukti sangat tangguh terhadap lingkungan tropis: paparan spray air terus-menerus, hujan deras dan rintik-rintik total 3,5 jam, serta suhu 40–43 °C tanpa kebocoran atau kerusakan komponen. Untuk mencapai target reliability R(24 jam) > 95 % dan operasi otonom 24/7, diperlukan redesign sistem penggerak mekanikal serta peningkatan kapasitas panel surya dan optimalisasi mode standby.
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Dust and dirt on the surface of solar panels can reduce efficiency by up to 80%. Existing preventive maintenance robots, such as those described in the study by Apriansyah et al. (2023), still rely on power cables connected to the PLN grid, with the electricity converted to DC; as a result, the robots’ movement is limited, the cables are prone to tangling, and human intervention is required. This study developed a fully autonomous, wireless solar power plant (PLTS) preventive maintenance robot using a carbon fiber tube main frame, a PETG enclosure, an ESP32-S3 microcontroller, ESP-NOW wireless communication, power monitoring via an INA219 sensor, and a self-charging system based on six 12 V 1.5 W mini solar panels (2S3P configuration) with a 5 A MPPT controller and a 4S 16.8 V 2.5 Ah Li-Ion battery. A 24-hour discharge test showed the battery voltage dropping from 16.37 V to 14.24 V with a net energy deficit of –2 Wh/day (+6 Wh from PV, –8.06 Wh consumption). Simultaneous charging was effective under high irradiance (an additional 0.4–0.6 V), but standby consumption and overcast conditions caused a significant deficit. A 48-calendar-hour reliability test yielded an MTBF of 12 hours, an MTTR of 10 minutes, and an operational availability of 98.63%, with three identical mechanical failures (wheels coming loose from the coupling). The robot proved to be highly resilient in a tropical environment: it withstood continuous exposure to water spray, heavy rain, and drizzle totaling 3.5 hours, as well as temperatures of 40–43 °C, without any leaks or component damage. To achieve the reliability target of R(24 hours) > 95% and 24/7 autonomous operation, a redesign of the mechanical drive system, an increase in solar panel capacity, and optimization of the standby mode are required.
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