Rancang Bangun Sistem Kendali pada Belt Conveyor Kandang Ayam Otomatis Berbasis Load Cell

Indrianto, Asy'aril Falah (2026) Rancang Bangun Sistem Kendali pada Belt Conveyor Kandang Ayam Otomatis Berbasis Load Cell. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Manajemen limbah kotoran pada peternakan ayam rumahan umumnya masih dilakukan secara manual, yang berdampak pada rendahnya efisiensi waktu dan berpotensi menurunkan kualitas kesehatan ternak akibat tingginya kadar amonia. Penelitian ini bertujuan untuk merancang prototipe belt conveyor pembersih kotoran otomatis yang terpicu oleh berat akumulasi kotoran dan dilengkapi dengan sistem kendali kecepatan. Sistem ini menggunakan sensor load cell HX711 sebagai pendeteksi massa kotoran dan algoritma Proportional Integral Derivative (PID) untuk menjaga kestabilan kecepatan motor DC dari gangguan pembebanan mekanis.
Berdasarkan hasil pengujian, sistem otomatisasi pembersihan berhasil bekerja saat akumulasi beban kotoran mencapai setara setpoint 500 gram. Hasil analisis menunjukkan bahwa penyimpangan pembacaan load cell pada prototipe konveyor tidak disebabkan oleh penurunan kualitas sensor, melainkan akibat distribusi gaya berat beban yang sebagian terserap oleh tegangan sabuk (belt tension) dan penyangga roller mekanik. Pada pengujian kinerja motor tanpa kendali (open loop), sistem tidak mampu mempertahankan kecepatan target (setpoint), menghasilkan steady-state error yang tinggi, 10,7% pada 6 RPM dan 10,2% pada 9 RPM. Setelah dilakukan penalaan kendali PID closed loop dengan parameter optimal Kp = 1,25; Ki = 12; dan Kd = 2, performa sistem meningkat secara signifikan dengan mereduksi steady-state error menjadi hanya 0,17 % pada 6 RPM dan 0,22% pada 9 RPM. Maximum Overshoot yang dihasilkan juga sangat kecil, yakni 6,7 % untuk 6 RPM dan 8% untuk 9 RPM. Selain itu, sistem kendali PID terbukti mampu mempercepat waktu respons (rise time) menjadi 3,4 hingga 3,5 sekon. Hal ini membuktikan bahwa kendali PID berhasil menyempurnakan performa sistem ketika diberi beban mekanis, sehingga belt conveyor beroperasi secara stabil dan efisien.
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Waste management in home-based poultry farms is generally still performed manually, resulting in low time efficiency and potentially degrading livestock health quality due to high ammonia levels. This study aims to design a prototype of an automatic manure-cleaning belt conveyor triggered by the accumulated weight of the manure and equipped with a speed control system. This system utilizes an HX711 load cell sensor as a mass detector and a Proportional-Integral-Derivative (PID) algorithm to maintain the stability of the DC motor speed against mechanical load disturbances.
Based on the test results, the automated cleaning system successfully operated when the accumulated manure load reached an equivalent setpoint of 500 grams. The analysis results indicated that the deviation in the load cell readings on the conveyor prototype was not caused by a decrease in sensor quality, but rather by the distribution of the load's weight, which was partially absorbed by the belt tension and mechanical roller supports. In the motor performance testing without control (open-loop), the system was unable to maintain the target speed (setpoint), resulting in a high steady-state error of 10.7% at 6 RPM and 10.2% at 9 RPM. After tuning the closed-loop PID control with optimal parameters of Kp = 1.25, Ki = 12, and Kd = 2, the system's performance improved significantly, reducing the steady-state error to only 0,17% at 6 RPM and 0.22% at 9 RPM. The resulting maximum overshoot was also very small, specifically 6.7% for 6 RPM and 8% for 9 RPM. Furthermore, the PID control system proved capable of accelerating the response time (rise time) to 3.4 - 3.5 seconds. This proves that the PID control successfully enhanced the system's performance when subjected to mechanical loads, allowing the belt conveyor to operate stably and efficiently.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Konveyor Otomatis, Kandang Ayam, Motor DC, Load Cell, Kontroler PID, Automatic Conveyor, Chicken Coop, DC Motor, Load Cell, PID Controller.
Subjects:	T Technology > TJ Mechanical engineering and machinery T Technology > TJ Mechanical engineering and machinery > TJ1398 Conveyors T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering systems. Automatic machinery (General) T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7878 Electronic instruments
Divisions:	Faculty of Vocational > Mechanical Industrial Engineering (D4)
Depositing User:	Asy'aril Falah Indrianto
Date Deposited:	29 Jul 2026 02:38
Last Modified:	29 Jul 2026 02:38
URI:	http://repository.its.ac.id/id/eprint/138902

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