Perancangan dan Pembuatan Sistem Kontrol 2 Axis Flexible Fixture Berbasis Microcontroller

Alvyan, Havif (2018) Perancangan dan Pembuatan Sistem Kontrol 2 Axis Flexible Fixture Berbasis Microcontroller. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Perkembangan teknologi industri terus meningkat, khususnya dalam bidang manufaktur. Semua itu dilakukan karena tuntutan pasar yang menginginkan produk-produk dengan kualitas tinggi dan harga yang terjangkau. Kualitas produk sangat tergantung pada teknologi mesin dan kemampuan operator, sedangkan harga produk tergantung pada waktu produksi yang erat kaitannya dengan effisiensi proses produksi. Untuk menghasilkan produk dengan kepresisian dan ketelitian tinggi dapat dilakukan dengan cara mengembangkan teknologi jig and fixture dari proses permesinan, salah satunya adalah dengan cara rancang bangun flexible fixture yang dapat mempermudah setting up benda kerja. Dalam penelitian ini akan dirancang dan dibuat sistem kontrol flexible fixture yang berbasis microcontroller arduino. Langkah awal dalam pembuatan sistem kontrol adalah menentukan jenis komponen yang akan digunakan untuk membuat sistem kontrol flexible fixture sampai pada proses merakit, kemudian memprogram microcontroller sehingga flexible fixture dapat bergerak secara otomatis. Langkah selanjutnya adalah menganalisa sistem kontrol dengan menggunakan bantuan software MATLAB, mula-mula menentukan persamaan sistem kontrol dalam time domain berupa state space equation atau frequency domain dalam bentuk overall transfer function, kemudian melakukan analisa kestabilan dengan metode-metode seperti nyquist, routh hurwitz, dan root locus. Selanjutnya mengevaluasi sistem kontrol flexible fixture dengan memberi input berupa step response, sehingga didapatkan peak time, settling time, rise time, dan persentase overshoot. Hasil analisa frequency response untuk menentukan kestabilan dengan metode nyquist menghasilkan bahwa grafik frequency response tidak mencakup titik -1 + j0 pada sistem kontrol motor DC 1 dan motor DC 2. Pengujian kestabilan dengan metode routh hurwitz menyatakan bahwa pada kolom pertama tidak terjadi perubahan tanda, artinya semua akar bernilai positif pada kedua sistem kontrol. Selanjutnya pengujian dengan metode root locus menghasilkan akar-akar karakteristik terletak di sebelah kiri sumbu imajiner sebesar -1824.8, -45.6 + 114.2i, -45.6 - 114.2i pada sistem kontrol motor DC 1 dan -445.41, -115.92 + 71.86i, -115.92 - 71.86i pada sistem kontrol motor DC 2. Dari ketiga kriteria kestabilan tersebut dapat disimpulkan bahwa sistem kontrol dari flexible fixture dalam keadaan stabil. Untuk evaluasi sistem kontrol ini dengan memberi input step response didapatkan nilai time response berupa peak time 0.0283 s, settling time 0.0877 s, rise time 0.0166 s, persentase overshoot 28.5% pada sistem kontrol motor DC 1 dan didapatkan nilai time response berupa peak time 0.0469 s, settling time 0.0335 s, rise time 0.0204 s, persentase overshoot 0.588% pada sistem kontrol motor DC 2. Dari evaluasi tersebut dapat disimpulkan sistem kontrol ini mempunyai respon waktu yang cukup baik, sehingga flexible fixture dapat bergerak dengan cepat dan sesuai dengan setting point yang diinginkan. ============================================================================================================= The development of industrial technology continues to increase, especially in manufacturing. All that is done because of market demands that want products with high quality and affordable price. Product quality is highly dependent on machine technology and operator capability, while product prices depend on production times closely related to the efficiency of the production process. To produce a product with precision and high accuracy can be done by developing jig and fixture technology from machining process, one of them is by flexible fixture design that can simplify setting up workpiece. In this research will be designed and made flexible fixture control system based on arduino microcontroller. The first step in making the control system is to determine the type of component that will be used to make flexible fixture control system until assembling process, then program the microcontroller so flexible fixture can move automatically. The next step is to analyze the control system using MATLAB software help, firstly to determine the equation of control system in time domain as state space equation or frequency domain in the form of overall transfer function, then perform stability analysis with methods such as nyquist, routh hurwitz, and root locus. Further evaluate flexible fixture control system by giving input in the form of step response, so get peak time, settling time, rise time, and overshoot percentage. The result of frequency response analysis to determine the stability with nyquist method resulted that the frequency response graph does not include the point -1 + j0 on the DC motor 1 control system and the DC motor 2. Stability testing by routh hurwitz method states that in the first column there is no sign change, meaning all roots are positive on both control systems. Further testing by root locus method produces characteristic roots located on the left of the imaginary axis of -1824.8, -45.6 + 114.2i, -45.6 - 114.2i on DC motor 1 control systems and -445.41, -115.92 + 71.86i, -115.92 - 71.86i on DC motor 2 control system. Of the three stability criteria can be concluded that the control system of flexible fixture in a stable state. To evaluate this control system by giving input step response got time response value in the form of peak time 0.0283 s, settling time 0.0877 s, rise time 0.0166 s, 28.5% overshoot percentage on DC motor 1 control system and got time response value in the form of peak time 0.0469 s , settling time 0.0335 s, rise time 0.0204 s, 0.588% overshoot percentage on DC motor 2 control system. From the evaluation it can be concluded that this control system has good enough time response, so flexible fixture can move quickly and according to the setting point desired.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: Flexible Fixture, Microcontroller, Time Response, Frequency Response
Subjects: T Technology > TJ Mechanical engineering and machinery
T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers
Divisions: Faculty of Industrial Technology > Mechanical Engineering > (S1) Undergraduate Theses
Depositing User: Havif Alvyan Ikhwanudin
Date Deposited: 21 Mar 2018 04:42
Last Modified: 21 Mar 2018 04:42
URI: http://repository.its.ac.id/id/eprint/50102

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