Implementasi Fuzzy-pid untuk Kendali Four-Wheeled Mobile Robot : Studi Kasus pada Jalan Tanjakan

Raafiu, Brian (2018) Implementasi Fuzzy-pid untuk Kendali Four-Wheeled Mobile Robot : Studi Kasus pada Jalan Tanjakan. Masters thesis, ITS.

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Abstract

Salah satu teknologi yang berpotensi dalam perkembangan sistem otomasi dan instrumentasi adalah Four-Wheeled Mobile Robot. Wheeled Mobile Robot menjadi pilihan dengan berbagai fungsi di industri dan penerapan lainnya. Penelitian ini bertujuan untuk merancang serta membangun Four-Wheeled Mobile Robot dengan metode Fuzzy-PID controller dalam mengantisipasi permasalahan jalan menanjak. Variasi sudut kemiringan dan variasi beban pada jalan menanjak digunakan untuk menguji kinerja sistem kendali pada FWMR. Parametric uncertainties di kontrol menggunakan Fuzzy-PID sehingga kecepatan putar lebih stabil ketika melewati variasi kemiringan dan variasi beban. Sistem kontrol dengan kriteria respon cepat dan stabil saat beroperasi pada variasi sudut kemiringan jalan dan variasi beban, menjadi permasalahan yang penting untuk diangkat. Embedded system human machine interface dengan komunikasi wireless digunakan untuk menunjang pengembangan Mobile Robotic. Penelitian ini dibagi menjadi tiga tahap meliputi; rancang bangun sistem, identifikasi sistem, dan pengujian sistem pada variasi sudut kemiringan jalan dan variasi beban. Rancang bangun sistem terbagi menjadi dua, yaitu perancangan perangkat keras dan perangkat lunak. Penelitian ini menggunakan tiga struktur model dalam proses identifikasi sistem, yaitu Fungsi Transfer, ARX dan ARMAX model. Hasil terbaik model FWMR ditunjukan oleh Fungsi Transfer (TF) model dengan nilai (FIT=95,45%). Respon sistem pengendali kecepatan putar dengan metode kontrol fuzzy-PID memiliki performansi yang baik, karena mampu mengantisipasi berbagai variasi sudut kemiringan mulai dari 50,100,200 hingga 300. Indeks performansi saat mengatasi kemiringan 300 dan gaya berat 13,85N adalah waktu tunak M1:1,87s, M2:2,64s, M3:5,71s, M4:2,51s, M1:1,87s, Max overshoot M1:228%, M2:188,5%, M3:36%, M4:65,5% dan waktu tempuh 12,04s. Waktu tercepat saat kondisi sudut kemiringan terbesar 300 adalah 8s dengan panjang lintasan 6m.

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One of the technologies that are potentially in the development of instrumentation and automation systems is a Four-Wheeled Mobile Robot. Wheeled Mobile Robot is an option with a variety of functions in the industry and the application of the other. This research aims to design and build a Four-Wheeled Mobile Robot with the method of a Fuzzy-PID controller in anticipation of problems the road uphill. Slope angle variation and variation of load on an uphill road used to test the performance of the system control at FWMR. Parametric uncertainties in control using Fuzzy-PID so that the playback speed is more stable when passing through variation of the tilt and load variations. Control system with quick response and stable criteria when operating on roads and slope angle variations of load, important issues to be raised. Embedded systems human-machine interface with wireless communication used to support the development of Mobile Robotic. This research is divided into three phases include; system architecture, system identification, and testing the system on a variation of the angle of the slope of the ramp and load variations. The system architecture is divided into two, namely the design of hardware and software. This research uses three structure models in the process of the identification of the system Transfer function, i.e., ARX and ARMAX models. Best results FWMR model indicated by the Transfer function (TF) model with a value (FIT = 95,45%). Playback speed control system response with the method of fuzzy-PID control to have a good performance, being able to anticipate a variety of slopes ranging from 300 to 50,100,200. Index performance when tackling the slope of 300 and heavy style 13,85N is settling time M1:1,87s, M2:2,64s, M3:5,71s, M4:2,51s, M1:1,87s, Max overshoot M1:228%: 188,5%, M2, M3, M4:36%: 65,5% and it takes 12,04s. The fastest time when the condition of the slope angle of the largest 300 is 8s with 6 m track length.

Item Type:	Thesis (Masters)
Uncontrolled Keywords:	Four-Wheeled Mobile Robot (WMR), Fuzzy-PID control, Inclined Terrain, Sudut Kemiringan Lintasan.
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK2785 Electric motors, Induction. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5103.2 Wireless communication systems. Two way wireless communication T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7872 Electromagnetic Devices T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5102.5 Modulation (Electronics), Demodulation (Electronics) T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles. T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions:	Faculty of Industrial Technology > Physics Engineering > 30101-(S2) Master Thesis
Depositing User:	Brian Raafiu
Date Deposited:	15 Jul 2021 08:38
Last Modified:	15 Jul 2021 08:38
URI:	http://repository.its.ac.id/id/eprint/55044

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