Rancang Bangun Sistem Kontrol PID Path Following pada Prototipe Unmanned Autonomous Forklift

Akbar, Reza Maliki (2020) Rancang Bangun Sistem Kontrol PID Path Following pada Prototipe Unmanned Autonomous Forklift. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Salah satu teknologi yang sering digunakan dalam material handling dan material transport adalah forklift. Secara konvensional forklift biasanya dioperasikan oleh operator manusia. Forklift dapat diotomatisasi, agar efisien, meningkatkan keamanan, keselamatan, kesehatan kerja juga mengurangi risiko para operator dari kecelakaan. Gagasan inovasi unmanned autonomous forklift diciptakan dari permasalahan tersebut. Telah dirancang sistem motion control pada tugas akhir ini untuk prototipe unmanned autonomous forklift baik secara simulasi maupun perangkat keras dengan menggunakan metode kontrol PID, dan sistem odometri dilengkapi dengan rotary encoder. Variabel yang dikontrol adalah jarak dan variabel yang dimanipulasi adalah gaya pada kendaraan. Gaya pada kendaraan, pada prototipe diatur menggunakan pulsa motor. Parameter kontrol PID yang diterapkan pada simulasi, Kp=0,853253789; Ki=0,256576567; Kd=0,923253789. Rise time pada simulasi 7,46 detik; settling time 23,09 detik; eror lintasan 0,28%. Parameter kontrol PID yang diterapkan pada prototipe, Kp=0,97; Ki=0,3; Kd=1. Uji jarak dilakukan dengan variasi 50 cm hingga 200 cm (interval 25 cm). Satu variasi jarak dilakukan percobaan sebanyak 5 kali. Hasil rata-rata error mutlak 1,84 cm (3,67%).
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One technology that is often used in material handling and material transport is forklift. Conventionally, forklift is usually operated by human operators. Forklift can be automated, to make efficiency, in order to improve safety, and occupational health while also reducing the risk of operators from accident. The idea of innovating an unmanned autonomous forklift was created from this problem. A motion control system has been designed in this thesis for prototype unmanned autonomous forklift both in simulation and hardware using PID control method, also the odometry system is equipped with a rotary encoder. The controlled variable is distance and the manipulated variable is the driving force in vehicle. The driving force, on the prototype is regulated using motor pulses. PID control parameters applied to the simulation, Kp = 0.853253789; Ki = 0.256576567; Kd = 0,923253789. Rise time in simulation is 7,46 s; settling time is 23,09 s; trajectory error is 0.28%. PID control parameters applied to the prototype, Kp = 0.97; Ki = 0.3; Kd = 1. The distance test was conducted with a variation of 50 cm to 200 cm (with 25 cm interval). One of distance variation was done by doing experiment 5 times. The average absolute error is 1.84 cm (3.67%).

Item Type:	Thesis (Other)
Additional Information:	RSF 629.831 2 Akb r-1 2020
Uncontrolled Keywords:	Material Handling, Material Transport, Unmanned Autonomous Forklift, Rotary Encoder, Odometri, Kontrol PID
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TJ Mechanical engineering and machinery > TJ211.4 Robot motion T Technology > TJ Mechanical engineering and machinery > TJ211.415 Mobile robots T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers 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 and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Reza Maliki Akbar
Date Deposited:	13 Mar 2023 08:05
Last Modified:	13 Mar 2023 08:05
URI:	http://repository.its.ac.id/id/eprint/74545

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