Implementasi Kontrol Torsi Motor Servo Menggunakan Metode PI pada Sistem Automatic Pallet Dispenser

Yufrida, Aulia Alfiana (2021) Implementasi Kontrol Torsi Motor Servo Menggunakan Metode PI pada Sistem Automatic Pallet Dispenser. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Teknologi pada sistem paletisasi menggunakan robot telah
berkembang pesat untuk meningkatkan fleksibilitas dan kecepatan
produktifitas. Salah satu yang sedang dikembangkan di PT. Industrial
Robotic Automation (IRA) yaitu Robotic Bag Palletizer. Terdapat
beberapa varian ukuran palet yang digunakan, oleh karena itu pada
subsistem Automatic Pallet Dispenser diperlukan otomatisasi untuk
menyesuaikan ukuran palet.
Untuk memenuhi hal tersebut, diperlukan motor servo AC
dengan menggunakan metode Proposional Integral (PI) dengan Auto
Tuning. Proses tuning dilakukan untuk mengontrol kecepatan motor dan
berhubungan dengan torsi. Selanjutnya torsi dikontrol untuk membatasi
kinerja motor untuk menghimpit palet.
Hasil Auto Tuning PI pada motor servo didapatkan nilai
parameter yang sesuai adalah Kp=63,8 dan Ki=14,9. Kecepatan pada
motor servo berhasil sesuai dengan set point dengan overshoot sebesar
1.6% dan mempercepat settling time selama 94 ms. Hasil kontrol torsi
didapatkan dengan nilai limit torsi maksimum adalah 70% mampu
menghimpit seluruh varian palet dan diperlukan roller limit switch
sebagai sensor tambahan.
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The technology of robotic palletizing systems has developed
rapidly to increase flexibility and speed of productivity. One that is
being developed at PT. Industrial Robotic Automation (IRA), namely
Robotic Bag Palletizer. There are several variants of pallet sizes that
are used, therefore the Automatic Pallet Dispenser subsystem requires
automation to adjust the pallet size.
To fulfill this, an AC servo motor is needed using the Proportional
Integral (PI) method with Auto Tuning. The tuning process is carried
out to control the motor speed and related to torque. Furthermore, the
torque is controlled to limit the performance of the motor for clamping
pallets.
The results of Auto Tuning PI on the servo motor obtained the
appropriate parameter values are Kp = 63,8 and Ki = 14,9. The speed
of the servo motor is successful in accordance with the set point with an
overshoot of 1.6% and accelerates the settling time for 94 ms. Torque
control results are obtained with a maximum torque limit value of 70%
capable of compressing all pallet variants and a roller limit switch is
needed as an additional sensor.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Automatic Pallet Dispenser, Auto Tuning, Control Torque, Kontrol Torsi, Servo Motor, Proposional Integral, Propotional Integral
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ1398 Conveyors T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control. T Technology > TJ Mechanical engineering and machinery > TJ950 Pneumatic machinery T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK2681.O85 Electric motors, Brushless. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK4055 Electric motor T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK6565.P3 Panels T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7871.674 Detectors. Sensors T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL697.P6 Pneumatic equipment
Divisions:	Faculty of Vocational > 36304-Automation Electronic Engineering
Depositing User:	Aulia Alfiana Yufrida
Date Deposited:	24 Aug 2021 14:02
Last Modified:	14 Nov 2024 01:29
URI:	http://repository.its.ac.id/id/eprint/89515

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