Sistem Kontrol Kecepatan Motor pada Automated Guided Vehicle di Track Sub Assy Engine Menggunakan Metode PID

Ismed, Fachri Mohammad (2024) Sistem Kontrol Kecepatan Motor pada Automated Guided Vehicle di Track Sub Assy Engine Menggunakan Metode PID. Diploma thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Penelitian ini membahas permasalahan pada sistem kontrol kecepatan motor Automated Guided Vehicle (AGV) yang menggunakan set point PWM (Pulse Width Modulation) untuk mengatur kecepatan motor. Kondisi ini menyebabkan AGV melaju lebih cepat ketika tidak membawa beban seperti engine mobil, karena ketidakmampuan sistem PWM dalam menyesuaikan kecepatan berdasarkan variasi beban. Solusi yang diusulkan adalah menggunakan metode kontrol PID (Proportional-Integral-Derivative) sehingga set point dapat diatur sesuai dengan RPM yang ditentukan, untuk penyesuaian kecepatan yang lebih akurat dan stabil. Metode tuning Ziegler-Nichols digunakan untuk menentukan parameter PID. Penggunaan PID dengan tuning Ziegler-Nichols, memperoleh parameter PID optimal sebagai berikut: untuk motor kanan, Kp=3, Ki=5,99, Kd=0,37, dan untuk motor kiri, Kp=2,88, Ki=5,23, Kd=0,39. Ketika menggunakan beban Engine Mobil yang diletakkan pada robot AGV, didapatkan sebuah respon sistem kecepatan putar motor yang dapat mencapai set point kecepatan dengan overshoot hingga 63 RPM atau sebesar 26%, rise time 1s dan settling time selama 3,5s dengan nilai steady-state error hingga 2,41% atau dibawah 5%. Hasil ini menjadi dasar pengembangan lebih lanjut guna mengoptimalkan kinerja AGV, sehingga menghasilkan efisiensi operasional dan stabilitas sistem secara keseluruhan. =================================================================================================================================
This research discusses the problem of Automated Guided Vehicle (AGV) motor speed control system that uses PWM (Pulse Width Modulation) set point to regulate motor speed. This condition causes the AGV to go faster when it is not carrying a load such as a car engine, due to the inability of the PWM system to adjust the speed based on load variations. The proposed solution is to use the PID (Proportional-Integral-Derivative) control method so that the set point can be set according to the specified RPM, for more accurate and stable speed adjustment. The Ziegler-Nichols tuning method is used to determine the PID parameters. The use of PID with Ziegler-Nichols tuning, obtained the optimal PID parameters as follows: for the right motor, Kp=3, Ki=5.99, Kd=0.37, and for the left motor, Kp=2.88, Ki=5.23, Kd=0.39. When using the Car Engine load placed on the AGV robot, a motor rotational speed system response is obtained that can reach the speed set point with an overshoot of up to 63 RPM or 26%, a rise time of 1s and a settling time of 3.5s with a steady-state error value of up to 2.41% or below 5%. These results form the basis for further development to optimize AGV performance, resulting in operational efficiency and overall system stability.

Item Type:	Thesis (Diploma)
Uncontrolled Keywords:	Automated Guided Vehicle (AGV), Revolution per Minute (RPM), Pulse Width Modulation (PWM), kecepatan motor, Sistem Kontrol Kecepatan, Motor speed, Speed Control System.
Subjects:	T Technology > T Technology (General) T Technology > T Technology (General) > T55 Industrial Safety T Technology > T Technology (General) > T58.8 Productivity. Efficiency T Technology > T Technology (General) > T59.7 Human-machine systems.
Divisions:	Faculty of Vocational > 36304-Automation Electronic Engineering
Depositing User:	Fachri Mohammad Ismed
Date Deposited:	13 Sep 2024 05:38
Last Modified:	13 Sep 2024 05:38
URI:	http://repository.its.ac.id/id/eprint/115625

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