Sistem Pengereman Otomatis Pada Automated Guided Vehicle Menggunakan Metode Fuzzy Logic Di PT Panggung Electric Citrabuana

Zaenal, Mochamad (2024) Sistem Pengereman Otomatis Pada Automated Guided Vehicle Menggunakan Metode Fuzzy Logic Di PT Panggung Electric Citrabuana. Diploma thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Perusahaan Panggung Electric Citrabuana menerapkan AGV pada proses distribusi kardus packing barang elektronik dari gudang ke tempat pengemasan. Penerapan AGV pada perusahaan memiliki kendala yaitu robot yang menabrak benda ketika ada halangan disekitarnya. Oleh karena itu, diperlukan sistem pengereman otomatis ketika ada halangan menggunakan metode fuzzy logic agar robot dapat mengurangi kecepatan dan dapat berhenti pada jarak yang aman. Pada Proyek Akhir ini mempelajari pengaruh jarak halangan terhadap perubahan kecepatan motor DC menggunakan metode fuzzy logic. Penerapan metode fuzzy logic dilakukan karena metode ini digunakan untuk menentukan nilai kecepatan yang dinamis berdasarkan nilai jarak halangan. Pengujian sensor ultrasonik sisi depan, kanan dan kiri didapatkan akurasi pengukuran sebesar 98,64%, 98,64%, dan 98,35%. Dari hasil implementasi logika fuzzy pada sistem pengereman otomatis pada AGV didapat pengurangan kecepatan dari 50,63 RPM ke 10 RPM, ketika sensor ultrasonik mendeteksi halangan pada jarak 200cm ke 15 cm. Hasil integrasi sistem pengereman otomatis dengan sistem PID kendali motor DC didapat penurunan kecepatan dari 55 RPM ke 0 RPM, ketika sensor ultrasonik mendeteksi halangan pada jarak 200cm ke 16cm. Pengujian ini menunjukkan bahwa fuzzy logic dapat mengurangi kecepatan motor DC ketika ada halangan sampai berhenti sebelum berbenturan dengan halangan.
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Panggung Electric Citrabuana Company applies AGV in the distribution process of cardboard packaging for electronic goods from the warehouse to the packaging site. The application of AGVs in companies has problems, namely robots that crash into objects when there are obstacles around them. Therefore, an automatic braking system is needed when there is an obstacle using the fuzzy logic method so that the robot can reduce speed and stop at a safe distance. In this final project, we study the effect of obstacle distance on changes in DC motor speed using the fuzzy logic method. The application of the fuzzy logic method is carried out because this method is used to determine dynamic speed values based on obstacle distance values. Testing the front, right and left side of the ultrasonic sensor obtained measurement accuracy of 98.64%, 98.64% and 98.35%. From the results of implementing fuzzy logic in the automatic braking system on the AGV, it was found that the speed was reduced from 50.63 RPM to 10 RPM, when the ultrasonic sensor detected an obstacle at a distance of 200cm to 15 cm. The results of the integration of the automatic braking system with the PID DC motor control system showed a decrease in speed from 55 RPM to 0 RPM, when the ultrasonic sensor detected an obstacle at a distance of 200cm to 16cm. This test shows that fuzzy logic can reduce the speed of a DC motor when there is an obstacle until it stops before colliding with the obstacle.

Item Type:	Thesis (Diploma)
Uncontrolled Keywords:	AGV, Fuzzy Logic, Pengereman Otomatis, Pengurangan Kecepatan, RPM, Automatic Braking, Speed Reduction
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK4055 Electric motor T Technology > TL Motor vehicles. Aeronautics. Astronautics T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions:	Faculty of Vocational > 36304-Automation Electronic Engineering
Depositing User:	Mochamad Zaenal
Date Deposited:	24 Sep 2024 07:10
Last Modified:	24 Sep 2024 07:10
URI:	http://repository.its.ac.id/id/eprint/115672

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