Desain Fuzzy Logic Cross-Coupling Controller (FLCCC) Dan Pid Controller Untuk Meningkatkan Kontrol Posisi Motor Servo Pada Axis Cnc

Fathurrohman, Muhammad Yusuf (2014) Desain Fuzzy Logic Cross-Coupling Controller (FLCCC) Dan Pid Controller Untuk Meningkatkan Kontrol Posisi Motor Servo Pada Axis Cnc. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

ada setiap motor servo di axis CNC terdapat gangguan berupa beban, gaya gesek, dan faktor-faktor yang lain. Selain pada servo, terdapat gangguan berupa gaya gesek pada rel dan ballscrew axis. Ganguan-gangguan tersebut yang berbeda pada setiap axis menyebabkan pergerakan antar axis tidak sinkron, sehingga mesin CNC tidak presisi. Kontroler Proportional–Integral–Derivatif (PID) digunakan untuk mempercepat respon dan menghilangkan error steady state keluaran masing-masing axis. Kontroler PID diletakkan pada masing-masing axis. Fuzzy Logic Cross-Coupling Controller (FLCCC) digunakan untuk meminimalkan error kontur dan tracking error yang disebabkan oleh perbedaan beban pada tiap axis. FLCCC diletakkan pada persilangan axis. Kontroler PID dan FLCCC dapat menurunkan nilai RMSE sebesar 0.2127 pada kontur linier, 1.2812 pada kontur sirkular, dan 1.0196 pada kontur persegi. Hal ini menunjukkan bahwa kontroler PID dan FLCCC dapat membentuk kontur yang lebih presisi dibandingkan kontroler PID dan CCC.
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On each axis of CNC servo motor, there is disturbances in the form of load, frictional forces, and other factors. In addition to the servo, the disturbances are also a frictional force on the rail and ballscrew axis. Difference disturbances on each axis causes movement between axis out of sync, so it is not a precision CNC machine. Proportional-Integral-Derivative (PID) controller at each axis is expected to speed up the response and eliminating the steady state error output. PID controller is placed on each axis. Fuzzy Logic CrossCoupling Controller (FLCCC) is used to minimize the contour error and the tracking error caused by the difference load on each axis. FLCCC put on the cross axis. PID controller and FLCCC can decrease RMSE value 0.2127 on linier contours, 1.2812 on circular contour, and 1.0196 on square contour. This indicates that the PID controller and FLCCC can make more precise contour than the PID controller and CCC.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	CNC Machine, Cross-Coupling Controller, Fuzzy Logic Controller, PID Controller
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK4055 Electric motor
Divisions:	Faculty of Industrial Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Eko Sulistiono
Date Deposited:	17 Sep 2025 06:51
Last Modified:	17 Sep 2025 06:52
URI:	http://repository.its.ac.id/id/eprint/128271

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