Kendali Kecepatan Motor Servo Pada Robot Linear 2-Axis Auto Washing Dengan Metode Proportional Integral

Seno, Bimo Aryo (2026) Kendali Kecepatan Motor Servo Pada Robot Linear 2-Axis Auto Washing Dengan Metode Proportional Integral. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Robot linear 2-axis auto washing digunakan untuk meningkatkan konsistensi tingkat kebersihan pada proses pencucian baterai otomotif setelah melalui tahapan charging. Sistem ini memanfaatkan motor servo sebagai aktuator utama untuk diatur kecepatannya sehingga proses pembersihan lebih cepat. Namun, pada tahap pengembangan sistem, ditemukan bahwa kecepatan aktual motor servo belum mampu memenuhi kebutuhan operasional yang diharapkan, sehingga berdampak pada tidak tercapainya target waktu siklus (cycle time) yang telah ditetapkan oleh perusahaan. Berdasarkan data hasil pengujian, diperoleh nilai cycle time untuk masing-masing tipe ukuran baterai, yaitu tipe B19 sebesar 6,72 detik, B20 sebesar 7,39 detik, B24 sebesar 7,77 detik, D23 sebesar 7,79 detik, dan D26 sebesar 8,06 detik, di mana seluruh nilai tersebut belum mencapai target perusahaan sebesar 5,5 detik untuk setiap tipe. Kemudian, dengan dilakukannya perbaikan parameter kendali kecepatan menghasilkan penurunan nilai undershoot pada sistem kecepatan. Respons kecepatan servo pasca improvement mampu mengejar target kecepatan dengan capaian berkisar antara 93,1% hingga 100,45% dari setpoint 7.120 r/min di pergerakan maju maupun mundur axis 1 dan axis 2. Penerapan parameter kendali PI berkorelasi terhadap berkurangnya cycle time proses auto washing. Cycle time proses washing baterai berhasil dipangkas hingga memenuhi target perusahaan 5,5 detik (dengan toleransi 5 persen), yaitu menjadi 5,73 detik untuk baterai tipe B19, 5,20 detik untuk baterai tipe B20, 5,42 detik untuk baterai tipe B24, 5,32 detik untuk baterai tipe D23, dan 5,52 detik untuk baterai tipe D26, dengan rata-rata reduksi waktu siklus mencapai 31,4%.
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The 2-axis linear auto washing robot is used to increase the consistency of cleanliness level in the automotive battery washing process after passing through the charging phase. This system utilizes a servo motor as the main actuator whose speed is regulated to accelerate the cleaning process. However, during the system development stage, it was found that the actual speed of the servo motor was unable to meet the expected operational requirements, resulting in the failure to achieve the company target cycle time. Based on test data, the cycle times obtained for each battery size type were 6.72 seconds for B19, 7.39 seconds for B20, 7.77 seconds for B24, 7.79 seconds for D23, and 8.06 seconds for D26, all of which failed to meet the company target of 5.5 seconds per type. Subsequently, implementing speed control parameter improvements resulted in a reduction of undershoot in the speed system. The post-improvement servo speed response successfully reached the speed target, achieving between 93.1% and 100.45% of the 7,120 r/min setpoint in both forward and reverse movements for axis 1 and axis 2. The application of PI control parameters correlates with the reduction in cycle time for the auto washing process. The battery washing cycle time was successfully trimmed to meet the company 5.5 second target (with a 5 percent tolerance), reaching 5.73 seconds for B19, 5.20 seconds for B20, 5.42 seconds for B24, 5.32 seconds for D23, and 5.52 seconds for D26, with an average cycle time reduction of 31.4%.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Robot Linear, Kendali, Cycle time, Linear Robot, Control.
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering systems. Automatic machinery (General) T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers
Divisions:	Faculty of Vocational > 36304-Automation Electronic Engineering
Depositing User:	Bimo Aryo Seno
Date Deposited:	05 Aug 2026 02:31
Last Modified:	05 Aug 2026 02:31
URI:	http://repository.its.ac.id/id/eprint/144015

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