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. ====================================================================================================== 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: 24 Aug 2021 14:02
URI: https://repository.its.ac.id/id/eprint/89515

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