Sistem Kendali PID untuk Pengendalian Kecepatan Motor Penggerak Unmanned Ground Vehicle untuk Aplikasi Industri Pertanian

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Published Nov 7, 2017
DOI https://doi.org/10.20895/infotel.v9i4.253

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Widagdo Purbowaskito
Universitas Atma Jaya Yogykarta
Chung-Hao Hsu
Sirindhorn International Institute of Technology, Thammasat University

Abstract

Saat ini, penelitian terhadap penggunaan UGV dalam bidang industri pertanian dilakukan secara intensif. UGV dapat diaplikasikan dalam bidang industri pertanian dikarenakan operasinya yang fleksibel dan bentuknya yang sesuai dengan kondisi pada lahan pertanian. Salah satu faktor penting dalam pengoperasian UGV di lahan pertanian adalah pengendalian kecepatan geraknya. Kecepatan gerak UGV secara langsung ditentukan oleh kecepatan sudut dari motor dc yang digunakan sebagai tenaga penggerak pada roda-roda UGV. Artikel ini akan mendeskripsikan mengenai perancangan sistem kendali untuk mengendalikan kecepatan motor dc penggerak pada roda UGV. Pengendalian UGV ini dirancang menggunakan sistem kendali PID dimana berdasarkan metode trial dan eror dihasilkan nilai gain persamaan PID sebagai berikut KP = 0.03, KI = 0.0000001, dan KD = 0.005. Kecepatan UGV pada penelitian ini diuji dengan menggunakan dua input perintah kecepatan sudut dalam pemrogramannya. Berdasarkan pengujian sistem kendali menggunakan input 5500 RPM dan 4500 RPM diperoleh hasil bahwa UGV dapat bergerak pada jalur lurus dengan kecepatan yang konstan dengan nilai 0.528 m/s dan 0.431 m/s. Input perintah pada program berupa nilai RPM pada persamaan sistem kendali menghasilkan pengendalian motor dc yang tepat dibandingkan input program berupa nilai PWM secara langsung untuk menggoperasikan motor dc.

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How to Cite
[1]
W. Purbowaskito and C.-H. Hsu, “Sistem Kendali PID untuk Pengendalian Kecepatan Motor Penggerak Unmanned Ground Vehicle untuk Aplikasi Industri Pertanian”, INFOTEL, vol. 9, no. 4, pp. 376-381, Nov. 2017.
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Vol 9 No 4 (2017): November 2017
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Articles
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