Optimasi Pengendali PID untuk Alat Ukir Kaligrafi pada Mesin Computerized Numerical Control (CNC) berbasis Grey Wolf Optimization

Machrus Ali; Muhammad Agil Haikal; Fresy Nugroho; Tri Mukti Lestari; Dian Maharani; Fuad Dwi Hanggara; Fariz Rifqi Zul Fahmi

doi:10.30595/jrre.v8i1.30266

Authors

Machrus Ali Universitas Darul Ulum
Muhammad Agil Haikal Universitas Darul Ulum
Fresy Nugroho UIN Maulana Malik Ibrahim Malang
Tri Mukti Lestari UIN Maulana Malik Ibrahim Malang
Dian Maharani UIN Maulana Malik Ibrahim Malang
Fuad Dwi Hanggara UIN Maulana Malik Ibrahim Malang
Fariz Rifqi Zul Fahmi UIN Maulana Malik Ibrahim Malang

DOI:

https://doi.org/10.30595/jrre.v8i1.30266

Keywords:

CNC, Grey Wolf Optimization, Kaligrafi, MATLAB/Simulink, PID

Abstract

Kualitas ukiran kaligrafi pada mesin CNC sangat dipengaruhi oleh akurasi pelacakan lintasan sumbu dan stabilitas gerak selama transisi kecepatan, tikungan tajam, dan variasi beban pemotongan. Pengontrol PID banyak digunakan dalam sistem servo CNC, namun penyetelan gain yang tidak tepat dapat meningkatkan kesalahan pelacakan, memperpanjang waktu penyelesaian, dan menyebabkan overshoot yang menurunkan kualitas permukaan. Studi ini mengusulkan penyetelan PID berbasis Grey Wolf Optimization (GWO) yang diimplementasikan dalam MATLAB/Simulink. Fungsi objektif didominasi oleh ITAE dengan penalti pada overshoot, waktu penyelesaian, dan kesalahan keadaan tunak. Selain uji pelacakan langkah dan sinusoidal, jalur alat kaligrafi yang berasal dari kode G (placeholder) disertakan untuk mewakili segmen dengan kelengkungan tinggi. Hasil penelitian menunjukkan bahwa PID yang disetel GWO mengurangi ITAE, meningkatkan waktu penyelesaian dibandingkan penyetelan konvensional, dan menurunkan kesalahan pelacakan RMS pada frekuensi rendah hingga menengah. Alur kerja yang diusulkan bersifat modular dan dapat digantikan oleh model plant yang teridentifikasi dari sumbu CNC nyata.

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