Pengendali Kecepatan Sudut Motor DC Menggunakan Kontrol PID dan Tuning Ziegler Nichols

Authors

DOI:

https://doi.org/10.30595/techno.v23i1.10773

Abstract

Penelitian ini menerapkan pengendali Proporsional Integral Derivatif (PID) untuk mengendalikan kecepatan sudut motor DC dan tuning Ziegler Nichols. Penelitian tidak hanya terbatas simulasi menggunakan Matlab namun juga implementasi ke perangkat keras Arduino. Pengendali PID banyak digunakan karena pengendali ini sederhana dan mudah dalam pengaplikasiannya. Namun terdapat kekurangan dalam menentukan nilai parameter kontroler PID atau disebut dengan Tuning. Metode Tuning merupakan cara untuk mencari konstanta parameter PID, yaitu Proporsional Gain (Kp), Integral Gain (Ki), dan Derivatif Gain (Kd). Umumnya parameter-parameter konstanta tersebut masih ditentukan dengan cara manual yaitu trial and error (coba-coba). Berdasarkan hasil pengujian, metode Ziegler Nichols dapat memberikan respon yang lebih baik dibandingkan dengan metode trial and error. Respon pengendali PID dengan metode trial and error cenderung tidak stabil sementara dengan metode Ziegler Nichols respon sistem lebih stabil. Nilai pengendali PID terbaik yang didapatkan dari penelitian ini yaitu Kp=8,23712, Ki=1,65072, and Kd=0,41268. Hasil pengujian lain menunjukkan bahwa nilai Kp, Ki, dan Kd terbaik yang dihasilkan pada simulai Matlab tidak semuanya memberikan keluaran yang baik pada hardware. Sebaliknya nilai pengendali PID yang mungkin kurang bagus pada simulasi Matlab bisa memberikan keluaran yang baik pada hardware. Hal tersebut bisa terjadi karena model transfer function yang digunakan pada simulasi Matlab tidak sama persis motor DC pada hardware.

Author Biography

Alfian Ma'arif, Universitas Ahmad Dahlan

Alfian Ma’arif (Member, IEEE) received the bachelor’s degree from the Department of Electrical Engineering, Universitas Islam Indonesia, Indonesia, in 2014, and the M.Eng. degree from the Department of Electrical Engineering, Universitas Gadjah Mada, Indonesia, in 2017., Since October 2018, he has been a Lecturer with the Department of Electrical Engineering, Universitas Ahmad Dahlan. He got the Assistance Profesor in 2020. His research interests include control systems and computer programming.

SCOPUS

GOOGLE SCHOLAR

ORCID

SINTA

RESEARCH GATE

PUBLONS

IEEE

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Published

2022-04-27

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Vol. 23 No. 1 (2022): Techno Volume 23 NO.1 April 2022

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Artikel Techno

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