Kontrol Proporsional Integral Derivatif (PID) pada Kecepatan Sudut Motor DC dengan Pemodelan Identifikasi Sistem dan Tuning

Abstract

ABSTRAKPenelitian ini mengusulkan tentang sistem kontrol kecepatan sudut Motor Direct Current (DC) menggunakan kontrol Proporsional Integral Derivatif (PID). Pemodelan motor DC menggunakan model identifikasi sistem agar model sistem dapat mendekati sistem sesungguhnya. Data identifikasi sistem adalah nilai masukan tegangan dan nilai keluaran kecepatan sudut. Representasi model adalah model fungsi alih. Nilai kontrol PID didapatkan dengan fitur Tuning PID dengan Matlab. Perangkat penelitian adalah Arduino, sensor encoder, driver motor dan Motor DC. Pada pengujian, kendali motor DC dengan PID mampu untuk mendapatkan respon yang baik dengan nilai respon terbaik, rise time 9,4286 detik, settling time 18,5 detik dan overshoot 2 persen. Nilai variasi PWM untuk memperoleh model dan respon sistem motor DC yang bagus yaitu nilai variasi PWM 5, nilai variasi PWM 10 dan nilai variasi PWM 50, 150, 255. Dengan menggunakan metode ini, proses tuning kontrol PID dapat lebih efektif dan efisien.Kata kunci: Motor DC, Identifikasi Sistem, Kontrol PID, Tuning Matlab, Kecepatan ABSTRACTThis study proposes a direct current (DC) motor angular speed control system using Proportional Integral Derivative (PID) control. DC motor modeling uses a system identification model so that the system model can approach the real system. The system identification data is the input voltage value and the angular velocity output value. Model representation is a transfer function model. PID control values are obtained with the PID Tuning feature with Matlab. The research devices are Arduino, encoder sensor, motor driver and DC motor. In testing, the DC motor control with PID was able to get a good response with the best response value, rise time of 9.4286 seconds, settling time of 18.5 seconds and overshoot 2 percent. The PWM variation values to obtain a good DC motor system model and response are the PWM variation value 5, the PWM variation value 10 and the PWM variation value 50, 150, 255. By using this method, the PID control tuning process can be more effective and efficient.Keywords: DC Motor, System Identification, PID Control, Matlab Tuning, Speed

A Method of Anti-Windup PID Controller for a BLDC-Drive System

“…As we know the control signal 𝑢(𝑡) in PID controller also change because a saturation effect so the formula of control signal is shown in Eq. (7). Where the actuator undergoes saturation, the new control signal is denoted as 𝑢 * (𝑡).…”

“…Recently, numerous advanced control methods have emerged aiming to optimize the design of control systems for Brushless Direct Current (BLDC) motors [6]. Yet, these approaches are often characterized by their inherent complexity, demanding substantial computational resources In contrast, Proportional-Integral-Derivative (PID) control offers a straightforward yet highly effective solution to a wide range of control challenges [7].…”

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

“…Untuk dapat menstabilkan putaran Motor DC diperlukan sebuah pengendali atau kontroller. Umumnya ada dua variabel yang dikendalikan pada motor DC yaitu posisi sudut [13] atau kecepatan sudut [14] [15]. Kendali posisi sudut motor DC membuat motor DC pada berputar pada sudut tertentu contohnya adalah sudut 60 derajat atau sudut 90 derajat.…”

Control of a 2 DOF Elbow Prosthesis prototype

“…For the PID control, an Arduino® nano controller was chosen in this case, the actuator for the flexoextension is a DC with encoder [12], for the pronosupination, a fourth electrical element will be used to realize this control, the driven motor that is an L298N to have a PWM signal that can control the DC motor with encoder and the servomotor is shown in fig 4 . The DC motor converts the electrical power into mechanical power, but there is the main problem in these devices [13], and it is the angular speed control, the solution has some weaknesses, and one of them is that if any slightest have a minimum change in the setpoint will affect the whole system performance [14]. DC motor with encoder to control angular velocity and complement the designed worm transmission's performance as shown in fig.…”