Rasyadan Izzatur Rahman, Alif (2021) Implementasi Sistem Kendali Kecepatan Motor DC Menggunakan Kontroler PID pada Sistem Penekanan Sampah pada Alat Pemadat Sampah Rumah Tangga. Sarjana thesis, Universitas Brawijaya.
Abstract
"Sistem pengelolaan limbah padat yang efektif dan efisien sangat diperlukan untuk menjaga lingkungan kita tetap bersih. Dalam rangka mengurangi timbunan sampah dapat dilakukan dengan cara memadatkan volume sampah sehingga dapat dengan mudah dikelola oleh penyedia layanan pengumpulan sampah. Dengan menggunakan motor DC sebagai aktuator yang terhubung dengan gear dan rantai untuk menggerakkan batang berulir, batang berulir mengubah gerak rotasi motor menjadi gerakan linear untuk menggerakkan pelat penekan yang berfungsi memadatkan sampah rumah tangga, dibutuhkan kecepatan motor DC yang konstan. Kecepatan akan dibaca oleh sensor rotary encoder yang terpasang di belakang motor DC. Kecepatan diatur melalui motor driver dengan mengatur nilai PWM (Pulse Widht Modulation). Pengendalian kecepatan motor DC menggunakan kontroler PID dengan metode tuning Hand Tuning. Didapatkan nilai Kp = 0,116, Ki, = 2,245, dan Kd = 0,015 dengan metode hand tuning. Setelah melakukan pengujian didapatkan nilai settling time rata-rata = 0,73 detik , rise time rata-rata = 0,325 detik , error steady state kurang dari 1%, dan overshoot kurang dari 0,8 %. Dan didapatkan waktu recovery rata-rata 5,38 detik serta overshoot kurang dari 5 % ketika sistem mengalami gangguan. Kata kunci: Motor DC, Trash Compactor, Hand Tuning, PID."
English Abstract
An effective and efficient solid waste management system is necessary to keep our environment clean. In order to reduce waste accumulation, it can be done by compacting the volume of waste so that it can be easily managed by waste collection service providers. By using a DC motor as an actuator connected to a gear and chain to move the threaded rod, the threaded rod changes the rotational motion of the motor into a linear motion to move the pressure plate which functions to compact household waste, a constant DC motor speed is required. The rotational speed of the motor is read by a rotary encoder sensor mounted on the back of the DC motor. Speed is controlled through the motor driver by setting the PWM (Pulse Width Modulation) value. The controller used is the Proportional Integral Derivative (PID) controller. Determination of controller parameters Kp, Ki and Kd is done using the Hand Tuning method and the controller parameter Kp is obtained. Kp = 0.116 ,Ki, = 2.245, and Kd = 0.015. After doing the test, the average settling time value = 0.73 seconds, the average rise time = 0.325 seconds, the steady state error is less than 1%, and the overshoot is less than 0.8%. And the recovery time average is 5,38 second and the overshoot is less than 5% when the system is experiencing problems. Keywords: DC Motor, Trash Compactor, PID, Hand Tuning
Other obstract
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| Item Type: | Thesis (Sarjana) |
|---|---|
| Identification Number: | 621.381 |
| Uncontrolled Keywords: | Motor DC, Trash Compactor, PID, Hand Tuning-- DC Motor, Trash Compactor, PID, Hand Tuning |
| Subjects: | 600 Technology (Applied sciences) > 621 Applied physics > 621.3 Electrical, magnetic, optical, communications, computer engineering; electronics, lighting > 621.38 Electronics, communications engineering > 621.381 Electronics |
| Depositing User: | Unnamed user with email gaby |
| Date Deposited: | 19 Oct 2021 08:29 |
| Last Modified: | 18 Oct 2024 01:38 |
| URI: | http://repository.ub.ac.id/id/eprint/184091 |
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