DAFTAR ISI. LEMBAR PENGESAHAN ABSTRAK...i KATA PENGANTAR...ii DAFTAR ISI...v DAFTAR GAMBAR... viii DAFTAR TABEL...xi

DAFTAR ISI

LEMBAR PENGESAHAN ABSTRAK ........................................................................................................i KATA PENGANTAR .......................................................................................ii DAFTAR ISI .....................................................................................................v DAFTAR GAMBAR ...................................................................................... viii DAFTAR TABEL .............................................................................................xi

BAB I PENDAHULUAN 1.1. ..................................................................................................... La tar Belakang.....................................................................................1 1.2. ..................................................................................................... Ru musan Masalah ................................................................................2 1.3. ..................................................................................................... Ba tasan Masalah ..................................................................................3 1.4. ..................................................................................................... Tu juan .................................................................................................4 1.5. ..................................................................................................... M etodologi Penelitian .........................................................................4 1.6. ..................................................................................................... Si stematika Penulisan .........................................................................5

BAB II TINJAUAN PUSTAKA 2.1. ..................................................................................................... M otor DC............................................................................................7 2.1.1. .............................................................................................. Pe ngertian Motor DC ......................................................................7 2.1.2. .............................................................................................. Ke gunaan Motor DC........................................................................8 Irvan Nur Ardiansyah, 2012 Rancang Bangun Pengendali Kecepatan Motor Dc 0,75 Kw 160 Volt Dengan Kontroler Pid Analog Universitas Pendidikan Indonesia | repository.upi.edu

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2.1.3. .............................................................................................. Pri nsip Kerja Motor DC ...................................................................9 2.1.4. .............................................................................................. K onstruksi Motor DC.....................................................................10 2.1.5. .............................................................................................. Je nis-jenis Motor DC......................................................................11 2.1.6. .............................................................................................. Pe ngaturan Kecepatan Motor DC ....................................................12 2.2. ..................................................................................................... Se nsor Optocoupler .............................................................................13 2.3. ..................................................................................................... S CR ...................................................................................................15 2.4. ..................................................................................................... O P-AMP ............................................................................................16 2.4.1. .............................................................................................. Pe ngertian Op-amp .........................................................................16 2.4.2. .............................................................................................. O p-amp Ideal .................................................................................16 2.4.3. .............................................................................................. Pe nguat Diferensial .........................................................................17 2.4.4. .............................................................................................. Di agram Op-amp ............................................................................18 2.4.5. .............................................................................................. In verting .........................................................................................20 2.4.6. .............................................................................................. No n Inverting...................................................................................21 2.4.7. .............................................................................................. Su mmer / Penjumlah .......................................................................22 2.4.8. .............................................................................................. Di fferentiator ..................................................................................22

Irvan Nur Ardiansyah, 2012 Rancang Bangun Pengendali Kecepatan Motor Dc 0,75 Kw 160 Volt Dengan Kontroler Pid Analog Universitas Pendidikan Indonesia | repository.upi.edu

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2.4.9. .............................................................................................. Int egrator ........................................................................................24 2.5. ..................................................................................................... Si stem Kontrol ....................................................................................25 2.6. ..................................................................................................... K ontroler Analog ................................................................................29 2.6.1. .............................................................................................. O n/Off Controller ..........................................................................30 2.6.2. .............................................................................................. Pr oportional Controller ..................................................................33 2.6.3. .............................................................................................. Int egral Controller ..........................................................................36 2.6.4. .............................................................................................. Pr oportional-Integral Controller ....................................................42 2.6.5. .............................................................................................. De rivative Controller .......................................................................45 2.6.6. Proportional-Integral-Derivative Controller (PID Controller)..........................................................................50 2.7. ..................................................................................................... Pe ngaruh PID Controller Pada Sistem Kontrol ....................................52 2.8. ..................................................................................................... Tu ning Kontroler .................................................................................54 2.9. ..................................................................................................... A nalisis Nilai Karakteristik Sistem .....................................................55

BAB III PERANCANGAN DAN PEMBUATAN ALAT 3.1. ..................................................................................................... Fl ow Chart Perancangan dan Pembuatan Alat .....................................59 3.2. ..................................................................................................... Pe rancangan Sistem .............................................................................60


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3.3. ..................................................................................................... Pe rancangan dan Pembuatan Power Supply ±15 Volt DC ....................61 3.4. ..................................................................................................... Pe rancangan dan Pembuatan Kontroler PID.........................................63 3.5. ..................................................................................................... Pe rancangan dan Pembuatan Driver Motor ..........................................70 3.6. ..................................................................................................... Pe rancangan dan Pembuatan Sensor Optocoupler ................................72 3.7. ..................................................................................................... M otor DC 0,75 KW.............................................................................74

BAB IV HASIL DAN PEMBAHASAN 4.1. ..................................................................................................... Pe ngujian dan Pengukuran ...................................................................77 4.1.1. .............................................................................................. Pe ngujian Power Supply .................................................................77 4.1.2. .............................................................................................. Pe ngujian Sensor Optocoupler ........................................................79 4.1.3. Pengujian Kontroler PID dengan KP = 10, Ki = 1 KD = 10 pada Pembebanan Kontinyu dengan Beban Resistif .....................81 4.2. ..................................................................................................... Ha sil Pengujian dan Pengukuran ..........................................................84 4.2.1. .............................................................................................. Ha sil Pengujian dan Pengukuran Power Supply ...............................84 4.2.2. .............................................................................................. Ha sil Pengujian dan Pengukuran Sensor Optocoupler......................87 4.2.3. Hasil Pengujian dan Pengukuran Kontroler PID dengan KP = 10, Ki = 1, KD = 10 pada Pembebanan Kontinyu dengan Beban Resistif .................................................................88 4.3. ..................................................................................................... Pe mbahasan .........................................................................................90 Irvan Nur Ardiansyah, 2012 Rancang Bangun Pengendali Kecepatan Motor Dc 0,75 Kw 160 Volt Dengan Kontroler Pid Analog Universitas Pendidikan Indonesia | repository.upi.edu

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4.3.1. .............................................................................................. Pe mbahasan Power Supply .............................................................90 4.3.2. .............................................................................................. Pe mbahasan Sensor Optocoupler ....................................................91 4.3.3. .............................................................................................. Pe mbahasan Kontroler PID .............................................................92

BAB V KESIMPULAN DAN SARAN 5.1. ..................................................................................................... Ke simpulan ..........................................................................................93 5.2. ..................................................................................................... Sa ran ...................................................................................................94

DAFTAR PUSTAKA ........................................................................................95 LAMPIRAN

DAFTAR GAMBAR

Gambar 2.1. Motor DC .....................................................................................7 Gambar 2.2. Kaidah Tangan Kiri Flemming .......................................................9 Irvan Nur Ardiansyah, 2012 Rancang Bangun Pengendali Kecepatan Motor Dc 0,75 Kw 160 Volt Dengan Kontroler Pid Analog Universitas Pendidikan Indonesia | repository.upi.edu

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Gambar 2.3. Prinsip Kerja Motor DC .................................................................9 Gambar 2.4. Rangkaian Motor DC Penguat Terpisah .........................................11 Gambar 2.5. Penguat Diferensial ........................................................................18 Gambar 2.6. Diagram Blok Op-amp ..................................................................19 Gambar 2.7. Skematik Diagram Simbol Op-amp................................................19 Gambar 2.8. Inverting Amplifier.........................................................................21 Gambar 2.9. Non Inverting Amplifier .................................................................21 Gambar 2.10. Rangkaian Penjumlah dengan Hasil Negatif .................................22 Gambar 2.11. Rangkaian Differential Op-amp ...................................................23 Gambar 2.12. Rangkaian Integrator Op-amp Sederhana .....................................25 Gambar 2.13. Diagram Blok Sistem Lup Tertutup..............................................26 Gambar 2.14. Diagram Blok Sistem Kontrol Lup Terbuka .................................26 Gambar 2.15. Sistem Kontrol Otomatis ..............................................................27 Gambar 2.16. Kurva Transfer On / Off Controller ..............................................31 Gambar 2.17. On / Off Controller ......................................................................32 Gambar 2.18. Kurva Transfer Kontrol Proporsional ...........................................33 Gambar 2.19. Kontroler Proporsional .................................................................34 Gambar 2.20. Hubungan Input / Output dari Integral Controller ........................37 Gambar 2.21. Op-amp Integrator .......................................................................39 Gambar 2.22. Integral Controller.......................................................................40 Gambar 2.23. Parallel Proportional-Integral Controller ....................................42 Gambar 2.24. Series Proportional-Integral Controller .......................................44 Gambar 2.25. Hubungan Input / Output dari Derivative Controller ....................46


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Gambar 2.26. Basic Op-amp Differentiator ........................................................47 Gambar 2.27. Practical Differentatior................................................................49 Gambar 2.28. Proportional-Integral-Derivative Controller (PID Controller) ..........................................................................51 Gambar 2.29. Karakteristik Respon Dinamis ......................................................57 Gambar 3.1. Flow Chart Perancangan dan Pembuatan Alat ...............................59 Gambar 3.2. Diagram Blok Pengendali Kecepatan Motor DC ............................60 Gambar 3.3. Rangkaian Power Supply ±15 Volt DC ..........................................61 Gambar 3.4. Realisasi Power Supply ±15 Volt DC ............................................63 Gambar 3.5. Rangkaian Kontroler PID Analog Menggunakan Op-amp ..............64 Gambar 3.6. Rangkaian Error Detector..............................................................64 Gambar 3.7. Rangkaian Kontroler PID ...............................................................66 Gambar 3.8. Realisasi Kontroler PID Menggunakan Op-amp .............................70 Gambar 3.9. Rangkaian Driver Motor ................................................................71 Gambar 3.10. Realisasi Driver Motor.................................................................72 Gambar 3.11. Transformator Step Down dan Dioda Bridge ................................72 Gambar 3.12. Rangkaian Sensor Optocoupler ....................................................73 Gambar 3.13. Realisasi Rangkaian Sensor Optocoupler .....................................74 Gambar 3.14. Motor DC 0,75 KW MIKI PULLEY ............................................76 Gambar 4.1. Rangkaian Pengujian Power Supply +15 Volt to CT ......................78 Gambar 4.2. Rangkaian Pengujian Power Supply -15 Volt to CT .......................78 Gambar 4.3. Rangkaian Pengujian Sensor Optocoupler......................................80 Gambar 4.4. Realisasi Pengujian Sensor Optocoupler ........................................80


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Gambar 4.5. Rangkaian Pengujian Kontroler PID pada Beban Kontinyu dengan Beban Resistif ...................................................................82 Gambar 4.6. Realisasi Pengujian Kontroler PID .................................................83 Gambar 4.7. Kapasitor .......................................................................................83 Gambar 4.8. Beban Resistif ................................................................................84 Gambar 4.9. Realisasi Hasil Pengujian Power Supply +15 Volt to CT ................85 Gambar 4.10. Realisasi Hasil Pengujian Power Supply -15 Volt to CT ...............86 Gambar 4.11. Grafik Hasil Pengukuran Sensor Optocoupler ..............................87 Gambar 4.12. Grafik N(RPM) Terhadap VL ......................................................89 Gambar 4.13. Grafik Vf Terhadap Vsp...............................................................89

DAFTAR TABEL

Tabel 2.1. Parameter Op-amp .............................................................................20 Tabel 2.2. Respon PID Controller Terhadap Perubahan Konstanta .....................52


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Tabel 4.1. Hasil Pengukuran Power Supply +15 Volt to CT ...............................85 Tabel 4.2. Hasil Pengukuran Power Supply -15 Volt to CT ................................86 Tabel 4.3. Hasil Pengukuran Sensor Optocoupler...............................................87 Tabel 4.4. Hasil Pengukuran Kontroler PID dengan Beban Kontinyu .................88


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DAFTAR ISI. LEMBAR PENGESAHAN ABSTRAK...i KATA PENGANTAR...ii DAFTAR ISI...v DAFTAR GAMBAR... viii DAFTAR TABEL...xi

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