DAFTAR ISI
COVER.....................................................................................................................i LEMBAR PENGESAHAN PEMBIMBING ......... Error! Bookmark not defined. LEMBAR PERNYATAAN KEASLIAN .............................................................. iii LEMBAR PENGESAHAN PENGUJI .................................................................. iv HALAMAN PERSEMBAHAN ............................................................................. v HALAMAN MOTTO ............................................................................................ vi KATA PENGANTAR .......................................................................................... vii ABSRAKSI ............................................................................................................ ix DAFTAR ISI ........................................................................................................... x DAFTAR GAMBAR ........................................................................................... xiii DAFTAR TABEL ............................................................................................... xvii BAB I PENDAHULUAN ....................................................................................... 1 1.1 Latar Belakang ............................................................................................ 1 1.2 Perumusan Masalah ..................................................................................... 2 1.3 Batasan Masalah .......................................................................................... 2 1.4 Tujuan Penelitian......................................................................................... 3 1.5 Sistematika Penulisan .................................................................................. 3 BAB II TINJAUAN PUSTAKA............................................................................. 5
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2.1. Tinjauan Pustaka ......................................................................................... 5 2.2. Segway Mini Balancing Robot Dua Roda, Skuter Transfortasi dan Pendulum Terbalik ...................................................................................... 7 2.3 Perancangan Algoritma Kendali Proportional Integral Derivative .......... 10 2.3.1 Kendali Proportional ......................................................................... 10 2.3.2 Kendali Integral ................................................................................. 11 2.3.3 Kendali Derivative ............................................................................. 12 2.4 Perangkat Keras (Hardware) .................................................................... 14 2.4.1 Mikrokontroler (ATmega16) .............................................................. 14 2.4.2 Sensor Accelerometer MMA7361 ...................................................... 17 2.4.3 Aktuator (Penggerak) ......................................................................... 21 BAB III PERANCANGAN SISTEM ................................................................. 26 3.1. Perancangan Sistem................................................................................... 26 3.2. Perancangan Perangkat Keras ................................................................... 28 3.2.1. Perancangan Mekanik Robot ............................................................. 28 3.2.2 Perancangan Elektronis Robot ........................................................... 30 3.3. Perancangan Perangkat Lunak (Software) ................................................ 47 3.3.1. Perancangan Algoritma Kendali PID dengan software BASCOM AVR....................................................................................................47
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3.3.2. Pengambilan data kendali PID menggunakan software MATLAB 2009.................................................................................................... 49 BAB IV PENGUJIAN DAN ANALISIS ............................................................. 52 4.1. Pengujian Perangkat Keras (Hardware) ................................................... 53 4.1.1. Pengujian Perubahan nilai ADC dan Sudut Kemiringan Robot. ....... 53 4.1.2. Pengujian Perbandingan Pengukuran Sudut pada Sensor Accelerometer MMA7361 dengan Sudut Aktual pada Busur...................................................................................................57 4.1.3. Pengujian Driver Motor DC H-bridge ............................................... 58 4.1.4. Pengujian Sistem Minimum Mikrokontroler ATmega16...... ............. 61 4.2. Pengujian Perangkat Lunak (Software) ..................................................... 63 4.2.1. Pengujian Penentuan Nilai Parameter Kendali Proportional Integral Derivative............................................................................................64 4.2.2. Pengujian Sinyal kendali PID Tanpa Gangguan dan Terhadap Gangguan............................................................................................69 BAB V PENUTUP.................................................................................................72 5.1 Kesimpulan................................................................................................ 72 5.2 Saran .......................................................................................................... 73 DAFTAR PUSTAKA............................................................................................74 LAMPIRAN
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DAFTAR GAMBAR
Gambar 2.1
Pendulum Terbalik pada sebuah kereta beroda.................................7
Gambar 2.2
Segway T.......................................................................................... 8
Gambar 2.3
Cara kerja balancing robot................................................................8
Gambar 2.4
Prototype segway mini balancing robot dua roda ..........................10
Gambar 2.5
Diagram blok kendali proportional.................................................11
Gambar 2.6
Diagram blok kendali integral....................................................... 11
Gambar 2.7
Diagram blok kendali derivative.................................................... 12
Gambar 2.8
Diagram blok kendali PID..............................................................13
Gambar 2.9
Diagram blok close loop kendali PID pada balancing robot......... 13
Gambar 2.10 Pin-pin ATmega16 (datasheet ATmega16).....................................15 Gambar 2.11 Sensor accelerometer MMA7361.................................................. 18 Gambar 2.12 Dynamic acceleration.................................................................... 19 Gambar 2.13 Static acceleration...........................................................................20 Gambar 2.14 Bagan mekanisme kerja motor DC magnet permanen ...................22 Gambar 2.15 Cara kerja pembalikan polaritas driver DC motor Hbridge............23 Gambar 2.16 PWM (Pulse Width Modulation).................................................... 23 Gambar 2.17 Duty Cycle....................................................................................... 24 Gambar 2.18 Mekanisme sinyal PWM untuk mangatur tegangan output pada motor DC........................................................................................ 24 Gambar 3.1
Blok diagram sistem pada prototype segway mini balancing robot dua roda................................................................................ 26
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Gambar 3.2
Desain rancang bangun prototype segway mini balancing robot dua roda tampak depan........................................................ 29
Gambar 3.3
Ilustrasi cara kerja prototype segway mini balancing robot dua roda......................................................................................... 29
Gambar 3.4
Rangkaian skematik sistem minimum mikrokontroler ATmega16...................................................................................... 31
Gambar 3.5
Rangkaian skematik catu daya mikrokontroler ATmega16............ 33
Gambar 3.6
Rangkaian skematik catu daya sensor accelerometer MMA7361.. 34
Gambar 3.7
Rangkaian skematik osilator........................................................... 35
Gambar 3.8
Rangkaian skematik tombol reset................................................... 35
Gambar 3.9
Rangkaian skematik LCD (Liquid Crystal Display)...................... 36
Gambar 3.10 Gambar maksimal pengukuran sudut X(Roll) pada sensor accelerometer MMA7361.............................................................. 37 Gambar 3.11 Rangkaian skematik konfigurasi sensor accelerometer MMA7361 pada mikrokontroler................................................... 40 Gambar 3.12 Sensor accelerometer MMA7361................................................... 41 Gambar 3.13 Rangkaian skematik perancangan driver motor DC H-bridge....... 42 Gambar 3.14 Motor Dc......................................................................................... 44 Gambar 3.15 Perancangan komunikasi serial manggunakan ICMAX RS232..... 45 Gambar 3.16 Hasil perancangan keseluruahan prototype segway mini balancing robot dua roda tampak depan dan tampak samping...... 46 Gambar 3.17 Diagram blok pengendali PID pada balancing robot......................47 Gambar 3.18 Blok simulink matlab penampil data grafik respon kendali PID.... 50
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Gambar 3.19 Pengaturan baudrate komputer, matlab 2009, dan baudrate Robot..............................................................................................50 Gambar 3.20 Flowchart pemrograman balancing robot.......................................51 Gambar 4.1
Prototype segway mini balancing robot dua roda.......................... 52
Gambar 4.2
Hasil pengujian nilai ADC dan perubahan sudut kemiringan robot saat tegak lurus.............................................................................. 53
Gambar 4.3
Hasil pengujian tegangan keluaran sensor accelerometer MMA7361 pada saat robot tegak lurus..........................................54
Gambar 4.4
Hasil pengujian nilai ADC dan perubahan sudut kemiringan robot saat robot dimiringkan pada arah negatif ......................................54
Gambar 4.5
Hasil pengujian tegangan keluaran sensor accelerometer MMA7361 pada arah negatif saat robot dimiringkan -36 derajat............................................................................................ 54
Gambar 4.6
Hasil pengujian nilai ADC dan perubahan sudut kemiringan robot saat robot dimiringkan pada arah positif........................................55
Gambar 4.7 Hasil pengujian tegangan keluaran sensor accelerometer MMA7361 pada arah positif saat robot dimiringkan 34 derajat.......................55 Gambar 4.8
Pengujian arah positif dan negatif pada perbandingan pengukuran sensor accelerometer MMA7361 terhadap sudut aktual pada busur...............................................................................................57
Gambar 4.9
Pengujian pengukuran rangkaian catu daya sistem minimum mikrokontroler ATmega16 (A), sensor accelerometer MMA 7361 (B), dan driver motor H-bridge (C)................................................62
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Gambar 4.10 Proses pengujian pengambilan data kendali PID ...........................63 Gambar 4.11 Grafik respon konfigurasi 1 pada sudut kemiringan robot dengan kendali PID....................................................................................64 Gambar 4.12. Grafik respon konfigurasi 2 pada sudut kemiringan robot dengan kendali PID....................................................................................65 Gambar 4.13 Grafik respon konfigurasi 3 pada sudut kemiringan robot dengan kendali PID....................................................................................66 Gambar 4.14 Grafik respon konfigurasi 4 pada sudut kemiringan robot dengan kendali PID....................................................................................67 Gambar 4.15 Grafik respon kendali PID tanpa ganguan.....................................69 Gambar 4.16 Grafik respon kendali PID terhadap gangguan .............................70
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DAFTAR TABEL
Tabel 2.1 Karakteristik penambahan nilai Pengendali P, I dan D........................14 Tabel 2.2 Spesifikasi sensor accelerometer MMA7361.......................................18 Tabel 3.1 Cara konfigurasi driver motor DC H-Bridge........................................44 Tabel 4.1 Hasil data keseluruhan nilai ADC dan perubahan sudut kemiringan robot saat tegangan output dari sensor accelerometer MMA7361 berubah..................................................................................................55 Tabel 4.2 Hasil data keseluruhan pada pengujian perbandingan sensor accelerometer MMA7361 terhadap sudut aktual pada busur...............58 Tabel 4.3 Hasil pengujian arah putaran motor......................................................59 Tabel 4.4 Hasil pengujian kecepatan motor DC...................................................60 Tabel 4.5 Hasil pengukuran level tegangan..........................................................62 Tabel 4.6 Hasil data dari masing-masing konfigurasi pengujian kendali PID.....68
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