DAFTAR ISI LEMBAR PENGESAHAN DOSEN PEMBIMBING ............................................ i LEMBAR PENGESAHAN DOSEN PENGUJI .................................................... ii HALAMAN PERSEMBAHAN ............................................................................ iii HALAMAN MOTTO ........................................................................................... iv KATA PENGANTAR ............................................................................................ v ABSTRAK ............................................................................................................. vii DAFTAR ISI ......................................................................................................... ix DAFTAR TABEL ................................................................................................. xi DAFTAR GAMBAR ............................................................................................ xii NOMENKLATUR ............................................................................................. xiiv BAB 1 PENDAHULUAN ...................................................................................... 1 1.1 Latar Belakang............................................................................................ 1 1.2 Rumusan Masalah ...................................................................................... 2 1.3 Batasan Masalah ......................................................................................... 2 1.4 Tujuan Penelitian dan Perancangan ............................................................ 3 1.5 Manfaat Penelitian ...................................................................................... 3 1.6 Sistematika Penulisan ................................................................................. 4 BAB 2 TINJAUAN PUSTAKA ............................................................................. 5 2.1 Kajian Pustaka ............................................................................................ 5 2.2 Dasar Teori ................................................................................................. 6 2.2.1 Motor DC ............................................................................................. 6 2.2.2 Sistem Kendali Open-loop................................................................... 8 2.2.3 Sistem Kendali Close-Loop ................................................................. 8 2.2.4 Metode Root Locus ............................................................................ 10 2.2.5 Kendali Umpan-Balik PID ................................................................ 12 2.2.6 Arduino .............................................................................................. 13 2.2.7 Arduino Uno ...................................................................................... 13 2.2.8 Komunikasi Serial ............................................................................. 14 2.2.9 PWM (Pulse Widht Modulation) ....................................................... 15 2.2.10 EncoderLinier .................................................................................... 16 2.2.11 Aktuator ............................................................................................. 17 2.2.12 Ballscrew ........................................................................................... 17 2.2.13 Matlab Simulink Arduino .................................................................. 18 BAB 3 METODOLOGI PENELITIAN ............................................................... 20 3.1 Diagram Alir Penelitian ............................................................................ 20 3.2 Perangkat yang Digunakan ....................................................................... 21 3.2.1 Perangkat Keras ................................................................................. 23 3.2.2 Perangkat Lunak ................................................................................ 29 3.3 Perancangan Perangkat Sistem Kendali Posisi Linier .............................. 32 3.3.1 Instalasi Perangkat Lunak .................................................................. 32 3.3.2 Instalasi Perangkat Keras ................................................................... 34 3.4 Mengidentifikasi Fungsi Transfer pada Obyek Kendali dengan Metode Respon Waktu Orde 1 ................................................................. 38 3.5 Pengujian dan Perbandingan Respon Open-Loop Model Obyek ix
Kendali ..................................................................................................... 42 3.6 Perancangan Kontroler PID dengan Metode Root Locus ......................... 43 3.6.1 Mencari PD Kontroler ....................................................................... 49 3.6.2 Mencari PI dan PID kontroler............................................................ 52 BAB 4 ANALISIS DAN PEMBAHASAN ......................................................... 57 4.1 Hasil Perancangan .................................................................................... 57 4.1.1 Hasil Perancangan Perangkat Lunak ................................................. 57 4.1.2 Hasil Perancangan Perangkat Keras .................................................. 59 4.1.3 Hasil Perancangan Kontroler ............................................................. 59 4.2 Pengujian Sistem ...................................................................................... 60 4.2.1 Pengujian Respon Sistem pada saat Open-Loop tanpa Kontroler ..... 60 4.2.2 Pengujian Respon Sistem pada saat Close-Loop tanpa Kontroler ..... 62 4.2.3 Pengujian Respon Sistem dengan Kontroler PID pada Posisi 0.5 cm ................................................................................................ 62 4.2.4 Pengujian Respon Sistem dengan Kontroler PID pada Posisi 1 cm. .................................................................................................. 64 4.2.5 Pengujian Respon Sistem dengan Kontroler PID pada Posisi 1.5 cm. ............................................................................................... 67 4.2.6 Pengujian Respon Sistem dengan Kontroler PID pada Posisi 2 cm. .................................................................................................. 69 4.2.7 Pengujian Respon Sistem dengan Kontroler PID pada Posisi 2.5 cm. ............................................................................................... 71 4.2.8 Perbandingan Pengujian Respon Sistem pada Seluruh Set Point ...... 72 4.3 Analisis dan Pembahasan ......................................................................... 75 4.3.1 Analisis Sistem secara Keseluruhan .................................................. 75 4.3.2 Analisis Kontroler.............................................................................. 76 4.3.3 Analisis Pengujian Respon Sistem secara Keseluruhan .................... 76 BAB 5 PENUTUP ................................................................................................ 79 5.1 Kesimpulan ............................................................................................... 79 5.2 Saran ......................................................................................................... 80 Daftar Pustaka ...................................................................................................... 81
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DAFTAR TABEL Tabel 2.1 Parameter pembeda penelitian sebelumnya & yang akan dilakukan ... 7 Tabel 3.1 Pin pada encoder linier ....................................................................... 36 Tabel 3.2 Encoder pin ke SN75175 pin ............................................................. 37 Tabel 3.3 SN75175 pin ke Arduino pin .............................................................. 37 Tabel 3.4 Data-data uncompensated system ....................................................... 47 Tabel 3.5 Data-data proportional compensated system...................................... 49 Tabel 3.6 Data-data PD compensated system ..................................................... 52 Tabel 3.7 Data-data PID compensated system.................................................... 54 Tabel 3.8 Perbandingan data-data P, PD & PID ................................................ 56 Tabel 4.1 Perbandingan data-data P, PD & PID ................................................ 59 Tabel 4.2 Nilai error steady state pada posisi 0.5 cm ........................................ 65 Tabel 4.3 Nilai settling time pada posisi 0.5 cm ................................................. 65 Tabel 4.4 Nilai error steady state pada posisi 1 cm ........................................... 67 Tabel 4.5 Nilai settling time pada posisi 1 cm .................................................... 68 Tabel 4.6 Nilai error steady state pada posisi 1.5 cm ........................................ 70 Tabel 4.7 Nilai settling time pada posisi 1.5 cm ................................................. 70 Tabel 4.8 Nilai error steady state pada posisi 2 cm ........................................... 72 Tabel 4.9 Nilai settling time pada posisi 2 cm .................................................... 73 Tabel 4.10 Nilai error steady state pada posisi 2.5 cm ........................................ 75 Tabel 4.11 Nilai settling time pada posisi 2.5 cm ................................................. 75 Tabel 4.12 Perbandingan nilai error steady state pada semua set point .............. 76 Tabel 4.13 Perbandingan nilai settling time pada semua setpoint ........................ 77
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DAFTAR GAMBAR Gambar 1-1 Skema sistem kendali ...................................................................... 1 Gambar 2-1 Simulator sistem kendali motor DC ................................................. 6 Gambar 2-2 Motor DC sederhana ........................................................................ 8 Gambar 2-3 Prinsip kerja motor DC..................................................................... 8 Gambar 2-4 Sistem kendali open-loop ................................................................. 9 Gambar 2-5 Elemen-elemen dasar sistem kendali ............................................. 10 Gambar 2-6 Diagram blok sistem kendali dengan umpan balik ........................ 11 Gambar 2-7 PID kontroler .................................................................................. 12 Gambar 2-8 Diagram blok pengendali PID ........................................................ 13 Gambar 2-9 Arduino Uno ................................................................................... 15 Gambar 2-10 Ilustrasi komunikasi serial pada Arduino dan komputer ................ 16 Gambar 2-11 Sinyal dengan variasi duty cycle .................................................... 17 Gambar 2-12 Encoder linier yang sudah terpasang pada aktuator ...................... 17 Gambar 2-13 Ballscrew ........................................................................................ 19 Gambar 2-14 Contoh jendela Matlab Simulink.................................................... 20 Gambar 3-1 Diagram alir penelitian ................................................................... 21 Gambar 3-2 Setting peralatan yang digunakan................................................... 23 Gambar 3-3 Motor DC Maxon ........................................................................... 23 Gambar 3-4 Arduino Uno DFRobot ................................................................... 24 Gambar 3-5 Kabel USB...................................................................................... 25 Gambar 3-6 Motor shield Adafruit ..................................................................... 25 Gambar 3-7 Ballscrew THK KR33 .................................................................... 26 Gambar 3-8 Logic diagram IC SN75175 ............................................................ 27 Gambar 3-9 Modul IC SN75175 ........................................................................ 27 Gambar 3-10 Encoder linier ................................................................................. 28 Gambar 3-11 Adaptor 12V ................................................................................... 28 Gambar 3-12 Coupling oldham SOH 20 6*6mm ................................................. 29 Gambar 3-13 Kabel jumper warna-warni ............................................................. 29 Gambar 3-14 Jendela Matlab 2013b..................................................................... 30 Gambar 3-15 Jendela Matlab Simulink ............................................................... 30 Gambar 3-16 Tampilan Arduino IDE ................................................................... 31 Gambar 3-17 Tahapan proses instalasi perangkat lunak ...................................... 32 Gambar 3-18 Blok kendali open-loop .................................................................. 33 Gambar 3-19 Blok kendali close-loop .................................................................. 33 Gambar 3-20 Alur instalasi perangkat keras ........................................................ 34 Gambar 3-21 Motor shield yang sudah terpasang pada Arduino ......................... 34 Gambar 3-22 Installasi motor DC ke ballscrew ................................................... 35 Gambar 3-23 Perangkaian kabel motor DC ke motor shield................................ 35 Gambar 3-24 Pin pada IC SN75175 ..................................................................... 37 Gambar 3-25 Rangkaian dari modul SN75175 ke Arduino ................................ 38 Gambar 3-26 Blok open-loop untuk mengidentifikasi fungsi transfer ................. 39 Gambar 3-27 Grafik eksperimen open-loop ......................................................... 40 Gambar 3-28 Hasil nilai pada grafik open-loop ................................................... 42 Gambar 3-29 Blok open-loop obyek kendali ....................................................... 43 xii
Gambar 3-30 Grafik perbandingan hasil simulasi & eksperimen ........................ 43 Gambar 3-31 Grafik root locus uncompensated untuk mencari ο· n .................. 45 Gambar 3-32 Root locus uncompensated system ................................................. 46 Gambar 3-33 Step response uncompensated ........................................................ 47 Gambar 3-34 Root locus proportional compensated system ................................ 48 Gambar 3-35 Step response proportional compensated system .......................... 51 Gambar 3-36 Grafik root locus PD compensated ................................................ 51 Gambar 3-37 Step response PD compensated ..................................................... 53 Gambar 3-38 Root locus PID compensated system .............................................. 53 Gambar 3-39 Step response PID compensated .................................................... 54 Gambar 3-40 Simulasi PID kontroler ................................................................... 55 Gambar 4-1 Blok kendali open-loop ................................................................. 57 Gambar 4-2 Blok kendali close-loop .................................................................. 58 Gambar 4-3 Hasil perancangan perangkat keras ................................................ 59 Gambar 4-4 Grafik perbandingan respon open-loop tanpa kontroler secara eksperimen & simulasi ........................................................ 62 Gambar 4-5 Grafik hasil eksperimen 1,2 & 3 tanpa kontroler close-loop set point 0.5 cm............................................................................... 63 Gambar 4-6 Grafik hasil pengujian pada posisi 0.5 cm ..................................... 64 Gambar 4-7 Grafik hasil pengujian pada posisi 1 cm ........................................ 67 Gambar 4-8 Grafik hasil pengujian pada posisi 1.5 cm ..................................... 69 Gambar 4-9 Grafik hasil pengujian pada posisi 2 cm ........................................ 72 Gambar 4-10 Grafik hasil pengujian pada posisi 2.5 cm ..................................... 74 Gambar 4-11 Sistem secara keseluruhan .............................................................. 78 Gambar 4-12 Kontroler PID pada blok close-loop Matlab Simulink................... 79
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NOMENKLATUR πΎπ
= Konstanta proporsional
[-]
ππΌ
= Waktu integral
[Detik]
ππ·
= Waktu turunan
[Detik]
πΎπΌ
= Konstanta integral
[-]
πΎπ·
= Konstanta turunan
[-]
km
= Gain constant
[-]
ο΄m
= Konstanta Waktu
[-]
π
= Tegangan
[volt]
π£(β) = Final Speed
[Cm/detik]
π‘0
= 63.2% dari steady state/ final speed
[Detik]
οΊ
= Rasio Redaman
[-]
ο·n
= Frekuensi Tak Teredam
[-]
ο·d
= Frekuensi Teredam
[-]
v(s)
= Output
[-]
u (s)
= Input
[-]
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