PERANCANGAN SISTEM PENGENDALIAN LEVEL AIR MENGGUNAKAN ADAPTIVE PID BERBASIS ESP32 PADA SISTEM FISH COUNTER

Jordan Sastrian; Nabila Rahmadani

doi:10.23960/jitet.v14i3.10726

Jordan Sastrian
Politeknik Negeri Sriwijaya
Nabila Rahmadani
Politeknik Negeri Sriwijaya

DOI: https://doi.org/10.23960/jitet.v14i3.10726

Keywords Adaptive PID, ESP32, Fish Counter, HC-SR04, Pengendalian Level Air

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Abstract

Pengendalian level air yang stabil merupakan faktor penting dalam sistem fish counter karena memengaruhi kualitas akuisisi citra dan akurasi penghitungan benih ikan. Penelitian ini bertujuan mengimplementasikan metode Adaptive Proportional-Integral-Derivative (PID) berbasis sensor ultrasonik HC-SR04 untuk mengendalikan proses pengisian dan pengosongan air secara otomatis pada sistem fish counter. Sistem dikembangkan menggunakan ESP32 sebagai pengendali utama, dua sensor HC-SR04 sebagai umpan balik level air, driver motor L298N untuk mengatur kecepatan pompa, serta solenoid valve sebagai aktuator pengosongan. Parameter Kp, Ki, dan Kd disesuaikan secara real-time berdasarkan nilai error sehingga keluaran PWM berubah mengikuti kondisi level air. Hasil pengujian menunjukkan bahwa sensor HC-SR04 memiliki rata-rata error sebesar 2,39% pada Tangki 1 dan 1,03% pada Tangki 2. Sistem berhasil mencapai setpoint 8 cm dalam waktu 117 detik dengan ketinggian akhir 8,12 cm, menghasilkan overshoot sebesar 1,5% serta respons yang stabil. Selain itu, mekanisme pengosongan berbasis kendali on/off mampu mengosongkan tangki secara konsisten. Hasil penelitian menunjukkan bahwa penerapan Adaptive PID efektif dalam menjaga kestabilan level air, sehingga mendukung proses akuisisi citra dan meningkatkan keandalan sistem fish counter.

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