DESAIN KENDALI PROPORTIONAL INTEGRAL DERIVATIVE (PID) PADA ROBOT HUMAN FOLLOWER

Wira Fadlun

Abstract


Sistem pengendalian otomatis semakin mendapatkan perhatian dalam berbagai bidang, termasuk dalam pengembangan robot bergerak mandiri. Penelitian ini membahas tentang implementasi metode Proportional-Integral-Derivative (PID) pada robot troli otomatis berbasis Arduino. Penetapan nilai parameter PID menggunakan metode Ziegler-Nichols II. Tujuan utama dari penelitian ini adalah untuk menghasilkan suatu sistem yang mampu mempertahankan jarak antara robot troli dan pengguna pada nilai set poin yang diinginkan, dalam hal ini sebesar 30 cm. Nilai parameter kendali PID yang telah dirancang ditala menggunakan metode Ziegler-Nichols II dengan nilai yaitu Kp = 0,42, Ki = 0,42, dan Kd = 0,105. Berdasarkan data pengujian sistem dapat disimpulkan bahwa sistem kendali PID dapat menjaga kestabilan pada beban 0 - 3 kg.

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DOI: http://dx.doi.org/10.23960/jitet.v12i1.3917

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