PEMODELAN DAN SIMULASI SISTEM KENDALI ROTARY INVERTED PENDULUM BERBASIS MIKROKONTROLER STM32
DOI:
https://doi.org/10.23960/jitet.v13i3S1.7745Abstract Views: 56 File Views: 29
Keywords:
Rotary Inverted Pendulum, STM32, LQR, Simulasi, Sistem KendaliAbstract
Rotary Inverted Pendulum (RIP) merupakan sistem dinamis yang bersifat tidak stabil, nonlinear, dan underactuated, sehingga sering digunakan sebagai studi kasus dalam penelitian sistem kendali. Penelitian ini membahas implementasi Linear Quadratic Regulator (LQR) untuk stabilisasi RIP berbasis mikrokontroler STM32, tanpa mencakup proses swing-up. Model linear diperoleh dari hasil linearisasi persamaan gerak di sekitar titik keseimbangan tegak menggunakan metode Lagrange. Parameter sistem diukur langsung dari perangkat fisik untuk meningkatkan akurasi model. Matriks state-feedback gain LQR dihitung menggunakan perangkat lunak MATLAB dan diimplementasikan secara real-time pada STM32F411CEU6. Pengujian dilakukan dengan memposisikan pendulum dekat titik keseimbangan dan mengamati respon sudut lengan serta sudut pendulum. Hasil pengujian menunjukkan bahwa pengendali LQR mampu menstabilkan pendulum dalam waktu kurang dari 2 detik dengan overshoot minimal, dan respon yang dihasilkan sesuai dengan hasil simulasi. Perbedaan kecil pada fase transien disebabkan oleh gesekan tak terukur, keterbatasan aktuator, dan ketidakakuratan sensor. Implementasi mengaplikasikan sistem kendali LQR secara efektif pada sistem RIP skala laboratorium dengan biaya rendah dan performa yang andal.
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