Sistem kendali posisi motor DC menggunakan state feedback controller dan real-time operating system: DC motor position control system using state feedback controller and real-time operating system

Martin Martin

doi:10.35313/jitel.v1.i1.2021.69-78

Authors

Martin Martin Politeknik Negeri Bandung

DOI:

https://doi.org/10.35313/jitel.v1.i1.2021.69-78

Keywords:

state feedback controller, real-time operating system, motor DC Quanser

Abstract

Motor DC merupakan sistem penggerak yang paling banyak digunakan di bidang industri, otomasi, robotika, ataupun lainnya. Penggunaan sistem kendali banyak diterapkan untuk pengaturan pergerakan kecepatan ataupun posisi dari motor DC. Pada penelitian ini, state feedback controller dan penambahan kendali integral dengan estimator digunakan untuk mengendalikan posisi motor DC. Sistem dibuat berbasis real-time operarting system (RTOS) untuk pembacaan sensor, perhitungan matematis kendali, dan pengiriman sinyal pulse width modulation (PWM). Pengendalian dilakukan pada motor DC Quanser yang terhubung dengan Arduino Mega 2560 untuk membaca sensor encoder dan menampilkan data pengujian. Hasil pengujian menunjukkan bahwa state feedback controller dapat mengendalikan posisi motor DC dengan nilai penguat K sebesar 2,66 dan 115,37, nilai penguat N_bar sebesar 0,49 dan nilai estimator sebesar 7,75 dan 0,26. Penggunaan RTOS sebagai inti pemrograman dapat menyelesaikan permasalahan dalam pengerjaan task-task seperti pembacaan sensor, perhitungan parameter kendali, dan pengiriman sinyal kendali tanpa terjadi error selama pengujian sistem. Hasil analisa menunjukan keluaran sistem kendali posisi memiliki nilai overshoot sebesar 2,63% pada pengujian pertama dan 2,66% pada pengujian kedua.

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