FEBRIAN, TB. EGI (2024) SISTEM KONTROL DAN MONITORING PROTOTIPE ROBOT PEMBERSIH STRING ISOLATOR PADA SALURAN UDARA (OVERHEAD LINE) DISTRIBUSI TENAGA LISTRIK BERBASIS ESP32 DENGAN MENGGUNAKAN INTERNET OF THINGS. S1 thesis, Universitas Mercu Buana Jakarta.
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Abstract
String -isolator is one of the components that is very important for the power distribution system, the placement of string insulators in open areas is often exposed to pollutants that cause frequent damage and current jumps, hence the need for regular monitoring. However, monitoring carried out at this time still requires a lot of human resources. This research aims to design an insulator string cleaning robot control and monitoring system that is useful for minimizing damage. The robot control system is designed to make it easier to monitor the insulator string area. This system is equipped with control through Blynk application and monitoring using ESP32 Cam camera to monitor the state of the insulator and NCV detector to alert the officer of leakage current. The results of the NCV detector monitoring design that has been tested show an average error value of 12.15%, testing the response time of the control system shows an average value of 0.57 forward motion, 0.44 backward motion, 0.44 left turn brush and 0.42 right turn brush. In the monitoring test, ESP32-CAM can display video visualization of the area passed by the insulator string through the Blynk application. Keywords: Isolator String, cleaning robot control system, Esp32 Cam String -isolator merupakan salah satu komponen yang sangat penting bagi sistem penyaluran tenaga listrik, penempatan string isolator yang berada pada area terbuka seringkali terpapar polutan yang menyebabkan seringnya terjadi kerusakan dan loncatan arus, maka perlunya monitoring secara rutin. Namun monitoring yang dilakukan pada saat ini masih memerlukan banyak sumberdaya manusia. Penelitian ini bertujuan untuk merancang sistem kontrol dan monitoring robot pembersih string isolator yang berguna meminimalisir kerusakan. Sistem kontrol robot dirancang untuk memudahkan dalam memonitoring area string isolator. Sistem ini dilengkapi dengan kontrol melalui aplikasi Blynk dan monitoring menggunakan kamera ESP32 Cam untuk memantau keadaan isolator serta NCV detektor untuk memberi peringatan kepada petugas adanya arus bocor. Hasil perancangan monitoring NCV detector yang telah di uji menunjukan nilai rata-rata error sebesar 12.15%, pengujian respon time sistem kontrol menunjukan nilai rata – rata gerak maju sebesar 0.57, gerak mundur 0.44, sikat putaran kiri 0.44 dan sikat putaran kanan 0.42. Pada pengujian monitoring, ESP32-CAM dapat menampilkan visualisasi video pada area yang dilalui string isolator melalui aplikasi Blynk. Kata Kunci : String Isolator, sistem kontrol robot pembersih, Esp32 Cam
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