RANCANG BANGUN AUTOMATED GUIDED VEHICLE MENGGUNAKAN METODE PID ZEIGLER NICHOLS

WARDANI, ANNISA AYU (2021) RANCANG BANGUN AUTOMATED GUIDED VEHICLE MENGGUNAKAN METODE PID ZEIGLER NICHOLS. S1 thesis, Universitas Mercu Buana Jakarta.

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Abstract

Automated Guided Vehicle (AGV) merupakan sebuah alat yang berfungsi untuk mendistribusikan barang dari suatu tempat ke tempat lain. AGV yang dirancang sebagai pengantar barang dari gudang pusat ke tempat produksi atau sebaliknya. Penghubung antar station menggunakan jalur garis berwarna hitam. Robot AGV terdiri atas sensor infra merah sebagai umpan balik PID, mikrokontroler sebagai pengolah data serta menjalankan alogaritma PID dan motor DC sebagai aktuator. Robot ini bisa diaktifkan menggunakan smartphone yang memanfaatkan sinyal bluetooth. Selain itu jika ingin pengaturan secara manual, disediakan switch pada badan robot. Untuk dapat membuat AGV bergerak stabil, dengan cara penerapan kontrol PID salah satunnya dengan mengimplementasikan metode Ziegler Nichols pada pencarian parameter PID robot AGV. Proses tuning diawali dengan pemberian parameter Kp = 0, kemudian ditingkatkan secara bertahap hinga didapat grafik respon PID yang berkesinambungan (periode dan amplitudonya sama). Dari grafik respon yang diberikan, dapat menentukan besar nilai critical gain Kcr dan critical periode Pcr. Nilai Kcr dan Pcr digunakan untuk mendapatkan nilai parameter Kp, Ki dan Kd sesuai dengan aturan yang terdapat dalam metode Ziegler Nhicols. Hasil pengujian tuning parameter PID menggunakan metode Ziegler- Nichols didapatkan nilai Kp= 7, Ki=1,5 dan Kd= 1. Dengan menggunakan parameter tersebut respon robot menjadi lebih baik dan mendekati set point. Kata kunci : Automated Guided Vehicle, Kontrol PID, Metode Ziegler- Nichols. Automated Guided Vehicle (AGV) is a tool that functions to distribute goods from one place to another. AGV which is designed to deliver goods from the central warehouse to the production site. The connection between stations uses a black line. The AGV robot consists of an infrared sensor as PID feedback, a microcontroller as a data processor and runs the PID algorithm and a DC motor as an actuator. This robot can be activated using a smartphone that utilizes a bluetooth signal. In addition, if you want to adjust it manually, a switch is provided on the robot body. To be able to make the AGV move stable, one of the ways to implement PID control is by implementing the Ziegler Nichols method on the search for the PID parameter of the AGV robot. The tuning process begins with giving the parameter Kp = 0, then gradually increases it until a continuous PID response graph is obtained (same period and amplitude). From the response graph given, it can determine the value of the critical gain Kcr and the critical period Pcr. The values of Kcr and Pcr are used to obtain parameter values of Kp, Ki and Kd according to the rules contained in the Ziegler Nhicols method. The results of the PID parameter tuning test using the Ziegler-Nichols method obtained values of Kp = 7, Ki = 1.5 and Kd = 1. By using these parameters the response of the robot was better and closer to the set point. Keywords: Automated Guided Vehicle, PID Control, Ziegler-Nichols Method

Item Type: Thesis (S1)
NIM/NIDN Creators: 41419110031
Uncontrolled Keywords: Automated Guided Vehicle, PID Control, Ziegler-Nichols Method
Subjects: 600 Technology/Teknologi > 620 Engineering and Applied Operations/Ilmu Teknik dan operasi Terapan
600 Technology/Teknologi > 620 Engineering and Applied Operations/Ilmu Teknik dan operasi Terapan > 621 Applied Physics/Fisika terapan
600 Technology/Teknologi > 620 Engineering and Applied Operations/Ilmu Teknik dan operasi Terapan > 621 Applied Physics/Fisika terapan > 621.3 Electrical Engineering, Lighting, Superconductivity, Magnetic Engineering, Applied Optics, Paraphotic Technology, Electronics Communications Engineering, Computers/Teknik Elektro, Pencahayaan, Superkonduktivitas, Teknik Magnetik, Optik Terapan, Tekn
Divisions: Fakultas Teknik > Teknik Elektro
Depositing User: Dede Muksin Lubis
Date Deposited: 08 Feb 2022 02:18
Last Modified: 08 Feb 2022 02:18
URI: http://repository.mercubuana.ac.id/id/eprint/55207

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