Rancang Bangun Automated Guided Vehicle Menggunakan Metode PID Zeigler Nichols
DOI:
https://doi.org/10.22441/jte.2022.v13i1.002Kata Kunci:
Automated Guided Vehicle, Kontrol PID, Metode Ziegler-Nichols, Robot, SmartphoneAbstrak
Automated Guided Vehicle (AGV) merupakan sebuah alat yang berfungsi untuk mendistribusikan barang dari suatu tempat ke tempat lain. 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. 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. 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.
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