Implementasi Kontrol PID pada Kopel Motor DC dengan Menggunakan Filter Kalman

https://doi.org/10.22146/juliet.v4i1.82150

Salima Nurrahma(1*), Tegar Arif Berbudi(2), Muhammad Rakha Firdaus(3), Galang Izzaulhaq(4), Imroatul Hudati(5)

(1) Departemen Teknik Elektro dan Informatika, Universitas Gadjah Mada
(2) Departemen Teknik Elektro dan Informatika, Universitas Gadjah Mada
(3) Departemen Teknik Elektro dan Informatika, Universitas Gadjah Mada
(4) Departemen Teknik Elektro dan Informatika, Universitas Gadjah Mada
(5) Departemen Teknik Elektro dan Informatika, Universitas Gadjah Mada
(*) Corresponding Author

Abstract


This paper describes a DC motor clutch system that uses  control methods PID and uses a Kalman filter. The methods used aim to obtain stable results from the DC motor coupling system used. To get the appropriate results, several stages were carried out such as hardware design where this process was carried out by pairing all the components used including the power supply, DC motor driver, Arduino Uno, potentiometer and the two coupled DC motors. This system uses an input voltage of 12 V and will then be processed by the motor driver to drive the DC motor. Based on the results that have been obtained and the system response after being given control. It can be observed that when the system uses the Kalman filter and uses the PI control the system response results have a small steady state error.


Full Text:

PDF


References

F. Fahmizal, F. Fathuddin, and R. Susanto, “Identifikasi Sistem Motor DC dan Kendali Linear Quadratic Regulator Berbasis Arduino-Simulink Matlab,” Maj. Ilm. Teknol. Elektro, vol. 17, no. 2, p. 399, 2018, doi: 10.24843/mite.2018.v17i02.p20. [2] A. Ma’Arif, Iswanto, N. M. Raharja, P. A. Rosyady, A. R. C. Baswara, and A. A. Nuryono, “Control of DC Motor Using Proportional Integral Derivative (PID): Arduino Hardware Implementation,” Proceeding - 2020 2nd Int. Conf. Ind. Electr. Electron. ICIEE 2020, pp. 74–78, 2020, doi: 10.1109/ICIEE49813.2020.9277258. [3] V. Yadav and V. K. Tayal, “Tuner,” pp. 442–445, 2018. [4] A. N. A. Syarifuddin, D. A. Merdekawati, and E. Apriliani, “Perbandingan Metode Kalman Filter, Extended Kalman Filter, dan Ensambel Kalman Filter pada Model penyebaran virus HIV/AIDS,” Limits J. Math. Its Appl., vol. 15, no. 1, p. 17, 2018, doi: 10.12962/limits.v15i1.3344. [5] P. S. Madhukar and L. B. Prasad, “State Estimation using Extended Kalman Filter and Unscented Kalman Filter,” Proc. - 2020 Int. Conf. Emerg. Trends Commun. Control Comput. ICONC3 2020, no. 3, pp. 2020–2023, 2020, doi: 10.1109/ICONC345789.2020.9117536. [6] Y. Xu, K. Xu, J. Wan, Z. Xiong, and Y. Li, “Research on Particle Filter Tracking Method Based on Kalman Filter,” Proc. 2018 2nd IEEE Adv. Inf. Manag. Commun. Electron. Autom. Control Conf. IMCEC 2018, no. Imcec, pp. 1564–1568, 2018, doi: 10.1109/IMCEC.2018.8469578. [7] R. A. Michurin and A. Schagin, “Increase the accuracy of the DC motor control system with a linear-quadratic regulator,” Proc. 2018 IEEE Conf. Russ. Young Res. Electr. Electron. Eng. ElConRus 2018, vol. 2018-Janua, no. 1, pp. 1746–1749, 2018, doi: 10.1109/EIConRus.2018.8317443. [8] F. C. Akbar, R. E. A.K, and E. Iskandar, “Tuning Parameter Linear Quadratic Tracking Menggunakan Algoritma Genetika Untuk Pengendalian Gerak Lateral Quadcopter,” J. Tek. ITS, vol. 5, no. 1, 2016, doi: 10.12962/j23373539.v5i1.14364. [9] E. Apriaskar, F. Fahmizal, N. A. Salim, and D. Prastiyanto, “Performance Evaluation of Balancing Bicopter using P, PI, and PID Controller,” J. Tek. Elektro, vol. 11, no. 2, pp. 44–49, 2019, doi: 10.15294/jte.v11i2.23032. [10] S. Balamurugan and A. Umarani, “Study of Discrete PID Controller for DC Motor Speed Control Using MATLAB,” 2020 Int. Conf. Comput. Inf. Technol. ICCIT 2020, no. 1, pp. 358–363, 2020, doi: 10.1109/ICCIT-144147971.2020.9213780. [11] V. Alexandrov and I. Rezkov, “Linear-Quadratic Regulator for Quadcopter Altitude with Control Filtering,” Proc. 2022 16th Int. Conf. Stab. Oscil. Nonlinear Control Syst. (Pyatnitskiy’s Conf. STAB 2022, no. 4, pp. 47–49, 2022, doi: 10.1109/STAB54858.2022.9807529.



DOI: https://doi.org/10.22146/juliet.v4i1.82150

Article Metrics

Abstract views : 1961 | views : 2203

Refbacks

  • There are currently no refbacks.


SINTA 4 accredited based on Decree of the Minister of Research, Technology and Higher Education, Republic of Indonesia Number 225/E/KPT/2022, Vol. 2 No. 1 (2020) - Vol. 6 No. 1 (2025)

e-ISSN: 2746-2536