KENDALI PROPORTIONAL INTEGRAL DERIVATIVE PADA KESEIMBANGAN BOLA DENGAN MENGGUNAKAN LABVIEW DAN MYRIO
DOI:
https://doi.org/10.32497/orbith.v18i3.4370Keywords:
bola dan papan, infrared GP2Y0A21YK, LabVIEW, MyRio, PIDAbstract
Kendali keseimbangan bola dibuat untuk menguji keseimbangan bola diatas sebuah papan dengan mengguanakan MyRio dengan kendali berbasis Proporsional Integral Derivatif (PID). Alat ini dibuat dengan menggunakan sensor infrared GP2Y0A21YK sebagai pendeteksi jarak, limit switch sebagai pendeteksi keadaan papan, dan rotary encoder untuk mendeteksi sudut kemiringan papan yang diprogram menggunakan software LabVIEW. Pemilihan parameter awal PID menggunakan manual tunning dengan menentukan nilai KP, kemudian KD dan KI. Hasil PID selanjutnya akan menggerakkan motor DC. Untuk menghilangkan noise pada pembacaan sensor infrared maka digunakan filter coil. Kinerja dari kendali PID ini didasarkan pada steady state error. Hasil dari pengujian menunjukkan rata rata error pada masing masing setpoint yaitu pada setpoint 33 cm sebesar 3%, pada setpoint 27 cm sebesar 4,9% dan pada setpoint 23 cm sebesar 4%.
Kata kunci : Bola dan Papan, Infrared GP2Y0A21YK, LabVIEW, MyRio, PID.
Ball balance control are made to test the balance of the ball on a board using MyRio with Proportional Integral Derivative (PID) based control. This tool made using a GP2Y0A21YK infrared sensor as a distance detector, a limitswitch as a board state detector, and a rotary encoder to detect the board's tilt angle programmed using LabVIEW software. Selection of the initial PID parameters using manual tuning by determining the value of KP, then KD and then KI. The results of the PID will then drive the DC motor. To eliminate noise on infrared sensor readings, a filter coil is used. The performance of this PID control is based on steady state error. The results of the test show the average of error for each set point that is for setpoint 33cm has 3% of error, for setpoint 27 cm has 4, 9% of error and for 23 cm has 4% of error.
Keywords : Ball and Beam, Infrared GP2Y0A21YK, LabVIEW, MyRio, PID.
References
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