Open Journal Systems

Kendali Kecepatan Motor DC Berbasis WNCS dengan Pengendali PI Anti-Windup

       Baisrum Baisrum, Adnan Rafi Al Tahtawi, Sarjono Wahyu Jadmiko

Abstract


Pemanfaatan jaringan komunikasi dalam lingkar tertutup sistem kendali dapat memberikan beberapa keuntungan seperti dalam hal fleksibilitas. Akan tetapi, adanya beberapa parameter jaringan dapat menurunkan performansi pengendalian. Penelitian ini bertujuan untuk merancang pengendalian kecepatan motor DC berbasis Wireless Networked Control System (WNCS) menggunakan modul nirkabel nRF24L01. Controller node dan plant node dirancang agar dapat berkomunikasi satu sama lain secara nirkabel. Pada controller node terdapat mikrokontroler, modul nirkabel, dan penampil antarmuka, sedangkan pada palnt node terdapat mikrokontroler, modul nirkabel, driver motor, dan motor DC. Pengendali Proporsional Integral Anti-Windup (PI-AW) yang dapat mempertimbangkan saturasi sinyal kendali digunakan untuk memperoleh respon pengendalian yang terbaik. Hasil pengujian eksperimen perangkat keras menunjukkan bahwa pengendali yang dirancang mampu menghasilkan respon dengan settling time dibawah 1 detik dan overshoot kurang dari 2%. Sinyal kendali yang dihasilkan juga tidak melebihi batas maksimum yaitu 12 V.


  http://dx.doi.org/10.31544/jtera.v4.i2.2019.227-236

Keywords


kendali kecepatan; WNCS; nRF24L01; pengendali PI-AW

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DOI: http://dx.doi.org/10.31544/jtera.v4.i2.2019.227-236
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