### Kendali Posisi Motor DC dengan Menggunakan Kendali PID

https://doi.org/10.22146/juliet.v2i2.71148

Imroatul Hudati(1*), Alief Purnomo Aji(2), Salima Nurrahma(3)

(*) Corresponding Author

#### Abstract

Abstract – One type of motor that is often used in electronics, industry and other general fields is a direct current (DC) motor. The Proportional Integral Derivative (PID) control is a widely used method in various topic of researches. This controller is developed using a mathematical method and has characteristic values that are close to some real systems. Then, the research continued with mathematical analysis and simulation on a software. PID control systems are widely used in the industrial world due to their toughness in overcoming problems. However, there are some shortcomings in the PID control system such as the tuning method which is done by trial and error. In this experiment, the P, I and D gain selection procedure is carried out by analyzing the system model with the target is to produce a Settling Time. The system is made to obtain a settling time of (ts) 5% and a steady state error of 0.

Keywords : DC Motor, PID controller, mathematics model, second order system, settling time, error steady state, Matlab

Intisari – Salah satu jenis motor yang sering digunakan pada bidang elektronika,industry dan bidang umum lainnya yaitu Motor arus searah (DC). Pengembangan pengendalikan Proportional Integral Derivative (PID) merupakan bidang yang banyak dijadikan penelitian. Pengendali ini dikembangkan menggunakan metode matematis dan memiliki nilai karakteristik yang mendekati beberapa system nyata. Kemudian penelitian dilanjutkan dengan analisis secara matematis dan simulasi pada sebuah perangkat lunak. Sistem kendali PID banyak digunakan pada dunia industry disebabkan kketangguhannya dalam mengatasi permasalahan. Akan tetapi, terdapat beberapa kekurangan pada system kendali PID seperti metode penalaan yang dilakukan dengan cara trial and error. Pada percobaan dan penelitian kali ini menggunakan prosedur pemilihan gain P,I dan D yang dilakukan dengan menganalisa model system. Sistem kendali ini diolah untuk menghasilkan Setting Time Sistem dibuat agar memperoleh settling time sebesar (ts) 5% dan error steady state adalah 0.

Kata kunci : Motor arus searah (DC), Kendali PID, Model Matematika, Sistem orde 2, Settling time, error steady state, Matlab

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#### References

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DOI: https://doi.org/10.22146/juliet.v2i2.71148

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