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Rancang Bangun Fuzzy-PID Controller pada Ball Balancing Table dengan Universal Joint berbasis NI MyRIO dan LabVIEW
Abstract
ABSTRAK
Menyeimbangkan objek dinamis yang tidak stabil adalah salah satu masalah yang paling relevan dalam pembangunan sistem kendali otomatis. Metode ini dapat menghasilkan penelitian tentang efek dari suatu sistem kendali otomatis, atau melakukan pengaturan kendali pada suatu plant. Pada penelitian ini, akan dijelaskan bagaimana merancang sebuah ball balancing table (BBT) dan mengimplementasikan sistem kontrol otomasi ke dalamnya dengan menggunakan metode Fuzzy Logic dan PID Controller. Pada penelitian ini didapatkan kesimpulan bahwa pemasangan kendali Fuzzy Logic dan PID Controller memiliki efektifitas paling bagus dibandingkan dengan kendali close-loop ataupun kendali Fuzzy Logic dan PID Controller yang tidak dipasangkan bersamaan. Penggunaan metode Fuzzy Logic dan PID Controller yang menggunakan parameter trial and error dimana memasukkan nilai tuning manual yang dipasangkan pada ball balancing table dan NI MyRIO yang dirancang menghasilkan lama waktu menuju steady state paling singkat yaitu selama 8,7 detik, overshoot paling rendah, dan error yang hanya sebesar 0,4 terhadap nilai koordinat sumbu X dan sumbu Y.
Kata kunci: Ball Balancing Table, Fuzzy Logic, Kontrol PID, NI myRIO
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ABSTRACT
Balancing unstable dynamic objects is one of the most relevant problems in the construction of automated control systems. This methode can provide research on the effects of an automatic control system, or carry out a control arrangement on a plant. In this study, will be explained how to design a ball balancing table (BBT) and implement an automation control system into it using Fuzzy Logic and PID Controls methods. And from this research it is concluded that the installation of Fuzzy Logic and PID Controller control has the best effectiveness compared to close-loop control or Fuzzy Logic and PID Controller that are not installed together. The application of the Fuzzy Logic Controller and PID method paired on the ball balancing table and NI MyRio that was designed resulted in the shortest steady state time of 8.7 seconds, the lowest overshoot, and an error of only 0.4 on the X-axis and Y-axis coordinate values.
Keywords: Ball Balancing Table, Fuzzy Logic, PID Controller, NI myRIO
Keywords
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DOI: https://doi.org/10.26760/elkomika.v11i4.1089
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ISSN (print) : 2338-8323 | ISSN (electronic) : 2459-9638
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Department of Electrical Engineering Institut Teknologi Nasional Bandung, Indonesia
Address: 20th Building Institut Teknologi Nasional Bandung PHH. Mustofa Street No. 23 Bandung 40124, Indonesia
Contact: +627272215 (ext. 206)
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