IMPLEMENTASI EMPAT MOTOR DC PADA AUTONOMOUS GROUND VEHICLE BERBASIS KONTROL PID
Abstract
Autonomous Ground Vehicle (AGV)
merupakan kendaraan cerdas yang berpotensi
digunakan pada lingkungan outdoor, namun
menghadapi tantangan dalam menjaga keseragaman
pergerakan motor pada medan yang tidak rata.
Penelitian ini bertujuan menguji penggunaan kendali
Proportional-Integral-Derivative (PID) untuk mengatur
empat motor DC PG45 yang dilengkapi sensor rotary
encoder sebagai umpan balik kecepatan. Sistem
dirancang dengan mikrokontroler Arduino yang
mengimplementasikan hasil pemodelan dan tuning PID.
Uji coba dilakukan di area taman Universitas Telkom
yang merepresentasikan kondisi lapangan dengan
permukaan bervariasi.
Pengujian membandingkan performa sistem
sebelum dan sesudah tuning. Hasil menunjukkan bahwa
sebelum tuning, kecepatan motor belum seragam dengan
rata-rata error sekitar 7%, deviasi antar motor ±20 RPM,
dan tingkat kesesuaian gerak antar motor hanya 85%.
Setelah tuning, kinerja sistem meningkat dengan ratarata
error <1%, deviasi antar motor ±1,8 RPM, dan
kesesuaian gerak mencapai 98,7%.
Temuan ini membuktikan bahwa kendali PID
mampu menjaga keseragaman kecepatan serta
sinkronisasi empat motor DC sehingga AGV dapat
bergerak lebih terkoordinasi pada medan luar ruangan.
Kata Kunci: Autonomous Ground Vehicle (AGV), Kendali
PID, Motor DC, Rotary Encoder, Stabilitas Kecepatan,
Medan Tidak Rata.
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