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All Journal Jurnal Ilmiah Teknik Elektro Komputer dan Informatika (JITEKI) Jurnal Teknologi Informasi dan Ilmu Komputer Sinkron : Jurnal dan Penelitian Teknik Informatika International Journal of Artificial Intelligence Research ILKOM Jurnal Ilmiah Computer Based Information System Journal Jurnal Teknik Mesin Jurnal Ilmu Komputer dan Bisnis Jurnal Ekonomi Manajemen Sistem Informasi Indonesian Journal of Social Work Journal of Applied Data Sciences Jurnal Cahaya Mandalika International Journal of Computer and Information System (IJCIS) International Journal of Engineering, Science and Information Technology Djtechno: Jurnal Teknologi Informasi Jurnal Tika Jurnal Info Sains : Informatika dan Sains Malikussaleh Journal of Mechanical Science Technology Jurnal Ilmiah Kebijakan dan Pelayanan Pekerjaan Sosial (Biyan) J-Intech (Journal of Information and Technology) Jurnal Minfo Polgan (JMP) Jurnal Puan Indonesia Journal International of Lingua and Technology JUSIFOR : Jurnal Sistem Informasi dan Informatika Jurnal Desain dan Analisis Teknologi Innovative: Journal Of Social Science Research Priviet Social Sciences Journal Jurnal Pengabdian Ibnu Sina Journal of Society Bridge JIM: Jurnal Ilmiah Mahasiswa Pendidikan Sejarah Jurnal Pengabdian Barelang Jurnal Sistem Informasi dan Manajemen Jurnal Accounting Information System (AIMS) Jurnal Polimesin Computer & Science Industrial Engineering Journal Prosiding Seminar Nasional Ilmu Sosial dan Teknologi (SNISTEK)
Tukino, Tukino
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Journal : Jurnal Polimesin

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Implementation of a pid controller in a dc motor system: a case study on a floor cleaning robot Nanda, Rizki Aulia; Karyadi, Karyadi; Suhara, Ade; Tukino, Tukino; Guntur, Muhamad
Jurnal Polimesin Vol 23, No 1 (2025): February
Publisher : Politeknik Negeri Lhokseumawe

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30811/jpl.v23i1.5543

Abstract

A floor-cleaning robot requires a stable and consistent movement to ensure effective cleaning. This study implements a Proportional-Integral-Derivative (PID) control system using Arduino Uno to regulate the DC motor’s speed and rotation. A well-tuned PID system ensures smooth and constant motion, optimizing the cleaning process. Without PID control, the robot’s movement can become inconsistent, reducing its cleaning efficiency. The research focuses on designing and implementing a PID system to achieve constant speed and rotation through programming. The selected PID parameters are Kp = 0.2, Ki = 50, and Kd = 0, effectively making it a Proportional-Integral (PI) controller. Experiments were conducted under two conditions: (1) unloaded motor testing—where the motor’s rotational stability was assessed without external load, and (2) loaded robot operation—where the robot was tested while cleaning a dirty floor. Results showed that the DC motor's unloaded speed was initially 5 RPM, stabilizing at 10.62 RPM. Under load, the robot's speed started at 0.2 RPM, peaked at 6.85 RPM, and maintained an average velocity of 4.85 cm/s. The robot demonstrated consistent motion in forward, left-turn, and right-turn maneuvers, achieving 13-degree rotations in 30 seconds. The robot was able to operate for 30 minutes, maintaining a stable speed between the 3rd and 22nd minute, before declining as battery power depleted. The findings confirm that the implementation of a PI controller effectively stabilizes motor rotation and enhances floor-cleaning efficiency. Additionally, this control method can be adapted to larger-scale robots and various DC/AC motor systems.
Co-Authors AA Sudharmawan, AA Agustina, Alvi Ahmad, Sandi Ahnaf, Naufal Zubdi Akbari, Wahyu Azriel Akmal, Khafid Khaulsar Alfiah, Agry Alfiansyah, Muhammad Rindra Algifanri Maulana, Algifanri Amalia Amalia Amrizal Amrizal Angeli, Alvin Annam, Dyno Syaiful Apriani, Fitria April Lia Hananto Arif Rahman Hakim Aripiyanto, Saepul Arnomo, Sasa Ani Arsyad, Fachry Aulia, Aldi Azwanti, Nurul Baru Harahap Berkah*, Kamila Catur Nugroho ceni kirani valensyah Danny Manongga Deddy Prihadi Dede Kuswanda Dien Noviany Rahmatika Dzulqarnain, Fahmi Eichler, Luiz Elisa, Erlin Fadli, Muhammad Abil Faisal, Sutan Fajrin, Alfannisa Fauzi Ahmad Muda Ferdiansyah, Indra Fifi, Fifi FIKRI HAIKAL Guntur, Muhamad Hananto, Agustia Handayani, Citra Handoko, Koko Harman, Rika Hartono Wijaya, Sony Hendry Hilabi, Shofa Shofiah Hindriyanto Dwi Purnomo Huda, Baenil I Gede Iwan Sudipa Irawan, Bei Harira Irwan Sembiring Iwan Setiawan Jasmine Dina Sabila Karyadi Karyadi Kurnia, Nisa Kusuma P, ⁠Shafira Putri Leony, Alvina Lindo, Junius Manalu, Soli Vernika Mildawati, Milly Muammar Khaddafi Mubarok, Piky Muhammad Nuzan Rizki Muhammad, Daniel Muslih, Muhamad Nahampun, Mawi Nanda, Rizki Aulia Nofriani Fajrah, Nofriani Novalia, Elfina Novaria, Rachmawati Nurapriani, Fitria Oganda, Decut Della Pandiangan, Satria Patya, Dhea Intan PERNANDO, Pernando Pratama, Daffa Agung Pratiwi, Mutiana Priatna, Bayu Priyatna, Bayu Purba, rehni jayana Purnomo, Andromedo Cahyo Putria, Narti Eka Ramadhan, Muhammad Faiz Reswara, Hadaya Abhista Rivai, Samuel Samosir, Epa Prima Melina Sari, Fitria Ratna Sari, Nilah Wati Indra Nur Meinda Sari Sarjon Defit Setianingsih, Krisna Dewi Sianturi, Nico Bangun Rezkyanto Silva, Tiago Simanjutak, Pastima Siregar, Amril Mutoi Situmorang, Awaljan Soleman, Soleman Sri Wahyuni Subarkah, Ade Suhara, Ade Sukoco, Dwi Heru Sulestra, Ikhwan Sumijan Sumijan Syahril Effendi Syelfiyananda, Syelfiyananda Tiodora, Jeremy Tjong Wan Sen Triandy, Oky Versanudin Hekmatyar Wibisosno, Eko Gunawan Wong, Hendri Yana Cahyana Yohanna Siahaan, Winda Yuhandri Yuhandri, Yuhandri Zetli, Sri Zulkifli, Mohamad