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Karyadi Karyadi
Pusat Teknologi Radioisotop dan Radiofarmaka Gd. 11 Puspiptek, Serpong, 15314
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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 A.S, Muhamad Prakarsa Abdussalaam, Falaah Abidin Abidin Adang H. Gunawan Adang Hardi Gunawan Adang HG Afif Hakim Agus , Supriyanto Agus A. Agus Suprihanto Agus Supriyanto Akmal, Khafid Khaulsar Alfanaar, Rokiy Amalia Amalia Amalia, Ayu Nurul Amir Amir Amri Abdulah Anggraeni, Olivia Putri Anna Rosseliana Annisa, Salma APRI KUNTARININGSIH Aprilia, Erlina Muriara Ardianto, Nova Aries, Arni Arifin, Achmad Saiful Aulia Nanda, Rizki B. Sri Umniati Baequni, Baequni Cahyo, Tegar Dwi Cecep Taufik Rustendi Chairuman Chairuman Dadang Hafid Dede Kurniasih Dewadi, Fathan Djatmiko, Boedya Djoharly Djoharly Dodi Mulyadi Dodi Mulyadi Edi Gunawan Endang Sarmini Enny Lestari Eny Lestari Eriza, Irvia Evi Sovilawati farabila, adinda diva Fathan Mubina Dewadi Fatiqin, Awalul Fauziah, Syavina Siti Fazin, Nazar Fazrin, Nazar Gatot Setiawan, Gatot Gina Mondrida Gunawan, Yohanes Edy Guntur, Muhamad Hananto, Agustia Hanifah, Salma Hardi Suyitno Herlina Herlina Hibaitulah, Hasbi Hidayat, Syahrul Taufik Ibon Suparman Ikhsan, Sugiyanto Imas Komala Indra Saptiama Indradewa, Rhian Irfani, Tomas Jamaludin . Kadarisman Kadarisman Khoirudin Khoirudin Khoirudin, Khoirudin Ksatria, Panji Kurniawan, Eka Yudha Kuserawati, Lianeu Kusnadi, Akhmad Laksmi A Laksmi Andri Astuti Lensa Ananda Riadini Lubis, Nurhasanah M. Sayad Martalena Ramli Maulana, Agung Miftahudin, Moh Mohammad Sulton Mucharrom, Fajar Muhammad Luthfi Muhammad Prakarsa Al Qard Saleh Mujinah Mujinah Munggaran, M.Zakky Mu’afa Purwa Arsana Nanda, Rizki Aulia Nasir, Narila Mutia Nina Mistriani Nindyawati Nindyawati Novian, Fachri Novyanti, Dian Qolby Nur Amalia, Firdha Raissa Nurdin, Alizar Nurkaromah Dwidayati, Nurkaromah Nurrohman, Taufik Nursyabani, Rizki Amalia Nurul Amaliah, Ayu Octavian, Ray Oganda, Decut Della Patya, Dhea Intan Probokusumo, Probokusumo Pujianti, Anisya Purwoko Purwoko Putra, Amal Rezka Rahdiana, Nana Rahman, Sudarman Rahmawati Salim, Elisa Ramadan, Trisa Ramadhan, Muhammad Faiz Rani, Rani Nurdianti Reksa Jayengsari Riana, Shesanti Citra Rimadhoni, Ramly Nur Rini Suwartika Kusumadiarti Rizki Aulia Nanda Rizki Aulia, Nanda Roban, Roban Rohadi Awaludin Rokhmah, Alfiya Sahari, Yudhi Ekakristian Salsabila, Ajeng Saparto Saparto Saputra, Asroful Reza Saputra, Ridhwan Salahuddin Saputra, Ridhwan Shalahuddin Sarah Librianna, Sarah Sari, Dianis Wulan SARI, SHARAVINA YUNITA Senjaningrum, Ayu Putri Sri Aguswarini Sri Aguswarini Lestiyowati Sri Bagiawati Sri Setiowati Sri Setiyowati Subur, M. Suhara, Ade Sukarman Sukarman Sulaiman Sulaiman Sunandar, Aris Abdul Sunarko, Isnu Hadi Suryo, Ahsmad Soko Suryono Suryono Syamsiar, Syamsiar SYARIFAH, AULIS TAHARI, INDAH Taufik Ulhakim, Muhamad Thathit Suprayogi Tina, Tina Yusepa Tisya Yulia Sari Togar M. Ritonga Triani Widyaningrum Tryastuti, Dini Tukino, Tukino Ulhakim, Muhamad Taufik Umniati, Sri Vermaika Santy, Wahyu Warliyah, Lilis Widyastuti W Widyastuti Widjaksana Widyastuti, Widyastuti, Yahya Febrianto Yayan Tahyan Yuda Syahidin Yuliansyah, Dwi Yunilda Yunilda Zahra, Shafira