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All Journal MATICS : Jurnal Ilmu Komputer dan Teknologi Informasi (Journal of Computer Science and Information Technology) Jurnal Prima Edukasia Jurnal Pendidikan Usia Dini Jurnal Pendidikan: Teori, Penelitian, dan Pengembangan Briliant: Jurnal Riset dan Konseptual Journal of Development Research Metodik Didaktik Jurnal Pendidikan : Riset dan Konseptual Cetta: Jurnal Ilmu Pendidikan Premiere Educandum: Jurnal Pendidikan Dasar dan Pembelajaran Prosiding SAKTI (Seminar Ilmu Komputer dan Teknologi Informasi) EDUKATIF : JURNAL ILMU PENDIDIKAN Wahana Sekolah Dasar Thinking Skills and Creativity Journal Journal of Robotics and Control (JRC) Jurnal Pengabdian dan Pemberdayaan Nusantara (JPPNu) Jurnal Penelitian Pendidikan Indonesia Jurnal Sistem Komputer Asia Journal of International Accounting, Taxation and Information Systems Jurnal ilmiah teknologi informasi Asia
Mohammad Zainuddin, Mohammad
Universitas Negeri Malang
Aerospace Engineering Humanities Chemical Engineering, Chemistry & Bioengineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Economics, Econometrics & Finance Education Electrical & Electronics Engineering Mathematics Mechanical Engineering Public Health Social Sciences Other

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Journal : Journal of Robotics and Control (JRC)

 1 
Optimization of Proportional Integral Derivative Controller for Omni Robot Wheel Drive by Using Integrator Wind-up Reduction Based on Arduino Nano Supriadi, Supriadi; Wajiansyah, Agusma; Zainuddin, Mohammad; Putra, Arief Bramanto Wicaksono
Journal of Robotics and Control (JRC) Vol 5, No 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.21807

Abstract

The experimental object used is a three-wheeled omni-robot frame, where the wheel axes have an angle difference of 120 degrees from each other. The Omni wheels have a diameter of 48 mm connected to the DC motor axis through a gearbox, which has a ratio of 80 to 1. Each wheel has been controlled using a proportional plus integral plus derivative (PID) controller embedded in a microcontroller, which is an Arduino nano board. The motor axis is equipped with a two-phase optical encoder that definitively generates four cycles per revolution for wheel speed acquisition as the controller input. The wheel speed control signal is distributed to the wheel through the H bridge as the controller output. The controller constants have been directly tuned to the robot frame's physical omni-wheel speed control system. The controller is tuned to minimize steady-state error, achieve fast settling times, and minimize overshoot. The best constants obtained are 1.5 (proportional), 0.012 (integral), and 10 (derivative). Using a tolerance band of +/- 2.5%, the system achieved a settling time of 1.1 seconds and a steady-state error of 0.3%. The control system is unstable when the actuator is saturated, which produces oscillations. Controller optimization has been successful by using integrator wind-up reduction. The steady-state average error was reduced to 9.95% without oscillation after optimization, compared to 46.37% with oscillations before optimization. The controller has been validated with speed-tracking tests on all velocity vector regions. The robot frame has been tested with basic maneuvers such as rotation, concerning, forward, and sideways.
Optimization of Proportional Integral Derivative Controller for Omni Robot Wheel Drive by Using Integrator Wind-up Reduction Based on Arduino Nano Supriadi, Supriadi; Wajiansyah, Agusma; Zainuddin, Mohammad; Putra, Arief Bramanto Wicaksono
Journal of Robotics and Control (JRC) Vol. 5 No. 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.21807

Abstract

The experimental object used is a three-wheeled omni-robot frame, where the wheel axes have an angle difference of 120 degrees from each other. The Omni wheels have a diameter of 48 mm connected to the DC motor axis through a gearbox, which has a ratio of 80 to 1. Each wheel has been controlled using a proportional plus integral plus derivative (PID) controller embedded in a microcontroller, which is an Arduino nano board. The motor axis is equipped with a two-phase optical encoder that definitively generates four cycles per revolution for wheel speed acquisition as the controller input. The wheel speed control signal is distributed to the wheel through the H bridge as the controller output. The controller constants have been directly tuned to the robot frame's physical omni-wheel speed control system. The controller is tuned to minimize steady-state error, achieve fast settling times, and minimize overshoot. The best constants obtained are 1.5 (proportional), 0.012 (integral), and 10 (derivative). Using a tolerance band of +/- 2.5%, the system achieved a settling time of 1.1 seconds and a steady-state error of 0.3%. The control system is unstable when the actuator is saturated, which produces oscillations. Controller optimization has been successful by using integrator wind-up reduction. The steady-state average error was reduced to 9.95% without oscillation after optimization, compared to 46.37% with oscillations before optimization. The controller has been validated with speed-tracking tests on all velocity vector regions. The robot frame has been tested with basic maneuvers such as rotation, concerning, forward, and sideways.
Co-Authors Abdul Aziz Muslim Abdur Rahman As’ari Achmad Noercholis Aditama, Hatantya Surya Agusma Wajiansyah, Agusma Ahmad Saifudin, Ahmad Alfian, Izar Anita Nurgufriani Arbain Arbain, Arbain Arda Purnama Putra Aullia, Verra Budi Eko Soetjipto Dedi Kuswandi Desi Ranita Sari Dharmawan, Ibna Septianing Eny Nur Aisyah Erif Ahdhianto, Erif Erita Febri Lestari Fadhilah, Umi Faizah, Hanim Fauzatul Ma'rufah Rohmanurmeta Ferril Irham Muzaki, Ferril Irham Haerul Salam Hafidah, Anisya Nur Hanim Faizah Hayatiningsih, Ula Nur Herawati Susilo Imron Arifin Kistin Restu Perdana Krismon, Fajar Habib Latifah, Lia Lestari, Erita Febri Lestariningsih Lestariningsih Lilik Bintartik Lilik Nur Kholidah Mazidatur Rohmah Miya Dewi Suprihandari Mohamad Fatih Muhammad Saifuddin Zuhri Nahdiyah, Umi Nurhayati Nurhayati Oktaviani Adhi Suciptaningsih Parno Radeni Sukma Indra Dewi Raharjo, Kusuma Adi Rahmawati, Dian Nur Retnosari, Yeni Dwi Roki’ Amrullah Sa'dun Akbar Salsabila, Unik Hanifah Shirly Rizki Kusumaningrum Sri Untari Subandoro, Agus Supriadi Supriadi SURAYANAH . Sutansi, Sutansi suwarti suwarti Syamsul Hadi Vivia Maya Rafica Wahyu Ramadhan, Dony Wahyu Susiloningsih, Wahyu Zainul Arifin