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All Journal Jurnal Nasional Teknik Elektro dan Teknologi Informasi
Nanang Rohadi
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Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Adaptive PID Auto-Tuning Algorithm on Omron PLC for Speed Control and Stability Nanang Rohadi; Liu Kin Men; Akik Hidayat
Jurnal Nasional Teknik Elektro dan Teknologi Informasi Vol 14 No 4: November 2025
Publisher : This journal is published by the Department of Electrical and Information Engineering, Faculty of Engineering, Universitas Gadjah Mada.

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22146/jnteti.v14i4.22693

Abstract

Speed regulation of three-phase induction motors under varying load conditions presents a major challenge in industrial automation due to their nonlinear dynamic behavior. This paper proposes an adaptive speed control system using a proportional-integral-derivative auto-tuning (PIDAT) algorithm implemented on the Omron CP1H-XA40DT-D programmable logic controller (PLC). The initial PID parameters were derived using the Ziegler–Nichols method, and the system continuously monitored the steady-state error during operation. When the error exceeded a predefined 5% threshold, the auto-tuning sequence was triggered. This sequence included a relay feedback test (RFT), system identification using a first order plus dead time (FOPDT) model, and real-time PID parameter recalculation. The system hardware integrated an Omron 3G3MX2 inverter, rotary encoder, and NB7W-TW01B human–machine interface (HMI) to form a closed-loop control structure. Experimental validation was performed under both spontaneous and constant load conditions. The PIDAT method consistently demonstrated superior performance compared to classical Ziegler–Nichols tuning, achieving steady-state errors in no-load tests below 1.70 % and under 0.8% in loaded conditions. Furthermore, the system achieved settling times below 9 s and recovered from load disturbances in less than 4 s. These results validate the proposed PIDAT system as an accurate, fast, and adaptive control solution, reducing the need for manual tuning and enhancing robustness in dynamic industrial environments.
Perancangan dan Implementasi Pengaturan Kecepatan Motor Induksi Tiga Fasa Berbasis Logika Fuzzy terhadap Variasi Beban pada PLC Mitsubishi FX3U Nanang Rohadi; Liu Kin Men; Akik Hidayat
Jurnal Nasional Teknik Elektro dan Teknologi Informasi Vol 15 No 1: Februari 2026
Publisher : This journal is published by the Department of Electrical and Information Engineering, Faculty of Engineering, Universitas Gadjah Mada.

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22146/jnteti.v15i1.22694

Abstract

Three-phase induction motors are extensively deployed in industrial automation due to their robustness, simplicity, and efficiency. Nevertheless, maintaining speed stability under dynamically varying loads remains a significant control challenge. This study investigated the design and implementation of a fuzzy logic-based speed control system fully embedded within a Mitsubishi FX3U-64M programmable logic controller (PLC), eliminating the dependency on external software platforms. The system integrated a rotary encoder for real-time speed feedback, an FX2N-2DA digital-to-analog converter for signal output, and a Mitsubishi FR-E520 inverter for frequency and voltage regulation. The fuzzy controller utilized two input variables, speed error and rate of change, which were fuzzified and processed through a Mamdani-type inference mechanism. All fuzzy operations, including rule evaluation and centroid-based defuzzification, were executed using ladder diagram programming via GX Works2. Experimental validation was performed across five speed references (300 to 1200 rpm) and varying mechanical loads (0.5–1.5 kg). The controller consistently achieved steady-state errors below 1% in no-load conditions and below 0.5% under load, with recovery times ranging from 1.5 to 6.75 s. These results demonstrate that the proposed PLC-based fuzzy controller provides a responsive, accurate, and fully integrable solution for real-time industrial motor speed regulation under variable operating conditions.
Adaptive PID Auto-Tuning Algorithm on Omron PLC for Speed Control and Stability Nanang Rohadi; Liu Kin Men; Akik Hidayat
Jurnal Nasional Teknik Elektro dan Teknologi Informasi Vol 14 No 4: November 2025
Publisher : This journal is published by the Department of Electrical and Information Engineering, Faculty of Engineering, Universitas Gadjah Mada.

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22146/jnteti.v14i4.22693

Abstract

Speed regulation of three-phase induction motors under varying load conditions presents a major challenge in industrial automation due to their nonlinear dynamic behavior. This paper proposes an adaptive speed control system using a proportional-integral-derivative auto-tuning (PIDAT) algorithm implemented on the Omron CP1H-XA40DT-D programmable logic controller (PLC). The initial PID parameters were derived using the Ziegler–Nichols method, and the system continuously monitored the steady-state error during operation. When the error exceeded a predefined 5% threshold, the auto-tuning sequence was triggered. This sequence included a relay feedback test (RFT), system identification using a first order plus dead time (FOPDT) model, and real-time PID parameter recalculation. The system hardware integrated an Omron 3G3MX2 inverter, rotary encoder, and NB7W-TW01B human–machine interface (HMI) to form a closed-loop control structure. Experimental validation was performed under both spontaneous and constant load conditions. The PIDAT method consistently demonstrated superior performance compared to classical Ziegler–Nichols tuning, achieving steady-state errors in no-load tests below 1.70 % and under 0.8% in loaded conditions. Furthermore, the system achieved settling times below 9 s and recovered from load disturbances in less than 4 s. These results validate the proposed PIDAT system as an accurate, fast, and adaptive control solution, reducing the need for manual tuning and enhancing robustness in dynamic industrial environments.
Co-Authors Akik Hidayat Liu Kin Men