PENGONTROLAN KECEPATAN MOTOR DC LEYBOLD D-73121 MENGGUNAKAN TEKNIK MODEL REFERENCE ADAPTIVE CONTROL PADA KONTROLER PID - Gurnita Fajar Gemilang; Mochammad Rusli; n/a Rahmadwati (Jurnal Mahasiswa TEUB, 2019)
Motor Direct Current (DC) merupakan aktuator yang banyak digunakan dalam teknologi kontrol. Motor DC banyak diaplikasikan di industri yang membutuhkan penggerak poros putar dan dapat diatur kecepatannya, seperti conveyor. Dalam penggunaannya, motor DC dapat memberikan respon yang cepat namun masih terdapat error steady state ketika diberikan beban, hal tersebut dapat mempengaruhi respon motor DC. Model Reference Adaptive Control merupakan metode pengontrolan adaptif dimana performansi respon sistem dipaksa mengikuti performansi model referensi. Pada penelitian ini, Model Reference Adaptive Control menggunakan kontroler PID yang strukturnya berbasis MIT rule diaplikasikan pada plant motor DC Leybold D-73121 bertujuan agar respon sistem memiliik error steady state kurang dari 5%, tidak ada overshoot, settling time kurang dari 1 detik dan recovery time kurang dari 2 detik. Pada pengujian didapatkan settling time respon sistem rata-rata dibawah 1 detik (0.4 - 0.5 detik), recovery time sistem ketika beban diberikan maupun beban dihilangkan rata-rata dibawah 2 detik (0.8 – 1 detik) tidak ada overshoot dan error steady state. Kata Kunci: Plant motor DC D-73121, Model Reference Adaptive Control, Kontroler PID, MIT rule. ABSTRACT Direct Current (DC) motor is an actuator that widely used in control technology. Many DC motors are applied in industries it required a rotary shaft drive that can be set the speed. Such conveyor. DC motor provided a fast response, however there was a steady state error when load was given in this application. Accordingly, it will affected the response of a DC motor. The Model Reference Adaptive Control is an adaptive control method where the system response performance is forced to follow the performance of the reference model. In this research, the Model Reference Adaptive Control using PID controller based on MIT rule was applied to the Leybold D-73121 DC motor it aims to improve the performance of this system: steady state error less than 5%, no overshoot, settling time less than 1 second and recovery time less than 2 seconds. Finally, the result are obtained as design specification, system response has settling time averages under 1 second (0.4 - 0.5 seconds), Recovery time when the load is given or the load is removed on average under 2 seconds (0.8 - 1 second) there is no overshoot and steady state error. Keywords: D-73121 Plant DC Motor, Model Reference adaptive control, PID Controller, MIT Rule.