Pengaturan Posisi Sudut Motor DC menggunakan Proporsional Integral (PI) Control untuk Kicker Robot Sepak Bola Beroda
Keywords:
Robot sepak bola, Kicker , Motor DC, PIAbstract
Penendang (kicker) merupakan suatu komponen pada robot sepak bola beroda yang berfungsi untuk menendang bola. Kicker dapat dibangun dengan berbagai cara, salah satunya dengan memanfaatkan motor DC. Untuk menghasilkan tendangan yang kuat dan stabil diperlukan prime mover berupa dua motor DC yang di-couple. Penerapan strategi ini menimbulkan masalah berupa sulitnya sikronisasi kedua motor DC tersebut. Penelitian ini difokuskan pada penerapan PI control untuk pengaturan posisi sudut kicker pada dua motor DC PG45. Didapatkan hasil bahwa kicker mampu mencapai posisi 45o, 56o, 75o dan 91o dengan error steady state yang dihasilkan sebesar 1o pada posisi 55o dan 90o serta kelajuan tendangan rata – rata masing – masing parameter sebesar 21,323 m/s, 43,422 m/s, 5,169 m/s dan 4,032 m/s.
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