JURNAL TEKNIKA AKADEMI TEKNOLOGI WARGA SURAKARTA

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Edisi 16, Nomor 3
Judul DESAIN NILAI KONSTANTA PENGENDALI DAN JUMLAH SENSOR UNTUK OPTIMASI RESPON ROBOT PENGIKUT GARIS
Penulis

S. Marwanto 1, Mirwan Ushada 2, Ali Parkhan 3

1 Fakultas Teknologi Industri, Universitas Islam Indonesia;

2Fakultas Teknologi Pertanian, Universitas Gadjah Mada Yogyakarta;

3 Fakultas Teknologi Industri, Universitas Islam Indonesia

Abstrak

The design of PID controllers constant value and the number of sensors intended to optimize the response of the line follower robot. PID controller consists of a proportional constant (Kp), integral constants (Ki), and derivative constant (Kd). Response from the line follower robot consists of overshoot and settling time. Optimizing the response of line follower robots are getting shorter form of overshoot and settling time. The experimental results with the Taguchi method showed that the optimal conditions reached at A1B3C3D3 parameter settingsand obtained 5,300 cm overshoot and settling time of 3,833 seconds. To minimize overshoot and settling time required level combination of factors Kp = 100, Ki = 1, Kd = 14 and the number of line sensors 8 pieces.

Keywords: PIDcontroller, robotline follower, overshoot, settling time, Taguchi

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