WHEEL MOVEMENT SYSTEM BASED ON PID CONTROL IN AUTONOMOUS DISINFECTION ROBOT

• Main Author: Anthony Tedja, Sebastian
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/66378
• Institution: Institut Teknologi Bandung

ABSTRACT WHEEL MOVEMENT SYSTEM BASED ON PID CONTROL IN AUTONOMOUS DISINFECTION ROBOT By Sebastian Anthony Tedja NIM: 13218048 (Bachelor’s Program in Electrical Engineering) On November 2019, there was a new respiratory disease called Coronavirus Disease (COVID-19). COVID-19 is an infectious disease that is transmitted through humans by direct contact with the infected person or through droplets from the infected one. The demands on disinfection usage are increasing; one of it is health. Particularly inside the doctor’s office, where the doctor always examines their patient. A tool that could assist the process of disinfecting in a hospital automatically could help to minimize the problem. One of the examples is an autonomous disinfection robot; in this way the robot will surround the entire area of the enclosed room and will spray disinfectant liquid into the room to reduce the microorganisms to spread widely. As an autonomous disinfection robot, a system is needed to move the robot continuously and accurately. A control system and mechanical system is designed to rotate the robot wheel so that the robot can move around the entire room. In the process, problem formulation is carried out in the form of the need for disinfectant is spread evenly, and continuously without causing health problems to the perpetrators of disinfection. Several solutions were determined and the autonomous disinfection robot was chosen as the solution to answer the formulation of the problem. A literature study was conducted to determine specifications, make designs, and implement the tools. In designing a control system for robotic propulsion. The author uses PID control to adjust the speed with a certain speed target to move forward and use the PID position with a certain target position to perform rotational motion. The transmission system in the form of gears is used to transmit the motion and rotational power of the DC motor and a rotatory encoder 90° rotational speed of 70.3°/s. The robot has a random error when moving straight line with an error of ±2° and when performing a rotational motion of ±1°. Keywords: autonomous disinfection robot, PID control, control system, transmission system, gear wheel, error.