CONTROL OF TWO DIRECT CURRENT MOTORS FOR MANEUVERING OF A MOBILE WHEELED ROBOT

• Main Author: Lucky, Andy
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/66472
• Institution: Institut Teknologi Bandung

Pademangan Covid-19 Emergency Hospitalis one of the Hospitalis established as a facility to deal with the Covid-19 pandemic. One of the facilities provided is a quarantine facility. The consumption distribution process for quarantine participants is a task that is carried out 3 times a day. Cases of disorderly consumption distribution occur because the consumption is placed somewhere and taken by the quarantine participants themselves. The author's Final Project group then designed a consumption distribution system. The designed consumption distribution system involves a mobile wheeled robot to deliver consumption to each quarantine participant. One of the specifications of the designed product is the maneuvering specification. The product can maneuver in a closed corridor environment, and perform several movements such as forward, backward, left turn, and right turn. Speed measurement testing is carried out at several speed values. The measurement results with the Incremental Rotary Encoder are compared with the measurement results with a Digital Tachometer. The implemented speed measurement has an average standard deviation of 1.33 rpm, and has a correlation of 0.999366 with the speed measurement with a Digital Tachometer. The speed control is implemented with PI speed control. The PI speed control parameters are determined by the Open-Loop Zieghler Nichols method. The control performance is tested by giving a set point and observing the motor response. The performance of the implemented PI speed control has an overshoot of 25% and a settling time of 0.1 seconds. Maneuvering tests were conducted indoors on a path with 7 location points and 2 rotation points. The robot successfully made 10 deliveries from 2 delivery variations with 5 delivery tests for each variation. The delivery test results show that the maneuver control on the robot is successfully implemented.