Pengendalian Kecepatan Motor DC Menggunakan Kontroler PID Adaptif Berbasis Model Reference Adaptive Control (MRAC)

Syalman Al Farizi, Wahyudi Wahyudi

Abstract


Motor DC banyak digunakan dalam industri karena keunggulannya dalam pengendalian kecepatan, namun tantangan utama yang dihadapi adalah ketidakpastian parameter yang dapat mempengaruhi kinerja sistem kontrol. Untuk mengatasi masalah ini, diperlukan sistem kontrol adaptif yang dapat menyesuaikan diri dengan perubahan parameter secara real-time. Penelitian ini bertujuan untuk merancang kontroler PID adaptif berbasis Model Reference Adaptive Control (MRAC) dengan MIT Rule untuk pengendalian kecepatan motor DC. Metode yang digunakan adalah menggabungkan kontroler PID dengan MRAC, yang memungkinkan penyesuaian parameter kontroler PID berdasarkan perbandingan antara keluaran plant dan model referensi. Hasil simulasi menunjukkan bahwa kontroler yang dirancang dapat mengendalikan motor DC dengan baik, meskipun terjadi perubahan pada konstanta parameter motor. Nilai  yang optimal ditemukan melalui metode trial and error, dan kontroler PID adaptif dapat menjaga keluaran plant agar tetap sesuai dengan model referensi pada berbagai kondisi operasional. Kesimpulannya, kontroler PID adaptif berbasis MRAC dengan MIT Rule efektif dalam mengatasi ketidakpastian parameter dan memastikan kinerja yang stabil pada sistem pengendalian motor DC.


Keywords


Motor DC; PID Adaptif; Model Reference Adaptive Control (MRAC); MIT Rule; Pengendalian Kecepatan

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DOI: https://doi.org/10.30596/rele.v7i1.22279

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