Konsep Dasar dan Program PID (Propotional, Derifatif, dan Intergal) dengan Menggunakan Arduino

Apr 02, 2019 26 Comments Android, AngularJS, Arduino, Artificial intelligence, Convolution Neural Network, E-Book, Internet Of Things, Mikrokontroler, Neural Network, Project, Sidebar, Soft Computing, Software, Tutorial elmech

Kontroler PID (dari singkatan bahasa Inggris: Proportional–Integral–Derivative controller) merupakan kontroler mekanisme umpan balik yang biasanya dipakai pada sistem kontrol industri. Sebuah kontroler PID secara kontinyu menghitung nilai kesalahan sebagai beda antara setpoint yang diinginkan dan variabel proses terukur. Kontroler mencoba untuk meminimalkan nilai kesalahan setiap waktu dengan penyetelan variabel kontrol, untuk persamaan PID seperti dibawah ini:

dengan KP, KI, dan KD, merupakan koefisien untuk parameter proporsional, integral, dan derivatif, secara berurutan (atau P, I, dan D). Pada model ini,

P bertanggung jawab untuk nilai kesalahan saat ini. Contohnya, jika nilai kesalahan besar dan positif, maka keluaran kontrol juga besar dan positif.
I bertanggung jawab untuk nilai kesalahan sebelumnya. Contoh, jika keluaran saat ini kurang besar, maka kesalahan akan terakumulasi terus menerus, dan kontroler akan merespon dengan keluaran lebih tinggi.
D bertanggung jawab untuk kemungkinan nilai kesalahan mendatang, berdasarkan pada rate perubahan tiap waktu.

dari persamaan tersebut jika dikonversi menjadi persamaan digital dapat dilihat seperti pada persamaan berikut:

serta jika persamaan diatas diimplementasikan pada bahasa pemrograman adalah sebagai berikut:

berikut adalah contoh program PID yang telah kami buat untuk yang pertama digunakan sebagai kontroler pengendali RPM motor DC, Auto buckboost, dan yang kedua PID untuk mengendalikan sudut servo secara otomatis:

Video 1. Kontroler PID untuk pengaturan kecepatan Motor DC

Video 2. Kontroler PID untuk pengaturan Dutycycle Autobuckboot converter

Video 3. Kontroler PID untuk pengaturan Sudut Motor Servo

Sekian dulu ya penjelasan singkat mengenai PID pada arduino, untuk mendapatkan programnya bisa langsung download dengan cara tekan link di bawah ini:

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