RANCANG BANGUN SISTEM KENDALI SWERVE DRIVE ROBOT AUTONOMOUS BERBASIS FIELD ORIENTED CONTROL DAN PROPORSIONAL INTEGRAL DERIVATIF CONTROL UNTUK KONTROL POSISI

*Aufa Rofiqi Abdillah  -  Department of Mechanical Engineering, Universitas Diponegoro, Jl. Prof. Sudarto, SH, Tembalang, Semarang, Indonesia 50275, Indonesia
Munadi Munadi  -  Department of Mechanical Engineering, Universitas Diponegoro, Jl. Prof. Sudarto, SH, Tembalang, Semarang, Indonesia 50275, Indonesia
Mochammad Ariyanto  -  Department of Mechanical Engineering, Universitas Diponegoro, Jl. Prof. Sudarto, SH, Tembalang, Semarang, Indonesia 50275, Indonesia

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Abstract

Robot swerve drive memiliki kemampuan gerak omnidireksional yang tinggi, namun memerlukan sistem kendali posisi motor steering yang cepat, presisi, dan stabil. Penelitian ini membahas perancangan dan implementasi sistem kendali tertanam (embedded control) untuk satu modul steering swerve drive berbasis motor BLDC dengan menggunakan arsitektur cascaded control loop pada mikrokontroler STM32F405RGT6. Arsitektur ini terdiri atas loop dalam (inner loop) yang menjalankan algoritma Field-Oriented Control (FOC) untuk mengatur arus dan torsi motor secara presisi, serta loop luar (outer loop) yang menggunakan kontroler PID untuk mengatur posisi sudut roda. Penelitian dilakukan melalui perancangan PCB kustom, pembuatan firmware FOC dan PID, serta pengujian eksperimental guna mengevaluasi performa sistem. Hasil pengujian inner loop FOC menunjukkan bahwa arus sumbu-d dapat dipertahankan mendekati 0 ampere, sesuai teori FOC untuk efisiensi maksimum. Pengujian outer loop PID dilakukan dengan analisis respons langkah (step response). Parameter awal PID menghasilkan osilasi tinggi dan waktu tunak (settling time) yang lama (Ts > 2000 ms). Setelah dilakukan tuning, terutama pada gain derivatif (Kd), sistem menunjukkan peningkatan signifikan dengan rise time sekitar 100 ms, settling time sekitar 160 ms, dan overshoot sebesar 2,7%. Sistem juga terbukti mampu melacak perubahan setpoint multi-langkah secara akurat dan stabil. Penelitian ini menunjukkan bahwa penerapan arsitektur PID dan FOC pada STM32 efektif dalam menghasilkan kendali posisi motor yang cepat, dan stabil untuk aplikasi steering pada sistem swerve drive.

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Keywords: field-oriented control (foc); kendali posisi; motor bldc; pid; stm32
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