Kendali Digital Dual-Mode Berbasis Esp32 untuk Pengendalian Posisi dan Kecepatan Motor DC
DOI:
https://doi.org/10.30811/litek.v23i1.96Keywords:
PID Digital, ESP32, Motor DC, MATLAB GUI, Real-Time ControlAbstract
Penelitian ini membahas perancangan dan implementasi sistem kendali PID digital berbasis mikrokontroler ESP32 untuk pengendalian posisi dan kecepatan motor DC. Sistem dikembangkan untuk menggantikan modul kendali analog pada Laboratorium Sistem Kendali konvensional, dengan tujuan meningkatkan akurasi, efisiensi, dan fleksibilitas proses penalaan parameter. Pemrograman dilakukan menggunakan Arduino IDE (C/C++) dengan integrasi antarmuka MATLAB GUI yang berfungsi sebagai media pemantauan respon sistem dan real-time tuning parameter Kp, Ki, dan Kd. Hasil pengujian menunjukkan bahwa sistem mampu mencapai settling time rata-rata 1,81s, overshoot maksimum 9,3%, dan steady-state error di bawah 3% untuk mode kendali posisi maupun kecepatan. Dibandingkan dengan sistem analog, desain digital berbasis ESP32 memberikan peningkatan kinerja sebesar ±38% dalam hal waktu respon dan kestabilan. Dengan demikian, sistem ini dapat digunakan sebagai platform edukatif untuk praktikum sistem kendali digital sekaligus prototipe terapan untuk sistem kendali berbasis IoT dan cyber–physical systems (CPS).
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