PEMODELAN SISTEM POSISI MENGGUNAKAN STEPPER MOTOR YANG TERINTEGRASI SENSOR LOAD CELL DAN ENCODER

Bahar Gendhiawan, Universitas Negeri Yogyakarta, Indonesia
Agus Purwanto, Universitas Negeri Yogyakarta, Indonesia

 10.21831/jifta.v12i2.25041

Abstract


Penelitian ini berhasil merancang dan mengimplementasikan sistem pengendalian posisi presisi tinggi menggunakan stepper motor hybrid NEMA 23, terintegrasi dengan sensor load cell tipe strain gauge C3 dan incremental encoder 4000 PPR. Sistem ini dikendalikan oleh microcontroller ESP32 dengan algoritma PID untuk akurasi dan stabilitas tinggi. Fokus utamanya adalah integrasi umpan balik gaya dan posisi, menjadikan sistem adaptif terhadap variasi massa. Metodologi meliputi pemodelan matematis, simulasi MATLAB/Simulink, dan pengujian eksperimental. Sistem diuji dengan variasi massa (50-1000 gram) dan tiga scenario yaitu tanpa beban, beban bertahap, dan kondisi stabil. Teknik quadrature encoding digunakan untuk meningkatkan resolusi encoder. Hasil menunjukkan akurasi tinggi dengan rata-rata error posisi 0,003–0,008 mm. RMSE tanpa beban 0,0055 mm, dan error maksimum dengan beban stabil 0,03 mm (standar deviasi 0,006382 mm). Koefisien determinasi (R²) mencapai 1 pada kondisi stabil, menunjukkan hubungan linier sempurna. Waktu stabilisasi kurang dari 3 detik pada beban rendah-sedang, namun 10,4 detik pada beban maksimum (1140 gram). Sistem ini terbukti presisi dan andal, cocok untuk aplikasi pengendalian posisi adaptif di berbagai bidang.

Keywords


Otomasi, Sensor, Load Cell, Stepper Motor, PID

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References


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DOI: https://doi.org/10.21831/jifta.v12i2.25041

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