sistem kontrol manual dan otomatis robot
TRANSCRIPT
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Endra Pitowarno © 2007
Sistem Kontrol Manual danOtomatis Robot
Endra PitowarnoPENS ©2007
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Low-level & High Level Control
Sensor Internal:sensor posisi,
sensor kecepatan, dansensor percepatan,
Sensor Eksternal:sensor taktil (tactile), berbasis sentuhan: misalnya limit switch pada bemper robot,
sensor force dan sensor torsi (torque sensor), sensor proksimiti, sensor jarak (sonar, PSD, dll), sensor vision (kamera), gyro, kompas digital, detektor api, dan
sebagainya.
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Low-level & High Level Control
Perintah Gerak Aktuator
Lingkungan Robot
Sensor Internal
Sensor Eksternal
Low-level Control
High-level Control
Kontroler
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Kontrol Posisi
Perintah Gerak Aktuator
Lingkungan Robot
Sensor Internal
Sensor Eksternal
Low-level Control
High-level Control
Referensi posisi yg selaluberubah
Posisi aktual tiap derajataktuator
Kontroler
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Kontrol Posisi
Algoritma program (ex:
IF-THEN-ELSE)
Kontroler PID + Aktuator
Lingkungan Robot
Sensor posisi (rotary encoder)
Proximity sensor (ex: line
sensor)
Low-level Control
High-level Control
Referensi posisi yg selaluberubah
Posisi aktual tiap derajataktuator
Kontroler
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Kontrol Posisi & Kecepatan
Perintah Gerak
(posisi) & Kecepatan
Lingkungan Robot
Sensor Internal (posisi &
kecepatan)
Sensor Eksternal
Low-level Control
High-level Control
Kontroler PID
Aktuator
Referensi posisi & kecepatan yg selalu berubah
Posisi & kecepatan aktualtiap derajat aktuator
Kontroler
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Kontrol ON/OFF
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Kontrol ON/OFF
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Driver Kontrol ON/OFF
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Rangkaian Sistem Kontrol ON/OFF
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Program Kontrol ON/OFF: PIC16F87
// Nama Program : RR_16F84A1.c -Author: epit - Date : 2002/04/24#pragma PROC_CODE_WORD_VAL 0x3ff2#pragma PROC_ID_VAL 0x01 0x02 0x03 0x04#pragma PCLATH_LOC 0xa#include "16F84.h"# define TRUE 1# define FALSE 0// Definisi alamat I/O Port A & Bint porta @ 0x5;int portb @ 0x6;int trisa @ 0x85;int trisb @ 0x86;int dataIN;int count;
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Program Kontrol ON/OFF: PIC16F87
pause(t)long t;{unsigned int d;while( t ) {for(d = 0 ; d < 255 ; d++ );t--;}} // end pausemain(){trisa = 0;trisb = 0;start_position();pause(10);run();for(;;){portb = 0x00;}}
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Program Kontrol ON/OFF: PIC16F87void start_position(){portb = 0xcf;for(;;){ dataIN = porta & 0x03; if (dataIN != 0x03) return; }}void run(){count = 0;for(;;) {dataIN = porta & 0x80; // cek untuk bumper limit swtichif (dataIN == 0x00) {portb = 0x00; pause(100); return;}dataIN = porta & 0x83; // cek untuk x-----xxB Port Aif (dataIN == 0x80) portb = 0x00;if (dataIN == 0x81) portb = 0x02;if (dataIN == 0x82) portb = 0x01;if (dataIN == 0x83) portb = 0x03;}}
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Kontrol Linier: Kecepatan(kontrol Proportional)
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Kontrol Linier: Kecepatan(kontrol Proportional-Integral)
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Kontrol Linier: Kecepatan(kontrol Proportional-Integral-Derivative)
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Skema ekivalen Motor DC Servo dengan kontrol kecepatan
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Motor DC Servo dengan kontrolkecepatan
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Studi Kasus: kontrol posisi & kecepatan
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Fungsi Aktuator
• Penghasil gerakan (torsi)• Gerakan rotasi (motor based) dan
translasi (solenoid, hidrolik & pneumatik)• Mayoritas aktuator > (DC) motor based• Aktuator dalam simulasi cenderung dibuat
linier• Aktuator riil cenderung non-linier
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Aktuator dalam perspektif Kontrol
• Aktuator: pintu kendali ke sistem• Aktuator: pengubah sinyal listrik (arus, I)
menjadi besaran mekanik (torsi) >> Torsi = I x Ktn; Ktn = konstanta motor/aktuator
• Batasan aktuator riil: sinyal kemudi terkecil(mulai bergerak), saturasi (arus membesarnamun torsi tetap)
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Berbagai macam Aktuator:VEXTA MOTOR
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Berbagai macam Aktuator:Geared DC Motor
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Berbagai macamAktuator: Servo Motor
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Artificial Muscle
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Aplikasi (RC) Servo Motor
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Sistem
Kontroler
Sistem Aktuator
Mekanik Robot
Sistem Roda
Sistem Kaki
Sistem Tangan
Untuk Navigasi (gerak berpindah)
Untuk Manipulasi (gerak penanganan)
• Mengikuti jalur • Berdasarkan obyek statik atau
bergerak (menuju obyek, menghindari obyek/halangan) berbasis vision, proximity, dll.
• Berdasarkan urutan perintah (referensi trajektori)
Ujung tangan (posisi TIP): • Mengikuti referensi trajektori • Mengikuti obyek (berbasis vision,
proximity, dll.) • Memegang, mengambil,
mengangkat, memindah atau mengolah obyek
Sensor Aktuator
Real world
Mata Kamera
Mata Kamera
Sistem Robot
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Sistem Robot dan orientasi
fungsi
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Sistem Robot dengan kontroler berbasis prosesor
Rangkaian prosesor
(CPU)
Robot Sensor Aktuator
Analog dan atau Digital
Analog dan atau Digital
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Kontroler berbasis prosesor dengan user interface
Rangkaian prosesor
(CPU)
1/0
analog
sistem bus (shaft encoder,
vision)
1/0
analog
Keypad/ keyboard
Monitor (LCD, CRT, etc.)
Wireless communications (blue tooth, Wi-Fi, etc.)
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Sistem Kontrol Robotik(kontrol robot loop terbuka/tertutup)
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Kontroler Robot
Referensi Gerak
Robot
Referensi Gerak
Kontroler
Hasil Gerak sesungguhnya (dibaca oleh
sensor)
Gerak aktual
+
-
Error = Gerak referensi – Gerak aktual
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Teori Dasar:Penggunaan Transformasi Laplace
∫∞ −=0
)()}({ dtetftfL st
jika )()}({ sXtxL =maka )()}({ ssXtxL =& ))(()}({ ssXstxL =&&
percepatan/akselerasi
s1
s1
kecepatan posisi
)(tx&& )(tx& )(tx
s(s X(s)) s X(s) X(s)
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Contoh: Robot Tangan Satu Sendi
Robot (lengan tunggal)
Aktuator (Motor DC)
Sensor posisi (potensiometer)
θ
X
Y
+
-
Error = refθ – actθ
Amplifier s1
s1 Sendi
Robot Motor DC actθ&& actθ& actθrefθ
Sistem Robot
τIKtn
Kontrol
Sistem Kontroler
tact ∆∆
=θθ&
tact ∆∆
=θθ&
&&
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Metoda Kontrol Klasik (P)
H(s) r Kp y +
-
e u
eKpu ⋅=
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Metoda Kontrol Klasik (I)
H(s) r
sKi
y +
-
e u
KidTTetut
⎥⎦⎤
⎢⎣⎡= ∫0 )()(
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Metoda Kontrol Klasik (P-I)
H(s) r
sKi
y +
-
e u
Kp +
+
sKiKpsG +=)(
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Metoda Kontrol Klasik (D)
H(s) r Kds ⋅
y +
-
e u
eKdu &⋅=teKdu
∆∆⋅=
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Metoda Kontrol Klasik (P-I-D)
H(s) r
Kds ⋅
y +
-
e u +
+
Kp
sKi +
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Penggunaan Kontrol Cerdas
Sistem Robot
r Kontroler berbasis
AI
y +
-
e u
• AI & Terminologi:orang pertama > Alan Turing (1937)• Neural Network: Warren McCulloch (1943)• Teori Fuzzy: Lukacewick (1930an)• Fuzzy Sets: Lotfi Zadeh (1965)• Genetic Algorithm: Teori Darwin• Konsep GA dalam Evolutionary Computation (EC): Holland (1975)
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Motor DC magnet permanen
R L
Va Ia
Vb
θωτ ,,
ωbaa
a KRIdt
dILV ++= ] [)(
)(
btneffeff
tn
a
L
KKfRJsRsnK
sVs
++=
θ
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Fungsi transfer open loop Motor DC magnet permanen
Va(s)
+
- RsL +
1
effeff fsJ +1Ktn
s1
Kb
θ(s) sθ(s) (s)
] [)()(
btneffeff
tn
a
LKKfRJsRs
nKsVs
++=
θ
Ia(s) 1)( −sHKtn
s1 θ(s) sθ(s) (s)
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Motor DC Servo
Motor DC-MP
Kecepatan
Referensi, refθ&
Kontrol PID +
-
Kecepatan
aktual, actθ&
Motor DC Servo dengan kontrol kecepatan
Skema ekivalen Motor DC Servo dengan kontrol kecepatan
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Motor DC Servo dengan kontrol kecepatan
Tegangan Supply DC
(misal 0÷24V)
refθ&
Rangkaian Driver
actθ&
+ -
+ -
Vref(+) Vref(-)
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RC Servo
Arah piringan
Servo -120º s/d +120º 0º
RC Servo
Sinyal Tegangan Input PWM
Prinsip kerja RC Servo
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Teknik Pulse Width ModulationTegangan PWM Tegangan ekivalen linier V
t t
=
=
=
0V
Vsat
Prinsip kerja PWM
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Sebuah rangkaian pembangkit PWM lengkap dengan driver H-bridge untuk motor DC-MP/DC-SV
+5V
1K2
74HCT245
.01
Gnd Trg Out Rst Ctl
Thr Dis Vcc
20K
+
-+
-
+
-
+
- +
-
74HCT245
74HCT245
74HCT04
¼ LM324
¼ LM324
¼ LM324 ¼ LM324
¼ LM324
¼ LM324
+12V
+12V
+12V
+12V
+12V
1K2
1K2
1K2 1K2
1K2
2K2
2SD1314
BD643
BD643
BD643 BD643
BD643
BD643
2SD1314
2SD1314
2SD1314 2SD1314
1K2
LM555
.01
+(12÷24)V
M
1K2+12V
20K
(0÷5)V refθ&
CW/CCW
1
2
3
4
8
7
6
5
1/0
M
Arah (1/0)
Kecepatan (0÷5)V
Driver Motor DCBerbasis
PWM (ep)
H-bridge
74HCT04
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Wassalam