Optimasi Performansi Sistem Kontrol Prosthesis Lengan Dengan Menggunakan Metode PID Tuning Dengan MATLAB
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https://doi.org/10.24843/MITE.2023.v22i02.P02
Abstrak
Prosthesis lengan pada penelitian ini akan melakukan analisis sistem kontrol salah satu jari yang memiliki 3 joint tujuannya adalah untuk mengetahui performa optimal dari sistem kontrol terhadap prosthesis dengan menggunakan 3 gabungan software yaitu autodesk fusion 360 autodesk inventor sebagai desain prosthesis lengan lalu matlab simulink simscape multibody sebagai simulasi tuning PID dengan nilai 4,0715 untuk proportional (P), 99,3021 untuk integral (I), dan 0,039866 untuk (D) menghasilkan performa pergerakan yang memiliki rise time sebesar 0,00431 detik, settling time sebesar 0,026 detik, dan overshoot sebesar 4,76%.
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Referensi
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[2] S. S. Noland, A. T. Bishop, R. J. Spinner, and A. Y. Shin, “Adult Traumatic Brachial Plexus Injuries,” Journal of the American Academy of Orthopaedic Surgeons, vol. 27, no. 19. 2019. doi: 10.5435/JAAOS-D-18-00433.
[3] I. Vujaklija, D. Farina, and O. C. Aszmann, “New developments in prosthetic arm systems,” Orthopedic Research and Reviews, vol. 8. Dove Medical Press Ltd., pp. 31–39, Jul. 07, 2016. doi: 10.2147/ORR.S71468.
[4] I. A. Satam and I. A. Satam, “Review Studying of the Latest Development of Prosthetic Limbs Technologies,” Int J Sci Eng Res, vol. 12, 2021, [Online]. Available: http://www.ijser.org
[5] L. A. Miller et al., “Control of a Six Degree of Freedom Prosthetic Arm After Targeted Muscle Reinnervation Surgery,” Arch Phys Med Rehabil, vol. 89, no. 11, pp. 2057–2065, Nov. 2008, doi: 10.1016/J.APMR.2008.05.016.
[6] A. Kelleher, B. Dicianno, S. Eckstein, R. Schein, J. Pearlman, and R. Cooper, “Consumer Feedback to Steer the Future of Assistive Technology Research and Development: A Pilot Study,” Top Spinal Cord Inj Rehabil, vol. 23, pp. 89–97, Feb. 2017, doi: 10.1310/sci2302-89.
[7] M. S. Widodo and W. Jatmiko, “Design of prosthesis arm control based on microcontroller,” J Phys Conf Ser, vol. 1363, 2019.
[8] M. S. Al-Smadi and S. Y. Ababneh, “Real-time model reference adaptive control for upper-limb prosthetic device.,” Appl Bionics Biomech, 2019.
[9] Laure Anne Pessina, “A prosthetic that restores the sense of where your hand is,” Jun. 04, 2019. wevolver.com/article/a.prosthetic.that.restores.the.sense.of.where.your.hand.is (accessed Jan. 08, 2023).
[10] T. M. Wang, “The application of DC motor control on the robotic arm.,” In Proceedings of the 11th International Conference on Electrical and Electronics Engineering (ICEEE), 2017.
[11] J. A. Lie, T. D. Wulandari, and H. Kurniawan, “Tuning PID dan Robust Control pada Sistem Kontrol Gerakan Prosthesis Lengan Berbasis Motor DC.,” Jurnal Pendidikan Vokasi, vol. 8(3), 2018.
[12] B. Harsono, A. Setiyawan, and M. Rifa’i, “Pengontrolan Prosthesis Lengan dengan Metode Kontrol Adaptif dan PID.,” Jurnal Nasional Teknik Elektro dan Teknologi Informasi, vol. 8(2), 2019.
[13] M. A. Al-Faaham, M. A. Al-Dabbas, and M. Al-Rousan, “Performance Enhancement of Upper-Limb Prosthetic Control Using Robust Control.,” SN Comput Sci, vol. 1(5), 2020.
[14] D. Suryadi, M. Ardiansyah, and Y. Khairi, “Robust control method to improve the performance of an upper-limb prosthetic.,” International Seminar on Application for Technology of Information and Communication, 2019.
[15] B. Neogi, S. K. S. Islam, P. Chakraborty, S. Barui, and A. Das, “Introducing MIT rule toward improvement of adaptive mechanical prosthetic arm control model,” in Advances in Intelligent Systems and Computing, 2018, vol. 518, pp. 379–388. doi: 10.1007/978-981-10-3373-5_38.
[16] J. Zhang, M. Zhang, W. Shi, and Y. Gu, “Robust Control of an Upper Limb Prosthesis Using an Interval Model.,” IEEE Access, vol. 8, 2020.
[17] G. Dewantoro, D. Susilo, and P. Pideksa Adi, “Implementasi Pengendali Logika Fuzzy pada Navigasi Robot Penjejak Dinding,” Teknologi Elektro, vol. 16, no. 02, 2017.
[18] Komponen, “Teori Motor Dc dan Jenis-Jenis Motor DC,” Teori Elektronika, 2022. Teori Motor DC Dan Jenis-Jenis Motor DC Read more at: http://elektronika-dasar.web.id/teori-motor-dc-dan-jenis-jenis-motor-dc/ Copyright © Elektronika Dasar
[19] M. A. Alharbi, H. A. Al-Mashary, and A. Y. Al-Nasheri, “High-Performance Speed Control of a DC Motor Based on PI Control.,” Journal of Control, Automation and Electrical Systems, vol. 32(2), 221-232), 2021.
[20] A. N. Aliansyah, N. Nurhayati, S. N. Jaya`, L. Pagiling, W. O. S. N. Alam, and M. N. A. Nur, “Analisis Tuning Parameter PID Menggunakan Algoritma Genetika pada Pengontrolan Kecepatan Motor DC,” Majalah Ilmiah Teknologi Elektro, vol. 21, no. 2, p. 287, Dec. 2022, doi: 10.24843/mite.2022.v21i02.p17.
[21] W. Widhiada, T. G. T. Nindhia, and N. Budiarsa, “Robust Control for the Motion Five Fingered Robot Gripper,” Int. J. Mech. Eng. Robot. Res., vol. 4, no. 3, pp. 226-232, 2015.
[2] S. S. Noland, A. T. Bishop, R. J. Spinner, and A. Y. Shin, “Adult Traumatic Brachial Plexus Injuries,” Journal of the American Academy of Orthopaedic Surgeons, vol. 27, no. 19. 2019. doi: 10.5435/JAAOS-D-18-00433.
[3] I. Vujaklija, D. Farina, and O. C. Aszmann, “New developments in prosthetic arm systems,” Orthopedic Research and Reviews, vol. 8. Dove Medical Press Ltd., pp. 31–39, Jul. 07, 2016. doi: 10.2147/ORR.S71468.
[4] I. A. Satam and I. A. Satam, “Review Studying of the Latest Development of Prosthetic Limbs Technologies,” Int J Sci Eng Res, vol. 12, 2021, [Online]. Available: http://www.ijser.org
[5] L. A. Miller et al., “Control of a Six Degree of Freedom Prosthetic Arm After Targeted Muscle Reinnervation Surgery,” Arch Phys Med Rehabil, vol. 89, no. 11, pp. 2057–2065, Nov. 2008, doi: 10.1016/J.APMR.2008.05.016.
[6] A. Kelleher, B. Dicianno, S. Eckstein, R. Schein, J. Pearlman, and R. Cooper, “Consumer Feedback to Steer the Future of Assistive Technology Research and Development: A Pilot Study,” Top Spinal Cord Inj Rehabil, vol. 23, pp. 89–97, Feb. 2017, doi: 10.1310/sci2302-89.
[7] M. S. Widodo and W. Jatmiko, “Design of prosthesis arm control based on microcontroller,” J Phys Conf Ser, vol. 1363, 2019.
[8] M. S. Al-Smadi and S. Y. Ababneh, “Real-time model reference adaptive control for upper-limb prosthetic device.,” Appl Bionics Biomech, 2019.
[9] Laure Anne Pessina, “A prosthetic that restores the sense of where your hand is,” Jun. 04, 2019. wevolver.com/article/a.prosthetic.that.restores.the.sense.of.where.your.hand.is (accessed Jan. 08, 2023).
[10] T. M. Wang, “The application of DC motor control on the robotic arm.,” In Proceedings of the 11th International Conference on Electrical and Electronics Engineering (ICEEE), 2017.
[11] J. A. Lie, T. D. Wulandari, and H. Kurniawan, “Tuning PID dan Robust Control pada Sistem Kontrol Gerakan Prosthesis Lengan Berbasis Motor DC.,” Jurnal Pendidikan Vokasi, vol. 8(3), 2018.
[12] B. Harsono, A. Setiyawan, and M. Rifa’i, “Pengontrolan Prosthesis Lengan dengan Metode Kontrol Adaptif dan PID.,” Jurnal Nasional Teknik Elektro dan Teknologi Informasi, vol. 8(2), 2019.
[13] M. A. Al-Faaham, M. A. Al-Dabbas, and M. Al-Rousan, “Performance Enhancement of Upper-Limb Prosthetic Control Using Robust Control.,” SN Comput Sci, vol. 1(5), 2020.
[14] D. Suryadi, M. Ardiansyah, and Y. Khairi, “Robust control method to improve the performance of an upper-limb prosthetic.,” International Seminar on Application for Technology of Information and Communication, 2019.
[15] B. Neogi, S. K. S. Islam, P. Chakraborty, S. Barui, and A. Das, “Introducing MIT rule toward improvement of adaptive mechanical prosthetic arm control model,” in Advances in Intelligent Systems and Computing, 2018, vol. 518, pp. 379–388. doi: 10.1007/978-981-10-3373-5_38.
[16] J. Zhang, M. Zhang, W. Shi, and Y. Gu, “Robust Control of an Upper Limb Prosthesis Using an Interval Model.,” IEEE Access, vol. 8, 2020.
[17] G. Dewantoro, D. Susilo, and P. Pideksa Adi, “Implementasi Pengendali Logika Fuzzy pada Navigasi Robot Penjejak Dinding,” Teknologi Elektro, vol. 16, no. 02, 2017.
[18] Komponen, “Teori Motor Dc dan Jenis-Jenis Motor DC,” Teori Elektronika, 2022. Teori Motor DC Dan Jenis-Jenis Motor DC Read more at: http://elektronika-dasar.web.id/teori-motor-dc-dan-jenis-jenis-motor-dc/ Copyright © Elektronika Dasar
[19] M. A. Alharbi, H. A. Al-Mashary, and A. Y. Al-Nasheri, “High-Performance Speed Control of a DC Motor Based on PI Control.,” Journal of Control, Automation and Electrical Systems, vol. 32(2), 221-232), 2021.
[20] A. N. Aliansyah, N. Nurhayati, S. N. Jaya`, L. Pagiling, W. O. S. N. Alam, and M. N. A. Nur, “Analisis Tuning Parameter PID Menggunakan Algoritma Genetika pada Pengontrolan Kecepatan Motor DC,” Majalah Ilmiah Teknologi Elektro, vol. 21, no. 2, p. 287, Dec. 2022, doi: 10.24843/mite.2022.v21i02.p17.
[21] W. Widhiada, T. G. T. Nindhia, and N. Budiarsa, “Robust Control for the Motion Five Fingered Robot Gripper,” Int. J. Mech. Eng. Robot. Res., vol. 4, no. 3, pp. 226-232, 2015.
Diterbitkan
2023-12-19
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PRASAD, Karuna Sindhu Krishna et al.
Optimasi Performansi Sistem Kontrol Prosthesis Lengan Dengan Menggunakan Metode PID Tuning Dengan MATLAB.
Jurnal Teknologi Elektro, [S.l.], v. 22, n. 2, p. 165-170, dec. 2023.
ISSN 2503-2372.
Tersedia pada: <https://ojs.unud.ac.id./index.php/mite/article/view/98151>. Tanggal Akses: 21 apr. 2025
doi: https://doi.org/10.24843/MITE.2023.v22i02.P02.
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