Perancangan Sistem Kendali Posisi Linier Pada Mekanisme Gerak Cnc Menggunakan Kontroler Nctf Berbasis Arduino Pc

Abstract

Position control system is needed in the design of the mechanism that requires accurate movement of motion. One of practical controller types used for designing a position control system is called NCTF (Nominal Characteristic Trajectory Following). NCTF controller consists of nominal characteristic trajectory and a PI (proportional integral) compensator. The purpose of the NCTF controller is to make the motion of the control object follow NCT and end at its origin. NCTF controller is designed based on a simple experiment open loop control systems. The performance of NCTF controller responses will be evaluated and discussed based on the simulation results. This research use point-to-point for the motion mechanism, which consists of two axes; x-axis and y-axis. Both axis have different characteristics of control object. The control object in this study uses a DC encoder motor as an actuator transmitted by pulleys and belts to move the trolley on each track. Arduino mega 2650 as a microcontroller is used for data acquisition and for communication between Scilab Xcos software and a designed control object systems. Position control system has been designed in this research with NCTF controller method by using PI as compensator. The characteristics of control object have been identified based on data from speed and position on open loop system. The result of the control object system response test for the X axis with the largest steady state error is at the set point of 10 mm as big as 8.73% and the settling time value is 0.28 seconds. While for the Y axis, the largest steady state error value also on the set point of 10 mm equals to 6.1% with the settling time value is 0.49 seconds.