ARDUINO PID Control Tutorial Kendali Kecepatan Motor DC (RPM)
dilengkapi Keypad 4x4 dan LCD 16x2
Pada kesempatan kali ini saya akan menjelaskan mengenai bagaimana cara membuat sebuah alat
yang bisa digunakan untuk pelatihan PID Control menggunakan Arduino. Alat ini difungsikan untuk
mengendalikan kecepatan putaran motor (RPM) dengan menggunakan PWM yang merupakan
output dari PID. alat ini dilengkapi dengan keypad 4x4 sebagai input pemilihan menu kemudian
sebuah encoder untuk menghitung RPM serta sebuah LCD 16x2 sebagai penampilnya. device
pengendali kecepatan motornya menggunakan driver modul L298N. untuk lebih jelasnya berikut
adalah skema dan programnya.
e. Program Arduino IDE
#include <Keypad.h>
#include <Wire.h>
#include <EEPROM.h>
#include <LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x3F, 16, 2);
volatile byte half_revolutions; //variabel tipe data byte
unsigned int rpmku; //variabel tipe data integer
unsigned long timeold; //variabel tipe data long
int kalibrasi;
char customKey;
const byte ROWS = 4;
const byte COLS = 4;
char keys[ROWS][COLS] = {
{'D', 'C', 'B', 'A'},
{'#', '9', '6', '3'},
{'0', '8', '5', '2'},
{'*', '7', '4', '1'}
};
byte rowPins[ROWS] = {4,5,6,7};
byte colPins[COLS] = {8,9,10,11};
int x = 0;
Keypad customKeypad = Keypad( makeKeymap(keys), rowPins, colPins, ROWS, COLS);
int speedx = 3;
float kp;
float nilaikp;
float ki;
float nilaiki;
float kd;
float nilaikd;
float sp;
float nilaisp;
float error,errorx,sumerr;
float p,i,d,pid,rpmfix;
float selisih;
void setup()
{
lcd.begin();
lcd.clear();
lcd.noCursor();
attachInterrupt(0, rpm_fun, RISING); //mengambil sinyal high pada pin 2
half_revolutions = 0; //memberikan nilai 0 pada viariabel
rpmku = 0;
timeold = 0;
kalibrasi = 0;
pinMode(A0,OUTPUT);
pinMode(A1,OUTPUT);
pinMode(speedx,OUTPUT);
pinMode(2,INPUT);
digitalWrite(A0,HIGH);
digitalWrite(A1,LOW);
}
void loop()
{
customKey = customKeypad.getKey();
if(x == 0){
lcd.setCursor(0,0);
lcd.print("1.SET PID
}
if(x == 1){
lcd.setCursor(0,0);
lcd.print("2.MULAI
}
if(x == 2){
lcd.setCursor(0,0);
lcd.print("3.CEK PID
}
switch(customKey)
{
case '0' ... '9':
break;
case '#':
break;
case '*':
break;
case 'A':
x++;
break;
case 'B':
x--;
break;
case 'C':
break;
case 'D':
if(x == 0){
lcd.clear();
setkp();
setki();
setkd();
setsp();
cekpid();
");
");
");
}
if(x == 1){
lcd.clear();
mulai();
}
if(x == 2){
lcd.clear();
cekpid();
}
break;
}
if(x > 2){
x = 0;
}
if(x < 0){
x = 2;
}
}
void setkp(){
lcd.setCursor(0,0);
lcd.print("SET KP ");
customKey = customKeypad.getKey();
if(customKey >= '0' && customKey <= '9')
{
kp = kp * 10 + (customKey - '0');
lcd.setCursor(0,1);
lcd.print(kp);
}
if(customKey == 'A'){
lcd.clear();
delay(1000);
kp = kp/100;
nilaikp = kp;
return;
}
if(customKey == 'B'){
lcd.clear();
delay(1000);
kp = kp/1000;
nilaikp = kp;
return;
}
if(customKey == '*'){
lcd.clear();
delay(1000);
nilaikp = kp;
return;
}
setkp();
}
void setki(){
lcd.setCursor(0,0);
lcd.print("SET KI ");
customKey = customKeypad.getKey();
if(customKey >= '0' && customKey <= '9')
{
ki = ki * 10 + (customKey - '0');
lcd.setCursor(0,1);
lcd.print(ki);
}
if(customKey == 'A'){
lcd.clear();
delay(1000);
ki = ki/100;
nilaiki = ki;
return;
}
if(customKey == 'B'){
lcd.clear();
delay(1000);
ki = ki/1000;
nilaiki = ki;
return;
}
if(customKey == '*'){
lcd.clear();
delay(1000);
nilaiki = ki;
return;
}
setki();
}
void setkd(){
lcd.setCursor(0,0);
lcd.print("SET KD ");
customKey = customKeypad.getKey();
if(customKey >= '0' && customKey <= '9')
{
kd = kd * 10 + (customKey - '0');
lcd.setCursor(0,1);
lcd.print(kd);
}
if(customKey == 'A'){
lcd.clear();
delay(1000);
kd = kd/100;
nilaikd = kd;
return;
}
if(customKey == 'B'){
lcd.clear();
delay(1000);
kd = kd/1000;
nilaikd = kd;
return;
}
if(customKey == '*'){
lcd.clear();
delay(1000);
nilaikd = kd;
return;
}
setkd();
}
void setsp(){
lcd.setCursor(0,0);
lcd.print("SET SP
");
customKey = customKeypad.getKey();
if(customKey >= '0' && customKey <= '9')
{
sp = sp * 10 + (customKey - '0');
lcd.setCursor(0,1);
lcd.print(sp);
}
if(customKey == '*'){
lcd.clear();
delay(1000);
nilaisp = sp;
return;
}
setsp();
}
void cekpid(){
lcd.setCursor(0,0);
lcd.print("KP");
lcd.print(nilaikp,2);
lcd.print("-KI");
lcd.print(nilaiki,2);
lcd.setCursor(0,1);
lcd.print("KD");
lcd.print(nilaikd,2);
lcd.print("-SP");
lcd.print(nilaisp,2);
customKey = customKeypad.getKey();
if(customKey == '*'){
lcd.clear();
delay(1000);
return;
}
cekpid();
}
void mulai(){
analogWrite(speedx,pid);
error = nilaisp - rpmfix;
p = error * nilaikp;
sumerr = error + errorx;
i = nilaiki * sumerr;
selisih = error - errorx;
d = nilaikd * selisih;
pid = p + i + d;
if(pid < 0){
pid = 0;
}
rpmku = 30*1000/(millis() - timeold)*half_revolutions; //mengaktifkan counter millis
timeold = millis(); //hasil counter dimasukkan ke variabel timeold
half_revolutions = 0; //reset variabel
kalibrasi = (rpmku - 150)/109; //rumus kalibrasi
rpmfix = kalibrasi * 10;
if(rpmfix > 2000){
rpmfix = 0;
}
//menampilkan nilai pada lcd
lcd.setCursor(0, 0);
lcd.print("RPM= ");
lcd.print(rpmfix);
lcd.print("
");
lcd.setCursor(0, 1);
lcd.print("PID= ");
lcd.print(pid);
lcd.print("
");
delay(200);
customKey = customKeypad.getKey();
if(customKey == '*'){
lcd.clear();
kp = 0;
ki = 0;
kd = 0;
sp = 0;
analogWrite(speedx,0);
delay(1000);
return;
}
errorx = error;
mulai();
}
void rpm_fun(){
half_revolutions++; //counter interupt
}
