Simulasi Kontrol Penjejak Lintasan pada Traktor Roda Dua untuk Lintasan Multi Segmen
Keywords:
traktor roda dua, penjejak lintasan, kontrol v dan ωAbstract
Abstrak
Sebagian besar mata pencaharian penduduk Indonesia adalah petani. Pada umumnya petani di Indonesia masih menggunakan traktor roda dua atau traktor tangan untuk mengolah lahan pertanian. Hadirnya mesin otonom khususnya traktor roda dua menjadi solusi dalam meningkatkan produktivitas pertanian. Traktor otonom roda dua memerlukan keakuratan menyetir dalam mengolah lahan pertanian agar dapat mengikuti lintasan.Tujuan penelitian adalah untuk mensimulasikan pengontrolan penjejak lintasan pada traktor roda dua dengan sinyal kontrol kecepatan (v) dan kecepatan sudut(ω). Parameter kontrol dicari dengan melakukan tuning terhadap parameter gain kontrol kecepatan (Kv), gain kontrol kecepatan sudut (Kω)dan jarak titik pusat ke referensi (b). Penelitian ini juga mengajukan metode untuk membuat lintasan traktor multisegmen secara otomatis berdasarkan masukan data panjang dan lebar lahan pertanian serta jarak atau interval setiap alur. Hasil tuningmemberikan nilai IAE (integral absolute error) minimal 9,7971 dengan nilai parameterb = 0,1, Kv = 10 dan Kω = 10.Penerapan nilai parameter pada simulasi multi segmen menunjukkan hasiltrayectori tracking yang cukup baik yaitu tercapainya errorkeseluruhan yang cukup kecil.
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