ROTATION SPEED CONTROL OF DC MOTOR IN LENGTH GRADER

MACHINE USING PROPORTIONAL INTEGRAL DIFFERENTIAL (PID)

METHOD

Nathanael Ryan Christano

1614003
Electrical Engineering Study Programmed, STT Atlas Nusantara
Email : nathanaelryan34@yahoo.com

ABSTRACT

Sorting/sifting is a method of grouping granules, which will be separated into one or several groups. There
are two sieving techniques namely manual sifting carried out by humans and mechanical sifting carried out by the
machine. Mechanical sifting still uses low or high vibration mode selection.
This attracted the interest of the compiler to design and implement a Length Grader's DC motor rotation
control system with the Proportional Integral Derivative (PID) method using the Arduino microcontroller, in this
final project. In making or designing Grader rotation speed control, a component such as a DC motor is used as a
sieve drive, a rotary encoder sensor as a DC motor rotation speed sensor that provides feedback to the
microcontroller, Motor driver as a motor drive that will be controlled by Microcontrollers, step down as a 24 to 12
voltage drop, and LCD as a display.
The purpose of this final project is to make a sieve/rice sorter by giving the rice sorter rotation speed setting
according to the set point and get the mathematical model of the plant transfer function, then get the control
parameter using the PID control, and the results are compared with the results of separating motor speed found
errors below 5% or in accordance with the reference input using a rotary encoder sensor.

Keyword: Length Grader Machine, Rice Sorting/Sifting, Motor DC, Arduino microcontroller, PID Controller.

1. PRELIMINARY

Procurement of food, especially rice is often encountered with problems. Based on publications from the
Central Bureau of Statistics, Indonesia's population growth is very high at 2% per year and this has led to the
transfer of agricultural land to citizens' homes. (source: BPS.go.id). The Indonesian government adopted a policy by
importing rice abroad. The increasing prevalence of imported rice in domestic markets, it turns out that domestic
rice production has low competitiveness. In order for domestic production of rice to be able to compete in the global
market, the size and efficiency of the processing process must be increased to be able to compete with better
imported products. Managers need to minimize the level of grain loss both during harvesting, threshing and during
grinding.
Efficiency in a company or industry is the key to success to get the maximum profit. To overcome this
efficiency one of which can be applied by using a supporting equipment (Grader), a rice sieve is used to separate
broken rice that is still mixed in rice, a cylindrical drum shaped from stainless steel. The current sieving is still
unstable using only a motorbike and holding the sieve without control. The use of automation systems in the
equipment used can directly increase the processing efficiency and produce more maximum quality.
While the development of local rice management in Indonesia is still driven by massive processing or
quantitative production. Regardless of the size of rice, the size of rice is seen from the amount of broken rice in one
sack or place. While at present every rice management industry must realize they have faced the strength of
competitors who are very concerned about the size of rice they manage.
2. LITERATURE REVIEW

This chapter will discuss the components used in the design of the system of "Rotation Speed Control of DC
Motor in Lenght grader Machine Using Proportional Integral Differential (PID) Method" as well as how each
component works.
2.1 Length Grader Machine

In general, Grading Machines or sieving machines are used to distinguish thickness or length from various
variants of rice. Rice has the same length but different thicknesses will be processed using the Rotating Graders
method, while rice that has the same thickness but has different lengths will be separated by the Trieurs method.
When the mixture has rice of different thickness and length, the separation has been completed using only the
two methods. But if rice consists of a mixture of variants of the same length and thickness, sorting rice is almost
impossible.

Figure 1. Length Grader Operation Machine

2.2 Microcontroller

Arduino is a single-board microcontroller that is open-source. Arduino board is designed using the Atmel
AVR processor and supports I / O on its board. The software for Arduino consists of a standard programming
language compiler and bootloader. In an Arduino microcontroller, it can also be implanted a variety of libraries
and methods, as long as the memory capacity of a microcontroller is sufficient.
This board has 14 digital input / output pins (where 6 pins can be used as PWM outputs), 6 analog inputs,
16 MHz crystal oscillators, USB connections, a power jack reset button. These pins contain everything needed
to support the microcontroller, only connect to a computer with a USB cable or a voltage source can be obtained
from an AC-DC adapter or battery to use it.

Figure 2. Arduino Uno

2.3 DC Motor

In a DC motor, the field coil that flows through an electric current will produce a magnetic field
surrounding the anchor coil in a certain direction. Energy converters both electrical energy into mechanical
energy (motor) and otherwise from mechanical energy to electrical energy (generators) take place through a
magnetic field. Energy will be converted from one system to another, while it will be stored in a magnetic field
medium and then released into another system energy. Thus, the magnetic field here not only functions as a place
of energy storage,but also a process of energy change, where the process of energy changing in should be direct
motors.
 2.4 Optocoupler Sensor

Optocoupler is a component consisting of infrared and photodiodes that are included in one package.
Optocoupler is a device that consists of two parts, the transmitter and receiver, which are light transmitters and
light receivers in one component. Usually the optocoupler is used as an electrical switch, which works
automatically. Basically, optocoupler is a coupling component that works based on the trigger of optical light.

Figure 3. Speed Sensor

2.5 PID Control

Any advantage and disadvantage of each P, I and D controller can cover each other by combining the
three of them in parallel into a PID controller. The control elements P, I and D respectively aim to accelerate the
reaction of a system, eliminate offsets and produce large initial changes.

Figure 4. Block Diagram of PID Control System

3. TOOL DESIGN

3.1 System Design

In the chapter on planning and manufacturing DC motor speed control systems on pottery rotating
machines, it will discuss the components of design, tool making, process of system work, mechanical design,
hardware design and software design.
Output
karakter LCD
Input Set point 2x16
Microkontroller
Referensi Arduino

Pwm 0-255
PWM 0-5 Vdc Driver 0-24 Vdc
Adc Motor DC
motor DC

0-5 Vdc Sensor

kecepatan

Figure 5. Block Diagram of System

 3.2 Mechanical Design

Mechanical design in this rice sieving device, mechanics used profile iron with a size of 74 x 38 x 46 cm.
cylinders used are made of stainless steel with the aim that the container is not corrosive because it can be affected
by quality rice and food grade, with a hole size of 5mm with a capacity of 5kg. support frame made of iron plate that
aims to be easily moved.

The following is a mechanical design of pottery rotating machine:

Figure 6. Mechanical Design of Length Grader

3.3 Electrical Design

In the design and manufacture of electrical devices include a minimum range of Arduino microcontroller
systems, motor driver circuits, speed sensor circuits, push button application circuits and finally LCD circuits.
Push
Button 1

Push
Button 2

Push
Button 3

5V 11 12 13 GND 5V SDA SCL

GND
MIKROKONTROLLER
ARDUINO UNO

PIN 2 PIN 5

Sensor Rotary
Driver Motor
Encoder

Motor DC

Figure 7. Electrical Design

3.3.1 Rotary Encoder Sensor Design

In designing this tool, the speed sensor that will be used is a rotary encoder sensor with a 55
number of holes.

VCC 5V

SENSOR
PIN 2 MIKRO
ROTARY OUTPUT
DIGITAL KONTROLER
ENCODER

GND GND

Figure 8. Rotary Encoder Sensor Design

3.3.2 Push Button Design

Input reference that is used in the design of this tool is using a push button. This push button is
used as an input for the rpm set point. The following is a series of push buttons on the Arduino that will
be created.

PUSH PUSH PUSH

BUTTON BUTTON BUTTON
1 2 3
5V

GND

9
MIKRO
10
KONTROLLER

11

12

13

Figure 9. Push Button Design

3.3.3 DC Motor Driver Design

The motor used in the design of this tool is a 19V DC motor which is used as a pottery rotating.
Hence, it requires an interface circuit that is the motor driver to be able to connect to the microcontroller
because the DC motor works on a larger voltage supply. In this study BTS7960 motor driver will be used
which will be designed for 5-24V DC voltage and current up to 41A.
DRIVER
MOTOR

5V
R..EN
19 V +
A Motor
R DC
D
PIN
L..EN
GND
-
U
5
I
N RPWM
O
19 V
GND
VCC out+ STEP IN+ 24V
Power
GND DOWN
Supply
out+ 19 V IN - GND
GND

Figure 10. DC Motor Driver Design

3.3.4 LCD Design

 The LCD that will be used is a 16x2 LCD and is used for the I2C circuit to save ports on the
microcontroller. The followings are LCD and I2C circuits on Arduino.
VCC

GND

VEE
GND
RS
5V
R/W
VCC
E
SCL
DB0

MIKRO DB1
KONTROLER I2C LCD
DB2
SDA
DB3

DB4
SDA
GND
DB5

DB6
SCL
DB7

Figure 11. LCD Design

3.4 Software Design

In designing the software on the microcontroller, it functions to control the rotation speed reading based
on the input of reference value.

Figure 12. Diagram of Software Design

4. RESULT AND ANALYSIS

This chapter will show the results of the realization of the planning and design of the tools that have been made
in the previous chapter. Then in this chapter, an analysis will also be carried out to obtain control parameters.

4.1 System and Mechanical Realization

The following is the realization of the system and mechanics of the Length Grader :

Figure 13. Design of Control Panel Box

Figure 14. Length Grader Machine In 3 View

4.2 Initial Identification Result

The following is the result of the initial identification of the length grader plant :

Figure 15. Identification Result of DC Motor Speed by Open Loop

From the identification results, it obtained the plant model as follows:

Figure 16. Plant Modelling Result

From the graph, some equation functions are obtained from entering sensor reading data into
MATLAB software, that is:
 Identification Function Plant:

0.001524 𝑠^2 − 0.0008764 𝑠 + 0.02026

𝐺𝑖(𝑠) =
𝑠^3 + 1.835 𝑠^2 + 10.72 𝑠 + 0.06491
Transfer Function Plant:

K 5,414
𝐺𝑝(𝑠) = =
Ts + 1 0.152 s + 1
Transfer Function Control :

0.0562 s + 0.3694
𝐺𝑐 (𝑠) =
0.152 𝑠
4.3 Control Parameter

The control parameter is obtained from setting the parameter value that matches the equation following
the control transfer function. From testing tool and system data, the control parameter values are as follows:

Table 1. Control Parameter

Control Parameter Value
Ti 0.152
Kp 0.3694
Kd 0

4.4 Average Error Steady State

From the application of the control parameters, the steady state error value is obtained as shown in the
following table:
Table 2. Speed error for no load design model
Error Steady State
Reference Speed Error Speed Max. Error (%)
(rpm) Real (rpm)
70 rpm 68.57 rpm 2.042%
50 rpm 51.43 rpm 2.86%

30 rpm 34.29 rpm 14.03%

Table 3. Speed error for load design model

Error Steady State
Reference Speed Error Speed Max. Error (%)
(rpm) Real (rpm)
70 rpm 68.57 rpm 2.042%

50 rpm 51.43 rpm 2.86%

30 rpm 34.29 rpm 14.03%

5. CONCLUSION

From the results of the research and testing that has been carried out, the conclusions that can be drawn in this
final project with title “Rotation Speed Control of Dc Motor in Length Grader Machine Using Proportional Integral
Differential (PID) Method”, are as follows:

a. The average of steady state error in this tool is still good because the steady state error value is an average
of 5%. The error was not exceeding the tolerance limit that has been set in the aim of the study that the
maximum error state is 5%.
b. The implementation of the PID control algorithm on Rotation Speed Control of Dc Motor on Pottery
Rotating Machine Using Proportional Integral Differential (PID) Method is the parameters Kp, Ti, and Kd,
where Kp is 0.3708, Ti is 0.152 and Kd is 0.
c. Mathematic Plant Model:
K 5,414
𝐺𝑝(𝑠) = =
Ts + 1 0.152 s + 1

6. REFERENCE
Sukamandi. 2011 oktober 12, penggilingan padi menggunakan rice milling unit. Thailand

Anonim. 2012. LCD (Liquid Cristal Display).http://elektronika-dasar.web.id/lcd-liquid-cristal-display/

Chairuzzaini,et al 1998.PENGENALAN METODE PERANCANGAN KONTROLER PADA PID.

http://www.elektroindonesia.com/elektro/tutor12.html

Darsono, Lusiana. 2002. http://digilib.mercubuana.ac.id/manager/n!@file_skripsi/Isi2682613615793.pdf

Hendriono, Dede. 2014. Mengenal Arduino Mega2560.http://www.hendriono.com/blog/post/mengenal-arduino-

mega2560

Barr, Michael. "Pulse width modulation." Embedded Systems Programming 14, no. 10 (2001): 103-104. Omron
Electronics LLC. In USA.Rotary Encoder (Incremental/Absolute) E6C3.
http://homepage.cem.itesm.mx/carbajal/Microcontrollers/ASSIGNMENTS/readings/ARTICLES/barr01_pwm.p
df

https://www.google.co.id/search?q=Datasheet-Incremental+Absolute+Encoder+%28Omron-
E6C3%29.pdf&ie=utf-8

Santana, Wilson. 2013. Mesin DC – Mesin AC – Estimation of Plant Electrical Load.

http://blogs.itb.ac.id/el2244k0112211023wilsonsantana