APLIKASI MIKROKONTROLER ATMEGA 8535 PADA PERANCANGAN DAN PEMBUATAN SISTEM KONTROL ROBOT INSPEKSI REL

Abstract

A control system is one of the most important part of the field of robotics. In the study here made the control system of inspection robot prototype rails. Expected the robot to walk on a rail line with a given motor speed input and know the level of alignment of the rail. Motor speed control system which is made using a closed control system with proportional control technique. As the motor controller is used microcontroller ATMega 8535, optocoupler type H21A3 as speed sensors, for use worm gear driving motor 12 V dc To determine the level of alignment rails used a potentiometer which is applied as a sensor measuring angular angle. Control code is installed on netbook devices using visual studio 2008 software, and is connected with microcontroller ATMega 8535 with the connection interface serial RS-232. The result of the implementation of motor control with proportional control technique can work well, in no load or with load. Resolution of the speed sensors are made of ± 2 rpm, and a resolution of 1 degree angle sensor. Found that the result of motor control experiments using the value of Kp 0.7 and 500 ms sampling time able to obtain steady state according to its set point.