Implementasi Operasi Linear Regression Dalam Peningkatan Respon Proporsional Motor Penggerak Robot Beroda Holonomik
DOI:
https://doi.org/10.70609/metrotech.v4i2.7217Kata Kunci:
Regresi linier, Kontrol proporsional, Motor DC, Robot holonomik, Kontrol kecepatanAbstrak
Penelitian ini bertujuan meningkatkan stabilitas dan kecepatan respon motor pada robot beroda holonomik melalui penerapan regresi linier multivariat untuk prediksi awal sinyal PWM. Permasalahan utama pada sistem kontrol proporsional konvensional adalah respon motor yang lambat dan osilatif akibat perubahan setpoint RPM yang cepat dan dinamis. Untuk mengatasinya, dibangun model regresi antara RPM dan PWM sebagai nilai awal sebelum dikoreksi oleh kontroler proporsional. Data dikumpulkan secara openloop dari tiga motor, masing-masing diberi model regresi polynomial dengan orde optimal berdasarkan nilai . Hasil pengujian menunjukkan bahwa kombinasi regresi linier dan kontrol proporsional menghasilkan respon motor yang lebih stabil serta meningkatkan efisiensi gerak robot secara signifikan. Dalam pengujian pergerakan menuju dua titik tujuan, sistem gabungan mencatat waktu tempuh 9,38 detik dan 8,47 detik, jauh lebih cepat dibanding kontrol proporsional murni yang mencatat 19,07 detik dan 27,14 detik. Hasil ini menunjukkan bahwa pendekatan prediktif pada kontrol motor mampu meningkatkan performa robotik dalam skenario pergerakan cepat dan presisi tinggi.
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