Tuning PID Controller Parameters to avoid the Effect of Integrator Wind-up by using the Experimental-based Heuristic Approach 
Supriadi Supriadi1, Agusma Wajiansyah2, Achmad Fanany Onnilita Gaffar3, Arief Bramanto Wicaksono Putra4
1Supriadi Supriadi, Department of Information Technology, State Polytechnic of Samarinda, East Kalimantan, Samarinda
2Agusma Wajiansyah, Department of Information Technology, State Polytechnic of Samarinda, East Kalimantan, Samarinda.
3Achmad Fanany Onnilita Gaffar, Department of Information Technology, State Polytechnic of Samarinda, East Kalimantan, Samarinda.
4Arief Bramanto Wicaksono Putra, Department of Information Technology, State Polytechnic of Samarinda, East Kalimantan, Samarinda.
Manuscript received on 02 September 2019 | Revised Manuscript received on 12 September 2019 | Manuscript Published on 23 September 2019 | PP: 945-953 | Volume-8 Issue-5C, May 2019 | Retrieval Number: E11340585C19/19©BEIESP | DOI: 10.35940/ijeat.E1134.0585C19
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: Dc motor is widely used as actuator in industry and robotics. In this experiment a dc motor is used as an Omni wheel actuator on Omni-directional 3WD robot. In order for the movement of the robot to follow the specified vector quantity, then the speed of the wheels connected in each motor shaft must persist at each set of points that have been determined. For these needs then, every dc motor must be controlled the number of revolutions. One of the problems with implementing a PID controller is the possibility of a wind-up integrator effect that causes the system to be unable to follow the command behavior. The purpose of this study was to obtain PID controller parameters in such a way as to avoid the effects of wind-up integrators and achieve the best system response performance using an experimental based heuristic approach. The results of this study show that the wheel spin is able to follow various reference speeds with settling time and steady state error at about 1.1s and 0.648%.
Keywords: PID, Speed Control, Observer-based, Cordless DC Motor.
Scope of the Article: Robotics and Control