Rancang Bangun Modul Kontrol Berbasis PID untuk Pengaturan Kecepatan dan Posisi Motor DC Menggunakan STM32 dan Rotary Encoder

Abstract

Precision control of DC motors in industrial and robotics applications is often compromised by external loads and the limitations of open-loop systems, which cause instability in rotational speed and angular position. This study aims to design and build a PID-based intelligent control module for integrated DC motor speed and position control using an STM32F103C8T6 microcontroller and a rotary encoder as feedback. This system is designed as a closed-loop system to reduce the error between the setpoint and the actual value. Tests were conducted under no-load and with-load conditions at various speed setpoints (10–30 RPM) and angular changes (slow and fast). The results show that the system is able to stabilize motor performance with an average speed error of −0.3033 and 0.2766 RPM (no-load) for Motors A and B, and 0.2633 and 3.47 RPM (with-load). For angular position control, the average errors were 0.69° and 0.895° (without load), and 0.475° and 0.335° (with load). These findings demonstrate the effectiveness of the PID-based intelligent control module in improving system accuracy and stability. This system offers a compact and practical solution for industrial automation and robotics applications requiring precise motor control.