Rancang Bangun Sistem Pemilah Warna Jeruk Siam Madu dengan Kendali PID pada Motor Konveyor
DOI:
https://doi.org/10.71282/jurmie.v2i12.1289Keywords:
Microcontroller-Based Systems, Proportional–Integral–Derivative (PID) Control Algorithms, Advanced Color Sensing Modules, Automated Control MechanismsAbstract
This research aims to design an automatic sorting system for jeruk siam madu (honey mandarin) based on an Arduino microcontroller with PID control on the conveyor motor. This effort is intended to improve post-harvest efficiency, particularly in fruit sorting based on ripeness level, to meet the increasing market demand. Currently, the sorting process is still performed manually, making it inefficient and prone to classification errors. Therefore, an automatic sorting system was developed to operate accurately, consistently, and stably in controlling the conveyor speed.The system employs a TCS3200 color sensor to distinguish between yellow and green oranges and implements PID control to maintain the stability of the DC motor speed on the conveyor. The color characteristics of yellow oranges are within the range R: 130–151, G: 161–210, B: 163–181, while green oranges are within R: 183–205, G: 210–240, B: 173–197. The PID parameters were obtained using the Ziegler–Nichols 2 tuning method, resulting in Kp = 12, Ki = 24, and Kd = 1.5. Testing at a speed of 15 RPM showed that the system operated stably with minimal fluctuations. The results demonstrate that the system can effectively sort oranges based on color while reliably maintaining conveyor speed.
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