Dio Ramadan Manik, . (2025) RANCANG BANGUN SENDOK STABILIZER MEGGUNAKAN METODE PID ZIEGLER-NICHOLS UNTUK PENDERITA PARKINSON. Skripsi thesis, Universitas Pembangunan Nasional Veteran Jakarta.
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Abstract
This study designs and develops a noninvasive stabilizer spoon prototype to reduce the impact of hand tremors in Parkinson’s patients during eating. The device uses an MPU6050 inertial sensor to detect roll and pitch angles, two MG90S servo motors as actuators, and an Arduino Nano microcontroller controlled by a Ziegler–Nichols–based PID controller. Control parameters were determined in two stages. The first stage used critical oscillation to obtain Kp = 1.8, Ki = 0.024, and Kd = 33.75 for roll, and Kp = 2.4, Ki = 0.032, and Kd = 45 for pitch. The second stage involved fine tuning to optimize system response, resulting in final gains of Kp = 3.75, Ki = 0.05, and Kd = 33,75 for roll, and Kp = 3.78, Ki = 0.1, and Kd = 45 for pitch. Tests with simulated tremors showed average roll error dropping from 51.96 %–52.51 % to 6.77 %–8.54 %, while pitch error fell from 42.96 %–44.30 % to 6.58 %–6.66 %. These findings confirm that precise PID tuning significantly improves the system’s response to tremor disturbances, demonstrating that this stabilizing spoon prototype effectively maintains positional stability during use.
| Item Type: | Thesis (Skripsi) |
|---|---|
| Additional Information: | [No.Panggil: 2110314067] [Pembimbing 1: Achmad Zuchriadi P.] [Penguji 1: Fajar Rahayu Ikhwanul] [Penguji 2: Silvia Anggraeni] |
| Uncontrolled Keywords: | Stabilizer spoon, Hand tremor, Parkinson’s disease, MPU6050, Ziegler Nichols PID, Fine tuning. |
| Subjects: | Q Science > Q Science (General) Q Science > QA Mathematics Q Science > QA Mathematics > QA75 Electronic computers. Computer science T Technology > T Technology (General) T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Fakultas Teknik > Program Studi Teknik Elektro (S1) |
| Depositing User: | DIO RAMADAN MANIK |
| Date Deposited: | 19 Aug 2025 09:35 |
| Last Modified: | 19 Aug 2025 09:35 |
| URI: | http://repository.upnvj.ac.id/id/eprint/39297 |
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