DESAIN DAN IMPLEMENTASI SISTEM KONTROL MOTOR STEPPER BERBASIS MIKROKONTROLER DENGAN METODE PID UNTUK APLIKASI CNC MINIATUR

Arga Kayana Setiawan Putra; I Gusti Putu Asto Buditjahjanto

doi:10.61722/jipm.v4i5.2875

Authors

Arga Kayana Setiawan Putra Universitas Negeri Surabaya
I Gusti Putu Asto Buditjahjanto Universitas Negeri Surabaya

DOI:

https://doi.org/10.61722/jipm.v4i5.2875

Keywords:

Miniature CNC, Stepper Motor, ESP32 microcontroller, PID Control, Ziegler-Nichols, Closed-loop

Abstract

This control system is designed to overcome the problems of vibration, missed steps, and movement instability in stepper motors on miniature CNC machines, which often limit the accuracy of the machining process. This research utilizes the NodeMCU ESP32 as the main controller, an A4988 driver, a NEMA17 stepper motor, and an incremental encoder as a feedback sensor for real-time position measurement. The control method applied is the Proportional-Integral-Derivative (PID) algorithm, with parameter tuning conducted via the continuous oscillation Ziegler-Nichols method. The tuning process yielded the optimal control parameters of Kp=3.0, Ki=3.0, and Kd=0.75. Simulation testing of the system's transient response demonstrated a Rise Time of 0.82 seconds, a Peak Time of 1.24 seconds, a Settling Time of 2.15 seconds, and a maximum Overshoot of 5.10%. Furthermore, mechanical accuracy testing across various setpoint targets ranging from 20 mm to 300 mm resulted in an extremely small average position error of only 0.25 mm. The implementation of this closed-loop PID control algorithm on the stepper drive system has proven highly effective, reducing positioning errors by more than 90% and substantially improving system stability while damping transient vibrations compared to traditional open-loop configurations.

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