Implementation of the PID Method to Control the Speed of a Single Phase Induction Motor in a Mobile Automatic Sheet Layer Inserter

In the Robotic Palletizer System there is a subsystem, namely the Automatic Mobile Sheet Layer Inserter. This sub-system functions to place sheets in the form of thick cardboard on each layer of the box. The main driving components of the Automatic Mobile Sheet Layer Inserter are 2 single phase induction motor units which are controlled using an inverter and receive commands from the PLC as the main controller. The induction motor acts as a driver for the Arm Lifter and Gantry Arm. During the running process, the Arm Lifter motor experienced a problem, namely that the motor had an unstable speed, namely around 1413 RPM to 1467 RPM, the motor start time was relatively long, namely 6.25 seconds, and there was vibration in the arm lifter so that it could affect the time when placing the sheet. on each layer box. By using SVCU (Sensorless Vector Control) mode on the inverter and setting parameters using the PID Controller, the motor can go fast at the start, namely 4.8 seconds, has a stable speed of around 1503 RPM – 1509 RPM, and has minimal vibration.