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Abstract
Pembacaan kecepatan motor DC menggunakan sensor rotary encoder sering dipengaruhi oleh noise akibat getaran mekanik, ketidakstabilan pulsa encoder, serta perubahan sinyal pada proses switching aktuator. Kondisi ini dapat menurunkan akurasi pembacaan kecepatan dan memengaruhi kestabilan sistem kontrol, terutama pada aplikasi pengendalian kecepatan berbasis PWM. Oleh karena itu, diperlukan metode pengolahan sinyal yang sederhana namun efektif untuk meningkatkan kualitas pembacaan sensor tanpa membebani sistem komputasi mikrokontroler. Penelitian ini bertujuan untuk menganalisis pengaruh filter digital Low Pass Filter (LPF) orde-1 terhadap kualitas pembacaan sensor rotary encoder pada motor DC. Metode penelitian dilakukan secara eksperimental dengan membandingkan pembacaan sensor tanpa filter dan pembacaan yang telah difilter menggunakan variasi koefisien , , dan pada target kecepatan 200 RPM. Parameter yang dianalisis meliputi reduksi noise, steady-state error, osilasi PWM, serta keterlambatan respons sistem. Hasil pengujian menunjukkan bahwa penerapan LPF digital terbukti efektif dalam meningkatkan kualitas pembacaan rotary encoder dan mendukung kestabilan sistem kontrol kecepatan motor DC. Rentang koefisien hingga ) dapat dipertimbangkan sebagai parameter yang sesuai untuk menyeimbangkan kehalusan sinyal, akurasi pembacaan, dan kecepatan respons sistem.
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Copyright (c) 2026 Arief Rahman Hidayat, Anindya Dwi Risdhayanti, Muhammad Imbarothur Mowafiq
This work is licensed under a Creative Commons Attribution 4.0 International License.
References
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References
Q. Li, M. Jiang, B. Luo, X. Hu, and K. Tang, “Design of Fast Second-Order IIR Low-Pass Filter Based on Parameter Optimization,” Appl. Mech. Mater., vol. 644–650, pp. 4382–4386, Sep. 2014, doi: 10.4028/www.scientific.net/AMM.644-650.4382.
B. Suwandi, T. Kitasuka, and M. Aritsugi, “Vehicle Vibration Error Compensation on IMU-accelerometer Sensor Using Adaptive Filter and Low-pass Filter Approaches,” J. Inf. Process., vol. 27, pp. 33–40, Jan. 2019, doi: 10.2197/ipsjjip.27.33.
A. Aharari and Y. Ueda, “Low Pass Filter Applied to Color Sensor of Line Follower Robot,” Procedia Comput. Sci., vol. 154, pp. 693–698, Jan. 2019, doi: 10.1016/j.procs.2019.06.108.
M. Islam and T. Akhter, Analysis of Performance Constraints of the Infinite Impulse Response (IIR) Filter with Various Filter Algorithms and Design a Low Pass IIR filter with Desired Specifications. 2019.
D. Denisenko, A. Ignatovich, I. Shcherbinin, N. Prokopenko, and Y. Inanov, Optimization of low-pass filter parameters to reduce the delay time of sensor signals in automatic control systems. 2022. doi: 10.36227/techrxiv.19616394.v1.
M. Kumar, “Design and Implementation of Digital Low Pass FIR and IIR Filters Using VHDL for ECG Denoising,” vol. 71, pp. 252–265, Jan. 2024, doi: 10.14445/22315381/IJETT-V72I1P125.
M. H. Alkarim, I. Prasojo, S. Nugroho, and E. Nugroho, “PENERAPAN ALGORITMA FILTER UNTUK MENINGKATKAN AKURASI PEMBACAAN SENSOR SUHU MLX90614 PADA OBJEK DENGAN ELIMINASI PENGARUH SUHU LINGKUNGAN,” J. Inform. dan Tek. Elektro Terap., vol. 13, Jul. 2025, doi: 10.23960/jitet.v13i3.6621.
Y.-C. Liao, F.-I. Chou, P.-Y. Yang, K.-Y. Yang, and J.-H. Chou, “Optimal Design of Digital IIR Filters Using Robust Group Search Optimization,” Circuits, Syst. Signal Process., pp. 1–14, Feb. 2026, doi: 10.1007/s00034-025-03386-1.
Hidayat, “Sistem Telemonitoring Kesehatan Berbasis IoT,” J. Elkolind, vol. 10, no. 2, pp. 45–53, 2023, doi: 10.33795/elkolind.v10i2.3062.
A. R. Hidayat, A. D. Risdhayanti, Fitri, D. A. Permatasari, and W. T. Wahono, “Pemodelan identifikasi sistem untuk pengaturan kecepatan motor DC dengan kontrol PID,” J. Elkolind, vol. 11, no. 1, pp. 253–262, 2024, doi: 10.33795/elkolind.v11i1.5409.
A. R. Hidayat, M. I. Mowaviq, G. Al Azhar, and D. R. H. Putra, “Desain dan implementasi model regresi polinomial kecepatan motor DC pada mobile robot,” J. Elkolind, vol. 12, no. 1, pp. 190–204, 2025, doi: 10.33795/elkolind.v12i1/7590.
M. Chougale, “Design and Implement of Speed Control of Dc Motor Using PLC,” Int. J. Res. Appl. Sci. Eng. Technol., vol. 14, pp. 3970–3973, Apr. 2026, doi: 10.22214/ijraset.2026.80099.
I. Kurniasari and A. Ma’arif, “Implementing PID-Kalman Algorithm to Reduce Noise in DC Motor Rotational Speed Control,” Int. J. Robot. Control Syst., vol. 4, pp. 958–978, Jun. 2024, doi: 10.31763/ijrcs.v4i2.1309.
J. Chavan, A. Dhale, S. Latake, S. Shinde, D. Daphale, and S. Khadake, “Speed Control of DC Motor Using ESP32 and Speed Measurement in RPM,” vol. 6, pp. 514–522, Apr. 2026, doi: 10.48175/IJARSCT-33769.