Implementasi Pengaturan Kecepatan Motor DC dengan Memanfaatkan Sensor Jarak pada Harbour Mobile Crane

Implementation of DC Motor Speed ??Control Using Proximity Sensors on a Harbour Mobile Crane

Abstract

Loading and unloading activities at ports utilize cranes to move containers. One type of crane employed is the Harbour Mobile Crane (HMC). The component of an HMC that grips the container is called a spreader. At each of the four corners of the spreader, there are "flippers" designed to help position the spreader onto the container. Observations indicate that these flippers frequently break because operators, using the joystick, move the spreader at an excessively high speed, causing it to collide with the container. To address this, a speed control system for the spreader—regulated via a proximity sensor—has been implemented. The objective of this final project is to explore the design and operational mechanism of an HMC prototype. The methodology began by identifying the issue: flippers had to be replaced 857 times in 2021 alone. This was followed by a literature review, the development of a design concept, and the construction of an HMC prototype, which was then tested under no-load conditions and evaluated for anti-sway performance. Once the prototype was completed, repeated testing was conducted to optimize its functionality. The test results align with the design concept: when the joystick is pulled backward, the motor reverses, causing the spreader to rise at a stable speed. When the joystick is pushed forward, the motor rotates forward, lowering the spreader; as it approaches a distance of 2 cm, the speed decreases. At this point, the motor can no longer rotate forward—it can only rotate in reverse when the joystick is pulled back. An HC-SR04 ultrasonic sensor is mounted on the spreader to detect distance. The device operates as intended: as the spreader descends, the motor slows down until it stops, while during ascent, the motor maintains a stable speed. Distance and speed are monitored via a 16x2 LCD screen.