Inverted Pendulum Human Transporter Balance Control System Based on Proportional Integral Derivative – Active Force Control

Many research for the balancing of inverted pendulum control system to develop the performance. This paper will simulate a Proportional Integral Derivative – Active Force Control (PID-ACF) methods to swing a pendulum attached to a cart from an initial downwards position to an upright position and keep that condition stable and implemented to the segway chair human transporter. The combined control between PID and AFC system is used to maintain the actual acceleration is affected by disruption of the references given, because external disturbance can affect the system. For the experimental it will compare the performance between using a classical control PID and PID-AFC

Inverted Pendulum Human Transporter Balance Control System Based on Proportional Integral Derivative – Active Force Control

Many research for the balancing of inverted pendulum control system to develop the performance. This paper will simulate a Proportional Integral Derivative – Active Force Control (PID-ACF) methods to swing a pendulum attached to a cart from an initial downwards position to an upright position and keep that condition stable and implemented to the segway chair human transporter. The combined control between PID and AFC system is used to maintain the actual acceleration is affected by disruption of the references given, because external disturbance can affect the system. For the experimental it will compare the performance between using a classical control PID and PID-AFC. Keywords: inverted pendulum, Active Force Control, segway

A Two-Wheeled Vehicle Navigation System Based on a Fuzzy Logic Controller

The paper deals with a two-wheeled vehicle,namely ESG-2 (Extended Segway-like Generation- 2) navigation control system using a fuzzy logic controller. The vehicle employs two wheels left and right independently which are controlled independently using a fuzzy logic controller respectively. The controllers deal with a compact and implementable application for the normal using with a person (human with 60kg weight in average) loaded on the vehicle. A modified infrared-based range sensor system is applied to the vehicle as a tilt sensor and it is incorporated with an accelerometer to control its response in case of the dynamics disturbances. The fuzzy controller runs in tilt-mode while a reference tilt using a potentiometer (as steer system) is taken into account for navigating the vehicle. From the simulation using MATLAB @ and experiments it is obvious that the prototype of ESG-2 is quite challenging to be developed in the future

Effect of Dynamics Loading on a PID controlled Two Wheeled Vehicle of Wheelchair Based Inverted Pendulum

This paper present a simulation investigastion of a PID-controlled Two-Wheeled Vehicle (Wheelchair-based Inverted Pendulum) namely ESG2 (EEPIS Segway Generation 2) with a variety of loading between 10 to 100 kg. this represents the effects of changing the weight of driver that ride on the vehicle although the control applied is a PID (proportional-integral-derivative) method with only one tuning process. The simulation result show the simple application that can be run in the real implementation. This is proofed in the experiments also expose that the control will be more stable when the weight of driver is heavier with some limitation of simulation of maximum loading

PROYEK INTELLIGENT DIFFERENTIALLY DRIVEN TWO WHEELS PERSONAL VEHICLE (ID2TWV): SKEMA KECERDASAN PADA KONTROL GERAK ID2TWV MENGGUNAKAN PENDEKATAN LOGIKA FUZZY (An Intelligent Scheme For ID2TWV Motion

Two wheeled vehicles that have a balance has a working principle based on the inverted pendulum and is suitable as a means of personal transportation. Forward and backward movement control based on the degree of slope of the vehicle due to changes in the driver's center of gravity. Good control method is needed for this vehicles remain in a balanced position while moving forward and backward with a different speed. This final project use Fuzzy Logic approach as control the movement of this vehicle. This method is a powerful control method to be applied on systems that have more than one input on this vehicle. Input system on this vehicle is a vehicle tilt from gyroskop sensor obtained from the slope and the difference obtained by deducting from the current data with previous data. Output is the value of PWM to drive each motor. With this Fuzzy control method on this system, we applied stable balance

Proyek Kendaraan Listrik Bertenaga Bantu Sel Surya (KLBS-1) Subjudul : Sistem Penggerak Utama dan Kontrol untuk Kendaraan Tipe Ackermann dengan Sel Surya

Energy sources that exist in the world is widely used in everyday life. Without realizing over time that are not sources of renewable fuels will be exhausted. If that happens there will be a massive energy crisis that threatens human survival. Thus the need for an alternative energy to overcome energy shortages. In this case the use of solar cells as an alternative energy source. Solar cells will store power in batteries and can be used for our daily needs, such as household appliances, fuel sources from the car, sources of fuel and other motorcycles. Previously we use the power of magnets, but because during the research and the limited time it will be very unlikely to continue using the magnetic force so that the need for an alternative replacement of the solar cell. For this energy we call Vehicle Powered aids first-generation solar cells (KLBS-1). KLBS-1 is expected to become an alternative to the limitations and scarcity of energy. KLBS-1 has a prime mover in the form of brushless dc electric motor with 3 pole magnetic coil which is adopted from electric bicycle Yahonta Tiger. Motor is equipped with a driver that works on 48V and consumes flow of about 2 until 5 A. KLBS-1 is equipped with cruise control to optimize the motor force left and right motor in all speed. Keywords: an alternative Energy, Electric Vehicles powered aids first-generation solar cells (KLBS-1), cruise contro

Desain dan Pengembangan Sistem Kecerdasan Robotika Muatan Roket dengan 5 Derajat Kebebasan dengan Kontrol Sistem Pendaratan Navigasi X-Y Kartesian

In this study a design and manufacture a rocket payload system that has the ability to fly autonomously intelligently is discussed. The rocket payload system was designed to be able to return to the landing position. This system consists of two sub systems, namely rocket payload and host computer (ground segment). A robotic-based rocket payload has a CPU-based system controller with a specific I/O for sensor-actuator is equipped with a set of telemetry systems. The I/O data can be sent to the host computer at the ground segment. Host computer with the ground segment is a useful tool to receive data from a rocket payload telemetry or navigation data which is then processed by a computer in the form of tables, graphs and map navigation. Direction control systems used for rocket payload system is fuzzy logic control with the input of compass and GPS data and the output scale propeller actuation to the system used by rocket payload. Testing of control systems was conducted in laboratory scale. Input is data of the desired setpoint with output in PWM DC Motor form to stabilize the rocket payload. The test results obtained for this direction control system to minimize the ∆error value of the set point desired direction so that the error is almost close to zer

Proyek Kendaraan Listrik Bertenaga Bantu Sel Surya (KLBS G-1) Sub Judul : Sistem Kemudi Elektrik Tipe Ackermann pada Kendaraan Listrik Bertenaga Bantu Sel Surya

Current technology has developed rapidly, especially in automotive engine which now has been replaced by hybrid technology Diminishing source of fuel oil into the automotive experts reason to create an energy-efficient vehicles and environmentally friendly. In this study we discussed about the design and manufacture an electric car tech solar cell energy source with the steering control system with the help of the actuator that serves to facilitate the process and stabilize the steering maneuvers. This steering control system using the principle of Ackermann steering geometry, that is when things turn the corner the car will run on the outer wheel radius is greater in a bend than the inside wheel. Thus the outer wheel must spin more than the inner wheel to prevent slippage. Input from the steering control system is the position of potensio reference data is then processed by a linear controller with PWM output actuators. Results obtained during steer deflected to the right and left, the actuator can follow (synchronization) to steer, so steer feels light and stable according to steer the steered position

DESAIN DAN SISTEM PENGENDALIAN PELUNCUR ROKET CERDAS BERDASARKAN KECEPATAN DAN ARAH ANGIN

At this final task will be analyzed and implementated position control using PID (Proportional, Integratif and Derivative) controller in a plant of two degree-of-freedom Rocket Launcer with joint-Launcer configuration controlled by two DC motor. Movement input of rocket launcer will be controlled by a Mikrocontroler using C program and Matlab Simulink application. The input has given by the form of target position and PID constanta. Controling the rocket launcer use the DC motor which calculated movement direction and regardless dynamic motor constanta. This implementation process border with special purpose of rocket launcher two degrees freedom is designed to be able to perform the specific function rise-down movement and rotates up to 360 degrees. Rocket launcher equipped with sensor enviromment wind velocity and direction to make rocket launchers that could see the wind direction changes so that know where the rocket launching at the right time. Sensor enviromment wind velocity and direction will be used as input to the system for the value of PID control parameters. Data collected from wind speed and direction sensors enviromment as an input is obtained that changes in a degree equal to 2,44. the results are expected to value the PID control parameters that can be used to design a rocket launcher system with a more complex system with feedback purposes

Prototipe Robot PemimpinPada Implementasi Robot Swarm Untuk Membentuk Formasi Mengikuti Pemimpin

Pengembangan teknologi robotika dewasa ini sudah memasuki kawasan Robot Swarm yaitu ilmu robotika yang mempelajari tentang sekumpulan robot dengan struktur fisik relatif sederhana dan kesamaan perilaku yang mampu bekerja sama dari hasil interaksi antar robot dan interaksi antara robot dengan lingkungannya. Dari berbagai macam jenis robot swarm, formasi dengan Perilaku Mengikuti Pemimpin (Follow The Leader Behavior) menjadi tema yang sangat menarik karena sering kita jumpai dalam kehidupan sehari � hari tanpa kita sadari. Kehandalan dari konsep Follow The Leader terletak pada kemampuan manuver robot Pengikut (Follower) dalam mengikuti robot Pemimpin (Leader) dengan jarak dan sudut yang relatif konstan sedangkan robot. Pemimpin sebagai robot autonomus harus memiliki kemampuan dasar seperti perencanaan jalur (path planning) dan juga menghindari rintangan (obstacle avoidance). Dalam tugas akhir ini kami menggunakan Metode Modified Virtual Force Field untuk manuver penghindaran rintangan dimana metode ini berawal dari metode Potential Field yang dikembangkan menjadi Virtual Force Field. Metode Modified Virtual Force Field sendiri adalah penyederhanaan dari Metode Virtual Force Field berkaitan dengan keterbatasan sensor, namun ide dasar dari ketiga metode yang disebut sebelumnya adalah sama, yaitu adanya gaya tolak virtual yang dibangkitkan saat robot mendekati rintangan. Jumlah gaya tolak virtual yang dibangkitkan sebanding dengan jumlah sensor yang mendeteksi adanya rintangan dan besarnya berbanding terbalik dengan jarak robot dengan rintangan. resultan gaya tolak virtual tersebut akan dijumlahkan dengan gaya tarik virtual yang dibangkitkan dari posisi robot dengan titik tujuan. Gaya tarik virtual ini sebanding dengan jarak robot dengan titik tujuan. Semakin besar gaya tarik virtual maka semakin besar kecepatan robot untuk menuju titik tujuan. Metode Virtual Force Field terbukti cukup handal untuk aplikasi penghindar rintangan. setelah dilakukan sepuluh kali pengujian, didapatkan prosentase error robot melakukan kesalahan (menabrak rintangan) adalah 20%. Kata kunci : Follow The Leader Behavior, Localization, Obstacle Avoidance, Potential Field Metho