Relay Control Design using Attractive Ellipsoids Method

International audienceBased on the attractive ellipsoids method the problem of rejection of both matched and mismatched exogenous disturbances is studied for a linear plants controlled by the generalized relays. Some existing results about local stabiliz-ability as well as matching condition are refined for the system under consideration. The procedure of robust control design for optimal rejection of bounded exogenous disturbances is proposed. The theoretical results are supported with numerical simulations

Perancangan Diagram Pengkabelan Pada Automation Sorting Line System Di Pt. Industrial Robotics Automation

Sistem pemilahan box secara manual masih banyak ditemukan di industri menengah kebawah. Kecepatan dan ketepatan proses produksi hingga packing dapat mempengaruhi profit yang didapat perusahaan tersebut. Pada era industri saat ini dibutuhkan sistem yang dapat mengatasi permasalahan, terutama dari aspek kecanggihan teknologi. Oleh karena itu dibutuhkan sistem yang tepat untuk dapat memilah box secara otomatis, tepat dan cepat. Automation Sorting Line System merupakan suatu sistem yang dapat memisahkan box pada masing-masing line. Dengan sensor barcode, sistem ini memungkinkan untuk mendeteksi dan mengaktifkan pendorong apabila barcode sesuai dengan line. Sistem yang dibuat cukup kompleks dan membutuhkan panel sebagai tempat komponen elektrik. Dengan didesain secara benar dan rapi, diharapkan pegawai maintenance dapat mudah menganalisa kerusakan pada panel. Untuk dapat memasukkan box ke tiap line dibutuhkan pendorong berupa motor servo yang telah di modifikasi. Motor servo diatur lamanya mendorong dan akan kembali semula jika mengenai sensor penghitung tiap line. Hasil pengujian pendorong box menggunakan timer pada PLC dengan set 1,2 ms dapat mendorong box yang akan disortir dan masuk ke tiap line

Quadrotor Control Design under Time and State Constraints: Implicit Lyapunov Function Approach

International audienceThe problem of a state feedback design for control of a quadrotor system under state and time constraints is studied. Convex embedding approach and Implicit Lyapunov function are employed to design a finite-time controller. The feedback gain is solved by a system of LMIs(Linear Matrix Inequalities). Theoretical results are supported with numerical simulation

Quadrotor stabilization under time and space constraints using implicit PID controller

International audienceIn this paper, the quadrotor stabilization under time and state constraints is studied. The objective is to design a nonlinear controller under time and state constraint for quadrotor. The nonlinear quadrotor model is built by the Euler-Lagrange approach while ignoring the Coriolis terms, hub moment and force. Based on quadrotor's dynamic model, a nonlinear feedback controller is designed for the quadrotor stabilization under time and state constraints. This feedback is an implicit PID controller where the feedback gains are obtained from LMIs (Linear matrix inequalities). LMI system characterizing the system stability and convergence properties is built based on convex embedding approach and implicit Lyapunov function method. To demonstrate the application prospects of implicit PID controller, robustness analysis is provided to show the property of implicit PID controller under external disturbance. The key novelty of this paper is that the implicit PID controller is proven feasible for applying to the quadrotor under time and state constraints, which is also the main outcome

Perancangan Komunikasi Dari Sistem Monitoring Pada Automation Sorting Line System

Komunikasi sangat dibutuhkan dalam suatu sistem yang ada di industri sebagai pengiriman atau penerimaan data/informasi dari kegiatan yang dilakukan oleh suatu mesin dalam suatu pabrik. Dengan adanya komunikasi operator juga dapat mengetahui banyaknya pengambilan data per detik dari suatu mesin. Selain itu, melalui jaringan komunikasi kegiatan mesin di pabrik yang menghubungkan beberapa perangkat seperti sensor, kontroler, layar tatap muka, serta Personal Computer yang bekerja dapat memberikan hasil dan dapat dilihat oleh operator dari control room. Kontroler sendiri memiliki kegunaan untuk mengatur jalannya sistem secara otomatis. Selain kontroler yang digunakan sebagai pengendali, ada layar tatap muka yang digunakan untuk berinteraksi dengan mesin dengan sebutan Human Machine Interface (HMI) berupa layar tatap muka dan dapat berfungsi mempermudah operator berinteraksi terhadap mesin. Dengan adanya alat ini, operator dapat mengetahui bagian eror, PLC hanya menerima sinyal eror yang dikirim dari mesin, lalu dari kemudian dilanjut ke HMI untuk menampilkan bagian yang eror pada mesin tersebut. Beberapa perangkat tersebut perlu dihubungkan dengan ethernet agar proses pengiriman dan penerimaan data atau informasi dapat berjalan tepat waktu, sehingga tidak menghambat jalannya proses dari mesin. Cara kerjanya adalah dengan menyamakan alamat IP dari semua perangkat. Kemudian untuk memicu barcode reader agar dapat mengambil data barcode dari box yang lewat secara otomatis yaitu dengan membuat program PLC yang ditujukan ke alamat IP dari barcode reader. =========================================================================================================== Communication is needed in the form of an existing system in the industry as the transmission or receipt of data / information from the activities undertaken by the factory machinery. With the communication operator can also know which data per second from the machine. In addition, through communication networks the activity of machines connected to devices such as sensors, controllers, screens, and personal computers that work can provide results and views by operators of the control room. The controller has the utility to set the system automatically. In addition, there are also screens used to connect with machines with the Human Machine Interface (HMI) and can also be used by other operators such as machines. With this tool, the operator can know the error part, PLC only receive messages sent from the machine, from then proceeded to HMI to see the error on the machine. Some devices are required with ethernet in order that the process of sending and receiving data or information can run on time, not blocking the process of the machine. It works by equating the IP address of all devices. Then to access the barcode reader in order to retrieve the barcode data from the box that runs automatically by creating a PLC program that redirects to the IP address of the barcode reader

Relay Control Design using Attractive Ellipsoids Method

International audienceBased on the attractive ellipsoids method the problem of rejection of both matched and mismatched exogenous disturbances is studied for a linear plants controlled by the generalized relays. Some existing results about local stabiliz-ability as well as matching condition are refined for the system under consideration. The procedure of robust control design for optimal rejection of bounded exogenous disturbances is proposed. The theoretical results are supported with numerical simulations