Implementation Of Neurofuzzy Controller To Robot Manipulator

This paper presents a neurofuzzy controller that is applied to robotic manipulators. Robotic manipulators are highly nonlinear, coupled multivariable dynamical system, and may contain uncertain elements such as friction and load. Many efforts have been made in developing control schemes to achieve the precise tracking control of robot manipulators. For this reason, classical linear controller, such as PID (Proportional, Integral, and Derivative) controller, will provide robustness only over relatively small range operation because of complexity and nonlinearity of the system. Neurofuzzy employed in this system to increase the range operation without lack of robustness. Before considering the actual control system, a neurofuzzy controller must be trained. Two strategies of training are presented in this paper : generalized training and specialized training. In generalized training a neurofuzzy controller is trained off-line. The objective of this training is the controller should performed the ability to follow an input signal over the wide range operation even the transient response is poor. Specialized training is on-line procedure learning. Based on the result of generalized training a neurofuzzy controller is trained to achieve the desired transient response.The results proved the potency of the neurofuzzy in robotic manipulators control systems. Neurofuzzy control systems are essentially nonlinear systems, due to the nature of the nonlinear neurofuzzy controller. Mostly, the nonlinear system is so difficult to be solved. Consequently, the analysis of such systems is complicated, particularly, when a neurofuzzy controller is involved. This is because of the absence of a universal mathematical model

Robust Model Reference Adaptive Control of Angular Velocity Control Simulation of Brushed DC Motor

Electric motors play an important role in industry as well as our day-to-day life. They are used to generate electrical power in power plants and provide mechanical work in industries. They are also an indispensable part of our daily lives. Electric motors are very important pieces of equipment in our everyday lives. The brushed DC motor is considered to be basic electric motors. The aim of this paper is to introduce students to the modelling of brushed dc motor and to use computer simulation as a tool for conducting transient and control studies. Simulation can be very helpful in gaining insights to the dynamic behaviour and interactions that are often not readily apparent from reading theory. Next to having an actual system to experiment on, simulation is often chosen by engineers to study transient and control performance or to test conceptual designs. Presently, there are many control laws available to control the brushed dc motor. The control law of angular velocity depends on the motor parameters. The motor parameters are time varying, especially load torque, hence adaptive control is one of the best control law. In standard adaptive control, instability may be occur in the presence of unmodeled dynamics. Robust adaptive control is designed so the stability can be guaranteed

Simulasi Sistem Proteksi Petir Eksternal dengan Metode Pembalik Muatan Menggunakan Matlab

Sistem proteksi petir merupakan suatu sistem yang sangat diperlukan pada saat ini, mengingat peralatan listrik semakin berkembang dengan pesat. Sistem ini melindungi kita serta peralatan listrik kita dari sambaran langsung. Di Indonesia sendiri sebagai kawasan dengan intensitas petir yang tinggi. Secara umum, sistem proteksi petir eksternal terdiri dari dua yaitu sistem proteksi Aktif dan sistem proteksi Pasif. Pada penelitian ini akan membahas tentang simulasi sistem proteksi petir dengan metode pembalik muatan dengan menggunakan prinsip kerja Op-Amp dalam MATLAB dimana dalam pengujiannya akan membandingkan dua buah finial dengan mengukur kuat medan listrik antara keduanya, dimana salah satu finial akan dipasang alat pembalik muatan, dan diberinya spark gap untuk proteksi peralatannya tersebut. Besar pengujian alat proteksi ini menggunakan tegangan impuls sampai 150 KV. Dalam pengujiannya hanya menggunakan parameter tegangan. Setelah diuji akan ada perbandingan dengan hasil perhitungan dan model sebelumnya

Torka Motor Induksi pada Mesin CNC di PT. Dirgantara Indonesia menggunakan Software PSIM

AbstrakMesin CNC digunakan untuk membuat kerangka pesawat terbang, motor induksi sebagai tenaga penggerak diatur kecepatan putarnya untuk menghasilkan torka sesuai kebutuhan dikendalikan oleh VSD. Pengendalian VSD pada mesin CNC menggunakan software PSIM untuk mengetahui karakteristik mesin CNC dengan tegangan dan frekuensi yang divariasikan agar menghasilkan torka konstan. Analisis karakteristik motor induksi digunakan rangkaian pengganti dan perhitungan matematis. Untuk mengetahui rentan kerja mesin CNC maka arus starting 61,83Ampere; torka starting 23,28N.m; torka maksismum 14,1N.m; putaran sinkron 1500rpm. Pengolahan data dilakukan secara matematis, pada pengukuran mendapatkan torka 35N.m sedangkan simulasi beban 30% menghasilkan torka 4.2N.m; beban 60% menghasilkan torka 8.3N.m; beban 90% menghasilkan torka 12.5N.m. Dapat disimpulkan kendali V/f menghasilkan torka konstan sepanjang pengaturan kecepatan putar. Kata kunci: PSIM, Variable Speed Drive, Torka Motor Induksi, Mesin CNCAbstractCNC machines are used to make aircraft frames, the induction motor as the driving force is set to rotate its speed to produce torque as needed, controlled by a variable speed drive. VSD control on CNC machines uses PSIM software to determine the characteristics of CNC machines with varied voltages and frequencies to produce constant torque. Analysis of the characteristics of the induction motor used a replacement circuit and mathematical calculations to determine the working range of the CNC machine. Then the starting current is 61.83Amperes; starting torque 23.28N.m; maximum torque 14.1N.m; synchronous speed 1500rpm. Data processing is done mathematically, the measurement gets 35N.m of torque while the 30% load simulation produces 4.2N.m of torque; 60% load produces 8.3N.m torque; 90% load produces 12.5N.m of torque. It can be concluded that the V/f control produces constant torque throughout the rotational speed setting.Keywords: PSIM, Variable Speed Drive, Induction Motor Torque, CNC Machin

Implementasi Prototype Sistem Home security dengan Pemanfaatan Kode Akses berbasis Arduino Mega

ABSTRAKSistem home  security adalah suatu sistem yang dirancang sedemikian rupa yang digunakan untuk mengamankan sebuah perangkat hardware atau software. Home security yang dirancang ini berupa prototype yang terdiri dari input dan output. Input terdiri dari limit switch, motion sensor, Keypad 3x4. Output yang dirancang terdiri dari hardware dan software. Hardware berupa Lcd 16x2, LED, buzzer dan motor servo, sedangkan untuk software memberikan perintah ataupun program ke arduino mega yang untuk ditampilkan ke PC. Sistem home security yang telah direalisasikan mampu mengaktifkan buzzer yang berfungsi sebagai alarm rumah ketika melakukan kesalahan dalam memasukkan akses kode, dan akan menonaktifkan buzzer dan limit switch ketika akses kode yang dimasukkan benar. Saat berada didalam ruangan motion  sensor detection akan langsung membaca pergerakan sehingga lampu yang berupa led akan menyala kemudian motor servo akan bergerak kearah masing-masing ruangan dan kamera merekam yang terjadi pada masing-masing ruangan dengan mengikuti arah motor servo yang telah di program 0o,90o dan 180o.Kata kunci: Security Sistem, Arduino Mega, Motion Detection, Limit Switch, Motor Servo.ABSTRACTHome security sistem is a sistem that is designed in a way that is used to secure a piece of hardware or software. Home security is a prototype designed consisting of input and output. Input consists of a limit switch, motion sensor, 3x4 Keypad. Output designed consists of hardware and software. Hardware such as Lcd 16x2, LED, buzzer and servo motors, while the software gives the command or program to arduino mega were to be shown to the PC. Home security sistem that has been realized is able to activate an alarm buzzer which serves as the home when it made a mistake in entering the access code, and will disable the buzzer and the limit switch when access code is entered correctly. When being in the room sensor motion detection will directly read the movement so that the lights in the form of LED will light then the servo motor will move toward each room and a kamera to record what happened in each room to follow the direction of servo motors that have been in the program 0o, 90o and 180o.Keywords: Security Sistem, Arduino Mega, Motion Detection, Limit Switch, Servo Moto

Simulasi Sistem Proteksi Petir Eksternal Dengan Metode Pembalik Muatan Menggunakan Matlab

ABSTRAKSistem proteksi petir merupakan suatu sistem yang sangat diperlukan pada saat ini, mengingat peralatan listrik semakin berkembang dengan pesat. Sistem ini melindungi kita serta peralatan listrik kita dari sambaran langsung. Di Indonesia sendiri sebagai kawasan dengan intensitas petir yang tinggi. Secara umum, sistem proteksi petir eksternal terdiri dari dua yaitu sistem proteksi Aktif dan sistem proteksi Pasif. Pada penelitian ini akan membahas tentang simulasi sistem proteksi petir dengan metode pembalik muatan dengan menggunakan prinsip kerja Op-Amp dalam MATLAB dimana dalam pengujiannya akan membandingkan dua buah finial dengan mengukur kuat medan listrik antara keduanya, dimana salah satu finial akan dipasang alat pembalik muatan, dan diberinya spark gap untuk proteksi peralatannya tersebut. Besar pengujian alat proteksi ini menggunakan tegangan impuls sampai 150 KV. Dalam pengujiannya hanya menggunakan parameter tegangan. Setelah diuji akan ada perbandingan dengan hasil perhitungan dan model sebelumnya.Kata kunci: Sistem proteksi petir eksternal, muatan, op amp, spark gap, SIMULINKMATLAB.ABSTRACTLightning protection system is a system that is very necessary at this time, given the growing electrical appliances rapidly. This system protects us and our electrical appliances from direct strikes. In Indonesia itself as a region with high lightning intensity. In general, external lightning protection system consists of two namely Active protection system and Passive protection system. In this research will discuss about simulation of lightning protection system with reversing method by applying the working principle of Op-Amp in MATLAB where in the test will compare two finials by measuring the electric field strength between the two, where one of the finials will be installed the reversing device, and he gave a spark gap for the protection of the equipment. Large testing of this protection tool using impulse voltage up to 150 KV. In the test just use the voltage parameters. Once tested there will be a comparison with the results of calculations and previous models.Keywords: External lightning protection system, charge, op amp, spark gap, SIMULINK MATLAB