Sistem Pengendali Kecepatan Motor Dc Pada Lift Barang Menggunakan Kontroler Pid Berbasis Atmega 2560

Lift barang adalah angkutan transportasi vertikal digunakan untuk memindahkan barang. Lift ini sangat khusus fungsinya untuk barang saja, lift ini hampir sama dengan lift penumpang namun ada sedikit perbedaan dalam sistem keamanannya. Lift barang yang sekarang memang sudah otomatis tetapi hanya pada gedung bertingkat tinggi. Untuk minimarket atau home industry yang memiliki struktur bangunan 2 lantai, banyak dijumpai masih menggunakan pengkatrolan secara manual oleh tenaga manusia untuk memindahkan barang. Hal ini cukup tidak efisien. Pada penelitian ini telah dirancang sistem pengaturan kecepatan motor DC pada lift barang menggunakan kontoler PID dengan kontruksi sistem yang sederhana. Digunakan Kontroler PID untuk mengurangi kesalahan, sehingga putaran motor dapat sesuai dengan kecepatan yang diinginkan. Dengan bantuan kontroler PID maka lift barang mampu bergerak dengan aman dan halus. Pada skripsi ini digunakan metode Ziegler-Nichols tunning 2. Dalam pembuatannya digunakan Arduino Mega 2560, rotary encoder Autonic E40H8 500-6-L-5, limit switch, dan motor DC. Berdasarkan data respons sistem yang diperoleh dari pengujian dengan menggunakan metode kedua Ziegler-Nichols, maka parameter kontroler PID dapat ditentukan dengan gain Kp = 7.71, Ki = 7.035 dan Kd = 2.113.Kata Kunci— Lift barang, Pengendalian Kecepatan, PID, Arduino Mega 2560

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Discriminant analysis morphospace plot comparing Limiavipedidae (<i>Wupus</i> and <i>Limiavipes</i>) to prints of small- and medium-sized theropods and large wading birds.

<p>Discriminant analysis scatterplot comparing log₁₀-transformed and mean removed linear data (footprint length, FL; footprint width, FW; digit II length, DLII; digit IV length, DLIV; pace length, PL; stride length, SL) and mean removed angular data (total divarication, DIVTOT; pace angulation, PA) of Limiavipedidae (<i>Wupus agilis</i>, dark blue; <i>Limiavipes curriei</i>, dark brown) to ichnotaxa of Cretaceous theropods (black), Mesozoic avians (green), Cenozoic avians (pink), and traces of extant avians (orange). The scatterplot shows that Limiavipedidae, as well as the Cenozoic avian ichnotaxa and ichnites from extant avians, do not share morphospace with Cretaceous theropod tracks. Axis 1 is interpreted as the size–total divarication axis; as size and pace angulation increase (as the size of the trackmaker increases and as the trackway narrows), total divarication decreases. This is consistent with the observations of theropods having a smaller total divarication, as well as a larger size and narrower trackway. Theropods group positively along Axis 1, while birds, with their smaller size and higher total divarication, and more “toed-in” footprints, group negatively along Axis 1. Axis 2 is interpreted as the relationship between FW and the lengths of the lateral digits to FL, PL, and SL; footprints with longer lateral digits (DII, DIV) are relatively shorter in length, and are found in trackways with shorter PL and SL. Avian prints are interpreted to have subequal lateral digits and a higher L/W ratio, and the discriminant analysis correlates with the interpretation that avian prints belong to trackways with a relatively shorter pace length (Tables <a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0124039#pone.0124039.t004" target="_blank">4</a>–<a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0124039#pone.0124039.t005" target="_blank">5</a>).</p

Stratigraphic section of the <i>Wupus agilis</i> locality.

<p>Stratigraphic section of the Jiguan Formation (left) with a detailed stratigraphic section of the Qijiang locality (right). Modified from Xing et al. [<a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0124039#pone.0124039.ref002" target="_blank">2</a>].</p

Comparison of footprint length to pace length (FL/PL) ratios of Limiavipedidae, theropod traces, and traces of Mesozoic, Cenozoic, and extant birds.

<p>Comparing the footprint length (FL) to pace length (PL) ratios (FL/PL) of <i>Wupus agilis</i> to the large avian trace <i>Limiavipes curriei</i> (Limiavipedidae) and to small- (<i>Irenichnites</i> isp.) medium- (<i>Columbosauripus</i> isp., <i>Magnoavipes</i> isp.) and large-sized (<i>Irenesauripus</i> isp.) theropod ichnotaxa, and traces of large Cenozoic, and extant avians. <i>Wupus agilis</i> and <i>Limiavipes curriei</i> have a larger FL/PL than do small theropod traces of comparable size and those of medium-sized theropods. <i>Columbosauripus</i> isp. has the largest mean FL/PL of the analyzed theropod traces. The FL/PL of <i>Wupus agilis</i> and <i>Limiavipes curriei</i> have the most overlap with the FL/PL of avian traces. This indicates that, relative to the length of the track-maker’s foot, the track-makers of both <i>Wupus agilis</i> and <i>Limiavipes curriei</i> are either taking relatively shorter steps than similarly-sized theropods, or have relatively shorter legs than do similarly-sized theropods.</p><p>Comparison of footprint length to pace length (FL/PL) ratios of Limiavipedidae, theropod traces, and traces of Mesozoic, Cenozoic, and extant birds.</p

Trackway comparison of <i>Wupus agilis</i> and <i>Limiavipes curriei</i>.

<p>Two trackway segments (A-B) of <i>Wupus agilis</i> from the Lotus Stockade Tracksite. Note the short pace and stride relative to footprint length. <b>C,</b> PRPRC 2005.07.002, trackway of <i>Limiavipes curriei</i> (modified from McCrea et al. [<a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0124039#pone.0124039.ref003" target="_blank">3</a>]). Scale = 10 cm.</p

Data collection schematic for reanalysis of <i>Wupus agilis</i>.

<p>Diagrammatic representation of linear and angle measurements collected directly from individual prints (A,B) and trackways (C) of <i>Wupus agilis</i> (<a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0124039#pone.0124039.s001" target="_blank">S1 Table</a> and <a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0124039#pone.0124039.s002" target="_blank">S2 Table</a>). <b>A</b>, Footprint measurements: <b>II</b>, digit II; <b>III</b>, digit III; <b>IV</b>, digit IV; <b>FL</b>, footprint length; <b>DLII</b>, digit II length; <b>DLIV</b>, digit IV length; <b>DWII</b>; digit II width; <b>DWIII</b>, digit III width; <b>DWIV</b>, digit IV width. <b>B</b>, <b>DIVII–III</b>, digit divarication II–III; <b>DIVIII–IV</b>, digit divarication III–IV; <b>FW</b>, footprint width; <b>C</b>, Trackway measurements: <b>PL</b>, pace; <b>PA</b>, pace angulation; <b>SL</b>, stride. DIVTOT (not shown), total divarication, summed from measurements of DIVII–III and DIVIII–IV.</p

Trackway map of the Lotus Tracksite.

<p>Trackway map of the lower layer of the Qijiang locality, showing individual footprints and trackways of <i>Wupus agilis</i>, also showing pterosaur trackways of Xing et al. [<a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0124039#pone.0124039.ref002" target="_blank">2</a>].</p

Comparison of total divarication (also known as divarication between digits II-IV, DIVTOT) of Limiavipedidae, theropod traces, and traces of Mesozoic, Cenozoic, and extant birds.

<p>Comparison of total divarication values (DIVTOT, also known as divarication between digits II–IV) values comparing <i>Wupus agilis</i> to <i>Limiavipes curriei</i> (Limiavipedidae), and Cretaceous small- (<i>Irenichnites</i> isp.) medium- (<i>Columbosauripus</i> isp., <i>Magnoavipes</i> isp.) and large-sized (<i>Irenesauripus</i> isp.) theropod ichnotaxa, and the traces of Mesozoic, Cenozoic and extant avians. While traces of large birds do overlap in some aspects of morphology with similarly-sized theropod traces, the mean total divarication of <i>Wupus agilis</i> is more similar to that of a large bird than that of a small theropod. While <i>Wupus agilis</i> is close in morphology to <i>Limiavipes curriei</i>, they are different enough in both size (<a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0124039#pone.0124039.t001" target="_blank">Table 1</a>) and total divarication to be considered distinct ichnotaxa.</p><p>Comparison of total divarication (also known as divarication between digits II-IV, DIVTOT) of Limiavipedidae, theropod traces, and traces of Mesozoic, Cenozoic, and extant birds.</p