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

Digit III length versus femur length for <i>Albertosaurus</i>, <i>Gorgosaurus</i>, and <i>Daspletosaurus</i>.

<p>Graphical results and best-fit line for comparing footprint length FL (digit III length, as calculated by totaling the proximodistal lengths of digit III phalanges and adding 5% to the total length to account for anatomical unknowns) to osteologic femur length (<i>y</i>) for late Campanian - early Maastrichtian tyrannosaurids <i>Albertosaurus</i>, <i>Gorgosaurus</i>, <i>Daspletosaurus. </i><a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0103613#pone.0103613-Currie5" target="_blank">[22]</a>. The calculated <i>y</i> can then be used to estimate age of the track-maker using the methods of Erickson <i>et al. </i><a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0103613#pone.0103613-Erickson1" target="_blank">[21]</a>, <a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0103613#pone.0103613-Myhrvold1" target="_blank">[25]</a>. All data are in millimeters (mm), and are unadjusted <a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0103613#pone.0103613-Thulborn2" target="_blank">[18]</a>. Standard error for footprint length +/–32.3 mm; femur length +/–55.7 mm.</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

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

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

Hypothesized pes movement of the track-maker for <i>Bellatoripes fredlundi</i>.

<p>The digits were not dragged cranially through the substrate as previously described in theropods footprints <a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0103613#pone.0103613-Gatesy3" target="_blank">[53]</a>, <a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0103613#pone.0103613-Avanzini1" target="_blank">[54]</a>, <a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0103613#pone.0103613-PrezLorente1" target="_blank">[55]</a>. The pes and digits were retracted from the substrate along an opposite trajectory of their entry prior to the pes moving forward in the next step cycle. Arrows indicate trajectory of the foot of Trackway C, print #2 as deduced from entry striations at the point of pes entry (left frame) and exit (center frame) into the substrate.</p

Excavation of Tracksites (A: Trackway A; B: Trackway B; C: Trackway C).

<p>View toward the north from near Trackway C (foreground with LGB excavating and silicone mould of print #1 at the bottom of the figure), Trackway B is located in the center of the image and the silicone mould of Trackway B, print #1 is visible. Trackway A is covered in a green tarp near the top left of the image. The headings of the trackways are from left to right with other tracks likely buried by sediments forming a steep cliff.</p

Striations on <i>Bellatoripes fredlundi</i> paratype track.

<p>a) Photograph of silicone mold of print #2 Trackway C (PRPRC 2012.04.003), arrows pointing to areas with striations; b) photograph of striations on caudal drag marks leading up to print #2; c) photograph of striations on the outer margin of digit II print #2 Trackway C.</p

Photogrammetic image of <i>Bellatoripes fredlundi</i> Holotype (Trackway A).

<p>Figure rendered from images of the silicone mould (PRPRC 2011.01.001M). Lateral view (top) and plan view (bottom). Note that the topographic profile for the lateral view is reversed in this orientation. Topographic profile scale and linear scale are in meters.</p

Trackway B of <i>Bellatoripes fredlundi</i>.

<p>a) Partially excavated print #2 of Trackway B (not mapped or moulded); b) Photogrammetric image of Trackway B, print #1 from its silicone mould (PRPRC 2012.04.002); c) Photogrammetric image of Trackway C, prints #1 and 2 from its silicone mould (PRPRC 2012.04.003). Topographic profile scales and linear scales are in meters.</p