In this article, the performance of the sliding mode control (SMC) that is combined with the backpropagation neural network (NN) as the main control of quadrotor’s dynamic systems was examined on various trajectories and conditions, through numerical simulation. The simulation is conducted with three different trajectories in the absence and presence of the time-varying external disturbances that were adopted from previous studies. The time-varying external disturbances are implemented for the roll, pitch, yaw, and altitude movement simultaneously with the gain set up at the value of 0.8. The simulation results show that the SMC-NN scheme was able to control the quadrotor either in the absence or in the presence of time-varying external disturbances, for each trajectory without any chattering or vibration issues in the quadrotor’s dynamic system. It can be concluded that the SMC-NN is one of the control strategies that are appropriate for the mission with various conditions and circumstances.
Energi listrik menjadi suatu kebutuhan dalam kehidupan manusia sehari-hari. Kestabilan pada sistem pembangkit energi listrik menjadi hal yang harus diperhatikan, salah satu instrument pembangkit listrik yang sering digunakan adalah Generator, yang mengkonversi energi mekanik menjadi energi listrik. Generator memiliki variabelvariabel fisis yang harus dijaga kestabilannya antara lain tegangan, arus dan frekuensi. Sehingga untuk mengetahui besar tegangan dan arus yang dihasilkan oleh generator maka dibuatlah sistem yang dapat mengukur besar arus, tegangan dan frekuensi yang dihasilkan oleh generator dengan sistem portable (plug and play). Pada sistem ini parameter keluaran generator dimonitoring menggunakan berbagai sensor antara lain sensor tegangan ZMPT101B untu mengukur tegangan keluaran generator, sensor ACS712 untuk mengukur variabel arus dan zero crossing detector untuk mengukur variabel frekuensi. Dari data uji sistem monitoring didapat hasil yaitu sensor tegangan ZMPT101B yang memiliki pembacaan error sebesar 0,01 untuk error pembacaan sensor ACS712 sebesar 0,09 dan untuk error pembacaan sensor frekuensi sebesar 0,01. Ketiga sensor ini berhasil digunakan dalam sistem monitoring tegangan, arus dan frekuensi keluaran generator pada modul mini power plant.
Sinan Village is located in Karangbinangun Subdistrict, Lamongan city, which is experiencing a shortage of clean water. The main source of water for the people in that village is originated from river water of Bengawan Solo branches which is mixed with pond water and is collected in a pond. The results of the pH, turbidity and TDS tests that have been carried out show that the Bengawan Solo water does not meet WHO's clean water standards and the standard from Ministry of Health. In this study, the design of the river and pond water filtration control system in the reservoir was carried out. The designed filtration system consists of the deposition stage and filtering stage. Deposition stage is carried out by using alum as a purifying medium and aims to simplify the screening phase. While the screening stage is carried out using stone, sand, charcoal and palm fiber which aims to increase the pH value and reduce the value of turbidity and TDS. The system is designed in a modular manner between each filtration stage to fascillitate the maintenance process of the system and flushing the remaining deposits produced by the filtration process. Testing result of this system is done by varying the variables of volume and height of sand used and it is known that the difference in sand volume used has a significant effect on the levels of TDS, Turbidity, and pH of the resulting clean water.
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