A cart inverted pendulum is an under actuated system that highly unstable and nonlinear. Therefore, it makes a good problem example which attracts control engineers to validate the developed control algorithms. In this paper, an augmented PID control algorithm is proposed to stabilise a cart inverted pendulum at the desired state. The derivation of a mathematical model of the cart inverted pendulum using Lagrange's equation is discussed in detail. The system dynamics is illustrated to understand better the behaviour of the system. A simulation program has been developed to verify the performance of the proposed control algorithm. The system dynamic behaviours with respect to the variation of the controller parameters are analysed and discussed. Controllers parameters are expressed into two PID gain sets which associated with 2 dynamic states: the cart position (ϰ) and the pendulum angle (θ). It can be concluded from the simulation result that the proposed control algorithm can perform well where acceptable steady errors can be achieved. The best response from the cart inverted pendulum system has been obtained with the value of kPX 190, kDX 50, kIX 5, kPθ 140, kDθ 5, and kIθ 25.
Abstract. The increasing mobility has directly led to deteriorating traffic conditions, extra fuel consumption, increasing automobile exhaust emissions, air pollution and lowering quality of life. Apart from being clean, cheap and equitable mode of transport for short-distance journeys, cycling can potentially offer solutions to the problem of urban mobility. Many cities have tried promoting cycling particularly through the implementation of bike-sharing. Apparently the fourth generation bikesharing system has been promoted utilizing electric bicycles which considered as a clean technology implementation. Utilization of solar power is probably the development keys in the fourth generation bikesharing system and will become the standard in bikesharing system in the future. Electric bikes use batteries as a source of energy, thus they require a battery charger system which powered from the solar cells energy. This research aims to design and implement electric bicycle battery charging system with solar energy sources using fuzzy logic algorithm. It is necessary to develop an electric bicycle battery charging system with solar energy sources using fuzzy logic algorithm. The study was conducted by means of experimental method which includes the design, manufacture and testing controller systems. The designed fuzzy algorithm have been planted in EEPROM microcontroller ATmega8535. The charging current was set at 1.2 Amperes and the full charged battery voltage was observed to be 40 Volts. The results showed a fuzzy logic controller was able to maintain the charging current of 1.2 Ampere with an error rate of less than 5% around the set point. The process of charging electric bike lead acid batteries from empty to fully charged was 5 hours. In conclusion, the development of solar-powered electric bicycle controlled using fuzzy logic controller can keep the battery charging current in solar-powered electric bicycle to remain stable. This shows that the fuzzy algorithm can be used as a controller in the process of charging for a solar electric bicycle.
This paper presents open problems in Indonesian Scoring System. The previous study exposes the comparison of several similarity metrics on automated essay scoring in Indonesian. The metrics are Cosine Similarity, Euclidean Distance, and Jaccard. The data being used in the research are about 2,000 texts. This data are obtained from 50 students who answered 40 questions on politics, sports, lifestyle, and technology. The study also evaluates the stemming approach for the system performance. The difference between all methods between using stemming or not is around 4-9%. The results show Jaccard is the best metric both for the system with stemming or not. Jaccard method with stemming has the percentage error lowest than the others. The politic category has the highest average similarity score than lifestyle, sport, and technology. The percentage error of Jaccard with stemming is 52.31%, Cosine Similarity is 59.49%, and Euclidean Distance is 332.90%. In addition, Jaccard without stemming is also the best than the others. The percentage error without stemming of Jaccard is 56.05%, Cosine Similarity is 57.99%, and Euclidean Distance is 339.41%. However, this percentage error is high enough to be used for a functional essay grading system. The percentage errors are relatively high, more than 50%. Therefore this paper explores several ideas of open problems in this issue. The openly available dataset can be used to develop better approaches than the standard similarity metrics. The approaches expose are ranging from feature extraction, similarity metrics, learning algorithm, environment implementation, and performance evaluation.
Generator pada pembangkit listrik tenaga mikrohidro (PLTMh) mampu menghasilkan besaran-besaran yang bisa diamati berupa nilai tegangan, arus, dan kecepatan. untuk melakukan monitoring besaran-besaran tersebut operator harus melihat langsung tampilan display yang terdapat pada plant, sehingga pemantauan tidak bisa dilakukan dengan cepat dan tepat. Agar monitoring lebih effisien dibutuhkan suatu sistem monitoring yang dapat dilakukan dari jarak jauh dan dapat dilakukan secara tepat waktu. sistem ini memanfaatkan jaringan internet sebagai media dalam melakukan pengiriman data hasil pembacaan dari sensor, nilai pembacaan dari sensor akan ditampilkan dalam bentuk web pada internet dan aplikasi pada android. kontroller utama dari sistem ini menggunakan NodeMCU lolin versi 3 yang merupakan device dari ESP8266, tampilan web menggunakan akun layanan google yaitu firebase console dan aplikasi pada android menggunakan software online MIT App. Hasil pengujian sistem monitoring tersebut menunjukkan bahawa sistem mampu melakukan pembacaan data yang baik bila di bandingkan dengan nilai hasil pembacaan data dengan alat ukur, tingkat keakurasian sebesar 95 %.
With the advancement of computer virtualization technology, the use of cloud computing technology began to be scrutinized by researchers. With the existence of cloud computing technology can make computer virtualization on a server that is running. This can save the cost of providing information technology and operational infrastructure independently for each service that will be served. With this technology one physical machine is made into a shared resource that can be shared and used by several services at once. In this study made 4 servers using SLIMS7, digital libraries are virtual machines implemented in cloud computing servers with Proxmox servers. Database server digital library integration uses Service Oriented Architecture (SOA), by connecting to 4 virtual machine servers. Integration is carried out on the book data search system by entering keywords as book data searches that exist in each digital library server, with the results of displaying all book data on each digital library server according to the keywords. The conclusions of this study obtained after testing the system include the acquisition of a new model in the use of Service Oriented Architecture (SOA) to integrate the search for data books that exist in 4 digital library servers.
The end of this research is to find PID tuning value on the packaging automation process using the PID method. By finding the most suitable PID tuning value, a fast packaging process is obtained. Herbal ingredients in herbs that are left in the open for a long time tend to be damaged more quickly. So after the production process ends, the herbs must be packaged quickly. With the packaging automation method, the product can be hygienic and does not spoil quickly. One of the most widely and easy-to-use for automation methods in the industry is the PID control method because it can accelerate the system response, stabilize the system to match the setpoint and minimize overshoot. This study will discuss how the design of the PID control system using DC motor transfer function modeling in Matlab and the Second Ziegler-Nichols PID tuning method, the effect of the load on the motor response, and the effect of PID on the production speed. The system was tested with PID tuning values are Kp = 12, Ki = 12,506, Kd = 0.0028785, speed motor 24 RPM and a load of 3,160 Kg produces a good output response are delay time = 0.502 s, rise time = 0.804 s, settling time = 4.023 s, peak time = 133.084 s, Overshoot = 0.125% and Steady State Error = 0%. The effect of PID control on production speed is 83% faster than manual production and 29% faster than systems without PID.
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