Design of Motion Control Using Proportional Integral Derivative for UNUSAITS AUV

Herlambang, Teguh; Subchan, Subchan; Nurhadi, Hendro

doi:10.15866/ireme.v12i11.15758

Cited by 7 publications

(3 citation statements)

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“…Blanking dies are widely used in industrial production. The finished product can be used not only as a blank, but also as a mechanical part [12][13].…”

Section: The Principle Of Stamping Diementioning

confidence: 99%

Mechanical Movement in Stamping Die Design Based on Computer Analysis

2022

J. Phys.: Conf. Ser.

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With the rapid development of the national economy, the supporting role of molds to the national industry is becoming more and more indispensable. The purpose of this paper is to study the control and application of mechanical motion in stamping die design based on computer analysis. According to the principle of stamping die, the related mechanical motion of the die in the stamping process and its definition method are sorted out, which lays a foundation for the mechanical motion control. The interference detection algorithm based on die stamping motion simulation is established, and the method of automatically acquiring CATIA digital-analog information is studied, which not only standardizes the die design process, but also provides a basis for the realization of simulation motion control. each movement model. The static interference detection method adopted by the system is determined, and the method of distinguishing normal interference and abnormal interference is analyzed. Combining the CATIA interference detection with the motion law and motion curve of the process parts, the analysis of the mechanical motion control system is completed, which is of great significance to improve the production efficiency of the stamping line and speed up the processing speed of the stamping parts.

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“…Blanking dies are widely used in industrial production. The finished product can be used not only as a blank, but also as a mechanical part [12][13].…”

Section: The Principle Of Stamping Diementioning

confidence: 99%

Mechanical Movement in Stamping Die Design Based on Computer Analysis

2022

J. Phys.: Conf. Ser.

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“…Imagine how they can reach Indonesia without transportation. On the other hand, Indonesia's geographical condition is as an archipelagic and maritime country [1], meaning it surely makes maritime tourism transportation an important thing in connecting among regions in Indonesia [2].…”

Section: Introductionmentioning

confidence: 99%

H-infinity for autonomous surface vehicle position estimation

Herlambang

Rahmalia

Suryowinoto

et al. 2022

J. Phys.: Conf. Ser.

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Indonesia is a country with a very prominent marine charm, and it is the largest archipelago in the world, covering about 50% of the coral triangle area, providing marine tourist resorts. Therefore tourism development is quite promising. For that purpose, simple boats are of necessity for tourists to enjoy the beauty of such marine tourism. One solution to support such marine tourism sector is the availability of Autonomous Surface Vehicle (ASV). This vehicle will be the interest of this paper. This study used Touristant ASV with dimensions of 1.5 m in diameter, 4 meters in length and 1.3 meters in height. The purpose of this paper is to conduct a study with a focus on the estimation of ASV position with ASV motion influenced by wind speed and wave height by applying the H-infinity method. The position error generated from the simulation shows that the position error has an accuracy of about 96%.

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“…ASV have been applied in many aspects, such as water quality monitoring [5], risk assessment [6] and network centric operations [7]. There are also some papers on modeling, control and estimation of ASV and autonomous unmanned vehicle [8], for example tracking control using neural network approach [9], adaptive dynamic surface control [10], path following [11], obstacle detection and avoidance [12,13], target tracking [14], stability analysis [1], estimation using square root ensemble Kalman filter [2,15], Proportional Integral Derivative (PID) control design [16], control design using Sliding Mode Control (SMC) [17][18][19], sliding PID control design [20,21], using Particle Swarm Optimization (PSO) and Ant Colony Optimization (ACO) for Optimizing PID Parameters on Autonomous Underwater Vehicle (AUV) [22], estimation using ensemble Kalman filter [23,24] and estimation using fuzzy Kalman filter [25].…”

mentioning

confidence: 99%

Sliding mode control design for autonomous surface vehicle motion under the influence of environmental factor

Nurhadi

Apriliani

Herlambang

et al. 2020

IJECE

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Autonomous Surface Vehicle (ASV) is a vehicle that is operated in the water surface without any person in the vehicle. Since there is no person in the ASV, a motion controller is essentially needed. The control system is used to make sure that the water vehicle is moving at the desired speed. In this paper, we use a Touristant ASV with the following specifications: the length is 4 meters, the diameter is 1.625 meters, and the height is 1.027 meters. The main contribution of this paper is applying the Sliding Mode Control system to the Touristant ASV model under the influence of environmental factors. The environmental factors considered in this work are wind speed and wave height. The Touristant ASV model is nonlinear and uses three degree of freedom (DOF), namely surge, sway and yaw. The simulation results show that the performance of the closed-loop system by using the SMC method depends on the environmental factors. If environmental factors are higher, then the resulting error is also higher. The average error difference between those resulted from the simulation without environmental factors and those with the influence of environmental factors is 0.05% for surge, sway and yaw motions.

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Design of Motion Control Using Proportional Integral Derivative for UNUSAITS AUV

Cited by 7 publications

References 0 publications

Mechanical Movement in Stamping Die Design Based on Computer Analysis

Mechanical Movement in Stamping Die Design Based on Computer Analysis

H-infinity for autonomous surface vehicle position estimation

Sliding mode control design for autonomous surface vehicle motion under the influence of environmental factor

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