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All Journal International Journal of Electrical and Computer Engineering Jurnal Rekayasa Elektrika Mechatronics, Electrical Power, and Vehicular Technology ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Techne : Jurnal Ilmiah Elektroteknika J-Dinamika: Jurnal Pengabdian Kepada Masyarakat SinarFe7
Bambang Sumantri
Politeknik Elektronika Negeri Surabaya
Computer Science & IT Control & Systems Engineering Education Electrical & Electronics Engineering Energy Engineering

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Fuzzy-PID controller for an energy efficient personal vehicle: Two-wheel electric skateboard Bambang Sumantri; Eko Henfri Binugroho; Ilham Mandala Putra; Rika Rokhana
International Journal of Electrical and Computer Engineering (IJECE) Vol 9, No 6: December 2019
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (318.79 KB) | DOI: 10.11591/ijece.v9i6.pp5312-5320

Abstract

The two-wheeled electric skateboard (TWS) is designed for a personal vehicle. A Fuzzy-PID control strategy is designed and implemented for controlling its motion. Basically, motions control of the TWS is performed by balancing the pitch position of the TWS. Performance of the designed controller is demonstrated experimentally. The Fuzzy algorithm updates the PID gains and therefore it can handle the changing of the TWS load. Contribution of Fuzzy-PID in reducing the electric energy consumption, which is an important issue in electrical system, is also evaluated. The Fuzzy-PID successes to reduce the electric energy consumption of the TWS compared to the conventional PID.
Robot Keseimbangan Beroda Dua dengan Sistem Kontrol Keseimbangan dan Posisi Menggunakan Metode PID Bertingkat Niam Tamami; Ibrahim Muhammad Diin; Bambang Sumantri; Endra Pitowarno
Jurnal Rekayasa Elektrika Vol 14, No 3 (2018)
Publisher : Universitas Syiah Kuala

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (325.53 KB) | DOI: 10.17529/jre.v14i3.11939

Abstract

The two-wheeled balancing robot is a robot that will maintain its balance to stay upright by using two wheels. This robot cannot be stable when the condition is upright and requires a control mechanism when moving. There are at least two control mechanisms in this robot, first is balance control, and the second is position control. The cascade PID method is proposed as a control mechanism, which consists of balance control as primary control and position control (distance and direction) as a secondary control. This method has been applied to robots. Based on the first, second, and third experiment, the best configuration of cascade PID control is PID for the balance control block, PD for distance control, and PD for direction control. By using cascade PID control, the two-wheeled balancing robot has been able to balance itself with oscillations ranging from ± 15.00 degrees when moving and it can move towards the ordered position with the error position from the target. Fourth experiment position error is (0.17, -0.26) and (0.45, -0.43) for the fifth experiment.
Sistem Keseimbangan Robot ERISA Pada Bidang Miring Menggunakan Kontrol PD dan Sensor Fusion Novian Fajar Satria; Ali Husein Alasiry; Bambang Sumantri; Risma Dian Alamri
Jurnal Rekayasa Elektrika Vol 17, No 3 (2021)
Publisher : Universitas Syiah Kuala

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1.311 KB) | DOI: 10.17529/jre.v17i3.18762

Abstract

The world of robotics is currently developing; many robots are created to help humans work in carrying out daily activities. Various types of robots have been created, one of which is a type of robot that resembles a human body (humanoid). Humanoid robots are developing in many countries, including Indonesia. In its development, the walking technique is a major factor in making humanoid robots. Humanoid robots have the ability to walk like humans by balancing their body positions while walking, so they don’t fall. In maintaining this balance, a tilt detection system for the robot’s position and a balancing system is needed when the robot is about to fall. So, to overcome this problem, implementation is carried out using the sensor fusion method at the output of the sensors that are used to minimize noise or interference with the sensor output value. The accuracy of the sensor output value on the position angle tilt detector can help the robot provide a balancing act. By implementing a PD control system and sensor fusion consisting of a Kalman filter and a complementary filter, the robot was successfully carried up and down the plane to a maximum slope of 12 °.
Local positioning system for autonomous vertical take-off and landing using ultra-wide band measurement ranging system Niam Tamami; Bambang Sumantri; Prima Kristalina
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 12, No 1 (2021)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.mev.2021.v12.18-27

Abstract

An autonomous vertical take-off and landing (VTOL) must be supported with an accurate positioning system, especially for autonomous take-off, landing, and other tasks in small area. This paper presents a novel method of small local outdoor positioning system for localizing the area of dropping and landing of autonomous VTOL by utilizing the low-cost precision ultra-wide band (UWB) ranging system. We compared symmetrical single sided-two way ranging (SSS-TWR), symmetrical double sided-two way ranging (SDS-TWR), and asymmetrical double sided-two way ranging (ADS-TWR) methods to get precision ranging measurement on UWB radio module. ADS-TWR was superior to others by resulting in minimum distance error. The ADS-TWR average error was 1.38 % (35.88 cm), SDS-TWR average error was 1.83 % (47.58 cm), and SSS-TWR average error was 2.73 % (70.98 cm). Furthermore, the trilateration method was utilized to obtain the local position of the autonomous VTOL. The trilateration method successfully implemented autonomous VTOL quadcopter positioning in a small local outdoor area (20 m x 30 m). Autonomous VTOL has been able to drop seven payloads in seven areas (2 m x 2 m) and landed in the home position (3 m x 3 m) successfully.
Optimasi Fuzzy Supervisory Control pada Performa Matrix Converter Drive 3x3 di Empat Kuadran Operasi ERA PURWANTO; MENTARI PUTRI JATI; BAMBANG SUMANTRI; INDRA FERDIANSYAH; GAMAR BASUKI
ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Vol 9, No 1 (2021): ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektro
Publisher : Institut Teknologi Nasional, Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26760/elkomika.v9i1.31

Abstract

ABSTRAKTeknologi pengemudian motor dengan efisiensi tinggi serta untuk mencapai empat kuadran operasi menjadi perhatian pada bidang pengemudian elektrik. Matrix converter menjadi alternatif utama konverter drive motor karena keunggulan – keunggulannya. Walaupun matrix converter sebagai drive motor mempunyai kompleksitas tinggi, namun dengan dikombinasikan teknik Indirect Space Vector Modulation (ISVM) dapat menghasilkan kepresisian lebar pulsa modulasi (PWM). Untuk pengendali sistem, diterapkan Fuzzy Supervisory Control (FSC), yang merupakan kendali gabungan, agar kecepatan referensi bisa tercapai. FSC dibandingkan dengan kendali konvensional (PI control) untuk membuktikan keoptimalan performa sistem yang diusulkan. Parameter performa sistem dan Total Harmonic Distortion (THD) dianalisis lebih lanjut. Hasil simulasi menunjukkan bahwa sistem yang diusulkan dapat mencapai Error Steady state (ESS) 0% dan THD lebih kecil.Kata kunci: Matrix converter, ISVM, FSC, motor induksi. ABSTRACTMotor-driving technology with high efficiency and to achieve four quadrants of operation is a concern in the area of electric steering. Matrix converter is the main alternative for motor drive converters because of its advantages. Although the matrix converter as a motor drive has a high complexity, combined with the Indirect Space Vector Modulation (ISVM) technique can produce precision pulse width modulation (PWM). For the system controller, Fuzzy Supervisory Control (FSC) is applied, which is a combined control, so that the reference speed can be achieved. FSC is compared with conventional control (PI control) to prove the optimization of the proposed system performance. System performance parameters and Total Harmonic Distortion (THD) are further analyzed. Simulation results show that the proposed system can reach 0% Error Steady State (ESS) and smaller THD.Keywords: Matrix converter, ISVM, FSC, induction motor.
Matrix Converter sebagai Pengendali Kecepatan Motor Induksi 3 Fase dengan ISVM MENTARI PUTRI JATI; ERA PURWANTO; BAMBANG SUMANTRI; GAMAR BASUKI
ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Vol 8, No 2 (2020): ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektro
Publisher : Institut Teknologi Nasional, Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26760/elkomika.v8i2.373

Abstract

ABSTRAKMakalah ini membahas matrix converter digunakan sebagai pengendali kecepatan motor induksi 3 fase pada sistem closed loop. Matrix converter merupakan konverter AC – AC yang efektif dan efisien untuk menghasilkan tegangan dan frekuensi keluaran berubah – ubah. Metode modulasi matrix converter Indirect Space Vector Modulation (ISVM) diterapkan pada sistem. Masalah pengendalian kecepatan motor induksi dapat diatasi dengan kendali Proporsional Integral (PI) yang diterapkan pada sistem untuk mencapai kecepatan referensi. Hasil simulasi Simulink software Matlab dengan variasi setpoint kecepatan dapat dicapai matrix converter sebagai drive motor induksi 3 fase dan menjaga harmonisa sistem closed loop pada rata – rata 24.27%.Kata kunci: matrix converter, kendali kecepatan, motor induksi, ISVM ABSTRACTThis paper discusses the matrix converter used as a three phase induction motor speed controller in a closed loop system. Matrix converter is an effective and efficient AC - AC converter to produce variable output voltage and frequency. Matrix converter Indirect Space Vector Modulation (ISVM) is applied to the system. Induction motor speed control problems can be overcome by proportional integral control (PI) that applied to the system to achieve reference speed. Simulink simulation in Matlab results with speed setpoint variations can be achieved matrix converter as a three-phase induction motor drive and preserve the closed loop system harmonics at an average of 24.27%. Keywords: matrix converter, speed control, induction motor, ISVM
Estimasi State of Charge (SoC) Ultrakapasitor menggunakan Extended Kalman Filter Berbasis Ladder Equivalent Circuit Model ACHMAD AFANDI; NOVIE AYUB WINDARKO; BAMBANG SUMANTRI; HANIF HASYIER FAKHRUDDIN
Jurnal Elkomika Vol 10, No 1 (2022): ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektr
Publisher : Institut Teknologi Nasional, Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26760/elkomika.v10i1.61

Abstract

ABSTRAKPenggunaan perangkat penyimpan energi semakin lama semakin meningkat pada peralatan berdaya kecil maupun besar. Baterai selama ini menjadi pilihan utama sebagai penyimpan energi. Namun akhir-akhir ini ultrakapasitor menjadi pilihan alternatif karena lifetime lebih panjang dan respon daya sesaat yang jauh lebih besar dari baterai. Pada manuskrip ini dibahas tentang estimasi nilai State of Charge (SoC) pada ultrakapasitor. Estimasi dilakukan berdasarkan rangkaian ekivalen ladder. Extended Kalman Filter adalah metode estimasi yang handal terhadap sistem dinamis dan tidak memerlukan banyak memori. Estimasi menggunakan metode Extended Kalman filter yang ditanamkan pada sistem embedded untuk mengantisipasi kondisi non-linier pada ultrakapasitor. Ultrakapasitor diuji dengan kondisi charging dan discharging. Hasil pengujian menunjukkan, kinerja metode dibandingkan antara data simulasi dan percobaan dengan perbedaan hasil sebesar 6%.Kata kunci: State of Charge, Metode Extended Kalman Filter, Ultrakapasitor ABSTRACTThe use of energy storage devices is increasing in both small and large power equipment. Batteries have been the main choice for energy storage. However, recently ultracapacitors have become an alternative choice because of a longer lifetime and a much larger instantaneous power response than batteries. This manuscript discusses the estimation of the State of Charge (SoC) value on the ultracapacitor. Estimates are made based on a ladder equivalent circuit. Extended Kalman Filter is a reliable estimation method for dynamic systems and does not require a lot of memory. The estimation uses the Extended Kalman filter method implemented in embedded system to anticipate non-linear conditions on the ultracapacitor. Ultracapacitors were tested under charging and discharging conditions. The test results show that the performance of the method is compared between simulation and experimental data with a difference of 6% in results.Keywords: State of Charge, Metode Extended Kalman Filter, Ultrakapasitor
Perancangan Kendali Multilevel Inverter Satu Fasa Tiga Tingkat dengan PI+feedforward pada Beban Nonlinier MOCHAMAD ARI BAGUS NUGROHO; NOVIE AYUB WINDARKO; BAMBANG SUMANTRI
ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Vol 7, No 3 (2019): ELKOMIKA
Publisher : Institut Teknologi Nasional, Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26760/elkomika.v7i3.493

Abstract

ABSTRAKSebuah konverter daya multilevel inverter diharapkan mampu untuk menyuplai tegangan AC ideal pada kondisi beban linier maupun nonlinier. Diharapkan metode kendali mampu cepat tanggap dan mampu mempertahankan bentuk tegangan AC keluaran inverter. Pengendali PI+feedforward diajukan dalam makalah ini. Pengendali ini akan diuji dengan beban linier maupun nonlinier. Beban nonlinier berupa rangkaian penyearah dengan filter kapasitor. Berdasarkan pengujian simulasi didapatkan bahwa pengendali PI+feedforward lebih cepat tanggap terhadap gangguan yang dibuktikan dengan nilai kesalahan rata-rata absolut sekitar 73% lebih kecil dari pengendali PI. Hasil Simulasi menunjukkan bahwa multilevel inverter dengan kendali PI menghasilkan THDv sebesar 0,669% pada beban linier dan sebesar 1,263% pada kondisi beban nonlinier. Sedangkan dengan kendali PI+feedforward menghasilkan THDv sebesar 0,292% pada beban linier dan sebesar 1,044% pada kondisi beban nonlinier.Kata kunci: mutilevel inverter, pengendali PI, feedforward, beban non-linier ABSTRACTA multilevel inverter power converter is expected to be able to supply ideal AC voltage in linear and nonlinear load conditions. It is expected that the control method is be able to respond quickly and be able to maintain the waveform of the inverter output AC voltage. PI + feedforward controller is proposed in this paper. This controller will be tested with linear and nonlinear loads. Nonlinear load is a rectifier circuit with a filter capacitor. Based on simulation it was found that PI + feedforward controllers were more responsive to interference as evidenced by the mean absolute error (MAE) value of about 73% less than the PI controller. Simulation results show that multilevel inverter with PI control produces THDv of 0.669% in linear load and 1.263% in nonlinear load conditions. Whereas with PI + feedforward control produces THDv of 0.292% in linear loads and of 1.044% in nonlinear load conditions.Keywords: multilevel inverter, PI controller, feedforward, non-linear load
Prototipe Power Supply Gate driver untuk Multilevel Inverter dengan Menggunakan Flyback Converter Multi Output Novie Ayub Windarko; Akhmad Puryanto; Rachma Prilian Eviningsih; Moh. Zaenal Efendi; Eka Prasetyono; Bambang Sumantri
Techné : Jurnal Ilmiah Elektroteknika Vol. 19 No. 1 (2020)
Publisher : Fakultas Teknik Elektronika dan Komputer Universitas Kristen Satya Wacana

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1110.657 KB) | DOI: 10.31358/techne.v19i01.219

Abstract

Dengan perkembangan konverter elektronika daya, kebutuhan untuk memperkecil ukuran dan keandalan semakin meningkat. Dengan meningkatnya frekuensi switching pada konverter, maka dv/dt yang tinggi dapat menyebabkan kesalahan dalam turn-on ataupun turn-off switching devices. Masalah-masalah tersebut dapat diatasi dengan menerapkan tegangan bias negatif untuk melakukan turn-off switching devices. Makalah ini mengusulkan prototipe power supply gate driver yang dikhususkan untuk Multi Level Inverter (MLI). Sebuah prototipe power supply gate driver yang menggunakan satu unit konverter flyback dengan multi output untuk tegangan bias positif dan negatif, serta terisolasi galvanis sebanyak switching devices MLI. Dengan menggunakan topologi dasar flyback maka konverter ini memiliki isolasi galvanis melalui trafo frekuensi tinggi. Dari hasil eksperimen proses switching bisa berubah dari kondisi dari on menuju off dan dari off menuju on bisa berjalan secara sempurna.
Penerapan Machine Learning Pada Smart Socket Dengan Multi Sensor Untuk Adaptasi Pola Pemakaian Pengguna Muhammad Furqon; Agus Indra Gunawan; Bambang Sumantri; Ardik Wijayanto
SinarFe7 Vol. 1 No. 1 (2018): Sinarfe7-1A 2018
Publisher : FORTEI Regional VII Jawa Timur

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (399.279 KB)

Abstract

Peralatan elektronik masa kini tidak hanya dituntut untuk mampu memenuhi kebutuhan manusia yang semakin kompleks dan mendetail, namun telah menghadapi tantangan baru, yaitu tuntutan kemampuan alat dalam beradaptasi dengan kebutuhan manusia itu sendiri. Oleh karena itu, pada penelitian ini akan dibuat sebuah prototype alat berupa stopkontak yang dilengkapi dengan multi sensor yang bertujuan untuk mendapatkan behavior dari user yang nantinya akan digunakan sebagai konfigurasi ON/OFF sistem pada stopkontak tersebut, yang kemudian disebut dengan smart socket. Terdapat beragam metode yang relevan telah diuji dan diaplikasikan pada penelitian-penelitian sebelumnya, salah satunya adalah stopkontak multi-fitur multi-sensor dengan kontroler kondisional namun, metode tersebut kurang efektif karena user diharuskan melakukan konfigurasi awal untuk menggunakan smart socket tersebut, dan sistemnya yang bersifat statis sehingga user diharuskan mengubah konfigurasi setiap kali kondisi yang diinginkan berubah. Adapun metode y ng digunakan pada penelitian ini adalah menggunakan KMeans clustering, dimana metode tersebut akan mengolah data respon user yang direkam oleh sistem menjadi sebuah konfigurasi ON/OFF otomatis yang dapat flexible berubah mengikuti behavior dari user tersebut. Hasil dari pengujian sistem terhadap dua subjek user didapatkan konfigurasi user1 (sistem akan menyala dari jam 12:21:37 hingga jam 17:53:18 dengan rata-rata konsumsi daya dalam satu hari adalah 165.61 Watt), user2 (sistem akan menyala dari jam 21:29:55 hingga jam 08:41:31, akan menyala lagi dari jam 17:40:13 hingga jam 18:14:51 dengan rata-rata konsumsi daya dalam satu hari adalah 543.14 Watt).
Co-Authors ABDILLAH AZIZ MUNTASHIR ACHMAD AFANDI Agus Indra Gunawan Akhmad Puryanto Ali Husein Alasiry Amang Sudarsono, Amang Ardik Wijayanto Bima Sena Bayu Dewantara Dadet Pramadihanto Eka Prasetyono, Eka Eko Henfri Binugroho Endra Pitowarno Era Purwanto Evi Nafiatus Sholikhah Ferdiansyah, Indra GAMAR BASUKI Habibi, Muhammad Nizar HANIF HASYIER FAKHRUDDIN Hary Oktavianto Hazlie Mokhlis Ibrahim Muhammad Diin Idris Winarno Ilham Mandala Putra Kadek Reda Setiawan Suda MENTARI PUTRI JATI MOCHAMAD ARI BAGUS NUGROHO Mohammad Zaenal Efendi Muhammad Farizky Alvianandy Muhammad Furqon NI PUTU DEVIRA AYU MARTINI Niam Tamami Novian Fajar Satria Novie Ayub Windarko Prima Kristalina R. Oktav Yama Hendra Rachma Prilian Eviningsih Rika Rokhana Risma Dian Alamri Wahjoe Tjatur Sesulihatien