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All Journal Majalah Ilmiah Teknologi Elektro Jurnal Rekayasa elektrika Majalah Ilmiah Teknologi Elektro
Fahmizal Fahmizal
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Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Journal : Majalah Ilmiah Teknologi Elektro

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Sistem Gerak Robot Mainland Surveillance menggunakan Mecanum Wheel sebagai Militer Robot Fahmizal Fahmizal; Afrizal Mayub; Muhammad Arrofiq
Jurnal Teknologi Elektro Vol 17 No 2 (2018): (May - Agustus) Majalah Ilmiah Teknologi Elektro
Publisher : Universitas Udayana

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (6962.593 KB) | DOI: 10.24843/MITE.2018.v17i02.P07

Abstract

Robotics in human life is very important. It is also in military sector. Modern countries intensively show of force in high technology robot developed. Indonesia has a special army force with highly military skill called Kopasus. Kopasus is special squad in mainland. Other countries also include robots as additional equipment to personnel. This military robot would help personnel performing surveillance. In this research, the prototype of surveillance mainland robot has been developed. The prototype could be used by military personnel in surveillance. In order to realize the aim, this research conducts designing of robot movement mechanism as a main point of view of this research. By using mecanum wheel platform, the surveillance main land robot is expected having navigation capability in all directions.
Identifikasi Sistem Motor DC dan Kendali Linear Quadratic Regulator Berbasis Arduino-Simulink Matlab Fahmizal Fahmizal; Fahmy Fathuddin; Rudi Susanto
Jurnal Teknologi Elektro Vol 17 No 2 (2018): (May - Agustus) Majalah Ilmiah Teknologi Elektro
Publisher : Universitas Udayana

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (778.178 KB) | DOI: 10.24843/MITE.2018.v17i02.P20

Abstract

This paper describes the identification process of DC motor system with experimental technique using indetification tool in Matlab. After the DC motor model system is obtained, the optimal control technique in this case using linear quadratic regulator (LQR) is used to view the system response step. In this research, the motor modification system module with Arduino DC was developed to facilitate in terms of getting the model of DC motor by approaching first and second order models. This module is integrated between Arduino and Simulink Matlab which is used as input-output data acquisition. The result of the system identification process is a model of DC Motor with second order ARX (Auto Regressive Exogenous) modeling. Furthermore, the implementation of LQR control technique with parameter of Q element element is sought by multiplication of transpose matrix C system with matrix C of the system. While the R element matrix in tuning experimentally with value 0.000001. From the test results obtained that LQR control produces a better system response time constant when compared to PID control.
Co-Authors Afrizal Mayub Budi Bayu Murti Esa Apriaskar Fahmy Fathuddin Muhammad Arrofiq Rudi Susanto Tirza Sarwono