Journal of Mechatronics, Electrical Power, and Vehicular Technology
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258 research outputs found
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Nonlinear Dynamic Modeling of a Fixed-Wing Unmanned Aerial Vehicle: a Case Study of Wulung
No full textDeveloping a nonlinear adaptive control system for a fixed-wing unmanned aerial vehicle (UAV) requires a mathematical representation of the system dynamics analytically as a set of differential equations in the form of a strict-feedback systems. This paper presents a method for modeling a nonlinear flight dynamics of the fixed-wing UAV of BPPT Wulung in any conditions of the flight altitude and airspeed for the first step into designing a nonlinear adaptive controller. The model was formed into 10-DOF differential equations in the form of strict-feedback systems which separates the terms of elevator, aileron, rudder and throttle from the model. The model simulation results show the behavior of the flight dynamics of the Wulung UAV and also prove the compliance with the actual flight test results
Prediction Model of Battery State of Charge and Control Parameter Optimization for Electric Vehicle
No full textThis paper presents the construction of a battery state of charge (SOC) prediction model and the optimization method of the said model to appropriately control the number of parameters in compliance with the SOC as the battery output objectives. Research Centre for Electrical Power and Mechatronics, Indonesian Institute of Sciences has tested its electric vehicle research prototype on the road, monitoring its voltage, current, temperature, time, vehicle velocity, motor speed, and SOC during the operation. Using this experimental data, the prediction model of battery SOC was built. Stepwise method considering multicollinearity was able to efficiently develops the battery prediction model that describes the multiple control parameters in relation to the characteristic values such as SOC. It was demonstrated that particle swarm optimization (PSO) succesfully and efficiently calculated optimal control parameters to optimize evaluation item such as SOC based on the model
Modeling, Identification, Estimation, and Simulation of Urban Traffic Flow in Jakarta and Bandung
No full textThis paper presents an overview of urban traffic flow from the perspective of system theory and stochastic control. The topics of modeling, identification, estimation and simulation techniques are evaluated and validated using actual traffic flow data from the city of Jakarta and Bandung, Indonesia, and synthetic data generated from traffic micro-simulator VISSIM. The results on particle filter (PF) based state estimation and Expectation-Maximization (EM) based parameter estimation (identification) confirm the proposed model gives satisfactory results that capture the variation of urban traffic flow. The combination of the technique and the simulator platform assembles possibility to develop a real-time traffic light controller.
Study on Performance Improvement and Economical Aspect of Gas Turbine Power Plant Using Evaporative Cooling System
No full textThe study is intended to improve the performance of gas turbine engines in order to meet both electrical power demand and peak load in the power plant. In this paper, evaporative cooling system had been applied to improve the performance of gas turbine in Pesanggaran power plant in southern Bali Island, Indonesia. Moreover, the economic analysis was conducted to determine the capacity cost, operating cost and payback period due to the investment cost of the system. Based on the evaluation results, the power improvement for the three gas turbine units (GT1, GT2 and GT3) are 2.09%, 1.38%, and 1.28%, respectively. These results were not very significant when compared to the previous studies as well as on the aspects of SFC (Specific Fuel Consumption), heat rate and thermal efficiency. Based on the evaluation of the economic aspects, the reduction of production costs due to the application of evaporative cooling system was not economical, because it could not compensate the investment cost of the system and it resulted a very long payback period. These unsatisfactory results could be caused by the high relative humidity. Therefore, further studies are needed to investigate the other alternative technologies which are more suitable to the climate conditions in Indonesia
Obstacle Avoidance Method for a Group of Humanoids Inspired by Social Force Model
No full textThis paper presents a new formulation for obstacle and collision behavior on a group of humanoid robots that adopts walking behavior of pedestrian crowd. A pedestrian receives position information from the other pedestrians, calculate his movement and then continuing his objective. This capability is defined as socio-dynamic capability of a pedestrian. Pedestrian’s walking behavior in a crowd is an example of a sociodynamics system and known as Social Force Model (SFM). This research is trying to implement the avoidance terms in SFM into robot’s behavior. The aim of the integration of SFM into robot’s behavior is to increase robot’s ability to maintain its safety by avoiding the obstacles and collision with the other robots. The attractive feature of the proposed algorithm is the fact that the behavior of the humanoids will imitate the human’s behavior while avoiding the obstacle. The proposed algorithm combines formation control using Consensus Algorithm (CA) with collision and obstacle avoidance technique using SFM. Simulation and experiment results show the effectiveness of the proposed algorithm
Algorithm of 32-bit Data Transmission Among Microcontrollers Through an 8-bit Port
No full textThis paper proposes an algorithm for 32-bit data transmission among microcontrollers through one 8-bit port. This method was motivated by a need to overcome limitations of microcontroller I/O as well as to fulfill the requirement of data transmission which is more than 10 bits. In this paper, the use of an 8-bit port has been optimized for 32-bit data transmission using unsigned long integer, long integer, and float types. Thirty-two bit data is extracted intobinary number, then sent through a series of 8-bit ports by transmitter microcontroller. At receiver microcontroller, the binary data received through 8-bit port is reconverted into 32 bits with the same data type. The algorithm has been implemented and tested using C language in ATMega32A microcontroller. Experiments have been done using two microcontrollers as well as four microcontrollers in the parallel, tree, and series connections. Based on the experiments, it is known that the data transmitted can be accurately received without data loss. Maximum transmission times among two microcontrollers for unsigned long integer, long integer, and float are 630 μs, 1,880 μs, and 7,830 μs, respectively. Maximum transmission times using four microcontrollers in parallel connection are the same as those using two microcontrollers, while in series connection are 1,930 μs for unsigned long integer, 5,640 μs for long integer, and 23,540 μs for float. The maximum transmission times of tree connection is close to those of the parallel connection. These results prove that the algorithm works well
Design and Implementation of Controller for Boost DC-DC Converter Using PI-LPF Based on Small Signal Model
No full textBoost DC-DC converters are used in many renewable energy sources including photovoltaic and fuel cell. They are also used in Uninterrupted Power Supply, inverters, electric vehicles and robots. In this paper a boost converter was built and its controller was developed using proportional integral (PI) action for current loop and low pass filter (LPF) for voltage loop. The controller was derived analytically based on small signal model. Experiment results show that the boost controller functions well in regulating the output voltage under a variation of load. During the start up without any load it can elevate input voltage from 119.6V to output voltage of 241.6V. The developed controller can regulate the output voltage smoothly under load variation from no load to sudden load of 352W. When a large sudden load change happens from 0W to 1042W the output voltage experiences small drop before it is recovered to 241.6V. It can be concluded that the developed control system satisfies the design specification
