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All Journal Eksakta : Berkala Ilmiah Bidang MIPA Journal of Engineering and Technological Sciences
Hindersah, Hilwadi
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Aerospace Engineering Agriculture, Biological Sciences & Forestry Astronomy Automotive Engineering Biochemistry, Genetics & Molecular Biology Chemical Engineering, Chemistry & Bioengineering Chemistry Civil Engineering, Building, Construction & Architecture Computer Science & IT Electrical & Electronics Engineering Energy Engineering Environmental Science Materials Science & Nanotechnology Mathematics Mechanical Engineering

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Modeling and Simulation Longitudinal Mobile Robotic with Rough Terrain and Ascent Angle Disturbance Emilliano, Emilliano; Hindersah, Hilwadi
EKSAKTA: Berkala Ilmiah Bidang MIPA Vol. 22 No. 2 (2021): Eksakta : Berkala Ilmiah Bidang MIPA (E-ISSN : 2549-7464)
Publisher : Faculty of Mathematics and Natural Sciences (FMIPA), Universitas Negeri Padang, Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1068.075 KB) | DOI: 10.24036/eksakta/vol22-iss2/264

Abstract

Model mobile robot that used to this simulation is type car like vehicle steering. Mobile robot type car like vehicle steering is mobile robot that move using force of rear wheel and front rear of mobile robot functions as steering to control direction of mobile robot. The dynamic nonlinear model mobile robot is implemented to view influence disturbance of mobile robot to longitudinal direction mobile robot that used to planetary exploration in rough terrain. The model that used to simulation is nonlinear multivariable MIMO with 5 input and 7 output. The simulation has done by using Simulink of Matlab. The simulations were carried out by giving 4 conditions, namely without disturbance, with an incline angle of 30 (0.5236 rad), with a rough terrain angle of 28.6479 (+0.5 rad), and a combination of 30 incline angle and 28.6479 rough terrain angle. The simulation results with 3 mobile robots show accurate results.
Longitudinal Train Dynamics Model for CC203/CC206 Locomotive Simulator Hindersah, Hilwadi; Rohman, Arief Syaichu; Bayuwindra, Anggera; Rusmin, Pranoto H.; Kinasih, Fabiola M.T.R.; Machbub, Carmadi
Journal of Engineering and Technological Sciences Vol. 56 No. 3 (2024)
Publisher : Directorate for Research and Community Services, Institut Teknologi Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.5614/j.eng.technol.sci.2024.56.3.10

Abstract

This paper presents train modeling used in a simulator platform for driver training. It was developed for the CC203/CC204 locomotive. The driver will gain experience as in a real locomotive from the perceived platform movements if the movements match real conditions as accurately as possible, including the distance travelled. To this aim, a longitudinal model of the train was developed based on measurement data obtained from the Argo Parahyangan train traveling from Bandung to Jakarta. A second-order linear time invariant model was obtained by a black box identification approach, in which the input and the output of the model are the resultant force (a traction and a slope-friction force) and the train’s position, respectively. While the speed is directly obtained from measurement data, the traction force of the locomotive is predicted using the traction characteristic of the locomotive, train’s measured speed, and latitude time history during a train trip. The model is then validated by running a simulation for one complete trip of the train. In the simulation, the same input as in the model identification is applied and the mileage obtained from simulation result is compared to data of the real train trip with a fitness level of 94.09%.
Co-Authors Arief Syaichu Rohman, Arief Syaichu Bayuwindra, Anggera Carmadi Machbub Emilliano, Emilliano Kinasih, Fabiola M.T.R. Rusmin, Pranoto H.