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All Journal International Journal of Power Electronics and Drive Systems (IJPEDS) Jurnal Teknik Elektro PROtek : Jurnal Ilmiah Teknik Elektro Journal of Robotics and Control (JRC) INAJEEE (Indonesian Journal of Electrical and Electronics Engineering) Jurnal INFOTEL
Leonardus Heru Pratomo
Soegijapranata Catholic University
Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering Mechanical Engineering

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Journal : Journal of Robotics and Control (JRC)

 1 
Design and Implementation of Smart Forklift for Automatic Guided Vehicle Using Raspberry Pi 4 Florentinus Budi Setiawan; Phoa Marcellino Siva; Leonardus Heru Pratomo; Slamet Riyadi
Journal of Robotics and Control (JRC) Vol 2, No 6 (2021): November
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.26130

Abstract

Automatic Guided Vehicle (AGV) pallet truck is widely used in the industry. This kind of AGV is such a combination of the ordinary AGV used forklift mechanism. The forklift mechanism is employed for lifted up or carrying things from one place to another place. As the technology has been developed along with the industry revolution 4.0, therefore, the activity could be done automatically by using a robot-like AGV pallet truck. Basically, the working principle of the AGV pallet truck is similar to the ordinary forklift whereas the AGV pallet truck is automatically operated. DC motor is applied as the driving force for the uplifting and down lifting process in the forklift mechanism of the AGV pallet truck. DC motor is chosen because it has large torque which is advantageous for lifting loads. Unfortunately, DC motor also owns some disadvantages such as high maintenance fees and less precision. This study proposes a smart forklift mechanism for AGV pallet trucks that utilizes a stepper motor and ultrasonic distance sensor. This smart forklift mechanism is equipped with raspberry pi model B as the main microcontroller and combined with an ultrasonic distance sensor. The result of the ultrasonic distance sensor has an error approaching zero percent so the precision of the height can be fully controlled. Step / Revolution (SPR) method makes the stepper motor can move smoothly like micro-step and also the number of rotations can be controlled as we want.
Design and Implementation of Double Loop Control Strategy in TPFW Voltage and Current Regulated Inverter for Photovoltaic Application Leonardus Heru Pratomo; Agutinus Fidelis Wibisono; Slamet Riyadi
Journal of Robotics and Control (JRC) Vol 3, No 2 (2022): March
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v3i2.14365

Abstract

Increasing demands for renewable energy encourage the development of inverters as a solution for converting energy from direct photovoltaic current (DC) output to alternative current (AC) at a maximum output power. Several nation standard systems are three-phase four-wired (TPFW), which means that the TPFW inverter must be used. The issue arises because the TPFW inverter is operated through an open-loop system, which has the problem of preventing the inverter from adjusting the voltage and current as needed. Hence, the open-loop system must be converted to a closed-loop system which is usually used only single control. The single strategy control is not effective because this strategy cannot regulate voltage and current at the same time. It only controls either voltage or current. The output voltage or current is changed when the load value is changed. Due to its weaknesses, the study proposes a new double-control strategy method that utilizes a PI strategy (P) controller as a voltage controller and a proportional strategy control as a current controller. This strategy is tested and measured by using simulation, showing a THD value of 1.07%. Accordance to IEEE standards, the THD value is within the recommended limit. Therefore, the output voltage and current produced have a good signal with a low ripple and stability without fluctuation. 
Co-Authors Agengkarunia Cahyadi Wibawa Agutinus Fidelis Wibisono Christophorus Bramantya Adipradana Eko Yoyok Pujianti Eric Pratama Putra Florentinus Budi Setiawan Phoa Marcellino Siva Slamet Riyadi