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All Journal Mechatronics, Electrical Power, and Vehicular Technology Majalah Ilmiah Pengkajian Industri Automotive Experiences
Dyah Kusuma Dewi
Directorate of Technology for Manufacturing Industry, Agency for Assessment and Application of Technology, Gedung Teknologi 2 Puspitek Serpong, Tangerang
Aerospace Engineering Automotive Engineering Chemical Engineering, Chemistry & Bioengineering Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering Transportation

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Journal : Mechatronics, Electrical Power, and Vehicular Technology

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Analytical and Numerical Deflection Study on the Structure of 10 kW Low Speed Permanent Magnet Generator Alam, Hilman Syaeful; Irasari, Pudji; Dewi, Dyah Kusuma
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 3, No 2 (2012)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (622.23 KB) | DOI: 10.14203/j.mev.2012.v3.87-94

Abstract

Analytical and numerical studies of the deflection in the structure of 10 kW low speed permanent magnet generator (PMG) have been discussed in this paper. This study is intended to prevent failure of the structure when the prototype is made. Numerical analysis was performed with the finite-element method (FEM). Flux density, weight and temperature of the components are the required input parameters. Deflection observed were the movements of the two main rotor components, namely the rim and shaft, where the maximum deflection allowed at the air gap between rotor and stator should be between 10% to 20% of the air gap clearance or 0.1000 mm to 0.2000 mm. Base on the analysis, total deflection of the analytic calculation was 0.0553 mm, and numerical simulation was 0.0314 mm. Both values were in the acceptable level because it was still below the maximum allowed deflection. These results indicate that the structure of a permanent magnet generator (rim and shaft) can be used safely.
Non-linear model predictive control with single-shooting method for autonomous personal mobility vehicle Pratama, Rakha Rahmadani; Baskoro, Catur Hilman Adritya Haryo Bhakti; Setiawan, Joga Dharma; Dewi, Dyah Kusuma; Paryanto, Paryanto; Ariyanto, Mochammad; Saputra, Roni Permana
Journal of Mechatronics, Electrical Power, and Vehicular Technology Vol 15, No 2 (2024)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.55981/j.mev.2024.1105

Abstract

The advancement of autonomous vehicle technology has markedly evolved during the last decades. Reliable vehicle control is one of the essential technologies in this domain. This study aims to develop a proposed method for controlling an autonomous personal mobility vehicle called SEATER (Single-passenger Electric Autonomous Transporter), using Non-linear Model Predictive Control (NMPC). We propose a single-shooting technique to solve the optimal control problem (OCP) via non-linear programming (NLP). The NMPC is applied to a non-holonomic vehicle with a differential drive setup. The vehicle utilizes odometry data as feedback to help guide it to its target position while complying with constraints, such as vehicle constraints and avoiding obstacles. To evaluate the method's performance, we have developed the SEATER model and testing environment in the Gazebo Simulation and implemented the NMPC via the Robot Operating System (ROS) framework. Several simulations have been done in both obstacle-free and obstacle-filled areas. Based on the simulation results, the NMPC approach effectively directed the vehicle to the desired pose while satisfying the set constraints. In addition, the results from this study have also pointed out the reliability and real-time performance of NMPC with a single-shooting method for controlling SEATER in the various tested scenarios.
Co-Authors Akbar, Musthafa Baskoro, Catur Hilman Adritya Haryo Bhakti Hilman Syaeful Alam Joga Dharma Setiawan Mochammad Ariyanto Paryanto Paryanto Pratama, Rakha Rahmadani Pudji Irasari Roni Permana Saputra