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All Journal Tekno : Jurnal Teknologi Elektro dan Kejuruan Program Kreativitas Mahasiswa - Karsa Cipta Journal Of English Language and Education Prosiding Seminar Nasional Teknoka JEPA (Jurnal Ekonomi Pertanian dan Agribisnis) Jurnal Pengabdian Masyarakat MIPA dan Pendidikan MIPA JASIEK (Jurnal Aplikasi Sains, Informasi, Elektronika dan Komputer) Journal of Electronics, Electromedical Engineering, and Medical Informatics Buletin Ilmiah Sarjana Teknik Elektro Health Information : Jurnal Penelitian Jurnal Karinov Best Journal (Biology Education, Sains and Technology) TRIDARMA: Pengabdian Kepada Masyarakat (PkM) JATI (Jurnal Mahasiswa Teknik Informatika) Frontier Energy System and Power Engineering Belantika Pendidikan Jurnal Graha Pengabdian International Journal of Robotics and Control Systems Proceedings of the International Conference on Nursing and Health Sciences Ilmu Komputer untuk Masyarakat International Journal of Health Science & Medical Research SinarFe7 IJIGAEd: Indonesian Journal of Islamic Golden Age Education Prosiding Seminar Nasional Pengabdian Kepada Masyarakat Jurnal Publikasi Ilmu Komputer dan Multimedia JURNAL MUARA PENDIDIKAN JKMP (Jurnal Kebijakan dan Manajemen Publik) Al Basirah Jurnal Inovasi Teknologi dan Edukasi Teknik Jurnal INFOTEL Jurnal Ventilator: Jurnal Riset Ilmu Kesehatan dan Keperawatan Prosiding Seminar Nasional Pengabdian kepada Masyarakat (SINAPMAS) Emitor: Jurnal Teknik Elektro
Dyah Lestari
Universitas Negeri Malang
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Desain dan Analisis PID Controller Menggunakan Metode Genetic Algorithm pada Boost Converter Tipe CCM Dewi, Ayu Kusuma; Dyah Lestari; Muhammad Afnan Habibi
Emitor: Jurnal Teknik Elektro Vol 24, No 1: Maret 2024
Publisher : Universitas Muhammadiyah Surakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.23917/emitor.v24i1.2817

Abstract

Boost converter merupakan DC-DC Converter yang berfungsi untuk menaikkan tegangan. Namun untuk menghasilkan tegangan keluaran yang stabil dan sesuai dengan nilai yang diinginkan diperlukan suatu controller, salah satunya PID controller. Apabila penentuan konstanta PID tepat, maka akan didapatkan respon tegangan yang memiliki settling time cepat serta mampu menghilangkan overshoot. Namun, tuning PID controller menggunakan metode konvensional kurang optimal jika digunakan untuk sistem nonlinear dan memiliki orde tinggi. Penelitian yang dilakukan bertujuan untuk mendesain dan menganalisis PID controller menggunakan metode genetic algorithm yang diterapkan pada boost converter. Tahapan dalam penelitian ini yaitu, (1) studi literatur; (2) desain open loop boost converter; (3) analisis perhitungan boost converter; (4) tuning PID controller menggunakan metode genetic algorithm dan ziegler nichols; (5) simulasi desain rangkaian; (6) membandingkan respon tegangan output antara metode genetic algorithm dan ziegler nichols; (7) analisis hasil simulasi. Proses pembuatan desain boost converter tipe CCM dilakukan dengan menggunakan bantuan software MATLAB/SIMULINK. Perbandingan dilakukan berdasarkan nilai overshoot dan settling time yang dihasilkan. Hasil penelitian menunjukkan bahwa nilai overshoot yang dihasilkan oleh boost converter tanpa. PID controller adalah 55,7% dengan settling time 0,0767s. Overshoot paling kecil dari metode genetic algorithm adalah 0%, sedangkan settling time paling singkat adalah 0,000294s. Overshoot yang dihasilkan metode ziegler nichols adalah 3,35% dengan settling time 0,1302s. PID controller dapat memperbaiki overshoot serta settling time pada respon tegangan output boost converter tipe CCM. Penggunaan genetic algorithm dalam proses tuning PID controller mampu memberikan overshoot yang lebih kecil dan settling time yang lebih singkat jika dibandingkan dengan metode ziegler nichols.
RoboVR: A Digital Twin Based Framework for Low-Cost 4DoF Robotic Arm Control Wiriasto, Giri Wahyu; Sendari, Siti; Lestari, Dyah; Iqbal, Muhamad Syamsu; Mochtar, Norrima
Buletin Ilmiah Sarjana Teknik Elektro Vol. 7 No. 4 (2025): December
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/biste.v7i4.14703

Abstract

The growing need for remote operation in risky situations has encouraged the use of robots that can be controlled from virtual environments. Integrating digital twin and virtual reality offers a way to monitor and control physical systems in three dimensional space. However, many existing implementations still depend on expensive robotic hardware and closed-loop control, while digital twin and virtual reality in open-loop mode is rarely reported and still faces the lack of feedback and the risk of mismatch between virtual motion and physical motion.This study proposes an experimental digital twin and virtual reality framework built on lightweight hardware to control a 4-DoF robotic arm using Arduino and PCA9685, with Unity acting both as the digital twin environment and as the source of kinematic commands. Method covers integration design, calibration of Unity angle to PWM mapping, execution on servos, and preparation of data to compare virtual joint angles with measured servo angles. Testing and validation were carried out through stepwise rotation of the ‘Base’, ‘Shoulder’, ‘Elbow’, and ‘End-effector’ joints to evaluate how well the physical motion followed the virtual model. Results show that the right and left ‘Base’ joints achieved small mean errors of -1.60 and 1.8 degrees, with variance of 1.35 and 1.62. The ‘Elbow-down’ motion was also accurate with a mean error of 1.43 degrees and a variance of 0.98. The largest deviation occurred in the ‘Shoulder’ joint, at -10.67 and 26.5 degrees. These findings confirm that open-loop digital twin and virtual reality control is feasible for low-cost platforms.
Co-Authors Achmad Safi’i Aditama Yudha Atmanegara Agus Suprayitno Aji Prasetya Wibawa Al Afrin Uwais, Tito Alqodri, Febrianto Anik N. Handayani Anik Nur Handayani Arfiyansyah, Rizky Arif Widodo, Baskoro Aripriharta - Arya Mahesa Jenar Atik Umamah Aya Sofia Mufti Ayu Kusuma Dewi Azhar Ahmad Smaragdina Benny Agung Prasetyo Cahyaning Wulandari Cahyaning Citta Anindya, Citta Desyandri Desyandri Dewi Anggraini Dito Valentino Dityo Kreshna Argeshwara Dwika Mutiara Abriani Ekananda, Thoriq Bachtiar Yusuf Falah, Moh. Zainul Febrianto Alqodri Ferina Ayu Pusparani Fido Arya Kusuma Firmansyah, M Ferrari Giri Wahyu Wiriasto Hakkun Elmunsyah Harits Ar Rosyid Haya Mei Fatma Bela Hikma, Waode Erty Hikmah, Wa Ode Erty I Made Wirawan Imam Agus Basuki Ira Kumalasari Irham Fadlika Joumil Aidil Saifuddin Khoirunnisa, Umi Kumala Puluhulawa Kumalasari, Ira M Rafli Dwi Suryanto M Rodhi Faiz M. Alfian Mizar M. Farrel Akbar Firzatullah M. Husni Tamrin Maghfiroh, Ila Mahadir Muhamad Erfin Abdilah Mochtar, Norrima Mohammad Arief Mokh Sholihul Hadi Muhamad Syamsu Iqbal Muhammad Afnan Habibi Muhammad Khusairi Osman Mukin, Rovina Nini Mustikawati Mustikawati Nafisah, Wardatun Nathaniela Azaria Ashari Ningsih, Suwita Novi Rosanti Nuraina Sari Nusantar, Alrizal Akbar Nusantar Akbar Osamu Fukuda Pramudita, Devi Fitria Purbo Suwasono Ramadhiansyah, Fatqan Ratnasari, Nur Qomariyah Dyah Rina Dewi Indahsari Riski Achmad Fauzi Rizal, Mabrul Samsul Arifin Setiadi Cahyono Putro Setumin, Samsul Siti Sendari Soraya Norma Mustika Sugeng Firmansyah, Sugeng Sujito Sujito Suryani, Ani Wilujeng Swasono Rahardjo Syaad Patmanthara Syah, Abdullah Iskandar Syaiful Hamzah Nasution Syifaul Fuada Tiya Nurul Khusna Wibowo, Sulton Ari Yandhika Surya Akbar Gumilang Yuni Rahmawati Zaeni, Ilham Ari Elbaith Zainul Falah, Moh Zalhani, Muhammad Rashif