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All Journal Jurnal Ilmiah Teknik Elektro Komputer dan Informatika (JITEKI) Jurnal Ilmiah Mikrotek Jurnal Simantec REKAYASA Jurnal Inovasi Hasil Pengabdian Masyarakat (JIPEMAS) Journal of Robotics and Control (JRC) International Journal of Science, Engineering and Information Technology
Dafid, Ach
Program Studi Teknik Mekatronika, Fakultas Teknik, UniversitasTrunojoyo Madura Jl. Raya Telang, PO BOX 2, Kamal, Bangkalan - 69162
Aerospace Engineering Agriculture, Biological Sciences & Forestry Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering Mechanical Engineering Physics Other

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Journal : Journal of Robotics and Control (JRC)

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Implementation of Automatic DC Motor Braking PID Control System on (Disc Brakes) Budiarto, Hairil; Triwidyaningrum, Vivi; Umam, Faikul; Dafid, Ach
Journal of Robotics and Control (JRC) Vol 4, No 3 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i3.18505

Abstract

The vital role of an automated braking system in ensuring the safety of motorized vehicles and their passengers cannot be overstated. It simplifies the braking process during driving, enhancing control and reducing the chances of accidents. This study is centered on the design of an automatic braking device for DC motors utilizing disc brakes. The instrument employed in this study was designed to accelerate the vehicle in two primary scenarios - before the collision with an obstacle and upon crossing the safety threshold. It achieves this by implementing the Proportional Integral Derivative (PID) control method. A significant part of this system comprises ultrasonic sensors, used for detecting the distance to obstructions, and rotary encoder sensors, which are utilized to measure the motor's rotational speed. These distance and speed readings serve as essential reference points for the braking process. The system is engineered to initiate braking when the distance value equals or falls below 60cm or when the speed surpasses 8000rpm. During such events, the disc brake is activated to reduce the motor's rotary motion. The suppression of the disc brake lever is executed pneumatically, informed by the sensor readings. Applying the PID method to the automatic braking system improved braking outcomes compared to a system without the PID method. This was proven by more effective braking results when the sensors detected specific distance and speed values. Numerous PID tuning tests achieved optimal results with K_p = 5, K_i = 1, and K_d = 3. These values can be integrated into automatic braking systems for improved performance. The PID method yielded more responsive braking outcomes when applied in distance testing. On the contrary, the braking results were largely unchanged in the absence of PID. Regarding speed testing, the PID method significantly improved the slowing down of the motor speed when it exceeded the maximum speed limit of 8000 rpm. This eliminates the possibility of sudden braking, thus maintaining the system within a safe threshold. The average time taken by the system to apply braking was 01.09 seconds, an indication of its quick responsiveness. This research is a valuable addition to control science, applying the PID control method to automatic DC motor braking. It provides valuable insights and concrete applications of PID control to complex mechatronic systems. It is also noteworthy for its development and optimization of suitable PID parameters to achieve responsive and stable braking. The study, therefore, offers a profound understanding of how PID control can be employed to manage braking systems on automatic DC motors, thereby advancing knowledge and application of control in control science and mechatronics.
Enhanced Precision Control of a 4-DOF Robotic Arm Using Numerical Code Recognition for Automated Object Handling Sukri, Hanifudin; Ibadillah, Achmad Fiqhi; Thinakaran, Rajermani; Umam, Faikul; Dafid, Ach.; Kurniawan, Adi; Morshed, Md. Monzur; Kurniawan, Denni
Journal of Robotics and Control (JRC) Vol. 6 No. 1 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

This research develops a 4-DOF robotic arm system that utilizes numerical codes for accurate, automated object handling, supporting advancements in sustainable industrial automation aligned with the UN Sustainable Development Goals (SDGs), particularly Industry, Innovation, and Infrastructure (SDG 9). Key contributions include the integration of EasyOCR for reliable code recognition and a control mechanism that enables precise positioning. The robotic system combines a webcam for visual sensing, servo motors for movement, and a gripper for object manipulation. EasyOCR effectively recognizes numerical codes on randomly positioned objects against a uniform background while the microcontroller calculates servo angles to guide the arm accurately to target positions. Testing results show a success rate exceeding 94% for detecting codes 1 to 4, with minor servo angle errors requiring adjustments in arm extension by 30 mm to 50 mm. Positional error analysis reveals an average error of less than 1.5 degrees. Although environmental factors like lighting can influence code visibility, this approach outperforms traditional methods in adaptability and precision. Future research will focus on enhancing code recognition under variable lighting and expanding the system's adaptability for diverse object types, broadening its applications in industries demanding high efficiency.
Co-Authors Achmad Fiqhi Ibadillah Adi Kurniawan Adi Kurniawan Saputro Andharini Dwi Cahyani Doni Abdul Fatah Faikul Umam Fifin Ayu Mufarroha Firmansyah Adiputra Firmansyah Adiputra Hairil Budiarto Ika Oktavia Suzanti Izzuddin Khusnul Fatimah Kukuh Winarso Kurniawan, Denni Morshed, Md. Monzur Ponco Siwindarto Rullie Annisa Sholeh, Mahrus Siswojo, Bambang Sitepu Debora , Ribka Sudianto, Achmad Imam Sukri, Hanifudin Sumarto SUTIKNO Thinakaran, Rajermani Triwidyaningrum, Vivi Weny Findiastuti Ziyyad Yassar