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All Journal Jurnal EECCIS Jurnal Jaringan Telekomunikasi
Zakaria, Muhammad Nanak
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Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering

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Quadcopter Stability Control System Using PID And Kalman Filter Sukmaningrum, Miranti; Yulianto, Ahmad Wilda; Zakaria, Muhammad Nanak
Jurnal Jaringan Telekomunikasi Vol 13 No 4 (2023): Vol. 13 No. 04 (2023) : December 2023
Publisher : Politeknik Negeri Malang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33795/jartel.v13i4.470

Abstract

Quadcopter is an Unmanned Aerial Vehicle (UAV) that uses 4 motors arranged crosswise as a propulsion system. The quadcopter's capabilities are supported by a main component called the flight controller or control system. The operation of this unmanned aircraft is controlled automatically through a program run from the GCS (Ground Control Station) so that the quadcopter can fly according to the desired destination. The control system is needed to maintain the balance of the quadcopter while flying and maneuvering to remain stable. PID (Proposional Integral Derivative) method as a counterweight when manoeuvring on the y-axis (pitch) and x-axis (roll) and Kalman Filter as processing the resulting sensor output. The results of this study show that setting the value for the proportional constant (Kp), integral constant (Ki) and derivative constant (Kd) determines the quadcopter can fly or maneuver well. The gain values used are Kp of 0.135, Ki of 0.135 and Kd of 0.003. However, the output generated by the gyroscope in pitch and roll still has noise caused by the vibration of the mover during flight and maneuvering. So the Kalman filter is needed to find out the value that is close to the actual output of the gyroscope.
Pembagian Beban Trafik pada Cluster Server Kusumawardani, Mila; Suharto, Nugroho; Zakaria, Muhammad Nanak
Jurnal EECCIS (Electrics, Electronics, Communications, Controls, Informatics, Systems) Vol. 16 No. 1 (2022)
Publisher : Faculty of Engineering, Universitas Brawijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21776/jeeccis.v16i1.619

Abstract

Permasalahan yang ada pada server adalah banyaknya user yang mengakses dalam waktu bersamaan. Untuk mengatasinya dapat digunakan konsep cluster server. Metode yang digunakan dalam artikel ini adalah membangun 3 cluster server web  dan 1 load balancer dari 4 buah Nanopi2 serta  mengimplementasikan algoritma round robin dalam pengaturan kerjanya. Hasil yang diperoleh adalah bahwa terjadi pembagian beban trafik yang berimbang di antara 3 server dengan rata-rata pada saat server menerima request dari client adalah 33.57%, 32.64%, dan 33.8%, serta rata-rata pada saat server memberikan response adalah 33.47%, 34.14%, dan 35.35%
Co-Authors Kusumawardani, Mila Suharto, Nugroho Sukmaningrum, Miranti Yulianto, Ahmad Wilda