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All Journal CIRCUIT: Jurnal Ilmiah Pendidikan Teknik Elektro Buletin Ilmiah Sarjana Teknik Elektro
Tarigan, Hendra
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Design of an Arduino-Based Boat Roll Stabilizer System Prototype Using MPU6050 Sensor Sitompul, Erwin; Prabowo, Andri Setia; Tarigan, Hendra; Suhartomo, Antonius
Circuit: Jurnal Ilmiah Pendidikan Teknik Elektro Vol 8, No 2 (2024)
Publisher : PTE FTK UIN Ar-Raniry

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22373/crc.v8i2.23124

Abstract

In the midst of lakes or oceans, boats used for recreational fishing that are left immobile are more vulnerable to rolling waves or wind. This study was conducted to develop a prototype of the boat's stabilization system and control scheme in order to address the stability issue with the craft. Based on the prototype concept, a small boat was constructed with a control loop that included two DC motors, a motor driver, a gyroscope MPU6050, and an Arduino Uno microcontroller. A prototype stabilizer was used to evaluate two different sets of control parameters, and in both situations the stabilizer was able to provide the boat with critical interference before bringing it back to a vertical position. PWM 1 level change rate (Pulse-Width-Modulation) yields better results than 4 level change rates (PWM), with faster stabilization achievement. (1,12 seconds versus 2,46 second). In the development of the prototype, it is necessary to test the implementation of the system on the boat to the actual size. 
Implementation of Digital Feedback Control with Change Rate Limiter in Regulating Water Flow Rate Using Arduino Sitompul, Erwin; Putra, Ridha Muhlita; Tarigan, Hendra; Silitonga, Arthur; Bukhori, Iksan
Buletin Ilmiah Sarjana Teknik Elektro Vol. 6 No. 1 (2024): March
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/biste.v6i1.10234

Abstract

Water flow rate control is crucial in applications where it determines operational efficiency in applications such as agriculture, hydroponics, industrial processes, and hydrology. This research presents two algorithms for a simple and reliable digital water flow control: Error-Sign-based Control (ESC) and Error-Value-based Control (EVC). These algorithms are equipped with a change rate limiter to avoid excessive control output increase. They were compared qualitatively with the conventional digital PID controller. Subsequently, they were implemented and tested in a water circulation system. The control loop consisted of a microcontroller, water flow rate sensor, and submersible DC water pump with a supporting motor driver. The controllers were given a control task to follow a 150-second reference trajectory with a changing set point every 30 seconds. The performance measures of Mean Absolute Error (MAE) and Root Mean Square Error (RMSE) were utilized to assess the performance of the control algorithms. EVC with a change rate limiter of 10% delivered the best performance with an MAE of 0.40 and RMSE of 0.97. EVC provides simple and reliable control of the water flow rate system due to its easy tuning, quick tracking response to set point changes, and solid regulating performance. Further work in the implementation of the control scheme in other applications is encouraged.
Design of an Arduino-Based Boat Roll Stabilizer System Prototype Using MPU6050 Sensor Sitompul, Erwin; Prabowo, Andri Setia; Tarigan, Hendra; Suhartomo, Antonius
Circuit: Jurnal Ilmiah Pendidikan Teknik Elektro Vol. 8 No. 2 (2024)
Publisher : PTE FTK UIN Ar-Raniry

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22373/crc.v8i2.23124

Abstract

In the midst of lakes or oceans, boats used for recreational fishing that are left immobile are more vulnerable to rolling waves or wind. This study was conducted to develop a prototype of the boat's stabilization system and control scheme in order to address the stability issue with the craft. Based on the prototype concept, a small boat was constructed with a control loop that included two DC motors, a motor driver, a gyroscope MPU6050, and an Arduino Uno microcontroller. A prototype stabilizer was used to evaluate two different sets of control parameters, and in both situations the stabilizer was able to provide the boat with critical interference before bringing it back to a vertical position. PWM 1 level change rate (Pulse-Width-Modulation) yields better results than 4 level change rates (PWM), with faster stabilization achievement. (1,12 seconds versus 2,46 second). In the development of the prototype, it is necessary to test the implementation of the system on the boat to the actual size. 
Co-Authors Antonius Suhartomo Bukhori, Iksan Erwin Sitompul Prabowo, Andri Setia Putra, Ridha Muhlita Silitonga, Arthur