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All Journal ELKHA : Jurnal Teknik Elektro Buletin Ilmiah Sarjana Teknik Elektro
Silitonga, Arthur
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Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Industrial & Manufacturing Engineering

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PID Controller with an Override Mode for a Wall-Following Robot with a Rotating Sensor Compartment Sitompul, Erwin; Rohmawan, Elan; Silitonga, Arthur; Bukhori, Iksan
ELKHA : Jurnal Teknik Elektro Vol. 16 No.2 October 2024
Publisher : Faculty of Engineering, Universitas Tanjungpura

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26418/elkha.v16i2.84708

Abstract

This paper presents the design of a wall-following robot (WFR) with a rotating sensor compartment to reduce the number of distance sensors used. Two infrared (IR) sensors were fitted in the compartment that rotates back and forth at 45 °, producing four measurement values at each rotation cycle. The WFR was regulated using a novel control scheme of PID controller with an override mode. A discrete PID controller in position form was used to run the WFR to follow straight wall segments or walls turning left, while an override mode governed the WFR to follow walls turning right. The sampling time was set to 300 ms. The parameters of the PID controller were tuned using a trial-and-error method. The Mean Absolute Errors (MAE) was selected as the cost function. The WFR conducted twelve trial runs along a trial track with a length of 200 cm, consisting of one right turn and one left turn. The parameters that yielded the lowest MAE of 0.90  cm were used for further tests. Subsequently, a closed track for testing was constructed with a length of 845 cm, consisting of 7 right turns and 2 left turns. The WFR completed five test runs successfully, each elapsing the test track twice. The lowest MAE during the tests was 1.06  cm. The favorable performance of the proposed WFR strengthens future development efforts to equip the robot with more hardware to fulfill specific tasks and to put the completion time into optimization consideration.
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.
Co-Authors Bukhori, Iksan Erwin Sitompul Putra, Ridha Muhlita Rohmawan, Elan Tarigan, Hendra