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All Journal Jurnal Informatika dan Teknik Elektro Terapan Emitor: Jurnal Teknik Elektro
Muhammad, Rafidal
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Computer Science & IT Engineering

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PEMODELAN DAN SIMULASI SISTEM KENDALI ROTARY INVERTED PENDULUM BERBASIS MIKROKONTROLER STM32 Muhammad, Rafidal; Hadary, Ferry; Wibowo Sanjaya, Bomo
Jurnal Informatika dan Teknik Elektro Terapan Vol. 13 No. 3S1 (2025)
Publisher : Universitas Lampung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.23960/jitet.v13i3S1.7745

Abstract

Rotary Inverted Pendulum (RIP) merupakan sistem dinamis yang bersifat tidak stabil, nonlinear, dan underactuated, sehingga sering digunakan sebagai studi kasus dalam penelitian sistem kendali. Penelitian ini membahas implementasi Linear Quadratic Regulator (LQR) untuk stabilisasi RIP berbasis mikrokontroler STM32, tanpa mencakup proses swing-up. Model linear diperoleh dari hasil linearisasi persamaan gerak di sekitar titik keseimbangan tegak menggunakan metode Lagrange. Parameter sistem diukur langsung dari perangkat fisik untuk meningkatkan akurasi model. Matriks state-feedback gain LQR dihitung menggunakan perangkat lunak MATLAB dan diimplementasikan secara real-time pada STM32F411CEU6. Pengujian dilakukan dengan memposisikan pendulum dekat titik keseimbangan dan mengamati respon sudut lengan serta sudut pendulum. Hasil pengujian menunjukkan bahwa pengendali LQR mampu menstabilkan pendulum dalam waktu kurang dari 2 detik dengan overshoot minimal, dan respon yang dihasilkan sesuai dengan hasil simulasi. Perbedaan kecil pada fase transien disebabkan oleh gesekan tak terukur, keterbatasan aktuator, dan ketidakakuratan sensor. Implementasi mengaplikasikan sistem kendali LQR secara efektif pada sistem RIP skala laboratorium dengan biaya rendah dan performa yang andal.
Motorcycle Accident Detection Using Gyroscope, Pulse Sensor, and Global Positioning System Based on Internet of Things with WhatsApp Application Muhammad, Rafidal; Jonatan, Mario; Cindy Capella, Ayumi; Kurnia, Fajar; Hadary, Ferry
Emitor: Jurnal Teknik Elektro Vol 25, No 3: November 2025
Publisher : Universitas Muhammadiyah Surakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.23917/emitor.v25i3.12579

Abstract

Traffic accidents are one of the leading causes of death in Indonesia. In 2022, there were 94,617 traffic accident cases recorded across the country, resulting in 28,131 fatalities. Motorcycles were involved in 73% of these cases. To reduce the number of motor vehicle accident fatalities, a detection system is needed that can provide real-time accident alerts, location data, and victim health information from distances. The design of this system includes an accident detection device placed on the vehicle and a heart rate detection device in the form of gloves. The accident detection system uses an ESP32 microcontroller, a Gyro MPU6050 sensor, and a GPS NEO6MV2 sensor. It detects accidents based on tilt data and sudden braking. Accident information is sent via WhatsApp chatbot, including the accident location coordinates. Tests showed an average tilt reading difference of 1.34°, an accelerometer reading of 1.89 m/s², and GPS coordinates with an 8.2-meter range. The heart rate detection system uses an ESP32 microcontroller and a MAX30102 heart rate sensor. It sends alerts via WhatsApp chatbot when the user’s heart rate is abnormal. Tests showed an average heart rate reading difference of 11.75 bpm
Co-Authors Bomo Wibowo Sanjaya Cindy Capella, Ayumi Fajar Kurnia Hadary, Ferry Jonatan, Mario