Implementation of Fuzzy-PD for Folding Machine Prototype Using LEGO EV3

Wahyu S. Pambudi, Titiek Suheta

Abstract


Folding machine prototype is a tool for folding clothes that used a LEGO Mindstorm EV3 and the movement of this LEGO will be controlled by using the proposed method.This research is using 2 kind of systems, first is (Proportional Integration Derrivative) and second is Fuzzy-PD. This system can improve the production efficiency especially in micro convection-based industry (UKM). This folding machine prototype has 3 folds connected to the EV3 Large Motors as actuators. PID and Fuzzy-PD control systems are used to control the position of the motor angle by reading the rotary encoder. Based on the test results with load condition at Kp=7,00; Ki=2.00; Kd=15.5,the PID control system has a rise time of 0.479s with settling time of 0.551s and overshoot value of 9,1%. While the result of Fuzzy-PD control shows the rise time is equal to 0.617s with settling time of 0.7s and overshoot value of 7.5%.


Keywords


folding machine prototype; PID; fuzzy-PD; LEGO mindstorm EV3

Full Text:

PDF


DOI: http://dx.doi.org/10.12928/telkomnika.v16i4.7569

Refbacks

  • There are currently no refbacks.


Copyright (c) 2018 Universitas Ahmad Dahlan

TELKOMNIKA Telecommunication, Computing, Electronics and Control
ISSN: 1693-6930, e-ISSN: 2302-9293
Universitas Ahmad Dahlan, 4th Campus, 9th Floor, LPPI Room
Jl. Ringroad Selatan, Kragilan, Tamanan, Banguntapan, Bantul, Yogyakarta, Indonesia 55191
Phone: +62 (274) 563515, 511830, 379418, 371120 ext. 4902, Fax: +62 274 564604

Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

View TELKOMNIKA Stats