ACADSTAFF UGM
| Judul/Title | Rigorous Modelling Steps on Roll Movement of Balancing Bicopter using Multi-level Periodic Perturbation Signal |
| Penulis/Author | Dr. Ir. Fahmizal, S.T., M.Sc. (1); Ir. Muhammad Arrofiq, S.T., M.T. Ph.D. IPM. (2); Esa Apriaskar, S.T., M.T. (3); Prof. Dr. Afrizal Mayub, M.Kom (4) |
| Tanggal/Date | 28 2019 |
| Kata Kunci/Keyword | |
| Abstrak/Abstract | This paper presents the modelling steps of balancing bicopter for its roll movement in a rigorous way. This research uses delta speed between two rotors as an input while the roll angle obtained from an inertial measurement unit (IMU) sensor after refined by a complementary filter (CF) considered as an output. The single input and single output (SISO) data are used to build a model. Multi-level periodic perturbation signal (MLPPS) treated as an input signal for the identification process to provide a good model which is indicated by fitness value. A particular cross-distribution of MLPPS data sets is used in the validation process to earn the best model. Furthermore, a simple feedback control scheme is used to re-examine the model with the real system. The result declares that by using MLPPS, simulation of the model conducted in MATLAB Simulink gives a close performance to the measured real experiment which is implemented using Arduino Uno. |
| Level | Internasional |
| Status |