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Papers by hilwadi hindersah

2022 7th International Conference on Electric Vehicular Technology (ICEVT)

Wimba : Jurnal Komunikasi Visual, Apr 27, 2015

In general, Indonesian society is still don’t understand the high level risk of earthquake hazard... more In general, Indonesian society is still don’t understand the high level risk of earthquake hazard threat in their own region. Ignorance of this information can be very fatal for the society. City with developing infrastructure and high population density has higher risk of earthquake disasters. These two are the factors of vulnerability that make Bandung as a high risk city of earthquake disasters. The society needs to know about earthquake mitigation in order to minimize the risk of earthquake disasters. One way of informing and introducing earthquake mitigation is through mobile devices such as tablet. As we know, tablet provides entertainment such as casual games. Casual game about earthquake mitigation in tablet devices can be an educational tool packed in the form of entertainment. Society and teenagers in particular can obtain such information and knowledge in order to reduce the risk of accidents during the earthquake. Designing casual edugame of earthquake mitigation includes two phases, (a) identification and data analysis on earthquake mitigation and its stages and (b) designing the visual of the game. The identification and data analysis obtained through books, journals, theses, and previous news (print and electronic). Reviewing and studying similar games contribute in game’s design process. The game has two stages where players will gain information about earthquake mitigation. Three main informations are: (a) conducting earthquake-proof facility, (b) preparing survival kit and (c) practicing “drop, cover and hold” responses. The game’s story, characters and setting is the representation of everyday life in earthquake potential city. This game aims for teens awareness of their vulnerability and to prepare them for earthquake disaster risk. That way, this game will be able to introduce positive attitude towards their vulnerable environments.

2021 International Seminar on Intelligent Technology and Its Applications (ISITIA), 2021

SRM is nonlinear system. This study discusses the SRM speed control as the main driving force for... more SRM is nonlinear system. This study discusses the SRM speed control as the main driving force for electric vehicles using linear approach. The SRM used in this paper has a narrow input saturation range. SRM only rotates at the PWM value of 72-84 or the equivalent input voltage to the SRM driver of 1.446 volts - 1.753 volts. At the PWM value of 0-71 and PWM 85-255, the SRM does not rotate (dead zone). This study discusses the design of SRM speed control with PI and PI Antiwindup (PI AW) methods in that narrow input saturation range. The design is done by modelling the system in the SysId MATLAB by looking at the SRM response when PWM input is given. A first-order dynamic model is obtained from the identification results with the SysId MATLAB. The controller design is carried out analytically. At the implementation stage, the control signal used is only a positive control signal that makes the motor rotate without any braking effect. The results of the implementation of PI and PI AW are compared to see the performance of the two controllers. From the simulation and implementation, data is obtained that the designed control system can control the SRM speed in reaching the steady state value, the overshoot value and the steady state error leading to 0%. PI AW controller has better performance than PI controllers in terms of settling time and overshoot percentage. The PI controller has a slight advantage at steady state error over the PI AW controller.

2017 4th International Conference on Electric Vehicular Technology (ICEVT), 2017

Most physical systems in the industry have performance limitation which limits their performance ... more Most physical systems in the industry have performance limitation which limits their performance regardless the input given. This performance limitation commonly occurs in the form of input saturation of the actuator. To overcome this problem, Model Predictive Control (MPC) is used due to its capability to compute the optimum control signal while handling input saturation. The optimal control signal is obtained by MPC by optimizing certain quadratic objective functions having constrained on the variables which is done at each time instants. This process is called quadratic programming (QP). QP having an upper level and a lower level constrained is equivalent to an algebraic loop involving diagonal upper and lower saturation. Hence, QP can be computed by iteratively solved that algebraic loop until converged. In this paper, the capability of MPC will be examined in the Electric Vehicle Testing Simulator (EVTS) as part of the EV testing phase. EV Testing Simulator employs two BLDC motors that are mechanically coupled to their axis. One motor simulates an electric motor that drives the EV and the other simulates the mechanical loads on the motor driving as frictional, drag, and gravitational forces in the downhill and uphill conditions. In this simulator, MPC will be implemented in testmotor control sub-module to be analyzed its capability to handle the load from load-motor control sub-module. From the results, it can be observed that MPC is capable of handling the input saturation of the test-motor control sub-module and capable of providing a stable response when the test-motor is loaded by the load motor control-sub module. Moreover, MPC is shown to be capable to be used in the fast dynamic system to control the driving motor of EVTS with small error.

2017 4th International Conference on Electric Vehicular Technology (ICEVT), 2017

This paper presents an integrated battery-electric vehicle model with flexible shaft to involved ... more This paper presents an integrated battery-electric vehicle model with flexible shaft to involved battery dynamics into system. The torque control using integrated model to have more energy-efficient has been proposed. The linear quadratic integral (LQI) and PI control of the vehicle's torque have been designed. Simulations have been performed with observations on energy consumption based on mechanical energy formulation. The simulations show that the use of the integrated model in the control system design (LQI or PI) may result in more energy-efficient system in an electric vehicle application.

2016 3rd Conference on Power Engineering and Renewable Energy (ICPERE), 2016

The concern for the supporting power converters is unavoidable in the development of inductive po... more The concern for the supporting power converters is unavoidable in the development of inductive power charging system technology for electric vehicle application. In both the primary and secondary sides, power converters are needed to both generate and harvest the high frequency AC power which is transferred wirelessly in a resonant frequency. In his paper, we develop the power converters that are suitable for a given resonant circuit with a series-parallel compensating topology and a given operating frequency of 50,752 Hz. In the primary circuit, the need of high frequency switching requires the soft switching states for achieving better efficiency. AC-AC converter with DC link and direct AC-AC converter will be simulated, analysed and compared. In the secondary side, the high frequency power will be rectified and injected into the battery. The power converters are simulated,, modelled and analysed by using Simulink®. At the end of the project, the AC-AC converter with DC link is proposed for the primary circuit whereas full-bridge rectifier, Buck converter and Buck-Boost converter are combined and proposed for the secondary circuit. The AC-DC converter operates with two-steps charging scheme, comprising a hysteresis current control and a duty cycle-based voltage control.

2018 IEEE 8th International Conference on System Engineering and Technology (ICSET), 2018

2018 5th International Conference on Electric Vehicular Technology (ICEVT), 2018

An electric vehicle system had been modeled as IBEV model. The vehicle's speed designed using... more An electric vehicle system had been modeled as IBEV model. The vehicle's speed designed using PI and LQI control. Both were implemented on Molina ITB for verified to get more energy efficient. Energy consumption is analyzed based on the feasibility of energy consumption according to the low-WlTpprocedure test also calculated based on EV performance tests on several road routes. More efficient energy consumption detected in controllers that have a performance index that contains multiplication between input variables and state variables in the system.

2017 4th International Conference on Electric Vehicular Technology (ICEVT), 2017

Along with the advanced development of electric vehicles today, the control process for electric ... more Along with the advanced development of electric vehicles today, the control process for electric vehicles is also increasingly needed, one of which is the speed control of electric vehicles. This paper describes the speed control of electric vehicles simulator consisting of two BLDC motors that acting as a motor simulator and as a load simulator. This research use Arduino Mega microcontroller as the controller and MATLAB for the simulation purpose. In this study, the method of Sliding Mode Control (SMC) with a modification of two-steps Linear Matrix Inequality (LMI) approach will be implemented to control the speed of electric vehicle simulator. The modification here is adding an integrator in the SMC two-steps LMI approach system. This method is applied with the assumption that the system used is Linear Time-Invariant (LTI) and continuous. This method ensures that the closed loop system with the controller is stable in the sense of Lyapunov. The results of this research show that t...

2019 IEEE 9th International Conference on System Engineering and Technology (ICSET), 2019

In this paper, position control of BLDC motor as actuator locomotive simulator platform is studie... more In this paper, position control of BLDC motor as actuator locomotive simulator platform is studied. The nominal plant is a combined part that consists of BLDC motor as a linear part and load torque disturbance as a nonlinear part. The linear part is obtained from position of BLDC motor when the cabin of the simulator is not attached. Meanwhile, the nonlinear part is an estimated load torque from a static behaviour when the cabin rotates on pitch motion. Linear Quadratic Error (LQE) and Integral Sliding Model Control (ISMC) are adopted to improve position tracking performance with nonlinear load torque problem so that the BLDC motor for driving the cabin according to reality. The simulation results show that LQE and ISMC have successfully improved the tracking performance than using a standard preinstalled PI controller and also inferred that ISMC has the best performance.

2019 6th International Conference on Electric Vehicular Technology (ICEVT), 2019

Vehicle simulator is used for various purposes, mainly driver training and vehicle model test. On... more Vehicle simulator is used for various purposes, mainly driver training and vehicle model test. One of the most important part of vehicle simulator is motion simulator which simulates the vehicle motion. This part makes the user feel the motion sensation given by the real vehicle even though the user is in the simulator platform. The motion simulator itself consists of several subsystems : user interface, dynamic model calculation, motion cueing, and platform control system. This paper explains the implementation and its result of designed motion cueing and the motor position control which is a part of platform control system. The design is implemented on vehicle simulator in Institut Teknologi Bandung which has 4 degrees of freedom for its motion (pitch, roll, sway, and surge). The implemented motion cueing algorithm (MCA) is model predictive control (MPC), an optimization-based motion cueing algorithm. Sliding mode control (SMC) with saturation function is implemented for position control of the motor to solve nonlinear load torque disturbance which appear from a static behaviour when the platform rotates on pitch motion. From the motion cueing result, it can be inferred that MPC-based MCA can track the motion sensation of the real vehicle, especially for the surge and sway motion. For pitch and roll sensation, reference signals with lower frequency yield worse results compared to the signals with higher frequency ones. Meanwhile, from the motor position control result, it can be concluded that SMC with saturation function can track the position reference according to the calculation of motion cueing.

2019 2nd International Conference of Intelligent Robotic and Control Engineering (IRCE), 2019

The Sliding Mode Control (SMC) is designed to control the position of BLDC motor as an actuator l... more The Sliding Mode Control (SMC) is designed to control the position of BLDC motor as an actuator locomotive simulator platform. The nominal plant is a combined part that consist of a linear part and a nonlinear part. The position of BLDC motor when the cabin of the simulator is not attached as a linear part. Meanwhile, estimated load torque when the BLDC motor drives the cabin in pitch motion as a nonlinear part. Sliding mode control (SMC) is adopted to improve position tracking performance due to nonlinear load torque. The simulation results show that the SMC successfully improves the nominal plant that using a standard preinstalled PI controller, such as faster rise time, smaller overshoot, faster settling time and performed well for position tracking at all desired position reference with zero error positions.

2017 4th International Conference on Electric Vehicular Technology (ICEVT), 2017

The design and/or improvement of DC traction electrification system will be done to reduce power ... more The design and/or improvement of DC traction electrification system will be done to reduce power losses and maintain voltage drop according to criteria. This will be achieved through planning the optimal position of DC traction substations which takes into account path profiles, time tables, train set and train motor. The proposed method uses metaheuristic optimization, in which the peak demand is the goal, with a genetic algorithm where the fitness function is a DC power flow power flow model.

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2018

This research discusses the development of simulation and generator of bipedal robot walking patt... more This research discusses the development of simulation and generator of bipedal robot walking pattern on the sagittal, frontal and transversal planes by setting the trajectory of the sole and the pelvis of the robot with respect to the position of the robot center of mass changes to the biped robot support polygon. The robot center of mass is assumed to lie in the pelvis, and an adjustment is made when the structure of the robot is reconstructed with an additional load. Adjustments made in the form of converting angle of robot torso. The simulation program and the motion generator run out data-driven in the form of simulation data along with the correction data which is the gravity compensation for the reconstructed humanoid Bioloid robot. Data-driven becomes input for RoboPlus program from Robotis to adjust the angular position of each joint, joint rotation speed, robot posture, and static robot balance control. With the data-driven given, the Bioloid robot can achieve walking motio...

Model mobile robot that used to this simulation is type car like vehicle steering. Mobile robot t... more Model mobile robot that used to this simulation is type car like vehicle steering. Mobile robot type car like vehicle steering is mobile robot that move using force of rear wheel and front rear of mobile robot functions as steering to control direction of mobile robot. The dynamic nonlinear model mobile robot is implemented to view influence disturbance of mobile robot to longitudinal direction mobile robot that used to planetary exploration in rough terrain. The model that used to simulation is nonlinear multivariable MIMO with 5 input and 7 output. The simulation has done by using Simulink of Matlab. The simulations were carried out by giving 4 conditions, namely without disturbance, with an incline angle of 30 (0.5236 rad), with a rough terrain angle of 28.6479 (+0.5 rad), and a combination of 30 incline angle and 28.6479 rough terrain angle. The simulation results with 3 mobile robots show accurate results.

Journal of Physics: Conference Series, 2017

These paper present distributed computations of join probabilities SLAM with consensus particle f... more These paper present distributed computations of join probabilities SLAM with consensus particle filtering algorithm. We consider groups of robot observe an unknown environment and build the global maps. In this paper, every local map is a global map. Global maps build by using its own information and the information obtained from the other robots. We use particles likelihood as transfer parameters. The information can be transferred to other robot if reach global agreement on particles weight. The global agreement can be obtained by using the Consensus Particle Filtering algorithm, computation is done locally on each robot. After reaching an agreement, then the global map can be built and information of the global map is owned on each robot.

Proceedings of the Joint International Conference on Electric Vehicular Technology and Industrial, Mechanical, Electrical and Chemical Engineering (ICEVT & IMECE), 2015

A simple method to verify an interior permanent magnet synchronous motor (IPMSM) design is presen... more A simple method to verify an interior permanent magnet synchronous motor (IPMSM) design is presented in this paper. The method is based on the maximum torque per ampere (MTPA) and the maximum torque per voltage (MTPV) curve of the motor. In order to verify the method, a specified motor is used as a sample and comparison is made with the results from a motor design software based on Finite Element Analysis (FEA). The result confirms that the presented method can be used as a predictive approach for verifying IPMSM design.

2014 IEEE 4th International Conference on System Engineering and Technology (ICSET), 2014

Proceedings of the 2011 International Conference on Electrical Engineering and Informatics, 2011

Abstract Path planning is an important step to design autonomous flight system of UAV. This paper... more Abstract Path planning is an important step to design autonomous flight system of UAV. This paper proposes method for designing path planning algorithm that can make UAV move autonomously. The algorithm used potential field method and A* Algorithm. A* algorithm ...

Proceedings of the 2011 International Conference on Electrical Engineering and Informatics, 2011

... Hilwadi Hindersah*, Agus Purwadi, Farianza Yahya Ali, Nana Heryana ... by microcontroller tha... more ... Hilwadi Hindersah*, Agus Purwadi, Farianza Yahya Ali, Nana Heryana ... by microcontroller that also manage the user interface (LCD and keypad for token entry), and other circuitries such as Power Supply, Contactor Switches, Real Time Clock, Super Capacitor, Indicators (LED ...