UAV (Unmanned Aerial Vehicle) can fly autonomously or be controlled remotely by a pilot. Quadrotor as one type of UAV has been widely implemented in various needs. Its system design has a lot of control techniques involved. The design starts with the physical modeling. Quadrotor physical modeling is modeling based on the laws of physics as a theory and mathematical modeling of physical interpretation. The problem arises when actual plants are not fit with mathematical models that are used as the control design before. Such discrepancy arises because of external interference, plant parameters, and dynamics models that are nonlinear. If control systems are not designed to deal with non-linear interference, it is difficult to us to maintain quadrotor flight. Therefore, we need control methods that can be applied to linear and nonlinear systems. Routh Stability can be used to generate PID (Proportional Integral and Derivative) constants as a linear control method by using a Ziegler-Nichols. Lyapunov as a method of non-linear control method offers distinct advantages over other control methods. Lyapunov second method is further implemented by a control technique that gives a good effect. So the PID and Lyapunov method can make quadrotor approaching the stationary state.
Tag: control system
Abstract
The objective of this project is to design and build an FPGA based vending machine control system prototype using VHDL desig and modular approach. Vending Machine has its own comparative advantages compared with conventional purchasing mechanism; it provides better accessibility and practicality, not to mention anonymity and limitless purchasing time. These advantages become apparent in big metropolis city where the demand over practicality to purchase daily needs such as beverages and snacks is high. Vending machine is designed with the fixed control over its nominal money input and its product price and variety, due to the user’s demand. This control system has tendency to be static and hard to modify neither its nominal money input nor its product price and variety. Thus, it is proposed to design the decent, easily configured and modified control system by the user so that it can be applied respectably to the needs.
The FPGA based Vending Machine’s control system is designed using VHDL design and modular approach. This approach is held with the main principal of dividing the whole system into modules implemented through VHDL. Eventually these modules will be integrated and compiled using the Max+plusII software. The design runs smoothly on the ALTERA EPF10K10 development board.
Introduction
Vending Machine is one of the most practical selling device applicable in many countries. The history of vending machine began at 215 BC when a mathematician named Hero designed the tool for a temple in Alexandria, Egypt, to pour holly water if people put on a bronze coin. Basically almost every product can be sold through vending machine, include foods and drinks. Even in 1980 in Paris, the vending machine which sells wine, beer and liquor existed. In countries like Japan, with rapid development of vending machine, it can be found variety and amount of this device which sells clothes, flowers, milk, cigarette, stamp, condom, cologne, baseball card, book, bait, comic book, cassette, and CD, lottery ticket, camera and film. In many developed country like Germany, France, and Singapore, almost all of the train ticket selling is through vending machine.
In Indonesia, along with the trend of growing number of population and the growing activities and business in which creates the escalating demand over practicality, the presence of vending machine would be very helpful. Vending machine has its own comparative advantages such as practicality accessibility, not to mention how it provides anonymity and limitless time of transaction. These advantages considered significantly important in big metro cities and also in student cities, where practically in purchasing beverages and drinks becomes priority.
Typically Vending machine is designed with fixed control over its nominal money input and its product price and variety, due to the user’s demand. This control system has tendency to be static and hard to modify neither its nominal money input nor its product price and variety. Thus, this project is to design the decent, easily configured and modified control system by the user so that it can be applied respectably to the needs. The Vending Machine’s control system is designed based on FPGA and using VHDL design approach.
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