- Presentasi tentang perancangan ulang sistem kendali monocopter MC-11 agar mampu terbang dengan sudut coning dan pitch kecil serta dapat bergerak sesuai perintah kendali
- Dilakukan pengukuran ulang komponen, penambahan balance beam, dan pengembangan algoritma kendali baru untuk mencapai tujuan tersebut
- Hasil uji terbang menunjukkan monocopter mampu terbang dengan sudut coning 70-100 derajat dan pitch 50-80 derajat
Operasional dan fungsional check pada tail section saat overhoul B737-200Teuku Arriessa Sukhairi
This was a presentation for my internship program at PT. Aero Nusantara Indonesia. It explains the procedure of functional and operational check on Tail section (Horizontal Stabilizer, Elevator, and Rudder) of B737-200 at . This presentation is written in the Indonesian language and was presented on my internship seminar in Adisutjipto school of technology on February 2009.
Operasional dan fungsional check pada tail section saat overhoul B737-200Teuku Arriessa Sukhairi
This was a presentation for my internship program at PT. Aero Nusantara Indonesia. It explains the procedure of functional and operational check on Tail section (Horizontal Stabilizer, Elevator, and Rudder) of B737-200 at . This presentation is written in the Indonesian language and was presented on my internship seminar in Adisutjipto school of technology on February 2009.
Спрос населения Ижевска на жилье в условиях финансового кризиса (на основе да...metrosphera
Спрос населения Ижевска на жилье в условиях финансового кризиса (на основе данных социологических опросов). Черемных А., АССО СТРОЙ.
IV Камский Форум профессионалов рынка недвижимости
Website Designing Services | Web Development Vizag | Web Solutions VisakhapatnamGods Grace Technologies
Gods Grace Technologies is an precocious IT skilled Company which provides solutions for all web -based problems with an collaborative team of expertise developers. We can say that it is “single stop for all solutions” of web problems. We are working on full scale on providing web solutions for all kinds of IT problems. We are well familiar with Internet Marketing, Social Media Marketing(SMM), Search Engine Optimization(SEO), Branding and Identity, Marketing Consulting, Graphic Designing Services, Website Designing Services, Copyrights, Content Writing, Advertising on internet, and etc...
We at Gods Grace Technologies are providing feasibility for Domain Registrations and Web Hosting Services. To be frank and for your information, we are not service providers. But we can suggest you always the best service providers at Free Of Cost. We will let you know if any free services are available for you based on your requirements.
Website Designing Services: We at Gods Grace Technologies significantly believe that an company develops its probity by embarking itself in developing an website which contains enough knowledge understandable to the client as well as an new user. We develop websites as well as we provide facelifts to old websites at an affordable cost.Gods Grace Technologies has the immense capability of innovating websites with latest design finally preparing it as an State-of-Art web preference.
We are providing all these above services at Gods Grace Technologies with 100% quality, performance, Speed, robustness, and perfect web application all required features by clients. We suggest our clients with the best possible things to grow their business and communication with their clients. Website can grow business and connections with many more people.
Our development team at Gods Grace Technologies can take care of every thing whatever we need to do design and develop website like Graphic Designing, Website Designing, Logo Designing, Content Writing, Images Designing, and etc. Our content writers can write content effectively with selected words as you explained to our content writers. Contents will review by the professional English writers. Already we have wrote contents for U.S and U.K clients too as per their suggestions and appreciated by many clients with our words formation and format of sentence writing...
Web applications development: Gods Grace Technologies is developing web applications using J2SE, J2EE, PHP, .Net Android, Python, and etc with full security and performance. We don't compromise for any thing at any cost in the case of performance and quality of projects. Already we have developed few web applications for Bajaj Accounting Management System (BAMS) and School Marks Management System (SMMS)
Web Design Training: As new techniques and pomodoro's are arising, appearing day by day it seems to be scavenger hunt, even a professional maker, beginner need not to be worry.
Công ty TNHH Hạo Phương là đối tác phân phối các thiết bị điện công nghiệp của hãng IDEC IZUMI: đèn báo nút nhấn, relay, timer, PLC, màn hình idec...www.haophuong.com
Get Your International Career in Gear - Practical Tips on Living and Working ...Leslie Forman
Ever dream of living and working abroad but don't know where to start? Leslie Forman, who teaches entrepreneurship and works with startups in Chile (by way of several years in China) and Natalie Tan, a project manager at Lonely Planet who spent several years working at a multinational in Europe, share their experiences and practical advice on how to kick start a career abroad. Learn about factors to consider and proactive steps you can take to create an international career from two global citizens who have done it!
Presented at Cal Career Center, February 23, 2013.
More advice from the event and a list of international career resources can be found here: http://www.leslieforman.com/2013/03/get-your-international-career-in-gear-advice-diagrams-and-links-from-our-cal-career-center-presentation/
Thank you!
14 Lavori di presentazione realizzati nel laboratorio di informatica avanzata condotto dal prof. Alessandro Gemo nell' a.s. 2008-09 con sis. op. e software Open Source nella S.M.S. “G. Carducci”
Olismologia e Psico-Somatica: problemi “nervosi”, emotivi e comportamentaliLorenzo Capello
La Medicina Psico-Somatica si fonda sull’ipotesi dell'unità funzionale di MENTE e CORPO...
l’OLISMOLOGIA tratta la Psiche in modo molto pratico, sfruttando la sua intima connessione con le problematiche Strutturali e Funzionali
Helikopter 4 baling-baling (rancang bangun dan simulasi)Muhammad Lukmana
Helikopter 4 baling-baling (Quadrotor) dengan mengacu desain dari arducopter.
Desain awal menggunakan program catia dan simulasi numerik mengenai kendali kestabilannya.
Спрос населения Ижевска на жилье в условиях финансового кризиса (на основе да...metrosphera
Спрос населения Ижевска на жилье в условиях финансового кризиса (на основе данных социологических опросов). Черемных А., АССО СТРОЙ.
IV Камский Форум профессионалов рынка недвижимости
Website Designing Services | Web Development Vizag | Web Solutions VisakhapatnamGods Grace Technologies
Gods Grace Technologies is an precocious IT skilled Company which provides solutions for all web -based problems with an collaborative team of expertise developers. We can say that it is “single stop for all solutions” of web problems. We are working on full scale on providing web solutions for all kinds of IT problems. We are well familiar with Internet Marketing, Social Media Marketing(SMM), Search Engine Optimization(SEO), Branding and Identity, Marketing Consulting, Graphic Designing Services, Website Designing Services, Copyrights, Content Writing, Advertising on internet, and etc...
We at Gods Grace Technologies are providing feasibility for Domain Registrations and Web Hosting Services. To be frank and for your information, we are not service providers. But we can suggest you always the best service providers at Free Of Cost. We will let you know if any free services are available for you based on your requirements.
Website Designing Services: We at Gods Grace Technologies significantly believe that an company develops its probity by embarking itself in developing an website which contains enough knowledge understandable to the client as well as an new user. We develop websites as well as we provide facelifts to old websites at an affordable cost.Gods Grace Technologies has the immense capability of innovating websites with latest design finally preparing it as an State-of-Art web preference.
We are providing all these above services at Gods Grace Technologies with 100% quality, performance, Speed, robustness, and perfect web application all required features by clients. We suggest our clients with the best possible things to grow their business and communication with their clients. Website can grow business and connections with many more people.
Our development team at Gods Grace Technologies can take care of every thing whatever we need to do design and develop website like Graphic Designing, Website Designing, Logo Designing, Content Writing, Images Designing, and etc. Our content writers can write content effectively with selected words as you explained to our content writers. Contents will review by the professional English writers. Already we have wrote contents for U.S and U.K clients too as per their suggestions and appreciated by many clients with our words formation and format of sentence writing...
Web applications development: Gods Grace Technologies is developing web applications using J2SE, J2EE, PHP, .Net Android, Python, and etc with full security and performance. We don't compromise for any thing at any cost in the case of performance and quality of projects. Already we have developed few web applications for Bajaj Accounting Management System (BAMS) and School Marks Management System (SMMS)
Web Design Training: As new techniques and pomodoro's are arising, appearing day by day it seems to be scavenger hunt, even a professional maker, beginner need not to be worry.
Công ty TNHH Hạo Phương là đối tác phân phối các thiết bị điện công nghiệp của hãng IDEC IZUMI: đèn báo nút nhấn, relay, timer, PLC, màn hình idec...www.haophuong.com
Get Your International Career in Gear - Practical Tips on Living and Working ...Leslie Forman
Ever dream of living and working abroad but don't know where to start? Leslie Forman, who teaches entrepreneurship and works with startups in Chile (by way of several years in China) and Natalie Tan, a project manager at Lonely Planet who spent several years working at a multinational in Europe, share their experiences and practical advice on how to kick start a career abroad. Learn about factors to consider and proactive steps you can take to create an international career from two global citizens who have done it!
Presented at Cal Career Center, February 23, 2013.
More advice from the event and a list of international career resources can be found here: http://www.leslieforman.com/2013/03/get-your-international-career-in-gear-advice-diagrams-and-links-from-our-cal-career-center-presentation/
Thank you!
14 Lavori di presentazione realizzati nel laboratorio di informatica avanzata condotto dal prof. Alessandro Gemo nell' a.s. 2008-09 con sis. op. e software Open Source nella S.M.S. “G. Carducci”
Olismologia e Psico-Somatica: problemi “nervosi”, emotivi e comportamentaliLorenzo Capello
La Medicina Psico-Somatica si fonda sull’ipotesi dell'unità funzionale di MENTE e CORPO...
l’OLISMOLOGIA tratta la Psiche in modo molto pratico, sfruttando la sua intima connessione con le problematiche Strutturali e Funzionali
Helikopter 4 baling-baling (rancang bangun dan simulasi)Muhammad Lukmana
Helikopter 4 baling-baling (Quadrotor) dengan mengacu desain dari arducopter.
Desain awal menggunakan program catia dan simulasi numerik mengenai kendali kestabilannya.
4 Speed Gear box design spur gear with C 6 inch and pitch 5 inchAushafNurIlham
Important, this document may content some miss calculation for the reverse gear, because my final document is gone, this is just the back up.
download here :
https://drive.google.com/drive/folders/1p_VCyaALE2upfF7VxC1iLQgwWIH0UqEL?usp=sharing
Language : Indonesia (IDN : Bahasa)
Copyright : Institue Technology Adhi Tama Surabaya
Open license
Basic 4 speed gearbox with center dimension for the shaft are both 6 inch and contact angle pitch are 5 inch
Spesification
Input 6000 RPM
Max power 104 HP
Speed Gearbox with Ratio:
1st Gear (Input Shaft) - 2nd gear (Counter shaft) 1,2 RcV
3rd Gear (Counter Shaft) - 4th gear (output shaft) 2,5 RV
5th Gear (Counter Shaft) - 6th gear (output shaft) 1,25 RV
7th Gear (Counter Shaft) - 8th gear (output shaft) 1 RV
9th Gear (Counter Shaft) - 10th Gear (Reverse counter) - 11th gear (Counter Shaft) 1,67
for other technical issue you can read it
main reference
Machine Design: Theory and Practice by Aaron D. Deutschman 1975, version 2
Otomasi industri merupakan salah satu teknik yang digunakan oleh pelaku industri untuk memperkecil biaya produksi dan meningkatkan kualitas serta kuantitas produksi. Terdapat tiga elemen dasar yang menjadi dasar bagi sistem otomasi yaitu power, program, dan control sistem yang semuanya mendukung proses otomasi.
Pengenalan komponen mesin daihatsu training center
MC-11i monocopter design (college final assignment)
1. PRESENTASI TUGAS AKHIR
PERANCANGAN ULANG DAN PENGEMBANGAN SISTEM KENDALI
WAHANA TERBANG TANPA AWAK MONOCOPTER MC-11i
Oleh:
Imron Anshori Shodiq
(136 09 044)
Pembimbing:
Dr. Taufiq Mulyanto
2. Outline
1. Pendahuluan
Latar Belakang
Ulasan Desain MC-11
Tujuan Penelitian & DRO
2. Penentuan konfigurasi
dan ukuran awal
Penentuan titik pusat massa
dan kecepatan putar
Keseimbangan gaya
Perhitungan ukuran sayap
3. Konsep kendali terbang &
Algoritma Kendali
4. Spesifikasi komponen
elektronika yang
digunakan
5. Proses produksi, assembly,
dan uji terbang
2
3. Monocopter merupakan suatu istilah untuk wahana
terbang yang hanya terdiri dari satu sayap dan sebuah
mesin pendorong, serta keseluruhan bagian badannya
(termasuk sayap dan badan atau pod) berputar dengan
kecepatan tertentu hingga menghasilkan gaya angkat
yang cukup untuk membuat wahana tersebut terbang.
Monocopter
3
Pratama, Hendi Aji. 2012. “Studi Konsep dan Rancang Bangun Wahana
Monocopter Tanpa Awak MC-11”. Institut Teknologi Bandung.
4. Perbandingan kelebihan Rotary Wing dengan fixed wing
Eksplorasi konsep baru
Konsep baru Monocopter VTOL, Hovering, endurance,
simple, robust
4
Latar Belakang
Fixed Wing Rotary wing
endurance VTOL
speed Hovering
6. Ulasan Desain MC-11
Hasil perancangan MC-11
Massa total 225 gram.
Telah dapat melakukan lift off
Sudut Coning lebih dari 210
Sudut pitch lebih dari 450
Unsteady hovering ~180 RPM
Belum ada sistem kendali
Pratama, Hendi Aji. 2012. “Studi Konsep dan Rancang Bangun Wahana
Monocopter Tanpa Awak MC-11”. Institut Teknologi Bandung
Pemodelan Matematika
Dinamika terbang dari monocopter
Berdasarkan konfigurasi MC-11
Pemodelan dinamika terbang
translasi vertikal dengan Matlab
Titik pusat massa monocopter
berotasi pada suatu sumbu
imajiner lain
Wandini Ayu, Ratna. 2012. “Pemodelan Matematika Dinamika Terbang
Wahana Tanpa Awak Monocopter”. Institut Teknologi Bandung
6
7. Tujuan
Perbaikan desain MC-11
Sistem pengendali terbang
Sikap terbang yang sesuai dengan
rancangan yaitu kemampuan
hovering dengan sudut coning &
pitch kecil
Gerak translasi arah horizontal
dan vertikal
7
8. mampu terbang dan hovering dengan sudut coning & pitch kecil,
yaitu kurang dari 120.
Kecepatan rotasinya kurang dari 5Hz atau 300 RPM
Massa totalnya tidak lebih dari 150 gram.
Mampu terbang dan bergerak translasi horizontal dan vertikal
sesuai perintah dari pengendali.
Mampu terbang dalam durasi minimal 5 menit.
Persyaratan dan Tujuan Desain
8
10. Konfigurasi Umum dan
Kecepatan Putar
Konfigurasi yang dipilih straight
dengan penambahan “balance
beam” pada sumbu Y
Posisi pusat massa berada di
persilangan antara 2 principal
inertia axis, di bawah titik
tumpunya (mirip konfigurasi high
wing)
Take off support
Kecepatan putar harus bisa
diimbangi oleh kecepatan servo
yang bekerja
~ 4 Hz (240 rpm) sebagai
terkaan awal
10
11. Keseimbangan Gaya
Pitch axis view
Coning axis view
• Penambahan ‘balance beam’
bidang acuan trim Menjaga
besar sudut pitch
• CP sayap berimpit dengan titik
pusat massa
• Arah rotasi motor brushless &
propeler mengikuti aturan tangan
kanan coning angle
• Panjang lengan gaya angkat
terhadap pusat rotasi sekecil
mungkin taper
11
12. Total Massa take off:
146 gram
Belum termasuk data logger &
take off support
Massa Komponen Penyusun Monocopter
Pie chart kontribusi massa penyusun monocopter
13. 1. Termasuk kategori airfoil tipis
massa sayap ringan
2. Mempunyai koefisien pitching
moment yang kecil.
3. Memiliki efisiensi aerodinamik
yang tinggi
Merupakan kategori airfoil Low
Reynold number
Pemilihan Airfoil
13
no Ag455ct-02r E214 E184
1 1 3 2
2 2 3 1
3 2 1 3
total 5 7 6
16. Parameter Sayap
Airfoil
Kecepatan putar
Tip chord
dan Cl
Taper ratio: 0.5
mengurangi sudut coning
Tip loss factor
16
Airfoil AG455CT-02r
(RPM) 4 Hz (240 rpm)
Wing Loading 12.98 N/m2
Luas 1102.5 cm2
Aspect Ratio 2.18
Span 49 cm
Tip chord, Ct 15 cm
Tip chord, Cr 30 cm
Re (tip) 120000
Re(mid) 90000
Cl 0.65
40
Cm -0,031
CP 29,5% chord
19. Konsep Kendali Terbang
Side view
Top view
Efek Giroskopik
Sumber animasi: Wikipedia
19
Sumbergambar:
http://www.jamesphoughton.com/
20. Algoritma
Kendali pertama
Asumsi kecepatan rotasi konstan
Sinusoidal servo deflection aileron
Tidak ada slot waktu untuk
memantau input kendali / heading
saat servo bekerja
Ada 2 pendekatan dari algoritma
kendali dasar ini saat implementasi
ke sistem kendali
20
21. Algoritma kedua
21
Ada slot waktu untuk memantau
input kendali, heading dan
logging ke SD Card.
Output defleksi servo tidak bisa
membentuk sinusoidal sempurna, tetapi
didekati dengan bentuk trapesium.
Dapat menyesuaikan dengan kecepatan
rotasi yang bervariasi
23. Untuk keperluan ground
test
SD Card module
dilepaskan apabila akan
dilakukan flight test
Skematik Rangkaian Elektronika
Sistem Kendali MC-11i
23
24. Mikrokontroler & Aktuator
Arduino Pro Mini 5V / 16 MHz
Massa 3 gram dan berdimensi
34mm x 18mm x 2mm.
14 pin digital I/O dan 8 pin
analog, 3 pin Ground, 3 pin
suplai daya
24
sumbergambar:sparkfun
HobbyKing mini
servo
Massa 4 gram
kecepatan aktuasi yang bisa
dicapai ialah 600 per 0.12 detik
atau 10 per 2 milidetik.
Tegangan kerja 3.7V ~ 12V
sumbergambar:HobbyKing
25. Output data: 3600-00 (counter
clockwise)
Magnetometer (Digital Compass)
Honeywell HMC6352
25sumber gambar: sparkfun
Pembacaan langsung dalam derajat
6 ms heading calculation time
Mini, compact, low power
consumption
Wide range magnetic field sensor
I2C interface
Minus fitur tilt compensated
Output Data:
Pembacaan Heading
26. Transmitter-Receiver & SD Card Module
(Pembatasan arah kendali)
26
sumbergambar:HobbyKing
Untuk keperluan
Logging saat
groundtest, tidak
diikutsertakan saat
flight test
1 GB microSD + adapter
Output File “datalog.txt”
Arduino compatible
6 pin
Massa: 8 gram
(belum termasuk kabel)
sumbergambar:DFRobot
32. Analisis Uji Terbang #1
Coning angle 50 ~ 100
Pitch angle ~ -50
32
Massa 140 gram
Kecepatan putar sekitar 230 rpm
33. Uji Terbang #2 di Aula ITB Jatinangor
33
Pada tanggal 9 mei 2014
34. Analisis Respon Sistem Kendali
34
Massa take off: 146
gram
Kecepatan putar
sekitar 240 rpm
35. Massa total (take off) 146 gram
Wing Span 49 cm
Root chord 30 cm
Tip chord 15 cm
Aspect ratio 2,18
Wing loading 12,98 N/m2
Thrust untuk hovering 70% - 80%
Panjang Lengan motor 29 cm
Kecepatanrotasi ~ 240 rpm (4 Hz)
Coning angle 70 – 100
Pitch angle 50 - 80
Mikrokontroler Arduino Pro Mini
Magnetometer Honeywell HMC6352
Servo HobbyKing Mini Servo
Simpulan dan Saran
Simpulan
Penggunaaan Fitur tilt
compensated pada magnetometer
Mikrokontroler ganda
Compact monocopter
Penambahan opsi arah kendali &
variasi kecepatan
Saran
Didapatkan sebuah monocopter dengan
spesifikasi seperti berikut:
Parameter sikap terbang yang diinginkan dari
monocopter terpenuhi
Didapatkan algoritma kendali yang dapat
menggerakan monocopter dalam empat arah
mata angin utama
35