An Implementation of Fuzzy PD Control Design for Five Flip Folders Folding Machine Using Arduino Mega2560

wahyu setyo pambudi(1*), Efrita Arfah Zuliari(2), Riza Agung Firmansyah(3), Muhammad Hasbi Nasiruddin(4),

(1) Institut Teknologi Adhi Tama Surabaya
(2) Institut Teknologi Adhi Tama Surabaya
(3) Institut Teknologi Adhi Tama Surabaya
(4) Institut Teknologi Adhi Tama Surabaya
(*) Corresponding Author


The arm manipulator application that has 1 degree of freedom (DOF) can be used to flip folders in folding machines. The used actuator in folding machine is a Brushed DC motor. The Fuzzy-PD control system in this application is using Arduino Mega2560 microcontroller. Application of Fuzzy-PD control system on folding machine is able to move 5 flip folders. This Fuzzy-PD control system is able to improve the system response when there is a load, where the difference is only 7.73% from the no load condition. In addition, to implement this flip folder, a stochastic based method (ARX) is also applied on this system so it can be simulated directly. The simulation results from this folding machine model have a time constant of 0.510s, rise time of 1.501s, settling time of 1.5320s and delay time of 0.353s.


Fuzzy PD, ARX, Folding Machine, Five Flip Folders, Microcontroller;

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