Fuzzy Logic Control for Pneumatic Excavator Model

This research aims to design and create a model excavator with a pneumatic system. Besides that, it is described the use of fuzzy logic control (FLC) for the pneumatic system on the excavator models. Stages of research started from the design and manufacture of excavator models. When the work plan which includes the selection of materials, actuators, determine the dimensions, ways of working, mechanism, control method. At this stage of the modeling includes the manufacture of mechanical systems, actuators installation and programming. Before starting a program is preceded by using kinematics formulation excavator models, while the method used is a manipulator with four degrees of freedom and a mobile robot as a base with 2 degrees of freedom. Tracking trajectory selected in the test wheel excavator models. As for the arms, there is a boom, arm and bucket and the base of frame of the excavator that arm can rotate. Tests performed on the rotational motion actuator is a DC electric motors and straight motion of pneumatic cylinders. A microcontroller Arduino mega-actuators are used to control the rotation and rectilinear motion, then modeled using fuzzy logic control type mamdani, mulit input multi output (MIMO), comprising 3 inputs and 2 outputs. In this study, fuzzy control model of excavator with a pneumatic system with membership function as a Gaussian function is simulated. Then, the author chose this system is simulated using Matlab software to test its performanc