11 q Simulink (derajat)

1. Analysis of Simulink Simulation Comparison with SimMechanics

30
q1 SimMechanics
q SimMechanics dan

q1 Simulink
20

10

-10

-20

-30
0 5 10 15 20 25 30 35 40
45
Waktu (detik)

Graph of angle comparison (thigh) in SimMechanics and Simulink.

 dan q Simulink

40
q2 SimMechanics
q SimMechanics
22

q2 Simulink
20

-20

-40
0 5 10 15 20 25 30 35 40 45
Waktu (detik)

Graph of angle comparison (shin) on SimMechanics and Simulink.

Analysis of Animation Results on SimMechanics

 Double pendulum visualization in SimMechanics.

Analysis of Swing Leg Plant Simulation Results with Adaptive Control to Desired Position in
Equations (3.1) and (3.2)

Analysis of Desired Position and Desired Position

1.5

1
q (radian)

0.5
1d

-0.5

-1

-1.5
0 5 10 15 20 25 30 35 40 45
Waktu (detik)

Graph of the desired angle position (q1d(t)) for q1 (thigh).

 1.5

1
q(radian)

0.5
2d

-0.5

-1

-1.5
0 5 10 15 20 25 30 35 40 45
Waktu (detik)

Gambar 4.5 Grafik posisi sudut yang diinginkan ( ) untuk (shin).

Analysis of Angle Position Charts Without Adaptive Control to the Position of the
Desired Angle

1.5
q1
1
q
q dan q

1d
0.5
11d

-0.5

-1

-1.5
0 5 10 15 20 25 30 35 40 45
Waktu (detik)

Graph of q1 (thigh) position against q1d (t) without adaptive control.

dan q(radian)

2
q2
22d

1
q
2d
q

-1

-2
0 5 10 15 20 25 30 35 40 45
Waktu (detik)

Graph of position q2 (shin) against q2d(t) without adaptive control.

 Analysis of Angular Position Charts with Adaptive Control on the Desired Angle
Position
1.5
q1d
Periode Besar (PB) q1

1
q (radian)

0.5
1d1
q dan

-0.5

-1

Periode Kecil (PK)

-1.5
0 5 10 15 20 25 30 35 40
45
Waktu (detik)

Angle position q1 (thigh) against q1d(t) with adaptive control.

qdan q (radian)

2
q2d q2
2d2

-1

-2
0 5 10 15 20 25 30 35 40 45
Waktu (detik)

Angle position of q2 (shin) against q2d(t) with adaptive control.

Graph Analysis of Position errors q1 and q2 (equation 2.67a)

0.3

0.2

0.1

-0.1

-0.2

-0.3

-0.4
0 5 10 15 20 25 30 35 40
45
Waktu (detik)

q1 position error
 0.8

0.6

0.4

0.2

0
 

-0.2

-0.4

-0.6

 -0.8

-1

-1.2
0 5 10 15 20 25 30 35 40
45
Waktu (detik)

q2 position error
Analysis of Virtual Speed Error Graph (s1 and s2) equation 2.66 a

10
(radian/s)

0
1
s

-5
0 5 10 15 20 25 30 35 40 45
Waktu (detik)

Virtual speed error (s1).

10

0
(radian/s)

-10
2

-20
s

-30
0 5 10 15 20 25 30 35 40 45
Waktu (detik)
Virtual speed error (s2)
 Dynamic Parameter Graph Analysis (Dynamic Parameter) from equation 2.67a and
the value of dynamic parameters obtain from equation 2.56, 2.57, 2.58, 2.59 and 2.60

1.2

0.8

0.6


0.4

0.2

-0.2
0 5 10 15 20 25 30 35 40 45
Waktu (detik)

Estimated dynamic parameter of a^ 1

 0.6

0.5

0.4

0.3


0.2

0.1

-0.1
0 5 10 15 20 25 30 35 40 45
Waktu (detik)

Estimated dynamic parameter of a^ 2

 0.5

0.4

0.3

0.2
 

0.1

-0.1

-0.2
0 5 10 15 20 25 30 35 40 45
Waktu (detik)

Estimated dynamic parameter of a^ 3

2.5

1.5

0.5

-0.5
0 5 10 15 20 25 30 35 40 45
Waktu (detik)

Estimated dynamic parameter of a^ 4

0.5

0.4

0.3

0.2

0.1

-0.1

-0.2
0 5 10 15 20 25 30 35 40 45
Waktu (detik)

Estimated dynamic parameter of a^ 5

Analysis of Swing Leg Plant Simulation Results with Adaptive Control for Desired Position
Variations

Desired Thigh Position (q 1 d ( t ) ) and Desired Shin Position (q 2 d ( t ) ) (Desired

Position)

0.8

0.6

0.4

0.2
q (radian)

0
1d

-0.2

-0.4

-0.6

-0.8

-1
0 5 10 15 20 25 30 35 40 45
Waktu (detik)

The desired angle position (q 1 d (t)) for q 1(thigh) with variation.

0.8

0.6

0.4

0.2
q (radian)

0
2d

-0.2

-0.4

-0.6

-0.8

-1
0 5 10 15 20 25 30 35 40 45
Waktu (detik)

The desired angle position (q 2 d (t)) for q 2(thigh) with variation.

 Analysis of Angular Position by Adaptive Control on Desired Angle of Position
Variation

1.5
q1d
Periode
1 q1
q (radian)

0.5
q dan11d

-0.5

-1

-1.5
0 5 10 15 20 25 30 35 40 45
Waktu (detik)

Comparison of an angle position q 1 (thigh) with the desired angle position q 1 d (t).
 1.5
q2
Periode q2d
1
q (radian)

0.5
22d
q dan

-0.5

-1

-1.5
0 5 10 15 20 25 30 35 40 45
Waktu (detik)

Comparison of an angle position q 2 (thigh) with the desired angle position q 2 d (t).

0.2

0.15

0.1

0.05


0


-0.05

-0.1

-0.15
0 5 10 15 20 25 30 35 40 45
Waktu (detik)

Position error ~
q 1 with variation of q 1 d(t)
 0.35

0.3

0.25

0.2

0.15


 0.1

0.05

-0.05

-0.1
0 5 10 15 20 25 30 35 40
45
Waktu (detik)

Position error of a ~
q 1 with variations of a q 2 d (t)
 Analysis of a Virtual Speed Error ( s1 and s2 ¿

4
(radian/detik)

0
1
s

-2
0 5 10 15 20 25 30 35 40 45
Waktu (detik)

Virtual speed error s1 with the variations of q 1 d (t)

2
s (radian)

0
2

-2

-4
0 5 10 15 20 25 30 35 40 45
Waktu (detik)

Virtual speed error s2 with the variations of q 2 d (t)

Analysis of a dynamic parameters (Equation 2.56, 2.57, 2.58, 2.59 and 2.60)

-0.05

-0.1

-0.15


-0.2

-0.25

-0.3
0 5 10 15 20 25 30 35 40 45
Waktu (detik)

Estimation of a dynamic parameters a^ 1 with the variation of a q 1 d (t) and q 2 d (t)

.

0.03

0.02

0.01

0


-0.01

-0.02

-0.03

-0.04

-0.05
0 5 10 15 20 25 30 35 40
45
Waktu (detik)

Estimation of a dynamic parameters a^ 2 with the variation of a q 1 d (t) and q 2 d (t)

 0.02

0.01

-0.01


-0.02

-0.03

-0.04

-0.05

-0.06
0 5 10 15 20 25 30 35 40
45
Waktu (detik)

Estimation of a dynamic parameters a^ 3 with the variation of a q 1 d (t) and q 2 d (t)

-2

-2.05

-2.1


-2.15

-2.2

-2.25
0 5 10 15 20 25 30 35 40 45

Estimation of a dynamic parameters a^ 4 with the variation of

a q 1 d (t) and q 2 d (t)
 -0.57

-0.58

-0.59

-0.6


-0.61

-0.62

-0.63

-0.64
0 5 10 15 20 25 30 35 40
45
Waktu (detik)

Estimation of a dynamic parameters a^ 5 with the variation of a q 1 d (t) and q 2 d (t)