Int
ern
at
i
onal
Journ
al of Ele
ctrical
an
d
Co
mput
er
En
gin
eeri
ng
(IJ
E
C
E)
Vo
l.
9
, No
.
6
,
Decem
ber
201
9,
pp. 5
321~
5329
IS
S
N: 20
88
-
8708
,
DOI: 10
.11
591/
ijece
.
v9
i
6
.
pp5321
-
53
29
5321
Journ
al h
om
e
page
:
http:
//
ia
es
core
.c
om/
journa
ls
/i
ndex.
ph
p/IJECE
Projectil
e velo
city
co
nt
rol on coil
gu
n usin
g genetic alg
orithm
s
Basuki
Winar
no
1
, R
ak
h
ma
d
Gusta
Pu
tra
2
,
Indart
o Yuw
ono
3
,
Bamb
ang Su
mantri
4
, Ag
us
Ind
r
a Gun
awan
5
1,2,3
El
e
ct
ri
ca
l
En
gine
er
ing,
Engi
n
ee
ring
Depa
r
tment,
Pol
it
ekn
ik
Ne
ger
i
Mad
iun, Ind
onesia
4,5
Depa
rtment
of
Elec
tr
ical Engi
n
ee
ring
,
Poli
te
kn
i
k
Elektroni
k
a
N
ege
ri
Suraba
y
a
,
I
ndonesia
Art
ic
le
In
f
o
ABSTR
A
CT
Art
ic
le
history:
Re
cei
ved
Feb
15
, 201
9
Re
vised
Ju
l
19
,
201
9
Accepte
d
J
ul
26
, 2
01
9
Multi
stage
Coil
gun
is
an
e
lectr
om
agne
ti
c
coil
compos
ed
of
m
ore
tha
n
one
coi
l
so
that
c
an
t
hrow
a
proj
ec
t
ile.
The
vel
o
ci
t
y
of
the
project
i
le
coming
out
of
the
tube
m
ust
be
cont
rol
le
d
.
T
he
m
ec
han
ism
c
an
be
done
b
y
a
m
ult
ista
g
e
coi
lgun
d
esign
t
hat
has
a
v
ar
y
in
g
num
ber
of
turns.
Ea
ch
coil
th
at
co
inc
id
es
with
one
anot
h
e
r
is
wrapp
ed
se
par
atel
y
.
Th
e
m
oti
on
of
project
i
le
fo
ll
owing
the
vel
o
ci
t
y
pro
fil
e
is
per
fom
ed
b
y
designi
ng
a
m
ult
ista
ge
co
il
in
diffe
ren
t
lay
er
num
ber
base
d
on
the
energ
y
ne
ed
ed,
and
the
ref
ore
th
e
coi
l
is
m
ore
eff
icient.
Furthermore,
the
ve
loc
ity
of
the
proje
c
ti
l
e
is
cont
roll
ed
b
y
cont
rolling
th
e
cur
ren
t
injected
to
th
e
coil
usi
ng
the
Gen
et
i
c
Algorit
hm
m
et
hod.
A
prototy
p
e
of
a
m
ult
is
ta
ge
co
il
gun
s
y
s
te
m
with
the
pr
oposed
coi
l
var
iation
is
buil
t
in
thi
s
work.
Th
e
te
st
is
ca
rrie
d
out
7
ti
m
es
with
an
ave
rag
e
fina
l
vel
o
cit
y
of
the
proje
c
tile
of
29,
89
m
/s.
W
hil
e
the
result
s
of
the
num
eri
c
al
si
m
ula
ti
on
ar
e
32,
63
m
/s.
Te
sting
err
or
compare
d
t
o
sim
ula
ti
on
is 9,
15%
.
Ke
yw
or
d
s
:
Coil
gun
Gen
et
ic
al
gorithm
Mult
ist
age
Pr
oject
il
e
Velocit
y co
ntr
ol
Copyright
©
201
9
Instit
ut
e
o
f Ad
vanc
ed
Engi
n
ee
r
ing
and
S
cienc
e
.
Al
l
rights re
serv
ed
.
Corres
pond
in
g
Aut
h
or
:
Ba
su
ki
Wina
r
no,
Ele
ct
rical
En
gi
neer
i
ng,
E
ng
i
ne
erin
g Dep
a
rtm
ent,
Po
li
te
kn
i
k Nege
ri
Ma
diun,
84 Se
rayu R
oa
d,
Ma
diun,
63
133,
Ind
on
esi
a
.
Em
a
il
:
basu
ki
@pnm
.ac.id
1.
INTROD
U
CTION
Coil
gun
is
a
pro
j
ect
il
e
la
un
c
h
er
us
i
ng
an
e
le
ct
ro
m
agn
et
ic
syst
e
m
.
It
co
nv
e
rts
the
el
ect
rical
energy
into
ki
netic
energy.
I
n
im
p
lem
entat
ion
,
it
al
so
can
be
us
e
d
to
la
unc
h
a
sm
a
ll
satell
it
e
into
the
sp
ace.
The
st
ru
ct
ur
e
of
coilg
un
is
const
ru
ct
e
d
in
sing
le
-
sta
ge
or
m
ulti
-
sta
ge
base
d
on
it
s
coils
ar
ra
ng
e
m
ent.
Mult
ist
age
coil
con
sist
s
of
s
ever
al
c
oils
an
d
is
superi
or
t
o
the
sin
g
le
sta
ge
ty
pe.
Ma
ny
research
de
ve
lop
e
d
e
le
ct
ro
m
agn
et
ic
la
un
c
he
r
coil
gun
syst
em
wi
th
m
ulti
-
sta
ge
el
ect
ro
m
agn
et
ic
coils
an
d
eac
h
s
ta
ge
ha
s
the
sam
e
coil
sh
ape
[1
-
4]
.
They
co
ntr
ol
the
curre
nt
inj
ect
io
n
of
e
ach
coil
al
te
rnat
el
y
and
unfortu
natel
y
m
oti
on
of
the
pr
oj
ect
il
e
i
s
not
c
on
tr
olle
d
.
The
pro
j
ect
il
e
transf
e
r
rate
can
be
co
ntr
olled
by
va
riat
ion
of
the
coil
[
5]
.
Moti
on
of
the
pro
j
ect
il
e
insid
e
the
tu
be
is
c
ontr
olled
by
c
ha
ng
i
ng
the
nu
m
ber
of
tu
rn
s
or
nu
m
ber
of
la
ye
rs
on
each c
oil. T
he m
ot
ion
of the
pro
j
ect
il
e is af
fe
ct
ed
by t
he dif
f
eren
ce
m
agn
et
ic
size fiel
d i
n
e
ach c
oi
l
[6
-
8]
.
In
this
pa
per
,
the
m
otion
of
pro
j
ect
il
e
inside
the
tub
e
is
con
tr
olled
by
adjustin
g
the
curr
ent
inj
ect
io
n
and
var
yi
ng
th
e
nu
m
ber
of
tu
rn
s
or
num
ber
of
la
ye
rs
on
each
coil.
The
de
sired
vel
ocity
of
pro
j
ect
il
e
i
ns
id
e
the
tub
e
is
design
e
d
by
co
ns
id
erin
g
the
energ
y
req
uirem
en
t
and
c
urren
t
in
je
ct
ion
[9
,
10]
.
At
the
beg
i
nn
i
ng
of
the
m
o
ti
on
pro
j
ect
il
e
has
a
lo
w
vel
ocity
so
it
req
uire
s
sm
a
ll
ener
gy.
T
he
n
the
velocit
y
increases
s
o
th
at
it
requ
ires
m
or
e
energy.
Th
e
novelty
of
the
c
on
st
ru
ct
io
n
in
this
pap
e
r
is
that
the
form
of
coils
is
diff
e
ren
t
in
sta
ges
bec
ause
it
adjusts
the
a
m
ou
nt
of
e
ne
r
gy
nee
ded
.
F
urt
her
m
or
e,
a
c
ontr
ol
strat
egy
s
hould
be
desig
ned
t
o
con
t
ro
l
the
c
urre
nt
inj
ect
i
on
on
eac
h
sta
ge
coil
and
t
he
refor
e
pro
j
ec
ti
le
m
ov
es
fo
l
lowing
the
de
sired
trajecto
ry
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2088
-
8708
In
t J
Elec
&
C
om
p
En
g,
V
ol.
9
, N
o.
6
,
Dece
m
ber
2
01
9
:
5321
-
5329
5322
The
gen
et
ic
al
gorithm
m
e
thod
is
offe
re
d
to
regulat
e
the
in
je
ct
ion
c
urren
t
of
eac
h
c
oil
sim
ul
ta
neo
usl
y
in
orde
r
t
o
c
ontr
ol
the
m
otion
of
pro
j
ect
il
es
[
11
-
14]
.
T
he
inj
ect
io
n
c
ur
ren
t
a
rr
a
ngem
ent
us
e
s
P
W
M
with
changes
i
n
the
duty
cy
cl
e
[15
-
17]
.
This
is
done
s
o
t
hat
th
e
proj
e
ct
il
e
ge
ts
the
m
agn
et
ic
force
as
nee
ded
to
reach
the
ex
pe
ct
ed
velocit
y
pr
ofi
le
[18
-
20]
.
The
res
ults
of
con
t
ro
ll
in
g
the
m
otion
of
the
se
proj
ect
il
es
can
be
us
e
d
as
a
ref
er
ence
for
desi
gnin
g
a
weapo
n
in
a
co
m
bat
veh
ic
le
becau
se
the
coilgun
pro
j
ect
il
e
is
easily
m
ade
us
in
g
ir
on s
o
it
does
not de
pe
nd on t
he fact
ory
.
2.
RESEA
R
CH MET
HO
D
2.1.
Co
il
de
sign
To
desig
n
a
m
ulti
sta
ge
coilg
un
that
ca
n
c
ontr
ol
a
proj
ect
i
le
,
the
velocit
y
pro
file
ref
e
re
nce
m
us
t
be
determ
ined
fir
st.
Wh
il
e
the
oth
e
r
par
am
et
ers
s
pecified
are
t
he
nu
m
ber
of
sta
ge
coils
an
d
pro
je
ct
il
e
dim
ension
s.
I
n
this
stu
dy
the
sta
ge
c
oil
ar
r
ang
em
ent
was
determ
ined
as
m
any
as
6
c
oi
ls
with
c
oil
form
ing
wires
us
i
ng
th
e
A
WG
#
10
s
ta
nd
a
rd
with
a
diam
e
te
r
of
2,58
m
m
and
ar
r
ang
e
d
c
oinc
ide
ntall
y.
The
pro
j
ect
il
e
is
determ
ined
by
39
m
m
le
n
gth
an
d
5,4
5
m
m
dia
m
et
er.
The
m
otion
of
the
pr
oject
il
e
al
on
g
the
tu
be
has
a
vel
ocity
prof
il
e
s
how
n
in
Fig
ur
e
1.
T
he
orde
r
of
6
poly
no
m
ia
l
interp
o
la
ti
on
m
et
h
od
is
use
d
to
ob
ta
i
n
the equat
io
n of t
he veloci
ty
pr
of
il
e
wh
ic
h
is
us
e
d
as a
n o
bj
e
ct
ive fun
ct
io
n and s
hown
by
equ
at
io
n (
1)
(
)
=
1
,
5
.
10
−
7
.
6
−
9
.
1
0
−
6
.
5
+
3
.
10
−
4
.
4
−
2
,
9
.
10
−
3
.
3
+
3
,
04
.
10
−
2
.
2
−
9
,
7
.
10
−
2
.
+
1
(1)
Figure
1.
Vel
oc
it
y p
rofil
e
The dist
ance
profil
e is o
btain
ed by i
nteg
rati
ng in
e
quat
io
n (2) as
a fu
nctio
n of t
i
m
e.
(
)
=
∫
(
)
.
(2)
Fr
om
the
desir
ed
velocit
y
prof
il
e
giv
e
n
in
Figure
1
a
nd
ut
il
iz
ing
equ
at
io
n
(2),
the
far
th
est
distance
traveled
for
24
m
s
is
x
(24
m
s)
=
160.17
m
m
.
Pr
oject
il
e
m
i
le
age
is
us
e
d
as
t
he
basis
f
or
deter
m
ining
the
six
th
coi
l
le
ng
th
.
A
s
eac
h
coil
is
deter
m
ined
to
ha
ve
the
sam
e
le
ng
th,
hen
ce
cal
c
ul
at
ion
of
le
ngth
and
num
ber
of
tur
ns
of each
co
il
a
re
as foll
ow:
ℎ
=
160
,
17
6
=
26
,
695
=
26
,
695
2
,
588
=
10
,
315
≈
11
As
the
num
ber
of
tur
ns
per
c
oil
are
11
tu
r
ns,
wh
il
e
the
dis
ta
nce
betwee
n
coils
coincide
s
(zero),
s
o
the
le
ng
th
of the c
oil i
s:
ℎ
=
11
2
,
588
=
28
,
468
Evaluation Warning : The document was created with Spire.PDF for Python.
In
t J
Elec
&
C
om
p
En
g
IS
S
N: 20
88
-
8708
Project
il
e vel
oc
it
y con
tr
ol on c
oilgun
us
i
ng
gen
et
ic
algorit
hm
s
(
Basuki
W
ina
r
no
)
5323
The
m
otion
of
the
pro
j
ect
il
e
a
s
far
as
x
re
qu
i
res
the
force
at
each
po
i
nt
that
fo
rm
s
a
fo
rce
pr
ofi
le
by
infe
rr
i
ng
the v
el
ocity
p
r
of
il
e a
nd
cal
cu
la
ti
ng
the
proje
ct
il
e
m
ass accor
di
ng to (3
)
(
)
=
.
(
)
(
)
=
.
(3)
The
acce
le
rati
on
e
xp
e
rience
d
by
pro
j
ect
il
es
at
24
m
s
is
79
,
2
)
24
(
a
m
/s
2
.
The
proj
ect
il
es
use
d
a
r
e
cy
li
nd
rical
m
a
de
of
ferro
m
ag
netic
m
at
erial
with
a
densi
ty
of
78
00
kg
/m
3.
Ca
lc
ulati
on
of
proj
ect
il
e
volum
e
and m
ass:
=
.
.
2
=
9
,
039
.
10
−
7
3
=
.
=
0
,
07093
The
pro
file
of
fo
rce
af
fecti
ng
the
pro
j
ect
il
e
m
otion
is
der
ive
d
base
d
on
the
velocit
y
pr
ofi
le
and
f
r
ic
ti
on
.
The frict
io
n
oc
cur
s
due t
o
the
gr
a
vitat
ion
al
force in
each
po
s
it
ion
and is
calc
ulate
d usin
g
(
4)
=
.
.
sin
+
.
.
cos
.
(4)
The
f
or
ce
re
qu
ired
to
m
ov
e
the
pr
oject
il
e
is
t
he
su
m
of
the
ref
ere
nce
f
or
ce
and
f
rict
ion.
T
he
pro
file
of
f
orce
is
us
e
d
as
inp
ut
fo
r
cal
culat
in
g
the
m
agn
et
ic
flux
that
m
us
t
be
ge
ner
at
e
d
by
the
six
coils.
To
sim
pl
ify
the cal
culat
io
n, the
distance is
d
ivi
ded in
t
o 6 a
reas,
a
s s
how
n
in
Fig
ure
2
, a
s foll
ow
s:
a.
Ar
ea
1 is t
he st
at
ion
ary
pos
it
ion t
o
t
he
ce
nte
r of
t
he
c
oil 1
b.
Ar
ea
2 is t
he
m
idd
le
of coil
1
t
o
ce
nter
c
oil 2
c.
Ar
ea
3 is t
he
m
idd
le
of coil
2
t
o
the
m
idd
le
o
f
co
il
3
d.
Ar
ea
4 is t
he
c
enter
of coil
3
t
o
the
cente
r of
coil 4
e.
Ar
ea
5 is t
he
c
enter
of coil
4
t
o
the
cente
r of
coil 5
f.
Ar
ea
6 is
the c
enter
of coil
5
t
o
ce
nter of
co
il
6
Each
a
rea
is
us
e
d
f
or
cal
cu
la
ti
ng
the
m
axim
u
m
ener
gy
nee
ded
by
usi
ng
e
quat
ion
(
5),
as
a
f
un
ct
i
on
of
distance.
=
∫
(
)
.
(5)
Figure
2. Coil
Ar
ea
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,
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The
e
nergy
c
al
culat
ion
is
us
e
d
to
deter
m
ine
the
num
ber
of
la
ye
rs
that
will
be
use
d
in
the
six
coils
.
By
conso
der
i
ng
t
he
c
oil
pa
ra
m
et
ers
an
d
m
axim
u
m
cur
re
nt
of
t
he
c
onduct
or,
the
nu
m
ber
of
la
ye
r
fo
r
ea
c
h
coil
can
be
cal
c
ulate
d usin
g
(6).
=
√
2
.
.
2
0
.
.
2
(6)
Wh
il
e th
e w
i
re
leng
t
h
is cal
c
ul
at
ed
us
i
ng (7)
=
.
.
(
.
1
+
(
2
−
)
.
)
(7)
P
kn
is
the
le
ng
t
h
of
the w
ire
,
T
PL
is
the num
ber
of
tu
r
ns
p
e
r
la
ye
r,
n
is
the
num
ber
of
la
y
ers,
D
L1
is
t
he
windin
g
diam
e
te
r
in
la
ye
r
1,
A
is
the
c
ro
ss
-
sect
io
nal
area
of
the
wi
r
e
and
D
k
is
the
diam
e
te
r
of
th
e
wire
us
e
d
to
form
the co
il
.
The
c
oil desi
gn sp
ec
ific
at
ion
s a
re show
n
in
Ta
ble
1.
Table
1.
Sp
eci
f
ic
at
ion
Coils
.
Sp
ecif
icatio
n
Co
il 1
Co
il 2
Co
il 3
Co
il 4
Co
il 5
Co
il 6
Turn
per
Layer
13
26
37
39
51
56
Lay
e
r
2
8
.47
2
8
.47
2
8
.47
2
8
.47
2
8
.47
2
8
.47
W
ire
L
en
g
th
(
m
m
)
1
6
.41
6
3
.04
1
2
6
.10
1
3
2
.90
2
3
7
.63
2
8
5
.96
Energy
Max (J
)
0
.07
5
0
.27
0
.58
1
.07
1
.73
2
.72
Cu
rr
en
t M
ax
(A)
330
385
990
1100
1100
1100
Vo
ltag
e M
ax
(V)
11
44
247
504
802
1244
2.2.
Genetic
a
lg
ori
th
ms
Fu
rt
her
m
or
e,
base
d
on
the
energy
prof
il
e
re
qu
i
red
in
e
ach
c
oil,
the
con
t
ro
ll
er
is
de
sign
e
d
f
or
pro
vid
in
g
the
energy
nee
ded
by
con
tr
olli
ng
the
enj
ect
ed
e
le
ct
ric
cur
re
nt.
The
gen
et
ic
al
gorithm
is
util
i
zed
in
this
w
ork
for
c
on
t
ro
ll
in
g
the
el
ect
ric
current
by
usi
ng
P
W
M
sign
al
.
The
obj
ect
ive
f
un
ct
ion
us
e
d
is
a
ve
locit
y
prof
il
e
that
fo
l
lows
a
ge
om
etr
ic
seq
ue
nce,
wh
ic
h
is
propo
rtion
al
t
o
ene
r
gy
nee
de
d.
T
o
m
ov
e
a
pro
j
e
ct
il
e
in
the tub
e
f
ollowi
ng
the
velo
ci
ty
p
r
of
il
e, all
coi
ls
m
us
t be si
m
ultaneo
us
ly
in
je
ct
ed.
T
o
fi
nd
t
he
se
qu
e
nce
of d
uty
cy
cl
es
that
pr
oduce
the
best
ve
locit
y
cl
os
e
to
the
ref
ere
nce,
the
Linear
Ra
nk
Sele
ct
ion
(L
RS)
m
e
tho
d
is
us
e
d.
To
get
bette
r
r
esults,
the
sel
ect
ion
with
the
best
duty
cy
cl
e
are
e
ncode
d
i
nto
binner
nu
m
ber
s
wh
ic
h
a
r
e
the
n
carried
out
unifo
rm
l
y
in
the
cro
ss
over
proce
ss,
an
d
the
refo
re
the
va
riat
io
n
of
the
new
duty
cy
cl
e
is
ob
ta
ined.
The
m
utati
on
process
is
the
n
carrie
d
out
to
ob
ta
in
the
ne
xt
ge
ner
at
io
n
a
nd
form
a
new
popula
ti
on
dut
y
cy
cl
e.
This
process
c
on
ti
nues
unti
l
a m
ini
m
u
m
error
[
21
]
.
2.3.
Proced
ure
of
gene
tic a
l
go
ri
t
hms
Gen
et
ic
A
lg
or
i
thm
s
is
app
li
ed
by
lim
iting
i
nto
200
ge
ne
ra
ti
on
s
i
n
a
per
i
od.
T
he
P
r
oces
s
of
Gen
et
ic
Algorithm
s
ta
kes
place
f
ro
m
the
1s
t
to
the
12
t
h
pe
rio
d
w
hich
eac
h
gen
e
rati
on
pro
duce
s
a
duty
cy
cl
e
value.
Sett
ing
i
nj
ect
io
n
c
urren
ts
by
c
hangin
g
t
he
du
ty
cy
le
encode
d
in
a
bin
a
ry
num
ber
6x
8
bits,
s
o
that
e
ach
c
oil
is
encode
d
into
8
bits.
Cha
ng
es
in
du
ty
cy
le
are
carried
ou
t
by
tria
l
and
e
rror
50
ti
m
es
and
colle
ct
ed
in
a
popula
ti
on.
Each
c
ha
ng
e
in
du
ty
cy
cl
e
i
s
us
e
d
a
s
in
pu
t
for
cal
c
ulati
ng
pro
j
ect
il
e
ve
locit
y.
The
res
u
lt
s
of
velocit
y
cal
cul
at
ion
s
a
re
c
ompare
d
with
the
velocit
y
pro
fi
le
us
ed
as
ref
e
ren
ce
an
d
pro
du
ce
a
certai
n
error
value.
This
process
c
on
ti
nue
s
un
ti
l
a
m
inim
u
m
err
or
is
r
eached
with
a
m
axi
m
u
m
l
i
m
i
t
of
20
0
ge
ne
r
at
ion
s.
The flo
w
c
har
t
of the
Ge
netic
A
lg
or
it
h
m
s
m
e
thod ca
n be see
n
in
Fig
ure
3.
3.
RESU
LT
S
A
ND AN
ALYSIS
The
Ge
netic
Algorithm
m
eth
od
is
us
e
d
t
o
re
gu
la
te
6
c
urre
nt
in
j
ect
io
n
duty
cy
cl
es
accor
ding
t
o
the
velocit
y
prof
il
e
re
qu
irem
ents.
Th
e
it
erati
on
of
duty
cy
cl
e
resu
lt
s
is
s
how
n
in
Ta
ble
2.
T
he
res
ults
of
the
duty
cy
cl
e
set
ti
ng
s
f
or
t
he
volt
age
a
nd
cu
rr
e
nt
f
or
coil
1
in
pe
rio
d
1
to
12
are
sh
ow
n
in
Fi
gure
4
-
9.
Dev
ia
ti
on
occ
ur
s
in
eac
h
inj
ect
io
n
per
i
od,
this
is
due
to
a
no
n
-
c
on
ti
nu
ous
in
j
ect
ion
syst
em
,
ie
.
P
W
M
in
j
ect
io
n.
Wh
e
reas
the
velo
ci
ty
pr
ofi
le
produ
ce
d
from
the
si
m
ula
ti
on
is
sh
ow
n
in
Fig
ure
10.
Af
te
r
t
he
sim
u
la
ti
on
,
we
m
ade
a
prototype
a
ccordin
g
to
th
e
desig
n
an
d
te
ste
d
it
.
The
c
oil
and
tu
be
use
d
f
or
te
sti
ng
is
sh
own
in
Fig
ure
11.
The
te
st
i
s
carried
out
by
assem
bling
al
l
the
coils
and
c
onnecti
ng
wit
h
the volt
age
g
e
ne
rator.
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Project
il
e vel
oc
it
y con
tr
ol on c
oilgun
us
i
ng
gen
et
ic
algorit
hm
s
(
Basuki
W
ina
r
no
)
5325
Figure
3. F
olwc
har
t
ge
netic
algorit
hm
Table
2.
Iterati
on of
Du
ty
Cy
cl
e
Period
Co
il 1
Co
il 2
Co
il 3
Co
il 4
Co
il 5
Co
il 6
1
3
1
.37
4
3
.92
6
6
.27
8
1
.57
8
1
.96
7
5
.68
2
1
8
.43
2
8
.23
1
6
.08
4
8
.63
1
9
.21
6
6
.62
3
2
6
.25
8
4
.18
9
.41
1
7
.60
5
7
.64
8
1
.97
4
7
1
.76
3
.53
8
2
.74
8
9
.08
8
5
.58
3
7
.17
5
1
7
.25
5
3
.55
9
5
.56
7
8
.33
9
3
.72
9
6
.08
6
8
9
.29
6
1
.51
9
9
.12
9
7
.54
9
0
.58
8
4
.34
7
2
3
.52
3
4
.98
8
7
.84
8
5
.88
9
9
.78
8
4
.70
8
3
0
.68
1
2
.15
9
5
.47
9
9
.28
8
2
.16
9
0
.98
9
6
3
.92
9
8
.12
9
6
.71
7
0
.21
8
3
.52
9
2
.50
10
6
2
.84
9
4
.18
9
2
.78
6
7
.41
8
4
.41
9
2
.94
11
7
3
.33
9
0
.57
9
0
.66
9
0
.95
8
8
.25
9
4
.56
12
2
7
.34
1
9
.21
1
.96
1
1
.20
1
0
.46
6
4
.47
Figure
4. V
oltage a
nd c
urre
nt
coil 1
Figure
5. V
oltage a
nd c
urre
nt
coil 2
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In
t J
Elec
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C
om
p
En
g,
V
ol.
9
, N
o.
6
,
Dece
m
ber
2
01
9
:
5321
-
5329
5326
Figure
6. V
oltage a
n
d c
urre
nt
coil 3
Figure
7. V
oltage a
nd c
urre
nt
coil 4
Figure
8. V
oltage a
nd
c
urre
nt
coil 5
Figure
9. V
oltage a
nd
c
urre
nt
coil 6
Figure
10. Vel
ocity
r
esult
Evaluation Warning : The document was created with Spire.PDF for Python.
In
t J
Elec
&
C
om
p
En
g
IS
S
N: 20
88
-
8708
Project
il
e vel
oc
it
y con
tr
ol on c
oilgun
us
i
ng
gen
et
ic
algorit
hm
s
(
Basuki
W
ina
r
no
)
5327
Figure
11. C
oilgun t
est
Velocit
y
m
eas
ur
em
ent
is
do
ne
by
placi
ng
2
infr
a
re
d
sens
ors
at
the
end
of
the
tub
e.
S
ens
or
placem
ent
by
gi
ving
2
ho
le
s
on
the
tu
be
as
fa
r
as
100m
m
.
Ho
le
1
is
m
ark
ed
with
T1
a
nd
hole
2
is
m
ark
ed
with
T2
t
o
m
easur
e
the
ti
m
e
it
ta
kes
for
the
pro
j
ect
il
e
to
m
ov
e
from
T1
to
T
2.
Proje
ct
il
e
velocit
y
is
cal
culat
ed
ba
sed
on
the
diff
e
re
nce
in
tim
e
sh
own
on
the
two
s
ens
or
s.
Eac
h
e
xp
e
rim
ent
req
uires
a
capaci
tor
rec
harge
ti
m
e
to
increase t
he v
ol
ta
ge
betw
een
4
to
5 m
inu
te
s.
The
r
es
ults o
f veloci
ty
m
easur
em
ents are
show
n
i
n
Ta
ble
3.
Table
3.
Veloc
it
y
m
easur
em
e
nts
Period
T
1
–
T
2
(
m
m
)
Measu
re
m
en
ts Res
u
lt
Distan
ce (
m
m
)
Velo
d
ity
(
m
/s)
1
3
.29
100
3
0
.40
2
3
.46
100
2
8
.90
3
3
.06
100
3
2
.68
4
3
.76
100
2
6
.60
5
3
.31
100
3
0
.21
6
3
.47
100
2
8
.20
7
3
.16
100
3
1
.65
4.
CONCL
US
I
O
N
A
ne
w
m
et
ho
d
f
or
desig
ning
a
m
ulti
sta
ge
coilgun
is
pr
opos
e
d
in
this
work.
T
he
co
il
is
designe
d
by
co
ns
ide
rin
g
the
prof
il
e
of
velocit
y
ref
er
ence
an
d
ene
r
gy
requirem
ents
.
Ther
e
f
or
e,
the
desig
n
of
coil
is
m
or
e
eff
ic
ie
nt.
Furthe
rm
or
e,
for
c
on
t
ro
ll
in
g
the
m
otion
of
pro
j
ect
il
e
insi
de
the
tu
be,
a
gen
et
ic
al
go
rithm
is
pro
po
se
d.
The
eff
ect
ive
ness
of
t
he
pr
opos
e
d
m
et
ho
d
is
evaluated
i
n
sim
ulati
on
and
e
xperim
e
ntall
y.
The
sim
ulati
o
n
that
has
bee
n
done
show
s
that
there
is
a
m
at
ch
betwee
n
the
re
fer
e
nc
e
velocit
y
profi
le
and
the
desi
gn
vel
ocity
prof
il
e.
We
bu
il
t
a
pr
o
toty
pe
an
d
te
st
ed
a
m
ulti
sta
ge
coilg
un
syst
e
m
with
the
propose
d
coil
va
riat
ion
.
The
te
st
is
ca
r
ried
ou
t
7
ti
m
es
with
a
n
a
ve
rag
e
final
velo
ci
ty
of
the
pro
j
ect
il
e
of
29.
89
m
/
s.
Wh
il
e
the
resul
ts
of
the
nu
m
erical
si
m
ulatio
n
a
re
32.
63
m
/
s.
The
te
st
error
c
om
par
ed
to
the
sim
ulati
on
is
9.15%.
This
hi
gh
le
vel
of
er
ror
occ
ur
s
bec
ause
of
the
c
oi
l
den
sit
y
in
e
ac
h
c
oil
w
hic
h
a
ff
ect
s
cha
nges
i
n
the
m
agn
et
ic
fiel
d
a
nd
ther
m
al
ener
gy
of
the
c
oil.
W
e
hope
to
c
on
du
c
t
a
ddit
ion
a
l
stud
ie
s
t
o
i
m
pr
ove
energy
ef
fici
en
cy
and
re
duce
error
s
beca
us
e
each
ex
per
im
ent
ta
kes
a
l
ong
ti
m
e
to
recha
rg
e
capaci
to
r
whe
n
increasin
g v
oltage.
ACKN
OWLE
DGE
MENTS
The
a
utho
r
w
ou
l
d
li
ke
to
than
k
the
Mi
nistry
o
f
Re
sea
r
ch,
Tech
nolo
gy
a
nd
Higher
Ed
ucati
on,
Ri
ste
kd
ikti
fo
r fina
ncial
sup
port to
t
his r
ese
ar
ch
REFERE
NCE
S
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te
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f
or
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tron
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ti
on
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ity
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ad,”
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ons
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et
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rit
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“
Multi
obj
e
ct
iv
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at
i
on
of
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s
t
ag
e
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y
nchr
onous
Induc
ti
on
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gun
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II,
”
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E
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ansacti
ons
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asm
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apt
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onic
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W
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inve
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ri
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ging
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ase
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nt
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ansacti
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ant
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iz
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nt
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ansacti
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“
Geome
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Pow
er
Optimiza
ti
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n
of
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gun
Based
on
Adapti
ve
Gene
tic
Algori
thms
,
”
I
EE
E
Tr
ansacti
o
ns on
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asm
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S
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E.
Ow
lia,
S
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A.
Mirja
l
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i
,
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“
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and
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odel
ing
of
an
e
le
c
tromagnet
i
c
l
aunc
her
for
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t
insert
ion
s
y
st
em,”
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e Re
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W
ina
rno,
W
.
W
ij
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and
R.
N.
Hasana
h,
“
Penga
tura
n
Inj
eksi
Arus
pada
Coil
gun
denga
n
PW
M
m
engguna
kan
Metode
Algor
itm
a
Gene
ti
k
a,”
J
urnal
Arus E
l
ek
t
ro Indone
sia
,
vo
l.
1
,
no
.
3
,
pp
.
13
–
18,
2015
.
BIOGR
AP
H
I
ES
OF
A
UTH
ORS
Basu
ki
Winar
no
rec
ei
v
ed
MT
degr
e
e
in
Elec
tr
ic
Eng
ineeri
ng
from
Brawij
a
y
a
Univ
ersi
t
y
,
Mala
ng,
Indon
esia
,
in
2016
.
Now
he
le
ct
ur
ers
at
State
Pol
y
t
ec
hn
ic
of
Madiun.
His c
urre
nt
rese
arc
h
int
er
ests
include
cont
rol
and
elec
t
ric
a
l.
Rak
hma
d
Gus
t
a
Putra
rec
e
ived
MT
degr
e
e
in
El
e
ct
ri
c
Eng
ine
e
ring
from
Instit
u
te
of
Te
chno
lo
g
y
of
Sepuluh
Nopem
ber
(IT
S),
Suraba
y
a
,
Indone
si
a,
in
2013
.
Now
he
lectur
ers
a
t
Stat
e
Pol
y
t
ec
hni
c
of
Madiun. His
c
urre
nt
r
ese
ar
ch i
nte
rests
inc
lud
e Roboti
cs
El
e
ct
ro
nic
s
Evaluation Warning : The document was created with Spire.PDF for Python.
In
t J
Elec
&
C
om
p
En
g
IS
S
N: 20
88
-
8708
Project
il
e vel
oc
it
y con
tr
ol on c
oilgun
us
i
ng
gen
et
ic
algorit
hm
s
(
Basuki
W
ina
r
no
)
5
329
In
darto
Yu
w
on
o
re
ce
iv
ed
MT
degr
ee
in
El
e
ct
r
ic
Engi
n
ee
ring
f
rom
Instit
ut
e
of
T
ec
hnolog
y
of
Sepuluh
Nopem
ber
(IT
S),
Surab
a
y
a,
Indon
esia,
i
n
2016.
Now
he
le
ct
u
rer
s
at
St
ate
Pol
y
te
chn
ic
of
Madiun.
His
cur
ren
t
r
ese
ar
ch int
ere
sts in
cl
ude
E
ner
g
y
Conversio
n
Engi
n
ee
ring
Bamban
g
S
um
antri
is
a
le
c
tur
er
of
Polit
ekn
ik
El
ektronika
Neg
eri
Suraba
y
a
(P
ENS),
Indone
sia
.
He
rec
e
ive
d
ba
c
hel
or
degr
ee
in
El
e
ct
ri
ca
l
Engi
n
ee
ring
from
Insti
tut
Te
kno
logi
Se
puluh
Nopem
ber
(IT
S),
Indone
sia
,
in
2002,
M.Sc
(Master
of
S
ci
en
ce
)
in
Cont
rol
Engi
ne
eri
ng
from
Univer
siti
Te
knologi
Petro
nas,
Mal
a
y
s
ia,
i
n
2009,
an
d
Do
ct
or
of
Engi
n
ee
r
ing
in
Mec
han
ical
Engi
ne
eri
n
g
,
To
y
oh
ashi
Univ
ersity
of
Techn
olog
y
,
Jap
an,
in
2015.
His
rese
arc
h
int
er
est
is
i
n
robust
cont
ro
l
s
y
stem,
robo
ti
cs
,
and embedded
c
ontrol
s
y
s
te
m
Agu
s
I
nd
ra
Gun
aw
an
re
ce
iv
e
d
Dr.E
ng.
from
To
y
ohashi
U
ni
ver
sit
y
of
Te
ch
nolog
y
,
Jap
an,
in
2015.
Now
he
le
ct
ur
ers
at
El
ectroni
cs
Engi
nee
r
ing
Pol
y
te
chn
ic
Instit
ut
e
of
Suraba
y
a
.
His
cur
ren
t
r
ese
a
rch
intere
sts
in
clude
non
destru
ctive
m
ea
surem
ent,
ult
r
asonic,
bio
m
edi
ca
l
,
en
er
g
y
and
aqu
ac
u
lt
ure
engi
ne
eri
ng
Evaluation Warning : The document was created with Spire.PDF for Python.