Autofilling: An Automatic Water Filling System Based on Load Cell and Takagi–Sugeno Fuzzy Control with Real-Time Monitoring on Arduino
Keywords:
Arduino, Takagi-Sugeno fuzzy, load cell, HMI, PWMAbstract
The automatic water filling process requires high accuracy to ensure that the filled amount meets the specified target. Systems operating at a constant pump speed tend to produce overshoot because the flow rate cannot be adjusted as the target is approached. This study develops an Autofilling system based on weight feedback using Takagi-Sugeno fuzzy logic control to adaptively regulate the pump speed. The system integrates an Arduino Nano, a load cell with an HX711 module, a PWM-controlled DC pump, a solenoid valve, and a Nextion HMI for real-time monitoring. The fuzzy controller uses error and delta error as inputs to determine the pump PWM. Tests were conducted at target weights ranging from 200 to 1000 g by comparing the system without fuzzy control with the Takagi-Sugeno fuzzy-controlled system. The fuzzy controller reduced the average error from 23.24 g to 1.20 g and the percentage error from 5.53% to 0.21%, while increasing the accuracy from 94.47% to 99.79%. The average filling duration was also reduced from 44.61 s to 22.08 s. These results demonstrate that Takagi-Sugeno fuzzy control improves accuracy and reduces overshoot, with a shorter filling duration under the experimental configuration used.
References
K. J. Opieliński and T. Świetlik, “Application of the Akaike information criterion to ultrasonic measurement of liquid volume in a cylindrical tank,” Sensors, vol. 25, no. 23, Dec. 2025. https://doi.org/10.3390/s25237191
M. Yusman, and A. H. Purnama, “Prototipe sistem otomasi pada pengisian depot air minum,” Jurnal Universitas Mitra Indonesia, vol. 2 , no. 2, Okt. 2021. https://doi.org/10.57084/jeda.v2i2.975
A. Burhan Ardiansyah, I. Lutfi, and A. Rahman, “Perbandingan akurasi sensor flow meter dan load cell pada proses pengisian botol air,” Jurnal Profesi Insinyur Universitas Lampung, vol. 6, no. 2, Sep. 2025. https://doi.org/10.23960/jpi.v6n2.179
H. Lu et al., “Improved mass flow rate regulation methods based on variable frequency control : A case study of oxidizer agent weighing for solid propellants,” Actuators, vol. 12, no. 7, Jul. 2023. https://doi.org/10.3390/act12070285
A. Saputra and A. Supriyanto dan Arif Surtono, “Desain dan realisasi alat ukur massa (neraca digital) menggunakan sensor load cell berbasis Arduino,” Jurnal Teori dan Aplikasi Fisika, vol. 10, no. 2, 2022. [Online]. Available: https://jtaf.fmipa.unila.ac.id/article/297
R. A. Bimo, S. Putra, A. R. Al Tahtawi, and K. Wijayanto, “Pengendalian kecepatan motor DC menggunakan metode fuzzy integral controller,” Aug. 2021, pp. 4–5. https://doi.org/10.35313/irwns.v12i0.2657
V. Andriani and J. Sardi, “Sistem kendali level air pada tangki dengan Pulse Width Modulation (PWM) berbasis PLC dan HMI,” JTEIN: Jurnal Teknik Elektro Indonesia, vol. 4, no. 2, pp. 1014–1022, Nov. 2023. https://doi.org/10.24036/jtein.v4i2.550
B. Yeşil, “Design of a microcontroller-based coupled tank system and implementation of level control with feedback linearization method,” Master Thesis, Graduate School of Natural and Applied Sciences, İzmir Kâtip Çelebi University, June 2023. [Online]. Available: https://acikerisim.ikcu.edu.tr/ 10549402_64bfc93495f38
B. Yeşil and S. Sahin, “Real-time implementation of a microcontroller-based coupled-tank water level control system with feedback linearization and fuzzy logic controller algorithms,” Sensors, vol. 25, no. 5, p. 1279, Feb. 2025. https://doi.org/10.3390/s25051279
A. R. Al Tahtawi, S. Yahya, B. Setiadi, and C. Marsya, “The implementation of embedded fuzzy logic controller on liquid level control system,” 2020. https://doi.org/10.2991/aer.k.201221.028
K. I. Sebastian, S. Sungkono, and B. Priyadi, “Sistem pengisian minuman menggunakan metode fuzzy logic pada vending machine,” Jurnal Elektronika dan Otomasi Industri, vol. 10, no. 1, pp. 76–84, May 2023. https://doi.org/10.33795/elkolind.v10i1.2752
A. Harits Mahdami and W. A. Pambudi, “Rancang bangun pengisian otomatis air minum isi ulang dengan sistem full bridge load cell menggunakan metode filter Kalman,” Jreec Journal Renewable Energy Electronics and Control, vol. 3, pp. 43–47, Jun. 2023. [Online]. Available: https://ejurnal.itats.ac.id/jreec//3223
P. Pangestu et al., “Sistem auto filling machine berbasis mikrokontroller human machine interface dengan water flow sensor,” Journal of Information Technology and Computer Science (INTECOMS), vol. 7, no. 3, 2024. https://doi.org/10.31539/intecoms.v7i3.9742
H. Kuscu and K. Ozyalcin, “Automatic controlled liquid filling system : Loadcell and servo motor controlled approach,” Institute of Electrical and Electronics Engineers (IEEE), Jan. 2026, pp. 389–394. https://doi.org/10.1109/icai67591.2025.11324710
M. Tiboni, R. Bussola, F. Aggogeri, and C. Amici, “Experimental and model-based study of the vibrations in the load cell response of automatic weight fillers,” Electronics 2020, Vol. 9, Page 995, vol. 9, no. 6, p. 995, Jun. 2020. https://doi.org/10.3390/ELECTRONICS9060995
Z. Er, B. Gökçe, and S. M. Yurter, “Fuzzy logic based adaptive parameter estimation system in moving measurement systems,” International Journal of Electrical Engineering and Computer Science, vol. 6, pp. 126–136, Oct. 2024. https://doi.org/10.37394/232027.2024.6.15
ศ. สินไชย, จ. โกษียาภรณ์, and ป. วาดเขียน, “Set-point recompense in filling weigher using Kalman filter,” Engineering and Technology Horizons, vol. 32, no. 3, pp. 1–6, 2015, Accessed: Oct. 07, 2026. [Online]. Available: https://ph01.tci-thaijo.org//241157
F. M. Dawalo and E. V. Haryanto, “Rancang bangun prototype sistem pengisian air galon otomatis berbasis Arduino,” Jurnal Info Digit (JID), vol. 2, no. 3, pp. 1028–1041, Jan. 2024, Accessed: Sep. 21, 2026. [Online]. Available: https://kti.potensi-utama.org/1421
H. Kuscu and K. Ozyalcin, “Automatic controlled liquid filling system: Loadcell and servo motor controlled approach,” International Conference Automatics and Informatics, ICAI 2025 - Proceedings, pp. 389–394, 2025. https://doi.org/10.1109/ICAI67591.2025.11324710
R. S. Dewa, D. Desmira, and I. Irwanto, “Design and construction of automatic mineral water refilling system using fuzzy logic,” Journal of Engineering, Electrical and Informatics, vol. 6, no. 1, pp. 69–79, Feb. 2026. https://doi.org/10.55606/JEEI.V6I1.6731
E. C. Prima, S. S. Munifaha, R. Salam, M. H. Aziz, and A. T. Suryani, “Automatic water tank filling system controlled using ArduinoTM based sensor for home application,” in Procedia Engineering, Elsevier Ltd, 2017, pp. 373–377. https://doi.org/10.1016/j.proeng.2017.03.060
A. A. M. Yusof, A. F. M. Mansor, M. K. F. M. Atan, R. A. Rahim, A. A. M. Ralib, and A. N. Nordin, “Portable device for dual impedance and mass measurement in fruit ripening assessment,” Journal of Food Measurement and Characterization 2026 20:4, vol. 20, no. 4, pp. 5707–5719, Jan. 2026. https://doi.org/10.1007/S11694-026-04027-0
Published
How to Cite
Issue
Section
Copyright (c) 2026 Ferhad Zulfas, Galih Setyawan
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
An author who publishes in the Jurnal Otomasi Kontrol dan Instrumentasi agrees to the following terms:
- The author retains the copyright and grants the journal the right of first publication of the work simultaneously licensed under the Creative Commons Attribution-ShareAlike 4.0 License that allows others to share the work with an acknowledgment of the work's authorship and initial publication in this journal
- Author can enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book) with the acknowledgement of its initial publication in this journal.
