Akbar, Muhammad Alifuddin (2023) Perancangan Sistem Kontrol Kecepatan Surge dan Sudut Yaw Pada Unmanned Surface Vehicle (USV) Dengan Menggunakan Metode Fuzzy-PID. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
USV merupakan suatu kendaraan tanpa awak yang dinavigasikan di perairan dan dapat dikontrol dengan menggunakan suatu algoritma. USV memiliki beberapa bagian yang saling bekerja satu sama lain salah satunya adalah sistem kontrol. Dalam menjalankan tugasnya USV perlu mengatur kecepatan propeler dan rudder agar dapat meningkatkan akurasi dan stabilitas dari pergerakannya. PID merupakan salah satu jenis kontroler yang umumnya digunakan tetapi memiliki kelemahan pada penggunaan plant nonlinear. Untuk meningkatkan penggunaan kontroler PID maka dipadukan Fuzzy. Fuzzy digunakan untuk mengatur gain K_p, K_i, dan K_d dari PID. Dalam perancangan kontroler Fuzzy digunakan dua Input yaitu e dan Δe baik pada kontrol surge maupun yaw serta tiga Output yaitu ΔK_p, ΔK_i, dan ΔK_d. Masing-masing membership function Input dan Output menggunakan 3 Kategori yaitu Negatif, Zero, dan Positif. Kontroler PID & Fuzzy-PID dapat dipergunakan untuk mengatur Kecepatan Surge dan Heading Yaw USV agar mengikuti Reference yang diberikan. Fuzzy-PID dapat menangani permasalahan nonlinear dari USV sehingga walaupun berbelok tetap dapat mempertahankan kecepatan surge dari USV. Penggunaan Fuzzy-PID juga memberikan nilai RMSE surge dan yaw yang lebih kecil dibandingkan dengan penggunaan PID pada percobaan navigasi waypoint pada lingkungan tanpa dan dengan gangguan. Pada percobaan navigasi waypoint dengan gangguan diperoleh RMSE Surge Fuzzy-PID sebesar 0.0730 sedangkan PID sebesar 0.0774 serta RMSE yaw Fuzzy-PID sebesar 0.0312 sedangkan PID sebesar 0.0366
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USV is an unmanned vehicle that is navigated in waters and can be controlled using an algorithm. USV has several parts that work with each other, one of which is the control system. In carrying out its duties USV needs to adjust the speed of the propeller and rudder in order to improve the accuracy and stability of its movement. PID is one type of controller that is commonly used but has weaknesses in the use of nonlinear plants. To improve the use of PID controllers, Fuzzy is combined. Fuzzy is used to adjust the K_p, K_i, and K_d gains of the PID. In designing the Fuzzy controller, two inputs are used, namely e and Δe both in surge and yaw control and three outputs, namely ΔK_p, ΔK_i, and ΔK_d. Each Input and Output membership function uses 3 categories namely Negative, Zero, and Positive. PID & Fuzzy-PID controllers can be used to adjust the Surge Speed and Yaw Heading of USV to follow the given Reference. Fuzzy-PID can handle the nonlinear problems of the USV so that even though it turns it can still maintain the surge speed of the USV. The use of Fuzzy-PID also provides smaller surge and yaw RMSE values compared to the use of PID in waypoint navigation experiments in environments without and with disturbances. In the waypoint navigation experiment with interference, the RMSE Surge Fuzzy-PID is 0.0730 while the PID is 0.0774 and the RMSE yaw Fuzzy-PID is 0.0312 while the PID is 0.0366.
| Item Type: | Thesis (Other) |
|---|---|
| Uncontrolled Keywords: | Fuzzy-PID, PID, Surge Speed, USV, Yaw Angle, Fuzzy-PID, Kecepatan Surge, PID, Sudut Yaw, USV. |
| Subjects: | Q Science > QA Mathematics > QA9.64 Fuzzy logic Q Science > QA Mathematics > QA248_Fuzzy Sets T Technology > TJ Mechanical engineering and machinery > TJ217 Adaptive control systems T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles. |
| Divisions: | Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | Muhammad Alifuddin Akbar |
| Date Deposited: | 01 Aug 2023 08:34 |
| Last Modified: | 01 Aug 2023 08:34 |
| URI: | http://repository.its.ac.id/id/eprint/100302 |
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