Rancang Sistem Kendali Uav Vtol Fixed Wing Pada Transisi Cruising To Landing Menggunakan Sistem Kontrol Fuzzy

Dase, Brandon Alcapone (2023) Rancang Sistem Kendali Uav Vtol Fixed Wing Pada Transisi Cruising To Landing Menggunakan Sistem Kontrol Fuzzy. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

VTOL Fixed wing (Vertical Take-Off and Landing) adalah jenis UAV baru dengan menggabungkan kinerja helikopter dan pesawat sayap tetap (Fixed wing), seperti take-off /pendaratan vertikal (sehingga tidak memerlukan area yang cukup besar untuk take-off dan landing), melayang (hovering) di udara dengan ketinggian rendah dan kecepatan rendah helikopter, serta jelajah ketinggian dari pesawat Fixed wing. UAV VTOL Fixed wing dapat take-off dan landing secara vertikal bersama dengan penerbangan jelajah berkelanjutan. UAV hybrid ini menggabungkan kemampuan VTOL menggunakan quadrotor dan forward propeller pada UAV Fixed wing. Pada perubahan mode Fixed wing ke VTOL, terdapat masalah yaitu pada saat transisi dimana UAV dapat kehilangan gaya angkat aerodinamis dari sayap pesawat karena kecepetan pesawat berukurang, menjadikan UAV berpotensi untuk jatuh dan kehilangan kestabilan momennya. Permasalahan pada transisi tersebut dikendalikan menggunakan algoritma kontrol fuzzy. Kontrol fuzzy, merupakan sistem kontrol yang memanfaatkan logika fuzzy, yang digunakan dalam masalah pendaratan karena dapat mengakomodasi ketidaklinieran akibat aerodinamika, aktuator, sensor, dan gangguan lingkungan. Sistem pengendalian transisi cruising to landing pada UAV VTOL Fixed wing untuk mengendalikan ketinggian vertikal, posisi horizontal, serta sudut pitch. Respon sistem pada saat kontroler fuzzy dan algoritma yang digunakan berhasil menyelesaikan transisi dengan performansi mean absolute error ketinggian z sebesar 0.722446 m, kecepatan u sebesar 0.706377 m/s dan sudut pitch sebesar 2.143507 derajat.
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Fixed wing VTOL (Vertical Take-Off and Landing) is a new type of UAV by combining the performance of helicopters and fixed wing aircraft, such as vertical take-off / landing (so it does not require a large enough area for take-off and landing), hovering in the air with low altitude and low speed helicopters, as well as cruising altitude from fixed wing aircraft. The VTOL Fixed wing UAV can take-off and land vertically along with continuous cruising flight. This hybrid UAV combines VTOL capabilities using a quadrotor and forward propeller on a Fixed wing UAV. There is a problem in changing the Fixed wing mode to VTOL mode, namely during the transition where the UAV can lose aerodynamic lift from the aircraft wing due to the reduced speed of the aircraft, making the UAV have the potential to fall and lose its moment stability. Problems in the transition are controlled using a fuzzy control algorithm. Fuzzy control is a control system that utilizes fuzzy logic, which is used in landing problems because it can accommodate nonlinearities due to aerodynamics, actuators, sensors, and environmental disturbances. Cruising to landing transition control system on the VTOL Fixed wing UAV to control vertical altitude, horizontal position, and pitch angle. The system response when the fuzzy controller and the algorithm used successfully complete the transition with a mean absolute error performance of z height of 0.722446 m, u speed of 0.706377 m/s and pitch angle of 2.143507 degrees.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	UAV, Fixed wing, Quadrotor, Kontrol Fuzzy, UAV, Fixed wing, Quadrotor, Fuzzy Control
Subjects:	Q Science > QA Mathematics > QA9.64 Fuzzy logic T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control. T Technology > TJ Mechanical engineering and machinery > TJ217 Adaptive control systems T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL776 .N67 Quadrotor helicopters--Automatic control U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle) U Military Science > U Military Science (General) > UG Military Engineering > UG1242.D7 Unmanned aerial vehicles. Drone aircraft
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Brandon Alcapone Dase
Date Deposited:	04 Aug 2023 07:53
Last Modified:	04 Aug 2023 07:53
URI:	http://repository.its.ac.id/id/eprint/101387

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