Penerapan Disturbance Compensating Model Predictive Control (DC-MPC) Pada Sistem Kendali Kapal

Cahyaningtias, Sari (2014) Penerapan Disturbance Compensating Model Predictive Control (DC-MPC) Pada Sistem Kendali Kapal. Masters thesis, Insititut Teknologi Sepuluh Nopember.

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Abstract

Pada penelitian ini dibahas permasalahan pengendalian manuver kapal dengan mempertimbangkan empat derajat kebebasan, yaitu: yaw, roll, sway, dan surge dengan rudder sebagai kendali pada sistem. Model dinamik manuver kapal membentuk sistem persamaan diferensial tak linier. Pengendalian sistem gerak kapal dilakukan dengan metode Disturbance Compensating Model Predictive Control (DC-MPC). Metode DC-MPC diterapkan dengan membentuk kompensasi kendali dan dilakukan optimasi dengan mempertimbangan gangguan yang ada. Selanjutnya kompensasi kendali optimal digunakan sebagai faktor yang mempen- garuhi batas atas pada kendala ke-k. Kompensasi kendali optimal digunakan juga sebagai faktor pengaruh hasil output dari kendali optimal pada proses optimasi dengan metode Model Predictive Control (MPC). Hasil analisis penerapan DC-MPC menunjukkan bahwa gangguan yang diberikan dapat diminimumkan pengaruhnya terhadap perilaku gerak kapal, sehingga pergerakan kapal relatif stabil dan mengikuti referensi lintasan.
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This research studied ship motion control by considering four degree of freedom (DoF), namely surging, swaying, yawing, and rolling. The control of system is rudder. The model of ship maneuver form non-linear differential equations. Disturbance Compensating Model Predictive Control (DC-MPC) method is used for controlling the system. The DC-MPC method is applied by forming control compensation and then optimizing by considering some constraints. Furthermore control compensation is applied as influence factor for boundary conditions. The control compensation influence the output of Model Predictive Control (MPC) process in optimization. The simulation results showed that the influence of distur- bance on the ship can be minimized. So, the ship motion relative stable and follow the reference trajectory.

Item Type:	Thesis (Masters)
Additional Information:	RTMa 519.287 Cah p-2014
Uncontrolled Keywords:	MPC, DC-MPC, kompensasi kendali gangguan, manuver kapal, gangguan laut, sudut kemudi, udder angle, ship maneuver, sea waves, disturbance compensating control
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ217.6 Predictive Control
Divisions:	Faculty of Mathematics and Science > Mathematics > 44101-(S2) Master Thesis
Depositing User:	Mr. Marsudiyana -
Date Deposited:	28 Dec 2023 03:47
Last Modified:	28 Dec 2023 03:47
URI:	http://repository.its.ac.id/id/eprint/105321

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