Desain Kecepatan Surge dan Sudut Heading Sistem Kontrol Pada Unmanned Surface Vehicle (USV) Menggunakan Metode Model Predictive Control (MPC)

Siagian, Kyln Tiolin Greccia (2024) Desain Kecepatan Surge dan Sudut Heading Sistem Kontrol Pada Unmanned Surface Vehicle (USV) Menggunakan Metode Model Predictive Control (MPC). Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

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. A heading and speed control strategy based on Model Predictive Control (MPC) has been developed to increase the accuracy and robustness of Unmanned Surface Vehicle (USV) heading and speed management in the environment. MPC algorithm was applied to the USV heading and speed control problem, and the heading angle and speed controller was designed based on the objective function and constraints defined by the heading and speed errors conducted heading tracking experiment with the USV. PID was define Kp, Ki , Kd and MPC controllers was define Np, Nc and gain can change the USV Surge Speed and Heading angle to match the Reference by calculate e and e . MPC yields reduced surge and yaw RMSE values than PID. PID & MPC controllers can be used to adjust the Surge Speed and Yaw Heading of the USV to follow the given Reference. MPC can handle nonlinear problems of the USV so that even though it turns it can still maintain the surge speed of the USV. In the waypoint navigation experiment with disturbance, the MPC also minimize the percent of overshoot and the result is the RMSE Surge MPC was 0.0829, while the PID was 0.0872.
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USV adalah kendaraan tak berawak yang dinavigasi di perairan dan dapat dikendalikan menggunakan algoritma. USV memiliki beberapa bagian yang saling bekerja sama, salah satunya adalah kontrol sistem. Dalam menjalankan tugasnya USV perlu mengatur kecepatan baling-baling dan kemudi masuk untuk meningkatkan akurasi dan stabilitas pergerakannya. Sebuah pos dan kontrol kecepatan strategi berdasarkan Model Predictive Control (MPC) telah dikembangkan untuk meningkatkan akurasi dan kekokohan arah dan kecepatan Unmanned Surface Vehicle (USV). pengelolaan di lingkungan hidup. Algoritma MPC diterapkan pada arah dan kecepatan USV masalah kontrol, dan sudut arah serta pengontrol kecepatan dirancang berdasarkan fungsi tujuan dan batasan yang ditentukan oleh pos dan kesalahan kecepatan pos yang dilakukan percobaan pelacakan dengan USV. PID didefinisikan Kp,Ki,Kd dan pengontrol MPC telah ditentukan Np, Nc dan gain dapat mengubah Kecepatan Lonjakan USV dan sudut Heading agar sesuai dengan Referensi dengan menghitung e dan e. Hasil MPC mengurangi nilai RMSE surge dan yaw dibandingkan PID. PID & Pengontrol MPC dapat digunakan untuk mengatur Kecepatan Lonjakan dan Pos Yaw USV ikuti Referensi yang diberikan. MPC dapat menangani permasalahan nonlinier USV sehingga merata meski ternyata masih bisa mempertahankan kecepatan lonjakan USV. Dalam navigasi titik arah bereksperimen dengan gangguan, MPC juga meminimalkan persentase overshoot dan hasilnya adalah RMSE Surge MPC sebesar 0,0829, sedangkan PID sebesar 0,0872.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	USV, Kecepatan Surge, Sudut Heading, MPC, PID, Surge Speed, Heading Angle
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Kyln Tiolin Greccia Siagian
Date Deposited:	05 Feb 2024 04:48
Last Modified:	05 Feb 2024 04:48
URI:	http://repository.its.ac.id/id/eprint/106068

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