Perancangan Sistem Kontrol VTOL UAV Tilt Rotor Pada Transisi Landing Menggunakan Pengendali Fuzzy

Nurfalaq, Ilham (2024) Perancangan Sistem Kontrol VTOL UAV Tilt Rotor Pada Transisi Landing Menggunakan Pengendali Fuzzy. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Unmanned Aerial Vehicle (UAV) merupakan pesawat terbang yang dapat terbang sendiri tanpa pilot atau dikendalikan dari jarak jauh berdasarkan program yang diunduh ke komputer. UAV dapat dibagi menjadi dua jenis berdasarkan cara terbangnya yaitu fixed-wing UAV dan rotary-wing UAV. Fixed-wing UAV memiliki keunggulan pada kecepatan dan ketinggian jelajah yang tinggi, daya tahan dan jangkauan yang jauh dan rotary-wing UAV memiliki kemampuan untuk lepas landas dan mendarat secara vertikal yang membuat kendaraan ini cocok untuk berbagai medan lingkungan. Hybrid UAV merupakan tipe UAV yang memiliki kedua kemampuan, dimana salah satunya adalah Tiltrotor UAV. Pesawat ini menghasilkan daya angkat dan dorong ke depan menggunakan sistem propulsi yang sama dengan memiringkan motornya ke arah horizontal atau vertikal. Terdapat permasalahan pada pesawat ini yaitu saat terjadi perubahan sudut tilt pesawat akan kehilangan gaya angkat dan keseimbangannya. Pada penelitian ini, dirancang algoritma beserta sistem pengendali menggunakan pengendali fuzzy untuk mengatasi permasalahan tersebut. Pengendali fuzzy yang dirancang menggunakan jenis fuzzy sets triangular untuk setiap aktuator dengan ukuran membership function 7x7. Transisi dilakukan dengan melakukan perubahan sudut tilt secara perlahan untuk mengurangi hilangnya gaya angkat yang besar. Selama proses penerbangan dan transisi, ketinggian, kecepatan dan kestabilan sudut pitch mampu dijaga dengan menggunakan sistem kendali Fuzzy. Algoritma dan pengendali yang digunakan berhasil menyelesaikan transisi dengan performansi Mean Absolute Error ketinggian sebesar 0.021978 m, sudut pitch sebesar 0.024683° dan kecepatan pada sumbu x sebesar 3.350556 m/s.
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Unmanned Aerial Vehicle (UAV) is an aircraft that can fly autonomously without a pilot or be controlled remotely based on a downloaded program to a computer. UAVs can be divided into two types based on their flight characteristics: fixed-wing UAVs and rotary-wing UAVs. Fixed-wing UAVs have advantages in terms of speed, high cruising altitude, endurance, and long range, while rotary-wing UAVs have the ability to take off and land vertically, making them suitable for various environmental terrains. Hybrid UAV is a type of UAV that combines both capabilities, and one example is the Tiltrotor UAV. This aircraft generates lift and forward thrust using the same propulsion system by tilting its motors horizontally or vertically. The challenge with this aircraft is that during a change in the tilt angle, it may lose lift and balance. In this research, an algorithm and control system are designed using a fuzzy controller to address this issue. The fuzzy controller is designed using triangular fuzzy sets for each actuator with a 7x7 membership function size. Transitions are performed by gradually changing the tilt angle to reduce the loss of significant lift. Throughout the flight and transitions, altitude, speed, and pitch angle stability are maintained using the Fuzzy control system. The utilized algorithm and controller successfully completed the transition with Mean Absolute Error performances of 0.021978 m for altitude, 0.024683° for pitch angle, and 3.350556 m/s for speed on the x-axis.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Fuzzy Logic Control, Hybrid UAV, Tiltrotor, Transisi Landing Fuzzy Logic Control, Hybrid UAV, Landing Transition, Tiltrotor
Subjects:	Q Science > QA Mathematics > QA9.64 Fuzzy logic T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles. 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:	Ilham Nurfalaq
Date Deposited:	06 Feb 2024 07:23
Last Modified:	06 Feb 2024 07:23
URI:	http://repository.its.ac.id/id/eprint/106338

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