Desain kendali kapal perang menggunakan metode Nonlinear Model Predictive Control yang dipengaruhi gangguan

Nugraheni, Ariesta Putri (2024) Desain kendali kapal perang menggunakan metode Nonlinear Model Predictive Control yang dipengaruhi gangguan. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Kapal perang merupakan salah satu alat utama sistem pertahanan yang dimiliki suatu negara khususnya negara yang memiliki wilayah lautan. Dalam melakukan patroli laut, kapal ini rentan terhadap gangguan. Gangguan tersebut biasa terjadi karena faktor lingkungan seperti gelombang laut, arus laut, angin, dan hujan. Gangguan menjadi hal yang diperhatikan dalam melakukan desain kendali. Oleh karena itu, dalam Tugas Akhir ini dilakukan desain kendali dengan metode Nonlinear Model Predictive Control (NMPC). Model matematika gerak kapal yang digunakan adalah gabungan dari model dinamika oleh Davidshon dan Schiff dan model kinematika. Kemudian, dibentuk model yang dipengaruhi gangguan deterministik yang diasumsikan sebagai fungsi tangga. Pada Tugas Akhir ini terdapat terdapat lima case simulasi yaitu sistem tanpa gangguan (case 1), sistem dengan gangguan satu variabel (case 2), sistem dengan gangguan dua variabel (case 3), sistem dengan gangguan dua variabel namun nilainya lebih kecil dari case sebelumnya (case 4), dan sistem dengan gangguan tiga variabel (case 5). Pada sistem tanpa gangguan, metode NMPC dapat memberikan kendali optimal sehingga kapal dapat mengikuti lintasan referensinya. Pada sistem dengan gangguan satu variabel, metode NMPC dapat mengendalikan kapal ketika sistem dengan gangguan yang berkisar 0,01. Pada sistem dengan gangguan dua variabel, dapat mengendalikan kapal ketika gangguanya berkisar 0,0001. Sama hal nya ketika sistem dipengaruhi gangguan pada tiga variabel, metode NMPC belum mampu mengendalikan kapal agar mengikuti lintasan referensinya. Meskipun metode NMPC dapat mengendalikan kapal ketika sistem dipengaruhi gangguan yang relatif kecil, metode ini belum mampu menghilangkan efek dari gangguan tersebut yang terlihat pada hasil simulasi input dan kecepatan yaw.
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Warships are one of the main tools of the defense system owned by a country, especially countries that have ocean areas. In conducting sea patrols, this ship is vulnerable to interference. These disturbances usually occur due to environmental factors such as ocean waves, ocean currents, wind, and rain. Disturbance is something that is considered in doing control design. Therefore, in this Final Project, control design is carried out with the Nonlinear Model Predictive Control (NMPC) method. The mathematical model of ship motion used is a combination of the dynamics model by
Davidshon and Schiff and the kinematics model. Then, a model is formed that is affected by deterministic disturbances which are assumed to be ladder functions. In this Final
Project, there are five simulation cases, namely a system without disturbance (case 1), a system with one variable disturbance (case 2), a system with two variables disturbance (case 3), a system with two variables disturbance but the value is smaller than the previous case (case 4), and a system with three variables disturbance (case 5). In the system without disturbance, the NMPC method can provide optimal control so that the ship can follow its reference trajectory. In the system with one variable disturbance, the NMPC method can control the ship when the system with disturbance is around 0,01. In a system with two variable disturbances, it can control the ship when the disturbance is around 0,0001. Similarly, when the system is affected by disturbances in three variables, the NMPC method has not been able to control the ship to follow its reference trajectory. Although the NMPC method can control the ship when the system is affected by relatively small disturbances, it has not been able to eliminate the effects of these disturbances as seen in the simulation results of input and yaw rate.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Gangguan, Nonlinear Model Predictive Control(NMPC), Robust Disturbances, Nonlinear Model Predictive Control(NMPC), Robust
Subjects:	Q Science > QA Mathematics > QA401 Mathematical models.
Divisions:	Faculty of Science and Data Analytics (SCIENTICS) > Mathematics > 44201-(S1) Undergraduate Thesis
Depositing User:	Ariesta Putri Nugraheni
Date Deposited:	06 Aug 2024 04:14
Last Modified:	06 Aug 2024 04:14
URI:	http://repository.its.ac.id/id/eprint/111321

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