Pemodelan Sistem Kontrol Manuver Kapal Di Perairan Dangkal

Qawiyya, Muhammad Fathany (2024) Pemodelan Sistem Kontrol Manuver Kapal Di Perairan Dangkal. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Manuver di perairan dangkal menimbulkan efek squat yang berdampak terhadap penurunan performa manuver. Keberadaan efek squat meningkatkan radius manuver dan deviasi yang tinggi terhadap alur manuver yang menjadi referensi. Untuk mengantisipasi pengaruh manuver di perairan dangkal, dilakukan implementasi metode kontrol berbasis PID dan PID-AFC yang berdasarkan penelitian sebelumnya berpengaruh pada memberikan hasil positif pada sistem dalam merespons gangguan. Dinamika dan sistem kontrol manuver kapal disimulasikan menggunakan Matlab – Simulink dengan model matematis dari Manoeuvring Modelling Group (MMG). Penelitian dilakukan dengan simulasi sistem kontrol berbasis PID dan PID-AFC untuk memperoleh trajektori manuver turning dan zig-zag terhadap waypoint. Pemodelan sistem kontrol dengan kontroler PID-AFC mampu memberikan hasil dimana deviasi trajektori lebih kecil dibandingkan dengan kontroler PID saja. Implementasi PID-AFC pada manuver turning radius 5L mampu menurunkan rata-rata deviasi sebesar 2.78 % dan pada radius 6L sebesar 2.25%. Pada manuver course changing, implementasi PID-AFC mampu menurunkan rata-rata deviasi sebesar 4.05% dalam radius 5L dan sebesar 2.45% dalam radius 6L.
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Maneuvering in shallow waters induces a squat effect, which negatively impacts maneuvering performance. The presence of the squat effect increases the maneuvering radius and results in significant deviations from the reference maneuvering track. To mitigate the impact of maneuvers in shallow waters, a control method based on PID and PID-AFC was implemented, which, according to previous research, has been shown to have a positive effect on the system's response to disturbances. The dynamics and maneuvering control system of the ship were simulated using Matlab – Simulink, utilizing a mathematical model from the Manoeuvring Modelling Group (MMG). The research involved simulating control systems based on PID and PID-AFC to obtain the turning and zig-zag maneuver trajectories against a waypoint. The control system modeling using the PID-AFC controller resulted in smaller trajectory deviations compared to using the PID controller alone. The implementation of PID-AFC in turning maneuvers at a 5L radius was able to reduce the average deviation by 2.78%, and at a 6L radius by 2.25%. In course-changing maneuvers, the implementation of PID-AFC was able to reduce the average deviation by 4.05% at a 5L radius and by 2.45% at a 6L radius.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	AFC, Efek Squat, Kontroler PID, Manuver, Perairan Dangkal
Subjects:	V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM161 Ships--Hydrodynamics V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM365 Remote submersibles. Autonomous vehicles.
Divisions:	Faculty of Marine Technology (MARTECH) > Marine Engineering > 36202-(S1) Undergraduate Thesis
Depositing User:	Muhammad Fathany Qawiyya
Date Deposited:	06 Aug 2024 07:39
Last Modified:	06 Aug 2024 07:39
URI:	http://repository.its.ac.id/id/eprint/113967

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