Perancangan Sistem Kontrol Gerak pada Autonomous Underwater Vehicle (AUV) dengan Pengaruh Gangguan Arus Laut berbasis Logika Fuzzy

Margaretha, Agnes Ivonne (2022) Perancangan Sistem Kontrol Gerak pada Autonomous Underwater Vehicle (AUV) dengan Pengaruh Gangguan Arus Laut berbasis Logika Fuzzy. Other thesis, Institut Teknologi Sepuluh Nopember.

Text 02311840000001-Undergraduate_Thesis.pdf - Accepted Version Download (2MB)

Abstract

Indonesia sebagai negara maritim dengan wilayah laut yang sangat luas, terbuka, dan posisi geostrategis rentan terhadap berbagai bentuk ancaman, seperti perusakan sumber daya kelautan, pencurian kekayaan laut, dan jalur pelayaran yang dapat dilewati kapal selam asing. Teknologi modern berupa Autonomous Underwater Vehicle (AUV) diperlukan untuk menjaga pertahanan dan keamanan laut dari bahaya yang merugikan negara. Sebuah AUV diperlukan untuk membantu dalam mengatasi hal tersebut. AUV tidak dapat melakukan operasi secara baik tanpa sistem kontrol. Beberapa AUV menggunakan kontroler PID untuk mengendalikan trajectory tracking, namun tidak dapat memberikan performansi yang baik. Penelitian ini melakukan perancangan sistem kontrol gerak AUV dengan menggunakan kontroler logika fuzzy agar dapat menjaga kestabilan gerak AUV. Wilayah perairan yang digunakan pada penelitian ini adalah perairan Selayar, serta gangguan lingkungan berupa arus laut pada kedalaman 25 m, 100 m dan 250 m. Hasil penelitian menunjukkan bahwa pengujian sistem yang dilakukan secara close loop menggunakan kontroler logika fuzzy memiliki nilai maksimum overshoot sebesar 0.27o untuk point set 20° dan 0.62o untuk set point 30°, serta mampu mempertahankan kestabilan gerak AUV berada di lintasan yang ditentukan dengan nilai rata-rata error terbesar 1.18 m pada arus laut di kedalaman 250 m.
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Indonesia as a maritime country with a very wide, open sea area and a geostrategic position is vulnerable to various forms of threats, such as the destruction of marine resources, the theft of marine wealth, and shipping lanes that can be passed by foreign submarines. To overcome this threat, modern technology is needed in the form of an Autonomous Underwater Vehicle (AUV) to maintain maritime defense and security from dangers that harm the country. An AUV is needed to help in overcoming this. The AUV cannot operate properly without a control system. Some AUV use a PID controller to control trajectory tracking, but they cannot provide good performance. So that in this research, the design of the AUV motion control system was carried out using a fuzzy logic controller in order to maintain the stability of the AUV motion. The sea water area used in this study is Selayar, as well as environmental disturbances in the form of ocean currents at a depth of 25 m, 100 m and 250 m. The results showed that the system test which was carried out in a close loop using a fuzzy logic controller had a maximum overshoot value of 0.27o for a set point of 20° and 0.62o for a set point of 30°. As well as being able to maintain the stability of the AUV's motion on the specified trajectory with the largest average error value of 1.18 m on ocean currents at a depth of 250 m.

Item Type:	Thesis (Other)
Additional Information:	RSF 629.89 Mar p-1 • 2022
Uncontrolled Keywords:	Arus Laut, Autonomous Underwater Vehicle (AUV), Logika Fuzzy, Maksimum Overshoot, PID, Fuzzy Logic, Maximum Overshoot, Ocean Current
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM365 Remote submersibles. Autonomous vehicles.
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	- Davi Wah
Date Deposited:	15 Oct 2024 03:28
Last Modified:	15 Oct 2024 03:28
URI:	http://repository.its.ac.id/id/eprint/115730

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