Desain dan Implementasi Sistem Kontrol Hexacopter Menggunakan Kontroler Cascade-PID

Einsthan, Albert (2025) Desain dan Implementasi Sistem Kontrol Hexacopter Menggunakan Kontroler Cascade-PID. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Hexacopter merupakan salah satu jenis pesawat tanpa awak (UAV) yang memiliki enam rotor, sehingga memiliki stabilitas dan kemampuan angkat yang lebih baik dibandingkan quadcopter. Dalam penelitian sebelumnya, berbagai macam desain kontrol telah dikembangkan untuk hexacopter. Kontrol PID merupakan pendekatan yang paling umum digunakan karena struktur kontrolernya yang sederhana dan dapat menghasilkan efek yang cukup baik. Dalam penelitian ini, penulis mengusulkan pendekatan algoritma multi kontrol cascade-PID untuk mengontrol attitude (roll, pitch, yaw) dan ketinggian. Pendekatan ini menggunakan struktur kontrol berlapis di mana PID digunakan secara terpisah untuk mengontrol setpoint attitude, kecepatan sudut (rate), dan posisi ketinggian. Sistem ini memanfaatkan flight controller yang bersifat open source dan dibangun dari awal (scratch), memberikan fleksibilitas dalam perancangan dan penyesuaian sistem kontrol. Data sensor IMU digunakan untuk feedback kontrol attitude, sementara sensor LiDAR menjaga stabilitas altitude. Hasil simulasi dan implementasi menunjukkan bahwa algoritma cascade-PID mampu memberikan kontrol yang stabil (terkecuali sudut yaw) dengan nilai overshoot dari kontrol sudut roll, pitch, yaw, serta ketinggian, yaitu sebesar 8.8597%, 8.0924%, 22.5739%, 10.5263%. Selain itu, inner loop membuat pergerakan hexacopter menjadi responsif dengan rise time sudut roll, pitch, yaw sebesar 450ms, 420ms, 770ms, lebih cepat daripada kontrol ketinggian dengan rise time selama 3000ms.
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A hexacopter is a type of unmanned aerial vehicle (UAV) with six rotors, offering better stability and lifting capability compared to a quadcopter. In previous studies, various control designs have been developed for hexacopters. PID control is the most commonly used approach due to its simple controller structure and its ability to produce satisfactory results. In this study, the author proposes a multi-control cascade-PID algorithm approach to control attitude (roll, pitch, yaw) and altitude. This approach employs a layered control structure where PID is used separately to control the setpoint attitude, angular rate (rate), and altitude. The system utilizes an open-source flight controller that is built from scratch, providing flexibility in the design and customization of the control system. IMU sensor data is used for attitude feedback control, while a LiDAR sensor ensures altitude stability. Simulation and implementation results demonstrate that the cascade-PID algorithm provides table control, with overshoot values for roll, pitch, yaw angles, and altitude at 8.8597%, 8.0924%, 22.5739%, and 10.5263%, respectively. Additionally, the inner loop makes the hexacopter movement more responsive, with rise times for roll, pitch, and yaw angles of 450ms, 420ms, and 770ms, respectively, which are faster compared to altitude control with a rise time of 3000ms.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Hexacopter, Kontrol Attitude, Kontrol Ketinggian, Cascade-PID, Attitude Control, Altitude Control
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK2681.O85 Electric motors, Brushless. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7871.674 Detectors. Sensors U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle)
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Albert Einsthan
Date Deposited:	23 Jan 2025 02:29
Last Modified:	23 Jan 2025 02:29
URI:	http://repository.its.ac.id/id/eprint/116691

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