Perancangan Sistem Kendali Position Keeping untuk Platform Offshore Semi-Submersible Berbasis Dynamic Positioning System

Al Farrij, M. Alif (2025) Perancangan Sistem Kendali Position Keeping untuk Platform Offshore Semi-Submersible Berbasis Dynamic Positioning System. Other thesis, Institut Teknologi Sepuluh Nopember.

Text 5009201107-Udergraduate_Thesis.pdf - Accepted Version Restricted to Repository staff only until 1 April 2027. Download (3MB) | Request a copy

Abstract

Platform Offshore jenis semi-submersible merupakan salah satu jenis platform terapung yang dilengkapi mooring untuk mempertahankan posisi platform di permukaan laut saat melakukan proses drilling. Platform juga dilengkapi dengan thruster untuk menjaga kestabilan terhadap gangguan gelombang air laut agar proses drilling dapat berjalan secara optimal. Dalam penelitian ini dikembangkan sebuah metode kendali untuk position keeping platform Atlantis PQ berdimensi 129 × 116 × 52 meter menggunakan hybrid LQR-fuzzy controller. Sistem kendali dirancang terdiri atas logika fuzzy dan Linear Quadratic Regulator (LQR) serta terintegrasi secara cascade. Logika fuzzy dikembangkan dengan 3 input dan 27 rule-base yang diturunkan berdasarkan penelitian terdahulu. Aktuator yang digunakan adalah Kongsberg Azimuth Thruster AZ-PM 2600. Gangguan yang ditinjau adalah gaya gelombang air laut. Hasil simulasi menunjukkan metode kendali berbasis hybrid LQR-fuzzy controller mampu untuk memberikan gain feedback yang adaptif sesuai posisi platform setiap waktu dan menjaga posisi platform di reference point. Hasil pengujian menunjukkan performa sistem kendali berbasis hybrid LQR-fuzzy controller lebih baik dibandingkan dengan sistem kendali berbasis LQR konvensional, dengan peningkatan kecepatan kestabilan untuk gerak surge sebesar 36,6%; untuk gerak sway sebesar 35%; dan untuk gerak yaw sebesar 31,9%.
====================================================================================================================================
A semi-submersible offshore platform is a type of floating platform equipped with a mooring system to maintain its position on the sea surface during drilling operations. Additionally, the platform is fitted with thrusters to stabilize against ocean wave disturbances, ensuring optimal drilling performance. This study developed a hybrid LQR-fuzzy controller to maintain the position of the Atlantis PQ platform, which has dimensions of 129 × 116 × 52 meters. The control system is designed using a cascade approach that integrates fuzzy logic and a Linear Quadratic Regulator (LQR). The fuzzy logic system has three inputs and 27 rule bases derived from previous studies. The actuator used is the Kongsberg Azimuth Thruster AZ-PM 2600, and the disturbance considered is the force of ocean waves. Simulation results show that the hybrid LQR-fuzzy method can produce adaptive feedback gains based on the platform's position in real time, maintaining the platform at its reference point. Compared to conventional LQR-based control, the hybrid LQR-fuzzy system demonstrated improved performance, with stability convergence speeds increasing by 36,6% for surge motion; 35% for sway motion; and 31,9% for yaw motion.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Dynamic Positioning System, Hybrid LQR-Fuzzy Controller, Offshore Platform, Platform Offshore, Position Keeping
Subjects:	T Technology > T Technology (General) T Technology > T Technology (General) > T57.62 Simulation T Technology > TC Hydraulic engineering. Ocean engineering > TC1665 Offshore structures--Materials. T Technology > TJ Mechanical engineering and machinery > TJ217 Adaptive control systems
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	M. Alif Al Farrij
Date Deposited:	07 Feb 2025 06:05
Last Modified:	07 Feb 2025 06:05
URI:	http://repository.its.ac.id/id/eprint/118535

Actions (login required)

View Item