Perancangan Sistem Kendali Automatic Ship Berthing Berbasis Fuzzy Gain Scheduling - PID Area Pelabuhan Kupang

Handayani, Intan Safri (2025) Perancangan Sistem Kendali Automatic Ship Berthing Berbasis Fuzzy Gain Scheduling - PID Area Pelabuhan Kupang. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Area pelabuhan merupakan area terpenting dalam sarana transportasi laut. Area tersebut terbagi atas 3 zona untuk melakukan olah gerak kapal, yaitu zona Luar dari kolam pelabuhan, dilanjut kolam pelabuhan, area belokan dan berakhir pada zona mooring. Pada setiap zona ini diperlukan variasi kecepatan dan penjadwalan yang berbeda menyesuaikan dengan sudut rudder dan tenaga mesin utama. Penelitian ini dibutuhkan untuk menanggulangi kecelakaan pada area tersebut yang disebabkan human error, serta penurunan dana operasional untuk jasa awak kapal serta jasa labuh di area pelabuhan. Penelitian ini ditujukan untuk membentuk sistem kontrol Olah Gerak kapal berbasis Fuzzy Gaining Scheduling – PID disertai simulasi memanfaatkan kapal General Cargo yang dievaluasi menyesuaikan trayektori asli pada Pelabuhan Kupang. Metode yang digunakan berupa pemanfaatan gabungan antara Fuzzy Logic dan PID Controller dengan sistem Fuzzy sebagai alat untuk membentuk nilai Konstanta yang dibutuhkan pada PID Controller. Uji coba Open Loop dilakukan untuk mengatur nilai minimum dan maksimum masing-masing gain dan didapati data Ku senilai 34,7325 dan Tu 42,96 detik. Dari nilai tersebut dibentuk sistem kendali FGS-PID yang saat disimulasikan secara Close Loop didapati overshoot sebesar 23,7o dan waktu stabil 218 detik. Performa yang didapatkan secara close loop rudder didapati nilai overshoot mencapai 23,72o dan waktu stabil berada pada 218,015 detik. Setelah dilakukannya sistem kendali otomatis tanpa gangguan, didapati perbedaan posisi mencapai 49 meter dan rata-rata sebesar 18,11 meter. Sedangkan ketika diberikan gangguan dengan kecepatan yang sama, perbedaan posisi mencapai meter dengan rata-rata 18,19 meter dan perbedaan posisi terbesar mencapai 49 meter. Performa sistem yang terbentuk dinyatakan baik dengan nilai error yang dihasilkan setelah penggunaan sistem terhitung di bawah batas maksimum.

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The port area is the most important marine transportation facility. The area is divided into 3 zones for ship maneuvering, namely the Outer zone of the port pool, continued by the port pool, turning area, and ending at the mooring zone. In each of these zones, different speed and scheduling variations are required to adjust the rudder angle and main engine power. This research is needed to overcome accidents in the area caused by human error, as well as reduce operational funds for crew services and mooring services in the port area. This research is intended to form a ship maneuvering control system based on Fuzzy Gaining Scheduling - PID accompanied by simulations utilizing General Cargo ships that are evaluated to adjust the original trajectory at Kupang Port. The method used is the use of a combination of Fuzzy Logic and PID Controller with the Fuzzy system as a tool to form the Constant value needed in the PID Controller. The Open Loop test was conducted to set the minimum and maximum values of each gain and found that Ku data was worth 34,7325 and Tu 42,96 seconds. From this value, the FGS-PID control system was formed which when simulated in a Close Loop was found to have an overshoot of 23,7o and a stable time of 218 seconds. The performance obtained by the close loop rudder was found to have an overshoot value of 23,72o and a stable time of 218,015 seconds. After the uninterrupted automatic control system, it was found that the position difference reached 49 meters and an average of 18,11 meters. Meanwhile, when given interference with the same speed, the difference in position reached meters with an average of 18,19 meters and the largest difference in position reached 49 meters. The performance of the system formed is stated as good with the error value generated after the use of the system is calculated below the maximum limit.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Automatic Berthing, FGS – PID, Fuzzy Logic, PID
Subjects:	T Technology > T Technology (General) T Technology > T Technology (General) > T57.62 Simulation T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control
Divisions:	Faculty of Marine Technology (MARTECH) > Marine Engineering > 36202-(S1) Undergraduate Thesis
Depositing User:	Intan Safri Handayani
Date Deposited:	04 Aug 2025 06:55
Last Modified:	04 Aug 2025 06:55
URI:	http://repository.its.ac.id/id/eprint/125072

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