Miskiyah, Naf’atul (2022) Perancangan Sistem Kontrol Sandar Kapal Otomatis Menggunakan Metode Logika Fuzzy Mamdani. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Kegiatan di dalam pelabuhan yang sulit dilakukan dan memiliki prosedur yang kompleks adalah operasi sandar kapal. Operasi sandar kapal memiliki berbagai risiko kecelakaan dan dampak yang ditimbulkan menyebabkan kerugian yang cukup tinggi. Penelitian ini mengusulkan perancangan sistem sandar kapal otomatis dengan menggunakan metode Logika Fuzzy Mamdani. Aktuator yang bekerja pada sistem sandar kapal adalah bow thruster dan stern thruster. Penelitian ini dilakukan dengan mengontrol thrust yang dikirimkan pada bow thruster dan stern thruster secara bergantian untuk mendorong kapal dari titik koordinat pelabuhan menuju titik koordinat dermaga. KLF Fuzzy Mamdani yang yang digunakan berjenis MISO dengan variabel input jarak dan kecepatan sway kapal serta variabel output thrust yang kemudia dikirimkan pada aturan if-else (jika sudut heading kapal >-5° maka aktuator bow thruster yang bergerak dan stern thruster mati dan jika sudut heading <=-5° maka aktuator stern thruster yang bergerak sedangkan bow thruster mati). Sehingga keluaran dari sistem kendali ini akan menyebabkan aktuator bow thruster dan stern thruster bergerak bergantian hingga kapal mencapai titik koordinat dermaga. Penelitian dilakukan secara simulasi menggunakan software Simulink Matlab 2020b. Simulasi dilakukan dengan skenario tanpa gangguan dan dengan gangguan angin. Hasil simulasi manuverabilitas kapal menggunakan pengujian turning circle menunjukkann bahwa kapal KVLCC2 Tanker memiliki unjuk kerja yang baik karena telah memenuhi standar IMO dengan kriteria jarak nilai advance dan diameter taktikal. Hasil pengujian simulasi sistem kendali sandar kapal otomatis menunjukkan bahwa kapal mampu mencapai titik koordinat dermaga dan berhasil memenuhi permitted radius kapal atau rentang jari-jari circle of acceptance sebesar <0.5 Lpp. Selain itu kapal juga mampu memenuhi kriteria nilai kecepatan sandar kapal yang diperbolehkan yaitu kecepatan rata-rata sway kapal sebesar -0.5 knot pada simulasi tanpa gangguan dan -0.6 knot pada simulasi dengan gangguan angin. Sistem kendali sandar kapal ini juga mampu menghasilkan nilai sudut heading kapal akhir adalah sebesar -0.01˚ yang mana menunjukkan bahwa kapal telah berhasil sejajar dengan dermaga baik pada simulasi tanpa gangguan mapun simulasi dengan gangguan angin.
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Activities in ports that are difficult to carry out and have complex procedures are ship docking operations. Vessel berthing operations have various risks of accidents and the resulting impact causes quite high losses. This study proposes the design of an automatic ship berthing system using the Mamdani Fuzzy Logic method. The actuators that work on the ship's berth system are the bow thruster and the stern thruster. This research was carried out by controlling the thrust sent to the bow thruster and stern thruster alternately to push the ship from the port coordinates to the dock coordinates. The Fuzzy Mamdani KLF used is of the MISO type with variable input distance and sway speed of the ship as well as variable output thrust which is then sent to the if-else rule (if the ship's heading angle is >-5° then the bow thruster actuator is moving and the stern thruster is off and if the angle heading <=-5° then the stern thruster actuator is engaged while the bow thruster is off). So that the output of this control system will cause the bow thruster and stern thruster actuators to move alternately until the ship reaches the dock coordinates. The research was conducted in a simulation using the Simulink Matlab 2020b software. Simulations are carried out with uninterrupted scenarios and with wind disturbances. The results of the ship maneuverability simulation using turning circle testing show that the KVLCC2 Tanker ship has good performance because it has met IMO standards with the criteria for distance values of advance and tactical diameter. The results of the simulation test of the automatic ship berth control system show that the ship is able to reach the coordinates of the pier and successfully meet the ship's permitted radius or circle of acceptance radius of <0.5 Lpp. In addition, the ship is also able to meet the criteria for the allowable berth speed value, namely the average ship sway speed of -0.5 knots in the simulation without disturbance and -0.6 knots in the simulation with wind disturbance. The berthing control system is also able to produce a final ship heading angle value of -0.01˚ which indicates that the ship has succeeded in aligning with the pier both in the simulation without disturbance and in the simulation with wind disturbance.
| Item Type: | Thesis (Other) |
|---|---|
| Additional Information: | RSF 629.89 Mis p-1 2022 |
| Uncontrolled Keywords: | Bow Thruster, Gangguan Angin, Logika Fuzzy, Sandar Kapal Otomatis, Stern Thruster. Bow Thruster, Wind Disturbance, Fuzzy Logic, Automatic Ship Berthing, Stern Thruster. |
| Subjects: | Q Science > QA Mathematics > QA9.64 Fuzzy logic |
| Divisions: | Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis |
| Depositing User: | Mr. Marsudiyana - |
| Date Deposited: | 11 May 2026 04:06 |
| Last Modified: | 11 May 2026 04:06 |
| URI: | http://repository.its.ac.id/id/eprint/133115 |
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