Perancangan Sistem Kendali Dynamic Positioning pada Semi-submersible Offshore Platform Menggunakan Fuzzy Logic Controller

Munawir, Khayyir Noorachman (2026) Perancangan Sistem Kendali Dynamic Positioning pada Semi-submersible Offshore Platform Menggunakan Fuzzy Logic Controller. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Sistem Dynamic positioning (DP) merupakan komponen penting dalam menjaga posisi dan orientasi platform semi-submersible pada operasi pengeboran lepas pantai tanpa menggunakan sistem mooring. Lingkungan laut yang dinamis serta adanya gangguan eksternal dapat menyebabkan platform mengalami penyimpangan posisi sehingga diperlukan sistem kendali yang mampu mempertahankan posisi dan haluan secara otomatis. Penelitian ini bertujuan untuk merancang sistem kendali dynamic positioning berbasis fuzzy logic controller serta mengevaluasi kinerjanya dalam menjaga posisi platform semi-submersible Maersk Discoverer. Model sistem dikembangkan menggunakan pendekatan dinamika tiga derajat kebebasan (3-DOF) yang meliputi gerak surge, sway, dan yaw. Pengujian dilakukan melalui simulasi closed-loop dengan gangguan arus laut pada arah datang 0°, 45°, dan 90°, serta pada skenario position keeping dan skenario dengan kondisi awal berbeda dari titik referensi. Hasil simulasi menunjukkan bahwa fuzzy logic controller mampu mempertahankan posisi dan haluan platform pada seluruh skenario pengujian. Pada skenario position keeping diperoleh steady-state error posisi maksimum sebesar 0,01 m pada arah north dan 0 m pada arah east, serta 0° pada haluan platform. Deviasi maksimum yang terjadi adalah 4,6 m ke arah north, 1,28 m ke arah east, dan 0,03° pada haluan, semuanya tetap berada dalam batas watch circle DP. Pada skenario dengan kondisi awal berbeda dari titik referensi, sistem mampu mengembalikan platform menuju posisi yang diinginkan dengan settling time posisi north antara 296–569 s dan posisi east antara 254–325 s, serta menghasilkan overshoot maksimum sebesar 1,16 m pada arah north, 0,4 m pada arah east, dan 0,01° pada haluan platform. Perbedaan karakteristik respons pada setiap skenario menunjukkan bahwa arah datang arus memengaruhi besarnya gaya gangguan yang bekerja pada platform serta kebutuhan gaya kontrol yang dihasilkan oleh thruster. Sistem fuzzy logic controller yang dirancang mampu menjalankan fungsi dynamic positioning dengan baik. Penelitian ini mendukung Sustainable Development Goals (SDGs), khususnya SDG 9 (Industry, Innovation and Infrastructure), SDG 8 (Decent Work and Economic Growth), serta SDG 14 (Life Below Water).
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Dynamic positioning (DP) systems play an important role in maintaining the position and orientation of semi-submersible platforms during offshore drilling operations without the use of mooring systems. Dynamic marine environments and external disturbances may cause platform position deviations, requiring a control system capable of automatically maintaining the desired position and heading. This study aims to design a dynamic positioning control system based on a Fuzzy Logic Controller and evaluate its performance in maintaining the position of the Maersk Discoverer semi-submersible platform. The system model was developed using a three-degrees-of-freedom (3-DOF) dynamic approach consisting of surge, sway, and yaw motions. Performance evaluation was conducted through closed-loop simulations under ocean current disturbances with incident angles of 0°, 45°, and 90°, including both position keeping scenarios and scenarios with initial conditions different from the reference position. The simulation results demonstrate that the proposed Fuzzy Logic Controller is capable of maintaining the platform position and heading under all tested scenarios. In the position keeping scenario, the maximum steady-state position errors were 0.01 m in the north direction and 0 m in the east direction, with 0° in platform heading. The maximum deviations were 4.6 m in the north direction, 1.28 m in the east direction, and 0.03° in heading, all remaining within the dynamic positioning watch circle limits. In scenarios with initial conditions different from the reference position, the system successfully returned the platform to the desired position with settling times ranging from 296–569 s in the north direction and 254–325 s in the east direction, while the maximum overshoots were 1.16 m, 0.4 m, and 0.01° for the north position, east position, and heading response, respectively. Variations in system response characteristics indicate that the current incident angle affects the magnitude of environmental disturbances acting on the platform and consequently the control effort required from the thrusters. Overall, the designed Fuzzy Logic Controller successfully performs the dynamic positioning function. This research supports the achievement of the Sustainable Development Goals (SDGs), particularly SDG 9 (Industry, Innovation and Infrastructure), SDG 8 (Decent Work and Economic Growth), and SDG 14 (Life Below Water).

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Dynamic Positioning, Fuzzy Logic Controller, Semi-Submersible Offshore Platform, Position Keeping, SDG 9: Industri, Inovasi, dan Infrastruktur
Subjects:	T Technology > TC Hydraulic engineering. Ocean engineering > TC1680 Offshore structures T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control.
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Khayyir Noorachman Munawir
Date Deposited:	30 Jul 2026 06:45
Last Modified:	30 Jul 2026 06:45
URI:	http://repository.its.ac.id/id/eprint/137964

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