Perancangan Sistem Kendali Heading Kapal Kontainer XYZ Berbasis Fuzzy Gain Scheduling Pada Kondisi Gangguan Gelombang Laut

Astari, Auda Phalosa (2026) Perancangan Sistem Kendali Heading Kapal Kontainer XYZ Berbasis Fuzzy Gain Scheduling Pada Kondisi Gangguan Gelombang Laut. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Kapal Kontainer XYZ yang beroperasi pada rute pelayaran di perairan Indonesia menghadapi tantangan dalam mempertahankan arah haluan (heading) akibat pengaruh lingkungan, khususnya gangguan gelombang laut. Pengendali PID konvensional memiliki keterbatasan dalam menangani dinamika nonlinier dan gangguan acak yang terjadi secara terusmenerus karena parameternya bersifat statis. Penelitian ini bertujuan untuk merancang dan menganalisis performansi sistem kendali heading berbasis Fuzzy Gain Scheduling (FGS) PID pada Kapal Kontainer XYZ dalam kondisi gangguan gelombang laut. Pemodelan dinamika kapal menggunakan pendekatan Davidson-Schiff melalui representasi state-space tiga derajat
kebebasan (surge, sway, yaw). Parameter dasar PID ditentukan melalui metode trial and error, sedangkan sistem logika fuzzy Mamdani dirancang untuk melakukan penyesuaian parameter secara otomatis berdasarkan kondisi error dan yaw rate. Gangguan gelombang laut dimodelkan menggunakan linear shaping filter orde dua yang merepresentasikan kondisi Sea State 4 dengan ketinggian rata-rata 2,5 meter. Simulasi sistem lingkar tertutup dilakukan menggunakan perangkat lunak MATLAB/Simulink. Hasil simulasi menunjukkan bahwa pada kondisi tanpa gangguan, sistem FGS PID mencatatkan overshoot sebesar 1,21° dan settling time 44,91 detik untuk setpoint 10°, serta overshoot 1,73° dan settling time 56,26 detik untuk setpoint 20°. Saat diuji pada kondisi gangguan gelombang laut Sea State 4 yang diinjeksikan secara kontinu,
algoritma FGS PID mampu meredam deviasi dengan overshoot gangguan sebesar 0,49° (setpoint 10°) dan 0,66° (setpoint 20°), serta waktu pemulihan berturut-turut selama 49,85 detik dan 48,70 detik. Selain itu, evaluasi manuver kelincahan kapal melalui uji zig-zag berdasarkan
standar IMO MSC.137(76) menunjukkan nilai first overshoot pada manuver 10°/10° dan 20°/20° secara berurutan adalah 10,78° dan 15,29°, di mana kedua nilai tersebut memenuhi
batas toleransi kelayakan IMO. Secara keseluruhan, penerapan sistem FGS PID memberikan respons transien yang lebih stabil dan adaptif dalam mengkompensasi gangguan dibandingkan
pengendali konvensional.
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The XYZ Container Ship operating on shipping routes in Indonesian waters faces challenges in maintaining its heading direction due to environmental influences, particularly sea wave disturbances. Conventional PID controllers have limitations in handling nonlinear dynamics and continuous random disturbances because their parameters are static. This study aims to design and analyze the performance of a Fuzzy Gain Scheduling (FGS) PID-based heading control system for the XYZ Container Ship under sea wave disturbances. The ship dynamics modeling utilizes the Davidson-Schiff approach in a three-degree-of-freedom (surge, sway, yaw) state-space representation. The baseline PID parameters are determined through the trial-and-error method, while a Mamdani fuzzy logic system is designed to automatically adjust the controller gains based on the error and yaw rate conditions. The sea wave disturbance is modeled using a second-order linear shaping filter representing Sea State 4 conditions with an average wave height of 2.5 meters. Closed-loop system simulations are conducted using MATLAB/Simulink software. The simulation results show that under conditions without disturbances, the FGS PID system produces an overshoot of 1.21° and a settling time of 44.91 seconds for a 10° setpoint, and an overshoot of 1.73° and a settling time of 56.26 seconds for a 20° setpoint. When tested under Sea State 4 wave disturbances injected at steady state, the FGS PID algorithm is able to dampen the deviation with a disturbance overshoot of 0.49° (10° setpoint) and 0.66° (20° setpoint), and records recovery times of 49.85 seconds and 48.70 seconds, respectively. Furthermore, the evaluation of ship maneuverability through zig-zag tests based on the IMO MSC.137(76) standard shows that the first overshoot values in the 10°/10° and 20°/20° maneuvers are 10.78° and 15.29°, respectively, both of which meet the IMO feasibility tolerance limits. Overall, the implementation of the FGS PID system provides a more stable and adaptive transient response in compensating for disturbances compared to conventional controllers.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Fuzzy Gain Scheduling PID, Gangguan Gelombang Laut, Intelligent Control, Kapal Kontainer, Sistem Kendali Heading Container Ship, Fuzzy Gain Scheduling PID, Heading Control System, Intelligent Control, Sea Wave Disturbance
Subjects:	V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM161 Ships--Hydrodynamics V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM761 Stability of ships
Divisions:	Faculty of Industrial Technology > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Auda Phalosa Astari
Date Deposited:	31 Jul 2026 01:47
Last Modified:	31 Jul 2026 01:47
URI:	http://repository.its.ac.id/id/eprint/140014

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