RANCANG BANGUN ALAT DAN KONTROL PID TWIN ROTOR HOVERING SYSTEM

NUGROHO, FAEDIAN EKO (2017) RANCANG BANGUN ALAT DAN KONTROL PID TWIN ROTOR HOVERING SYSTEM. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Pengadaan alat praktikum sebagai penunjang perkuliahan di jurusan Teknik Mesin ITS dirasa masih sangat kurang. Salah satu bidang yang dinilai membutuhkan alat praktikum sebagai media pembelajaran tersebut adalah bidang sistem pengendalian otomatis. Dari sekian banyak alat model pergerakan, model pergerakan helicopter tanpa awak atau dikenal dengan unmanned aerial vehicle (UAV) sebagai alat praktikum sistem kendali otomatis dinilai paling aplikatif. Twin Rotor Hovering System merupakan alat praktikum yang merupakan model dari helicopter dengan 2 buah propeller (bicopter) yang dapat dijadikan solusi sebagai media pembelajaran pada bidang sistem pengendalian otomatis. Dalam tugas akhir ini dirancang Twin Rotor Hovering System dengan kontrol PID yang sesuai untuk mengendalikannya. Penelitian dimulai dengan merancang desain alat dan melakukan simulasi kekuatan alat pada software Inventor. Alat dibuat menggunakan material berdasarkan hasil perhitungan dan simulasi yang memenuhi kriteria keamanan. Setelah pembuatan alat selesai, dibuat control PID dengan metode auto tuning pada software Simulink dan metode Ziegler-Nichols. Penelitian ini menghasilkan desain Twin Rotor Hovering System pada software Autodesk Inventor. Desain tersebut memberikan informasi berupa jenis komponen dan material yang dibutuhkan. Hasil simulasi pada software Inventor menunjukkan tegangan maksimal Von Misses yang terjadi sebesar 0.4833 MPa. Sedangkan perhitungan secara teoritis mendapatkan hasil tegangan maksimal Von Misses yang terjadi sebesar 0.17693 MPa. Hasil perhitungan dan simulasi tersebut dinilai aman karena material yang digunakan adalah alumunium 6061 dengan kekuatan yield 267 MPa. Hasil rancangan kontrol PID dengan metode auto tuning mendapatkan nilai P = 4.1434, I = 11.234, dan D = 0 untuk plot grafik best settling time. Namun hasil simulasi auto tuning dengan plot best settling time yang diaplikasikan pada alat menunjukkan error yang sangat besar dengan nilai overshoot 132% dan tidak mencapai waktu settling time. Untuk hasil kontrol PID dengan metode Ziegler-Nichols didapatkan nilai P = 3.1284, I = 2.425, dan D = 0.06063 untuk plot grafik Classic PID. Hasil aplikasi metode Ziegler-Nichols menunjukkan hasil yang jauh lebih baik dengan nilai rise time 0.8 detik, overshoot 92%, dan mencapai settling time setelah 10.15 detik. ================================================================= A provision to lab equipment as the course support in Mechanical Engineering ITS is considered deficient. One of fields in which requires the equipment as a learning media is the automatic control system. Out of many classic exemplars, helicopter without its crews or better known as unmanned aerial vehicle (UAV) as the automatic control system is adjudged to be the most applicative. Twin Rotor Hovering System is an example of a two propeller helicopter (bicopter) which can be a solution to the automatic control system as learning media issue. In this thesis, Twin Rotor Hovering System was designed with the proper PID to control it. The research was begun by designing the tools and by doing the simulations on its power in Inventor software. The tool was made out of the material that satisfies the equations and safety criteria. When the tool was done, the PID control was made with auto tuning in the Simulink software and Ziegler-Nichols method. This research has produced a design of Twin Rotor Hovering System in Autodesk Inventor software. The design could give the information such as component types and material needed. The result of Inventor software simulation shows the maximum i tension of Von Misses occurred was 0.4833 MPa. While in theoretical equation, the maximum tension of Von Misses reached 0.17693 MPa. The results of the equations and the simulation are considered safe with the use of aluminum 6061 as material with yield strength of 267 MPa. The result of PID control design with auto tuning method gained a score of P = 4.1434, I = 11.234, and D = 0 for graphic plot of best settling time. However, the result of auto tuning simulation with best settling time plot on the tool showed an enormous error with overshoot score of 132% and was unable to reach the settling time properly. The PID Control from using the Ziegler-Nichols method resulting a score of P = 3.1284, I = 2.425, and D = 0.06063 for the Classic PID graphic plot. The outcome from Ziegler-Nichols method showed a better one with a rise time of 0.8 seconds, overshoot 92%, and settling time after 10.15 seconds.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: Rancang bangun, unmanned aerial vehicle, twin rotor hovering system, software Autodesk Inventor, software Simulink, Kontrol PID, Ziegler-Nichols.
Subjects: T Technology > T Technology (General)
T Technology > TJ Mechanical engineering and machinery
Divisions: Faculty of Industrial Technology > Mechanical Engineering > (S1) Undergraduate Theses
Depositing User: FAEDIAN EKO NUGROHO
Date Deposited: 23 Jan 2017 07:43
Last Modified: 23 Jan 2017 07:43
URI: http://repository.its.ac.id/id/eprint/2612

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