Yulio, Yafet (2017) Implementasi Kontrol PID Pada Pergerakan Autonomous Underwater Vehicle di Dalam Pipa. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Jaringan pipa merupakan sarana transportasi penting bagi fluida seperti air, gas, dan minyak. Kebocoran pipa dapat mengakibatkan kerugian finansial yang besar bagi pihak pengguna sistem perpipaan. Penelitian ini bertujuan untukmembuat sistem robot yang dapat menyusuri saluran dalam pipa air untuk mendeteksi letak titik kebocoran agar kerugian finansial yang besar dapat dihindari. Penelitian ini menggunakan sensor jarak fotonik infrared yang dapat menjaga laju kestabilan Autonomous Underwater Vehicle (AUV) sehingga tidak terjadi tabrakan dengan dinding pipa. Komunikasi dengan sensor pada AUVmenggunakan mikrokontroler Arduino Nano, sedangkan metode kontrol yang digunakan pada sistem ini adalah Proportional-Integral-Derivative(PID), yaitu untuk mengontrol kecepatan baling-baling AUVagar dapat menjaga laju kestabilan dalam pipa. Hasil penelitian menunjukkan bahwaAUV dapat begerak di dalam pipa menggunakan kontrol PID untuk mengontrol pergerakan vertikal dan horisontal. Pengukuran sensor jarak di dalam air mengalami eror sebesar 1.25%. Untuk AUV bergerak secara vertikal, dengan rentang duty cycle sebesar 22% hingga 32% dan diperlukan Kp, Ki, Kd terbaik, masing-masing sebesar 3.5, 0, 0.1. Sedangkan untuk AUV bergerak horisontal, diperlukan Kp, Ki, Kd terbaik, masing-masing sebesar 2, 0, 0,1.
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The pipeline is an important means of transportation for fluids such as water, gas, and oil. Leaking pipes can result in huge financial losses for the users of the piping system. This research aims to create a robot that can navigate the system lines in water pipes to detect the location of the leak points that huge financial losses can be avoided.This research uses distance sensor infrared photonic that can maintain the stability of the rate of Autonomous Underwater Vehicle (AUV) so there is no collision with the wall of the pipe. Communication with the AUV sensors use a microcontroller Arduino Nano, while the control method used in this system is a Proportional-Integral-Derivative (PID), which is to control the speed of the propeller AUV in order to keep the pace of stability in the pipeline.The results showed that the AUV can stir in the pipeline using PID control to control the vertical and horizontal movement. Measurement of the proximity sensor in the water in an error of 1.25%. For AUV move vertically, with a duty cycle range of 22% to 32% and required Kp, Ki, Kd best, respectively 3.5, 0, 0.1. As for the AUV to move horizontally, required Kp, Ki, Kd best, each at 2, 0, 0,1.
| Item Type: | Thesis (Undergraduate) |
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| Uncontrolled Keywords: | AUV; Kebocoran Pipa; PID; Leakage Pipe |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control |
| Divisions: | Faculty of Industrial Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | YAFET YULIO |
| Date Deposited: | 04 Apr 2017 02:50 |
| Last Modified: | 06 Mar 2019 03:50 |
| URI: | http://repository.its.ac.id/id/eprint/2879 |
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