DESAIN SISTEM KENDALI LINIER QUADRATIC GAUSSIAN (LQG) UNTUK DINAMIKA KAPAL SSV BRP TARLAC (LD 601)

PUTRA, FIRDAUS PRIYATNO (2017) DESAIN SISTEM KENDALI LINIER QUADRATIC GAUSSIAN (LQG) UNTUK DINAMIKA KAPAL SSV BRP TARLAC (LD 601). Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Sistem navigasi haluan kapal merupakan sistem yang digunakan dalam kendali gerak kapal, pada tugas akhir ini diteliti gerakan kapal SSV BRP TARLAC (LD 601) khususnya gerakan yaw. Kendali yang digunakan dalam gerakan yaw kapal LD – 601 adalah LQG. LQG merupakan salah satu kendali yang bersifat robust, karena dapat meminimalisir gangguan yang dialami kapal. Komponen dari LQG yang digunakan adalah gain regulator, dan estimator Kalman filter, dan digunakan gain integrator supaya sistem dapat mengikuti setpoint yang diberikan dengan baik. Penerapan LQG pada sistem navigasi haluan kapal berhasil dengan baik. Berdasarkan hasil pengamatan diperoleh bahwa kapal LD-601 yang melakukan gerak yaw sebesar 0.3 rad, waktu stabil yang dibutuhkan adalah 4 s. Selain itu diperoleh nilai overshoot sebesar 3.33%, artinya ketika nilai masukan sudut rudder adalah 0.3 rad maka gerakan yaw yang dialami adalah 0.31 rad. ============================================================================================= The ship navigation system is a system used in the movement of ships, here will be research about movement of the ship SSV BRP Tarlac (LD – 601) in particular yaw movement. The control yaw movement of ships used in LD – 601 is LQG. LQG is one control that is robust, because it can decreasing the disturbance and noise experienced by the ship. The components of LQG used are estimator gain regulatore, and Kalman filter, and gain integrator given to followed setpoint, so it can be followed properly. Aplication of LQG of the ship navigation system is work well. Based on the results of ship SSV doing yaw movement is 0.3 rad, the stable time required is 4s. in the other hand obtained overshoot value is 3.33%, means that when the input angle of the rudder is 0.3 rad then the yaw motion experienced at 0.31 rad.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: sistem navigasi haluan kapal, Kapal SSV BRP TARLAC (LD – 601), LQG (Linier Quadratic Gaussian), gain regulator, Kalman filter , gain integrator.
Subjects: Q Science > Q Science (General)
V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering
Divisions: Faculty of Mathematics and Science > Mathematics > (S1) Undergraduate Theses
Depositing User: FIRDAUS PRIYATNO PUTRA
Date Deposited: 25 Jan 2017 03:12
Last Modified: 25 Jan 2017 03:12
URI: http://repository.its.ac.id/id/eprint/2902

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