Ambarwati, Farida (2017) Perancangan Optimal Tracking Control Kapal LNG Dengan Beban Muatan Penuh Keluar Dari Pelabuhan Arun. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
Preview |
Text
2413100064-Undergraduate-Theses.pdf - Published Version Download (2MB) | Preview |
Abstract
Batasan area Pelabuhan Arun yang sempit memerlukan adanya sistem kendali guna memperkecil error lintasan kapal. Sistem kendali Linear Quadratic Gaussian digunakan dalam persamaan plant kapal dalam bentuk ruang keadaan (state-space). Penelitian dilakukan dengan cara simulasi menggunakan perangkat lunak MATLAB R2009a. Pengujian sistem dilakukan dengan 4 tahap yakni uji kestabilan, uji keterkendalian, uji keteramatan, uji close loop, uji lintasan kapal. Hasil pengujian tanpa ada gangguan angin didapatkan nilai kesalahan maksimal X dan Y pada lintasan kapal kosong dan kapal beban penuh yaitu sumbu X 0.1962 km, 0.1931 km dan sumbu Y adalah 0.1139 km, 0.1121 km. Pengujian lintasan kapal dengan adanya gangguan angin dengan variasi sudut 30o, 40o, 50o menghasilkan nilai error yang sama pada setiap kondisi kapal. Nilai error maksimal X dan Y pada lintasan kapal kosong dan kapal beban penuh memiliki nilai yang sama yaitu 0.001028 km. Seluruh data lintasan aktual yang telah didapatkan menunjukkan bahwa sistem kendali optimal menggunakan metode Linear Quadratic Gaussian lebih efektif untuk diterapkan pada sistem yang memiliki gangguan dari lingkungan.
==================================================================================
Limitation of Arun’s port area requires the control system to minimize error value of ship trajectory. Linear Quadratic Gaussian control system used in state-space model of ship dynamic system. The study was conducted by simulation using MATLAB R2009a software. System testing is done with 4 stages there were stability test, controllabillity test, observability test, close loop test, track test vessel. The test results without any wind disturbance obtain maximum error value X and Y on the track of empty ship and a full load one ,i.e the X axis 0.1962 km; 0.1931 km and, the Y axis is 0.1139 km, 0.1121 km .Tracking test of the ship with wind disturbances using variations in angle of 30o, 40o, 50o yield has the same error value in every condition of the ship. The maximum error value X and Y on the track empty and full load conditon is 0.001028 km. Optimal control system uses Linear Quadratic Gaussian method is more effective to apply in systems that have interference from the environment disturbances.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Uncontrolled Keywords: | Beban penuh; Error lintasan minimal; Gangguan Angin; Kapal LNG; Sistem kendali LQG full load, the minimum track error, wind distrubance, LNG ships, LQG control system |
| Subjects: | V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM293 Shipping--Indonesia--Safety measures |
| Divisions: | Faculty of Industrial Technology > Physics Engineering > 30201-(S1) Undergraduate Thesis |
| Depositing User: | - FARIDA AMBARWATI |
| Date Deposited: | 21 Apr 2017 08:07 |
| Last Modified: | 08 Mar 2019 06:49 |
| URI: | http://repository.its.ac.id/id/eprint/3737 |
Actions (login required)
 |
View Item |