Perencanaan Sistem Kendali Stabilisasi Octocopter UAV (Unmanned Aerial Vehicle)

Hidayatullah, Rizkyansyah Alif (2016) Perencanaan Sistem Kendali Stabilisasi Octocopter UAV (Unmanned Aerial Vehicle). Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Unmanned Aerial Vehicle (UAV) merupakan wahan terbang tanpa awak yang dapat dikendalikan dari jarak jauh. Penggunaan UAV dewasa ini mengalami perkembangan baik di bidang sipil, militer, maupun antisipasi dan mitigasi bencana. Pada bidang antisipasi dan mitigasi UAV berguna sebagai alat mapping area bencana dan penyisiran wilayah bencana. UAV yang banyak digunakan adalah tipe rotary wing / copter. UAV dengan tipe rotary wing terbagi menjadi beberapa jenis yaitu Tricopter, Quadcopter, Hexacopter, dan Octocopter. Octocopter memiliki kemampuan mengngkat beban yang lebih besar dibandingkan quadcopter dan hexacopter karena memiliki baling-baling yang lebih banyak. Dalam penelitian ini akan dikembangkan desain dan implementasi dari Octocopter. Perancangan model menggunakan software SOLIDWORK dengan batasan dimensi maksimum 700x700x500 mm dan massa ≤ 1,75 kg. Kemudian analisis struktur menggunakan metode elemen hingga dengan kriteria kegagalan von-mises, faktor keamanan 1,5 terhadap yield strength bahan. Dan simulasi kendali kestabilan (roll-pitch-yaw) dan ketinggian tetap dengan bantuan software MATLAB. Simulasi ini menggunakan kendali Proportional-Integral-Derivative (PID). Dalam proses rancang bangun akan menggunakan desain dari SOLIDWORK dan analisis yang telah dilakukan selama simulasi. Untuk rangkaian elektronik, inertial measurement unit (IMU), sensor barometer, GPS dan komunikasi data menggunakan sistem Ardupilot Mega. Octocopter yang diproduksi memiliki dimensi 700x700x250 mm, bermassa 1750 gram dan telah memiliki instrumen kamera. Dalam pengujian lapangan, Octocopter telah mampu terbang dengan dua mode, yakni mode stabilize dan altitude hold. Sedangkan dalam simulasi kestabilan dengan software numerik, didapatkan respon sesuai dengan keinginan. Yakni settling time sistem roll 2,912 detik, pitch 2,2 detik, yaw 3,017 detik dan sistem untuk ketinggian tetap 0,1533 detik. Pada analisis stuktur, memberikan hasil bahwa akrilik dan aluminium 6061-T6 telah memenuhi persyaratan bahan dengan faktor keamanan 14,23 (aluminium) dan 1,67 (akrilik). ================================================================================================================== Unmanned Aerial Vehicle (UAV) is subordinate to fly without a crew that can be controlled remotely. The use of UAVs today experiencing good developments in the fields of civil, military, and anticipation and mitigation. In the field of anticipation and mitigation UAV useful as a means of mapping the disaster area and sweeping the region. UAV is the widely used type of rotary wing / copter. The type of rotary wing UAV is divided into several types, namely Tricopter, Quadcopter, Hexacopter, and Octocopter. Octocopter have greater payload than quadcopter and hexacopter because it has more propeller than the others. This research will be developed in the design and implementation of Octocopter. The design of the model using software solidwork to limit the maximum dimensions 700x700x500 mm and a mass of ≤ 1.75 kg. Then the structural analysis using the finite element method with failure criteria von-mises, a safety factor of 1.5 against the yield strength of the material. And simulation of the stability control (pitch-roll-yaw), and a fixed height with the aid of MATLAB software. This simulation uses the control Proportional-Integral-Derivative (PID). In the engineering process will use a design from solidwork and analyzes that have been conducted during the simulation. For electronic circuits, inertial measurement unit (IMU), barometer sensors, GPS and data communication using the Mega Ardupilot system. Octocopter produced has dimensions of 700x700x250 mm, mass of 1750 grams and has had a camera instrument. In field tests, Octocopter have been able to fly with two modes, namely Stabilize and altitude hold mode. While the numerical simulation of the stability of the software, the response obtained in accordance with the wishes. Namely roll system settling time 2.912 seconds, 2.2 second pitch, yaw 3.017 seconds and systems for fixed height 0.1533 seconds. In the analysis of the structure, gives the result that the acrylic and aluminum 6061-T6 has met the requirements of materials with the safety factor of 14.23 (aluminum) and 1.67 (acrylic).

Item Type: Thesis (Undergraduate)
Additional Information: RSM 629.132 6 Hid p
Uncontrolled Keywords: Octocopter; UAV; Solidwork; Controller; MATLAB; P&ID; Stabil
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers
Divisions: Faculty of Industrial Technology > Mechanical Engineering > (S1) Undergraduate Theses
Depositing User: Users 13 not found.
Date Deposited: 03 Jul 2017 04:32
Last Modified: 26 Dec 2018 08:48
URI: http://repository.its.ac.id/id/eprint/41842

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