Prayogo, Rheco Ari (2016) Perancangan Sistem Kendali Gerak Lateral Way-To-Way Point UAV Quadcopter Menggunakan Kontroler PID Fuzzy. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Quadcopter adalah salah satu jenis pesawat tanpa awak yang
mampu melakukan gerak rotasi dan translasi. Gerak lateral way-to-way
point merupakan gerak translasi dimana quadcopter akan bergerak maju,
mundur, dan menyamping menuju titik – titik bidang sumbu koordinat
x, y, dan z yang telah ditentukan. Dalam tugas akhir ini titik koordinat
yang dibuat membentuk lintasan persegi, sehingga quadcopter akan
bergerak menempuh lintasan tersebut dengan stabil menggunakan
kontroler PID Fuzzy.
Perancangan sistem kontrol PID Fuzzy digunakan untuk
mempertahankan gerak lateral quadcopter. Dalam hal ini fuzzy
melakukan aksi auto tuning yang digunakan untuk menentukan
parameter kp, ki, dan kd saat quadcopter bergerak menyusuri lintasan.
Dikarenakan parameter plant yang selalu berubah-ubah sesuai dengan
keadaan, maka kontroler PID-Fuzzy disini diharapkan mampu menjaga
kestabilan quadcopter saat bergerak dari titik awal sampai kembali ke
titik akhir secara real time.
Dari hasil pengujian didapatkan nilai parameter dari tuning kp, ki,
dan kd memiliki respons yang baik meskipun terdapat kesalahan pada
translasi sumbu X dan sumbu Y sebesar ± 0,01 cm dan ± 0,035 cm serta
untuk mencapai steady-state masih terlambat sebesar ± 2,2 detik.
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Quadcopter is one type of unmanned aircraft where capable
performing of rotational and translational motion. Lateral motion wayto-
way point is translational motion where quadcopter will move
forward, backward, and sideways to point to point of the field of
coordinate axes x, y, and z. In this final project, trajectory plan is
quadrilateral, so quadcopter will move with stable routed using Fuzzy
PID controller.
Design Fuzzy PID control system is used to maintain the lateral
motion quadcopter. In this case, auto-tuning fuzzy will take action that
is used to determine the parameters kp, ki, and kd when quadcopter
move down the track. Due to the plant parameters are always changing
according to the circumstances, the Fuzzy-PID controller here is
expected to maintain stable quadcopter real time while moving from the
starting point to get back to the end point.
From the test, obtained from the tuning parameter values kp, ki, and
kd had a good response even though there is an error in the translation
of the X-axis and Y-axis of ± 0,01 cm and 0,035 cm ± as well as to
achieve a steady-state is delayed by ± 2,2 seconds.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSE 629.89 Pra p |
| Uncontrolled Keywords: | Quadcopter, Way-to-Way Point Motion, Lateral Motion, Auto Tuning, PID Fuzzy Controller |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers |
| Divisions: | Faculty of Industrial Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | Users 13 not found. |
| Date Deposited: | 13 Jul 2017 07:24 |
| Last Modified: | 27 Dec 2018 04:20 |
| URI: | http://repository.its.ac.id/id/eprint/41995 |
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