Perancangan Sistem Kendali Gerak Lateral Way-To-Way Point UAV Quadcopter Menggunakan Kontroler PID Fuzzy

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. ================================================================================================================== 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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