Nugraha, Anggara Trisna (2017) Desain Kontrol Path Following Quadcopter Dengan Command Generator Tracker Model Following. Masters thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Quadcopter merupakan salah satu jenis Unmanned Aerial Vehicle (UAV)
yang banyak digunakan sebagai objek penelitian saat ini. Dengan empat rotor
sebagai penggerak utama, quadcopter mampu bergerak secara rotasional dan
translasional. Kedua sistem gerak ini secara matematis tergolong nonlinier dan
tidak stabil. Dalam penelitian ini, dirancang desain kontrol path following
quadcopter menggunakan output feedback dengan command-generator tracker
model following yang dapat melakukan path following terhadap path lingkaran
walau terdapat gangguan eksternal. Sistem quadcopter dibagi berdasarkan sistem
geraknya, yaitu sistem gerak rotasi dan sistem gerak translasi. Masing-masing
sistem gerak dikendalikan dengan kontroler yang berbeda.
Sebagai inner-loop dalam sistem quadcopter, sistem gerak rotasi dituntut
memiliki settling time lebih cepat dari dari sistem gerak translasi yang merupakan
outer loop. Nilai penguat kontroler yang mampu menjamin kestabilan sistem dan
memenuhi performa H∞ diperoleh dengan bantuan Linear Matrix Inequality (LMI).
Permasalahan path following dalam sistem gerak translasi diatasi dengan
menggunakan command-generator tracker model following. Sistem
dikombinasikan dengan algoritma line of sight yang mana algoritma tersebut untuk
menjaga arah hadap dari quadcopter serta mampu mengatasi adanya gangguan
eksternal.
Hasil simulasi menunjukkan bahwa metode kontrol yang digunakan
mampu membawa sudut yaw pada nilai yang diharapkan dengan nilai ISE sebesar
0.024 Rad dan pada saat terdapat gangguan sebesar 0.0903 Rad. Quadcopter dapat
melakukan path following secara otomatis dengan nilai maksimum ISE sebesar
0.001 m. Selain itu, sistem kontrol juga mampu mengatasi gangguan eksternal
berupa wind gust dengan penyimpangan posisi X maksimum mencapai 0.013168 m
serta pada posisi Y sebesar 0.0003 m . Kontroler ini mampu mengatasi delay sebesar
±3.17 detik serta mampu melakukan path following pada lintasan persegi dan spiral
(helix).
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Quadcopter is one type of UAV that is widely used as the object of current
research. With four main drive rotors, quadcopter is able to move rotationally and
translationally. Both motions are mathematically classified as non-linear and
unstable. In this study, designed the path following quadcopter control using output
feedback with command-generator trackel model following wich can do path
following to the circle path although there are external troubles. Quadcopter system
divided by the movement system, which is rotation move system and translation
move system. Each of them are controlled with different controller.
As an inner-loop in quadcopter system, rotation movement system is reqired
to have settling time faster then translation movement system wich using outer loop.
The value of controller amplifier which can guarantee the stability of the system
and comply the performances of H∞ obtained with help of the matrix inequality
(LMI).
The path following problems in translation movement system are solved
with using command-generator tracker model following. The system is
combinationed with line of sight alogarithm, wich is that alogarithm used to keep
the headings of quadcopter and also can conquer the external problems.
The result of the simulation shows that control method wich used can make
yaw angel in to the expected value according to the ISE value wich is 0.024 Rad,
and when there’s a trouble wich is 0.0903 Rad. Quadcopter can do path following
otomatically with the maximum of ISE value wich 0.001 m. Other than that, the
control systmem also can handle the external problems such as wind gust with the
deviation of X maximum potition reach out 0.013168 and in Y potition reach out
0.0003 m. This controller can overcome the delay in amount of +/- 3.17 secon and
also can do path following in square and helix path.
| Item Type: | Thesis (Masters) |
|---|---|
| Additional Information: | RTE 629.831 2 Nug d-1 |
| Uncontrolled Keywords: | Quadcopter, LOS, Command-Generator Tracker Model Following, LQ regulator |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5105.546 Computer algorithms T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control U Military Science > U Military Science (General) |
| Divisions: | Faculty of Industrial Technology > Electrical Engineering > 20101-(S2) Master Thesis |
| Depositing User: | Anggara Trisna Nugraha |
| Date Deposited: | 26 Oct 2017 06:01 |
| Last Modified: | 05 Mar 2019 02:32 |
| URI: | http://repository.its.ac.id/id/eprint/42066 |
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