Perancangan Sistem Kontrol Optimal Trajectory Pada Kapal Tanker Di Perairan Tanjung Perak-Surabaya Dengan Metode Linier Quadratic Gaussian (LQG)

Ashari, Aulia Rachman (2014) Perancangan Sistem Kontrol Optimal Trajectory Pada Kapal Tanker Di Perairan Tanjung Perak-Surabaya Dengan Metode Linier Quadratic Gaussian (LQG). Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Jalur kapal tanker yang beroperasi di wilayah pelabuhan
Tanjung Perak sebelumnya telah ditentukan oleh syahbandar
pelabuhan. Pada dasarnya kondisi faktor gangguan alam yang
salah satunya berupa gelombang di laut secara tidak langsung
akan mempengaruhi kapal untuk mencapai trajectory-nya.
Tujuan dari penelitian ini adalah untuk mendesain sistem kendali
trajectory pada Kapal Tanker di perairan Tanjung Perak dengan
metode Linier Quadratic Gaussian (LQG). Kontrol LQG
memiliki sifat yang robust terhadap disturbance pada frekuensi
rendah dan tinggi. Persamaan state space manuver kapal
dikendalikan dalam melakukan trajectory lintasan. Berdasarkan
Hasil performasi sistem kendali LQG secara keseluruhan, sistem
mampu mengendalikan gangguan berupa variasi gelombang 0.5
m, 1 m, dan 1.5 m. Berdasarkan hasil simulasi, kapal mampu
mengikuti lintasan yang diinginkan di perairan pelabuhan
Tanjung Perak dengan error minimum dan maksimum kondisi
tanpa gangguan sebesar 0.21 m dan 2.27 m. Sedangkan kondisi
dengan gangguan gelombang diperoleh error minimum dan
maksimum sebesar 1.16 meter dan 2.8 meter.
=========================================================================================================
The tanker lines operating in the port area of Tanjung Perak
had previously been determined by the harbour port. Basically
the condition of natural disturbance factors, one of which in the
form of waves on the sea will indirectly affect the ship fulfillin
trajectory. The purpose of this research is to design the system of
control of trajectory on a Tanker in the waters of Tanjung Perak
with Linear Quadratic Gaussian method (LQG). LQG control has
properties that robust from disturbance of high frequency. State
variable of sway, yaw, and heading angle is controlled in doing
trajectory path. Based on the results performance LQG control
system as a whole, the system is able to control the variation of
wave disturbances in the form of 0.5 m, 1 m, and 1.5 m. The
system is able to follow the desired trajectory in the waters of
Tanjung Perak port with the minimum and maximum error
conditions without interruption at 0.21 meter and 2.27 meter.
While the obtained wave disturbance conditions with the
minimum and maximum error of 1.16 meter and 2.8 meter.
Performance can be improved by doing one feed to the fuzzy logic
control.

Item Type:	Thesis (Undergraduate)
Additional Information:	RSF 629.895 Ash p
Uncontrolled Keywords:	Gangguan gelombang, LQG, Pelabuhan Tanjung Perak, trajectory
Subjects:	T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions:	Faculty of Industrial Technology > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Mr. Tondo Indra Nyata
Date Deposited:	08 Mar 2018 01:58
Last Modified:	08 Mar 2018 01:58
URI:	http://repository.its.ac.id/id/eprint/51472

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