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 > (S1) Undergraduate Theses
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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