Pratiwi, Niken Arina (2018) Perancangan Sistem Kendali Sandar Kapal Otomatis Menggunakan Fuzzy Gain Scheduling-PID untuk Minimalisasi Error Trayektori di Pelabuhan Tanjung Perak Surabaya. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Proses sandar kapal di Pelabuhan Tanjung Perak Surabaya umumnya masih memerlukan kapal tunda (tug boat) untuk membantu mendorong atau menarik kapal mendekati dermaga. Pengadaan dan penggunaan fasilitas kapal tunda (tug boat) memerlukan biaya operasional yang cukup tinggi sehingga perlu adanya alternatif lain untuk melaksanakan proses sandar kapal, salah satunya yaitu dengan menerapkan sistem pengendalian otomatis pada proses sandar kapal. Tugas akhir ini berkaitan dengan perancangan simulasi sistem kendali sandar kapal otomatis dengan jenis kapal AHTS (Anchor Handling Tug Supply). Sistem autopilot yang diterapkan dalam simulasi ini menggunakan pengendali PID dengan mekanisme fuzzy gain scheduling dengan tujuan untuk meminimalkan nilai error trayektori sandar kapal. Logika fuzzy digunakan untuk melakukan penentuan parameter pengendali PID yang akan digunakan sesuai kondisi operasional di waktu tertentu. Pengendali FGS-PID dimanfaatkan untuk kendali kemudi (rudder), bow thruster dan stern thruster selama proses sandar. Pemodelan gangguan arus laut dengan kecepatan arus 2, 2,25 dan 2,5 knot dilakukan agar hasil dari simulasi mendekati kondisi yang sebenarnya. Perbandingan dengan metode FGS-PID dengan metode pengendalian PID menghasilkan bahwa metode FGS-PID dapat meminimalkan error trayektori yang terjadi ketika gangguan arus laut diaplikasikan dalam sistem. Nilai maksimum error lintasan sandar kapal dengan pengendali PID tanpa gangguan arus, dengan gangguan arus 2 knot, gangguan arus 2,25 knot serta gangguan arus 2,5 knot secara berturut-turut ialah 2,4 meter, 6,86 meter, 10,06 meter dan 15,32 meter. Nilai maksimum error lintasan dengan pengendali FGS-PID tanpa gangguan arus, dengan gangguan arus 2 knot, gangguan arus 2,25 knot serta gangguan arus 2,5 knot secara berturut-turut adalah 0,8 meter, 2,36 meter, 2,51 meter dan 2,77 meter sehingga dapat disimpulkan bahwa penerapan mekanisme fuzzy gain scheduling pada pengendali PID dapat meminimalkan error trayektori sandar kapal di Pelabuhan Tanjung Perak Surabaya.
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The process of berthing at the Tanjung Perak Port Surabaya still uses tug boats to help pushing or pulling the ship towards the berth. The procurement and usage of tug boats facilities require relatively high costs and thus another alternatives should be implemented to berth the ship, one of them is by applying an automatic berthing control system. This undergraduate thesis is related to the design of automatic berthing control system of Anchor Handling Tug Supply (AHTS) ship. The autopilot system uses a PID controller with fuzzy gain scheduling mechanism in order to minimize the value of berthing trajectory error. Fuzzy logic is used to perform the determination of PID controller parameters to be used according to the operational conditions at a certain time. The FGS-PID is used to control rudder, bow thruster, and stern thruster during the berthing process. The modelling of ocean current disturbance with the current velocity value of 2 knots, 2.25 knots and 2.5 knots is done in order to obtain a closer simulation result to actual condition. Comparison between FGS-PID controller and PID controller tuned using Ziegler-Nichols method resulted that FGS-PID controller is able to minimize the trajectory error when the ocean current diturbance is applied to the system. Maximum berthing trajectory error value with PID controller without current disturbance applied, with current disturbance of 2 knots, with current disturbance of 2.25 knots and with current disturbance of 2.5 knots are respectively 2.4 meters, 6.86 meters, 10.06 meters and 15.32 meters. The value of maximum trajectory error with FGS-PID controller without current disturbance, with current disturbance of 2 knots, with current disturbance of 2.25 knots and with current disturbance of 2.5 knots are respectively 0.8 meters, 2.36 meters, 2.51 meters and 2.77 meters thus can be concluded that the application of fuzzy gain scheduling mechanism on PID controller can successfully minimize the trajectory error during the process of auto-berthing at Tanjung Perak Port Surabaya.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Uncontrolled Keywords: | kapal AHTS, sandar kapal otomatis, pengendali PID, fuzzy gain scheduling-PID |
| 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: | Niken Arina Pratiwi |
| Date Deposited: | 21 Jun 2021 10:58 |
| Last Modified: | 21 Jun 2021 10:58 |
| URI: | http://repository.its.ac.id/id/eprint/54536 |
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