Rahmasari, Fadli (2019) Perancangan Sistem Kendali Autopilot Pada Unmanned Surface Vehicle Tipe Monohull LSS01 Menggunakan Model Reference Adaptive Control -State Feedback Dalam Kontrol Waypoint. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Agar kapal tanpa awak dapat melaju secara otomatis, diperlukan perangkat-perangkat dan alogaritma sistem autopilot dan navigasi waypoint. Sistem autopilot merupakan pengendalian kapal tanpa awak untuk menuju waypoint. Dan salah satu contoh alogaritma navigasi adalah waypoint yang diinginkan, diperlukan kontrol sudut kemudi kapal yaitu gaya dorong dan sudut belok. Kapal tanpa awak dapat menemui gangguan eksternal saat sedang berjalan seperti ombak,agin dan arus laut. Namun diinginkan kapal tanpa awak saat beradaptasi di kedua kondisi tersebut. Salah satu cara untuk mengatasi gangguan ini adalah dengan merancang kontroler adaptif seperti Model Reference Adaptive Control (MRAC)- state feedback. MRAC adalah sistem kontrol adaptif berbasis referensi model. Dimana untuk mengatur perilaku plant kapal tanpa awak, diperlukan sebuah refrensi model yang diinginkan kontroller MRAC-state feedback. Dengan menggunakan metode ini diharapkan kapal tanpa awak dapat melakukan pergerakan dengan akurat dari waypoint yang diharapkan. Kontroler MRAC-statefeedback mampu menghasilkan respon sudut heading kapal tanpa awak dan kecepatan pada sumbu surge sesuai dengan kriteria desain yang diinginkan. Dari simulasi yang dilakukan gain adaptif yang cocok untuk kapal tanpa awak LSS01 adalah 0,00001. Dan hasil pada saat kapal menuju waypoint Cross track error RMS saat tanpa gangguan 0,0846 dan saat diberi gangguan 0,2969
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In order for an unmanned surface vehicle to run automatically, it takes the devices and algorithms of the autopilot system and waypoint navigation. The autopilot system is an unmanned surface vehicle towards the waypoint. And one example of a navigation algorithm is the desired waypoint, it requires control of the ship's steering angle namely thrust and turning angle. Unmanned surface vehicle can encounter external interference while walking such as waves, wind and ocean currents. But it is desirable to ship unmanned when adapting to both conditions. One way to overcome this interference is to design adaptive controllers such as the Model Reference Adaptive Control (MRAC) - state feedback. MRAC is a model-based adaptive control system. Where to regulate the behavior of unmanned ship plants, a reference to the desired model of the MRAC-state feedback controller is required. Using this method, it is expected that unmanned vessels can move accurately from the expected waypoint. The MRAC-statefeedback controller is able to produce angle response to unmanned vessel headings and speed on the surge axis according to the desired design criteria. From the simulation carried out the adaptive gain that is suitable for LSS01 unmanned surface vehicle is 0.00001. And the results when the ship headed waypoint Cross track RMS error when uninterrupted 0.0846 and when given a disturbance 0.2969
| Item Type: | Thesis (Other) |
|---|---|
| Additional Information: | RSE 629.892 Rah p-1 2019 |
| Uncontrolled Keywords: | kapal tanpa awak, waypoint, MRAC-state feedback, Unmanned Surface Vehicle |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control. T Technology > TJ Mechanical engineering and machinery > TJ217 Adaptive control systems V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM365 Remote submersibles. Autonomous vehicles. V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM761 Stability of ships |
| Divisions: | Faculty of Industrial Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | FADLI RAHMASARI |
| Date Deposited: | 11 Jan 2023 08:52 |
| Last Modified: | 11 Jan 2023 08:52 |
| URI: | http://repository.its.ac.id/id/eprint/63704 |
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