Al Alim, M. Fatah (2019) Perancangan Sistem Kendali Autopilot pada Unmanned Surface Vehicle (USV) Tipe Monohull Menggunakan Metode PID-Based Sliding Mode Control. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Unmanned Surface Vehicle (USV) atau kapal tanpa awak, merupakan kapal yang mempunyai kemampuan bergerak secara otomatis. Untuk pergerakan otomatis diperlukan algoritma sistem autopilot. Sistem autopilot merupakan pengendalian suatu kapal untuk menuju waypoint. Untuk mencapai waypoint diperlukan gaya dorong dan sudut belok tertentu pada kapal. Oleh karena itu dibutuhkan suatu metode kendali autopilot untuk membuat kapal mencapai waypoint yang telah ditentukan. Sliding Mode Control merupakan metode kontrol berbasis switching berfrekuensi tinggi dan memiliki aksi kontrol yang sifatnya diskontinyu. Namun, Sliding Mode Control dapat menimbulkan chattering pada sistem. Oleh karena itu, pada penelitian ini digunakan metode kendali autopilot menggunakan Sliding Mode Control dengan sinyal kontrol natural berupa struktur kontroler PID pada plant kapal tanpa awak. Dengan menggunakan metode ini, diharapkan kapal tanpa awak dapat melakukan pergerakan dengan akurat dari waypoint yang diharapkan tanpa adanya chattering. Kestabilan dari keseluruhan loop pengaturan sistem dipastikan menggunakan fungsi kestabilan Lyapunov. Kontroler hasil desain diaplikasikan pada sistem kapal tanpa awak. Hasil simulasi menunjukkan bahwa parameter kontrol yang mampu memenuhi spesifikasi desain yang diharapkan adalah untuk respon kecepatan translasi dibutuhkan kontrol natural PID dengan gain Kp=15, Ki=0.0001, dan Kd=4 dan untuk respon sudut heading dibutuhkan Kp=1.5, Ki=0.0001, dan Kd=0.001.
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Unmanned Surface Vehicle (USV) is a marine vehicle that has the ability to move automatically. For automatic movement the autopilot system algorithm is required. The autopilot system is the control of marine vehicles to get to a particular waypoint. To reach the waypoint required a certain force and turning angle on marine vehicles. Therefore an autopilot control method is needed to make the ship reach a predetermined waypoint. Sliding Mode Control is a high frequency switching based control method and has discontinuous control actions. However, Sliding Mode Control can cause chattering on the system. Therefore, in this study used the autopilot control method using Sliding Mode Control with natural control signals in the form of PID controller structures on Unmanned Surface Vehicle plants. By using this method, it is expected that the Unmanned Surface Vehicle can move accurately from the expected waypoint without any chattering on the system. The stability of the whole loop of system regulation is ensured using the Lyapunov stability function. The design controller is applied to Unmanned Surface Vehicle. The simulation results show that the control parameters that are able to meet the expected design specifications are for translational speed responses that require gain Kp = 15, Ki = 0,0001, and Kd = 4 and for heading angle responses Kp = 1.5, Ki = 0,0001, and Kd = 0,001.
| Item Type: | Thesis (Other) |
|---|---|
| Additional Information: | RSE 629.892 Ala p-1 2019 |
| Uncontrolled Keywords: | Sliding Mode Control, chattering, heading |
| Subjects: | T Technology > T Technology (General) > T57.6 Operations research--Mathematics. Goal programming T Technology > T Technology (General) > T57.62 Simulation T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control. T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering |
| Divisions: | Faculty of Electrical Technology > Electrical Engineering |
| Depositing User: | M. Fatah Al Alim |
| Date Deposited: | 16 Mar 2023 04:08 |
| Last Modified: | 16 Mar 2023 04:08 |
| URI: | http://repository.its.ac.id/id/eprint/63708 |
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