Maruf, Anang (2019) Perancangan Sistem Autopilot dan Guidance pada Unmanned Surface Vehicle (USV) Tipe Monohull LSS01 dengan Metode L1 Adaptif. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Unmanned Surface Vehicle (USV) merupakan kapal yang memiliki kemampuan untuk melaju tanpa adanya nakhoda. Kapal dapat beroperasi mode manual dengan pengendalian dari jarak jauh. Kapal dapat beroperasi mode semi otomatis dalam pantauan operator. Serta kapal dapat beroperasi mode otomatis tanpa pantauan operator. Agar USV dapat melaju secara otomatis, diperlukan adanya perangkat – perangkat navigasi. Perangkat navigasi memungkinkan kapal melaju melalui waypoint – waypoint yang diinginkan. Untuk mengendalikan sebuah USV agar dapat bergerak menuju waypoint yang diinginkan, diperlukan sebuah aksi kontrol mesin dan sudut kemudi kapal. Pada saat kapal berlabuh diperairan tentunya akan menemui berbagai macam gangguan eksternal. Diantaranya adalah gangguan angin, arus, dan ombak. Salah satu cara untuk mengatasi gangguan tersebut adalah dengan merancang sistem kontrol adaptif yaitu kontroler L1 adaptif. Dimana untuk mengatur perilaku plant, diperlukan sebuah referensi model yang diinginkan. Kontroler L1 adaptif akan menyesuaikan respon plant sedekat mungkin dengan respon referensi model dari state predictor. Kontroler L1 adaptif adalah pengembangan dari kontroler adaptif MRAC (Model Reference Adaptive Control). Dimana perbedaannya terletak pada pemisahan adaptation rate dengan property ke robust-an. Kelebihan dari metode L1 adaptif adalah menjamin performa respon transien dengan waktu adaptasi yang cepat. Pada penelitian ini, akan dirancang kontroler L1 adaptif untuk mengatasi gangguan USV saat melewati waypoint. Didapatkan performa kontroler adaptif. mampu menghasilkan respon kecepatan translasi pada sumbu x (surge) dan kecepatan sudut pada sumbu ψ (yaw) USV sesuai dengan kriteria desain yang telah ditetapkan yaitu zero offset, tanpa overshoot, dan τ_s=(_-^+) 5% yaitu 4.591 detik pada sumbu x dan 1.48 detik pada sumbu ψ. Respon posisi USV menggunakan kontroler L1 adaptif saat dipengaruhi gaya dari gangguan eksternal angin, arus, dan ombak menghasilkan pergerakan lintasan tracking yang halus cukup dan mampu mencapai atau mendekati titik waypoint dengan baik. Hal ini dibuktikan pada skenario pertama pergerakan USV menghasilkan cross track error sebesar 0,2143 meter RMS. Sedangkan pada skenario kedua pergerakan USV menghasilkan cross track error sebesar 0,2974 meter RMS. Dan pada skenario ketiga pergerakan USV menghasilkan cross track error sebesar 0,3028 meter RMS.
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Unmanned Surface Vehicle (USV) is a ship that has the ability to advance without a captain. USV can operate manual mode with remote control. The USV can operate semi-automatic mode in operator's monitoring. As well as the ship can operate automatic mode without operator's monitoring. In order for USV to progress automatically, there is a need for a navigation device. The navigation device allows the USV to go through a waypoint–the waypoint desired. To control a USV in order to move towards the desired waypoint, a machine control action is required and the steering angle of the ISV. At the time of the irrigation ship will certainly find various external interference. Among them are wind disturbances, currents and waves. One way to overcome such interference is by designing an adaptive control system that is an adaptive L1 controller. Where to regulate plant behavior, it is necessary to reference the desired model. The adaptive L1 controller will adjust the plant's response as close as possible to the model's reference response from the state predictor. The adaptive L1 Controller is the development of the MRAC Adaptive controller (Model Reference Adaptive Control). Where the difference lies in the separation of adaptation rate with the property to robust-an. The advantages of the adaptive L1 method is to ensure transient response performance with fast adaptation time. In this study, it would be designed an adaptive L1 controller to address the USV interference as it passes through the waypoint. Adaptive controller performance is achieved. Capable of generating a translation speed response on the x axis (surge) and angular velocity on the USV ψ (yaw) axis in accordance with the preset design criteria i.e. zero offset, no overshoot, and ts = 5%−+ of 4,591 seconds on the x-axis and 1.48 seconds on the ψ axis. USV position response uses an adaptive L1 controller when influenced by the style of the wind's external disturbances, currents and waves results in a smooth tracking track movement that is sufficiently capable of reaching or approaching the waypoints well. This is evidenced in the first scenario of USV movement resulting in a cross track error of 0.2143 meter RMS. While in the second scenario USV movements resulted in an error cross track of 0.2974 RMS. And in the third scenario of the USV movement Generate a cross track error of 0,3028 meter RMS.
| Item Type: | Thesis (Other) |
|---|---|
| Additional Information: | RSE 629.892 Mar p-1 2019 |
| Uncontrolled Keywords: | Kapal Tanpa Awak, Unmanned Surface Vehicle, Waypoint, L1 Adaptive, MRAC, Autopilot, Guidance |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control. T Technology > TJ Mechanical engineering and machinery > TJ217 Adaptive control systems |
| Divisions: | Faculty of Electrical Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | Anang Maruf |
| Date Deposited: | 05 May 2023 01:07 |
| Last Modified: | 05 May 2023 01:07 |
| URI: | http://repository.its.ac.id/id/eprint/63797 |
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