Katilik, Alfius (2019) Rancang Bangun Dynamic Positioning System Pada Model Supply Vessel Menggunakan Sensor Ultrasonik Dengan Kontrol Arduino Berbasis Pid. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Rancang Bangun Dynamic Positioning System (DPS) pada model Supply Vessel menggunakan kontrol Arduino berbasis PID merupakan sistem kendali otomatis untuk mempertahankan posisi dan arah hadap kapal selalu tetap pada titik dan arah tertentu menggunakan sistem propulsi. Komponen DPS pada tugas akhir ini, terdiri dari : sistem referensi posisi dan arah menggunakan sensor ultrasonik dan sensor gyro accelerometer, sistem kontrol berupa mikrokontroler Arduino untuk mengolah data berbasis PID, sistem penggerak berupa motor thruster berjumlah 2 buah dibagian buritan dan haluan kapal , serta sistem pembangkit daya menggunakan baterai. Sistem kontrol akan mengendalikan respon keluaran dari sistem penggerak. Input Sistem kontrol berupa pembacaan nilai besaran jarak dan sudut dari sistem referensi yang kemudian akan dibandigkan dengan nilai set point (masukan yang diinginkan). Nilai set point divariasikan berdasarkan jarak kapal tehadap model rig dan sudut normal kapal sebesar 00. Sistem kontrol akan membandingkan kedua nilai input. Selisih kedua nilai tersebut akan menjadi nilai kesalahan (error). Sistem kontrol mengolah data dan mengirimkan perintah berbasis PID untuk mengeliminir nilai error yang dijalankan oleh sistem penggerak. Pengujian dilakukan untuk mengetahui respon kapal dalam mempertahankan posisi dan sudut arah di titik tertentu mencakup gerakan Sway dan Yaw dengan cara memberikan gaya dorong eksternal berupa arus air pada kapal. Hasil yang didapatkan dari pengujian adalah kapal mampu merepresentasikan respon untuk mempertahankan posisinya pada titik dan arah tertentu. Berdasarkan pengujian , nilai rata rata simpangan jarak (error) sebesar 0.06 m pada bagian haluan , 0.03 m pada bagian buritan dari set point dan respon waktu rata rata mencapai set point sebesar 9 detik . Besar putaran rata rata motor bervariasi yaitu, putaran terendah sebesar 358 rpm dan putaran tertinggi sebesar 416 rpm. Nilai koefisien PID berdasarkan metode Zieger Nichols adalah Kp=1.2, Ki=0.2 , Kd= 3.5.
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Design of Dynamic Positioning System (DPS) on Supply Vessel model using a PID-based control is an automatic control system to maintain the position and heading of the vessel always remain at a certain point and direction using propulsion system. The DPS component consists of a position and heading reference system using an ultrasonic sensor and gyro accelerometer sensor, a control system using Arduino microcontroller for processing PID-based data, propulsion system using 2 motor thruster on the stern and bow of the vessel, and the power system using batteries. The control system will control the output response of the propulsion system. The input of the control system is a value of the measured distance and angle from the reference system that will then be compared by the value of the setpoint (desire input). The value of the setpoint is varied based on the distance of the vessel from the rig model and the normal angle of the vessel by 00. The control system compares both input values, the difference between the values will be an error value. The Control system processes data and sends PID-based commands to eliminate error values to the propulsion system. Testing was conducted to find out the ship's response to maintain the position and angle at a certain point encompassing the Sway and Yaw movements by providing an external thrust force on the ship in the form of current. The result is that the vessel is able to represent the response to maintain its position at a certain point and direction. Based on the test, the distance deviation rate (error) is 0.06 m on the bow, 0.03 m on the stern from the setpoint and the average time response to reaches a setpoint is 9 seconds. The Average rotation of the motor is varied. The lowest rotation is 358 rpm and the highest rotation is 416 rpm. The value of a PID coefficient based on Zieger Nichols method is Kp = 1.2, Ki = 0.2, Kd = 3.5.
| Item Type: | Thesis (Other) |
|---|---|
| Uncontrolled Keywords: | Dynamic Positioning System, Supply Vessel, PID Control |
| Subjects: | V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM365 Remote submersibles. Autonomous vehicles. |
| Divisions: | Faculty of Marine Technology (MARTECH) > Marine Engineering > 36202-(S1) Undergraduate Thesis |
| Depositing User: | Katilik Alfius Christian |
| Date Deposited: | 03 Jul 2024 02:32 |
| Last Modified: | 03 Jul 2024 02:32 |
| URI: | http://repository.its.ac.id/id/eprint/69484 |
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