Purnawan, Heri (2015) Desain sistem kendali linear quadratic regulator (LQR) untuk stabilan terbang LSU-05. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Lapan Surveillance UAV-05 (LSU-05) adalah pesawat terbang
tanpa awak didesain untuk waktu jelajah (endurance) 6 jam,
dengan kecepatan jelajah rata-rata 30 m/s. Misi LSU-05
adalah untuk pemotretan dari udara (surveillance) yang kegiatan
mencakup penelitian, observasi, pemantauan kemacetan dan
investigasi bencana alam. Agar bisa menjalankan misi tersebut
LSU-05 harus dapat terbang stabil, dan untuk itu harus dilengkapi
dengan sistem kendali. Langkah awal adalah pemodelan
matematika yang sudah diturunkan menggunakan metode first
principle dan diwujudkan dalam bentuk persamaan keadaan dalam
gerak longitudinal dan lateral-direksional. Langkah berikutnya
adalah identifikasi dan validasi persamaan keadaan menggunakan
identification system toolbox Matlab dengan masukan data dummy.
Selanjutnya perancangan dan simulasi sistem kendali yang
didasarkan pada persamaan keadaan yang sudah divalidasi. Hasil
simulasi menunjukkan bahwa kontroler LQR memiliki kinerja
yang cukup baik. Diperoleh nilai parameter kendali untuk gerak
longitudinal adalah nilai td = 0:221 s, tr = 0:419 s, ts = 0:719
s, tp = 1:359 s dan Mp = 0%. Sedangkan untuk gerak lateraldireksional
diperoleh nilai td = 0:186 s, tr = 0:515 s, ts = 0:87 s,
tp = 2:02 s dan Mp = 0%.
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Lapan Surveillance UAV-05 (LSU-05) is aircraft without the
crew which designed to the cruiser (endurance) 6 hours, at
cruising average 30 m/s. Mission LSU-05 is for shooting of
air (surveillance activities include) research, observation, the
congestion and investigative natural disasters. In order to run the
mission LSU-05 must be a stable and therefore should be equipped
with control system. The first step is a mathematical modeling
already lowered in a first principle and realized in the form of
the equation of state with which the longitudinal and lateraldireksional.
The next step is validation and identification system
uses a toolbox Matlab with input data of dummy. The next design
and simulated control system based on similarities state has been
validated. The results show that the simulation controller LQR
have good performance. Parameters obtained value td = 0:221
s, tr = 0:419 s, ts = 0:719 s, tp = 1:359 s and Mp = 0%. While
for motion lateral-direksional obtained the value of td = 0:186 s,
tr = 0:515 s, ts = 0:87 s, tp = 2:02 s and Mp = 0%.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSMa 629.832 Pur d |
| Uncontrolled Keywords: | LSU-05, Gerak Longitudinal, Gerak Lateral- Direksional, LQR |
| Subjects: | Q Science > QA Mathematics > QA184 Algebra, Linear |
| Divisions: | Faculty of Mathematics and Science > Mathematics > 44201-(S1) Undergraduate Thesis |
| Depositing User: | - Taufiq Rahmanu |
| Date Deposited: | 30 Oct 2019 07:54 |
| Last Modified: | 30 Oct 2019 10:34 |
| URI: | http://repository.its.ac.id/id/eprint/71514 |
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