Desain Dan Simulasi Sistem Kendali Linear Quadratic Gaussian (Lqg) Untuk Kestabilan Gerak Pitch Lsu-05

Fajar, Shaffiani Nurul (2016) Desain Dan Simulasi Sistem Kendali Linear Quadratic Gaussian (Lqg) Untuk Kestabilan Gerak Pitch Lsu-05. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Lapan Surveillance UAV (LSU)-05 merupakan salah satu jenis Unmanned Aerial Vehicle (UAV) yang dikembangkan oleh LAPAN sejak tahun 2013. LSU-05 memiliki empat jenis kendali permukaan, salah satunya adalah elevator yang berfungsi mengendalikan gerak sudut pitch. Agar sudut pitch pada UAV stabil dan mengikuti setpoint, maka dibutuhkan perancangan sistem kendali. Langkah pertama adalah mengkaji penurunan persamaan model gerak longitudinal pesawat. Langkah kedua adalah melakukan perancangan kendali LQG. Kendali LQG dipilih karena mampu memperbaiki keluaran sistem dari gangguan yang bersifat stokastik. Selain itu, juga ditambahkan kendali integral agar keluaran sudut pitch sesuai dengan input yang dimasukkan. Setelah kendali LQG dan kendali integral diterapkan, maka dilakukan pengamatan hasil simulasi untuk mendapatkan respon keluaran sistem. Dari hasil pengamatan, diperoleh waktu stabil sudut pitch adalah 0,435 s, yang berarti ketika LSU-05 melakukan gerak pitch sebesar 0,2 rad, maka untuk mencapai 0,2 rad dibutuhkan waktu sebesar 0,435 s. Selain itu diperoleh nilai overshoot sebesar 10% yang berarti saat nilai masukkan sudut pitch sebesar 0,2 rad, LSU-05 melakukan gerak pitch sebesar 0,22 rad. ============================================================ Lapan Surveillance UAV (LSU)-05 is an unmanned aircraft developed by LAPAN since 2013. LSU-05 consists of four kinds of control surface, and one of them is the elevator which is used to control pitch angular motion. To make the pitch angular motion stable and followed the setpoint, a control system design that can be applied to LSU-05 mathematical model of longitudinal motion is required. The first step is reviewing the mathematical model’s equation of longitudinal motion. The second step is designing LQG control system. LQG control system was selected in this study to avoid stochastic disturbance from the system outcome. Integral control was also added so that pitch angle match the setpoint value. After LQG control system and integral control was applied, simulation results were observed to see the system response. The results showed that the time required to stabilize the pitch angle was 0.435 s, which means LSU-05 needs 0.435 s to make 0.2 rad pitch motion. Futhermore, overshoot value was obtained to be 10%, which means when input value of pitch is 0.2 rad, the actual pitch motion of LSU-05 is 0.22 rad.

Item Type: Thesis (Undergraduate)
Additional Information: RSMa 511.8 Faj d-1
Uncontrolled Keywords: LSU-05, gerak longitudinal, sudut pitch, LQG
Subjects: Q Science > QA Mathematics > QA274.7 Markov processes--Mathematical models.
Divisions: Faculty of Mathematics and Science > Mathematics > (S1) Undergraduate Theses
Depositing User: EKO BUDI RAHARJO
Date Deposited: 18 Nov 2019 10:30
Last Modified: 18 Nov 2019 10:30
URI: http://repository.its.ac.id/id/eprint/71865

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