Pratiwi, Astrid Rachma (2016) Perancangan Kontroler MPC Untuk Trajectory Tracking Pada Gerak Cruise Quadcopter. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Salah satu permasalahan kendali pada quadcopter adalah
trajectory tracking dimana quadcopter dapat mejejak jalur yang sudah
ditetapkan. Pada penelitian Tugas Akhir ini dirancang pengendalian gerak
cruise quadcopter saat trajectory tracking menggunakan Kontroler PID
untuk gerak rotasi dan Model Predictive Control (MPC) untuk gerak
translasi. Gerakan Cruse quadcopter saat trajectory tracking merupakan
gerakan manuver yang mencakup perubahan sumbu X, Y dan Z.
Referensi jalur yang akan disimulasikan untuk trajectory tracking gerak
cruise quadcopter berbentuk lingkaran. Penentuan parameter MPC
dengan memvariasikan salah satu nilai parameter MPC yaitu pediction
horizon (Np). Didapatkan nilai parameter MPC Np_x sebesar 20, Np_y
sebesar 14, dan Np_z sebesar 10 dengan nilai control horizon sebesar
Nc_x sebebsar 2, Nc_y sebesar 2, dan Nc_z sebesar 3. Respon tersebut
memiliki RMSE pada sumbu X sebesar 3,3%, RMSE pada sumbu Y
sebesar 2,3% dan RMSE pada sumbu Z sebesar 1,5% dengan lagging
pada sumbu X sebesar 0,48 detik, sumbu Y sebesar 0,3 detik dan pada
sumbu Z sebesar 0,32 detik.
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One of quadcopter control problem issue is the control of the
trajectory tracking quadcopter which can track the path that has been set.
In this final assignment research trajectory tracking on cruise movement
quadcopter using PID controller for rotational motion and Model
Predictive Control (MPC) for the translational motion. Cruse movement
quadcopter current trajectory tracking is a maneuver which includes a
change axes X, Y and Z. Reference track to be simulated for trajectory
tracking quadcopter circle. Determining parameters of MPC WITH
varying parameter value MPC prayer One That pediction horizon (Np).
MPC Np_x obtained parameter value by 20, Np_y at 14, and by 10 WITH
Np_z horizon control value of Nc_x is 2, Nc_y by 2, and Nc_z of 3. The
response has RMSE on X-axin by 3,3%,RMSE on Y-axis by 2,3% and on
Z-axis at 1,5%. with lagging on X-axis of 0,48 and Y of 0.3 seconds and
on-axis Z of 0.32 seconds.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSE 629.831 2 Pra p |
| Uncontrolled Keywords: | Quadcopter, Trajectory Tracking, Gerak Cruise, Kontroler PID, Model Predictive Control |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ217.6 Predictive Control |
| Divisions: | Faculty of Industrial Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | ansi aflacha |
| Date Deposited: | 15 Jan 2020 08:00 |
| Last Modified: | 15 Jan 2020 08:00 |
| URI: | http://repository.its.ac.id/id/eprint/72691 |
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