Fariz, Muhammad Rifqi (2016) Perancangan Sistem Interface Dan System Identification Twin Rotor Hovering System. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Sistem kontrol atau sistem pengendalian merupakan suatu
sistem untuk mengatur variabel masukan agar keluaran dari sistem
tersebut sesuai dengan apa yang diinginkan. Namun untuk
membuat sistem pengendalian diperlukan model matematis dari
sistem dinamik alat yang akan dikendalikan. Ada dua cara untuk
mendapatkan model matematis, yaitu dengan cara teoritis dan
dengan cara eksperimen, System Identification. System
Identification atau Identifikasi Sistem merupakan metode untuk
menentukan model matematis dari sistem dinamik suatu benda
berdasarkan pengukuran data yang dilakukan.
Pada penelitian ini dilakukan identifikasi sistem Twin Rotor
Hovering System guna mengetahui model matematis dari sistem
dinamik alat tersebut. Parameter sistem yang dibutuhkan dalam
proses identifikasi sistem didapatkan dari hasil pengukuran posisi
Twin Rotor Hovering System. Langkah sistematis yang dilakukan
pada penelitian ini adalah studi literatur dan lapangan demi
menunjang dasar teori dari penelitian mengenai identifikasi sistem,
kemudian identifikasi dan perumusan masalah, penetapan tujuan
penelitian, perancangan dan perakitan sistem interface, pembuatan
program di arduino, verifikasi program, pengambilan data,
pengolahan data pengukuran, dan yang terakhir adalah
pengambilan kesimpulan.Pada penelitan ini diperoleh bahwa gaya angkat rotor dan
arus listrik yang masuk pada ESC berbanding lurus dengan input
sinyal digital pada ESC. Persentase best fits dari model output hasil
simulasi dengan data eksperimen untuk input variasi pertama yaitu
63,26% (TF1). Sedangkan persentase best fits dari model output
hasil simulasi dengan data eksperimen untuk input variasi kedua
yaitu 92,67% (TF2). Model ARX hasil simulasi yang dipilih yaitu
TF2, dengan persentase best fits paling besar yaitu 92,67%.
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Control systems are system to adjust input variable in order
to set output variable corresponding with what we wanted. The
development of control system required mathematical model of a
dynamical system instruments which will be controlled. There are
two ways to obtain a matematical model, specifically with
theoretical or experimental (System Identification). System
identification is a method to determine the mathematical model of
the dynamical system based on the measurement data.
This research was conducted on the system identification of
Twin Rotor Hovering System to figure out the mathematical model
of the dynamical systems. The system parameters required in the
process of system identification obtained from the results of the
position measurements of a Twin Rotor Hovering System. The
systematic steps are undertaken in this research is the study of the
literature in order to support the theoretical foundations of the
research on the system identification, identification and
formulation of the problem, goal setting research, design and
assembly of system interfaces, making the program on arduino,
verification programs, data capture, measurement data
processing, and the last is the retrieval conclusion.
In this research was obtained that lift force of the rotor and
electric current enters on the ESC is directly proportional to the
input digital signal on ESC. The percentage of best fits the output from the model simulated results with experimental data for the
first variation input is 63.26% (TF1). While the percentage of best
fits the output from the model simulated results with experimental
data for the second variation input is 92.67% (TF2). The selected
ARX model from the results of simulation is TF2, with the most
percentage of best fits is 92,67%
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSM 629.132 6 Far p |
| Uncontrolled Keywords: | Twin rotor hovering system, Arduino, Best fits, System Identification, Sistem pengendalian, Arx, Model Output, Esc, Interface |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control. |
| Divisions: | Faculty of Industrial Technology > Mechanical Engineering > 21201-(S1) Undergraduate Thesis |
| Depositing User: | ansi aflacha |
| Date Deposited: | 22 Jun 2020 02:47 |
| Last Modified: | 22 Jun 2020 02:47 |
| URI: | http://repository.its.ac.id/id/eprint/76193 |
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