Desain Kendali Sistem Gerak Bow Thruster Pada Autonomous Surface Vehicle dengan Menggunakan Metode Sliding Mode Control

Beatriz, Theresya (2020) Desain Kendali Sistem Gerak Bow Thruster Pada Autonomous Surface Vehicle dengan Menggunakan Metode Sliding Mode Control. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Autonomous Surface Vehicle atau ASV merupakan sebuah kapal tanpa awak yang mampu menyusuri perairan secara otomatis. Dikarenakan ASV tidak memiliki awak maka dibutuhkan sistem kontrol gerak. Salah satu komponen terpenting dalam ASV adalah bow thruster. Bow thruster adalah alat pendorong yang memperkecil diameter maneuver kapal sehingga menghasilkan efisiensi putaran maneuver yang besar. Sistem kontrol tersebut berguna untuk menjaga kapal agar bergerak sesuai dengan setpoint dan mendapatkan respon yang diinginkan. Metode sistem kontrol yang dapat digunakan yaitu dengan metode Sliding Mode Control (SMC). Pada Tugas Akhir ini, model bow thruster yang memiliki 2 DOF yaitu kecepatan motor dan kecepatan arus air dalam terowongan. Dari hasil penelitian, ditunjukkan bahwa rancangan sistem control gerak bow thruster menghasilkan settling time yang cukup lama yaitu pada rentan 20 detik tetapi memiliki steady state error yang kurang dari 3% dan overshoot 0%. ============================================================= Autonomous Surface Vehicle or ASV is an unmanned ship that is able to navigate the waters automatically. Because ASV does not have a crew, motion control systems are needed. One of the most important components in ASV is the bow thruster. Bow thruster is a booster that reduces the diameter of the ship's maneuver so as to produce a large round maneuver efficiency. The control system is useful to keep the ship moving according to the setpoint and get the desired response. The control system method that can be used is the Sliding Mode Control (SMC) method. In this Final Project, a model that has 2 DOF is the motor speed and speed of the water flow in the sleeve. From the results of the study, it was shown that the design of the bow thruster motion control system produces a long settling time that is vulnerable at 20 seconds but has a steady state error of less than 3% and 2% overshoot.

Item Type: Thesis (Undergraduate)
Additional Information: RSMa 515.642 Bea d-1 • Beatriz, Theresya
Uncontrolled Keywords: Autonomous Surface Vehicle (ASV), Bow Thruster, Sliding Mode Control (SMC), Autonomous Surface Vehicle (ASV), Bow Thruster, Sliding Mode Control (SMC).
Subjects: V Naval Science > VC Naval Maintenance > VC 270-279 Equipment of vessels, supplier,allowances,etc
Divisions: Faculty of Science and Data Analytics (SCIENTICS) > Mathematics > 44201-(S1) Undergraduate Thesis
Depositing User: Theresya Beatriz
Date Deposited: 19 Aug 2020 05:32
Last Modified: 20 Oct 2020 00:38
URI: http://repository.its.ac.id/id/eprint/79070

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