Abdillah, Muchammad Rifki (2020) Design of Submarine Heading and Diving Control System Using PID Controler (Proportional, Integral, and Derivative). Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Kapal selam merupakan sebuah wahana air yang mampu bergerak di bawah permukaan air sehingga dapat bergerak secara tiga dimensi baik pada bidang vertikal maupun horizontal. Dalam bermanuver kapal selam memiliki dua aktuator utama yang berupa rudder yang akan mengatur sudut heading kapal selam serta hydroplane yang akan mengatur sudut diving atau selam kapal. Kapal selam memiliki empat mode operasi utama yaitu surface, snorkel, silent run, serta mode pengejaran yang dimana membutuhkan kemampuan manuver (maneuvearibility) yang baik. Kemampuan manuver amat sangat dipengaruhi oleh metode dan konsep sistem kendali sehingga dibutuhkan desain sistem kendali manuver yang memiliki respon akurat. Pada penelitian ini akan menggunakan sistem kendali PID sebagai basisnya dimana sistem kendali PID membutuhkan model matematis yang benar-benar akurat agar didapatkan sistem kendali yang akurat pula. Simulai CFD (Computational Fluid Dynamic) akan dilakukan untuk mendapatkan nilai koefisien hidrodinamis sehingga didapatkan model matematis yang benar-benar akurat. Selanjutnya akan dilakukan perancangan sistem kendali dengan konsep closed loop – multi sensor. Dari hasil simulasi ditunjukan bahwa settling time yang dicapai pada sistem kendali heading dengan masukan 30o didapatkan data performansi kendali closed loop – multi sensor dengan settling time selama 177 detik, delay time selama 70.56 detik, serta tidak mengalami overshoot maupun steady state error. Pada sistem kendali diving dengan masukan 50 meter pada kecepatan 8 knot didapatkan data performansi kendali closed loop – multi sensor dengan settling time selama 225.45 detik, delay time selama 18.63 detik, overshoot sebesar 56.9 meter, serta steady state error sebesar 0.6%. Dari hasil simulasi pada sistem kendali heading dan diving dapat diketahui bahwa sistem kendali closed loop – multi sensor memiliki performa yang baik dan sesuai standard ini dibuktikan dengan nilai settling time yang lebih singkat dan nilai overshoot maupun steady state error yang lebih rendah. Sehingga dapat diketahui bahwa sistem kendali PID dengan konsep closed loop – multi sensor dapat menjadi referensi desain sistem kendali manuver kapal selam yang aktual dan responsif.
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The submarine is watercraft which capable move below the water surface, so it can move in three dimensions both vertically and horizontally. To maneuver submarine uses two main actuators, Rudder to control the heading angle of submarine and hydroplane to control pitch angle and depth of the submarine. surface, snorkel, silent run, and pursuit are four main operation mode of submarine that required good maneuverability. Submarine maneuverability very affected by control system. Submarine maneuverability is strongly influenced by the concepts and methods of the control system so that an accurate control system design is needed. in this research will use a based PID control system where it needs an accurate mathematical model. Computational fluid dynamic simulation will do to get an accurate hydrodynamic coefficient which affects to submarine, so from that coefficient we got accurate mathematical model. Furthermore, a control system design will be made with the concept of closed-loop - multi-sensor. From heading control system simulation with 30o heading reference the result is, the closed loop-multi sensor system reach set point at 177 seconds (settling time), delay time is 70.56 second, and overshoot or steady-state error doesn't occur. And from diving control system simulation with depth reference 50 meter, speed 8 knot and pitch angle 6o the result is, the closed loop – multi sensor system reach set point at 225.45 seconds (settling time), delay time is 18.63 second, overshoot occurs and reach 56.9 meter, and steady state error values of 0.6% from set point. From the simulation results on the heading and diving control system, it can be seen that the closed loop - multi sensor control system has good performance and is according to this standard as evidenced by the shorter settling time value and the lower overshoot and steady state error values. So it can be seen that the PID control system with the closed loop - multi sensor concept can be a reference for the actual and responsive submarine maneuver control system design.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Uncontrolled Keywords: | Submarine,Maneuver,Heading,Diving,PID Control,Kapal Selam,Manuver,Heading,Diving,Kendali PID |
| Subjects: | V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM365 Remote submersibles. Autonomous vehicles. V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM761 Stability of ships |
| Divisions: | Faculty of Marine Technology (MARTECH) > Marine Engineering > 36202-(S1) Undergraduate Thesis |
| Depositing User: | Muchammad Rifki Abdillah |
| Date Deposited: | 03 Oct 2024 05:51 |
| Last Modified: | 03 Oct 2024 05:51 |
| URI: | http://repository.its.ac.id/id/eprint/79851 |
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