Desain Kendali Autonomous Underwater Vehicle (AUV) Dengan Ballast Aktif Menggunakan Metode Sliding Mode Control

Anggoro, Ardyan Chandra Dwi (2020) Desain Kendali Autonomous Underwater Vehicle (AUV) Dengan Ballast Aktif Menggunakan Metode Sliding Mode Control. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Autonomous Underwater Vehicle (AUV) merupakan kapal selam tanpa awak yang saat ini sedang dikembangkan. Salah satu komponen penting yang ada di AUV adalah ballast aktif. Ballast aktif merupakan sebuah alat yang digunakan untuk mengatur massa air pada AUV. Tangki ballast bertujuan sebagai penyeimbang dan pemberat aktif pada AUV. Pada tugas akhir ini akan dirancang desain kendali Sliding Mode Control untuk mengatur ballast aktif yang optimal pada saat AUV berada dalam kedalaman tertentu. Gerak yang ditinjau hanya 3-DOF yaitu surge, heave dan yaw. Dari hasil penelitian menunjukkan bahwa rancangan sistem kontrol gerak dengan masing-masing gerak diberi 3 setpoint yang berbeda menghasilkan hittling time pada gerak surge, heve dan yaw masing-masing kurang dari 12.7 detik, 9.8 detik dan 6.9 detik. Steady state error pada gerak surge, heave dan yaw masing-masing kurang dari 0.0003%, 0.0005% dan 0.0003%. Overshoot dari respon masing-masing gerak adalah 0%.===================================================================================================================================== Autonomous Underwater Vehicle (AUV) is an unmanned submarine that is currently being developed. One of the important components in the AUV is an active ballast. The active ballast is a tool used to adjust the mass of water at AUV. The ballast tank serves as a counterweight and active ballast to the AUV. In this final project, a Sliding Mode Control design will be designed to adjust the optimal active ballast when the AUV is at a certain depth. The only 3-DOF observed motion is surge, heave and yaw. The results showed that the motion control system design with each motion given 3 different setpoints resulted in hittling time for surge, heave and yaw motion less than 12.7 seconds, 9.8 seconds and 6.9 seconds. Steady state error on surge, heave and yaw motion is less than 0.0003%, 0.0005% and 0.0003%. Overshoot of the response of each motion is 0%

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: Autonomous Underwater Vehicle (AUV), Ballast Aktif, Sliding Mode Control============================================================ Autonomous Underwater Vehicle (AUV), Active Ballast, Sliding Mode Control
Subjects: Q Science > Q Science (General) > Q180.55.M38 Mathematical models
T Technology > TJ Mechanical engineering and machinery > TJ217.2 Robust control
V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM1 Ballast (Ships)
Divisions: Faculty of Science and Data Analytics (SCIENTICS) > Mathematics > 44201-(S1) Undergraduate Thesis
Depositing User: Chandra Ardyan
Date Deposited: 27 Aug 2020 03:24
Last Modified: 27 Aug 2020 03:24
URI: http://repository.its.ac.id/id/eprint/80874

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