Andika, Made Widnyana (2021) Perancangan Sistem Pembaharuan Trajectory Guidance Pada Kapal Berbasis Logika Fuzzy Akibat Perubahan Parameter Dinamika Kapal Sebagai Dampak Dari Kondisi Laut. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Transportasi laut memiliki peranan yang cukup penting bagi Indonesia sebagai negara maritim. Lintasan Ketapang-Gilimanuk merupakan salah satu lintasan pelayaran tersibuk di Indonesia. Usia armada kapal penyebrangan pada lintasan Ketapang-Gilimanuk relatif tua, sehingga tidak mampu berlayar secara langsung atau straight dari Ketapang menuju Gilimanuk dan sebaliknya. Kondisi tersebut jika dipaksakan, kemungkinan akan terjadi kapal tidak akan mampu mencapai tujuan dan terjadi kecelakaan karena adanya kondisi laut yang ekstrim. Upaya yang dapat dilakukan untuk mengatasi permasalahan tersebut adalah dengan merancang trajectory guidance berdasarkan pada kemampuan kapal yang disesuaikan dengan kondisi laut. Adanya trayektori yang baru sebagai lintasan referensi kapal, diharapkan kapal bisa berlayar sampai tujuan. Penelitian ini mengusulkan perancangan sistem pengendali PID adaptif yang disusun berdasarkan konsep logika fuzzy agar kapal dapat merespon dengan cepat pada saat terjdai kondisi gangguan laut. Kapal obyek yang digunakan adalah KMP Drajat Paciran dalam mode pelayaran Ketapang menuju Gilimanuk. Terdapat lima lintasan yang digunakan yang menjadi trajectory guidance. Penelitian dilakukan secara simulasi, dengan bantuan software MATLAB, dan diuji pada kondisi kecepatan arus laut sebesar 3-7 knot dan gelombang dengan ketinggian 1-1.5 meter. Hasil simulasi menunjukan bahwa algoritma pengendali yang sudah dirancang mampu memenuhi standar IMO dengan nilai maximum overshoot sebesar 1.18o untuk setpoint 10o dan 1.13o untuk setpoint 20o. Simulasi untuk kondisi adanya gangguan arus dan gelombang, menunjukkan bahwa lintasan kapal berada pada jalur sesuai dengan trajectory guidance dengan nilai rata-rata eror terbesar 3.93 meter yang terjadi pada kondisi arus laut 7 knot dari arah selatan dan tinggi gelombang laut sebesar 1.5 meter.
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Sea transportation has an important role for Indonesia as a maritime country. The Ketapang-Gilimanuk route is one of the busiest shipping lanes in Indonesia. The age of the fleet of crossing ships on the Ketapang-Gilimanuk route is relatively old, so they are not able to sail directly from Ketapang to Gilimanuk and vice versa. If these conditions are imposed, it is likely that the ship will not be able to reach its destination and an accident will occur due to extreme sea conditions. Efforts that can be made to overcome these problems are to design trajectory guidance based on the ship's capabilities that are adapted to sea conditions. With the new trajectory as a reference trajectory of the ship, it is hoped that the ship can sail to its destination. This study proposes the design of an adaptive PID control system based on the concept of fuzzy logic so that ships can respond quickly when sea disturbance conditions occur. The used ship object is KMP Drajat Paciran in sailing mode from Ketapang to Gilimanuk. There are five trajectories which used as trajectory guidance. The research was carried out in a simulation, with the help of MATLAB software, and tested under conditions of sea current speed of 3-7 knots and waves with a height of 1-1.5 meters. The simulation results show that the control algorithm that has been designed was able to meet IMO standards with a maximum overshoot value of 1.18o for 10o setpoint and 1.13o for 20o setpoint. Simulation for current and wave disturbance conditions shows that the ship's trajectory is on track in accordance with trajectory guidance with the largest average error value of 3.93 meters which occurs at sea current conditions of 7 knots from the south and sea wave height of 1.5 meters.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Uncontrolled Keywords: | Ship’s Autopilot, Fuzzy Logic, PID Controller, Trajectory Guidance Autopilot Kapal, Logika Fuzzy, Pengendali PID, trajectory guidance |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control. T Technology > TJ Mechanical engineering and machinery > TJ217 Adaptive control systems T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers |
| Divisions: | Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis |
| Depositing User: | Made Widnyana Andika |
| Date Deposited: | 18 Aug 2021 04:41 |
| Last Modified: | 18 Aug 2021 04:41 |
| URI: | http://repository.its.ac.id/id/eprint/87499 |
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