Purwandha, Alvin (2022) Perancangan Sistem Kontrol Pitch Menggunakan PID Model Reference Adaptive Control Pada Drone Quadcopter. Undergraduate thesis, Institut Teknologi Sepuluh November.
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Abstract
Quadcopter merupakan pesawat yang memiliki empat buah motor yang dikendalikan secara terpisah satu sama lainnya dan sedang naik daun. Pada perkembangannya quadcopter dirancang untuk UAV (Unmanned Aerial Vehicle) atau yang biasa disebut kendaraan udara tanpa awak yang dikendalikan jarak jauh oleh atau tanpa seorang pilot.Untuk dapat mengontrol sistem tersebut agar tidak membuat masalah, maka dibutuhkannya kontrol PID. Tetapi karena dinamika sistem yang bervariasi, kontroler PID tidak mampu mengatasi masalah tersebut kecuali dengan cara tuning berkala. Oleh karena itu, dibutuhkan suatu kontroler yang kokoh dan dapat diandalkan untuk menyelesaikan maasalah tersebut, maka saya memilih metode PID Model Reference Adaptive Control (MRAC).Penelitian ini diawal dengan pengambilan data pada quadcopternya.lalu dihitung transfunctionya untuk plant menggunakan rumus matematis. selanjutnya dihitung juga transfunction untuk MRAC dan dibuat PIDnya berdasarkan plant model, terakhir di simulasikan pada MATLAB simulink. Hasil dari penelitian ini adalah Perancangan MRAC pada sistem control quadcopter pada MATLAB telah berhasil dilakukan dan mampu menoleransi eror pada sistem menjadi nol. Dan juga hasil dari PID + MRAC lebih baik jika dibandingkan dengan hanya menggunakan PID.
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Quadcopter is an aircraft that has four motors that are controlled separately from each other and is on the rise. In its development, the quadcopter was designed for UAV (Unmanned Aerial Vehicle) or what is commonly called an unmanned aerial vehicle that is controlled remotely by or without a pilot. To be able to control the system so as not to cause problems, PID control is needed. However, due to the varying dynamics of the system, the PID controller is unable to overcome this problem except by means of periodic tuning. Therefore, a solid and reliable controller is needed to solve this problem, so I chose the PID Model Reference Adaptive Control (MRAC) method. then the transfunction for MRAC is also calculated and the PID is made based on the plant model, the last is simulated on MATLAB simulink. The result of this research is that the MRAC design for the quadcopter control system in MATLAB has been successfully carried out and is able to tolerate errors in the system to zero. And also the results are PID + MRAC has a better result than only using PID.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Uncontrolled Keywords: | Model Reference Adaptive Control, Matlab, simulink, Quadcopter, PID |
| Subjects: | U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle) |
| Divisions: | Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis |
| Depositing User: | Alvin Purwandha |
| Date Deposited: | 08 Mar 2022 04:37 |
| Last Modified: | 08 Mar 2022 04:37 |
| URI: | http://repository.its.ac.id/id/eprint/94795 |
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