Perancangan Sistem Kendali Auto Trajectory Pada Rumah Sakit Terapung Berbasis Linear Quadratic Gaussian (LQG)

Marcelino, Alehandro Hiero (2023) Perancangan Sistem Kendali Auto Trajectory Pada Rumah Sakit Terapung Berbasis Linear Quadratic Gaussian (LQG). Other thesis, Institut Teknologi Sepuluh Nopember Surabaya.

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Abstract

Kapal Rumah Sakit Terapung Universitas Airlangga merupakan kapal berjenis phinisi yang digunakan untuk memberikan pelayanan kesehatan di daerah terpencil yang kekurangan fasilitas kesehatan. Oleh karena itu perlu dirancang sistem pengendali auto trajectory untuk mengendalikan sudut haluan kapal agar tetap dalam jalur pelayaran dan mampu mengatasi gangguan berupa gelombang laut setinggi 0.5 meter dan 1.25 meter. Penelitian ini menggunakan sistem kendali auto trajectory berbasis Linear Quadratic Gaussian (LQG) sebagai pengendali sudut haluan kapal pada jalur yang telah ditentukan, perancangan sistem dilakukan dengan menggunakan software MATLAB untuk mendapatkan hasil simulasi berupa error lintasan kapal dari koordinat aktual dan koordinat tujuan untuk lintasan lurus dan lintasan belok. Hasil penelitian menunjukkan sistem auto trajectory berbasis Linear Quadratic Gaussian (LQG) mampu mengendalikan sudut haluan kapal selama uji trayektori dengan nilai error lintasan sebesar 0.015 meter untuk lintasan lurus kapal tipe 1 tanpa gangguan, 0.025 meter untuk gangguan 0.5 meter dan 0.028 meter untuk gangguan 1.25 meter lintasan lurus kapal tipe 1 dengan gangguan. Kemudian 0.022 meter untuk gangguan 1.25 meter lintasan belok kapal tipe 1 tanpa gangguan, 0.025 meter untuk gangguan 0.5 meter dan 0.035 meter untuk lintasan belok kapal tipe 1 dengan gangguan. Selanjutnya diperoleh error lintasan sebesar 0.012 meter untuk lintasan lurus kapal tipe 2 tanpa gangguan, 0.019 meter dan 0.026 meter untuk lintasan lurus kapal tipe 2 dengan gangguan. Kemudian 0.02 meter untuk lintasan belok kapal tipe 2 tanpa gangguan, 0.022 meter dan 0.029 meter untuk lintasan belok kapal tipe 2 dengan gangguan. Berdasarkan hasil yang telah didapatkan sistem mampu memenuhi standar untuk trayektori kapal untuk tetap dalam circle of acceptance yang kurang dari 0.5Lpp.
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Airlangga University Floating Hospital Ship is a phinisi vessel used to provide healthcare services in remote areas lacking medical facilities. Therefore, it is necessary to
design an auto trajectory control system to steer the ship's heading angle, keeping it on course and capable of overcoming disturbances such as 0.5 meter and 1.25-meter high sea waves. This study utilizes a Linear Quadratic Gaussian (LQG) based auto trajectory control system as the controller for the ship's heading angle on predetermined routes. The system design is implemented using MATLAB software to obtain simulation results in the form of ship trajectory errors between the actual and target coordinates for straight and curved paths. The research results demonstrate that the Linear Quadratic Gaussian (LQG) based auto trajectory system can control the ship's heading angle during trajectory tests, with trajectory error values of 0.015 meters for the straight path of type 1 ship without disturbances, 0.025 meters for a 0.5 meter disturbance, and 0.028 meters for a 1.25-meter disturbance on the straight path of type 1 ship with disturbances. Furthermore, trajectory errors of 0.022 meters were obtained for a 1.25-meter disturbance on the curved path of ship type 1 without disturbances, 0.025 meters for a 0.5-meter disturbance, and 0.035 meters for the curved path of ship type 1 with disturbances. Additionally, trajectory errors of 0.012 meters were obtained for a straight path of ship type 2 without disturbances, 0.019 meters, and 0.026 meters for a straight path of ship type 2 with disturbances. For curved paths, trajectory errors of 0.02 meters were obtained for type 2 ships without disturbances, 0.022 meters and 0.029 meters for curved paths of type 2 ships with disturbances. Based on the results obtained, the system is capable of meeting the standards for ship trajectories to remain within the circle of acceptance, which is less than 0.5Lpp.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Auto Trajectory, Gelombang, LQG, Sudut Haluan, Heading, Wave.
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ217.2 Robust control V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM365 Remote submersibles. Autonomous vehicles.
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	ALEHANDRO HIERO MARCELINO
Date Deposited:	27 Jul 2023 07:47
Last Modified:	27 Jul 2023 07:59
URI:	http://repository.its.ac.id/id/eprint/99696

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