Perancangan Sistem Kontrol UAV Tiltrotor pada Transisi Hover Menuju Cruise dengan Sistem Kontrol Fuzzy

Qomara, Reyhan Muhammad (2023) Perancangan Sistem Kontrol UAV Tiltrotor pada Transisi Hover Menuju Cruise dengan Sistem Kontrol Fuzzy. Other thesis, Institrut Teknologi Sepuluh Nopember.

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Abstract

Unmanned Aerial Vehicle (UAV) merupakan pesawat tanpa awak yang dapat dikendalikan secara otomatis. UAV berdasarkan cara terbangnya dapat dibagi menjadi dua tipe yaitu rotary wing dan fixed win. Masing-masing tipe tersebut memiliki kelebihannya, dimana rotary wing memiliki kemampuan takeoff vertical dan fixed wing memiliki kemampuan cruising. Hybrid UAV merupakan tipe UAV yang memiliki kedua kemampuan, dimana salah satunya adalah UAV tiltrotor. Tiltrotor memiliki kemampuan untuk melakukan vertical takeoff dengan menggerakkan keempat rotornya kearah vertikal, serta memiliki cruising dengan mengubah sudut rotornya dari arah vertical menuju horizontal. Pada transisi ini muncul permasalahan dimana gaya angkat angkat dan keseimbangan UAV dapat mengalami kesalahan ketika rotor mengalami perubahan sudut. Pada penelitian ini, dirancang algoritma beserta sistem pengendali untuk mengatasi permasalahan tersebut dengan menggunakan sistem control fuzzy. Algoritma transisi berjalan setelah tiltrotor melakukan VTOL dimana sudut kemiringan rotor dijaga pada sudut 45o hingga gaya angkat aerodinamika mampu menahan beban tiltrotor sebelum bertransisi sepenuhnya ke mode fixed wing. Pada saat transisi berlangsung, ketinggian serta keseimbangan pada sudut pitch dijaga dengan menggunakan sistem kendali fuzzy. Kontroler dan algoritma yang digunakan berhasil menyelesaikan transisi dengan performansi mean absolute error ketinggian sebesar 0.0347 m dan sudut pitch 6.337 x 10-5 derajat
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Unmanned Aerial Vehicle (UAV) is an unmanned aircraft that can be controlled automatically. UAVs can be classified into two types based on their flight capabilities: rotary wing and fixed wing. Each type has its own advantages, where rotary wing UAVs have vertical takeoff capabilities, while fixed wing UAVs have cruising capabilities. A hybrid UAV is a type of UAV that combines both capabilities, and one example is the tiltrotor UAV. Tiltrotor UAVs have the ability to perform vertical takeoff by tilting their four rotors vertically, and they can switch to a horizontal cruising mode by adjusting the rotor angle from vertical to horizontal. During this transition, issues may arise as the lift force and UAV balance can be affected when the rotor angle changes. An algorithm and control system are developed to address these issues using a fuzzy control system. The transition algorithm is initiated after the tiltrotor performs vertical takeoff (VTOL), where the rotor angle is maintained at 45 degrees until the aerodynamic lift force can support the tiltrotor's weight before fully transitioning into fixed-wing mode. During the transition, the altitude and pitch angle balance are maintained using the fuzzy control system. The controller and algorithm used successfully completed the given mission with a mean absolute error trajectory performance of 0.0347 m and a pitch angle of 6.337 x 10-5 degrees

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Fuzzy Logic Control, Tiltrotor, Hybrid UAV, Transisi
Subjects:	T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL776 .N67 Quadrotor helicopters--Automatic control U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle) U Military Science > U Military Science (General) > UG Military Engineering > UG1242.D7 Unmanned aerial vehicles. Drone aircraft
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Reyhan Muhammad Qomara
Date Deposited:	31 Jul 2023 14:24
Last Modified:	31 Jul 2023 14:24
URI:	http://repository.its.ac.id/id/eprint/99991

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