Perancangan Sistem Kendali PID Pada Model Transisi Take Off VTOL UAV Tiltrotor

Azizi, Ahmad Khodadan (2024) Perancangan Sistem Kendali PID Pada Model Transisi Take Off VTOL UAV Tiltrotor. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Unmaned Aerial Vehicle (UAV) adalah sebuah pesawat tanpa awak yang dikendalikan jarak jauh secara remote atau otomatis. UAV memiliki dua tipe yaitu fixed-wing UAV dan multi-rotor UAV. Dalam perkembangannya, fixed-wing UAV dan multi-rotor UAV dapat digabungkan sehingga terbentuk Hybrid UAV. UAV tiltrotor adalah pesawat tanpa awak yang memiliki bentuk seperti pesawat atau fixed-wing tetapi juga memiliki baling-baling. Tiltrotor mampu melakukan lepas landas secara vertikal dengan mengatur posisi keempat rotor ke arah vertikal, dan juga dapat melakukan penerbangan cuise dengan mengubah orientasi rotor dari vertikal menjadi horizontal. Pada fase transisi take-off vertical menuju cruies ini, timbul permasalahan dimana gaya angkat dan keseimbangan UAV dapat mengalami ketidaksempurnaan ketika rotor mengalami perubahan sudut. Untuk mengatasi permasalahan tersebut, dirancanglah konsep pesawat Tiltrotor yang memiliki respons cepat, yang dikendalikan menggunakan kontroler Proportional-Integral-Derivative (PID). Hasil pengujian pada respon sistem kendali kontrol PID saat simulasi terjadi pada posisi vertical dan horizontal gerak UAV yang dapat menstabilkan posisi pada saat transisi. Transisi dimulai dengan mengubah variabel kontrol tilting rotor dari 0° menjadi 90°, dengan mengubah gaya angkat UAV dari rotor menuju sayap sebagai pengganti gaya angkat aerodinamis, serta menyesuaikan set point posisi ketinggian dan sudut pitch. Proses transisi UAV dari mode hovering menuju cruising menyebabkan UAV mengalami penurunan ketinggian sebesar 1.3664 meter dan penunuran sudut pitch sebesar 0.1728°. Sistem kontrol dan algoritma yang dirancang berhasil melakukan transisi dari misi transisi hovering menuju Cruising dengan performansi Mean Absolute Error (MAE) sebesar 0.0299 m untuk menjaga ketinggian dan 0.0052° untuk menjaga sudut pitch.
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Unmanned Aerial Vehicle (UAV) is a remotely or automatically controlled aircraft without a pilot onboard. UAVs have two types: fixed-wing UAVs and multi-rotor UAVs. In their development, fixed-wing UAVs and multi-rotor UAVs can be combined to form Hybrid UAVs. Tiltrotor UAVs are unmanned aircraft that have a fixed-wing aircraft-like shape but also feature propellers. Tiltrotors can vertically take off by adjusting the position of all four rotors vertically, and can also transition to cruise flight by changing the orientation of the rotors from vertical to horizontal. During the transition phase from vertical take-off to cruise, issues arise where lift and UAV balance may become imperfect when the rotors undergo angle changes. To address this issue, the concept of Tiltrotor aircraft with fast response, controlled using Proportional-Integral-Derivative (PID) controllers, was designed. Testing results on the PID control system response during simulation occurred at the vertical and horizontal positions of UAV motion, which can stabilize the position during transition. The transition begins by changing the tilting rotor control variable from 0° to 90°, shifting the UAV lift from the rotor to the wing as a substitute for aerodynamic lift, and adjusting the set point for altitude and pitch angle. The UAV transition process from hovering mode to cruising causes the UAV to decrease in altitude by 1.3664 meters and decrease in pitch angle by 0.1728°. The designed control system and algorithm successfully transition from the hovering transition mission to Cruising with Mean Absolute Error (MAE) performance of 0.0299 m to maintain altitude and 0.0052° to maintain pitch angle.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Proportional Integral Derivative Control, Tiltrotor UAV, Transisi Proportional Integral Derivative Controller, Tiltrotor UAV, Transition
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles. 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:	Ahmad Khodadan Azizi
Date Deposited:	06 Feb 2024 08:52
Last Modified:	06 Feb 2024 08:52
URI:	http://repository.its.ac.id/id/eprint/106334

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