Desain, Konstruksi dan Implementasi Sistem Otopilot Untuk USV LSS01

Achmad, Achmad (2024) Desain, Konstruksi dan Implementasi Sistem Otopilot Untuk USV LSS01. Masters thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Tesis ini membahas proses perancangan, konstruksi dan implementasi USV LSS01 beserta sistem autopilot nya. Perancangan USV mencakup perancangan sistem mekanik dan elektrik, termasuk penentuan ukuran dan bahan badan USV sampai penentuan spesifikasi komponen-komponen mekanik dan elektrik yang diperlukan. Hasil perancangan digunakan sebagai model fisik kapal untuk dilakukan uji hidrodinamik sampai didapatkan spesifikasi USV yang dapat bermanuver stabil di air. Konstruksi USV dilakukan berdasarkan hasil uji hidrodinamis untuk menghasilkan USV yang siap dioperasikan di danau. Selanjutnya, fisik USV LSS01 dioperasikan melakukan eksperimen berbagai manuver untuk mengambil data variabel-variabel dinamika USV. Data yang dikumpulkan, bersama dengan model matematika konseptual USV, diolah untuk mengidentifikasi parameter-parameter dinamik yang diperlukan untuk membentuk model matematika kerja USV. Model matematik kerja USV selanjutnya dipakai untuk merancang sistem autopilot, yang mencakup sistem pemanduan dan sistem pengontrolan, menggunakan simulasi. Hasil perancangan sistem autopilot diimplementasikan pada USV LSS01 untuk memandu dan mengontrolnya agar mampu menjalani lintasan yang diinginkan. Sistem pemanduan yang dirancang dan diimplementasikan adalah adalah sistem-sistem pemanduan proportional line of sight (PLOS) dan integral line of slide (ILOS), Sistem pengontrolan yang dirancang dan diimplementasikan adalah sistem-sistem pengontrolan PID dan Fuzzy-PID. Hasil implementasi sistem autopilot diuji dengan skenario USV LSS 01 melalui lintasan berbentuk persegi. Hasil yang diperoleh menunjukkan bahwa USV LSS01 mampu melalui lintasan yang diinginkan, tetapi menyimpang cukup jauh dari rencana lintasan pada saat berbelok 90 derajat. Hal ini dapat dimaklumi karena hambatan air tidak memungkikan USV secara fisik berbelok 90 derajat.
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This thesis discusses the design, construction, and implementation process of the USV LSS01 and its autopilot system. USV design includes the design of mechanical and electrical systems, including determining the size and material of the USV body and determining the specifications of the required mechanical and electrical components. The design results are used as a physical model of the ship to be tested hydrodynamically until the specifications of the USV are obtained that can maneuver stably in water. USV construction is carried out based on the results of hydrodynamic tests to produce a USV that is ready to be operated on the lake. Furthermore, the physical USV LSS01 is operated to conduct experiments on various maneuvers to collect data on USV dynamic variables. The data collected, together with the conceptual mathematical model of the USV, are processed to identify the dynamic parameters needed to form a mathematical model of the USV's work. Using simulation, the mathematical model of the USV's work is then used to design an autopilot system, which includes a guidance system and a control system. The results of the autopilot system design are implemented on the USV LSS01 to guide and control it so that it can undergo the desired trajectory. The designed and implemented guidance systems are the proportional line of sight (PLOS) and integral line of sight (ILOS) guidance systems. The designed and implemented control systems are PID and fuzzy-PID control systems. The results of the implementation of the autopilot system were tested with the USV LSS 01 scenario through a square-shaped track. The results showed that the USV LSS01 could pass through the desired track but deviated quite far from the planned track when turning 90 degrees. This is understandable because water resistance does not allow the USV to turn 90 degrees physically

Item Type:	Thesis (Masters)
Uncontrolled Keywords:	USV, Guidance, Controller, USV, Pemanduan, Kontroller
Subjects:	T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM365 Remote submersibles. Autonomous vehicles.
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20101-(S2) Master Thesis
Depositing User:	Achmad Achmad
Date Deposited:	10 Aug 2024 13:37
Last Modified:	26 Aug 2024 06:05
URI:	http://repository.its.ac.id/id/eprint/115253

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