Implementasi Cascade PID untuk Kontrol Kestabilan dan Hovering Quadcopter

Abidin, Ali Zaenal (2025) Implementasi Cascade PID untuk Kontrol Kestabilan dan Hovering Quadcopter. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Quadcopter adalah jenis unmanned aerial vehicle (UAV) dengan dua pasang rotor yang berputar saling berlawanan arah. Dalam beberapa tahun terakhir, quadcopter semakin populer untuk berbagai keperluan, mulai dari hobi hingga industri profesional. Sistem quadcopter merupakan sistem dinamis non-linier dengan banyak variabel, yang dapat dikendalikan menggunakan PID untuk mengatur kecepatan motor, posisi, dan orientasi. Pada penelitian ini, diterapkan algoritma kontrol cascade PID yang bekerja paralel pada sumbu roll, pitch, yaw, altitude, dan posisi untuk kontrol kestabilan dan hovering pada quadcopter. Untuk menerapkan metode cascade PID, dibutuhkan pembuatan flight controller open-source yang mendukung pengembangan algoritma kontrol. Oleh karena itu, pembuatan flight controller yang dapat mengimplementasikan cascade PID untuk mengontrol kestabilan dan hovering quadcopter sangat penting. Sensor yang digunakan, meliputi RPM sensor untuk mengukur kecepatan motor, IMU untuk orientasi, Lidar untuk ketinggian, dan GPS untuk posisi. Parameter PID dituning menggunakan metode Ziegler-Nichols. Hasil pengujian menunjukkan bahwa quadcopter dapat dikendalikan kestabilannya dengan cascade PID melalui feedback sudut roll, pitch, dan yaw dari IMU. Selain itu, cascade PID juga berhasil digunakan untuk mengontrol hovering quadcopter pada ketinggian 70 cm. Dengan demikian, cascade PID berhasil diimplementasikan untuk kontrol kestabilan dan hovering quadcopter.
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A quadcopter is a type of unmanned aerial vehicle (UAV) with two pairs of counter-rotating rotors. In recent years, quadcopters have become increasingly popular for a variety of purposes, ranging from hobbies to professional industries. The quadcopter system is a nonlinear dynamic system with many variables, which can be controlled using PID to regulate motor speed, position, and orientation. In this study, a cascade PID control algorithm is implemented that works in parallel on the roll, pitch, yaw, altitude, and position axes for stability control and hovering on a quadcopter. To implement the cascade PID method, the creation of an open-source flight controller that supports control algorithm development is necessary. Therefore, the creation of a flight controller that can implement cascade PID to control stability and hovering of a quadcopter is crucial. Sensors used include an RPM sensor to measure motor speed, an IMU for orientation, Lidar for altitude, and GPS for position. PID parameters were tuned using the Ziegler-Nichols method. Test results show that the quadcopter's stability can be controlled with cascade PID through roll, pitch, and yaw feedback from the IMU. In addition, cascade PID was also successfully used to control quadcopter hovering at a altitude of 70 cm. Thus, cascade PID has been successfully implemented for stability and hovering control of a quadcopter.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Quadcopter, cascade PID, Kestabilan, Stability, Hovering, Ziegler Nichols
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7878 Electronic instruments T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL776 .N67 Quadrotor helicopters--Automatic control
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Ali Zaenal Abidin
Date Deposited:	27 Jan 2025 03:37
Last Modified:	27 Jan 2025 03:37
URI:	http://repository.its.ac.id/id/eprint/116938

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