Rohmah, Meilaillatul (2025) Perancangan Algoritma Pengendalian Sistem Hybrid Quadplane Pada Fase Transisi (Hovering To Cruising) Dengan Metode Fuzzy Tipe-2. Masters thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Quadplane UAV merupakan gabungan sistem quadcopter dengan pesawat konvensional. Pada penelitian kali ini menggunakan desain Quadplane Tilt-rotor. Quadplane UAV memiliki 3 mode, meliputi vertical take-off, mode transisi, dan mode cruising. Dalam menjalankan fase transisi, Quadplane Tilt-rotor memiringkan 2 sumbu motor bagian depan untuk dijadikan sebagai penggerak maju. Pada fase transisi ini, kondisi keseimbangan pesawat berubah seiring waktu yang dapat menyebabkan pesawat jatuh. Penelitian kali ini mengusulkan untuk menggunakan metode kontrol fuzzy tipe-2. Metode kendali fuzzy tipe-2 mampu menangani ketidakpastian pada Quadplane atau disebut Footprint of Uncertainties (FOU) lebih baik dibandingkan menggunakan metode fuzzy tipe-1. Pada penelitian ini, dilakukan simulasi menggunakan software MATLAB Simulink serta membandingkan hasil respon kendali metode fuzzy tipe-2 dan PID dari penelitian sebelumnya. Hasil respon tracking posisi z menggunakan metode fuzzy tipe-2 menghasilkan nilai rise-time ±3 s, overshoot <2%, error steady state ±0,5 m. Hasil respon tracking posisi x menggunakan metode fuzzy tipe-2 menghasilkan nilai rise-time ±2,5 s, overshoot hampir mencapai 0%, error steady state <0,2 m. Hasil respon tracking posisi sudut pitch Quadplane menggunakan metode fuzzy tipe-2 menghasilkan nilai rise-time ±1,5 s, overshoot ±0,05°, error steady state ±0,02°. Hasil respon kontrol motor dan servo tilt menggunakan metode fuzzy tipe-2 menghasilkan nilai rise-time ±1 s, overshoot <5%, error steady state hampir mencapai 0. Secara keseluruhan, kontroler fuzzy tipe-2 terbukti lebih efektif, akurat, dan efisien dalam mengendalikan hybrid Quadplane pada fase transisi, sehingga layak diimplementasikan pada prototipe nyata dengan uji hardware-in-the-loop sebagai penelitian lanjutan.
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Quadplane UAV is a combination of a quadcopter system with a conventional aircraft. In this study, a Quadplane Tilt-rotor design was used. Quadplane UAV has 3 modes, including vertical take-off, transition mode, and cruising mode. In carrying out the transition phase, the Quadplane Tilt-rotor tilts the 2 front motor axes to be used as forward propulsion. In this transition phase, the aircraft's balance condition changes over time which can cause the aircraft to crash. This study proposes using the type-2 fuzzy control method. The type-2 fuzzy control method is able to handle uncertainty in the Quadplane or called Footprint of Uncertainties (FOU) better than using the type-1 fuzzy method. In this study, simulations were carried out using MATLAB Simulink software and compared the control response results of the type-2 fuzzy method and PID from previous studies. The results of the z position tracking response using the type-2 fuzzy method produce a rise-time value of ±3 s, overshoot <2%, steady state error ±0.5 m. The results of the x position tracking response using the type-2 fuzzy method produce a rise-time value of ±2.5 s, overshoot almost reaching 0%, steady state error <0.2 m. The results of the Quadplane pitch angle position tracking response using the type-2 fuzzy method produce a rise-time value of ±1.5 s, overshoot ±0.05°, steady state error ±0.02°. The results of the motor and servo tilt control response using the type-2 fuzzy method produce a rise-time value of ±1 s, overshoot <5%, steady state error almost reaching 0. Overall, the type-2 fuzzy controller is proven to be more effective, accurate, and efficient in controlling the hybrid Quadplane in the transition phase, so it is worthy of being implemented in a real prototype with hardware-in-the-loop testing as further research.
| Item Type: | Thesis (Masters) |
|---|---|
| Uncontrolled Keywords: | UAV, Quadplane, VTOL, fase transisi, fuzzy tipe-2 UAV, Quadplane, VTOL, transition phase, Type-2 fuzzy algoritm |
| Subjects: | T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL776 .N67 Quadrotor helicopters--Automatic control T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL777 Details and parts of models (Including propellers) T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control |
| Divisions: | Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30101-(S2) Master Thesis |
| Depositing User: | Meilaillatul Rohmah |
| Date Deposited: | 06 Aug 2025 03:52 |
| Last Modified: | 06 Aug 2025 03:52 |
| URI: | http://repository.its.ac.id/id/eprint/127711 |
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