Sistem Kontrol Sudut Arah Gerak Zig-Zag Pada Pengujian Seakeeping Miniatur Kapal Cepat Menggunakan Metode Pid Controller

Pradana, Ahmad Rifky (2022) Sistem Kontrol Sudut Arah Gerak Zig-Zag Pada Pengujian Seakeeping Miniatur Kapal Cepat Menggunakan Metode Pid Controller. Diploma thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Pada pengujian seakeeping test di Balai Teknologi Hidrodinamika (BTH) laboratorium Maneuvering and Ocean Basin (MOB) untuk gerak zig-zag miniatur kapal cepat sering kali terjadi overshoot sebesar 10° melewati arah sudut yang ditentukan yaitu 20° menggunakan remote control. Tujuan pada proyek akhir ini adalah membuat sebuah sistem kontrol dengan metode PID untuk meminimalisir terjadinya overshoot pada gerak zig-zag miniatur kapal cepat. Metode PID digunakan sebagai pengendali rudder pada gerak zig-zag, sehingga dapat mengetahui nilai error steady state, rise time, settling time, dan mengurangi sudut overshoot yang didapatkan. Berdasarkan hasil pengujian gerak zig-zag untuk nilai error steady state belum bisa terbaca. Maka hanya didapatkan nilai overshoot sebesar 3°, nilai rise time diperoleh sebesar 4 detik waktu naik untuk mencapai setpoint, dan settling time diperoleh sebesar 5 detik yang menunjukkan bahwa gerak dari motor servo mulai stabil pada waktu tersebut. Parameter yang mampu memberikan hasil terbaik yaitu pada saat menggunakan nilai Kp = 1,1, Ki = 3,3, Kd = 0,09.
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In the seakeeping test at the Hydrodynamics Technology Center (BTH) of the Maneuvering and Ocean Basin (MOB) laboratory for the zigzag motion of the fast boat miniature, there is often an overshoot of 10° past the specified angle of 20° using a remote control. The purpose of this final project is to create a control system using the PID method to minimize the occurrence of overshoot in the zigzag motion of the fast boat miniature. The PID method is used as a rudder controller in zig-zag motion, so that it can determine the steady state error value, rise time, settling time, and reduce the obtained overshoot angle. Based on the results of the zigzag motion test, the steady state error value cannot be read. Then only the overshoot value is 3°, the rise time value is 4 seconds, the rise time to reach the setpoint, and the settling time is 5 seconds, which indicates that the motion of the servo motor is stable at that time. The parameter that is able to give the best results is when using the value of Kp = 1.1, Ki = 3.3, Kd = 0.09.

Item Type:	Thesis (Diploma)
Additional Information:	RSEO 629.89 Pra s-1 2022
Uncontrolled Keywords:	Balai Teknologi Hidrodinamika, Gerak Zig-zag, PID Controller, Seakeeping Test, Sensor HWT905, Sistem Kontrol Sudut. Center for Hydrodynamics Technology, Zigzag Motion, PID Controller, Seakeeping Test, HWT905 Sensor, Angle Control System.
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control
Divisions:	Faculty of Vocational > 36304-Automation Electronic Engineering
Depositing User:	Mr. Marsudiyana -
Date Deposited:	15 Jul 2026 07:03
Last Modified:	15 Jul 2026 07:03
URI:	http://repository.its.ac.id/id/eprint/135068

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