Estimasi Koefisien Hidrodinamika Model Sistem Kapal Twin-Propeller Twin-Rudder Menggunakan Metode WyNDA

Bachtiar, Rayhan Habib (2026) Estimasi Koefisien Hidrodinamika Model Sistem Kapal Twin-Propeller Twin-Rudder Menggunakan Metode WyNDA. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Kapal dengan sistem Twin-Propeller Twin-Rudder (TPTR) memiliki kemampuan manuver yang tinggi. Namun, kapal tersebut menghasilkan dinamika hidrodinamika yang kompleks akibat interaksi nonlinier antara lambung, propeller, dan rudder. Kompleksitas tersebut menyebabkan koefisien hidrodinamika sulit ditentukan, padahal ketepatannya sangat memengaruhi akurasi model matematika gerak kapal. Berbagai metode estimasi telah dikembangkan, tetapi umumnya memerlukan biaya pengujian atau komputasi yang tinggi, proses tuning yang kompleks, maupun data dengan tingkat eksitasi yang memadai. Oleh karena itu, penelitian ini menerapkan metode Wide-Array of Nonlinear Dynamics Approximation (WyNDA) untuk mengestimasi koefisien hidrodinamika kapal TPTR menggunakan data Free Running Model (FRM). Metode WyNDA memanfaatkan adaptive observer untuk memperbarui estimasi parameter secara real-time. Implementasi dilakukan pada model kapal perang TPTR tipe Extended-Corvette SIGMA dengan tiga derajat kebebasan (3-DOF), yaitu surge, sway, dan yaw. Estimasi dilakukan menggunakan dua sistem koordinat referensi, yaitu Earth-Centered Earth-Fixed (ECEF) dan East-North-Up (ENU). Hasil penelitian menunjukkan bahwa metode WyNDA mampu mengestimasi variabel state dan parameter hidrodinamika dengan akurasi yang tinggi. Nilai RMSE posisi x sebesar 6, 817×10−3 (ECEF) dan RMSE posisi E sebesar 7, 082×10−3 (ENU), posisi y sebesar 2, 487 × 10−3 (ECEF) dan RMSE posisi N sebesar 5, 186 × 10−3 (ENU), sudut ψ sebesar 1, 692 × 10−3 (ECEF) dan 1, 692 × 10−3 (ENU), kecepatan u sebesar 5, 431 × 10−3 (ECEF) dan 6, 833 × 10−3 (ENU), kecepatan v sebesar 1, 939 × 10−3 (ECEF) dan 4, 720 × 10−3 (ENU), kecepatan r sebesar 3, 406 × 10−3 (ECEF) dan 3, 406 × 10−3 (ENU), serta lintasan kapal secara keseluruhan sebesar 7, 257 × 10−3 (ECEF) dan 8, 778 × 10−3 (ENU). Selain itu, parameter yang diestimasi menunjukkan kecenderungan konvergen menuju nilai konstan dengan laju yang bervariasi. Hasil tersebut menunjukkan bahwa metode WyNDA efektif untuk identifikasi parameter hidrodinamika kapal TPTR dan berpotensi mendukung pengembangan sistem kendali kapal perang.
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Twin-Propeller Twin-Rudder (TPTR) ships provide high maneuverability but exhibit complex hydrodynamic behavior due to the nonlinear interaction among the hull, propellers, and rudders. This complexity makes the identification of hydrodynamic coefficients challenging, although these coefficients are essential for developing accurate
mathematical models of ship motion. Existing estimation approaches generally require expensive captive experiments, high computational cost, complex parameter tuning, or
highly exciting maneuvering data. To address these limitations, this study applies the Wide-Array of Nonlinear Dynamics Approximation (WyNDA) method to estimate the
hydrodynamic coefficients of a TPTR ship directly from Free Running Model (FRM) test data. WyNDA employs an adaptive observer to estimate both the ship states and hydrodynamic parameters online in real time. The proposed method is implemented on a three-degree-of-freedom (3-DOF) mathematical model of an Extended-Corvette SIGMA twin-propeller twin-rudder warship, including surge, sway, and yaw motions. State estimation is evaluated using two reference coordinate systems: Earth-Centered Earth-Fixed (ECEF) and East-North-Up (ENU). Experimental results demonstrate that WyNDA accurately estimates both the ship states and hydrodynamic parameters. The RMSE for position x is 6.817 × 10−3 (ECEF), for position E is 7.082 × 10−3 (ENU), for position y is 2.487×10−3 (ECEF), and the RMSE for position N is 5.186×10−3 (ENU); the angle ψ is 1.692 × 10−3 (ECEF) and 1.692 × 10−3 (ENU); the velocity u is 5.431 × 10−3 (ECEF) and 6, 833× 10−3 (ENU), velocity v of 1, 939 × 10−3 (ECEF) and 4, 720 × 10−3 (ENU), velocity r of 3, 406 × 10−3 (ECEF) and 3, 406 × 10−3 (ENU), and the ship’s total trajectory of 7, 257 × 10−3 (ECEF) and 8, 778 × 10−3 (ENU). The estimated hydrodynamic parameters also converge toward constant values with different convergence rates, indicating stable parameter identification. These results demonstrate that WyNDA is an effective approach for identifying the hydrodynamic coefficients of TPTR ships and has strong potential for supporting the development of advanced ship motion modeling and control systems.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Kapal TPTR, Koefisien Hidrodinamika, Estimasi, Model Gerak Kapal 3-DOF, WyNDA, TPTR Ship, Hydrodynamic Coefficients, Estimation, 3-DOF Ship Motion Model, WyNDA
Subjects:	Q Science Q Science > QA Mathematics Q Science > QA Mathematics > QA401 Mathematical models.
Divisions:	Faculty of Science and Data Analytics (SCIENTICS) > Mathematics > 44201-(S1) Undergraduate Thesis
Depositing User:	Rayhan Habib Bachtiar
Date Deposited:	28 Jul 2026 07:51
Last Modified:	28 Jul 2026 07:51
URI:	http://repository.its.ac.id/id/eprint/137644

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