Aprilian, Erwan (2017) Pengembangan Sistem Pendaratan Otomatis Pada Pesawat Tanpa Awak. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
UAV adalah salah satu wahana tanpa awak di udara yang dapat terbang tanpa pilot. Secara teknis kemampuan terbang dan sistem kerja pesawat ini menyerupai kondisi pesawat sebenarnya. Selanjutnya UAV tersebut dapat digunakan untuk keperluan baik dilingkup militer maupun sipil. Pada proposal tugas akhir ini akan dirancang dan direalisasikan pengembangan sistem autopilot pada UAV dengan tambahan mendarat otomatis. Sistem ini menggunakan kontrol manual dan autopilot. Pada mode manual, pengguna secara manual mengendalikan pergerakan pesawat melalui RC sedangkan pada mode autopilot pesawat dikendalikan oleh mikrokontroler yang mengolah data-data sensor untuk mengarahkan pesawat dari satu titik ke titik yang lain. Sensor yang digunakan antara lain IMU (Inertial Measurement Unit yang didalamnya terdapat gyroscope dan accelerometer), GPS, compass, barometric altimeter, airspeed dan ultrasonic. Mikrokontroler menerima data input dari sensor secara terus-menerus, mengolah sampel data dan menghasilkan output untuk menggerakkan aktuator berupa servo. Pengolahan data sensor menggunakan kontrol PID (Proportional Integral Derivative) dengan metode Ziegler Nichols. Manuver kontrol autopilot meliputi roll (sumbu x), yaw (sumbu y), pitch (sumbu z), ketinggian dan heading pesawat. Pesawat akan terkoneksi dengan ground station melalui perangkat telemetri. Sistem navigasi ini dapat secara tepat mengarahkan pesawat menuju satu titik atau lebih dengan toleransi kesalahan ≤ 10 meter pada ketinggian 90-100 meter. Selain itu pesawat dapat terbang dengan radius ± 2 km dari ground station.
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UAV is a unmanned air vehicle that can fly without a pilot. Technically the ability to fly and work systems of these aircraft resemble the actual condition of the aircraft. Furthermore, the UAV can be used for both military and civilian. At the proposal of this thesis will be designed and realized the development of the UAV autopilot system with the addition of an automatic landing. This system uses manual control and autopilot. In manual mode, the user manually controls the movement of air through the RC aircraft while on autopilot mode is controlled by a microcontroller that processes sensor data to direct air from one point to another. Sensors are used among others IMU (Inertial Measurement Unit which there gyroscope and accelerometer), GPS, barometric altimeter, airspeed and ultrasonic. Microcontroller receives input data from the sensors continuously, process data samples and generate output to drive the servo actuator form. Processing of sensor data using PID control (Proportional Integral Derivative) with Ziegler Nichols method. Maneuver autopilot includes roll control (x-axis), yaw (y-axis), pitch (the z axis), aircraft altitude and heading. The aircraft will be connected with the ground station via telemetry devices. The navigation system is expected to accurately direct the plane to a point or more at fault tolerance ≤ 10 meters at an altitude of 90-100 meters. Besides the aircraft can fly with a radius of ± 2 km from the ground station.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Uncontrolled Keywords: | UAV, IMU, PID |
| Subjects: | T Technology > T Technology (General) T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Faculty of Industrial Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | - ERWAN APRILIAN |
| Date Deposited: | 16 Mar 2017 02:15 |
| Last Modified: | 05 Mar 2019 04:27 |
| URI: | http://repository.its.ac.id/id/eprint/1896 |
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