RANCANG BANGUN ALAT DAN KONTROL PID TWIN ROTOR HOVERING SYSTEM

NUGROHO, FAEDIAN EKO (2017) RANCANG BANGUN ALAT DAN KONTROL PID TWIN ROTOR HOVERING SYSTEM. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Pengadaan alat praktikum sebagai penunjang perkuliahan di
jurusan Teknik Mesin ITS dirasa masih sangat kurang. Salah satu
bidang yang dinilai membutuhkan alat praktikum sebagai media
pembelajaran tersebut adalah bidang sistem pengendalian
otomatis. Dari sekian banyak alat model pergerakan, model
pergerakan helicopter tanpa awak atau dikenal dengan unmanned
aerial vehicle (UAV) sebagai alat praktikum sistem kendali
otomatis dinilai paling aplikatif. Twin Rotor Hovering System
merupakan alat praktikum yang merupakan model dari helicopter
dengan 2 buah propeller (bicopter) yang dapat dijadikan solusi
sebagai media pembelajaran pada bidang sistem pengendalian
otomatis.
Dalam tugas akhir ini dirancang Twin Rotor Hovering
System dengan kontrol PID yang sesuai untuk mengendalikannya.
Penelitian dimulai dengan merancang desain alat dan melakukan
simulasi kekuatan alat pada software Inventor. Alat dibuat
menggunakan material berdasarkan hasil perhitungan dan simulasi
yang memenuhi kriteria keamanan. Setelah pembuatan alat selesai,
dibuat control PID dengan metode auto tuning pada software
Simulink dan metode Ziegler-Nichols.
Penelitian ini menghasilkan desain Twin Rotor Hovering
System pada software Autodesk Inventor. Desain tersebut
memberikan informasi berupa jenis komponen dan material yang
dibutuhkan. Hasil simulasi pada software Inventor menunjukkan
tegangan maksimal Von Misses yang terjadi sebesar 0.4833 MPa.
Sedangkan perhitungan secara teoritis mendapatkan hasil tegangan
maksimal Von Misses yang terjadi sebesar 0.17693 MPa. Hasil
perhitungan dan simulasi tersebut dinilai aman karena material
yang digunakan adalah alumunium 6061 dengan kekuatan yield
267 MPa. Hasil rancangan kontrol PID dengan metode auto tuning
mendapatkan nilai P = 4.1434, I = 11.234, dan D = 0 untuk plot
grafik best settling time. Namun hasil simulasi auto tuning dengan
plot best settling time yang diaplikasikan pada alat menunjukkan
error yang sangat besar dengan nilai overshoot 132% dan tidak
mencapai waktu settling time. Untuk hasil kontrol PID dengan
metode Ziegler-Nichols didapatkan nilai P = 3.1284, I = 2.425,
dan D = 0.06063 untuk plot grafik Classic PID. Hasil aplikasi
metode Ziegler-Nichols menunjukkan hasil yang jauh lebih baik
dengan nilai rise time 0.8 detik, overshoot 92%, dan mencapai
settling time setelah 10.15 detik.

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A provision to lab equipment as the course support in
Mechanical Engineering ITS is considered deficient. One of fields
in which requires the equipment as a learning media is the
automatic control system. Out of many classic exemplars,
helicopter without its crews or better known as unmanned aerial
vehicle (UAV) as the automatic control system is adjudged to be
the most applicative. Twin Rotor Hovering System is an example
of a two propeller helicopter (bicopter) which can be a solution to
the automatic control system as learning media issue.
In this thesis, Twin Rotor Hovering System was designed
with the proper PID to control it. The research was begun by
designing the tools and by doing the simulations on its power in
Inventor software. The tool was made out of the material that
satisfies the equations and safety criteria. When the tool was done,
the PID control was made with auto tuning in the Simulink
software and Ziegler-Nichols method.
This research has produced a design of Twin Rotor
Hovering System in Autodesk Inventor software. The design could
give the information such as component types and material needed.
The result of Inventor software simulation shows the maximum
i
tension of Von Misses occurred was 0.4833 MPa. While in
theoretical equation, the maximum tension of Von Misses reached
0.17693 MPa. The results of the equations and the simulation are
considered safe with the use of aluminum 6061 as material with
yield strength of 267 MPa. The result of PID control design with
auto tuning method gained a score of P = 4.1434, I = 11.234, and
D = 0 for graphic plot of best settling time. However, the result of
auto tuning simulation with best settling time plot on the tool
showed an enormous error with overshoot score of 132% and was
unable to reach the settling time properly. The PID Control from
using the Ziegler-Nichols method resulting a score of P = 3.1284,
I = 2.425, and D = 0.06063 for the Classic PID graphic plot. The
outcome from Ziegler-Nichols method showed a better one with a
rise time of 0.8 seconds, overshoot 92%, and settling time after
10.15 seconds.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Rancang bangun, unmanned aerial vehicle, twin rotor hovering system, software Autodesk Inventor, software Simulink, Kontrol PID, Ziegler-Nichols.
Subjects:	T Technology > T Technology (General) T Technology > TJ Mechanical engineering and machinery
Divisions:	Faculty of Industrial Technology > Mechanical Engineering > 21201-(S1) Undergraduate Thesis
Depositing User:	FAEDIAN EKO NUGROHO
Date Deposited:	23 Jan 2017 07:43
Last Modified:	23 Jan 2017 07:43
URI:	http://repository.its.ac.id/id/eprint/2612

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