Aulia, Giska Ayu (2018) Kendali Haluan Kapal Korvet Kelas SIGMA Menggunakan Metode Disturbance Compensating Model Predictive Control (DC-MPC). Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Kapal Korvet kelas SIGMA (Ship Integrated Geometrical
Modularity Approach) adalah alat transportasi militer
yang didesain untuk TNI AL dalam menjalankan salah
satu misi keamanan negara yaitu misi Search and Rescue
(SAR). Dalam melaksanakan misi tersebut diperlukan
kontrol kendali haluan agar kapal tetap robust dan bergerak
sesuai dengan tujuan yang diinginkan saat gelombang
permukaan air laut mengenai sistem kapal. Sehingga dalam
tugas akhir ini akan didesain kendali haluan kapal dengan
menggunakan metode Disturbance Compensating Model
Predictive Control (DC-MPC) dimana model matematika
kapal memiliki 4 derajat kebebasan yaitu surge, sway, yaw,
roll dengan gangguan berupa gelombang permukaan air
laut orde 1 yang hasil penerapannya disimulasikan. Dari
hasil simulasi diperoleh bahwa dengan membandingkan
nilai RMSE dari 2 horizon prediksi yaitu 6 dan 7, metode
DC-MPC mampu mendesain kendali haluan kapal dengan
nilai RMSE terbaik yaitu dipersekitaran 0.02 pada horizon
prediksi sama dengan 7 lebih konstan dibandingkan dengan
nilai RMSE horizon prediksi bernilai 6 untuk 4 skenario.
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Corvette SIGMA (Ship Integrated Geometrical Modularty
Approach) is a militer transportation designed for the
Indonesian navy in running one of the country’s security
mission that is Search and Rescue mission (SAR). When
carrying out its mission needed heading control so that
ship staying robust and moving in accordance with the
intended purpose when sea water surface waves on ship’s
system. So in this final assignment will be designed ship
heading control by using Disturbance Compensating Model
Predictive Control (DC-MPC) method where mathematics
model of ship has 4 degree of freedom they are surge, sway,
yaw, roll with sea water surface waves first order being
its disturbance which the result of its application will be
simulated. From the value of simulation obtained that by
comparing value of RMSE from 2 of prediction horizon that
is 6 and 7 , DC-MPC method can design ship heading control
with the best of RMSE’s value that is 0.02 neighborhood in
prediction horizon that is 7 more constant than the value
of RMSE in prediction horizon that is 6 for 4 scenario.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Uncontrolled Keywords: | DC-MPC, Kapal Korvet Kelas SIGMA, Kendali Haluan Kapal, Gangguan Gelombang Laut |
| Subjects: | Q Science Q Science > QA Mathematics > QA278.3 Structural equation modeling. |
| Divisions: | Faculty of Mathematics, Computation, and Data Science > Mathematics > 44201-(S1) Undergraduate Thesis |
| Depositing User: | Giska Ayu Aulia |
| Date Deposited: | 08 Aug 2021 08:59 |
| Last Modified: | 08 Aug 2021 08:59 |
| URI: | http://repository.its.ac.id/id/eprint/58644 |
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